Running quads selectively

[Abhinandan-Krishnan]

Hello,

I wanted to run quads selectively. For example, if I have 4 quads enabled on the test bed, let's say cf1,cf2,cf3 and cf4 I want to take off just cf1 and cf2. How can I do it?
Can I somehow use groupMask here?

Thank you!

[whoenig]

Yes, groups are the correct way, see https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyflie.py#L121-L143 for some documentation on it.

[Abhinandan-Krishnan]

Thank you for the reply, so should I create crazyflie object, set the mask and then if I call takeoff on allcfs with a group mask, only the crazyflies with that group mask execute that take off?