Hi,
I am integrating optitrack and cf2 with crazyflie_ros and vrpn_client_ros.
It worked correctly.
Now I am using this crazyswarm package.
I think my setting is almost done.
However, CF2 does not take off.
<The setting of hover_swarm.launch>
# tracking
motion_capture_type: "optitrack" # one of vicon, optitrack
object_tracking_type: "libobjecttracker" # one of motionCapture, libobjecttracker
# vicon_host_name: "vicon"
optitrack_local_ip: "130.xx.xxx.xxx" # ubuntu computer
optitrack_server_ip: "130.xx.xxx.xxx" # optitrack computer
I updated the values using mocap_helper.launch
<crazyflieTypes.yaml>
markerConfigurations:
"0": # for standard Crazyflie
numPoints: 4
offset: [0.0, -0.01, -0.04]
points:
"0": [-0.00285348,-0.0684936,0.0211864]
"1": [-0.0704766,-0.00605787,0.0223118]
"2": [0.060272,3.81677e-05,0.0231011]
"3": [-0.00905949,-0.000530424,0.0350827]
I executed the following commands.
$ python chooser.py
In chooser window, click "Clear" and "Fill", then click "reboot"
$ roslaunch crazyswarm hover_swarm.launch
After that, CF2 appeared in rvis window. (There were two frames; "cf1" and "world")
Part of terminal window's line is shown in the following.
[ INFO] [1520450020.300528125]: [cf1] Update parameters
[ERROR] [1520450020.301070905]: Could not find param kalmanUSC/rstWithExtPos
[ERROR] [1520450020.303812255]: Could not find param traj/auto_yaw
[ INFO] [1520450020.349110276]: Update params: 0.065297 s
[ INFO] [1520450020.349302876]: Started 1 threads
(What is the param errors?)
Then, I push the start button of joystick, and terminal window showed
[ INFO] [1520450065.633917239]: Takeoff!
.
But, CF2 did not move at all.
I attach the LED patterns.
- When I turn on crazyflie: https://youtu.be/4_la075u4G4
- When I reboot through chooser.py: https://youtu.be/PyFIcwxN7Fc
- When I run "$roslaunch crazyswarm hover_swarm.launch": https://youtu.be/KYxmz74xods
Despite of that I executed the following command
$ python figure8_canned.py
.
Then, CF2 flew to the wrong side and crashed to the wall.
The terminal window outputted the following error message several times.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] [1520450711.869466057]: ICP did not converge!
[ WARN] [1520450711.869526159]: No updated pose for CF cf1 for 0.049901 s.
[ WARN] [1520450711.877692015]: Dynamic check failed
fitness: 0.00160511 >= 0.001
Then, it automatically went to emergency mode after crashing.
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[ INFO] [1520450713.327218320]: emergency requested...
[ INFO] [1520450713.328431185]: Done.
[crazyflie_server-2] process has died [pid 7083, exit code -6, cmd /home/ubuntu/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_server __name:=crazyflie_server __log:=/home/ubuntu/.ros/log/3df1d818-223d-11e8-a760-74d435137038/crazyflie_server-2.log].
log file: /home/_ubuntu/.ros/log/3df1d818-223d-11e8-a760-74d435137038/crazyflie_server-2*.log
Please help me to resolve this issue.
Thank you.