Autonomous flight using the ROS packages and Flow Deck #314
Replies: 12 comments
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For your first problem, make sure you source your ROS workspace ( |
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crazyflies.yaml
-hover_swarm.launch world_frame: "/world" # Logging configuration (Use enable_logging to actually enable logging) genericLogTopics: ["log1"] genericLogTopicFrequencies: [10] genericLogTopic_log1_Variables: ["stateEstimate.x", "ctrltarget.x"] # firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or # allCrazyflies.yaml to set per drone) firmwareParams: commander: enHighLevel: 1 stabilizer: estimator: 2 # 1: complementary, 2: kalman controller: 2 # 1: PID, 2: mellinger ring: effect: 16 # 6: double spinner, 7: solid color, 16: packetRate solidBlue: 255 # if set to solid color solidGreen: 0 # if set to solid color solidRed: 0 # if set to solid color headlightEnable: 0 locSrv: extPosStdDev: 1e-3 extQuatStdDev: 0.5e-1 kalman: resetEstimation: 1 # tracking motion_capture_type: "none" # one of none,vicon,optitrack,qualisys,vrpn object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker send_position_only: False # set to False to send position+orientation; set to True to send position only vicon_host_name: "vicon" # optitrack_host_name: "optitrack" # qualisys_host_name: "10.0.5.219" # qualisys_base_port: 22222 # vrpn_host_name: "vicon" save_point_clouds: ~/pointCloud.ot print_latency: False write_csvs: False force_no_cache: False enable_parameters: True enable_logging: False |
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Please use "insert code" in the toolbar, or upload the files somewhere and share the link. The configuration is whitespace sensitive, so I can't tell if there is an issue from your previous comment. |
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The only thing I spot is the initialPosition in |
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started roslaunch server http://santiagorg2401-G7-7588:46631/ SUMMARYPARAMETERS
NODES auto-starting new master setting /run_id to 3456f9ce-cdbb-11ea-ab55-181deab367da |
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I will try again when being in the lab and I will post the results. |
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Hi, I re-installed all the packages, and this is what happens: |
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Update: |
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Also, I hope both you and your brother are fine and Covid-free! |
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Hi, |
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Hi,
I followed the steps in https://crazyswarm.readthedocs.io/en/latest/usage.html, but I have a problem, by the moment I am using Flow Deck but the goal is to use LPS, so after tagging the Crazyflies with 1,2,3,4,..., A, B, and writing them in allCrazyflies.yaml
crazyflies:1
...
crazyflies : 10
...
and so on
The GUI chooser.py shows me this error when clicking any button:
[rospack] Error: package 'crazyflie_tools' not found
Exception in Tkinter callback
Traceback (most recent call last):
File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 1550, in call
return self.func(*args)
File "chooser.py", line 213, in checkBattery
voltage = subprocess.check_output(["rosrun crazyflie_tools battery --uri " + uri], shell=True)
File "/usr/lib/python2.7/subprocess.py", line 223, in check_output
raise CalledProcessError(retcode, cmd, output=output)
CalledProcessError: Command '['rosrun crazyflie_tools battery --uri radio://0/80/2M/E7E7E7E708']' returned non-zero exit status 2
Then, when I try to fly the drone with (for example) niceHover.py, first I run the crayswarm server
auto-starting new master
process[master]: started with pid [9403]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d6b7ebd0-c611-11ea-bc79-181deab367da
process[rosout-1]: started with pid [9414]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [9421]
ERROR: cannot launch node of type [joy/joy_node]: joy
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/santiagorg2401/crazyflie/crazyswarm/ros_ws/src
ROS path [2]=/opt/ros/melodic/share
process[crazyswarm_teleop-4]: started with pid [9422]
process[rviz-5]: started with pid [9423]
[ INFO] [1594759051.849131804]: Wait for services...
[ INFO] [1594759051.851109082]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1594759051.918606844]: waitForService: Service [/emergency] is now available.
ch: 1
[ INFO] [1594759051.932975640]: Manager ready.
terminate called after throwing an instance of 'XmlRpc::XmlRpcException'
[crazyswarm_server-2] process has died [pid 9421, exit code -6, cmd /home/santiagorg2401/crazyflie/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/santiagorg2401/.ros/log/d6b7ebd0-c611-11ea-bc79-181deab367da/crazyswarm_server-2.log].
log file: /home/santiagorg2401/.ros/log/d6b7ebd0-c611-11ea-bc79-181deab367da/crazyswarm_server-2*.log
And finally in another terminal window, the niceHover.py
Traceback (most recent call last):
File "niceHover.py", line 9, in
swarm = Crazyswarm()
File "/home/santiagorg2401/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyswarm.py", line 43, in init
import crazyflie
File "/home/santiagorg2401/crazyflie/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyflie.py", line 12, in
from crazyflie_driver.srv import *
ImportError: No module named crazyflie_driver.srv
I do not really know why is those errors happening, please let me know if I am forgetting to do/execute something or if you have any idea to help.
Thank you all, have a nice day
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