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USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
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Trouble running hover_swarm.launch #417

Closed tbaranoski closed 3 years ago

tbaranoski commented 3 years ago

I have the Crazyflie 2.1 with Crazyradio PA. I have flashed the newest firmware on the Crazyflie (I originally tried with the older firmware outlined in crazyswarm.readthedocs.io and had no success). I am using the Ubuntu 20.04 VM with ROS Noetic (full version). I do not have a motion capture system so I set motion_capture_type: "none" in hover_swarm.launch. I also changed js0 to js2 to match with my Xbox one controller in hover_swarm.launch. I have changed enable_logging: False to enable_logging: True. (M4 LED would only stay lit for 3 seconds when enable_logging was set to False when running hover_swarm) I have even changed the permissions for the controller following this guide: http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick

My crazyswarm workspace builds fine, however when I try:
roslaunch crazyswarm hover_swarm.launch nothing happens. The Crazyflie appears to be connected to the Crazyradio (M4 light is lit red/green) but the Crazyflie does not move and the Xbox One Controller will not work with it. I get no errors from the terminal. I am hoping to get some help troubleshooting this. The terminal output is shown below:

image

bitcraze@ubuntu:~/crazyswarm$ roslaunch crazyswarm hover_swarm.launch ... logging to /home/bitcraze/.ros/log/921008fc-e5ad-11eb-942f-4bcd6a5f9695/roslaunch-ubuntu-27698.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://ubuntu:38763/

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 [27711] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 921008fc-e5ad-11eb-942f-4bcd6a5f9695 process[rosout-1]: started with pid [27726] started core service [/rosout] process[crazyswarm_server-2]: started with pid [27733] process[joy-3]: started with pid [27734] process[crazyswarmteleop-4]: started with pid [27735] process[rviz-5]: started with pid [27736] [ INFO] [1626381922.546496953]: Wait for services... [ WARN] [1626381922.547206370]: Couldn't set gain on joystick force feedback: Bad file descriptor [ INFO] [1626381922.547745585]: waitForService: Service [/emergency] has not been advertised, waiting... [ INFO] [1626381922.548160505]: Opened joystick: /dev/input/js2 (Microsoft X-Box One pad). deadzone: 0.050000. [ INFO] [1626381922.568947547]: waitForService: Service [/emergency] is now available. [ INFO] [1626381922.570919483]: Manager ready. ch: 1 [ INFO] [1626381922.712153577]: Adding CF: cf1 (radio://0/100/2M/E7E7E7E701, cf1)... [ INFO] [1626381922.755996518]: CF ctor: 0.042615 s [ INFO] [1626381922.787500029]: [cf1] SYS: ---------------------------- [ INFO] [1626381922.808319083]: [cf1] SYS: Crazyflie 2.1 is up and running! [ INFO] [1626381922.830557199]: [cf1] SYS: Build 11:0864ef92245a (2021.03 +11) CLEAN [ INFO] [1626381922.862602372]: [cf1] SYS: I am 0x20383347344D50080030004D and I have 1024KB of flash! [ INFO] [1626381922.886075837]: [cf1] DECK_CORE: 2 deck(s) found [ INFO] [1626381922.908477997]: [cf1] DECK_CORE: Calling INIT on driver bcFlow2 for deck 0 [ INFO] [1626381922.918345425]: [cf1] ZR2: Z-down sensor [OK] [ INFO] [1626381922.941744172]: [cf1] PMW: Motion chip id: 0x49:0xB6 [ INFO] [1626381922.964189949]: [cf1] DECK_CORE: Calling INIT on driver bcMultiranger for deck 1 [ INFO] [1626381922.985593684]: [cf1] IMU: BMI088: Using I2C interface. [ INFO] [1626381923.020959915]: [cf1] IMU: BMI088 Gyro connection [OK]. [ INFO] [1626381923.042203941]: [cf1] IMU: BMI088 Accel connection [OK] [ INFO] [1626381923.064774649]: [cf1] IMU: BMP388 I2C connection [OK] [ INFO] [1626381923.088126145]: [cf1] ESTIMATOR: Using Kalman (2) estimator [ INFO] [1626381923.111552435]: [cf1] CONTROLLER: Using PID (1) controller [ INFO] [1626381923.133093243]: [cf1] MTR-DRV: Using brushed motor driver [ INFO] [1626381923.144797467]: [cf1] EEPROM: I2C connection [OK]. [ INFO] [1626381923.156634859]: [cf1] STORAGE: Storage check [OK]. [ INFO] [1626381923.179361514]: [cf1] IMU: BMI088 gyro self-test [OK] [ INFO] [1626381923.189624328]: [cf1] DECK_CORE: Deck 0 test [OK]. [ INFO] [1626381923.201396366]: [cf1] MR: Init front sensor [OK] [ INFO] [1626381923.213060262]: [cf1] MR: Init back sensor [OK] [ INFO] [1626381923.224824236]: [cf1] MR: Init up sensor [OK] [ INFO] [1626381923.236485462]: [cf1] MR: Init left sensor [OK] [ INFO] [1626381923.248364951]: [cf1] MR: Init right sensor [OK] [ INFO] [1626381923.258937577]: [cf1] DECK_CORE: Deck 1 test [OK]. [ INFO] [1626381923.283452316]: [cf1] STAB: Wait for sensor calibration... [ INFO] [1626381923.294115121]: [cf1] SYS: Free heap: 16352 bytes [ INFO] [1626381923.305776593]: [cf1] STAB: Ready to fly. [ INFO] [1626381923.327660450]: [cf1] , resetting [ INFO] [1626381923.348836432]: [cf1] Requesting parameters... [ INFO] [1626381923.780238727]: Found variables in cache. [ INFO] [1626381926.400499757]: [cf1] reqParamTOC: 3.644454 s (229 params) [ INFO] [1626381926.400537933]: [cf1] Requesting logging variables... [ INFO] [1626381926.429960570]: Found variables in cache. [ INFO] [1626381926.430676266]: [cf1] reqLogTOC: 0.030175 s [ INFO] [1626381926.495679669]: [cf1] logBlocks: 3.644454 s [ INFO] [1626381926.495709940]: Requesting memories... [ INFO] [1626381926.540126907]: Memories: 6 [ INFO] [1626381926.745026470]: [cf1] Ready. Elapsed: 3.988957 s [ INFO] [1626381926.745071170]: CF run: 3.989095 s update commander/enHighLevel to 1 update kalman/resetEstimation to 1 update locSrv/extPosStdDev to 0.001 update locSrv/extQuatStdDev to 0.05 update ring/effect to 16 update ring/headlightEnable to 0 update ring/solidBlue to 255 update ring/solidGreen to 0 update ring/solidRed to 0 update stabilizer/controller to 2 update stabilizer/estimator to 2 update ctrlMel/i_range_m_z to 1500 update ctrlMel/i_range_xy to 2 update ctrlMel/i_range_z to 2 update ctrlMel/kR_xy to 50000 update ctrlMel/kR_z to 60000 update ctrlMel/kd_omega_rp to 200 update ctrlMel/kd_xy to 1 update ctrlMel/kd_z to 1 update ctrlMel/ki_m_z to 500 update ctrlMel/ki_xy to 0.1 update ctrlMel/ki_z to 0.5 update ctrlMel/kp_xy to 2 update ctrlMel/kp_z to 3 update ctrlMel/kw_xy to 16000 update ctrlMel/kw_z to 12000 update ctrlMel/mass to 0.11 update ctrlMel/massThrust to 23000 [ INFO] [1626381926.756736557]: [cf1] Update parameters [ INFO] [1626381927.210656635]: [cf1] CONTROLLER: Using Mellinger (2) controller [ INFO] [1626381927.600737774]: Update params: 0.855633 s [ INFO] [1626381927.601114506]: Started 1 threads

tbaranoski commented 3 years ago

I should also add that I do not see the drone visual on RVIZ. image