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USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
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How to get IMU data from crazyflie-firmware? #719

Closed Rwik2000 closed 1 year ago

Rwik2000 commented 1 year ago

I want to get real time IMU data from the crazflie-firmware. Is there any method to expose the sensor data from the firmware to the crazyswarm interface?

knmcguire commented 1 year ago

You can use the generic logging block functionality.

Just fill in these lines with the log variables that you want: https://github.com/USC-ACTLab/crazyswarm/blob/beb05492eaf226462631545bf5972199099267c2/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L11-L13

(probably stateEstimate.roll/pitch/yaw. )

And enable logging with True https://github.com/USC-ACTLab/crazyswarm/blob/beb05492eaf226462631545bf5972199099267c2/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L44

Mind that the roll pitch yaw might already be accessible with the pose logging too.

Just a note, if you don't have to use ROS1 I would recomment you to go to the ROS2 port of crazyswarm2 as that will be more actively maintained: https://imrclab.github.io/crazyswarm2/