Checksum md5sum mismatch when using Joystick for takeoff and landing

[cjbanks]

I am having a similar issue to this: #100, my program works when I run it for one quadcopter but as soon as I add more than one or two I get the following error:
[ERROR] [1532039584.691694366]: client wants service /crazyflie0/takeoff to have md5sum d41d8cd98f00b204e9800998ecf8427e, but it has b665b6c83a196e4774268cc26329b159. Dropping connection. [ERROR] [1532039584.692239858]: client wants service /crazyflie3/takeoff to have md5sum d41d8cd98f00b204e9800998ecf8427e, but it has b665b6c83a196e4774268cc26329b159. Dropping connection. [ERROR] [1532039584.692772]: bad callback: <bound method Controller._joyChanged of <main.Controller instance at 0x7fa88cca1a70>> Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/home/quadcopteruser/crazyflie_ws/src/crazyflie_ros/crazyflie_demo/scripts/controller.py", line 46, in _joyChanged self._takeoff() File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in call return self.call(*args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 505, in call raise ServiceException("unable to connect to service: %s"%e)

I have tried reinstalling the crazyflie_ros package and updating my ROS distribution (Kinetic) but neither have had any effect. I run all my nodes on one linux machine running Ubuntu 16.04 and connect to a windows server to communicate with the vicon system. Any advice on what may be causing this issue?

[whoenig]

Which launch file are you using? (Or provide some steps to reproduce the problem, please).

[cjbanks]

I am using a custom launch file where I hover more than one quadcopter, they each have their own crazyradio and unique URI. Usually the launch file will run without problem until I press the joystick button for land or takeoff which causes the checksum error. I never get the issue with a single quadcopter. The problem occurs when I have more than one crazyflie node in the launch file and the more crazyflies I have, the more often the issue occurs. However, rolling back to the previous version of the crazyflie_ros package mentioned in "Flying Multiple UAVs Using ROS" fixed my problem.

[lorenzol92]

Hi, I'm facing the same issue! I'm using ROS on a virtual machine of linux 16.04 I would like to autonomously drive 4 CF's with the help of LPS (6 anchors) in ROS environment, but I got stuck. I've followed the: https://www.bitcraze.io/getting-started ... yflie-2-0/ to update the firmware of all the 4 crazyflies. I've followed the: https://www.bitcraze.io/getting-started ... ng-system/ for setting the Loco Positioning System in the right way. I've launch the: dwm_loc_ekf_hover.launch with a 6 anchors setup in both TWR and TdOA mode, and it works! In TdOA I've even tryed with 2 CF's and it works! Now I'm trying to launch the: dwm_loc_ekf_swarm_hover.launch with 4 CF's but I found necessary to add another Crazyradio. So I' ve put 2 CF's on one Crazyradio and 2 CF's on the other Crazyradio changing the dwm_loc_ekf_swarm_hover.launch with the appropriate URI:

uri0 radio://0/80/2M/E7E7E7E701 uri1 radio://1/70/2M/E7E7E7E702 uri2 radio://1/70/2M/E7E7E7E703 uri3 radio://0/80/2M/E7E7E7E704

Unexpectedly the result was something like this:

Could anyone help me in find what could be the problem? Thank you very much.

P.S: I'm pretty sure that the previous URI setup is correct because implementing it in the multi_teleop_xbox360.launch (https://github.com/whoenig/crazyflie_ros) I could manually drive the 4 CF's.

[shmpwk]

Hi, @cjbanks and @lorenzol92 I'm facing the similar issue. #124 Have you already done with the problem?

[shmpwk]

@cjbanks @lorenzol92 OK, I've done by changing the firmware.

[mahdi65]

@shmpwk could you please tell me which version ?

I tested with all 2019.09 , 2019.01 and 2018.01 versions and still experiencing same issue.

[mahdi65]

Experiencing Similar issue ! I am using motion Analysis tracking system. successfully hovered one Crazyflie 2.1 and Also trajectory movements after some changes to code and making it working with motion analysis system. However, when I am trying to hover two devices. I run into checksum Error ( Attached ScreenShot) I have tested with firmware versions :

• 2019.01

• 2018.01

• 2019.09

All shows same error messages. ( after pushing take off too many times JUST one quad start hovering)

full detail log : https://pastebin.com/E7atN8pA my modified multi_hover_vicon.launch : https://pastebin.com/s4vGP0hb my rqt_graph :

@whoenig Please give me some suggestions to see whether works.