OptiTrack: Motion_capture_tracking_node dies and recieved Low unicast error

[PramatShastri17]

Hello!
I have been trying to use Crazyswarm2 with OptiTrack and I repeateadly get the error when launching the crazyflie_server using the command ros2 launch crazyflie launch.py. I have attached an image of it for your reference.

After the node dies, I get the low unicast error. I have also attached the config files motion_capture and crazyflie for your reference
motion_capture.txt
crazyflie.txt
I am using Motive 3.1.1 and have defined the crazyflie as an asset with name cf231 having 4 markers. I have check out many other discussion in this repo and tried out the suggested solutions, but none of them have worked for me. I have also reinstalled the packages and the libraries to try and improve the situation but this hasn't helped me as well.

Can you please suggest any solution that can help me out?

[whoenig]

• The low unicast error is because you are using an older firmware (See warning "Older firmware [...]". You can ignore this, or use the latest master branch firmware.
• For Motive 3.1.x, I recommend using "optitrack_closed_source", as "optitrack" seems to crash often in that constellation.
• The actual crash you are getting is strange. There is an exception "No parameter value set", which causes the crash, but this (ROS) error message does not state which parameter is causing the issue. Have you tried using our rigid-body-tracker instead of Motive? Tracking with Motive is something I haven't tested in a while, so it is possible that this is causing the problem. I haven't spotted any obvious issues in the config files you posted.

[PramatShastri17]

Thank you @whoenig for your reply.

• I have tried updating the firmware using cfclient but choosing the latest (2024.2), but it rather updates it to 2023.11 version. I have Tried to download the latest master branch firmware and tried to update by using the "From File" option in cfclient but that also seems to have some bug as when I click program, it disconnect from the crazyflie and never reconnects. So I have been manually building the firmware and flashing it using the instructions on this page. But, I am not seeing this "Old firmware..." error after do this, so I think the update worked.
• I tried by changing to "optitrack_closed_source" but this didn't improve the result. The motion_capture_tracking_node still dies for some reason. Also, I am now getting ESTKALMAN: State out of bounds, resetting error. I have attached a screen shot for your reference. I didn't make many changes in the config files except change to "optitrack_closed_source" and added a initial_position in crazyflie.yaml. I also double checked my IP address for the streaming and it matches the one in the config file. I am unable to understand what else can be the issue.
  
• Can you please specify which rigid-body-tracker are you implying? Are you referring to librigidbodytracker? I had seen this before but I wasn't sure how to use it exactly. Can you please clarify how to use it?

[knmcguire]

Just jumping in for the the firmware install. You'll need to get the latest version of the cfclient to install to the lastest version of the crazyflie firmware. That had to be done because the bootloader and NRF firmware had to be changed, which broke compatibility with the older versions of the cfclient. So just do pip3 install cfclient --upgrade and try again.
If that doesn't work, open up a discussion at https://discussions.bitcraze.io/

[whoenig]

• ESTKALMAN: State out of bounds, resetting is normal as long as tracking doesn't work
• I was referring to the custom marker tracking (that uses librigidbodytracker under the hood). To enable, disable any assets in Motive, add the positions of the markers relative to the body frame to motion_capture.yaml (see

  crazyswarm2/crazyflie/config/motion_capture.yaml

  Lines 15 to 21 in 9642e57

  	default: # for standard Crazyflie
  	offset: [0.0, 0.0, 0.0]
  	points:
  	p0: [ 0.0, 0.0, 0.022] # top
  	p1: [-0.042, 0.042, 0.0 ] # back left (M3)
  	p2: [-0.042, -0.042, 0.0 ] # back right (M2)
  	p3: [ 0.042, -0.042, 0.0 ] # front right (M1)

  ), and enable it via

  crazyswarm2/crazyflie/config/crazyflies.yaml

  Lines 34 to 36 in 9642e57

  	enabled: true
  	# only if enabled; see motion_capture.yaml
  	marker: default_single_marker

  .