Crazyflie does not appear on RViz with Qualisys motion capture

[shreeram-murali]

Hi, I'm following the documentation for configuring one Crazyflie for the hello_world hover test.

Setup

1. Crazyflies
   • ROS Melodic
   • Ubuntu 18.04
   • 1 Crazyflie (named cf1)
2. Motion Capture
   • Qualisys (QTM)
   • Rigid body named cf1

Observations

• The hover test simulation is successful when running python hello_world.py --sim
• The roslaunch crazyswarm hover_swarm.launch works but the position of the Crazyflie is not shown on the graph
• Running python hello_world.py in real-life works fine: the CF hovers for the given duration and then lands.

Configuration

This is my hover_swarm.launch file:

 motion_capture_type: "qualisys" # one of none,vicon,optitrack,optitrack_closed_source,qualisys,vrpn
      object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker
      send_position_only: False # set to False to send position+orientation; set to True to send position only
      motion_capture_host_name: "192.168.0.106"
      # motion_capture_interface_ip: "" # optional for optitrack with multiple interfaces
      save_point_clouds: "/dev/null" # set to a valid path to log mocap point cloud binary file.
      print_latency: False
      write_csvs: False
      force_no_cache: False
      enable_parameters: True
      enable_logging: False
      enable_logging_pose: True

This is my crazyflies.yaml:

crazyflies:
- channel: 80
  id: 1
  initialPosition: [1.5, 1.5, 0.0]
  type: medium

Outputs

This is what I get when I run mocap_helper.launch:

SUMMARY
========

PARAMETERS
 * /mocap_helper/motion_capture_host_name: 192.168.0.106
 * /mocap_helper/motion_capture_type: qualisys
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    mocap_helper (crazyswarm/mocap_helper)

auto-starting new master
process[master]: started with pid [3705]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6e93ac3e-6312-11ec-a70b-90ccdf9d73e4
process[rosout-1]: started with pid [3736]
started core service [/rosout]
process[mocap_helper-2]: started with pid [3762]
frame 0:

And this is what I get when I run roslaunch crazyswarm hover_swarm.launch:

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: [{'initialPositio...
 * /crazyswarm_server/enable_logging: False
 * /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_host_name: 192.168.0.106
 * /crazyswarm_server/motion_capture_type: qualisys
 * /crazyswarm_server/object_tracking_type: motionCapture
 * /crazyswarm_server/print_latency: False
 * /crazyswarm_server/save_point_clouds: /dev/null
 * /crazyswarm_server/send_position_only: False
 * /crazyswarm_server/write_csvs: False
 * /crazyswarm_teleop/csv_file: /home/shree-ws/cr...
 * /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: melodic
 * /rosversion: 1.14.12

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 [6872]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fa22b2d2-6316-11ec-a70b-90ccdf9d73e4
process[rosout-1]: started with pid [6898]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [6905]
process[joy-3]: started with pid [6906]
process[crazyswarm_teleop-4]: started with pid [6912]
process[rviz-5]: started with pid [6913]
[ INFO] [1640171088.502922877]: Wait for services...
[ INFO] [1640171088.503463500]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1640171088.519744229]: libmotioncapture connecting to qualisys at hostname '192.168.0.106' - might block indefinitely if unreachable!
[ INFO] [1640171088.524095869]: waitForService: Service [/emergency] is now available.
[ INFO] [1640171088.524744496]: Manager ready.
ch: 1
[ INFO] [1640171088.538371745]: Parsed crazyflies.yaml successfully.
[ INFO] [1640171088.538388581]: Adding CF: cf1 (radio://0/80/2M/E7E7E7E701, cf1)...
[ INFO] [1640171088.547671441]: CF ctor: 0.009256 s
[ INFO] [1640171088.551924537]: [cf1] SYS: ----------------------------
[ WARN] [1640171088.553333771]: Couldn't set gain on joystick force feedback: Bad file descriptor
[ INFO] [1640171088.553879993]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1640171088.554075527]: [cf1] SYS: Crazyflie 2.1 is up and running!
[ INFO] [1640171088.556070839]: [cf1] SYS: Production release 2021.06
[ INFO] [1640171088.559491554]: [cf1] SYS: I am 0x3835353035394709001C0035 and I have 1024KB of flash!
[ INFO] [1640171088.560870108]: [cf1] CFGBLK: v1, verification [OK]
[ INFO] [1640171088.562140347]: [cf1] DECK_CORE: 2 deck(s) found
[ INFO] [1640171088.564646061]: [cf1] DECK_CORE: Calling INIT on driver bcFlow2 for deck 0
[ INFO] [1640171088.565889251]: [cf1] ZR2: Z-down sensor [OK]
[ INFO] [1640171088.567894527]: [cf1] PMW: Motion chip id: 0x49:0xB6
[ INFO] [1640171088.570538398]: [cf1] DECK_CORE: Calling INIT on driver bcMultiranger for deck 1
[ INFO] [1640171088.572602978]: [cf1] IMU: BMI088: Using I2C interface.
[ INFO] [1640171088.574679972]: [cf1] IMU: BMI088 Gyro connection [OK].
[ INFO] [1640171088.576810934]: [cf1] IMU: BMI088 Accel connection [OK]
[ INFO] [1640171088.578931760]: [cf1] IMU: BMP388 I2C connection [OK]
[ INFO] [1640171088.581159720]: [cf1] ESTIMATOR: Using Kalman (2) estimator
[ INFO] [1640171088.583302715]: [cf1] CONTROLLER: Using PID (1) controller
[ INFO] [1640171088.585398240]: [cf1] MTR-DRV: Using brushed motor driver
[ INFO] [1640171088.587528879]: [cf1] SYS: About to run tests in system.c.
[ INFO] [1640171088.588839466]: [cf1] EEPROM: I2C connection [OK].
[ INFO] [1640171088.590161392]: [cf1] STORAGE: Storage check [OK].
[ INFO] [1640171088.592219893]: [cf1] IMU: BMI088 gyro self-test [OK]
[ INFO] [1640171088.593567263]: [cf1] DECK_CORE: Deck 0 test [OK].
[ INFO] [1640171088.594864359]: [cf1] MR: Init front sensor [OK]
[ INFO] [1640171088.596112715]: [cf1] MR: Init back sensor [OK]
[ INFO] [1640171088.597312154]: [cf1] MR: Init up sensor [OK]
[ INFO] [1640171088.598537174]: [cf1] MR: Init left sensor [OK]
[ INFO] [1640171088.599813326]: [cf1] MR: Init right sensor [OK]
[ INFO] [1640171088.601114126]: [cf1] DECK_CORE: Deck 1 test [OK].
[ INFO] [1640171088.602311556]: [cf1] SYS: Self test passed!
[ INFO] [1640171088.604423949]: [cf1] STAB: Wait for sensor calibration...
[ INFO] [1640171088.605690619]: [cf1] SYS: Free heap: 16360 bytes
[ INFO] [1640171088.606837612]: [cf1] STAB: Ready to fly.
[ INFO] [1640171088.607561605]: [cf1] Requesting parameters...
[ INFO] [1640171088.637573605]: Found variables in cache.
[ INFO] [1640171088.881402203]: [cf1] reqParamTOC: 0.333704 s (225 params)
[ INFO] [1640171088.881418412]: Requesting memories...
[ INFO] [1640171088.883452341]: Memories: 6
[ INFO] [1640171088.917084685]: [cf1] Ready. Elapsed: 0.369389 s
[ INFO] [1640171088.917100213]: CF run: 0.369447 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 2
update ctrlMel/kR_xy to 50000
update ctrlMel/kR_z to 60000
update ctrlMel/kd_omega_rp to 200
update ctrlMel/kd_xy to 1
update ctrlMel/kd_z to 1
update ctrlMel/ki_m_z to 500
update ctrlMel/ki_xy to 0.1
update ctrlMel/ki_z to 0.5
update ctrlMel/kp_xy to 2
update ctrlMel/kp_z to 3
update ctrlMel/kw_xy to 16000
update ctrlMel/kw_z to 12000
update ctrlMel/mass to 0.11
update ctrlMel/massThrust to 23000
[ INFO] [1640171088.924333454]: [cf1] Update parameters
[ WARN] [1640171088.949959273]: [cf1] Link Quality low (0.600000)
[ INFO] [1640171088.998566791]: [cf1] CONTROLLER: Using Mellinger (2) controller
[ INFO] [1640171089.009248978]: Update params: 0.092075 s
[ INFO] [1640171089.009606891]: Started 1 threads

---

I have not changed any other configuration file from the default indications and the documentation.

The CF not appearing on the RViz indicates some form of an issue between the motion capture system and the control station, but I am not able to figure out what the issue could be. The data from the mocap system is otherwise accessible, as the hello_world.py script and other scripts work fine and are able to access QTM data.

Any tips to resolve this would be much appreciated. Thanks!

[whoenig]

This might be related to IMRCLab/libmotioncapture#3. Which QTM version are you using? Could you also post in the above github issue if libmotioncapture's example application doesn't work for you as well? Thanks!

[shreeram-murali]

Hi, thanks for the response! I'm using QTM 2021.1. I'll add this to libmotioncapture's issue; as you mentioned there, I'm seeing a deprecation warning when building the Qualisys CPP objects.

warning: ‘int CRTProtocol::ReceiveRTPacket(CRTPacket::EPacketType&, bool, int)’ is deprecated: Replaced by Receive. [-Wdeprecated-declarations]
       pImpl->poRTProtocol.ReceiveRTPacket(eType, true);
                                                      ^
In file included from /home/shree-ws/libmotioncapture/src/qualisys.cpp:8:0:
/home/shree-ws/libmotioncapture/deps/qualisys_cpp_sdk/RTProtocol.h:718:17: note: declared here
     int         ReceiveRTPacket(CRTPacket::EPacketType &eType, bool bSkipEvents = true, int nTimeout = cWaitForDataTimeout); // nTimeout < 0 : Blocking receive

Thanks! Any tips/ideas on how I can proceed? I'm slightly confused as to how the hover example worked if I wasn't streaming any frames -- does this mean the script used the onboard sensors instead of mocap?

[whoenig]

Especially if you have the flow-deck installed, you can fly successfully without a working mocap system. Without any additional decks, the on-board only estimate will drift within a few milliseconds, usually.

Does QTM support VRPN? Then you could try that (does not support libobjecttracker mode). Otherwise, the only way forward is to fix libmotioncapture. Any help there is appreciated (I cannot test it myself due to the lack of access to a qualisys system).

[shreeram-murali]

Thanks! QTM does support VRPN, so I’ll look into that. I did have the flow-deck installed, so that explains why everything still worked. I’ll try my hand at fixing libmotioncapture if I can.