YAML file for Vicon as Motion capture

[Abhinandan-Krishnan]

I had few questions regarding the YAML files,

1. In the launch.py file in crazyflie package, if I am using vicon as motion tracker with unique markers, should I keep the below snippet in the launch file?

motion_capture_params = motion_capture["/motion_capture_tracking"]["ros__parameters"]
motion_capture_params["rigid_bodies"] = dict()

for key, value in crazyflies["robots"].items():
    robot_type = crazyflies["robot_types"][value["type"]]
    if value["enabled"] and robot_type["motion_capture"]["enabled"]:
        motion_capture_params["rigid_bodies"][key] = {
            "initial_position": value["initial_position"],
            "marker": robot_type["motion_capture"]["marker"],
            "dynamics": robot_type["motion_capture"]["dynamics"]
        }

2. Should I use motionCapture or libRigidBodyTracker as mocap mode?
3. What should the marker_configurations config be in my case?

[whoenig]

1. Yes, no changes are needed. (Although, this configuration will not actively be used)
2. motionCapture
3. Does not matter, as this won't be used

[Abhinandan-Krishnan]

Thank you!
Also, how do I make the CF follow multiple waypoints (trajectory) using crazyswarm?
I see,

    def _start_trajectory_callback(self, request, response, uri="all"):
        self.get_logger().info("Start trajectory not yet implemented")
        return response

But I see a start_trajectory function implemented in the high_level_commander.py. Is there any way I can use this using crazyswarm.

[whoenig]

Please open a new discussion. start_trajectory is implemented in the cpp backend, but not the the cflib backend.