crazyflie not connecting about crazyswarm HOT 4 CLOSED

• Do other packages (e.g. vicon_bridge) work correctly with your setup (to exclude network issues)?
• Are the markers visible in VICON Tracker? Specifically, we only use unlabeled markers, so make sure that you don't have any object tracking in Tracker enabled.

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vicon_bridge works with my setup. But, if I'm not mistaken, crazyswarm does not usevicon_bridge. Just to make sure, is there anywhere in particular that the IP address of the VICON server computer must be used?

Regarding the markers and VICON, I'm using VICON Nexus. The markers are visible. I create segments corresponding to the crazyflies, but I do not label the markers.

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You are correct that vicon_bridge is not used, however vicon_bridge uses the same SDK (Vicon DataStream SDK).

You only need to use the IP address or hostname in the launch file (https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L56).

I never used Nexus, so I am not sure what the behavior is (and what you mean by "segments").
Perhaps try the following changes:
1.) https://github.com/USC-ACTLab/libmotioncapture/blob/master/src/vicon.cpp#L33: Also call pImpl->client.EnableMarkerData();
2.) https://github.com/USC-ACTLab/libmotioncapture/blob/master/src/vicon.cpp#L112-L120
Copy this segment directly below and use GetMarkerCount() and GetMarkerGlobalTranslation() instead of the Unlabeled calls.

This will take both labeled and unlabeled markers into account, in case VICON Nexus has a different interpretation of unlabeled markers (in Tracker markers that are not associated with objects/segments are considered unlabeled).

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Actually, I found out that the problem was that a connection was not being established between the computer and the VICON server computer. I was using the hostname of the server, but a connection was not being established. When I replaced the hostname by the IP address of the VICON server, a connection was established, the crazyflies were added, and I saw the crazyflies on the RVIZ graph.

Note: Using GetMarkerCount() and GetMarkerGlobalTranslation() instead of the Unlabeled calls gave build errors because they are not defined. However, GetLabeledMarkerCount() and GetLabeledMarkerGlobalTranslation() are defined. Nonetheless, I did not have to change them.

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