search

gtfactslab / CrazySim

A Crazyflie simulator for testing CFLib Python code, ROS 2 nodes through Crazyswarm2, custom crazyflie-firmware modules, or perform a flight demo on the crazyflie-python-client.
GNU General Public License v3.0
72 stars 15 forks source link

colcon build --symlink-install error #5

Closed khunglong207 closed 7 months ago

khunglong207 commented 7 months ago

theshy@theshy7119:~/CrazySim$ cd ros2_ws colcon build --symlink-install Starting >>> crazyflie_interfaces Starting >>> motion_capture_tracking_interfaces Finished <<< motion_capture_tracking_interfaces [1.05s]
Starting >>> motion_capture_tracking Finished <<< crazyflie_interfaces [1.73s]
Starting >>> crazyflie_py Starting >>> crazyflie
Starting >>> crazyflie_sim Finished <<< motion_capture_tracking [0.89s]
Finished <<< crazyflie [1.03s]
--- stderr: crazyflie_sim
/home/theshy/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` directly.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
    ********************************************************************************

!! self.initialize_options()

Finished <<< crazyflie_sim [1.44s] --- stderr: crazyflie_py
/home/theshy/.local/lib/python3.10/site-packages/setuptools/command/develop.py:40: EasyInstallDeprecationWarning: easy_install command is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` and ``easy_install``.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://github.com/pypa/setuptools/issues/917 for details.
    ********************************************************************************

!! easy_install.initialize_options(self) /home/theshy/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` directly.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
    ********************************************************************************

!! self.initialize_options()

Finished <<< crazyflie_py [2.15s] Starting >>> crazyflie_examples Starting >>> crazyflie_mpc
--- stderr: crazyflie_examples
/home/theshy/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` directly.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
    ********************************************************************************

!! self.initialize_options()

Finished <<< crazyflie_examples [1.09s] --- stderr: crazyflie_mpc
/home/theshy/.local/lib/python3.10/site-packages/setuptools/command/develop.py:40: EasyInstallDeprecationWarning: easy_install command is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` and ``easy_install``.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://github.com/pypa/setuptools/issues/917 for details.
    ********************************************************************************

!! easy_install.initialize_options(self) /home/theshy/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` directly.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
    ********************************************************************************

!! self.initialize_options()

Finished <<< crazyflie_mpc [1.91s]

Summary: 8 packages finished [7.03s] 4 packages had stderr output: crazyflie_examples crazyflie_mpc crazyflie_py crazyflie_sim I'm trying to try the next steps of this pj but I'm getting an error in this part, can someone help me?

khunglong207 commented 7 months ago

@llanesc Then i try Start up the Firmware in the folder ~/CrazySim/crazyflie-firmware it work but then i try theshy@theshy7119:~/CrazySim/ros2_ws/src/crazyswarm2/crazyflie/launch$ ros2 launch crazyflie launch.py backend:=sim command show : Package 'crazyflie' not found: "package 'crazyflie' not found, searching: ['/opt/ros/humble']" i think because colcon build --symlink-install fall

llanesc commented 7 months ago

Did you run 

source install/setup.bash

from within ros2_ws folder? You need to do that every time you create a new terminal or you can put it in the ~/.bashrc folder to do it automatically. Take a look at the ROS 2 tutorials if you haven't yet.

khunglong207 commented 7 months ago

image yeah but i dont see my drone in RViz @llanesc I want to try your example, I want to test it according to your scenario.

llanesc commented 7 months ago

so when you ran:

source install/setup.bash

and the error Package 'crazyflie' not found: "package 'crazyflie' not found, searching: ['/opt/ros/humble']" was gone? Can you show the terminal? Have you ran just 1 drone?

llanesc commented 7 months ago

By default there will be 8 crazyflies enabled in this config file you need to comment out the cf_5 through cf_8 as well or set the enabled flag to false. Also you have 4 crazyflies and the real time factor is already 62% which may be a problem when you want to run the MPC. You typically want 80%+ to get good performance. You'd need a computer with higher specs or try to run 1-2 drones.

khunglong207 commented 7 months ago

@llanesc yes,the error Package 'crazyflie' not found: "package 'crazyflie' not found, searching: ['/opt/ros/humble']" was gone. I ran 4 drone for your file readme example, this image image image

llanesc commented 7 months ago

Try running just 1 drone and comment out the cf_2 through cf_8 in this config file.

khunglong207 commented 7 months ago

By default there will be 8 crazyflies enabled in this config file you need to comment out the cf_5 through cf_8 as well or set the enabled flag to false. Also you have 4 crazyflies and the real time factor is already 62% which may be a problem when you want to run the MPC. You typically want 80%+ to get good performance. You'd need a computer with higher specs or try to run 1-2 drones.

yeah, i turn off cf_5 through cf_8 is false from file yaml, i will try 1 or 2 drone, because my computer is not strong (i7 11800h, rtx 3060)

khunglong207 commented 7 months ago

@llanesc image i try 1 drone but rviz no show drone

llanesc commented 7 months ago

Can you show the other terminal? Looks like the drone is there. Zoom in because it's right under the world frame.

llanesc commented 7 months ago

To test it out try running this in a different terminal.

ros2 service call /all/takeoff crazyflie_interfaces/srv/Takeoff \                       
"{duration: {sec: 2.0}, height: 1.0}"
khunglong207 commented 7 months ago

@llanesc the yaml file image I took a look and saw that your file followed your script. Now I just need to type in your command to see your script, but I still can't see it. I don't know why. Maybe I'm a beginner use ros image image

khunglong207 commented 7 months ago

To test it out try running this in a different terminal.

ros2 service call /all/takeoff crazyflie_interfaces/srv/Takeoff \                       
"{duration: {sec: 2.0}, height: 1.0}"

@llanesc i try but it not work image

khunglong207 commented 7 months ago

image @llanesc I seem to see cf_1 in world

llanesc commented 7 months ago

you need to source the setup.bash file again because you opened a new terminal. put it in the .bashrc file to not have to do that every time.

khunglong207 commented 7 months ago

you need to source the setup.bash file again because you opened a new terminal. put it in the .bashrc file to not have to do that every time. ![image]

(https://github.com/gtfactslab/CrazySim/assets/142283805/17b0f5f6-641c-465a-ac0c-9307aea5426d)

@llanesc yeah, it works, amazinggg. you are my teacher. When can I reach your level? I admire it. thank u so much. amz u r god Currently I have 2 questions Question 1: I want to fly like your spiral, what commands should I give accordingly? Question 2: I'm trying to test the Start MPC code but I'm having some problems in the terminal. I'll take a photo in another issue. I install acados from your guide. terminal question2: theshy@theshy7119:~/CrazySim/ros2_ws$ ros2 run crazyflie_mpc crazyflie_multiagent_mpc --n_agents=1 --build_acados Traceback (most recent call last): File "/home/theshy/CrazySim/ros2_ws/install/crazyflie_mpc/lib/crazyflie_mpc/crazyflie_multiagent_mpc", line 33, in sys.exit(load_entry_point('crazyflie-mpc', 'console_scripts', 'crazyflie_multiagent_mpc')()) File "/home/theshy/CrazySim/ros2_ws/install/crazyflie_mpc/lib/crazyflie_mpc/crazyflie_multiagent_mpc", line 25, in importlib_load_entry_point return next(matches).load() File "/usr/lib/python3.10/importlib/metadata/init.py", line 171, in load module = import_module(match.group('module')) File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "", line 1050, in _gcd_import File "", line 1027, in _find_and_load File "", line 1006, in _find_and_load_unlocked File "", line 688, in _load_unlocked File "", line 883, in exec_module File "", line 241, in _call_with_frames_removed File "/home/theshy/CrazySim/ros2_ws/build/crazyflie_mpc/crazyflie_mpc/crazyflie_multiagent_mpc.py", line 11, in from .trajectory_tracking_mpc import TrajectoryTrackingMpc File "/home/theshy/CrazySim/ros2_ws/build/crazyflie_mpc/crazyflie_mpc/trajectory_tracking_mpc.py", line 1, in from acados_template import AcadosOcp, AcadosOcpSolver, AcadosModel ModuleNotFoundError: No module named 'acados_template'

llanesc commented 7 months ago

you need to build acados from source and install the python interface in a different folder. https://docs.acados.org/installation/

khunglong207 commented 7 months ago

you need to build acados from source and install the python interface in a different folder. https://docs.acados.org/installation/

yes i installed from this link but i try acados --version it not find acaddos

llanesc commented 7 months ago

did you also install the python interface as well? Don't worry about the virtual env. https://docs.acados.org/python_interface/index.html

khunglong207 commented 7 months ago

did you also install the python interface as well? Don't worry about the virtual env. https://docs.acados.org/python_interface/index.html

oh i don't install python_interface. image

this command when i install

llanesc commented 7 months ago

you can skip step 2 and go to 3.

khunglong207 commented 7 months ago

bash: acados_root: No such file or directory but command show

llanesc commented 7 months ago

replace the with the absolute path of your acados folder.

khunglong207 commented 7 months ago

pip install -e /home/theshy/acados/interfaces/acados_template yeah i install in acados

khunglong207 commented 7 months ago

image i installed from your link, so next step what can i do

llanesc commented 7 months ago

Put this in the bashrc.

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"/home/theshy/acados/lib"
export ACADOS_SOURCE_DIR="/home/theshy/acados"

Then try running this in a new terminal after you have put the last export variables in the bashrc.

ros2 run crazyflie_mpc crazyflie_multiagent_mpc --n_agents=1 --build_acados
khunglong207 commented 7 months ago

theshy@theshy7119:~/CrazySim/ros2_ws$ ros2 run crazyflie_mpc crazyflie_multiagent_mpc --n_agents=1 --build_acados Acados cython code not generated. Generating cython code now... Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Please note that the following versions of CasADi are officially supported: 3.4.03.4.5 or 3.5.1 or 3.5.2 or 3.5.3 or 3.5.4 or 3.5.6 or 3.5.5 or 3.6.0 or 3.6.1 or 3.6.2 or 3.6.3 or 3.6.4. If there is an incompatibility with the CasADi generated code, please consider changing your CasADi version. Version 3.6.5 currently in use. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/theshy/acados. Please export ACADOS_SOURCE_DIR to avoid this warning. make: *** No rule to make target 'clean_all'. Stop. cc -fPIC -std=c99 -O2 -I/home/theshy/acados/include -I/home/theshy/acados/include/acados -I/home/theshy/acados/include/blasfeo/include -I/home/theshy/acados/include/hpipm/include -c -o acados_solver_crazyflie.o acados_solver_crazyflie.c cc -fPIC -std=c99 -O2 -I/home/theshy/acados/include -I/home/theshy/acados/include/acados -I/home/theshy/acados/include/blasfeo/include -I/home/theshy/acados/include/hpipm/include -c -o crazyflie_model/crazyflie_expl_ode_fun.o crazyflie_model/crazyflie_expl_ode_fun.c cc -fPIC -std=c99 -O2 -I/home/theshy/acados/include -I/home/theshy/acados/include/acados -I/home/theshy/acados/include/blasfeo/include -I/home/theshy/acados/include/hpipm/include -c -o crazyflie_model/crazyflie_expl_vde_forw.o crazyflie_model/crazyflie_expl_vde_forw.c cc -fPIC -std=c99 -O2 -I/home/theshy/acados/include -I/home/theshy/acados/include/acados -I/home/theshy/acados/include/blasfeo/include -I/home/theshy/acados/include/hpipm/include -c -o crazyflie_model/crazyflie_expl_vde_adj.o crazyflie_model/crazyflie_expl_vde_adj.c cc -shared acados_solver_crazyflie.o crazyflie_model/crazyflie_expl_ode_fun.o crazyflie_model/crazyflie_expl_vde_forw.o crazyflie_model/crazyflie_expl_vde_adj.o -o libacados_ocp_solver_crazyflie.so -L/home/theshy/acados/lib -lacados -lhpipm -lblasfeo -lm \ -L -l cython \ -o acados_ocp_solver_pyx.c \ -I /home/theshy/acados/include/../interfaces/acados_template/acados_template \ /home/theshy/acados/include/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ -I /home/theshy/CrazySim/ros2_ws/install/crazyflie_mpc/share/crazyflie_mpc/acados_generated_files/c_generated_code \

/usr/lib/python3/dist-packages/pythran/tables.py:4520: FutureWarning: In the future np.bool will be defined as the corresponding NumPy scalar. if not hasattr(numpy, method): /usr/lib/python3/dist-packages/pythran/tables.py:4553: FutureWarning: In the future np.bytes will be defined as the corresponding NumPy scalar. obj = getattr(themodule, elem) cc -c -O2 \ -fPIC \ -o acados_ocp_solver_pyx.o \ -I /home/theshy/acados/include/blasfeo/include/ \ -I /home/theshy/acados/include/hpipm/include/ \ -I /home/theshy/acados/include \ -I /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include \ -I /usr/include/python3.10 \ acados_ocp_solver_pyx.c \

In file included from /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include/numpy/ndarraytypes.h:1940, from /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include/numpy/ndarrayobject.h:12, from /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include/numpy/arrayobject.h:5, from acados_ocp_solver_pyx.c:1230: /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include/numpy/npy_1_7_deprecated_api.h:17:2: warning: #warning "Using deprecated NumPy API, disable it with " "#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION" [-Wcpp] 17 | #warning "Using deprecated NumPy API, disable it with " \ | ^~~ cc -shared \ -o acados_ocp_solver_pyx.so \ -Wl,-rpath=/home/theshy/acados/lib \ acados_ocp_solver_pyx.o \ /home/theshy/CrazySim/ros2_ws/install/crazyflie_mpc/share/crazyflie_mpc/acados_generated_files/c_generated_code/libacados_ocp_solver_crazyflie.so \ -L/home/theshy/acados/lib -lacados -lhpipm -lblasfeo -lm Traceback (most recent call last): File "/home/theshy/CrazySim/ros2_ws/build/crazyflie_mpc/crazyflie_mpc/trajectory_tracking_mpc.py", line 26, in init acados_ocp_solver_pyx = importlib.import_module('c_generated_code.acados_ocp_solver_pyx') File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "", line 1050, in _gcd_import File "", line 1027, in _find_and_load File "", line 1006, in _find_and_load_unlocked File "", line 674, in _load_unlocked File "", line 571, in module_from_spec File "", line 1176, in create_module File "", line 241, in _call_with_frames_removed ImportError: libhpipm.so: cannot open shared object file: No such file or directory

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/home/theshy/CrazySim/ros2_ws/install/crazyflie_mpc/lib/crazyflie_mpc/crazyflie_multiagent_mpc", line 33, in sys.exit(load_entry_point('crazyflie-mpc', 'console_scripts', 'crazyflie_multiagent_mpc')()) File "/home/theshy/CrazySim/ros2_ws/build/crazyflie_mpc/crazyflie_mpc/crazyflie_multiagent_mpc.py", line 332, in main mpc_solver = TrajectoryTrackingMpc('crazyflie', quadrotor_dynamics, mpc_tf, mpc_N, code_export_directory=acados_c_generated_code_path) File "/home/theshy/CrazySim/ros2_ws/build/crazyflie_mpc/crazyflie_mpc/trajectory_tracking_mpc.py", line 31, in init self.generate_mpc() File "/home/theshy/CrazySim/ros2_ws/build/crazyflie_mpc/crazyflie_mpc/trajectory_tracking_mpc.py", line 107, in generate_mpc acados_ocp_solver_pyx = importlib.import_module('c_generated_code.acados_ocp_solver_pyx') File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "", line 1050, in _gcd_import File "", line 1027, in _find_and_load File "", line 1006, in _find_and_load_unlocked File "", line 674, in _load_unlocked File "", line 571, in module_from_spec File "", line 1176, in create_module File "", line 241, in _call_with_frames_removed ImportError: libhpipm.so: cannot open shared object file: No such file or directory [ros2run]: Process exited with failure 1 @llanesc this command show

llanesc commented 7 months ago

you didn't export the variables correctly. can you show the bashrc file?

khunglong207 commented 7 months ago

n crazyflie_mpc crazyflie_multiagent_mpc --n_agents=1 --build_acados

image this bashrc file

llanesc commented 7 months ago

try restarting the terminal. the acados lib path isn't in the variable.

khunglong207 commented 7 months ago

try restarting the terminal. the acados lib path isn't in the variable.

theshy@theshy7119:~/CrazySim/ros2_ws$ ros2 run crazyflie_mpc crazyflie_multiagent_mpc --n_agents=1 --build_acados Acados cython module imported successfully. Warning: Please note that the following versions of CasADi are officially supported: 3.4.03.4.5 or 3.5.1 or 3.5.2 or 3.5.3 or 3.5.4 or 3.5.6 or 3.5.5 or 3.6.0 or 3.6.1 or 3.6.2 or 3.6.3 or 3.6.4. If there is an incompatibility with the CasADi generated code, please consider changing your CasADi version. Version 3.6.5 currently in use. make: *** No rule to make target 'clean_all'. Stop. cc -fPIC -std=c99 -O2 -I/home/theshy/acados/include -I/home/theshy/acados/include/acados -I/home/theshy/acados/include/blasfeo/include -I/home/theshy/acados/include/hpipm/include -c -o acados_solver_crazyflie.o acados_solver_crazyflie.c cc -fPIC -std=c99 -O2 -I/home/theshy/acados/include -I/home/theshy/acados/include/acados -I/home/theshy/acados/include/blasfeo/include -I/home/theshy/acados/include/hpipm/include -c -o crazyflie_model/crazyflie_expl_ode_fun.o crazyflie_model/crazyflie_expl_ode_fun.c cc -fPIC -std=c99 -O2 -I/home/theshy/acados/include -I/home/theshy/acados/include/acados -I/home/theshy/acados/include/blasfeo/include -I/home/theshy/acados/include/hpipm/include -c -o crazyflie_model/crazyflie_expl_vde_forw.o crazyflie_model/crazyflie_expl_vde_forw.c cc -fPIC -std=c99 -O2 -I/home/theshy/acados/include -I/home/theshy/acados/include/acados -I/home/theshy/acados/include/blasfeo/include -I/home/theshy/acados/include/hpipm/include -c -o crazyflie_model/crazyflie_expl_vde_adj.o crazyflie_model/crazyflie_expl_vde_adj.c cc -shared acados_solver_crazyflie.o crazyflie_model/crazyflie_expl_ode_fun.o crazyflie_model/crazyflie_expl_vde_forw.o crazyflie_model/crazyflie_expl_vde_adj.o -o libacados_ocp_solver_crazyflie.so -L/home/theshy/acados/lib -lacados -lhpipm -lblasfeo -lm \ -L -l cython \ -o acados_ocp_solver_pyx.c \ -I /home/theshy/acados/include/../interfaces/acados_template/acados_template \ /home/theshy/acados/include/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ -I /home/theshy/CrazySim/ros2_ws/install/crazyflie_mpc/share/crazyflie_mpc/acados_generated_files/c_generated_code \

/usr/lib/python3/dist-packages/pythran/tables.py:4520: FutureWarning: In the future np.bool will be defined as the corresponding NumPy scalar. if not hasattr(numpy, method): /usr/lib/python3/dist-packages/pythran/tables.py:4553: FutureWarning: In the future np.bytes will be defined as the corresponding NumPy scalar. obj = getattr(themodule, elem) cc -c -O2 \ -fPIC \ -o acados_ocp_solver_pyx.o \ -I /home/theshy/acados/include/blasfeo/include/ \ -I /home/theshy/acados/include/hpipm/include/ \ -I /home/theshy/acados/include \ -I /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include \ -I /usr/include/python3.10 \ acados_ocp_solver_pyx.c \

In file included from /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include/numpy/ndarraytypes.h:1940, from /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include/numpy/ndarrayobject.h:12, from /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include/numpy/arrayobject.h:5, from acados_ocp_solver_pyx.c:1230: /home/theshy/.local/lib/python3.10/site-packages/numpy/core/include/numpy/npy_1_7_deprecated_api.h:17:2: warning: #warning "Using deprecated NumPy API, disable it with " "#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION" [-Wcpp] 17 | #warning "Using deprecated NumPy API, disable it with " \ | ^~~ cc -shared \ -o acados_ocp_solver_pyx.so \ -Wl,-rpath=/home/theshy/acados/lib \ acados_ocp_solver_pyx.o \ /home/theshy/CrazySim/ros2_ws/install/crazyflie_mpc/share/crazyflie_mpc/acados_generated_files/c_generated_code/libacados_ocp_solver_crazyflie.so \ -L/home/theshy/acados/lib -lacados -lhpipm -lblasfeo -lm Acados cython module imported successfully. [INFO] [1713487435.377698331] [cf_1]: Initialization completed... [INFO] [1713487435.394704045] [cf_1]: Beginning multiagent executor, shut down with CTRL-C it works! thanks u so much. So what is next step

llanesc commented 7 months ago

Run this takeoff command

ros2 topic pub -t 1 /all/mpc_takeoff std_msgs/msg/Empty

then command MPC to follow the trajectory

ros2 topic pub -t 1 /all/mpc_trajectory std_msgs/msg/Empty
khunglong207 commented 7 months ago

Run this takeoff command

ros2 topic pub -t 1 /all/mpc_takeoff std_msgs/msg/Empty

then command MPC to follow the trajectory

ros2 topic pub -t 1 /all/mpc_trajectory std_msgs/msg/Empty

image Looks like it's not running

llanesc commented 7 months ago

In a different terminal. run the takeoff command first and wait for it to hover in place before running the next command.

khunglong207 commented 7 months ago

In a different terminal. run the takeoff command first and wait for it to hover in place before running the next command.

theshy@theshy7119:~/CrazySim/ros2_ws$ ros2 service call /all/takeoff crazyflie_interfaces/srv/Takeoff \
"{duration: {sec: 2.0}, height: 1.0}" Failed to populate field: Value 'None' is expected to be a dictionary but is a NoneType {duration: {sec: 2.0}, height: 1.0}: command not found i get fail when i take off your drone

llanesc commented 7 months ago

that's the wrong command.

ros2 topic pub -t 1 /all/mpc_takeoff std_msgs/msg/Empty

khunglong207 commented 7 months ago

image sr i try it but i get faild in command

llanesc commented 7 months ago
  1. delete that terminal
  2. open a new terminal
  3. run ros2 run crazyflie_mpc crazyflie_multiagent_mpc --n_agents=1 --build_acados
  4. open a new terminal
  5. ros2 topic pub -t 1 /all/mpc_takeoff std_msgs/msg/Empty
khunglong207 commented 7 months ago
  1. delete that terminal
  2. open a new terminal
  3. run ros2 run crazyflie_mpc crazyflie_multiagent_mpc --n_agents=1 --build_acados
  4. open a new terminal

image @llanesc it not works, teacher

llanesc commented 7 months ago

The crazyflie_mpc is not receiving the state messages correctly from the firmware. Close everything and try restarting gazebo, crazyswarm2, and the multiagent_mpc node. Sometimes this happens if the packet was lost requesting the pose state information.

khunglong207 commented 7 months ago

The crazyflie_mpc is not receiving the state messages correctly from the firmware. Close everything and try restarting gazebo, crazyswarm2, and the multiagent_mpc node. Sometimes this happens if the packet was lost requesting the pose state information.

@llanesc image but i try ros2 topic pub -t 1 /all/mpc_trajectory std_msgs/msg/Empty it not change ros topic list image image

llanesc commented 7 months ago

seems like you sent the takeoff command twice try the trajectory one

khunglong207 commented 7 months ago

seems like you sent the takeoff command twice try the trajectory one

@llanesc yes sir, my teach i did drone fly as image your git , If I want to program to change the trajectory instead of a spiral (for example a square), what steps do I need and how will the trajectory file be configured?

llanesc commented 7 months ago

You would need to change the variable self.trajectory_type in this file. There's a few available already in the trajectory_function().

khunglong207 commented 7 months ago

@llanesc I'm actually very grateful to you, because you've helped me so much because I'm a college student so ros is something very new to me so I have a lot of questions (I think it will bother you). but you still answered me fully and very easily) you are not only good but you are very kind. I am very grateful to you. I hope you will support me when I encounter some problems in this pj. Once again I thank you very much. Wishing you good health and many more great projects my teacher

llanesc commented 7 months ago

Happy to help!