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[base][mocap]: add an option "enable_optitrack: true". #621
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…ption, the connection to mocap can be established only once.
It sounds wired... Can you dump the value of this variable when you run the node, and compare the results between with and without your patch? |
OK, I will test it on Monday. |
If we don't set this value, for the first run, the enableOptitrack can be set to 1 by default.
However, for the second run, the enableOptitrack cannot be set to 1.
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 |
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 |
Perfect! |
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.