[crazyswarm_server-1] process has died #782

nfu64967512 · 2023-12-27T13:20:08Z

nfu64967512
Dec 27, 2023

Hello,

I've recently embarked on a project involving a Crazyswarm drone performance. However, I've encountered some issues when running the command roslaunch /home/bitcraze/crazyswarm/ros_ws/src/crazyswarm/launch/hover_swarm.launch. Below is the output I received:
bitcraze@ubuntu:~/crazyswarm$ roslaunch /home/bitcraze/crazyswarm/ros_ws/src/crazyswarm/launch/hover_swarm.launch
... logging to /home/bitcraze/.ros/log/b82dc00c-a495-11ee-b779-13d910275467/roslaunch-ubuntu-7881.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.

started roslaunch server http://ubuntu:39587/

SUMMARY

PARAMETERS

/crazyflieTypes/CF21SingleMarker/batteryVoltageWarning: 3.8
/crazyflieTypes/CF21SingleMarker/batteryVoltateCritical: 3.7
/crazyflieTypes/CF21SingleMarker/bigQuad: False
/crazyflieTypes/CF21SingleMarker/dynamicsConfiguration: 0
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_z: 60000
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_z: 12000
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/mass: 0.032
/crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/massThrust: 132000
/crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.1
/crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
/crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_xy: 1.0
/crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_z: 2.0
/crazyflieTypes/CF21SingleMarker/markerConfiguration: 3
/crazyflieTypes/default/batteryVoltageWarning: 3.8
/crazyflieTypes/default/batteryVoltateCritical: 3.7
/crazyflieTypes/default/bigQuad: False
/crazyflieTypes/default/dynamicsConfiguration: 0
/crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
/crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
/crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
/crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
/crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
/crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
/crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
/crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
/crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
/crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
/crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
/crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
/crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
/crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
/crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
/crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
/crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
/crazyflieTypes/default/markerConfiguration: 0
/crazyflieTypes/defaultSingleMarker/batteryVoltageWarning: 3.8
/crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
/crazyflieTypes/defaultSingleMarker/bigQuad: False
/crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
/crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
/crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.2
/crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
/crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_xy: 4.0
/crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_z: 8.0
/crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
/crazyflieTypes/large/batteryVoltageWarning: 11.4
/crazyflieTypes/large/batteryVoltateCritical: 11.1
/crazyflieTypes/large/bigQuad: True
/crazyflieTypes/large/dynamicsConfiguration: 0
/crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
/crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
/crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
/crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
/crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
/crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
/crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
/crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
/crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
/crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
/crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
/crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
/crazyflieTypes/large/markerConfiguration: 2
/crazyflieTypes/medium/batteryVoltageWarning: 7.6
/crazyflieTypes/medium/batteryVoltateCritical: 7.4
/crazyflieTypes/medium/bigQuad: True
/crazyflieTypes/medium/dynamicsConfiguration: 0
/crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
/crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
/crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
/crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
/crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
/crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
/crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
/crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
/crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
/crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
/crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
/crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
/crazyflieTypes/medium/markerConfiguration: 1
/crazyflies: [{'channel': 80, ...
/crazyswarm_server/enable_logging: True
/crazyswarm_server/enable_logging_pose: True
/crazyswarm_server/enable_parameters: True
/crazyswarm_server/firmwareParams/commander/enHighLevel: 1
/crazyswarm_server/firmwareParams/kalman/resetEstimation: 1
/crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
/crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
/crazyswarm_server/firmwareParams/ring/effect: 16
/crazyswarm_server/firmwareParams/ring/headlightEnable: 0
/crazyswarm_server/firmwareParams/ring/solidBlue: 255
/crazyswarm_server/firmwareParams/ring/solidGreen: 0
/crazyswarm_server/firmwareParams/ring/solidRed: 0
/crazyswarm_server/firmwareParams/stabilizer/controller: 2
/crazyswarm_server/firmwareParams/stabilizer/estimator: 2
/crazyswarm_server/force_no_cache: False
/crazyswarm_server/genericLogTopicFrequencies: [10]
/crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x...
/crazyswarm_server/genericLogTopics: ['log1']
/crazyswarm_server/motion_capture_host_name: vicon
/crazyswarm_server/motion_capture_type: none
/crazyswarm_server/object_tracking_type: libobjecttracker
/crazyswarm_server/print_latency: False
/crazyswarm_server/save_point_clouds: /dev/null
/crazyswarm_server/send_position_only: False
/crazyswarm_server/write_csvs: False
/crazyswarm_teleop/csv_file: /home/bitcraze/cr...
/crazyswarm_teleop/timescale: 0.8
/dynamicsConfigurations/0/maxFitnessScore: 0.001
/dynamicsConfigurations/0/maxPitch: 1.4
/dynamicsConfigurations/0/maxPitchRate: 20.0
/dynamicsConfigurations/0/maxRoll: 1.4
/dynamicsConfigurations/0/maxRollRate: 20.0
/dynamicsConfigurations/0/maxXVelocity: 2.0
/dynamicsConfigurations/0/maxYVelocity: 2.0
/dynamicsConfigurations/0/maxYawRate: 10.0
/dynamicsConfigurations/0/maxZVelocity: 3.0
/joy/dev: /dev/input/js0
/markerConfigurations/0/numPoints: 4
/markerConfigurations/0/offset: [0.0, -0.01, -0.04]
/markerConfigurations/0/points/0: [0.0177184, 0.013...
/markerConfigurations/0/points/1: [-0.0262914, 0.05...
/markerConfigurations/0/points/2: [-0.0328889, -0.0...
/markerConfigurations/0/points/3: [0.0431307, -0.03...
/markerConfigurations/1/numPoints: 4
/markerConfigurations/1/offset: [0.0, 0.0, -0.03]
/markerConfigurations/1/points/0: [-0.00896228, -0....
/markerConfigurations/1/points/1: [-0.0156318, 0.09...
/markerConfigurations/1/points/2: [0.0461693, -0.08...
/markerConfigurations/1/points/3: [-0.0789959, -0.0...
/markerConfigurations/2/numPoints: 4
/markerConfigurations/2/offset: [0.0, 0.0, -0.06]
/markerConfigurations/2/points/0: [0.0558163, -0.00...
/markerConfigurations/2/points/1: [-0.0113941, 0.00...
/markerConfigurations/2/points/2: [-0.0306277, 0.05...
/markerConfigurations/2/points/3: [0.0535816, -0.04...
/markerConfigurations/3/numPoints: 1
/markerConfigurations/3/offset: [0.0, -0.01, -0.04]
/markerConfigurations/3/points/0: [0.0177184, 0.013...
/numDynamicsConfigurations: 1
/numMarkerConfigurations: 4
/rosdistro: noetic
/rosversion: 1.16.0

NODES
/
crazyswarm_server (crazyswarm/crazyswarm_server)
crazyswarm_teleop (crazyswarm/crazyswarm_teleop)
joy (joy/joy_node)
rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[crazyswarm_server-1]: started with pid [7901]
process[joy-2]: started with pid [7902]
process[crazyswarm_teleop-3]: started with pid [7903]
[ WARN] [1703676633.313436592]: Couldn't set gain on joystick force feedback: Bad file descriptor
[ INFO] [1703676633.317425727]: Opened joystick: /dev/input/js0 (VirtualBox USB Tablet). deadzone_: 0.050000.
process[rviz-4]: started with pid [7909]
[ INFO] [1703676633.430792609]: Wait for services...
[ INFO] [1703676633.436511560]: Manager ready.
ch: 1
[ INFO] [1703676633.536710001]: Parsed crazyflies.yaml successfully.
[ INFO] [1703676633.538220056]: Adding CF: cf1 (radio://0/80/2M/E7E7E7E701, cf1)...
[ INFO] [1703676633.578085501]: CF ctor: 0.039741 s
[ INFO] [1703676633.605823866]: [cf1] ---
[ INFO] [1703676633.624342659]: [cf1] SYS: Crazyflie 2.1 is up and running!
[ INFO] [1703676633.646609753]: [cf1] SYS: Build 0:f83e4269f59b (2023.07) CLEAN
[ INFO] [1703676633.670254252]: [cf1] SYS: I am 0x313232313232470F0035002F and I have 1024KB of flash!
[ INFO] [1703676633.680650151]: [cf1] CFGBLK: v1, verification [OK]
[ INFO] [1703676633.690289479]: [cf1] DECK_CORE: 2 deck(s) found
[ INFO] [1703676633.741098644]: [cf1] DECK_CORE: Calling INIT on driDECK_CORE: Calling INIT on driIMU: BMI088: Using I2C interface.
[ INFO] [1703676633.759705122]: [cf1] K].
[ INFO] [1703676633.779769526]: [cf1] IMU: BMI088 Accel connection [OK]
[ INFO] [1703676633.797418795]: [cf1] IMU: BMP388 I2C connection [OK]
[ INFO] [1703676633.815919135]: [cf1] ESTIMATOR: Using Kalman (2) estimator
[ INFO] [1703676633.834418387]: [cf1] CONTROLLER: Using PID (1) controller
[ INFO] [1703676633.882966709]: [cf1] MTR-DRV: Using brushed motor de. NRF51 TX power offset by -12db.
[ INFO] [1703676633.903338675]: [cf1] SYS: About to run tests in system.c.
[ INFO] [1703676633.913227807]: [cf1] SYS: NRF51 version: 2023.02
[ INFO] [1703676633.922905093]: [cf1] EEPROM: I2C connection [OK].
[ INFO] [1703676633.932662943]: [cf1] STORAGE: Storage check [OK].
[ INFO] [1703676633.951261196]: [cf1] IMU: BMI088 gyro self-test [OK]
[ INFO] [1703676633.962870522]: [cf1] DECK_CORE: Deck 0 test [OK].
[ INFO] [1703676633.971755026]: [cf1] SYS: Self test passed!
[ INFO] [1703676633.987971518]: [cf1] STAB: Wait for sensor calibration...
[ INFO] [1703676633.998759083]: [cf1] SYS: Free heap: 17680 bytes
[ INFO] [1703676634.017263140]: [cf1] STAB: Starting stabilizer loop
[ INFO] [1703676634.036885714]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1703676634.045611014]: [cf1] SUP: Can not fly
[ INFO] [1703676634.053410814]: [cf1] SUP: Ready to fly
[ INFO] [1703676634.089081236]: [cf1] ESTKALMAN: State out of boundsESTKALMAN: State out of bounds, resetting
[ INFO] [1703676634.101465650]: [cf1] Requesting parameters...
[ INFO] [1703676634.531001242]: Found variables in cache.
[ INFO] [1703676637.612809220]: [cf1] reqParamTOC: 4.034623 s (279 params)
[ INFO] [1703676637.612860207]: [cf1] Requesting logging variables...
[ INFO] [1703676637.653057271]: Found variables in cache.
[ INFO] [1703676637.654392556]: [cf1] reqLogTOC: 0.041586 s
[ INFO] [1703676637.706149711]: [cf1] logBlocks: 4.034623 s
[ INFO] [1703676637.751125280]: Requesting memories...
[ INFO] [1703676637.803832672]: Memories: 9
[ INFO] [1703676638.046434887]: [cf1] Ready. Elapsed: 4.468248 s
[ INFO] [1703676638.046481122]: CF run: 4.468411 s
update commander/enHighLevel to 1
update kalman/resetEstimation to 1
update locSrv/extPosStdDev to 0.001
update locSrv/extQuatStdDev to 0.05
update ring/effect to 16
update ring/headlightEnable to 0
update ring/solidBlue to 255
update ring/solidGreen to 0
update ring/solidRed to 0
update stabilizer/controller to 2
update stabilizer/estimator to 2
update ctrlMel/i_range_m_z to 1500
update ctrlMel/i_range_xy to 2
update ctrlMel/i_range_z to 0.4
update ctrlMel/kR_xy to 70000
update ctrlMel/kR_z to 60000
update ctrlMel/kd_omega_rp to 200
update ctrlMel/kd_xy to 0.2
update ctrlMel/kd_z to 0.4
update ctrlMel/ki_m_z to 500
update ctrlMel/ki_xy to 0.05
update ctrlMel/ki_z to 0.05
update ctrlMel/kp_xy to 0.4
update ctrlMel/kp_z to 1.25
update ctrlMel/kw_xy to 20000
update ctrlMel/kw_z to 12000
update ctrlMel/mass to 0.032
update ctrlMel/massThrust to 132000
[ INFO] [1703676638.061793499]: [cf1] Update parameters
[ INFO] [1703676638.506149261]: [cf1] CONTROLLER: Using Mellinger (2) controller
[ INFO] [1703676639.462156270]: Update params: 1.415631 s
[ INFO] [1703676639.462372777]: Started 1 threads
terminate called after throwing an instance of 'std::runtime_error'
what(): LIBUSB_ERROR_TIMEOUT
[crazyswarm_server-1] process has died [pid 7901, exit code -6, cmd /home/bitcraze/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/bitcraze/.ros/log/b82dc00c-a495-11ee-b779-13d910275467/crazyswarm_server-1.log].
log file: /home/bitcraze/.ros/log/b82dc00c-a495-11ee-b779-13d910275467/crazyswarm_server-1*.log

Upon executing the command, RViz opens up, and the Crazyradio 2.0 starts to show a green light. In the RViz window, an airplane's axes are displayed with the label "world", and it seems to be preparing to launch a cf1 drone.

However, the process eventually fails with the error message: [crazyswarm_server-1] process has died [pid 7901, exit code -6, ...].

I am wondering if this issue could be related to an incorrect update of the crazyradio-firmware (I have asked a separate question regarding this in another discussion).

Thank you for taking the time to address my query!

Answered by whoenig

Jan 1, 2024

Crazyradio2 should work with the latest firmware from https://github.com/bitcraze/crazyradio2-firmware, but hasn't been tested by me.
Most people use a motion capture, but LPS and Lighthouse should work too. LPS is the least accurate of these options.

View full answer

whoenig · 2023-12-31T19:03:52Z

whoenig
Dec 31, 2023
Maintainer

Crazyswarm1 has never been tested with Crazyradio 2.0. From the error message, it looks like you might need to upgrade your Crazyradio firmware.

4 replies

nfu64967512 Jan 1, 2024
Author

Hi, so I should use crazyradio PA instead? I asked about crazyradio-firmware update problem on bitcraze discussions, maybe I should wait for their answer? Because every time I try to update my crazyradio 2.0 by "https://github.com/bitcraze/crazyradio-firmware" and always get failed. Thank u for solving my problem!
BTW shouldn't I use LPS position for crazyswarm1? I seldom see there is anyone use this position way to swarm.

whoenig Jan 1, 2024
Maintainer

Crazyradio2 should work with the latest firmware from https://github.com/bitcraze/crazyradio2-firmware, but hasn't been tested by me.
Most people use a motion capture, but LPS and Lighthouse should work too. LPS is the least accurate of these options.

Answer selected by nfu64967512

nfu64967512 Jan 2, 2024
Author

OK! I will try it later! I will try your way.
Thanks!

jpreiss May 15, 2024
Maintainer

FYI for future readers: I've been using Crazyswarm1 with the Crazyradio 2.0 recently and have observed no problems.

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jpreiss May 15, 2024
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