Ⅸ. Common Issues and Solutions
Ⅰ. TX queue overflow
When using vrpn to broadcast data to px4, mavlink generates a TX queue overflow error. Check serial communication (Serial Configuration).
TX queue overflow error
Ⅱ. Multi-source Data Synchronization Issues
When collecting multi-source data simultaneously (optical motion capture + industrial camera), ROS is generally used to subscribe to multiple nodes at the same time. Hardware synchronization boxes can synchronize. If not on the same computer, timestamps cannot be synchronized.
Ⅲ. VRPN Displaying Wrong Rigid Body
The motion capture rigid body has been changed, but VRPN still displays the previously synchronized rigid body and points. Re-check the "Marker Point" option in motion capture, then restart the vrpn_client_ros client.
Ⅳ. Missing EK2 Parameters in Flight Controller
There are no EK2 parameters in QGC. Check whether the flight controller board model and firmware version number used are consistent with the document description.
Ⅴ. ROS Topic Reception Frame Rate Inconsistent with Motion Capture Software
The frame rate set in the software is 380Hz, but when tested with the rostopic hz command in ROS, it is only about 150. Modify the frame rate in the sample.launch file.
Modify Frame Rate
Ⅵ. Can ROS Get Vehicle Position and Velocity Information
Position and velocity of the vehicle can be obtained through ROS topics. You can install and use the vrpn_client_ros package to receive motion capture data.
Ⅶ. Do VRPN and mocap_nokov Support Humble Version
Yes, they are supported.
Ⅷ. Can Ubuntu 22.04 Version Communicate with ROS2
Yes, it can.
Ⅸ. Does mocap_nokov Support Orin nx
Yes, it is supported. Download the source code and compile it for use.
Ⅹ. Pixhawk Pose Not Completely Provided by Motion Capture
Pixhawk has IMU and magnetometer. There is an attitude estimation algorithm in the firmware that will fuse the data provided by motion capture with these sensor data to obtain the final attitude data.
Ⅺ. Does Motion Capture Support ROS2 and Can It Communicate with PX4
ROS2 can obtain motion capture data and can communicate with PX4.
Ⅻ. ROS and ROS2 Cannot Get Velocity and Acceleration
The https://github.com/zeroos/vrpn_client_ros repository does not support this. Switch to our official repository https://github.com/NOKOV-MOCAP/vrpn_client_ros.
ⅩⅢ. Using MAVLink to Send Positioning Data to PX4 Flight Controller
After the laptop reads motion capture data, the flight controller can use a data transmission module or WiFi expansion module to communicate with the laptop and directly send data to the px4 flight controller through MAVLink.
ⅩⅣ. Cannot Find Thread Library When Compiling vrpn_client_ros on Humble Version
Solve according to the link. (Solution)
ⅩⅤ. Multiple VRPN Nodes Stuttering When Started on the Same ROS Network
Under ROS networking, normally only one node needs to be started for use.
ⅩⅥ. QGC Cannot Receive Tracker Pose Information
Check whether the mavros_extras package associated with mavros is installed and whether the vision_pose plugin inside is normally enabled. Firmware version V1.11.0 has issues obtaining vrpn data. Use mocap_nokov for motion capture data acquisition.
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QGC cannot receive pose information
ⅩⅦ. Flight Controller Fails to Receive Motion Capture Data
The motion capture rigid body has been changed, but VRPN still displays the previously synchronized rigid body and points. Re-check the "Marker Point" option in the motion capture software, then restart the vrpn_client_ros client.
ⅩⅧ. vrpn_client_ros Does Not Display Rigid Body Information
Check whether the server address in sample.launch is correct and whether the default port number of vrpn is 3883; check whether the firewalls of Windows host and Ubuntu are closed; check whether the host running motion capture and the host running vrpn_client_ros are on the same network segment and whether they can ping each other.
vrpn_client_ros does not display rigid body information
ⅩⅨ. NOKOV Motion Capture Communication with Agents
You can use vrpn_client_ros or mocap_nokov for communication.