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USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
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Autonomous flight using the ROS packages and Flow Deck #237

Closed santiagorg2401 closed 3 years ago

santiagorg2401 commented 4 years ago

Hi, I followed the steps in https://crazyswarm.readthedocs.io/en/latest/usage.html, but I have a problem, by the moment I am using Flow Deck but the goal is to use LPS, so after tagging the Crazyflies with 1,2,3,4,..., A, B, and writing them in allCrazyflies.yaml crazyflies:1 ... crazyflies : 10 ... and so on The GUI chooser.py shows me this error when clicking any button: [rospack] Error: package 'crazyflie_tools' not found Exception in Tkinter callback Traceback (most recent call last): File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 1550, in call return self.func(*args) File "chooser.py", line 213, in checkBattery voltage = subprocess.check_output(["rosrun crazyflie_tools battery --uri " + uri], shell=True) File "/usr/lib/python2.7/subprocess.py", line 223, in check_output raise CalledProcessError(retcode, cmd, output=output) CalledProcessError: Command '['rosrun crazyflie_tools battery --uri radio://0/80/2M/E7E7E7E708']' returned non-zero exit status 2

Then, when I try to fly the drone with (for example) niceHover.py, first I run the crayswarm server auto-starting new master process[master]: started with pid [9403] ROS_MASTER_URI=http://localhost:11311

setting /run_id to d6b7ebd0-c611-11ea-bc79-181deab367da process[rosout-1]: started with pid [9414] started core service [/rosout] process[crazyswarm_server-2]: started with pid [9421] ERROR: cannot launch node of type [joy/joy_node]: joy ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/santiagorg2401/crazyflie/crazyswarm/ros_ws/src ROS path [2]=/opt/ros/melodic/share process[crazyswarm_teleop-4]: started with pid [9422] process[rviz-5]: started with pid [9423] [ INFO] [1594759051.849131804]: Wait for services... [ INFO] [1594759051.851109082]: waitForService: Service [/emergency] has not been advertised, waiting... [ INFO] [1594759051.918606844]: waitForService: Service [/emergency] is now available. ch: 1 [ INFO] [1594759051.932975640]: Manager ready. terminate called after throwing an instance of 'XmlRpc::XmlRpcException' [crazyswarm_server-2] process has died [pid 9421, exit code -6, cmd /home/santiagorg2401/crazyflie/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/santiagorg2401/.ros/log/d6b7ebd0-c611-11ea-bc79-181deab367da/crazyswarm_server-2.log]. log file: /home/santiagorg2401/.ros/log/d6b7ebd0-c611-11ea-bc79-181deab367da/crazyswarm_server-2*.log

And finally in another terminal window, the niceHover.py Traceback (most recent call last): File "niceHover.py", line 9, in swarm = Crazyswarm() File "/home/santiagorg2401/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyswarm.py", line 43, in init import crazyflie File "/home/santiagorg2401/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyflie.py", line 12, in from crazyflie_driver.srv import * ImportError: No module named crazyflie_driver.srv

I do not really know why is those errors happening, please let me know if I am forgetting to do/execute something or if you have any idea to help. Thank you all, have a nice day

whoenig commented 4 years ago

For your first problem, make sure you source your ROS workspace (source ~/crazyswarm/ros_ws/source/devel.sh) in every terminal that you use. For your second problem, there seems to be an issue with the formatting of your configuration files (either hover_swarm.launch or crazyflies.yaml) -- please post/attach the files here.

santiagorg2401 commented 4 years ago

crazyflies.yaml crazyflies:

-hover_swarm.launch

<?xml version="1.0"?>

world_frame: "/world" # Logging configuration (Use enable_logging to actually enable logging) genericLogTopics: ["log1"] genericLogTopicFrequencies: [10] genericLogTopic_log1_Variables: ["stateEstimate.x", "ctrltarget.x"] # firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or # allCrazyflies.yaml to set per drone) firmwareParams: 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 # tracking motion_capture_type: "none" # one of none,vicon,optitrack,qualisys,vrpn object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker send_position_only: False # set to False to send position+orientation; set to True to send position only vicon_host_name: "vicon" # optitrack_host_name: "optitrack" # qualisys_host_name: "10.0.5.219" # qualisys_base_port: 22222 # vrpn_host_name: "vicon" save_point_clouds: ~/pointCloud.ot print_latency: False write_csvs: False force_no_cache: False enable_parameters: True enable_logging: False
whoenig commented 4 years ago

Please use "insert code" in the toolbar, or upload the files somewhere and share the link. The configuration is whitespace sensitive, so I can't tell if there is an issue from your previous comment.

santiagorg2401 commented 4 years ago

Files.zip

whoenig commented 4 years ago

The only thing I spot is the initialPosition in crazyflies.yaml. I remember there being a parsing bug in ROS that requires this to be a floating point number, i.e., [0.0, 0.0, 0.0] rather than [0, 0, 0.0].

santiagorg2401 commented 4 years ago

image Terminal 1. santiagorg2401@santiagorg2401-G7-7588:~$ source crazyflie/crazyswarm/ros_ws/devel/setup.bash santiagorg2401@santiagorg2401-G7-7588:~$ python crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/chooser.py timeout Exception in Tkinter callback Traceback (most recent call last): File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 1550, in __call__ return self.func(*args) File "crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/chooser.py", line 213, in checkBattery voltage = subprocess.check_output(["rosrun crazyflie_tools battery --uri " + uri], shell=True) File "/usr/lib/python2.7/subprocess.py", line 223, in check_output raise CalledProcessError(retcode, cmd, output=output) CalledProcessError: Command '['rosrun crazyflie_tools battery --uri radio://0/80/2M/E7E7E7E706']' returned non-zero exit status 1 6 timeout timeout Exception in Tkinter callback Traceback (most recent call last): File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 1550, in __call__ return self.func(*args) File "crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/chooser.py", line 213, in checkBattery voltage = subprocess.check_output(["rosrun crazyflie_tools battery --uri " + uri], shell=True) File "/usr/lib/python2.7/subprocess.py", line 223, in check_output raise CalledProcessError(retcode, cmd, output=output) CalledProcessError: Command '['rosrun crazyflie_tools battery --uri radio://0/80/2M/E7E7E7E706']' returned non-zero exit status 1 Flash STM32 FW to radio://0/80/2M/E7E7E7E706 timeout santiagorg2401@santiagorg2401-G7-7588:~$ python crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/chooser.py Terminal 2. `santiagorg2401@santiagorg2401-G7-7588:~$ source crazyflie/crazyswarm/ros_ws/devel/setup.bash santiagorg2401@santiagorg2401-G7-7588:~$ roslaunch crazyswarm hover_swarm.launch ... logging to /home/santiagorg2401/.ros/log/3456f9ce-cdbb-11ea-ab55-181deab367da/roslaunch-santiagorg2401-G7-7588-5535.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://santiagorg2401-G7-7588:46631/

SUMMARY

PARAMETERS

NODES / crazyswarm_server (crazyswarm/crazyswarm_server) crazyswarm_teleop (crazyswarm/crazyswarm_teleop) joy (joy/joy_node) rviz (rviz/rviz)

auto-starting new master process[master]: started with pid [5547] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3456f9ce-cdbb-11ea-ab55-181deab367da process[rosout-1]: started with pid [5558] started core service [/rosout] process[crazyswarm_server-2]: started with pid [5565] ERROR: cannot launch node of type [joy/joy_node]: joy ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/santiagorg2401/crazyflie/crazyswarm/ros_ws/src ROS path [2]=/opt/ros/melodic/share process[crazyswarm_teleop-4]: started with pid [5566] process[rviz-5]: started with pid [5568] [ INFO] [1595601452.053808269]: Wait for services... [ INFO] [1595601452.055580089]: waitForService: Service [/emergency] has not been advertised, waiting... [ INFO] [1595601452.206348997]: waitForService: Service [/emergency] is now available. [ INFO] [1595601452.221361957]: Manager ready. ch: 1 [ INFO] [1595601452.235945328]: Adding CF: cf6 (radio://0/80/2M/E7E7E7E706, cf6)... terminate called after throwing an instance of 'std::runtime_error' what(): timeout [crazyswarm_server-2] process has died [pid 5565, exit code -6, cmd /home/santiagorg2401/crazyflie/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server name:=crazyswarm_server __log:=/home/santiagorg2401/.ros/log/3456f9ce-cdbb-11ea-ab55-181deab367da/crazyswarm_server-2.log]. log file: /home/santiagorg2401/.ros/log/3456f9ce-cdbb-11ea-ab55-181deab367da/crazyswarm_server-2*.log Terminal 3 santiagorg2401@santiagorg2401-G7-7588:~$ source crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/niceHover.py import-im6.q16: not authorized np' @ error/constitute.c/WriteImage/1037. from: can't read /var/mail/pycrazyswarm Z: orden no encontrada bash: crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/niceHover.py: línea 9: error sintáctico cerca del elemento inesperado(' bash: crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/niceHover.py: línea 9: ` swarm = Crazyswarm()' santiagorg2401@santiagorg2401-G7-7588:~$ source crazyflie/crazyswarm/ros_ws/devel/setup.bash santiagorg2401@santiagorg2401-G7-7588:~$ python crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/niceHover.py Traceback (most recent call last): File "crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/niceHover.py", line 9, in swarm = Crazyswarm() File "/home/santiagorg2401/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyswarm.py", line 36, in init__ crazyflies_yaml = open(crazyflies_yaml, 'r').read() IOError: [Errno 2] No such file or directory: '../launch/crazyflies.yaml' `

whoenig commented 4 years ago
santiagorg2401 commented 4 years ago

I will try again when being in the lab and I will post the results. My brother is covid-19 suspect, so I have to wait for his results. Thank you for answering Mr. Whönig

santiagorg2401 commented 4 years ago

Hi, I re-installed all the packages, and this is what happens: image Checking the address witch cfclient: image

santiagorg2401 commented 4 years ago

Update: The battery button is still not working but I could make them fly, but there are 2 problems, sometimes Rviz does not connect to the Crazyflie and it takes several tries until it connects, and many times when the Crazyflie starts flying, it just goes anywhere out the trajectory and crashes

whoenig commented 4 years ago

Also, I hope both you and your brother are fine and Covid-free!

santiagorg2401 commented 4 years ago

Hi, For the firmware updating I am using the cfclient GUI app, is that ok? For the estimators, do I have to type them on the Python code in crazyswarm/ros_ws/src/crazyswarm/scripts ? I will attach a screenshot (of the Rviz issue) when being in the laboratory. Thank you for your hopes, and yes, we are covid free.