[mocap_node]: Parameter qos_overrides./tf.publisher.durability not dynamically reconfigurable

[Berayksl]

I'm trying to run the mocap node on ROS2 but getting some errors. I am sure i=I set the multicast interface correctly as it is explained in the documentation.

After I run: ros2 launch mocap_optitrack mocap.launch.py

I get:

INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mocap_node-1]: process started with pid [11878]
[mocap_node-1] [WARN] [1717777968.194312755] [mocap_node]: Could not get server version, using auto
[mocap_node-1] [INFO] [1717777968.194413776] [mocap_node]: Creating socket...
[mocap_node-1] [INFO] [1717777968.194424415] [mocap_node]: Setting socket options...
[mocap_node-1] [INFO] [1717777968.194429009] [mocap_node]: Local address: 0.0.0.0:1511
[mocap_node-1] [INFO] [1717777968.194432270] [mocap_node]: Binding socket to local address...
[mocap_node-1] [INFO] [1717777968.194437284] [mocap_node]: Joining multicast group 239.255.42.99...
[mocap_node-1] [INFO] [1717777968.194447382] [mocap_node]: Enabling non-blocking I/O
[mocap_node-1] [WARN] [1717777969.195010955] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.195251833] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.195407340] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.195556878] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.195705593] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.195853863] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.196002788] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.196150859] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.196299455] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.196447798] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.196597382] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.196745698] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.196892946] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.197041073] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.197191273] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.197527525] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.197766967] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.197921254] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.198069933] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.198216390] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.198361730] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.198509655] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.198654677] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.198800398] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.198945680] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.199091072] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.199236012] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.199381085] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.199526669] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.199672148] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.199904054] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.200137772] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.200293860] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.200441949] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.200589793] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.200736876] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.200885056] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.201032054] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.201177502] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.201283027] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.201429323] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.201574722] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777969.201720446] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777970.202213602] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777970.202511308] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777970.202684935] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777970.202853099] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [WARN] [1717777970.203020055] [mocap_node]: Client has not received server info request. Parsing data message aborted.
[mocap_node-1] [INFO] [1717777970.203206098] [mocap_node]: NATNet Version : 3.1.0.0
[mocap_node-1] [INFO] [1717777970.203219067] [mocap_node]: Server Version : 2.2.0.0
[mocap_node-1] [INFO] [1717777970.203508031] [mocap_node]: Got parameter: '{qos_overrides./tf.publisher.durability, volatile}'
[mocap_node-1] [WARN] [1717777970.203526338] [mocap_node]: Parameter qos_overrides./tf.publisher.durability not dynamically reconfigurable
[mocap_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterValueException'
[mocap_node-1] what(): parameter 'qos_overrides./tf.publisher.durability' could not be set: Parameter is not dynamic reconfigurable
[ERROR] [mocap_node-1]: process has died [pid 11878, exit code -6, cmd '/home/bera/ros2_ws/install/mocap_optitrack/lib/mocap_optitrack/mocap_node --ros-args -r __node:=mocap_node --params-file /home/bera/ros2_ws/install/mocap_optitrack/share/mocap_optitrack/config/mocap.yaml']

I would really appreciate it if someone could help me with this

[Gerjen100]

Bit late of a respone, but check the PR i made.

[xwxing1229]

After adding

optitrack_config:
    version: [2, 2, 0, 0]

in the config file, the messages Client has not received server info request. Parsing data message aborted. disappeared. However, I still could not get anything running ros2 topic echo /Robot_1/pose. Do you have any update using this package with ROS2?

[Ghassan-Nafash]

is there any solution for this issue?

[Ghassan-Nafash]

i am trying to get mocap_optitrack running on ubuntu 24 and i have ros2 jazzy, but i keep getting the error [INFO] [1757455358.408169203] [mocap_node]: Got parameter: '{qos_overrides./tf.publisher.durability, volatile}'
[WARN] [1757455358.408185033] [mocap_node]: Parameter qos_overrides./tf.publisher.durability not dynamically reconfigurable
terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterValueException'
what(): parameter 'qos_overrides./tf.publisher.durability' could not be set: Parameter is not dynamic reconfigurable
when i call the command ros2 run with the config.yml

Thanks and best Regards

[tuananh0606-tech]

@Ghassan-Nafash I have gotten the same ploblem, Did you solve it?

[Ghassan-Nafash]

hi @tuananh0606-tech, yeah the issue was solved. you can clone the repo https://github.com/Gerjen100/mocap_optitrack/tree/humble-devel for hunmble branch, which should be working for jazzy. since i am using jazzy, it worked for me, i use optitrack with Motive version 2.0, it might be the case that you need to check the coordinate frame "ground plane coordinate frame" in Motive.