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OPT4SMART / crazychoir

Flying Swarms of Crazyflie Quadrotors in ROS 2
https://opt4smart.github.io/crazychoir/
GNU General Public License v3.0
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Strange trajectories in the "drawing" experiments #8

Closed dbortoluzzi closed 10 months ago

dbortoluzzi commented 1 year ago

Hi, I'm trying to follow your instructions to "draw" a circle, but the drone moves using a strange trajectory. But I don't know if there are some problems :) e.g. wrong perspective I attached a video. https://github.com/OPT4SMART/crazychoir/assets/13414501/936e59eb-e599-4e18-b482-850b8f8b473a

PS: I have tried also to click to "TAKE OFF" before to click to "FLY".

Thank you very much!

Best regards, Daniele

lorenzopichierri commented 11 months ago

Hi dbortoluzzi!

It appears that the issue is related to the acceleration profile of the trajectory (red line). I recommend increasing the interpolation distance to achieve a smoother trajectory. Additionally, make sure to initiate the trajectory execution (by pressing 'FLY') after completing the takeoff, as the trajectories are designed to be executed on the x-y plane. This should help address the problem you're experiencing. If you have any further questions or need additional assistance, feel free to ask!