How to obtain the actual flight trajectory of multiple cfs?

[sadlim]

We are using vicon &crazyswarm 1.
Previously, the Unique Marker Arrangements mode was used, so the actual flight trajectory of the CF (i.e. the CSV file of rigid body motion) can be obtained in the vicon tracker.
At present, we have switched to Single Marker mode, and the vicon tracker cannot export the trajectory of a single marker.
Is there any other way to obtain it?

[whoenig]

You can record a rosbag, since at least the tf will contain the trajectories. There is also a write_csv mode in https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L41.

[sadlim]

Thank you!