Enable collision avoidence

[Mardank]

Hey all,

currently, I'm trying to set up crazyswarm on my system. We are using lighthouse V1 setup with the crazyflie(2.1). I have been able to set up and successfully fly with more than two drones. Now I want to test the onboard collision avoidance with two or more drones. Down below there is a little demo to test the onboard collision avoidance feature. Unfortunately, the collision avoidance didn't work in the experiments. However, in the simulation it works as intended.

Is there anything special I have to be aware of when using it?

Kind regards, Markus

#!/usr/bin/env python

import numpy as np
from pycrazyswarm.crazyswarm_py import Crazyswarm 

Z = 0.5  # Takeoff altitude.

def main():
    swarm = Crazyswarm()
    timeHelper = swarm.timeHelper
    allcfs = swarm.allcfs
    cfs =  allcfs.crazyflies

    swarm.allcfs
    cf_one = cfs[0]
    cf_two = cfs[1]

    cf_one.enableCollisionAvoidance([cf_two], np.array([0.3, 0.3, 0.4]))
    cf_two.enableCollisionAvoidance([cf_one], np.array([0.3, 0.3, 0.4]))

    allcfs.takeoff(targetHeight=Z, duration=2.0)

    timeHelper.sleep(4)

    cf_one.goTo(cf_two.position(), 0, 6)
    cf_two.goTo(cf_one.position(), 0, 6)

    timeHelper.sleep(7)

    allcfs.land(targetHeight=0.06, duration=2.0)

    timeHelper.sleep(3)

if __name__ == "__main__":
    main()

[sAz-G]

Hi,

I am having the same problem. I am also using the V1 system and the same Crazyflies. However, I just tried to run the provided script collisionAvoidance.py and it did not work. The drones fly, but it does not look like they are avoiding each other.

I followed the installation instructions on this website and configured the system accordingly.

[jpreiss]

for collision avoidance to occur, the CFs must be on the same radio channel.