Mellinger controller on Python

[eduardo-del]

Hi guys

I have a problem when i try to run some example from cflib, when i try to run the position_commander_demo.py code my crazyflie just conneting with the crazyradio but the crazyflie dont run the task, just connected and after a little time it disconected, like if the crazyflie was finished his task.

On the firmware im using the mellinger controller.
In the moment just want to use the mellinger controller on Python, maybe afteer i will to use the mellinger controller on ROS.

Can someone help me?

thank you!!

[jpreiss]

Are you using any Crazyswarm functionality? position_commander_demo.py is a file in https://github.com/bitcraze/crazyflie-lib-python. This is part of the official Bitcraze python library, not the Crazyswarm project.

[eduardo-del]

No, i just using the cflib on Python
Do you think that is necessary to use Crazyswarm for this task?

[whoenig]

Crazyswarm is not necessary. For cflib, please use the official support forum - this issue tracker is only for issues related to current Crazyswarm users.

[eduardo-del]

Hi @whoenig and @jpreiss thanks for answers.
Today i used Crazyswarm with Optirack and i followed this tutorial https://crazyswarm.readthedocs.io/en/latest/usage.html, when i try to proof the code figure8_csv.py with $roslaunch crazyswarm hover_swarm.launch i have some problem, it's the next
`eduardo@eduardo-Aspire-V3-574:~/crazyswarm$ roslaunch crazyswarm hover_swarm.launch
... logging to /home/eduardo/.ros/log/4c64d070-8e2f-11ea-9ea0-a8a7952f836d/roslaunch-eduardo-Aspire-V3-574-5810.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

RLException: error loading tag:
Error within YAML block:
while parsing a block mapping
in "", line 2, column 7:
world_frame: "/world"
^
expected , but found ''
in "", line 32, column 8:
optitrack_host_name: "192.168.2.10"
^

YAML is:

  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:
      pNAcc_xy: 1.0
      pNAcc_z: 2.0
  # tracking
  motion_capture_type: "vrpn" # 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: "192.168.2.10"
  # qualisys_host_name: "10.0.5.219"
  # qualisys_base_port: 22222
   vrpn_host_name: "optitrack"
  save_point_clouds: ~/pointCloud.ot
  print_latency: False
  write_csvs: False
  force_no_cache: False
  enable_parameters: True
  enable_logging: False

XML is
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:
pNAcc_xy: 1.0
pNAcc_z: 2.0
# tracking
motion_capture_type: "vrpn" # 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: "192.168.2.10"
# qualisys_host_name: "10.0.5.219"
# qualisys_base_port: 22222
vrpn_host_name: "optitrack"
save_point_clouds: ~/pointCloud.ot
print_latency: False
write_csvs: False
force_no_cache: False
enable_parameters: True
enable_logging: False

The traceback for the exception was written to the log file`

before to write the $ roslaunch crazyswarm hover_swarm.launch i type source ros_ws/devel/setup.bash .

and this is my hover_swarm.launch file

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: pNAcc_xy: 1.0 pNAcc_z: 2.0 # tracking motion_capture_type: "vrpn" # 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: "192.168.2.10" # qualisys_host_name: "10.0.5.219" # qualisys_base_port: 22222 vrpn_host_name: "optitrack" save_point_clouds: ~/pointCloud.ot print_latency: False write_csvs: False force_no_cache: False enable_parameters: True enable_logging: False

Sorry for insisting but when i'm at laboratory i use optitrack with crazyswarm and when i'm at house i just can use cflib and i working with both.

I hope you can help me with my crazyswarm problem, thank you

[whoenig]

(Re-opening). It looks to me like a whitespace problem. When you edit hover_swarm.launch (the yaml portion), make sure you enable that you can see white spaces in your editor and have consistent spaces - this is a similar issue that you would have when you work with Python source code files and mix tabs and spaces.

[eduardo-del]

Okay @whoenig thank you, i will check the file and then tell you if my problem was resolved.

[eduardo-del]

Hi @whoenig i checked my file hover_swarm.launch and i has the same problem
i check that all the code is like in the example from https://crazyswarm.readthedocs.io/en/latest/usage.html and my file is this:

`

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: pNAcc_xy: 1.0 pNAcc_z: 2.0 # tracking motion_capture_type: "vrpn" # one of none,vicon,optitrack,qualisys,vrpn object_tracking_type: "motionCapture" # 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: "192.168.2.10" # qualisys_host_name: "10.0.5.219" # qualisys_base_port: 22222 vrpn_host_name: "optitrack" save_point_clouds: ~/pointCloud.ot print_latency: False write_csvs: False force_no_cache: False enable_parameters: True enable_logging: False

`

Dou you know what is my error?

Thank you!!

[eduardo-del]

[whoenig]

I can't see the whitespace from your pictures. Could you either upload the file, or enable visible whitespace in your editor (looks like you use gedit; a discussion on how to enable that feature is here: https://stackoverflow.com/questions/17162851/option-to-display-control-characters-in-gedit/17162916)?

[eduardo-del]

HI @whoenig thank you for the answer, sure my file is here

https://github.com/eduardo-del/eduardo-del-Crazyswarm/blob/master/hover_swarm.launch

[eduardo-del]

can you see the file?, if i select the link i can't open the file but in my folder i can see it.