knmcguire
commented
1 year ago Hi!
I can help out with at least the logging part. Your script is giving an error because it is sayint that your crazyflie does not have the following log variable in the firmware: ctrltarget.x. Have you updated the Crazyflie firmware as the instructions indicate? https://crazyswarm.readthedocs.io/en/latest/configuration.html
The server needs to stay alive in order to run any other scripts so yes it is important.
And yes you need a positioning of some kind, Your Crazyflie will either not take off properly or crash to the ceiling. It is PID with a feedback loop so that is really necessary.
I believe that there is an emergency service in ROS that you can call upon?
Crazyswarm1 is no longer being maintained regurally so I do advise you to switch to Crazyswarm2 if you can. https://imrclab.github.io/crazyswarm2/
jsuh9
Hi, I am following this tutorial (https://crazyswarm.readthedocs.io/en/latest/tutorials/tutorials.html).
My system is: Ubuntu 20.04.6 LTS / Ros-Noetic
I am testing a single crazyflie, and I think I followed configurations correctly according to the tutorial with the proper channel and ID (checked in cfclient), and specified them in the .yaml files.
When I run
roslaunch crazyswarm hover_swarm.launch
I get the following error:
I could get around this issue by changing a line within hover_swarm.launch, specifically,
I am not sure if this is critical for the hello_world.py to work properly but this was the only way I found to not get the error above. Are there other proper ways to get around this issue?
With this temporary fix, I was able to run hello_world.py, but I am not observing the expected behavior (as in the simulation). One of my crazyflies starts up but does not lift up vertically (and eventually crashes to the ground because it tries to fly horizontally). The other one starts up and lift up okay but starts drifting into one direction horizontally without staying in the same (X,Y) position. Also behavior is slightly different (for the same code hello_world.py) every time I re-start the crazyflies.
Is the hovering within hello_world.py an open-loop control? By the way, at the moment, I am not using any position estimation system (no vicon nor LPS setup yet).
Also, how can I stop the crazyflie (emergency stop) within the hover_swarm.launch? Sometimes it crashes badly and I am concerend about the damage.
Any help is appreciated, thank you in advance.