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whoenig / crazyflie_ros

ROS Driver for Bitcraze Crazyflie
MIT License
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Singly Crazyflie flying issue using vicon #151

Open Allenhanbo opened 5 years ago

Allenhanbo commented 5 years ago

Rencently, I used vicon and crazyflie to try single drone hover using roslaunch crazyflie_demo hover_vicon.launch uri:=radio://0/80/2M/E7E7E7E7E7 frame:=vicon/cf1/cf1 x:=0 y:=0 z:=0.5. Everything goes well, there's no error occured. I can see my drone in Rviz window. When I press my green button to fly, the drone did not fly upward, but fly undirectional. I use my flow deck to check the controller, theres no problem, my drone can hover using flow deck. I don't know which part cause this issue. Could you give me some advice? Thanks a lot!

hc@hc-Lenovo:~$ roslaunch crazyflie_demo hover_vicon.launch uri:=radio://0/80/2M/E7E7E7E7E7 frame:=vicon/cf1/cf1 x:=0 y:=0 z:=0.3 ... logging to /home/hc/.ros/log/7b5f521a-eebb-11e9-99be-680715cf7bd2/roslaunch-hc-Lenovo-20131.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order xacro.py is deprecated; please use xacro instead started roslaunch server http://hc-Lenovo:35801/

SUMMARY

PARAMETERS

NODES /crazyflie/ baselink_broadcaster (tf/static_transform_publisher) controller (crazyflie_controller/crazyflie_controller) crazyflie_add (crazyflie_driver/crazyflie_add) joy (joy/joy_node) joystick_controller (crazyflie_demo/controller.py) pose (crazyflie_demo/publish_pose.py) / crazyflie_server (crazyflie_driver/crazyflie_server) rviz (rviz/rviz) vicon (vicon_bridge/vicon_bridge)

auto-starting new master process[master]: started with pid [20167] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7b5f521a-eebb-11e9-99be-680715cf7bd2 process[rosout-1]: started with pid [20189] started core service [/rosout] process[crazyflie_server-2]: started with pid [20206] process[crazyflie/crazyflie_add-3]: started with pid [20207] process[crazyflie/joy-4]: started with pid [20214] process[crazyflie/joystick_controller-5]: started with pid [20234] process[crazyflie/controller-6]: started with pid [20248] process[crazyflie/pose-7]: started with pid [20270] [ INFO] [1571082461.837633462]: wait_for_service /add_crazyflie [ INFO] [1571082461.839857230]: found /add_crazyflie process[crazyflie/baselinkbroadcaster-8]: started with pid [20283] process[vicon-9]: started with pid [20301] [ INFO] [1571082461.862984331]: Adding radio://0/80/2M/E7E7E7E7E7 as crazyflie with trim(0.000000, 0.000000). Logging: 1, Parameters: 0, Use ROS time: 1 process[rviz-10]: started with pid [20319] [ERROR] [1571082461.938217273]: Couldn't open joystick force feedback! [ INFO] [1571082461.938333856]: Opened joystick: /dev/input/js0. deadzone: 0.050000. [ INFO] [1571082461.940935946]: Connecting to Vicon DataStream SDK at 192.168.0.100 ...

[crazyflie/crazyflie_add-3] process has finished cleanly log file: /home/hc/.ros/log/7b5f521a-eebb-11e9-99be-680715cf7bd2/crazyflie-crazyflie_add-3*.log [ INFO] [1571082462.016232568]: Requesting parameters... [ WARN] [1571082462.018749321]: Don't know ack: Port: 13 Channel: 1 Len: 6 [ WARN] [1571082462.020586815]: Don't know ack: Port: 13 Channel: 1 Len: 6 [ INFO] [1571082462.021568961]: Found variables in cache. [ INFO] [1571082462.335173449]: Requesting memories... [ INFO] [1571082462.337309453]: Memories: 9

[ INFO] [1571082462.349612209]: Elapsed: 0.336350 s [INFO] [1571082462.439883]: found update_params service [INFO] [1571082462.440281]: waiting for emergency service [INFO] [1571082462.441801]: found emergency service [INFO] [1571082462.442389]: waiting for land service [INFO] [1571082462.443890]: found land service [INFO] [1571082462.444289]: waiting for takeoff service [INFO] [1571082462.445825]: found takeoff service [ INFO] [1571082462.946529048]: ... connected! [ INFO] [1571082462.946634219]: Setting Stream Mode to ClientPull: Success [ INFO] [1571082462.946698540]: Axis Mapping: X-Forward Y-Left Z-Up [ INFO] [1571082462.946756434]: Version: 1.3.0 [ INFO] [1571082462.946791225]: setting up grab_vicon_pose service server ... [ INFO] [1571082462.949037669]: setting up segment calibration service server ... [ WARN] [1571082462.953186643]: grab frame returned false [ WARN] [1571082462.970832948]: cf1 occluded, not publishing... [ INFO] [1571082462.979719208]: creating new object cf1/cf1 ... [ WARN] [1571082462.983611292]: unable to load zero pose for cf1/cf1 [ INFO] [1571082462.983681665]: ... done, advertised as " vicon/cf1/cf1" [ INFO] [1571082464.774065169]: Takeoff requested!

Allenhanbo commented 5 years ago

By the way, I can see the red arrow in Rviz, but it did not point to Z-axis, it point to x-y plane. Is it the normal case?

whoenig commented 5 years ago

That example uses an off-board position controller that I don't recommend for new experiments. Instead, you can use the on-board EKF and controller. The documentation in crazyflie_ros lacks behind on this, but you can check external_pose_vicon.launch and https://github.com/whoenig/crazyflie_ros/blob/master/crazyflie_demo/scripts/test_high_level.py. The latter would also work just with the flow deck.

Allenhanbo commented 5 years ago

Hi whoenig, thanks for your reply. I still have two queations, if you could help me explain is. First, for your meaning, if I want to achieve the crazyflie hovering using vicon, I should add the https://github.com/whoenig/crazyflie_ros/blob/master/crazyflie_demo/scripts/test_high_level.py to external_pose_vicon.launch and abandon the old launch file hover_vicon.launch?

Second, if I just want to use flow deck without vicon, how could I change the test_high_level.py? Is it to add the uri address of crazyflie?

Thanks a lot.

whoenig commented 5 years ago
  1. No need to change external_pose_vicon.launch. You can simply run it and in a second terminal window execute test_high_level.py.
  2. You can use one of the telop launch files, or create a custom launch file that simply connects to your CF (but does not launch any other nodes). Then, as before, execute test_high_level.py in a separate window.
Allenhanbo commented 5 years ago

I really appreciate for your explain, it's a big help for me. I used the external_position_vicon.launch and test_hign_level.py to achieve autonomous flying. For my understanding, this two file just let the drone to fly in a certain trajectory using .csv file saved before flying. If I want my drone to fly in an absolutely autonomous flying in my vicon volume space, like flying to certain point, how can I do that? Do you have some advices? Thanks!

Allenhanbo commented 5 years ago

I find there's a launch file named multi_waypoint_vicon.launch. This file seems like related to waypoint flying, but the controller in this launch file is also off-board controller.

whoenig commented 5 years ago

You can use the goTo function (https://github.com/whoenig/crazyflie_ros/blob/master/crazyflie_demo/scripts/crazyflie.py#L45-L47), or plan a trajectory that executes your behavior (helper scripts are in https://github.com/whoenig/uav_trajectories).

Allenhanbo commented 5 years ago

Thanks for your reply. Could I ask the "goal" parameter in goTo function is the absolute point in relative to vicon volume space or just relative to the drone itsely?

I am still not very understand with the uav_trajectory way to create trajectory. For my understand, this way put a waypoint .csv file into genTrajectory.cpp https://github.com/whoenig/uav_trajectories/tree/master/src to generate a trajectory .csv file. My queation is how can I transfer the waypoint to .csv file?