Crazyswarm2 fails to connect to crazyflie when launching launch.py

[AnassQach]

I'm using ROS2-Galactic, Crazyswarm2 on Ubuntu 20.04. The Cfclient has no problem connecting to the crazyflie. See Screenshot:

But when i launch the Crazyswarm sim, the cf doesn't seem to appear on rviz.

Any help or tipp will be much appreciated. I'm kinda new to this.

my crazyflies.yaml:

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named list of all robots

robots: cf231: enabled: false uri: radio://0/80/2M/E7E7E7E7E7 initial_position: [0, 0, 0] type: cf21 # see robot_types

firmware_params:

#   kalman:
#     pNAcc_xy: 1.0 # default 0.5
# firmware_logging:
#   enabled: true
#   custom_topics:
#     topic_name3: 
#       frequency: 1
#       vars: ["acc.x", "acc.y"]

cf5: enabled: true uri: radio://0/80/2M/E7E7E7E705 initial_position: [0, 0, 0] type: cf21 # see robot_types

firmware_params:

#   kalman:
#     pNAcc_xy: 1.0 # default 0.5
#firmware_logging:
#  custom_topics:
#    topic_name3: 
#      frequency: 1
#      vars: ["acc.x", "acc.y", "acc.z"]

Definition of the various robot types

robot_types: cf21: motion_capture: enabled: true

only if enabled; see motion_capture.yaml

  marker: default_single_marker
  dynamics: default
big_quad: false
battery:
  voltage_warning: 3.8  # V
  voltage_critical: 3.7 # V
# firmware_params:
#   kalman:
#     pNAcc_xy: 1.0 # default 0.5
#firmware_logging:
#   enabled: true
#   default_topics:
#   pose:
#     frequency: 1 # Hz
#   custom_topics:
#    topic_name3: 
#      frequency: 1
#      vars: ["acc.x", "acc.y", "acc.z"]

cf21_mocap_deck: motion_capture: enabled: true

only if enabled; see motion_capture.yaml

  marker: mocap_deck
  dynamics: default
big_quad: false
battery:
  voltage_warning: 3.8  # V
  voltage_critical: 3.7 # V

# firmware_params:
#   kalman:
#     pNAcc_xy: 1.0 # default 0.5

global settings for all robots

all:

firmware logging for all drones (use robot_types/type_name to set per type, or

robots/drone_name to set per drone)

firmware_logging: enabled: false default_topics:

remove to disable default topic

  pose:
    frequency: 10 # Hz
#custom_topics:
#  topic_name1:
#    frequency: 10 # Hz
#    vars: ["stateEstimateZ.x", "stateEstimateZ.y", "stateEstimateZ.z", "pm.vbat"]
#  topic_name2:
#    frequency: 1 # Hz
#    vars: ["stabilizer.roll", "stabilizer.pitch", "stabilizer.yaw"]

firmware parameters for all drones (use robot_types/type_name to set per type, or

robots/drone_name to set per drone)

firmware_params: commander: enHighLevel: 1 stabilizer: estimator: 2 # 1: complementary, 2: kalman controller: 2 # 1: PID, 2: mellinger

ring:

#   effect: 16 # 6: double spinner, 7: solid color, 16: packetRate
#   solidBlue: 255 # if set to solid color
#   solidGreen: 0 # if set to solid color
#   solidRed: 0 # if set to solid color
#   headlightEnable: 0
locSrv:
  extPosStdDev: 1e-3
  extQuatStdDev: 0.5e-1
# kalman:
#   resetEstimation: 1

broadcasts: num_repeats: 15 # number of times broadcast commands are repeated delay_between_repeats_ms: 1 # delay in milliseconds between individual repeats

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[whoenig]

You can connect to your drone, but your setting is to track it using a motion capture system. However, you do not receive data from your motion capture. Perhaps check your setting in motion_capture.yaml, or provide some background on how you want to track your drone so we can give some more guidance on what parameters to adjust.

[AnassQach]

Thank you for the response, i'm not using a motion capture system. Only Drone, Flowdeck and Radio dongle. But i fixed the problem. my firmware logging was disabled. Now it works, i can see the cf in rviz.

[whoenig]

Great - thanks for your feedback.

[HWMathSEU]

Thank you for the response, i'm not using a motion capture system. Only Drone, Flowdeck and Radio dongle. But i fixed the problem. my firmware logging was disabled. Now it works, i can see the cf in rviz.

Hi Whoening, I currently meet the same problem. Can you explain more details? Thank you very much

[knmcguire]

@HWMathSEU since this issue is already closed, could you ask your question on https://github.com/IMRCLab/crazyswarm2/discussions ? That is the right place for support