some errors when I run hover_swarm.launch

[lwisle]

Hello

I want to run hover_swarm.launch with crazyflie and optitrack. The Ubuntu version is 20.04, with python 3.8.10. The motive's version is 1.9. My motive IP is: 192.168.2.228, and my Ubuntu connect optitrack by the same wifi. I have refresh crazyflie's firmware and radio PA's. But when I run the hover_swarm.launch and mocap_helper.launch,the errors occur as follow:

Firstly, I run hover_swarm.launch with motive setting as follow:

and the result is here:I don't know why there is no image in Rviz and the crazyflie didn't take off.

the crazyswarm settings are here:

Secondly, I try mocap_helper.launch,the result is here:

Then I reset the motive settings and try again hover_swarm.launch:

Finally, I try NatNetSDK:


The results show command channel is well but test date couldn't run.

what can I do to fly crazyflie with crazyswarm ? I would appreciate your guidance,thanks.

[whoenig]

Would it be possible for you to upgrade to Motive 2.3 or 3.0? These are the versions we test with. From your output it looks likely to be a bug in parsing the datastream, but it will be difficult for us to fix if we can't reproduce the issue on our end.

[Frostholm12]

Helle @whoenig

I am currently running into the same exact issue, with the same setup except I have motive 2.3.1.

do you have a suggestion as to how to solve this?

[whoenig]

If you can switch to Crazyswarm2, there is an option to use the official OptiTrack SDK which typically resolves these packet parsing issues.