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USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
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ESTKALMAN: State out of bounds, resetting,TF error #756

Closed ddwy closed 12 months ago

ddwy commented 1 year ago

I have two CFs with Loco Positioning Deck,cf1,cf2. I select the `motion_capture_type" to be "None". In my launch file, set enable_logging and enable_logging_pose both to True.

crazyflie.yaml

crazyflies:
- channel: 80
  id: 1
  initialPosition:
  - 1.5
  - 1.5
  - 0.0
  type: default
- channel: 80
  id: 2
  initialPosition:
  - 1.5
  - 1.0
  - 0.0
  type: default

When I launch the hover_swarm.launch, it will print the following statement:ESTKALMAN: State out of bounds, resetting.And the TF displayed by rviz jumps back and forth.

hello_world.py can only control a single crazyflie, how can I control multiple drones?