Server crashes: can't find supervisor.info in log toc

[jakeelkins]

Hello all,

I currently have CF2 installed on Ubuntu 22.04.2 for use with one Crazyflie 2.1, talking to a Optitrack mocap system via Motive on another machine, transmitting with a Crazyradio 2.0 on the Ubuntu machine. I currently have the crazyflie as an asset in my Motive system.

I have been trying to get the hello_world script going, but my server keeps crashing via the following error:

I'm pretty new to the Crazyflie ecosystem, so any help is appreciated. I have the mocap deck on my crazyflie. Here are my config files:

crazyflies.yaml:

# 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://0/5/2M/E7E7E7E705
    initial_position: [0, 0, 0]
    type: cf21_mocap_deck  # 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: false  # FALSE because I made it an asset in Motive. If not an asset, set to 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

# 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: true
    default_topics:
     # remove to disable default topic
      pose:
        frequency: 10 # Hz
      status:
        frequency: 1 # 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

motion_capture.yaml:

/motion_capture_tracking:
  ros__parameters:
    type: "optitrack"
    hostname: "192.168.137.1"

    mode: "libobjecttracker" # one of motionCapture,libRigidBodyTracker

    topics:
      poses:
        qos:
          mode: "sensor"
          deadline: 100.0 # Hz

    marker_configurations:
      default: # for standard Crazyflie
        offset: [0.0, 0.0, 0.0]
        points:
          p0: [   0.0,    0.0, 0.022]  # top
          p1: [-0.042,  0.042, 0.0  ]  # back left   (M3)
          p2: [-0.042, -0.042, 0.0  ]  # back right  (M2)
          p3: [ 0.042, -0.042, 0.0  ]  # front right (M1)
      default_single_marker:
        offset: [0.0, -0.01, -0.04]
        points:
          p0: [0.0177184,0.0139654,0.0557585]
      mocap_deck:
        offset: [0.0, 0.0, -0.01]
        points:
          p0: [0.029, 0.0, 0.0] # front
          p1: [0.00, -0.03, 0.0] # right
          p2: [-0.02, 0.0, 0.0] # back
          p3: [0.00, 0.026, 0.0] # left
          p4: [0.015, -0.015, ] # added my center one
      medium_frame:
        offset: [0.0, 0.0, -0.03]
        points:
          p0: [-0.00896228,-0.000716753,0.0716129]
          p1: [-0.0156318,0.0997402,0.0508162]
          p2: [0.0461693,-0.0881012,0.0380672]
          p3: [-0.0789959,-0.0269793,0.0461144]
      big_frame:
        offset: [0.0, 0.0, -0.06]
        points:
          p0: [0.0558163,-0.00196302,0.0945539]
          p1: [-0.0113941,0.00945842,0.0984811]
          p2: [-0.0306277,0.0514879,0.0520456]
          p3: [0.0535816,-0.0400775,0.0432799]

    dynamics_configurations:
      default:
        max_velocity: [2, 2, 3] # m/s
        max_angular_velocity: [20, 20, 10] # rad/s
        max_roll: 1.4 #rad
        max_pitch: 1.4 #rad
        max_fitness_score: 0.001

    # Rigid bodies will be automatically generated by the launch file
    # rigid_bodies:

(note: also not sure I did the mocap part correctly. I have a marker setup different from the default, as can be seen above. I saw on a previous issue to leave the mocap_enabled: false if the object is an asset in Motive)

Any help on getting the server to quit dying is appreciated. Thanks!

[whoenig]

This means that you use a pretty old firmware. Could you update to the latest official firmware?

[jakeelkins]

Was updating the firmware on my crazyradio and not the crazyflie itself. Thank you Dr. Hönig!