[base][mocap]: add an option "enable_optitrack: true".

[Li-Jinjie]

If this option is not set, the first connection can be made. But once you shutdown this connection, maintain roscore in one computer, and try to do another "roslaunch aerial_robot_base mocap.launch", the connection always fails. The only way is to shutdown the roscore and do roslaunch again.

Add this option can fix the problem mentioned above. Tested in 0066.

[tongtybj]

It sounds wired...
Becuase enable_optitrack is always true as default:
https://github.com/ros-drivers/mocap_optitrack/blob/master/src/mocap_config.cpp#L69

Can you dump the value of this variable when you run the node, and compare the results between with and without your patch?

[Li-Jinjie]

OK, I will test it on Monday.

[Li-Jinjie]

If we don't set this value, for the first run, the enableOptitrack can be set to 1 by default.

[ WARN] [1724039169.350641447]: Could not get enable optitrack, using default: 1
[ WARN] [1724039169.352661334]: Could not get server version, using auto
[ WARN] [1724039169.353305319]: Failed to parse odom for body 1. Odom publishing disabled.
[ WARN] [1724039169.353321242]: Failed to parse tf for body ``. Tf publishing disabled.
[ WARN] [1724039169.353328661]: tf is not found in the configtf for body 1. TF publishing disabled.
[ERROR] [1724039169.356911610]: serverDescription.enableOptitrack: 0
[ WARN] [1724039169.356936564]: enableOptitrack is False. Initialization is uncompleted.
[ERROR] [1724039169.357799937]: serverDescription.enableOptitrack: 1
[ WARN] [1724039170.358444244]: Client has not received server info request. Parsing data message aborted.
[ WARN] [1724039170.361970986]: NATNet Version : 4.1.0.0
[ WARN] [1724039170.361994939]: Server Version : 3.1.1.1
[ WARN] [1724039170.364784255]: Initialization is completed.
[ WARN] [1724039170.364800823]: Running...

However, for the second run, the enableOptitrack cannot be set to 1.

[ WARN] [1724039177.062203546]: Could not get server version, using auto
[ WARN] [1724039177.062884631]: Failed to parse odom for body 1. Odom publishing disabled.
[ WARN] [1724039177.062895496]: Failed to parse tf for body ``. Tf publishing disabled.
[ WARN] [1724039177.062905874]: tf is not found in the configtf for body 1. TF publishing disabled.
[ERROR] [1724039177.065013813]: serverDescription.enableOptitrack: 0
[ WARN] [1724039177.065023648]: enableOptitrack is False. Initialization is uncompleted.
[ERROR] [1724039177.065863651]: serverDescription.enableOptitrack: 0
[ WARN] [1724039177.065871082]: enableOptitrack is False. Initialization is uncompleted.
[ WARN] [1724039177.065877737]: Running...

I guess this situation may be related to the default value of cfg: https://github.com/ros-drivers/mocap_optitrack/blob/master/cfg/MocapOptitrack.cfg#L5

[tongtybj]

@Li-Jinjie

Thank you for your analysis!

This PR works for us (and I will merge latter), but I also think it might be better to directly correct the default value in cfg which can benefit for all users.

[Li-Jinjie]

@Li-Jinjie

Thank you for your analysis!

This PR works for us (and I will merge latter), but I also think it might be better to directly correct the default value in cfg which can benefit for all users.

I have created a PR here: ros-drivers/mocap_optitrack#84

[tongtybj]

@Li-Jinjie

Perfect!