Problems on run Crazyswarm with Qualisys Mocap

[XinLong-Li]

When I runroslaunch crazyswarm hover_swarm.launch, I got this error:

[ INFO] [1706010022.280986255]: libmotioncapture connecting to qualisys at hostname '192.168.254.1' - might block indefinitely if unreachable!
terminate called after throwing an instance of 'std::runtime_error'
  what():  Error connecting QTM on address: 192.168.254.1:22222
[crazyswarm_server-2] process has died [pid 218281, exit code -6, cmd /home/lxl/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/lxl/.ros/log/308ee09a-b9e4-11ee-8045-cd61758fd0f1/crazyswarm_server-2.log].
log file: /home/lxl/.ros/log/308ee09a-b9e4-11ee-8045-cd61758fd0f1/crazyswarm_server-2*.log

I have used the right IP, and my crazyswarm computer can also ping this IP sucessfully. And my QTM version is 2023.2.

My configuration in hover_swarm.launch is shown as below:

motion_capture_type: "qualisys" # one of none,vicon,optitrack,optitrack_closed_source,qualisys,vrpn
object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker
send_position_only: False # set to False to send position+orientation; set to True to send position only
motion_capture_host_name: "192.168.254.1"

Base on these information, can someone give me a little bit help? Thanks!

[whoenig]

Could you check if https://github.com/IMRCLab/libmotioncapture works for you?