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USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
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Cannot use cmdVel #264

Closed KeithChen-DeityShallFall closed 3 years ago

KeithChen-DeityShallFall commented 4 years ago

I tried to send roll ,pitch, thrust directly to the cf, so I use cmdVel() to approach this thing. But everytime I tried to run my script it always says " AttributeError: Crazyflie instance has no attribute 'cmdVel' " Could you help me with that? Here's my script

!/usr/bin/env python

import numpy as np

from pycrazyswarm import *

if name == "main": swarm = Crazyswarm() timeHelper = swarm.timeHelper allcfs = swarm.allcfs for cf in allcfs.crazyflies: cf.cmdVel(0,0,0,40) timeHelper.sleep(3)

jpreiss commented 4 years ago

It sounds like you are using an old version of Crazyswarm.

ThomasCarstens commented 4 years ago

After updating the repo to the latest version, I was able to use it on a real drone. Also be aware those are low level commands - more instructions for use are found in the API documentation :P

KeithChen-DeityShallFall commented 4 years ago

Thank you! I will try to fix it! By the way, is there other method to upload thrust, pitch abd roll directly to the drone?

---Original--- From: "Thomas Carstens"<notifications@github.com> Date: Sun, Oct 25, 2020 00:27 AM To: "USC-ACTLab/crazyswarm"<crazyswarm@noreply.github.com>; Cc: "Author"<author@noreply.github.com>;"KeithChen-DeityShallFall"<978750164@qq.com>; Subject: Re: [USC-ACTLab/crazyswarm] Cannot use cmdVel (#264)

After updating the repo to the latest version, I could use it on a real drone. Also be aware those are low level commands - more instructions for use are found in the API documentation :P

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KeithChen-DeityShallFall commented 4 years ago

Hi, I uploaded the repo yesterday, and the error about "no attribute" has been solved , when I use cmdVel(), I also use rostopic echo /cf2/cmd_vel to monitor the order. It shows that some order has published to the drone, but the drone do not move, even if I have given thrust of 2^16 to the drone. Can you show me your code about using it on a real drone? Thank you!! capture

whoenig commented 4 years ago

I think the firmware has a thrust lock: the first few messages need to send all zeros, otherwise future messages are ignored.

jpreiss commented 3 years ago

@KeithChen-DeityShallFall did sending a few messages of all zeros fix the problem?

jpreiss commented 3 years ago

closing due to inactivity.

adolhongping commented 3 years ago

Hi, I uploaded the repo yesterday, and the error about "no attribute" has been solved , when I use cmdVel(), I also use rostopic echo /cf2/cmd_vel to monitor the order. It shows that some order has published to the drone, but the drone do not move, even if I have given thrust of 2^16 to the drone. Can you show me your code about using it on a real drone? Thank you!! capture

Hello, I have the same question, do you have solved it?

whoenig commented 3 years ago

This is was closed @adolhongping. You can open a new discussion, if you still need help.

jc-bao commented 1 year ago

I have encountered the same issue here. As Wolfgang mentioned, the problem can be resolved by sending a series of zero commands before sending the actual control command.

BTW, you seem to send 65536, which is out of [0, 2^16). Could it also be the reason?

powehi2020 commented 1 year ago

After updating the repo to the latest version, I was able to use it on a real drone. Also be aware those are low level commands - more instructions for use are found in the API documentation :P

hi~ what version have you updated? crazyswarm? or crazyflie firmware? do you still remenber the specific version? like 1.0.1 . thk u~

powehi2020 commented 1 year ago

I have encountered the same issue here. As Wolfgang mentioned, the problem can be resolved by sending a series of zero commands before sending the actual control command.

BTW, you seem to send 65536, which is out of [0, 2^16). Could it also be the reason?

hi~ do you use crazyswarm? but, it does not show the topic cmdVel in the topic list. am i do something wrong? or can you show your more details? thk u~

jc-bao commented 1 year ago

I have encountered the same issue here. As Wolfgang mentioned, the problem can be resolved by sending a series of zero commands before sending the actual control command. BTW, you seem to send 65536, which is out of [0, 2^16). Could it also be the reason?

hi~ do you use crazyswarm? but, it does not show the topic cmdVel in the topic list. am i do something wrong? or can you show your more details? thk u~

Yes, I can. You are expected to see the topic after you start the crazyswarm server and run any control script.

cwsung commented 10 months ago

hi~ do you have example code of use cmdVel give linear velocity commend to the cf? I'm currently trying to use cmdVel give linear velocity commend to the cf. but even though I give series of zero commands before sending the actual control command, cf is not move at all and after loop is over, script just ended..

here is my script

import numpy as np from pycrazyswarm import *

swarm = Crazyswarm() timeHelper = swarm.timeHelper allcfs = swarm.allcfs start = timeHelper.time() print(start) now = timeHelper.time() print(now-start) while 0 <= now - start <= 0.1: for cf in allcfs.crazyflies: cf.cmdVel(0,0,0,0) now = timeHelper.time()

now = timeHelper.time() print(now-start) while 0.1 <= now - start <= 2.1: for cf in allcfs.crazyflies: cf.cmdVel(0,0,0,60000) now = timeHelper.time() print(now-start) now = timeHelper.time() while 2.1<= now - start <= 9: for cf in allcfs.crazyflies: cf.cmdVel(0, 5, 0, 40000) now = timeHelper.time() print(now-start)