quadsim issue

[Omikaa]

can't find /learning/BC_experts/MPPI. In DATT, there is no 'learning' folder in quadsim.

[Rwik2000]

Hey,

I am currently updating both the repos. It will be up by this weekend.

Sorry for the delay. Thank you for your patience!

[Omikaa]

ok , thank you for your reply

[Rwik2000]

Hey,

Can you please check now and let me know. DATT, MPPI and PID should work.

I will add support for L1 adaptation and RMA.

[Omikaa]

OK， I will try it.

[Omikaa]

I find that there is a mistake in uw_cf.py which is I have updated the DATT repo and DATT_crazyswarm, I have no idea there is a mistake.But I guess this code is mean to import DATT_config from DATT.configuration.

[Rwik2000]

Can you please check now. I forgot to add cf.py config file in the DATT repo.

Thanks for point out.

Let me know if you face any issue, and feel free to reopen the issue.

[Omikaa]

Thank you. Now I can correctly run the uw_cf.py in simulation. But it can't succeed in reality. Usually, I should modify the hover_swarm.launch file and crazyflies.yaml file first. Then, open a terminal to launch the hover_swarm.launch to see cf in rviz. Finally, I can run scripts. But, In DATT, should I also launch the hover_swarm file or custom_hover_swarm file.And what difference is between custom file and original file. Which one should I modify?

[Rwik2000]

I think I did not add this to readme, you should launch the custom_swarm.launch

There are many differences. When you do custom_swarm.launch, internally it uses our custom lower level PID controller instead of the default mellinger controller

[Rwik2000]

Hey @Omikaa Were you able to run one of the DATT models? Let me know if you face any issue.