Lose track of subject about motion_capture_system HOT 1 CLOSED

Hi,

Sorry for the late reply.

1. I think the warnings is because there are really some frames that are lost. Note that for every lost frame, the driver will post a warning saying lose track of the object. For situations like a single frame lost, it may not directly reflected on mocap software provided by qualisys, but it will generate a warning by the driver. Given the size of a crazyfile, I think it is not uncommon to lose a few frames per sec. I suggest you use "rostopic hz" to check the actual frequency that the driver publishes, and see if you can tolerate with that.
2. That is actually a bug. You can change "base_port" to "server_base_port" in qualisys.launch for the moment. Then you can specify the base port in the launch file. I will fix the software tmr.
3. I am not sure of this. I think the port is with the software provided by qualisys, which specifies to and from which process, the msgs should be routed. It is not decided on the driver side.
4. The driver publishes msgs of type nav_msgs/Odometry, which contains 6DOF with quaternion.

Hope that helps.

from motion_capture_system.