motion_capture_tracking No updated pose

[YHuniv]

HI,

I tried to fly only one crazyflie2.1 with 4 (6mm) markers using Vicon, but I have some confusion...

1. for ros2 launch crazyflie launch.py

I get this warning :
[motion_capture_tracking_node-1] [WARN] [1737570435.896017502] [motion_capture_tracking]: No updated pose for cf231 for 1737570435.896004

2. ros2 topic echo /poses at 100hz.

` header:
stamp:
sec: 0
nanosec: 0
frame_id: world
poses:

• name: cf231
  pose:
  position:
  x: -0.6881641149520874
  y: 0.13250161707401276
  z: -0.03637975454330444
  orientation:
  x: -0.009660907089710236
  y: -0.0037801756989210844
  z: 0.20219686627388
  w: 0.9792899489402771
  `
  Why no timestamp from the topic /poses ?

3. ros2 topic echo /cf231/pose
   in terminal didnt publish any data.

In rviz2, it seems to be working and I have the drone visualization (see [picture).

4. ros2 topic /cf231/cmd_full_state dont publish any data too.
5. With : python3 nice_hover.py or python3 nice_hover.py nothing happend too(only some new topic in list).

Could you help please with the step by step configurations to make a fly with one drone in first time ?

Thank you

[whoenig]

1. If you use VICON Tracker for tracking, you need to set motion_capture to false in crazyflie_types (crazyflies.yaml file), otherwise the code tries to execute custom object tracking.
2. The missing timestamp is a bug that should be fixed in newer versions of the motion_capture_tracking package.
3. Is logging for that enabled (crazyflies.yaml file)?
4. That's a command, not a status/state message so this is expected.
5. We would need full logfiles to see what might be going on. Most of the time it's a wrong URI (i.e., ROS can't connect to the CF).

[YHuniv15]

1. Ok, i will do it.
2. Thank you for information, but the drone localisation is correct. so how is it possible that /poses publish correct data at 100hz but nothing in /cf231/pose ? I thought that motion_capture publish in topic /cf231/pose and this one publish in the topic /pose
3. only firmware_logging:
   enabled: true
4. for /cf231/cmd_full_state, i undurstund, but with python script running for example (figure8.py or nice_hover.py ) or by sending command in /cmd_vel it should display something ?
5. I will share that tomorrow .

I apreciate your quick answer, everytime, thank you

[YHuniv]

@whoenig the /cf231/pose working well, but i still facing problem when trying to takeoff for example.
I tried this commands :
ros2 run crazyflie_examples hello_world
or ros2 run crazyflie_examples nive_hower.

The initial pose of the drone is correct, i put it at the (0.0,0.0,0.0). The PID set to 1.
The drone start to takeoff, but it continue to fly and go around and fall.
Are there other parameters to set ? Thank you

[whoenig]

No other settings needed - /cf231/pose is working correctly for you now?

[YHuniv]

yes, the localisation is correct with ./cf231/pose.
The manual control with cfclient working, so it's not problem with drone too.