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whoenig / crazyflie_ros

ROS Driver for Bitcraze Crazyflie
MIT License
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Hover about crazyflie 2.0 using optitrack #117

Open cn-hezhu opened 5 years ago

cn-hezhu commented 5 years ago

Hello,I have launch the vrpn_client_ros and there is no error.I have also set up a connection between ROS and Optitrack. But crazyflie can't hover and there is no reaction no matter how I press the key on the Xbox360. What should I do?Thanks. image

whoenig commented 5 years ago

This might indicate that the CF does not receive its pose update. Do you have the LED ring installed (it should show green if the communication works and red otherwise).

cn-hezhu commented 5 years ago

@whoenig Thanks,Mr whoenig.The CF has responded，but it doesn't hover and flies aslantly.When I use X360 controller to control the CF directly,one of the propellers always stops to rotate.When I change another CF,it happens too.Is there something wrong with the crazyflies?Or it is the problem of algorithm.

cn-hezhu commented 5 years ago

I find that no matter how many crazyflies,they couldn't hover. And they all had a obviously horizontal move.When I changed the PID parameters,it still happened.Although I tried my best to find out the reason, it failed.Welcome to comment on it.My English is not good,and if there is anything wrong,please forgive me.

whoenig commented 5 years ago

When I use X360 controller to control the CF directly,one of the propellers always stops to rotate.

This is not normal. Does this happen if you fly using the official cfclient or when using crazyflie_ros?

The movement issues you describe indicate that there is an issue with the motion capture. Try logging the state estimate, does it update correctly when you manually move the CF?

cn-hezhu commented 5 years ago

@whoenig Thanks for your reply again.I use the official crazyflie_ros and only revise the uri,frame,ip.It update correctly when I manually move the crazyflie.I find that It's the issue of optitrack.The default Y-axis and z-axis are incorrect after each calibration.And I will modify this error and try it again today.

whoenig commented 5 years ago

@Marcosz-zhuhe were you able to solve your problem?

cn-hezhu commented 5 years ago

@whoenig It's kind of you.But I didn't solve my problem.My classmates in another group made crazyflie hover successfully.I will ask him about it when I go back to the university in the next semester.Thank you again.

wydmynd commented 5 years ago

try process of elimination. when you run vrpn_clien_ros by itself can you see topics for rigid bodies? if not, you have a problem with the motive configuration.

if you do, then you may have a problem of axes alignment. CF x axis must be aligned to world X axis etc.

check that moving the CF in the axes generates the right motion in Rviz.

hope this helps/