The [crazyswarm_server-2] died when i run the 'hover_swarm.launch'.

[KIMJIYEEON]

Hello. I used OptiTrack as a mocap to hover crazyflie2.1.
The Motive server ip is 10.0.0.3, and the Ubuntu local ip is 10.0.0.10.
And i have succeeded in streaming data to SampleClient of NatNet.
My files are composed as follows.

allCrazyflies.yaml

crazyflies.yaml

hover_swarm.launch

mocap_helper.launch

Then, when i had 'hover_swarm.launch' launched, the following error occurred.

motion@motion:~/crazyswarm$ roslaunch crazyswarm hover_swarm.launch

... logging to /home/motion/.ros/log/7f36eb06-1f5f-11ec-8605-f1c1c49811e8/roslaunch-motion-8425.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://motion:34691/

SUMMARY
========

PARAMETERS
 * /crazyflieTypes/CF21SingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/CF21SingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/CF21SingleMarker/bigQuad: False
 * /crazyflieTypes/CF21SingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_xy: 1.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_z: 2.0
 * /crazyflieTypes/CF21SingleMarker/markerConfiguration: 3
 * /crazyflieTypes/default/batteryVoltageWarning: 3.8
 * /crazyflieTypes/default/batteryVoltateCritical: 3.7
 * /crazyflieTypes/default/bigQuad: False
 * /crazyflieTypes/default/dynamicsConfiguration: 0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/default/markerConfiguration: 0
 * /crazyflieTypes/defaultSingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/defaultSingleMarker/bigQuad: False
 * /crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_xy: 4.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_z: 8.0
 * /crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
 * /crazyflieTypes/large/batteryVoltageWarning: 11.4
 * /crazyflieTypes/large/batteryVoltateCritical: 11.1
 * /crazyflieTypes/large/bigQuad: True
 * /crazyflieTypes/large/dynamicsConfiguration: 0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
 * /crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
 * /crazyflieTypes/large/markerConfiguration: 2
 * /crazyflieTypes/medium/batteryVoltageWarning: 7.6
 * /crazyflieTypes/medium/batteryVoltateCritical: 7.4
 * /crazyflieTypes/medium/bigQuad: True
 * /crazyflieTypes/medium/dynamicsConfiguration: 0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
 * /crazyflieTypes/medium/markerConfiguration: 1
 * /crazyflies: [{'id': 1, 'chann...
 * /crazyswarm_server/enable_logging: True
 * /crazyswarm_server/enable_logging_pose: True
 * /crazyswarm_server/enable_parameters: True
 * /crazyswarm_server/firmwareParams/commander/enHighLevel: 1
 * /crazyswarm_server/firmwareParams/kalman/resetEstimation: 1
 * /crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
 * /crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
 * /crazyswarm_server/firmwareParams/ring/effect: 16
 * /crazyswarm_server/firmwareParams/ring/headlightEnable: 0
 * /crazyswarm_server/firmwareParams/ring/solidBlue: 255
 * /crazyswarm_server/firmwareParams/ring/solidGreen: 0
 * /crazyswarm_server/firmwareParams/ring/solidRed: 0
 * /crazyswarm_server/firmwareParams/stabilizer/controller: 2
 * /crazyswarm_server/firmwareParams/stabilizer/estimator: 2
 * /crazyswarm_server/force_no_cache: False
 * /crazyswarm_server/genericLogTopicFrequencies: [10]
 * /crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x...
 * /crazyswarm_server/genericLogTopics: ['log1']
 * /crazyswarm_server/motion_capture_type: optitrack
 * /crazyswarm_server/object_tracking_type: libobjecttracker
 * /crazyswarm_server/optitrack_host_name: optitrack
 * /crazyswarm_server/optitrack_local_ip: 10.0.0.10
 * /crazyswarm_server/optitrack_server_ip: 10.0.0.3
 * /crazyswarm_server/print_latency: False
 * /crazyswarm_server/save_point_clouds: ~/pointCloud.ot
 * /crazyswarm_server/send_position_only: False
 * /crazyswarm_server/write_csvs: False
 * /crazyswarm_teleop/csv_file: /home/motion/craz...
 * /crazyswarm_teleop/timescale: 0.8
 * /dynamicsConfigurations/0/maxFitnessScore: 0.001
 * /dynamicsConfigurations/0/maxPitch: 1.4
 * /dynamicsConfigurations/0/maxPitchRate: 20.0
 * /dynamicsConfigurations/0/maxRoll: 1.4
 * /dynamicsConfigurations/0/maxRollRate: 20.0
 * /dynamicsConfigurations/0/maxXVelocity: 2.0
 * /dynamicsConfigurations/0/maxYVelocity: 2.0
 * /dynamicsConfigurations/0/maxYawRate: 10.0
 * /dynamicsConfigurations/0/maxZVelocity: 3.0
 * /joy/dev: /dev/input/js0
 * /markerConfigurations/0/numPoints: 4
 * /markerConfigurations/0/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/0/points/0: [0.0177184, 0.013...
 * /markerConfigurations/0/points/1: [-0.0262914, 0.05...
 * /markerConfigurations/0/points/2: [-0.0328889, -0.0...
 * /markerConfigurations/0/points/3: [0.0431307, -0.03...
 * /markerConfigurations/1/numPoints: 4
 * /markerConfigurations/1/offset: [0.0, 0.0, -0.03]
 * /markerConfigurations/1/points/0: [-0.00896228, -0....
 * /markerConfigurations/1/points/1: [-0.0156318, 0.09...
 * /markerConfigurations/1/points/2: [0.0461693, -0.08...
 * /markerConfigurations/1/points/3: [-0.0789959, -0.0...
 * /markerConfigurations/2/numPoints: 4
 * /markerConfigurations/2/offset: [0.0, 0.0, -0.06]
 * /markerConfigurations/2/points/0: [0.0558163, -0.00...
 * /markerConfigurations/2/points/1: [-0.0113941, 0.00...
 * /markerConfigurations/2/points/2: [-0.0306277, 0.05...
 * /markerConfigurations/2/points/3: [0.0535816, -0.04...
 * /markerConfigurations/3/numPoints: 1
 * /markerConfigurations/3/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/3/points/0: [0.0177184, 0.013...
 * /numDynamicsConfigurations: 1
 * /numMarkerConfigurations: 4
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES
  /
    crazyswarm_server (crazyswarm/crazyswarm_server)
    crazyswarm_teleop (crazyswarm/crazyswarm_teleop)
    joy (joy/joy_node)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [8440]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7f36eb06-1f5f-11ec-8605-f1c1c49811e8
process[rosout-1]: started with pid [8457]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [8464]
process[joy-3]: started with pid [8465]
process[crazyswarm_teleop-4]: started with pid [8466]
process[rviz-5]: started with pid [8467]
[ INFO] [1632725556.710149821]: Wait for services...
[ INFO] [1632725556.711223470]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1632725556.752395271]: waitForService: Service [/emergency] is now available.
[ INFO] [1632725556.753251766]: Manager ready.
terminate called after throwing an instance of 'boost::wrapexcept<boost::system::system_error>'
  what():  resolve: Host not found (non-authoritative), try again later
[ WARN] [1632725556.781014767]: Couldn't set gain on joystick force feedback: Bad file descriptor
[ INFO] [1632725556.782008408]: Opened joystick: /dev/input/js0 (Microsoft X-Box One pad (Firmware 2015)). deadzone_: 0.050000.
[crazyswarm_server-2] process has died [pid 8464, exit code -6, cmd /home/motion/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/motion/.ros/log/7f36eb06-1f5f-11ec-8605-f1c1c49811e8/crazyswarm_server-2.log].
log file: /home/motion/.ros/log/7f36eb06-1f5f-11ec-8605-f1c1c49811e8/crazyswarm_server-2*.log
^C[rviz-5] killing on exit
[crazyswarm_teleop-4] killing on exit
[joy-3] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I have no idea how to solve this problem. Please help me!!

[whoenig]

For testing, you can focus on mocap_helper.launch. Only optitrack_host_name is used, which should be set to 10.0.0.3. The optitrack_local_ip and optitrack_server_ip settings haven't been used in several years - where did you get them from?

[KIMJIYEEON]

Hi, whoenig. Thank you for your answer.
Thanks to your advice, i was able to get the data normally as follows when i run the mocap_helper.launch.
However, the following problems still occur when the hover server is running.

I ran mocap_helper.launch.

motion@motion:~/NatNetSDKCrossplatform/build$ roslaunch crazyswarm mocap_helper.launch
... logging to /home/motion/.ros/log/ccc880cc-20ff-11ec-8617-23b403fe1e23/roslaunch-motion-8678.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://motion:41103/

SUMMARY

PARAMETERS

• /mocap_helper/motion_capture_type: optitrack
• /mocap_helper/object_tracking_type: libobjecttracker
• /mocap_helper/optitrack_host_name: 192.168.1.113
• /rosdistro: noetic
• /rosversion: 1.15.11

NODES
/
mocap_helper (crazyswarm/mocap_helper)

auto-starting new master
process[master]: started with pid [8693]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ccc880cc-20ff-11ec-8617-23b403fe1e23
process[rosout-1]: started with pid [8710]
started core service [/rosout]
process[mocap_helper-2]: started with pid [8713]
frame 0:
points:
objects:
"RigidBody 003":
occluded: 0
position: [-0.00548468, 0.0218255, -0.0222704]
rotation: [-0.398718, -0.00657215, -0.91705, -0.000269654]
frame 1:
points:
objects:
"RigidBody 003":
occluded: 0
position: [-0.00548039, 0.021821, -0.0222637]
rotation: [-0.398726, -0.00655162, -0.917047, -0.000365781]
frame 2:
points:
objects:
"RigidBody 003":
occluded: 0
position: [-0.00547608, 0.02182, -0.0222431]
rotation: [-0.398437, -0.00619739, -0.917175, 0.000133255]
frame 3:
points:
objects:
"RigidBody 003":
occluded: 0
position: [-0.00547716, 0.0218194, -0.0222617]
rotation: [-0.398632, -0.00660492, -0.917087, -0.000118251]

hover_swarm.launch has been modified as follows.

 <rosparam>
  # Logging configuration (Use enable_logging to actually enable logging)
  genericLogTopics: ["log1"]
  genericLogTopicFrequencies: [10]
  genericLogTopic_log1_Variables: ["stateEstimate.x", "ctrltarget.x"]
  # firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or
  # allCrazyflies.yaml to set per drone)
  firmwareParams:
    commander:
      enHighLevel: 1
    stabilizer:
      estimator: 2 # 1: complementary, 2: kalman
      controller: 2 # 1: PID, 2: mellinger
    ring:
      effect: 16 # 6: double spinner, 7: solid color, 16: packetRate
      solidBlue: 255 # if set to solid color
      solidGreen: 0 # if set to solid color
      solidRed: 0 # if set to solid color
      headlightEnable: 0
    locSrv:
      extPosStdDev: 1e-3
      extQuatStdDev: 0.5e-1
    kalman:
      resetEstimation: 1
  # tracking
  motion_capture_type: "optitrack" # one of none,vicon,optitrack,qualisys,vrpn
  object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
  send_position_only: False # set to False to send position+orientation; set to True to send position only
  #vicon_host_name: "vicon"
  optitrack_host_name: "192.168.1.113"
  # optitrack_local_ip: "10.0.0.10"
  # optitrack_server_ip: "192.168.1.113"
  # qualisys_host_name: "10.0.5.219"
  # qualisys_base_port: 22222
  # vrpn_host_name: "vicon"
  save_point_clouds: ~/pointCloud.ot
  print_latency: False
  write_csvs: False
  force_no_cache: False
  enable_parameters: True
  enable_logging: True
  enable_logging_pose: True
</rosparam>

I ran hover_swarm.launch.

motion@motion:~$ roslaunch crazyswarm hover_swarm.launch
... logging to /home/motion/.ros/log/625445d0-2106-11ec-8617-23b403fe1e23/roslaunch-motion-28105.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://motion:46499/

SUMMARY

PARAMETERS

• /crazyflieTypes/CF21SingleMarker/batteryVoltageWarning: 3.8
• /crazyflieTypes/CF21SingleMarker/batteryVoltateCritical: 3.7
• /crazyflieTypes/CF21SingleMarker/bigQuad: False
• /crazyflieTypes/CF21SingleMarker/dynamicsConfiguration: 0
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/mass: 0.032
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/massThrust: 132000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.1
• /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
• /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_xy: 1.0
• /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_z: 2.0
• /crazyflieTypes/CF21SingleMarker/markerConfiguration: 3
• /crazyflieTypes/default/batteryVoltageWarning: 3.8
• /crazyflieTypes/default/batteryVoltateCritical: 3.7
• /crazyflieTypes/default/bigQuad: False
• /crazyflieTypes/default/dynamicsConfiguration: 0
• /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
• /crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
• /crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
• /crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
• /crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
• /crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
• /crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
• /crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
• /crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
• /crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
• /crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
• /crazyflieTypes/default/markerConfiguration: 0
• /crazyflieTypes/defaultSingleMarker/batteryVoltageWarning: 3.8
• /crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
• /crazyflieTypes/defaultSingleMarker/bigQuad: False
• /crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.2
• /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
• /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_xy: 4.0
• /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_z: 8.0
• /crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
• /crazyflieTypes/large/batteryVoltageWarning: 11.4
• /crazyflieTypes/large/batteryVoltateCritical: 11.1
• /crazyflieTypes/large/bigQuad: True
• /crazyflieTypes/large/dynamicsConfiguration: 0
• /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
• /crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
• /crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
• /crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
• /crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
• /crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
• /crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
• /crazyflieTypes/large/markerConfiguration: 2
• /crazyflieTypes/medium/batteryVoltageWarning: 7.6
• /crazyflieTypes/medium/batteryVoltateCritical: 7.4
• /crazyflieTypes/medium/bigQuad: True
• /crazyflieTypes/medium/dynamicsConfiguration: 0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
• /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
• /crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
• /crazyflieTypes/medium/markerConfiguration: 1
• /crazyflies: [{'id': 1, 'chann...
• /crazyswarm_server/enable_logging: True
• /crazyswarm_server/enable_logging_pose: True
• /crazyswarm_server/enable_parameters: True
• /crazyswarm_server/firmwareParams/commander/enHighLevel: 1
• /crazyswarm_server/firmwareParams/kalman/resetEstimation: 1
• /crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
• /crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
• /crazyswarm_server/firmwareParams/ring/effect: 16
• /crazyswarm_server/firmwareParams/ring/headlightEnable: 0
• /crazyswarm_server/firmwareParams/ring/solidBlue: 255
• /crazyswarm_server/firmwareParams/ring/solidGreen: 0
• /crazyswarm_server/firmwareParams/ring/solidRed: 0
• /crazyswarm_server/firmwareParams/stabilizer/controller: 2
• /crazyswarm_server/firmwareParams/stabilizer/estimator: 2
• /crazyswarm_server/force_no_cache: False
• /crazyswarm_server/genericLogTopicFrequencies: [10]
• /crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x...
• /crazyswarm_server/genericLogTopics: ['log1']
• /crazyswarm_server/motion_capture_type: optitrack
• /crazyswarm_server/object_tracking_type: libobjecttracker
• /crazyswarm_server/optitrack_host_name: 192.168.1.113
• /crazyswarm_server/print_latency: False
• /crazyswarm_server/save_point_clouds: ~/pointCloud.ot
• /crazyswarm_server/send_position_only: False
• /crazyswarm_server/write_csvs: False
• /crazyswarm_teleop/csv_file: /home/motion/craz...
• /crazyswarm_teleop/timescale: 0.8
• /dynamicsConfigurations/0/maxFitnessScore: 0.001
• /dynamicsConfigurations/0/maxPitch: 1.4
• /dynamicsConfigurations/0/maxPitchRate: 20.0
• /dynamicsConfigurations/0/maxRoll: 1.4
• /dynamicsConfigurations/0/maxRollRate: 20.0
• /dynamicsConfigurations/0/maxXVelocity: 2.0
• /dynamicsConfigurations/0/maxYVelocity: 2.0
• /dynamicsConfigurations/0/maxYawRate: 10.0
• /dynamicsConfigurations/0/maxZVelocity: 3.0
• /joy/dev: /dev/input/js0
• /markerConfigurations/0/numPoints: 4
• /markerConfigurations/0/offset: [0.0, -0.01, -0.04]
• /markerConfigurations/0/points/0: [0.0177184, 0.013...
• /markerConfigurations/0/points/1: [-0.0262914, 0.05...
• /markerConfigurations/0/points/2: [-0.0328889, -0.0...
• /markerConfigurations/0/points/3: [0.0431307, -0.03...
• /markerConfigurations/1/numPoints: 4
• /markerConfigurations/1/offset: [0.0, 0.0, -0.03]
• /markerConfigurations/1/points/0: [-0.00896228, -0....
• /markerConfigurations/1/points/1: [-0.0156318, 0.09...
• /markerConfigurations/1/points/2: [0.0461693, -0.08...
• /markerConfigurations/1/points/3: [-0.0789959, -0.0...
• /markerConfigurations/2/numPoints: 4
• /markerConfigurations/2/offset: [0.0, 0.0, -0.06]
• /markerConfigurations/2/points/0: [0.0558163, -0.00...
• /markerConfigurations/2/points/1: [-0.0113941, 0.00...
• /markerConfigurations/2/points/2: [-0.0306277, 0.05...
• /markerConfigurations/2/points/3: [0.0535816, -0.04...
• /markerConfigurations/3/numPoints: 1
• /markerConfigurations/3/offset: [0.0, -0.01, -0.04]
• /markerConfigurations/3/points/0: [0.0177184, 0.013...
• /numDynamicsConfigurations: 1
• /numMarkerConfigurations: 4
• /rosdistro: noetic
• /rosversion: 1.15.11

NODES
/
crazyswarm_server (crazyswarm/crazyswarm_server)
crazyswarm_teleop (crazyswarm/crazyswarm_teleop)
joy (joy/joy_node)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [28120]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 625445d0-2106-11ec-8617-23b403fe1e23
process[rosout-1]: started with pid [28137]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [28144]
process[joy-3]: started with pid [28145]
process[crazyswarm_teleop-4]: started with pid [28146]
process[rviz-5]: started with pid [28147]
[ INFO] [1632907185.362004627]: Wait for services...
[ INFO] [1632907185.362825874]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1632907185.404009768]: waitForService: Service [/emergency] is now available.
[ INFO] [1632907185.404963401]: Manager ready.
[ WARN] [1632907185.416666697]: Couldn't set gain on joystick force feedback: Bad file descriptor
[ INFO] [1632907185.417844369]: Opened joystick: /dev/input/js0 (Microsoft X-Box One pad (Firmware 2015)). deadzone_: 0.050000.
ch: 1
[ INFO] [1632907185.470334363]: Adding CF: cf1 (radio://0/80/2M/E7E7E7E701, cf1)...
[ INFO] [1632907185.485013165]: CF ctor: 0.013695 s
[ INFO] [1632907185.512303494]: [cf1] WARNING: LOG packets drop dete, resetting
[ INFO] [1632907185.516512298]: [cf1] Requesting parameters...
[ INFO] [1632907185.541355576]: Found variables in cache.
[ INFO] [1632907185.888792644]: [cf1] reqParamTOC: 0.403721 s (225 params)
[ INFO] [1632907185.888828107]: [cf1] Requesting logging variables...
[ INFO] [1632907185.891970896]: Found variables in cache.
[ INFO] [1632907185.892481282]: [cf1] reqLogTOC: 0.003704 s
[ INFO] [1632907185.897898362]: [cf1] logBlocks: 0.403721 s
[ INFO] [1632907185.902304002]: Requesting memories...
[ INFO] [1632907185.904901669]: Memories: 4
[ INFO] [1632907185.912909204]: [cf1] Ready. Elapsed: 0.427851 s
[ INFO] [1632907185.912943676]: CF run: 0.427951 s
update commander/enHighLevel to 1
update kalman/resetEstimation to 1
update locSrv/extPosStdDev to 0.001
update locSrv/extQuatStdDev to 0.05
update ring/effect to 16
update ring/headlightEnable to 0
update ring/solidBlue to 255
update ring/solidGreen to 0
update ring/solidRed to 0
update stabilizer/controller to 2
update stabilizer/estimator to 2
update ctrlMel/i_range_m_z to 1500
update ctrlMel/i_range_xy to 2
update ctrlMel/i_range_z to 0.4
update ctrlMel/kR_xy to 70000
update ctrlMel/kR_z to 60000
update ctrlMel/kd_omega_rp to 200
update ctrlMel/kd_xy to 0.2
update ctrlMel/kd_z to 0.4
update ctrlMel/ki_m_z to 500
update ctrlMel/ki_xy to 0.05
update ctrlMel/ki_z to 0.05
update ctrlMel/kp_xy to 0.4
update ctrlMel/kp_z to 1.25
update ctrlMel/kw_xy to 20000
update ctrlMel/kw_z to 12000
update ctrlMel/mass to 0.032
update ctrlMel/massThrust to 132000
[ INFO] [1632907185.925622375]: [cf1] Update parameters
[ INFO] [1632907185.976268866]: Update params: 0.063285 s
[ INFO] [1632907185.976545392]: Started 1 threads
[ WARN] [1632907185.976859377]: No updated pose for CF cf1 for 1632907185.976804 s.
[ WARN] [1632907185.983824070]: No updated pose for CF cf1 for 1632907185.983788 s.
[ WARN] [1632907185.993450975]: No updated pose for CF cf1 for 1632907185.993392 s.
[ WARN] [1632907185.999789623]: No updated pose for CF cf1 for 1632907185.999755 s.
[ WARN] [1632907186.009151718]: No updated pose for CF cf1 for 1632907186.009103 s.
[ WARN] [1632907186.016424501]: No updated pose for CF cf1 for 1632907186.016386 s.
[ WARN] [1632907186.026974510]: No updated pose for CF cf1 for 1632907186.026938 s.
[ WARN] [1632907186.033830895]: No updated pose for CF cf1 for 1632907186.033795 s.
[ WARN] [1632907186.042625978]: No updated pose for CF cf1 for 1632907186.042566 s.
[ WARN] [1632907186.050347681]: No updated pose for CF cf1 for 1632907186.050303 s.
[ WARN] [1632907186.057904530]: No updated pose for CF cf1 for 1632907186.057852 s.
[ WARN] [1632907186.067988115]: No updated pose for CF cf1 for 1632907186.067898 s.
[ WARN] [1632907186.074596383]: No updated pose for CF cf1 for 1632907186.074548 s.
[ WARN] [1632907186.083377751]: No updated pose for CF cf1 for 1632907186.083329 s.
[ WARN] [1632907186.093648707]: No updated pose for CF cf1 for 1632907186.093589 s.
[ WARN] [1632907186.101578108]: No updated pose for CF cf1 for 1632907186.101530 s.
[ WARN] [1632907186.111231006]: No updated pose for CF cf1 for 1632907186.111176 s.
[ WARN] [1632907186.119327530]: No updated pose for CF cf1 for 1632907186.119272 s.
[ WARN] [1632907186.125568223]: No updated pose for CF cf1 for 1632907186.125507 s.
[ WARN] [1632907186.135508238]: No updated pose for CF cf1 for 1632907186.135453 s.
[ WARN] [1632907186.142198446]: No updated pose for CF cf1 for 1632907186.142137 s.
[ WARN] [1632907186.152293112]: No updated pose for CF cf1 for 1632907186.152230 s.
[ WARN] [1632907186.160334168]: No updated pose for CF cf1 for 1632907186.160232 s.
[ WARN] [1632907186.170724818]: No updated pose for CF cf1 for 1632907186.170595 s.
[ WARN] [1632907186.176057160]: No updated pose for CF cf1 for 1632907186.175920 s.
[ WARN] [1632907186.183900188]: No updated pose for CF cf1 for 1632907186.183789 s.
[ WARN] [1632907186.191836774]: No updated pose for CF cf1 for 1632907186.191722 s.
[ WARN] [1632907186.201273593]: No updated pose for CF cf1 for 1632907186.201169 s.
[ WARN] [1632907186.208282757]: No updated pose for CF cf1 for 1632907186.208163 s.
[ WARN] [1632907186.217075516]: No updated pose for CF cf1 for 1632907186.216984 s.
[ WARN] [1632907186.225068713]: No updated pose for CF cf1 for 1632907186.224957 s.
[ WARN] [1632907186.233656682]: No updated pose for CF cf1 for 1632907186.233565 s.
[ WARN] [1632907186.243832807]: No updated pose for CF cf1 for 1632907186.243726 s.
[ WARN] [1632907186.252659099]: No updated pose for CF cf1 for 1632907186.252502 s.
[ WARN] [1632907186.258221957]: No updated pose for CF cf1 for 1632907186.258098 s.
[ WARN] [1632907186.266310180]: No updated pose for CF cf1 for 1632907186.266177 s.
[ WARN] [1632907186.274986122]: No updated pose for CF cf1 for 1632907186.274884 s.
[ WARN] [1632907186.283374444]: No updated pose for CF cf1 for 1632907186.283275 s.
[ WARN] [1632907186.293501732]: No updated pose for CF cf1 for 1632907186.293380 s.
[ WARN] [1632907186.300972736]: No updated pose for CF cf1 for 1632907186.300869 s.
[ WARN] [1632907186.346773083]: No updated pose for CF cf1 for 1632907186.346663 s.
[ WARN] [1632907186.351667652]: No updated pose for CF cf1 for 1632907186.351544 s.
[ WARN] [1632907186.359347533]: No updated pose for CF cf1 for 1632907186.359221 s.
[ WARN] [1632907186.366813913]: No updated pose for CF cf1 for 1632907186.366688 s.
[ WARN] [1632907186.377004319]: No updated pose for CF cf1 for 1632907186.376900 s.
[ WARN] [1632907186.386659446]: No updated pose for CF cf1 for 1632907186.386539 s.
[ WARN] [1632907186.392140640]: No updated pose for CF cf1 for 1632907186.392014 s.
[ WARN] [1632907186.400817162]: No updated pose for CF cf1 for 1632907186.400711 s.
[ WARN] [1632907186.409285841]: No updated pose for CF cf1 for 1632907186.409185 s.
[ WARN] [1632907186.418408853]: No updated pose for CF cf1 for 1632907186.418307 s.
[ WARN] [1632907186.426334180]: No updated pose for CF cf1 for 1632907186.426223 s.
[ WARN] [1632907186.475259308]: No updated pose for CF cf1 for 1632907186.475148 s.
[ WARN] [1632907186.483710316]: No updated pose for CF cf1 for 1632907186.483594 s.
[ WARN] [1632907186.492262332]: No updated pose for CF cf1 for 1632907186.492165 s.

What should I do now? Thanks.

[whoenig]

You need to rename your rigid body in Motive to "cf1".

[KIMJIYEEON]

Hello. Thanks to you, I can now do cf hovering. Thank you!