Dear Whoenig,
I've studied your project since you suggested me to use it (I'm the one who was having issiues with control signal of the basic PID in the crazyflie_controller) and I think it is awesome! But since I have to adapt it for Qualisys system and spend more time on it, I would like to understand if it is the right solution for my project. I'm working on a decentralized collective task project with 3, maximum 4 Crazyflies; my drones are supposed to fly always on trajectories that consist of quarters of circles with always the same radius, but variable center (asynchronously changed but "really seldom", respect to the frequencies of the system, let's say every time a quarter of circle is spanned by the CF) and piecewise constant angular velocities (varied asynchronously a couple time during a quarter of circle). The problem is that the algorithm is supposed to generate the changes of centers and angular velocities online, based on the position of the CF (no worries about attitude, I usually keep it fixed). The question is: even if I could use the ellipses to get circular primitives, is there any chance to make the changes I said on-line, I.e. not planning the complete path off-line?what's your opinion about it?I'm worried about it because seems you use broadcasting communications during the flight, and I don't know if it could be compatible with these directed communications. For the discontinuities in the path, I could start trying to find initial conditions that minimize the difference between the consecutive centers.
Another question: is it possible to still use the modified firmware and the EKF with the merged state infos from both the mocap and the IMU but skipping the cloud point body identification, so using the identification from the Qualisys? Because in my application I'm OK with that, and I don't have the need to solve a large number of unique marker disposition.
Thanks in advance!

Hi guys, I'm using optitrack as the motion capture system. So I need to modify the hover_swarm.launch to make it compatible with the firmware. After reading the documentation, I do know which part I need to modify while it still not work for me. Can anyone give me some advice on that?

# tracking
      motion_capture_type: "optitrack" # one of vicon,optitrack
      object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
<!--       vicon_host_name: "vicon"
      # optitrack_local_ip: "localhost"
      # optitrack_server_ip: "optitrack" -->
      optitrack_local_ip: "192.168.1.253"
      optitrack_server_ip: "192.168.1.147"
      save_point_clouds: ~/pointCloud.ot
      interactive_object: active-wand # virtual #active-wand

Hi, I updated crazyswarm files, and try to run
$ python figure8_canned.py --sim
and get the error as shown in the following

Traceback (most recent call last):
  File "figure8_canned.py", line 5, in <module>
    from pycrazyswarm import *
  File "/home/asrl_ubuntu/crazyswarm/ros_ws/src/crazyswarm/scripts/pycrazyswarm/piecewise.py", line 1, in <module>
    from .cfsim import cffirmware as firm
ImportError: cannot import name cffirmware

Please help me to resolve this issue.

Thank you.

I would like to discuss about the error "No updated pose for motion capture object cf1" when you are integrating cf2 with optitrack.

If you set object_tracking_type in hover_swarm.launch file as libobjecttracker, sometimes optitrack camera misses one or more markers during its tilting.
When a marker is occluded its ID will change. That might be confusing ROS.

This happened many times to me with only four cameras, so cf2 fell onto the ground...

If I am tracking a rigid body, one occluded marker should not cause the tracking to fail.

Hence, I need to set object_tracking_type as motionCapture using the rigid body option...
When I used it, however, the error No updated pose for motion capture object cf1 happened...

So what should I do resolve this issue?
Is there anyone who resolve this issue?

Thank you so much.

I am interested in using your setup for the crazyswarm. I pulled the master branch and added the Vicon sdk files to the externalDependencies folder as specified. I have been running into some issues during the build script:

1. The build script still references some of the submodules that were removed, e.g., vicon_ros

2. The crazyflie_driver cmake and package.xml still references vicon_ros, & the crazyflie_server.cpp file includes "vicon_ros/NamedPoseArray.h".

3. I commented all those out, since vicon_ros appears to be a submodule that is no longer used, but during the build I am getting many c++ errors, such as

/usr/include/c++/4.8/bits/basic_ios.h:66:11: note: ‘std::basic_ios::basic_ios(const std::basic_ios&)’ is implicitly deleted because the default definition would be ill-formed:
class basic_ios : public ios_base
^
In file included from /usr/include/c++/4.8/ios:42:0,
from /usr/include/c++/4.8/ostream:38,
from /usr/include/c++/4.8/iostream:39,
from /opt/ros/indigo/include/ros/time.h:54,
from /opt/ros/indigo/include/ros/ros.h:38,
from /home/rasl/catkin_ws/src/crazyswarm/ros_ws/src/crazyflie_ros/crazyflie_driver/src/crazyflie_server.cpp:1:
/usr/include/c++/4.8/bits/ios_base.h:792:5: error: ‘std::ios_base::ios_base(const std::ios_base&)’ is private
ios_base(const ios_base&);
^

I was wondering what version of c++ you were using, or if had an idea of what the underlying issue may be. I tried with gcc 4.8.4 and 4.9 with the same errors. I've had success interfacing with the standard crazyflie_ros driver you created, and found that it worked very well.

Hi Wolfgang,

I have some questions regarding getting the marker configuration for the point cloud tracking. I set the crazyflie at the origin and made a model. Should I use the local marker locations that the tracker provides or the absolute locations? Additionally, what are the offset values in relation towards? We were able to get flight, but overall, it seemed less stable than the Vicon tracker. Any help you could provide on how to set up the point cloud tracker would be appreciated.

Matt

I noticed, while navigating through the repo on github, that the submodule link for the ROS-crazyflie library is: "crazyflie_ros @ bac1f8f". Should it point to the "crazyswarm_master" branch instead?

The bac1f8f tree does not include the fixes committed to the CMakeList.txt files of crazyflie_driver and crazyflie_manager. When cloning, I do not receive the "fixed" versions (I have to manually update the CMakeList files).

Thanks,
Kyle

Hey guys,

First and foremost, thank you so much for making your project open source and well documented. The effort you all put into making your work reproducible is awesome.

I am trying to use the build.sh script as instructed on the installation page of the readthedocs site, but i'm running into issues. I'll just start with my first issue in this post: submodule handling in the build script.

The submodule init and update for ".../externalDependencies/libmotioncapture/" pulls up the github credentials prompt. I just commented it out to avoid the issue, but thought I'd mention it because it seems unnecessary.

The submodule init and update for "ros_ws/src/object_tracker/" has me really confused though: The src folder on github only contains the crazyflie_ros and crazyswarm directories...

Was object_tracker intentionally removed or do I need to clone it from another project? Is commenting this block out going to cause me any problems?

Thanks,
Kyle

Does the crazyswarm support rigid body's sent from optitrack or only point cloud data (marker positions)?

What is the best way to define the marker layout for the launch file? I am using a VICON system right, now and I can't figure out a good way to get accurate offset and marker positions for the layout.

Good Day. I am new to the crazyflie equipment and hopefully that someone will be able to help. I would just like to know on how the tune the PID of the crazyswarm? I am currently working on a single drone using this tutorial http://crazyswarm.readthedocs.io/en/latest/ the drone would not stabilize. The advise that we got was to tune the quad but I do not know how. if you could help us or link us to a tutorial, it would mean a lot. Thanks! :)

Hi,
I an getting an error when I try to flash the radio using the "option 2" method. The error is shown below

I do have the crazyradio upgraded to 99.55 but I am not sure if I am using the crazyradio PA or not. because in the "README" file, it seems that the you can choose if it is crazyradio PA or not. how can i check if I have the crazyradio PA?

I seem to be running into a stability issue when running multiple crazyflies. If I use the chooser and fly a figure 8 pattern with each crazyflie (currently a swarm of 9) I get a good hover as well as a smooth figure 8. When I attempt this with two its not as smooth but still executes fairly well. The problems begin when I use 3 or more. When I attempt it with three, I can sometimes get the to hover but after a few seconds one of them flies away in some random direction. I am running this on optitrack using the libmotioncapture with the same marker configuration on each crazyflie. The crazyflies are all on the 2Mhz band and on channel 37 (seems to be the best channel here). Any ideas where my problem is arising from? Also for reference I seemed to have the same issue when flying more than 2 on the crazyflie_ros package.

Hi team ,
I have tried to build the project with .\build.sh but failed many times eventhough i add the vicon_sdk to
following path :

finally I got error :

[  5%] Linking CXX shared library /home/pinxian/crazyswarm/ros_ws/devel/lib/liblibmotioncapture.so
/usr/bin/ld: skipping incompatible /home/pinxian/crazyswarm/ros_ws/src/crazyflie_ros/externalDependencies/libmotioncapture/externalDependencies/vicon_sdk/lib64/libViconDataStreamSDK_CPP.so when searching for -lViconDataStreamSDK_CPP
/usr/bin/ld: cannot find -lViconDataStreamSDK_CPP
/usr/bin/ld: skipping incompatible /home/pinxian/crazyswarm/ros_ws/src/crazyflie_ros/externalDependencies/libmotioncapture/externalDependencies/vicon_sdk/lib64/libViconDataStreamSDK_CPP.so when searching for -lViconDataStreamSDK_CPP
/usr/bin/ld: cannot find -lViconDataStreamSDK_CPP
collect2: error: ld returned 1 exit status
crazyflie_ros/externalDependencies/libmotioncapture/CMakeFiles/libmotioncapture.dir/build.make:415: recipe for target '/home/pinxian/crazyswarm/ros_ws/devel/lib/liblibmotioncapture.so' failed
make[2]: *** [/home/pinxian/crazyswarm/ros_ws/devel/lib/liblibmotioncapture.so] Error 1
CMakeFiles/Makefile2:1049: recipe for target 'crazyflie_ros/externalDependencies/libmotioncapture/CMakeFiles/libmotioncapture.dir/all' failed
make[1]: *** [crazyflie_ros/externalDependencies/libmotioncapture/CMakeFiles/libmotioncapture.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[  5%] Linking CXX shared library /home/pinxian/crazyswarm/ros_ws/devel/lib/liblibobjecttracker.so
[  5%] Built target libobjecttracker
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j2 -l2" failed

Can you guys give some suggestion or give me download link of full package?
thanks!!

Ubuntu 16.04
ROS :　kinetic

Hi everyone. I'm trying to get one crazyflie to hover, but I'm having problems with tracking.
I am using VICON to track the crazyflies. I've tried both object_tracking_type options, but I get problems with both.

When using libobjecttracker as object_tracking_type, I get the following problem:

SUMMARY
========

PARAMETERS
 * /crazyflie_manager/csv_file: /home/hivemind/cs...
 * /crazyflie_manager/timescale: 0.8
 * /crazyflie_server/broadcast_address: FFE7E7E7E7
 * /crazyflie_server/dynamicsConfigurations/0/maxFitnessScore: 0.001
 * /crazyflie_server/dynamicsConfigurations/0/maxPitch: 1.4
 * /crazyflie_server/dynamicsConfigurations/0/maxPitchRate: 20.0
 * /crazyflie_server/dynamicsConfigurations/0/maxRoll: 1.4
 * /crazyflie_server/dynamicsConfigurations/0/maxRollRate: 20.0
 * /crazyflie_server/dynamicsConfigurations/0/maxXVelocity: 2.0
 * /crazyflie_server/dynamicsConfigurations/0/maxYVelocity: 2.0
 * /crazyflie_server/dynamicsConfigurations/0/maxYawRate: 10.0
 * /crazyflie_server/dynamicsConfigurations/0/maxZVelocity: 3.0
 * /crazyflie_server/enable_logging: False
 * /crazyflie_server/enable_parameters: True
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflie_server/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflie_server/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflie_server/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflie_server/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflie_server/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflie_server/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflie_server/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflie_server/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflie_server/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflie_server/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflie_server/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflie_server/firmwareParams/flightmode/posCtrl: 1
 * /crazyflie_server/firmwareParams/ring/effect: 14
 * /crazyflie_server/firmwareParams/ring/headlightEnable: 0
 * /crazyflie_server/firmwareParams/ring/solidBlue: 20
 * /crazyflie_server/firmwareParams/ring/solidGreen: 0
 * /crazyflie_server/firmwareParams/ring/solidRed: 0
 * /crazyflie_server/force_no_cache: False
 * /crazyflie_server/genericLogTopicFrequencies: [10]
 * /crazyflie_server/genericLogTopic_log1_Variables: ['stabilizer.yaw'...
 * /crazyflie_server/genericLogTopics: ['log1']
 * /crazyflie_server/markerConfigurations/0/numPoints: 4
 * /crazyflie_server/markerConfigurations/0/offset: [0.0, -0.01, -0.04]
 * /crazyflie_server/markerConfigurations/0/points/0: [-1.64561450481, ...
 * /crazyflie_server/markerConfigurations/0/points/1: [-1.41054797173, ...
 * /crazyflie_server/markerConfigurations/0/points/2: [-1.41226184368, ...
 * /crazyflie_server/markerConfigurations/0/points/3: [-1.37784779072, ...
 * /crazyflie_server/motion_capture_type: vicon
 * /crazyflie_server/numDynamicsConfigurations: 1
 * /crazyflie_server/numMarkerConfigurations: 1
 * /crazyflie_server/object_tracking_type: libobjecttracker
 * /crazyflie_server/print_latency: False
 * /crazyflie_server/save_point_clouds: ~/pointCloud.ot
 * /crazyflie_server/vicon_host_name: 10.0.0.3:801
 * /crazyflie_server/world_frame: /world
 * /crazyflie_server/write_csvs: False
 * /crazyflies: [{'initialPositio...
 * /joy/dev: /dev/input/js0
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    crazyflie_manager (crazyflie_manager/crazyflie_manager)
    crazyflie_server (crazyflie_driver/crazyflie_server)
    joy (joy/joy_node)
    rqt (rqt_gui/rqt_gui)
    rqt_plot_yaw (rqt_plot/rqt_plot)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [2000]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8f5e0ed0-e9c9-11e7-9c2d-e4a7a09af209
process[rosout-1]: started with pid [2013]
started core service [/rosout]
process[crazyflie_server-2]: started with pid [2030]
process[joy-3]: started with pid [2031]
process[crazyflie_manager-4]: started with pid [2037]
process[rviz-5]: started with pid [2047]
process[rqt-6]: started with pid [2063]
[ INFO] [1514243756.772995733]: Wait for services...
process[rqt_plot_yaw-7]: started with pid [2071]
[ INFO] [1514243756.777604617]: waitForService: Service [/takeoff] has not been advertised, waiting...
[ INFO] [1514243756.788368486]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
crazyflies.size = 1
crazyflie id and channel are: 1 80
[ INFO] [1514243756.791431793]: All CFs are ready!
[ INFO] [1514243756.801623604]: waitForService: Service [/takeoff] is now available.
[ INFO] [1514243756.849691121]: Manager ready.
Connecting... 
Connected! 
[ INFO] [1514243756.873885786]: motion capture type defined
ch: 1
[ INFO] [1514243756.932401433]: Adding CF: cf1 (radio://0/80/2M/E7E7E7E701, cf1)...
[ INFO] [1514243756.949031101]: CF ctor: 0.016558 s
[ WARN] [1514243756.994148573]: [cf1] Link Quality low (0.410000)
[ WARN] [1514243757.082921967]: [cf1] Link Quality low (0.550000)
0x274ee30 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1c15180) ): Attempt to set a screen on a child window.
0x27445b0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1c15180) ): Attempt to set a screen on a child window.
0x2745080 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1c15180) ): Attempt to set a screen on a child window.
0x2749f00 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1c15180) ): Attempt to set a screen on a child window.
[ INFO] [1514243757.916593605]: [cf1] Requesting parameters...
[ INFO] [1514243757.935559687]: Found variables in cache.
[ INFO] [1514243758.286880369]: [cf1] reqParamTOC: 1.337760 s
[ INFO] [1514243758.286937776]: [cf1] Ready. Elapsed: 1.337854 s
[ INFO] [1514243758.286992990]: CF run: 1.337990 s
[ INFO] [1514243758.317345733]: [cf1] Update parameters
[ERROR] [1514243758.317491595]: Could not find param ctrlMel/i_range_m_z
[ERROR] [1514243758.317804389]: Could not find param ctrlMel/i_range_xy
[ERROR] [1514243758.318019777]: Could not find param ctrlMel/i_range_z
[ERROR] [1514243758.318229282]: Could not find param ctrlMel/kR_xy
[ERROR] [1514243758.318538982]: Could not find param ctrlMel/kR_z
[ERROR] [1514243758.318757852]: Could not find param ctrlMel/kd_omega_rp
[ERROR] [1514243758.318960693]: Could not find param ctrlMel/kd_xy
[ERROR] [1514243758.319168247]: Could not find param ctrlMel/kd_z
[ERROR] [1514243758.319373689]: Could not find param ctrlMel/ki_m_z
[ERROR] [1514243758.319573389]: Could not find param ctrlMel/ki_xy
[ERROR] [1514243758.319800357]: Could not find param ctrlMel/ki_z
[ERROR] [1514243758.320038253]: Could not find param ctrlMel/kp_xy
[ERROR] [1514243758.320263296]: Could not find param ctrlMel/kp_z
[ERROR] [1514243758.320556865]: Could not find param ctrlMel/kw_xy
[ERROR] [1514243758.320903732]: Could not find param ctrlMel/kw_z
[ERROR] [1514243758.321424341]: Could not find param ctrlMel/mass
[ERROR] [1514243758.322601644]: Could not find param ctrlMel/massThrust
[ERROR] [1514243758.322997432]: Could not find param flightmode/posCtrl
[ INFO] [1514243758.345806860]: Update params: 0.058577 s
[ INFO] [1514243758.346252349]: Started 1 threads
[ WARN] [1514243758.349877542]: Initialize did not succeed (fitness too low).
[ WARN] [1514243758.356024660]: Object tracker initialization failed - check that position is correct, all markers are visible, and marker configuration matches config file
[ WARN] [1514243758.356128143]: No updated pose for CF cf1 for 1514243758.347178 s.
[ WARN] [1514243758.356235779]: Latency too high! Is 0.009908 s.
[ WARN] [1514243758.363539311]: Initialize did not succeed (fitness too low).
[ WARN] [1514243758.363781096]: Object tracker initialization failed - check that position is correct, all markers are visible, and marker configuration matches config file
[ WARN] [1514243758.363915686]: No updated pose for CF cf1 for 1514243758.362515 s.
[ WARN] [1514243758.394175456]: Initialize did not succeed (fitness too low).
[ WARN] [1514243758.394261109]: Object tracker initialization failed - check that position is correct, all markers are visible, and marker configuration matches config file
[ WARN] [1514243758.394298951]: No updated pose for CF cf1 for 1514243758.392438 s.
[ WARN] [1514243758.395672323]: Initialize did not succeed (fitness too low).
[ WARN] [1514243758.395740321]: Object tracker initialization failed - check that position is correct, all markers are visible, and marker configuration matches config file
[ WARN] [1514243758.395777351]: No updated pose for CF cf1 for 1514243758.394408 s.
[ WARN] [1514243758.423618981]: Initialize did not succeed (fitness too low).
[ WARN] [1514243758.423845751]: Object tracker initialization failed - check that position is correct, all markers are visible, and marker configuration matches config file

The warning goes on forever.
In RVIZ, I can see the markers reproduced as seen by VICON. I got the marker coordinates from pointCloud and I used them as the markerConfigurations in hover_swarm.launch. I also modified the initial location of the crazyflie in crazyflies.yaml per the marker coordinates (the average of the markers). However, the coordinates system axis attached to the crazyflie does not appear in VICON.

So, based on the output when running roslaunch crazyswarm hover_swarm.launch there are two problems observed:
1- The error with finding parameters Could not find param ctrlMel/i_range_m_z ...
2- The problem with the object tracker initialization failing.

What is causing these problems and what should I do about them?

Thank you.

Note:
The markers are asymmetrical.
I read issue #10 and I updated the cf firmware, yet I still get the error with finding parameters.

I'm having issues when trying to run hover_swarm.launch. My full terminal output can be seen here.

Jumping ahead to the error:

...
[ INFO] [1498513544.008199879]: waitForService: Service [/emergency] is now available.
[ INFO] [1498513544.015521940]: Manager ready.
ch: 1
terminate called after throwing an instance of 'XmlRpc::XmlRpcException'
[ INFO] [1498513544.139372619]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[crazyflie_server-2] process has died [pid 13386, exit code -6, cmd 
/home/labuser/Desktop/Crazyflies/ROS/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_server
 __name:=crazyflie_server __log:=/home/labuser/.ros/log/cdfce1f2-5ab8-11e7-9a12-
4437e6a9fa65/crazyflie_server-2.log].
log file: /home/labuser/.ros/log/cdfce1f2-5ab8-11e7-9a12-4437e6a9fa65/crazyflie_server-2*.log

Rviz does not show any objects (just the floor grid). Please let me know if any other information can help diagnose the issue.

Hi !

When I was running hover_swarm.launch, I got these msgs !!! The pose information should have been sent from the motion capture system.

[ WARN] [1500535268.047072608]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.047446726]: No updated pose for CF cf1 for 1500535268.047005 s.
[ WARN] [1500535268.055758347]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.055929900]: No updated pose for CF cf1 for 1500535268.055579 s.
[ WARN] [1500535268.064536358]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.064662063]: No updated pose for CF cf1 for 1500535268.064438 s.
[ WARN] [1500535268.072331422]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.072488554]: No updated pose for CF cf1 for 1500535268.072249 s.
[ WARN] [1500535268.082445309]: VICON Latency high: 1.79446e+35 s.
Latency: : 1.79446e+35 s.

[ WARN] [1500535268.082805783]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.083112103]: No updated pose for CF cf1 for 1500535268.082738 s.
[ WARN] [1500535268.089371782]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.089510510]: No updated pose for CF cf1 for 1500535268.089289 s.
[ WARN] [1500535268.097756121]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.097857519]: No updated pose for CF cf1 for 1500535268.097697 s.
[ WARN] [1500535268.105778800]: VICON Latency high: 4.2277e+22 s.
Latency: : 4.2277e+22 s.

[ WARN] [1500535268.106075287]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.106196562]: No updated pose for CF cf1 for 1500535268.106008 s.
[ WARN] [1500535268.118769200]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.118908088]: No updated pose for CF cf1 for 1500535268.118691 s.
[ WARN] [1500535268.122286767]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.122409086]: No updated pose for CF cf1 for 1500535268.122217 s.
[ WARN] [1500535268.130102276]: VICON Latency high: 4.40615e+33 s.
Latency: : 4.40615e+33 s.

[ WARN] [1500535268.130462971]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.130643764]: No updated pose for CF cf1 for 1500535268.130376 s.
[ WARN] [1500535268.139446908]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.139578887]: No updated pose for CF cf1 for 1500535268.139377 s.
[ WARN] [1500535268.148501833]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.148657113]: No updated pose for CF cf1 for 1500535268.148416 s.
[ WARN] [1500535268.155389313]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.155501778]: No updated pose for CF cf1 for 1500535268.155321 s.
[ WARN] [1500535268.166161358]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.166661199]: No updated pose for CF cf1 for 1500535268.166007 s.
[ WARN] [1500535268.171431744]: VICON Latency high: 2.24364e+29 s.
Latency: : 2.24364e+29 s.

[ WARN] [1500535268.171908429]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.172015267]: No updated pose for CF cf1 for 1500535268.171850 s.
[ WARN] [1500535268.180322459]: No updated pose for motion capture object active-wand
[ WARN] [1500535268.180847097]: No updated pose for CF cf1 for 1500535268.180239 s.
[ WARN] [1500535268.190807302]: VICON Latency high: 6.58311e+10 s.
Latency: : 6.58311e+10 s.

My setting like these !!!

motion_capture_type: "optitrack" # one of vicon,optitrack
object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
#vicon_host_name: "vicon"
optitrack_local_ip: "10.0.0.18"
optitrack_server_ip: "10.0.0.2"
save_point_clouds: ~/pointCloud.ot
interactive_object: active-wand # virtual #active-wand
numMarkerConfigurations: 1
markerConfigurations:
"0":
numPoints: 4
offset: [0.0, -0.01, -0.04]
points:
"0": [-115.638420,1.984801,83.374680]
"1": [123.918533,-2.160125,56.46.5626]
"2": [-132.688553,1.471121,-55.763245]
"3": [124.408455,-1.295798,-84.077003]

Hi Wolfgang,

I have flashed the nrf and crazyflie-firmwares to the crazyflie, but I have a few questions regarding the setup in getting everything flying:

• Is there any further setup that needs to be done (dependencies) or files that need to be changed to account for our configuration?

I now to change the radio channels is in the crazyflies.yaml file. The reason I ask is that I am getting an rosparam error when trying to launch the crazy swarm_hover_swarm.launch file. The full error is as follows:

load_parameters: unable to set parameters (last param was [/crazyflie_server/markerConfigurations/0/points/2=[-0.0328889, -0.02757, 0.0390601]]): cannot marshal None unless allow_none is enabled

I didn't know if the vicon marker points needed to be set or any other configuration settings that need to be changed.

• When I run chooser.py, anytime I hit one of the buttons on the bottom, the channel value changes from what I set it to, e.g., I set it to channel 80, check the battery and the yaml file resets the value to channel 110.

Matt

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.

1. When I turn on crazyflie: https://youtu.be/4_la075u4G4
2. When I reboot through chooser.py: https://youtu.be/PyFIcwxN7Fc
3. 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.

Hi,

I am currently trying to use your software for coordinating multiple crazyflies. At the moment, I am trying to acheive hover with 10 crazyflies. When I launch chooser.py and try to read the voltage values, I get a 'timeout' message for two crazyflies (id:10 and 11). However, the voltage values are available when we use crazyflie tools. I have ensured that all the radio channel values correspond to the correct robot id in 'all49.yaml'. For your convenience, the 'all49.yaml' file is attached (as a.txt file) . Currently, robot ids [1, 3, 4, 5, 6, 7, 8, 9, 11] are being used. Can you please let me know what the issue might be?

all49 file:
all49.txt

Another issue was noticed during channel assignment to individual crazyflies. I followed the following procedure:

First - assigned the channels using the setChannel functionality available in crazyflie_tools.

Second - verified that the channel has actually been assigned using the crazyflie gui interface.

However, while testing with chooser.py, I noticed that the channel numbers were not really assigned.

E.g. I changed the channel of a crazyflie from 80 to 100, verified that the channel was changed using the GUI interface. However, on running chooser.py, I was not able to read the voltage values. However, when I changed the channel number back to 80 in the 'all49.yaml' file, I was able to get the voltage values. Can you please let me know what the problem might be?

Thanks.
Arjav

Hi, I've got an error when launching the launch file of crazyswarm. I really don't know which part is wrong here. I think I've followed the procedure in the documentation page.

[ INFO] [1496861669.955738149]: Adding CF: cf1 (radio://0/100/2M/E7E7E7E701, cf1)...
[ INFO] [1496861669.968280750]: CF ctor: 0.012442 s
terminate called after throwing an instance of 'std::runtime_error'
  what():  timeout
[crazyflie_server-2] process has died [pid 30320, exit code -6, cmd /home/binx/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_server __name:=crazyflie_server __log:=/home/binx/.ros/log/bc3ae7da-4bb2-11e7-b2e0-e4a4714af4e3/crazyflie_server-2.log].
log file: /home/binx/.ros/log/bc3ae7da-4bb2-11e7-b2e0-e4a4714af4e3/crazyflie_server-2*.log

Here I just want to test with only one cf.

Hi!
I am getting an error when running the chooser.py. The error can be seen in the screenshot.

basically, I had this working with my laptop, but now I am using my desktop and can't seem to fixed this.

I changed the channel of the cf with cfclient using the crazyradio. I then changed the channel in the all49.yaml and the crazyflies.yaml. The crazyradio can connect just fine in the cfclient, but the chooser.py shows the erros. Please Help. Thanks!

-Aldrin

Hi,I'm not sure if I have connected to the crazyflie
I do the same setting as http://crazyswarm.readthedocs.io/en/latest/usage.html
I update the firmware(crazyswarm provides)by make cload
and in hover_swarm.launch,

# tracking
      motion_capture_type: "optitrack" # one of vicon,optitrack
      object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker
      #vicon_host_name: "vicon"
      optitrack_local_ip: "192.168.1.203"
      optitrack_server_ip: "192.168.1.99"

and I can use chooser.py to receive battery and reboot
but when I roslaunch hover_swarm.launch,and use the joy to takeoff
It doesn't takeoff,it shows this

roslaunch crazyswarm hover_swarm.launch
... logging to /home/ncrl/.ros/log/96b3bad2-d4ab-11e7-8ca5-88d7f65412c4/roslaunch-ncrl-10390.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.203:38281/

SUMMARY
========

PARAMETERS
 * /crazyflie_manager/csv_file: /home/ncrl/crazys...
 * /crazyflie_manager/timescale: 0.8
 * /crazyflie_server/broadcast_address: FFE7E7E7E7
 * /crazyflie_server/dynamicsConfigurations/0/maxFitnessScore: 0.001
 * /crazyflie_server/dynamicsConfigurations/0/maxPitch: 1.4
 * /crazyflie_server/dynamicsConfigurations/0/maxPitchRate: 20.0
 * /crazyflie_server/dynamicsConfigurations/0/maxRoll: 1.4
 * /crazyflie_server/dynamicsConfigurations/0/maxRollRate: 20.0
 * /crazyflie_server/dynamicsConfigurations/0/maxXVelocity: 2.0
 * /crazyflie_server/dynamicsConfigurations/0/maxYVelocity: 2.0
 * /crazyflie_server/dynamicsConfigurations/0/maxYawRate: 10.0
 * /crazyflie_server/dynamicsConfigurations/0/maxZVelocity: 3.0
 * /crazyflie_server/enable_logging: True
 * /crazyflie_server/enable_parameters: True
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflie_server/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflie_server/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflie_server/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflie_server/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflie_server/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflie_server/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflie_server/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflie_server/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflie_server/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflie_server/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflie_server/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflie_server/firmwareParams/flightmode/posCtrl: 1
 * /crazyflie_server/firmwareParams/ring/effect: 14
 * /crazyflie_server/firmwareParams/ring/headlightEnable: 0
 * /crazyflie_server/firmwareParams/ring/solidBlue: 20
 * /crazyflie_server/firmwareParams/ring/solidGreen: 0
 * /crazyflie_server/firmwareParams/ring/solidRed: 0
 * /crazyflie_server/force_no_cache: False
 * /crazyflie_server/genericLogTopicFrequencies: [10]
 * /crazyflie_server/genericLogTopic_log1_Variables: ['stabilizer.yaw'...
 * /crazyflie_server/genericLogTopics: ['log1']
 * /crazyflie_server/interactive_object: active-wand
 * /crazyflie_server/markerConfigurations/0/numPoints: 4
 * /crazyflie_server/markerConfigurations/0/offset: [0.0, -0.01, -0.04]
 * /crazyflie_server/markerConfigurations/0/points/0: [0.0177184, 0.013...
 * /crazyflie_server/markerConfigurations/0/points/1: [-0.0262914, 0.05...
 * /crazyflie_server/markerConfigurations/0/points/2: [-0.0328889, -0.0...
 * /crazyflie_server/markerConfigurations/0/points/3: [0.0431307, -0.03...
 * /crazyflie_server/motion_capture_type: optitrack
 * /crazyflie_server/numDynamicsConfigurations: 1
 * /crazyflie_server/numMarkerConfigurations: 1
 * /crazyflie_server/object_tracking_type: motionCapture
 * /crazyflie_server/optitrack_local_ip: 192.168.1.203
 * /crazyflie_server/optitrack_server_ip: 192.168.1.99
 * /crazyflie_server/print_latency: False
 * /crazyflie_server/save_point_clouds: ~/pointCloud.ot
 * /crazyflie_server/world_frame: /world
 * /crazyflie_server/write_csvs: False
 * /crazyflies: []
 * /joy/dev: /dev/input/js0
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    crazyflie_manager (crazyflie_manager/crazyflie_manager)
    crazyflie_server (crazyflie_driver/crazyflie_server)
    joy (joy/joy_node)
    rqt (rqt_gui/rqt_gui)
    rqt_plot_yaw (rqt_plot/rqt_plot)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://192.168.1.203:11311

core service [/rosout] found
process[crazyflie_server-1]: started with pid [10408]
NatNetClient connecting: 192.168.1.203 to 192.168.1.99...
WARNING: Could not set receive buffer size. Asked for 1048576B got 0B
WARNING: Package "cfclient" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).
process[joy-2]: started with pid [10475]
process[crazyflie_manager-3]: started with pid [10476]
process[rviz-4]: started with pid [10494]
[ INFO] [1511926598.658810492]: Wait for services...
process[rqt-5]: started with pid [10511]
[ INFO] [1511926598.661881451]: Manager ready.
process[rqt_plot_yaw-6]: started with pid [10518]
[ INFO] [1511926598.837264133]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1511926610.147639957]: Land!
[ INFO] [1511926610.955938389]: Land!
[ INFO] [1511926611.398637994]: Takeoff!
[ INFO] [1511926612.034207578]: Takeoff!
[ INFO] [1511926612.254008227]: Takeoff!
[ INFO] [1511926612.412697073]: Takeoff!
[ INFO] [1511926612.561124305]: Takeoff!
[ INFO] [1511926612.720287962]: Takeoff!
[ INFO] [1511926612.878865092]: Takeoff!
[ INFO] [1511926613.037298735]: Takeoff!
[ INFO] [1511926613.561745422]: Takeoff!
[ INFO] [1511926613.751122276]: Takeoff!
[ INFO] [1511926613.899476596]: Takeoff!
[ INFO] [1511926614.058046134]: Takeoff!
[ INFO] [1511926614.226837242]: Takeoff!

and I can see crazyflie in rviz,and I move it , it will also move in rviz(but I need to

roslaunch vrpn_client_ros sample.launch server:=192.168.1.99 in another terminal,is it normal?)

and I rostopic list,the topics are

/clicked_point
/diagnostics
/initialpose
/joy
/move_base_simple/goal
/pointCloud
/rosout
/rosout_agg
/tf
/tf_static
/virtual_interactive_object
/vrpn_client_node/cf1/pose

Are these right?

thanks for your replying!

Hi

I was trying to launch hover_swarm.launch, with timeout() error showed in terminal,

SUMMARY

PARAMETERS

• /crazyflie_manager/csv_file: /home/xiaohao/bit...
• /crazyflie_manager/timescale: 0.8
• /crazyflie_server/broadcast_uri: radio://0/100/2M/...
• /crazyflie_server/dynamicsConfigurations/0/maxFitnessScore: 0.001
• /crazyflie_server/dynamicsConfigurations/0/maxPitch: 1.4
• /crazyflie_server/dynamicsConfigurations/0/maxPitchRate: 20.0
• /crazyflie_server/dynamicsConfigurations/0/maxRoll: 1.4
• /crazyflie_server/dynamicsConfigurations/0/maxRollRate: 20.0
• /crazyflie_server/dynamicsConfigurations/0/maxXVelocity: 2.0
• /crazyflie_server/dynamicsConfigurations/0/maxYVelocity: 2.0
• /crazyflie_server/dynamicsConfigurations/0/maxYawRate: 10.0
• /crazyflie_server/dynamicsConfigurations/0/maxZVelocity: 3.0
• /crazyflie_server/enable_logging: False
• /crazyflie_server/enable_parameters: True
• /crazyflie_server/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflie_server/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflie_server/firmwareParams/ctrlMel/i_range_z: 0.4
• /crazyflie_server/firmwareParams/ctrlMel/kR_xy: 70000
• /crazyflie_server/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflie_server/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflie_server/firmwareParams/ctrlMel/kd_xy: 0.2
• /crazyflie_server/firmwareParams/ctrlMel/kd_z: 0.4
• /crazyflie_server/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflie_server/firmwareParams/ctrlMel/ki_xy: 0.05
• /crazyflie_server/firmwareParams/ctrlMel/ki_z: 0.05
• /crazyflie_server/firmwareParams/ctrlMel/kp_xy: 0.4
• /crazyflie_server/firmwareParams/ctrlMel/kp_z: 1.25
• /crazyflie_server/firmwareParams/ctrlMel/kw_xy: 20000
• /crazyflie_server/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflie_server/firmwareParams/ctrlMel/mass: 0.032
• /crazyflie_server/firmwareParams/ctrlMel/massThrust: 132000
• /crazyflie_server/firmwareParams/flightmode/posCtrl: 1
• /crazyflie_server/firmwareParams/ring/effect: 14
• /crazyflie_server/firmwareParams/ring/headlightEnable: 0
• /crazyflie_server/firmwareParams/ring/solidBlue: 20
• /crazyflie_server/firmwareParams/ring/solidGreen: 0
• /crazyflie_server/firmwareParams/ring/solidRed: 0
• /crazyflie_server/force_no_cache: False
• /crazyflie_server/genericLogTopicFrequencies: [10]
• /crazyflie_server/genericLogTopic_log1_Variables: ['stabilizer.yaw'...
• /crazyflie_server/genericLogTopics: ['log1']
• /crazyflie_server/interactive_object: active-wand
• /crazyflie_server/markerConfigurations/0/numPoints: 4
• /crazyflie_server/markerConfigurations/0/offset: [0.0, -0.01, -0.04]
• /crazyflie_server/markerConfigurations/0/points/0: [-88.888206, 0.34...
• /crazyflie_server/markerConfigurations/0/points/1: [49.628719, -0.55...
• /crazyflie_server/markerConfigurations/0/points/2: [-89.778, 0.36277...
• /crazyflie_server/markerConfigurations/0/points/3: [-50.518517, -0.1...
• /crazyflie_server/motion_capture_type: optitrack
• /crazyflie_server/numDynamicsConfigurations: 1
• /crazyflie_server/numMarkerConfigurations: 1
• /crazyflie_server/object_tracking_type: libobjecttracker
• /crazyflie_server/optitrack_local_ip: 10.0.0.15
• /crazyflie_server/optitrack_server_ip: 10.0.0.2
• /crazyflie_server/print_latency: False
• /crazyflie_server/save_point_clouds: ~/pointCloud.ot
• /crazyflie_server/world_frame: /world
• /crazyflie_server/write_csvs: False
• /crazyflies: [{'initialPositio...
• /rosdistro: kinetic
• /rosversion: 1.12.7

NODES
/
crazyflie_manager (crazyflie_manager/crazyflie_manager)
crazyflie_server (crazyflie_driver/crazyflie_server)
rqt (rqt_gui/rqt_gui)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [26268]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1c70abce-6c8f-11e7-aa0a-e84e0638f12f
process[rosout-1]: started with pid [26281]
started core service [/rosout]
process[crazyflie_server-2]: started with pid [26298]
process[crazyflie_manager-3]: started with pid [26299]
process[rviz-4]: started with pid [26306]
[ INFO] [1500474757.584218376]: Wait for services...
[ INFO] [1500474757.584597699]: waitForService: Service [/emergency] has not been advertised, waiting...
process[rqt-5]: started with pid [26317]
[ INFO] [1500474757.626254701]: waitForService: Service [/emergency] is now available.
[ INFO] [1500474757.630550778]: Manager ready.
NatNetClient connecting: 10.0.0.15 to 10.0.0.2...
WARNING: Could not set receive buffer size. Asked for 1048576B got 0B
[Client] Server Software: Motive
[Client] NatNetVersion: 2.9
[Client] ServerVersion: 1.90
NatNet server version: 33554442
ch: 1
[ INFO] [1500474757.681092958]: Adding CF: cf1 (radio://0/100/2M/E7E7E7E701, cf1)...
[ INFO] [1500474757.684933967]: CF ctor: 0.003688 s
terminate called after throwing an instance of 'std::runtime_error'
what(): timeout
[crazyflie_server-2] process has died [pid 26298, exit code -6, cmd /home/xiaohao/bitcraze/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_server __name:=crazyflie_server __log:=/home/xiaohao/.ros/log/1c70abce-6c8f-11e7-aa0a-e84e0638f12f/crazyflie_server-2.log].
log file: /home/xiaohao/.ros/log/1c70abce-6c8f-11e7-aa0a-e84e0638f12f/crazyflie_server-2*.log

I can connect my crazyflie through crazyflie-client. The related part of hover_swarm.launch as below,

<node pkg="crazyflie_driver" type="crazyflie_server" name="crazyflie_server" output="screen">
    <rosparam>
      #broadcast_address: "E7E7E7E701"
      broadcast_uri: "radio://0/100/2M/E7E7E7E701"
      world_frame: "/world"
      genericLogTopics: ["log1"]
      genericLogTopicFrequencies: [10]

crazyflies.yaml as below,

crazyflies:
- channel: 100
  id: 1
  initialPosition: [-842.6, -348.3, 58.2]

Do you know where goes wrong?

Thanks

Hi Everyone,
I would like to test the Crazyswarm project from USC-ACTLab with my Crazyflies. At this point, I was able to compile the working space, updated the firmwares for Crazyradio and Crazyfiles and Changed the address. Basically I followed the instructions of this link: http://crazyswarm.readthedocs.io/en/latest/
Before testing using MOCAP system, I tested the communication part between Crazyradio and Crazyflie using the Python-Client GUI. The GUI found the new interface (new addres) and connected successfully but when I moved the crazyflie around it seems that there is no data coming from crazyflie sensors since the "Flight Data" window never got updated. But when I tested with another crazyflie, using the same crazyradio, new firmware, the "Flight Data" window got updated everytime I moved around the crazyflie. It seems that with the new crazyflie firmware there is no data coming out. I tried another test using the new crazyradio (new firmware from crazyswarm project) and a default crazyflie firmware and the result showed that there is sensor data from the crazyflie.
Does anyone know if all sensor data coming from the crazyflies, new firmware-crazyswarm, was disable, maybe for reducing traffic?
I think I am flashing the Crazyflie using the right method since I used this link: https://www.bitcraze.io/getting-started ... #latest-fw.
Basically, I put the two bin files, nrf and stm, generated by crazyswarm project plus the manifets.json and Zip it.
I'd very much appreciate any help. Many thanks
Robert B.

Good Day, I will be using a bigquad expansion deck for my project. I would just like to ask if I can enable the BigQuad expansion deck in the NRF51 firmware because I would like to use the crazyswarm repository for my project. Thanks!

Hey Wolfgang,

Could you provide the correct MD5 values for the crazyflie firmware provided in the crazyswarm package?

Using the CF-PC client, I've been trying to flash the cf2.bin and cf2_nrf.bin files, but when I do the dialogue states that the NRF firmware is also being written to the STM microcontroller... On restarting the 'flie, only the M2 LED lights up and stays lit (only after flashing the NRF firmware -- no issues when flashing the crazyswarm-STM firmware).

I received a verification when using the build script commands, but I think I remember reading that this may occur even when using an incorrectly configured toolchain. I'll re-investigate my GCC toolchain if needed... but I figured I'd check those values first.

The MD5 values for my binaries are:

d2c05f9fed6fe70c58c7b139f9400324  cf2.bin
d12bfa6076b350a4d9a5b799c262e412  cf2_nrf.bin

Thanks,
Kyle

The currently available version of the SDK does not include:Client.h, or libDebugServices.so. I tried renaming the DataStreamClient.h in the current SDK (version 1.7) to Client.h and moved the other files to the appropriate locations, but the package doesn't seem to be working. I am able to catkin_make and launch hover_swarm.launch, but no CF TF frames are published.

I have tested my VICON setup with the vicon_bridge package, and that is working (that package uses an older version of the SDK too).

I run the launch flie "crazyflie_demo hover_vicon.launch", it doesn't work. And i used the firmware in the prebuild folder. Could you help me? thanks

Traceback (most recent call last):
File "/home/crazyswarm/ros_ws/src/crazyflie_ros/crazyflie_demo/scripts/controller.py", line 99, in
controller = Controller(use_controller, joy_topic, csv_file)
File "/home/crazyswarm/ros_ws/src/crazyflie_ros/crazyflie_demo/scripts/controller.py", line 14, in init
rospy.wait_for_service('update_params')
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service
raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown

I had these error can not be solved, please help:

/usr/bin/ld: cannot find -lViconDataStreamSDK_CPP
collect2: error: ld returned 1 exit status
crazyflie_ros/crazyflie_driver/CMakeFiles/crazyflie_server.dir/build.make:360: recipe for target '/home/qi/catkin_ws/src/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_server' failed
make[2]: *** [/home/qi/catkin_ws/src/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_server] Error 1
make[2]: Target 'crazyflie_ros/crazyflie_driver/CMakeFiles/crazyflie_server.dir/build' not remade because of errors.
CMakeFiles/Makefile2:1930: recipe for target 'crazyflie_ros/crazyflie_driver/CMakeFiles/crazyflie_server.dir/all' failed
make[1]: *** [crazyflie_ros/crazyflie_driver/CMakeFiles/crazyflie_server.dir/all] Error 2
make[1]: Target 'all' not remade because of errors.
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
make: Target 'default_target' not remade because of errors.
Invoking "make -k -j4 -l4" failed

Hey Whoenig,

I followed the setup procedure in details. My mocap system is Optitrack.

The problem is that in ROS we have X pointed forward, Y left and Z up. But in Motive (Optitrack tracker) Z pointed forward, X left and Y upwards. The result is that, for example, when I move CF forward (along X axes in ROS) I can see in RVIZ that CF moves up. Also, although I modified marker arrangement according to the documentation, I am getting errors like Not enough correspondences found. Relax your threshold parameters and ICP did not converge!.
May be you took into account that issue but I do not see how to enable it? Otherwise what is the best place to make changes?

Additional info below.
The console output is the following:

negvet@asuslab:~$ roslaunch crazyswarm hover_swarm.launch
... logging to /home/negvet/.ros/log/ae21116e-6aee-11e7-929e-2c56dcbc6198/roslaunch-asuslab-14476.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://asuslab:44439/

SUMMARY

PARAMETERS

• /crazyflie_manager/csv_file: /home/negvet/Down...
• /crazyflie_manager/timescale: 0.8
• /crazyflie_server/broadcast_address: FFE7E7E7E7
• /crazyflie_server/dynamicsConfigurations/0/maxFitnessScore: 0.001
• /crazyflie_server/dynamicsConfigurations/0/maxPitch: 1.4
• /crazyflie_server/dynamicsConfigurations/0/maxPitchRate: 20.0
• /crazyflie_server/dynamicsConfigurations/0/maxRoll: 1.4
• /crazyflie_server/dynamicsConfigurations/0/maxRollRate: 20.0
• /crazyflie_server/dynamicsConfigurations/0/maxXVelocity: 2.0
• /crazyflie_server/dynamicsConfigurations/0/maxYVelocity: 2.0
• /crazyflie_server/dynamicsConfigurations/0/maxYawRate: 10.0
• /crazyflie_server/dynamicsConfigurations/0/maxZVelocity: 3.0
• /crazyflie_server/enable_logging: False
• /crazyflie_server/enable_parameters: True
• /crazyflie_server/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflie_server/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflie_server/firmwareParams/ctrlMel/i_range_z: 0.4
• /crazyflie_server/firmwareParams/ctrlMel/kR_xy: 70000
• /crazyflie_server/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflie_server/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflie_server/firmwareParams/ctrlMel/kd_xy: 0.2
• /crazyflie_server/firmwareParams/ctrlMel/kd_z: 0.4
• /crazyflie_server/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflie_server/firmwareParams/ctrlMel/ki_xy: 0.05
• /crazyflie_server/firmwareParams/ctrlMel/ki_z: 0.05
• /crazyflie_server/firmwareParams/ctrlMel/kp_xy: 0.4
• /crazyflie_server/firmwareParams/ctrlMel/kp_z: 1.25
• /crazyflie_server/firmwareParams/ctrlMel/kw_xy: 20000
• /crazyflie_server/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflie_server/firmwareParams/ctrlMel/mass: 0.032
• /crazyflie_server/firmwareParams/ctrlMel/massThrust: 132000
• /crazyflie_server/firmwareParams/flightmode/posCtrl: 1
• /crazyflie_server/firmwareParams/ring/effect: 14
• /crazyflie_server/firmwareParams/ring/headlightEnable: 0
• /crazyflie_server/firmwareParams/ring/solidBlue: 20
• /crazyflie_server/firmwareParams/ring/solidGreen: 0
• /crazyflie_server/firmwareParams/ring/solidRed: 0
• /crazyflie_server/force_no_cache: False
• /crazyflie_server/genericLogTopicFrequencies: [10]
• /crazyflie_server/genericLogTopic_log1_Variables: ['stabilizer.yaw'...
• /crazyflie_server/genericLogTopics: ['log1']
• /crazyflie_server/interactive_object: virtual
• /crazyflie_server/markerConfigurations/0/numPoints: 4
• /crazyflie_server/markerConfigurations/0/offset: [0.0, 0.0, -0.04]
• /crazyflie_server/markerConfigurations/0/points/0: [0.001376, 0.0055...
• /crazyflie_server/markerConfigurations/0/points/1: [-0.044365, 0.043...
• /crazyflie_server/markerConfigurations/0/points/2: [-0.042596, -0.04...
• /crazyflie_server/markerConfigurations/0/points/3: [0.044267, -0.044...
• /crazyflie_server/motion_capture_type: optitrack
• /crazyflie_server/numDynamicsConfigurations: 1
• /crazyflie_server/numMarkerConfigurations: 1
• /crazyflie_server/object_tracking_type: libobjecttracker
• /crazyflie_server/optitrack_local_ip: 192.168.0.67
• /crazyflie_server/optitrack_server_ip: 192.168.0.100
• /crazyflie_server/print_latency: False
• /crazyflie_server/save_point_clouds: ~/pointCloud.ot
• /crazyflie_server/world_frame: /world
• /crazyflie_server/write_csvs: False
• /crazyflies: [{'initialPositio...
• /rosdistro: kinetic
• /rosversion: 1.12.7

NODES
/
crazyflie_manager (crazyflie_manager/crazyflie_manager)
crazyflie_server (crazyflie_driver/crazyflie_server)
rqt (rqt_gui/rqt_gui)
rqt_plot_yaw (rqt_plot/rqt_plot)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [14487]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ae21116e-6aee-11e7-929e-2c56dcbc6198
process[rosout-1]: started with pid [14500]
started core service [/rosout]
process[crazyflie_server-2]: started with pid [14517]
process[crazyflie_manager-3]: started with pid [14518]
process[rviz-4]: started with pid [14525]
process[rqt-5]: started with pid [14531]
process[rqt_plot_yaw-6]: started with pid [14532]
[ INFO] [1500295902.050838196]: Wait for services...
[ INFO] [1500295902.051987784]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1500295902.080295086]: waitForService: Service [/emergency] is now available.
[ INFO] [1500295902.094723908]: Manager ready.
NatNetClient connecting: 192.168.0.67 to 192.168.0.100...
WARNING: Could not set receive buffer size. Asked for 1048576B got 0B
[Client] Server Software: Motive
[Client] NatNetVersion: 2.10
[Client] ServerVersion: 1.10
NatNet server version: 1677764800
ch: 1
[ INFO] [1500295902.234850503]: Adding CF: cf1 (radio://0/80/2M/E7E7E7E701, cf1)...
[ INFO] [1500295902.251270257]: CF ctor: 0.016309 s
[ INFO] [1500295902.259970576]: [cf1] Requesting parameters...
[ INFO] [1500295902.276363232]: Found variables in cache.
[ INFO] [1500295902.557709479]: [cf1] reqParamTOC: 0.306374 s
[ INFO] [1500295902.557747435]: [cf1] Ready. Elapsed: 0.306439 s
[ INFO] [1500295902.557765324]: CF run: 0.306520 s
[ INFO] [1500295902.601801716]: [cf1] Update parameters
[ INFO] [1500295902.667709764]: Update params: 0.109815 s
[ INFO] [1500295902.667966633]: Started 1 threads
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] [1500295902.670972982]: ICP did not converge!
[ WARN] [1500295902.671025576]: No updated pose for CF cf1 for 0.002638 s.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] [1500295902.671268235]: ICP did not converge!
[ WARN] [1500295902.671335318]: No updated pose for CF cf1 for 0.002909 s.

hover_swarm.launch file:

  # tracking
  motion_capture_type: "optitrack" # one of vicon,optitrack
  object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
  # vicon_host_name: "vicon"
  optitrack_local_ip: "192.168.0.67"
  optitrack_server_ip: "192.168.0.100"
  save_point_clouds: ~/pointCloud.ot
  interactive_object: virtual # virtual #active-wand
  numMarkerConfigurations: 1
  markerConfigurations:
    "0":
      numPoints: 4
      offset: [0.0, 0.0, -0.04]
      points:
        "0": [0.001376,0.005547,0.034077]
        "1": [-0.044365,0.043484,0.009906]
        "2": [-0.042596,-0.043791,0.008427]
        "3": [0.044267,-0.044304,0.009137]

crazyflies.yaml file:

crazyflies:

• channel: 80
  id: 1
  initialPosition: [0.0, 0.0, 0.0]

Have to say that the crazyswarm project is awesome. I am able to fly two CF using pure ROS package crazyflie_ros, but now I want to switch to more CF, for that I need crazyswarm. In case of crazyflie_ros, I modified vrpn_client_ros to remap the coordinates from Optitrack to ROS, but I am not sure if I know how to do it with crazyswarm.
Thanks in advance!

Hey Wolfgang,

I'm running into the following issue whenever I try to build the crazyflie_ros workspace for the crazyswarm package:

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on '/usr/lib/x86_64-linux-gnu/libusb-1.0.so
but neither '/usr/lib/x86_64-linux-gnu/libusb-1.0.so_INCLUDE_DIRS' nor
/usr/lib/x86_64-linux-gnu/libusb-1.0.so_LIBRARIES' is defined.

Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
crazyflie_ros/crazyflie_cpp/CMakeLists.txt:19 (catkin_package)

Running the command dpkg -l libusb* gives me:

Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name           Version      Architecture Description
+++-==============-============-============-=================================
ii  libusb-0.1-4:a 2:0.1.12-28  amd64        userspace USB programming library
ii  libusb-1.0-0:a 2:1.0.20-1   amd64        userspace USB programming library
ii  libusb-1.0-0-d 2:1.0.20-1   amd64        userspace USB programming library
ii  libusb-1.0-doc 2:1.0.20-1   all          documentation for userspace USB p
un  libusb-dev     <none>       <none>       (no description available)
un  libusbmuxd-too <none>       <none>       (no description available)
ii  libusbmuxd4:am 1.0.10-2ubun amd64        USB multiplexor daemon for iPhone

Running locate libusb | grep .so gives me:

/lib/x86_64-linux-gnu/libusb-0.1.so.4
/lib/x86_64-linux-gnu/libusb-0.1.so.4.4.4
/lib/x86_64-linux-gnu/libusb-1.0.so.0
/lib/x86_64-linux-gnu/libusb-1.0.so.0.1.0
/usr/lib/x86_64-linux-gnu/libusbmuxd.so.4
/usr/lib/x86_64-linux-gnu/libusbmuxd.so.4.0.0

I am using a "fresh" installation of ubuntu 16.04 (as an admin) and ROS Kinetic. I've been searching online for answers but I am coming up short (I probably don't know the right questions to ask).

Do you have any ideas?

Thanks,
Kyle

HI,
I'm trying to get the crazyswarm to hover with the hover_swarm accordingly, but failed and I can't see any cf on rviz, I think it's a vicon connectin problem.

• I am using vicon system with both motion Capture or libobjecttracker
• I run the chooser.py fine
• I run the crazyflie_demo package fine
• I do the configuration according to http://crazyswarm.readthedocs.io/en/latest/usage.html#basic-flight

The message are shown below

SUMMARY

PARAMETERS

• /crazyflie_manager/csv_file: /home/fat-lab/cra...
• /crazyflie_manager/timescale: 0.8
• /crazyflie_server/broadcast_address: FFE7E7E7E7
• /crazyflie_server/dynamicsConfigurations/0/maxFitnessScore: 0.001
• /crazyflie_server/dynamicsConfigurations/0/maxPitch: 1.4
• /crazyflie_server/dynamicsConfigurations/0/maxPitchRate: 20.0
• /crazyflie_server/dynamicsConfigurations/0/maxRoll: 1.4
• /crazyflie_server/dynamicsConfigurations/0/maxRollRate: 20.0
• /crazyflie_server/dynamicsConfigurations/0/maxXVelocity: 2.0
• /crazyflie_server/dynamicsConfigurations/0/maxYVelocity: 2.0
• /crazyflie_server/dynamicsConfigurations/0/maxYawRate: 10.0
• /crazyflie_server/dynamicsConfigurations/0/maxZVelocity: 3.0
• /crazyflie_server/enable_logging: False
• /crazyflie_server/enable_parameters: True
• /crazyflie_server/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflie_server/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflie_server/firmwareParams/ctrlMel/i_range_z: 0.4
• /crazyflie_server/firmwareParams/ctrlMel/kR_xy: 70000
• /crazyflie_server/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflie_server/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflie_server/firmwareParams/ctrlMel/kd_xy: 0.2
• /crazyflie_server/firmwareParams/ctrlMel/kd_z: 0.4
• /crazyflie_server/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflie_server/firmwareParams/ctrlMel/ki_xy: 0.05
• /crazyflie_server/firmwareParams/ctrlMel/ki_z: 0.05
• /crazyflie_server/firmwareParams/ctrlMel/kp_xy: 0.4
• /crazyflie_server/firmwareParams/ctrlMel/kp_z: 1.25
• /crazyflie_server/firmwareParams/ctrlMel/kw_xy: 20000
• /crazyflie_server/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflie_server/firmwareParams/ctrlMel/mass: 0.032
• /crazyflie_server/firmwareParams/ctrlMel/massThrust: 132000
• /crazyflie_server/firmwareParams/flightmode/posCtrl: 1
• /crazyflie_server/firmwareParams/ring/effect: 14
• /crazyflie_server/firmwareParams/ring/headlightEnable: 0
• /crazyflie_server/firmwareParams/ring/solidBlue: 20
• /crazyflie_server/firmwareParams/ring/solidGreen: 0
• /crazyflie_server/firmwareParams/ring/solidRed: 0
• /crazyflie_server/force_no_cache: False
• /crazyflie_server/genericLogTopicFrequencies: [10]
• /crazyflie_server/genericLogTopic_log1_Variables: ['stabilizer.yaw'...
• /crazyflie_server/genericLogTopics: ['log1']
• /crazyflie_server/markerConfigurations/0/numPoints: 4
• /crazyflie_server/markerConfigurations/0/offset: [0.0, -0.0, -0.0]
• /crazyflie_server/markerConfigurations/0/points/0: ['0.0431009 -0.04...
• /crazyflie_server/markerConfigurations/0/points/1: ['-0.0222183 0.07...
• /crazyflie_server/markerConfigurations/0/points/2: ['-0.0227949 -0.0...
• /crazyflie_server/markerConfigurations/0/points/3: ['-0.0536936 -0.0...
• /crazyflie_server/motion_capture_type: vicon
• /crazyflie_server/numDynamicsConfigurations: 1
• /crazyflie_server/numMarkerConfigurations: 1
• /crazyflie_server/object_tracking_type: motionCapture
• /crazyflie_server/print_latency: False
• /crazyflie_server/save_point_clouds: ~/pointCloud.ot
• /crazyflie_server/vicon_host_name: vicon
• /crazyflie_server/world_frame: /world
• /crazyflie_server/write_csvs: False
• /crazyflies: [{'initialPositio...
• /joy/dev: /dev/input/js0
• /rosdistro: kinetic
• /rosversion: 1.12.7

NODES
/
crazyflie_manager (crazyflie_manager/crazyflie_manager)
crazyflie_server (crazyflie_driver/crazyflie_server)
joy (joy/joy_node)
rqt (rqt_gui/rqt_gui)
rqt_plot_yaw (rqt_plot/rqt_plot)
rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[crazyflie_server-1]: started with pid [15454]
process[joy-2]: started with pid [15455]
process[crazyflie_manager-3]: started with pid [15456]
process[rviz-4]: started with pid [15470]
process[rqt-5]: started with pid [15484]
[ INFO] [1514259259.186278966]: Wait for services...
[ INFO] [1514259259.187908400]: waitForService: Service [/emergency] has not been advertised, waiting...
process[rqt_plot_yaw-6]: started with pid [15500]
[ INFO] [1514259259.208758812]: waitForService: Service [/emergency] is now available.
[ INFO] [1514259259.213837566]: Manager ready.
[ INFO] [1514259259.362692335]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.

I am wondering did I miss any modification or doing anything incorrect.

Thanks

Yang

Hi,

After flashing the Firmware(NRF), I got an error when wanting to make CRPA=1 in crazyradio_firmware/firmware. The error message is as follows. Could you help with this problem? Without the update of CrazyRadio, I am not able to use other parts. Thanks in advance.

binx@binx-ubuntu:~/crazyswarm/crazyradio-firmware/firmware$ make CRPA=1
sdcc -Iinc/ --model-large --std-sdcc99 -DCRPA -c src/main.c -o bin/main.rel
make: sdcc: Command not found
Makefile:65: recipe for target 'main.rel' failed
make: *** [main.rel] Error 127

Hi
I've been facing some problems getting the crazyswarm package running. In short, the crazyflies are not connecting and the topic /pointCloud does not have any data.
I installed the package based on this link, and I placed the vicon_sdk files in the correct path: /crazyswarm/ros_ws/src/crazyflie_ros/externalDependencies/libmotioncapture/externalDependencies.
I'm using vicon, which runs on a server computer with hostname: viconmotiontrac. So, I hover_swarm.launch and /crazyflie_ros/crazyflie_manager/launch/hover_vicon.launch and replaced the the hostname (vicon) by viconmotiontrac.
My Crazyflie.yaml file has the following data:

 crazyflies:
- channel: 80
  id: 1
  initialPosition: [0.0, 0.0, 0.0]

which is what I had set up.
When I run roslaunch crazyswarm hover_swarm.launch, I get the following:

SUMMARY
========

PARAMETERS
 * /crazyflie_manager/csv_file: /home/hivemind/cs...
 * /crazyflie_manager/timescale: 0.8
 * /crazyflie_server/broadcast_address: FFE7E7E7E7
 * /crazyflie_server/dynamicsConfigurations/0/maxFitnessScore: 0.001
 * /crazyflie_server/dynamicsConfigurations/0/maxPitch: 1.4
 * /crazyflie_server/dynamicsConfigurations/0/maxPitchRate: 20.0
 * /crazyflie_server/dynamicsConfigurations/0/maxRoll: 1.4
 * /crazyflie_server/dynamicsConfigurations/0/maxRollRate: 20.0
 * /crazyflie_server/dynamicsConfigurations/0/maxXVelocity: 2.0
 * /crazyflie_server/dynamicsConfigurations/0/maxYVelocity: 2.0
 * /crazyflie_server/dynamicsConfigurations/0/maxYawRate: 10.0
 * /crazyflie_server/dynamicsConfigurations/0/maxZVelocity: 3.0
 * /crazyflie_server/enable_logging: False
 * /crazyflie_server/enable_parameters: True
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflie_server/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflie_server/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflie_server/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflie_server/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflie_server/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflie_server/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflie_server/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflie_server/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflie_server/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflie_server/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflie_server/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflie_server/firmwareParams/flightmode/posCtrl: 1
 * /crazyflie_server/firmwareParams/ring/effect: 14
 * /crazyflie_server/firmwareParams/ring/headlightEnable: 0
 * /crazyflie_server/firmwareParams/ring/solidBlue: 20
 * /crazyflie_server/firmwareParams/ring/solidGreen: 0
 * /crazyflie_server/firmwareParams/ring/solidRed: 0
 * /crazyflie_server/force_no_cache: False
 * /crazyflie_server/genericLogTopicFrequencies: [10]
 * /crazyflie_server/genericLogTopic_log1_Variables: ['stabilizer.yaw'...
 * /crazyflie_server/genericLogTopics: ['log1']
 * /crazyflie_server/interactive_object: active-wand
 * /crazyflie_server/markerConfigurations/0/numPoints: 4
 * /crazyflie_server/markerConfigurations/0/offset: [0.0, -0.01, -0.04]
 * /crazyflie_server/markerConfigurations/0/points/0: [0.0177184, 0.013...
 * /crazyflie_server/markerConfigurations/0/points/1: [-0.0262914, 0.05...
 * /crazyflie_server/markerConfigurations/0/points/2: [-0.0328889, -0.0...
 * /crazyflie_server/markerConfigurations/0/points/3: [0.0431307, -0.03...
 * /crazyflie_server/motion_capture_type: vicon
 * /crazyflie_server/numDynamicsConfigurations: 1
 * /crazyflie_server/numMarkerConfigurations: 1
 * /crazyflie_server/object_tracking_type: libobjecttracker
 * /crazyflie_server/print_latency: False
 * /crazyflie_server/save_point_clouds: ~/pointCloud.ot
 * /crazyflie_server/vicon_host_name: viconmotiontrac
 * /crazyflie_server/world_frame: /world
 * /crazyflie_server/write_csvs: False
 * /crazyflies: [{'initialPositio...
 * /joy/dev: /dev/input/js0
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    crazyflie_manager (crazyflie_manager/crazyflie_manager)
    crazyflie_server (crazyflie_driver/crazyflie_server)
    joy (joy/joy_node)
    rqt (rqt_gui/rqt_gui)
    rqt_plot_yaw (rqt_plot/rqt_plot)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[crazyflie_server-1]: started with pid [5552]
process[joy-2]: started with pid [5576]
process[crazyflie_manager-3]: started with pid [5579]
process[rviz-4]: started with pid [5591]
process[rqt-5]: started with pid [5607]
process[rqt_plot_yaw-6]: started with pid [5612]
[ INFO] [1512674701.052109800]: Wait for services...
[ INFO] [1512674701.061766397]: Manager ready.
[ INFO] [1512674701.085324756]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.

The crazyflie does not start. And when I run rostopic echo /pointCloud there is nothing there.

Am I missing something?

Thank you.

Hi,
I finished making cf2 fly with the following package
https://github.com/whoenig/crazyflie_ros
(At this time, I used ros_vrpn package.)
and now I am doing integration cf2 with crazyswarm package.

Firstly, I have checked NatNetLinux data streaming.
https://github.com/rocketman768/NatNetLinux
It worked and showed the position of crazyflie2.

Then, I updated the latest version of crazyswarm git files and executed "hover_swarm.launch"
The .launch file setting is

# tracking
      motion_capture_type: "optitrack" # one of vicon, optitrack
      object_tracking_type: "motionCapture" # one of motionCapture, libobjecttracker
      # vicon_host_name: "vicon"
      optitrack_local_ip: "130.85.170.237" # ubuntu computer
      optitrack_server_ip: "130.85.170.251" # optitrack computer
      save_point_clouds: ~/pointCloud.ot

However, I got some error as shown in the following

~/crazyswarm$ roslaunch crazyswarm hover_swarm.launch
... logging to /home/ubuntu/.ros/log/ebfd7e84-2176-11e8-b6bc-74d435137038/roslaunch-ubuntu-3516.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:36713/

SUMMARY
========

PARAMETERS
 * /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/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
 * /crazyflie_manager/csv_file: /home/asrl_ubuntu...
 * /crazyflie_manager/timescale: 0.8
 * /crazyflie_server/broadcast_address: FFE7E7E7E7
 * /crazyflie_server/enable_logging: True
 * /crazyflie_server/enable_parameters: True
 * /crazyflie_server/firmwareParams/flightmode/posCtrl: 1
 * /crazyflie_server/firmwareParams/kalmanUSC/rstWithExtPos: 1
 * /crazyflie_server/firmwareParams/ring/effect: 14
 * /crazyflie_server/firmwareParams/ring/headlightEnable: 0
 * /crazyflie_server/firmwareParams/ring/solidBlue: 255
 * /crazyflie_server/firmwareParams/ring/solidGreen: 0
 * /crazyflie_server/firmwareParams/ring/solidRed: 0
 * /crazyflie_server/firmwareParams/traj/auto_yaw: 0
 * /crazyflie_server/force_no_cache: False
 * /crazyflie_server/genericLogTopicFrequencies: [10]
 * /crazyflie_server/genericLogTopic_log1_Variables: ['ctrlStat.edist']
 * /crazyflie_server/genericLogTopics: ['log1']
 * /crazyflie_server/motion_capture_type: optitrack
 * /crazyflie_server/object_tracking_type: motionCapture
 * /crazyflie_server/optitrack_local_ip: 130.85.170.237
 * /crazyflie_server/optitrack_server_ip: 130.85.170.251
 * /crazyflie_server/print_latency: False
 * /crazyflie_server/save_point_clouds: ~/pointCloud.ot
 * /crazyflie_server/world_frame: /world
 * /crazyflie_server/write_csvs: False
 * /crazyflies: [{'initialPositio...
 * /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...
 * /numDynamicsConfigurations: 1
 * /numMarkerConfigurations: 3
 * /rosdistro: kinetic
 * /rosversion: 1.12.12

NODES
  /
    crazyflie_manager (crazyflie_manager/crazyflie_manager)
    crazyflie_server (crazyflie_driver/crazyflie_server)
    joy (joy/joy_node)
    rqt_plot_x (rqt_plot/rqt_plot)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [3527]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ebfd7e84-2176-11e8-b6bc-74d435137038
process[rosout-1]: started with pid [3540]
started core service [/rosout]
process[crazyflie_server-2]: started with pid [3557]
process[joy-3]: started with pid [3558]
process[crazyflie_manager-4]: started with pid [3559]
process[rviz-5]: started with pid [3574]
[ INFO] [1520365528.925914838]: Wait for services...
[ INFO] [1520365528.926378768]: waitForService: Service [/emergency] has not been advertised, waiting...
process[rqt_plot_x-6]: started with pid [3589]
[ INFO] [1520365528.947591356]: waitForService: Service [/emergency] is now available.
[ INFO] [1520365528.952116254]: Manager ready.
NatNetClient connecting: 130.85.170.237 to 130.85.170.251...
WARNING: Could not set receive buffer size. Asked for 1048576B got 0B
[Client] Server Software: Motive
[Client] NatNetVersion: 2.10
[Client] ServerVersion: 1.10
NatNet server version: 4222244226
ch: 1
[ INFO] [1520365528.981106871]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1520365529.009772156]: Adding CF: cf1 (radio://0/100/2M/E7E7E7E701, cf1)...
[ INFO] [1520365529.014289117]: CF ctor: 0.004439 s
[ INFO] [1520365529.999961281]: [cf1] Requesting parameters...
[ INFO] [1520365530.007272158]: Found variables in cache.
[ INFO] [1520365530.172644935]: [cf1] reqParamTOC: 1.158306 s
[ INFO] [1520365530.172681449]: [cf1] Requesting logging variables...
[ INFO] [1520365530.187093561]: Found variables in cache.
[ INFO] [1520365530.188091256]: [cf1] reqLogTOC: 0.015456 s
[ INFO] [1520365530.202563265]: [cf1] logBlocks: 1.158306 s
[ INFO] [1520365530.202608439]: [cf1] Ready. Elapsed: 1.188281 s
[ INFO] [1520365530.202631843]: CF run: 1.188351 s
update flightmode/posCtrl to 1
update kalmanUSC/rstWithExtPos to 1
update ring/effect to 14
update ring/headlightEnable to 0
update ring/solidBlue to 255
update ring/solidGreen to 0
update ring/solidRed to 0
update traj/auto_yaw to 0
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] [1520365530.228582099]: [cf1] Update parameters
[ERROR] [1520365530.229529666]: Could not find param kalmanUSC/rstWithExtPos
[ERROR] [1520365530.233780508]: Could not find param traj/auto_yaw
[ INFO] [1520365530.271677230]: Update params: 0.068961 s
[ INFO] [1520365530.271920285]: Started 1 threads
[ WARN] [1520365530.272146565]: No updated pose for motion capture object cf1
[ WARN] [1520365530.272321530]: No updated pose for motion capture object cf1
[ WARN] [1520365530.272465823]: No updated pose for motion capture object cf1
[ WARN] [1520365530.272586391]: No updated pose for motion capture object cf1
[ WARN] [1520365530.272700633]: No updated pose for motion capture object cf1
[ WARN] [1520365530.272812226]: No updated pose for motion capture object cf1
[ WARN] [1520365530.272920487]: No updated pose for motion capture object cf1
[ WARN] [1520365530.273068233]: No updated pose for motion capture object cf1

Please help me to resolve this issue.

Thank you.

I git clone crazyswarm, and built it.
But I got this error... please help me to resolve this issue.

ubuntu/crazyswarm/ros_ws/src/crazyflie_ros/crazyflie_controller/src/controller.cpp:9:58: fatal error: crazyflie_controller/ExecuteTrajectoryAction.h: No such file or directory
compilation terminated.
.
.

Hey Wolfgang,

I'm getting the std::runtime_error when using the "hover_swarm" launch-script (which I assume is due to my firmware build being messed up), but while I'm figuring out how to fix it I thought I'd test my Vicon setup. However, when running the test.launch script, I encountered the old reference to the object_tracker ROS node. Is there a quick fix to sub' in the "libobjecttracker"?

Thanks,
Kyle

Hi,

I'm having trouble flying multiple crazyflies (cfs) at once.

Using hover_swarm.launch I successfully got crazyflie 1 (cf1) and crazyflie7 (cf7) to hover independently. Both have approximately the same marker placement. I would place each at [0,0,0] and run hover_swarm.launch and each would hover.

Then, to get multiple cfs hovering, I made the following changes to crazyflie.yaml:

crazyflies:
- channel: 80
  id: 1
  initialPosition: [0.0, 0.5, 0.0]
- channel: 86
  id: 7
  initialPosition: [0.0, 0.0, 0.0]

I ran hover_swarm.laucnh but I got the following:

[ INFO] [1517418080.991244623]: Wait for services...
[ INFO] [1517418080.999312318]: waitForService: Service [/takeoff] has not been advertised, waiting...
[ INFO] [1517418081.018830845]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1517418081.020966378]: waitForService: Service [/takeoff] is now available.
[ INFO] [1517418081.033966664]: Manager ready.
crazyflies.size = 2
crazyflie id and channel are: 1 80
crazyflie id and channel are: 7 86
[ INFO] [1517418081.034869807]: All CFs are ready!
running runFast
Connecting to VICON... 
Connected to VICON! 
[ INFO] [1517418081.079185555]: motion capture type defined
ch: 2
radio: 1
radio: 0
libusb: warning [add_to_flying_list] failed to arm first timerfd (errno 9)

I tried uploading trajectories and pressing the start button, but nothing happened.

Am I doing something wrong?

Thank you.

note: I am using only one crazyradio.

I feel like I'm finally getting close to being able to successfully compile the crazyswarm package after hunting down and resolving a handful of dependencies... but the build is now failing because header files are missing:

/home/labuser/Desktop/Crazyflies/ROS/crazyswarm/ros_ws/src/crazyflie_ros/crazyflie_controller/src/controller.cpp:9:58: fatal error: crazyflie_controller/ExecuteTrajectoryAction.h: No such file or directory
 #include <crazyflie_controller/ExecuteTrajectoryAction.h>

Commenting #include <crazyflie_controller/ExecuteTrajectoryAction.h> reveals another missing header, GenericLogData.h, is also missing. I cannot find these files anywhere within the crazyswarm package and commenting the 'include's generates a long list of compilation errors.

Is there something I'm overlooking?

I have followed the instructions to set up the crazyswarm with optitrack. The firmwares have been updated and the cf1 appears in rvis, but it does not take off.
[ INFO] [1509200982.106534044]: [cf1] Takeoff
[ INFO] [1509200984.693103497]: NextPhase!
[ INFO] [1509200984.704865818]: [cf1] Land
The above is logged with individual_hover, but the crazyflie remains static on the ground.
Do you have any suggestions on how to debug this?

Hi Whoenig and James,
I still have a problem with running the crazyswarm firmware with two Crazyflies (IDs:1 and 4, Channel:100) control by one Crazyradio. I followed your previous recomendations, for instance I kept the broadcast_address: "E7E7E7E7E7" on the hover_swarm.launch and the crazyflie.yaml files includes the Ids 1 and 4. I changed the address of each crazyflie, 100/2M/FFE7E7E701 and 100/2M/FFE7E7E704. When I launched the hover_swarm.launch, i got a clean log terminal output. Please see below
[ INFO] [1505518638.809883208]: Wait for services...
[ INFO] [1505518638.810348943]: waitForService: Service [/emergency] has not been advertised, waiting...
ch: 1
[ INFO] [1505518638.831057555]: waitForService: Service [/emergency] is now available.
[ INFO] [1505518638.839883336]: Manager ready.
[ INFO] [1505518638.943498040]: Adding CF: cf1 (radio://0/100/2M/E7E7E7E701, cf1)...
[ INFO] [1505518638.948093670]: CF ctor: 0.004514 s
[ INFO] [1505518638.955816293]: [cf1] Requesting parameters...
[ INFO] [1505518638.963545717]: Found variables in cache.
[ INFO] [1505518639.085565069]: [cf1] reqParamTOC: 0.137428 s
[ INFO] [1505518639.085584616]: [cf1] Ready. Elapsed: 0.137465 s
[ INFO] [1505518639.085594584]: CF run: 0.137528 s
[ INFO] [1505518639.096141981]: [cf1] Update parameters
[ INFO] [1505518639.139911742]: Update params: 0.054281 s
[ INFO] [1505518639.139935655]: Adding CF: cf4 (radio://0/100/2M/E7E7E7E704, cf4)...
[ INFO] [1505518639.142968205]: CF ctor: 0.003005 s
[ INFO] [1505518639.163414395]: [cf4] Requesting parameters...
[ INFO] [1505518639.171424352]: Found variables in cache.
[ INFO] [1505518639.305536762]: [cf4] reqParamTOC: 0.162530 s
[ INFO] [1505518639.305565768]: [cf4] Ready. Elapsed: 0.162576 s
[ INFO] [1505518639.305578519]: CF run: 0.162628 s
[ INFO] [1505518639.317867972]: [cf4] Update parameters
[ INFO] [1505518639.363879406]: Update params: 0.058251 s
[ INFO] [1505518639.364018701]: Started 1 threads

Based on log info, I could say that the crazyflie.yaml was parsed correctly but the part is not working the radio link connection between CFs and crazyflies. When I checked the M4 LEDs, the one get lit up with yellow light indicating that the connection was established, both M4 LEDs were off. Thus, no communication established. But If I changed the broadcast_address to "E7E7E7E701" or "E7E7E7E704", I can establish radio communication individually, just one CF.

Also, I tested the same CFs with same radio using the "crazyflie_ros" package and the result was positive, communication was established, both M4 LEDs were lit up. Based on this results, it seems I have a problem updating the addresses coming from CFs on the crazyswarm working space.
Could please provide any help where I could take a look for debugging this issue?

Many thanks,
Robert Bellido

We're currently trying to run crazyswarm but we're having a bit of trouble. While we are able run hover_swarm.launch and see the crazyflie in rviz, the crazyflie does not move. The channel and the marker configuration have both been set as shown in the documentation. We get the following errors:

[ INFO] [1496673760.698281845]: [cf1] Update parameters
[ERROR] [1496673760.698336362]: Could not find param ctrlMel/i_range_m_z
[ERROR] [1496673760.698350819]: Could not find param ctrlMel/i_range_xy
[ERROR] [1496673760.698360302]: Could not find param ctrlMel/i_range_z
[ERROR] [1496673760.698369223]: Could not find param ctrlMel/kR_xy
[ERROR] [1496673760.698377789]: Could not find param ctrlMel/kR_z
[ERROR] [1496673760.698387129]: Could not find param ctrlMel/kd_omega_rp
[ERROR] [1496673760.698396218]: Could not find param ctrlMel/kd_xy
[ERROR] [1496673760.698407280]: Could not find param ctrlMel/kd_z
[ERROR] [1496673760.698415656]: Could not find param ctrlMel/ki_m_z
[ERROR] [1496673760.698424105]: Could not find param ctrlMel/ki_xy
[ERROR] [1496673760.698432548]: Could not find param ctrlMel/ki_z
[ERROR] [1496673760.698440915]: Could not find param ctrlMel/kp_xy
[ERROR] [1496673760.698449300]: Could not find param ctrlMel/kp_z
[ERROR] [1496673760.698460612]: Could not find param ctrlMel/kw_xy
[ERROR] [1496673760.698470677]: Could not find param ctrlMel/kw_z
[ERROR] [1496673760.698478898]: Could not find param ctrlMel/mass
[ERROR] [1496673760.698487425]: Could not find param ctrlMel/massThrust
[ERROR] [1496673760.698496481]: Could not find param flightmode/posCtrl
[ INFO] [1496673760.719825891]: Update params: 0.036021 s

hover_swarm continues to run, and rosparam get cf1/ctrlMel/[...] gives the correct values as set in hover_swarm.launch. The only service available is [/emergency]

Could you give any pointers as to what the issue might be, and its solution? Thanks in advance.

Hi, I am trying to integrate crazyswarm package with optitrack,
and I have some questions..

1. What do you mean that "Un-tick the rigid body in Motive so that the point cloud is streamed." in http://crazyswarm.readthedocs.io/en/latest/usage.html

2. When I run $ roslaunch crazyswarm hover_swarm.launch, I found some errors.
   (1) NatNetClient connecting: 130.**.***.251 to 130.**.***.237...Could not bind socket. Error: 99
   The ip address is all correct, and I attach a part of launch file in regard with position capture system.

# tracking
      motion_capture_type: "optitrack" # one of vicon,optitrack
      object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker
      # vicon_host_name: "vicon"
      optitrack_local_ip: "130.**.***.251"
      optitrack_server_ip: "130.**.***.237"
      save_point_clouds: ~/pointCloud.ot
      # interactive_object: active-wand # virtual #active-wand
      numMarkerConfigurations: 1
      markerConfigurations:
        "0":
          numPoints: 4
          offset: [0.0, -0.01, -0.04]
          points:
            "0": [0.0177184,0.0139654,0.0557585]
            "1": [-0.0262914,0.0509139,0.0402475]
            "2": [-0.0328889,-0.02757,0.0390601]
            "3": [0.0431307,-0.0331216,0.0388839]

(2) Another one is the following error message. Could you help me to resolve this issue?
"[crazyflie_server-2] process has died [pid 17552, exit code 1, cmd /home/ubuntu/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_server __name:=crazyflie_server __log:=/home/ubuntu/.ros/log/01bf0fe8-0ec2-11e8-bc02-74d435137038/crazyflie_server-2.log]."
I attach the full message I saw.

... logging to /home/ubuntu/.ros/log/02888ffe-0ec1-11e8-bc02-74d435137038/roslaunch-ubuntu-17119.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:33309/

SUMMARY
========

PARAMETERS
 * /crazyflie_manager/csv_file: /home/ubuntu...
 * /crazyflie_manager/timescale: 0.8
 * /crazyflie_server/broadcast_address: FFE7E7E7E7
 * /crazyflie_server/dynamicsConfigurations/0/maxFitnessScore: 0.001
 * /crazyflie_server/dynamicsConfigurations/0/maxPitch: 1.4
 * /crazyflie_server/dynamicsConfigurations/0/maxPitchRate: 20.0
 * /crazyflie_server/dynamicsConfigurations/0/maxRoll: 1.4
 * /crazyflie_server/dynamicsConfigurations/0/maxRollRate: 20.0
 * /crazyflie_server/dynamicsConfigurations/0/maxXVelocity: 2.0
 * /crazyflie_server/dynamicsConfigurations/0/maxYVelocity: 2.0
 * /crazyflie_server/dynamicsConfigurations/0/maxYawRate: 10.0
 * /crazyflie_server/dynamicsConfigurations/0/maxZVelocity: 3.0
 * /crazyflie_server/enable_logging: False
 * /crazyflie_server/enable_parameters: True
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflie_server/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflie_server/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflie_server/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflie_server/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflie_server/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflie_server/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflie_server/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflie_server/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflie_server/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflie_server/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflie_server/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflie_server/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflie_server/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflie_server/firmwareParams/flightmode/posCtrl: 1
 * /crazyflie_server/firmwareParams/ring/effect: 14
 * /crazyflie_server/firmwareParams/ring/headlightEnable: 0
 * /crazyflie_server/firmwareParams/ring/solidBlue: 20
 * /crazyflie_server/firmwareParams/ring/solidGreen: 0
 * /crazyflie_server/firmwareParams/ring/solidRed: 0
 * /crazyflie_server/force_no_cache: False
 * /crazyflie_server/genericLogTopicFrequencies: [10]
 * /crazyflie_server/genericLogTopic_log1_Variables: ['stabilizer.yaw'...
 * /crazyflie_server/genericLogTopics: ['log1']
 * /crazyflie_server/interactive_object: active-wand
 * /crazyflie_server/markerConfigurations/0/numPoints: 4
 * /crazyflie_server/markerConfigurations/0/offset: [0.0, -0.01, -0.04]
 * /crazyflie_server/markerConfigurations/0/points/0: [0.0177184, 0.013...
 * /crazyflie_server/markerConfigurations/0/points/1: [-0.0262914, 0.05...
 * /crazyflie_server/markerConfigurations/0/points/2: [-0.0328889, -0.0...
 * /crazyflie_server/markerConfigurations/0/points/3: [0.0431307, -0.03...
 * /crazyflie_server/motion_capture_type: optitrack
 * /crazyflie_server/numDynamicsConfigurations: 1
 * /crazyflie_server/numMarkerConfigurations: 1
 * /crazyflie_server/object_tracking_type: motionCapture
 * /crazyflie_server/optitrack_local_ip: 130.**.***.251
 * /crazyflie_server/optitrack_server_ip: 130.**.***.237
 * /crazyflie_server/print_latency: False
 * /crazyflie_server/save_point_clouds: ~/pointCloud.ot
 * /crazyflie_server/world_frame: /world
 * /crazyflie_server/write_csvs: False
 * /crazyflies: [{'initialPositio...
 * /joy/dev: /dev/input/js0
 * /rosdistro: kinetic
 * /rosversion: 1.12.12

NODES
  /
    crazyflie_manager (crazyflie_manager/crazyflie_manager)
    crazyflie_server (crazyflie_driver/crazyflie_server)
    joy (joy/joy_node)
    rqt (rqt_gui/rqt_gui)
    rqt_plot_yaw (rqt_plot/rqt_plot)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [17130]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 02888ffe-0ec1-11e8-bc02-74d435137038
process[rosout-1]: started with pid [17143]
started core service [/rosout]
process[crazyflie_server-2]: started with pid [17160]
process[joy-3]: started with pid [17161]
process[crazyflie_manager-4]: started with pid [17162]
process[rviz-5]: started with pid [17175]
process[rqt-6]: started with pid [17193]
[ INFO] [1518308277.400331439]: Wait for services...
[ INFO] [1518308277.400980295]: waitForService: Service [/emergency] has not been advertised, waiting...
process[rqt_plot_yaw-7]: started with pid [17204]
[ INFO] [1518308277.422205284]: waitForService: Service [/emergency] is now available.
[ INFO] [1518308277.427002123]: Manager ready.
NatNetClient connecting: 130.**.***.251 to 130.**.***.237...
Could not bind socket. Error: 99
[ INFO] [1518308277.454497654]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
**[crazyflie_server-2] process has died [pid 17160, exit code 1, cmd /home/ubuntu/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_server __name:=crazyflie_server __log:=/home/ubuntu/.ros/log/02888ffe-0ec1-11e8-bc02-74d435137038/crazyflie_server-2.log].
log file: /home/ubuntu/.ros/log/02888ffe-0ec1-11e8-bc02-74d435137038/crazyflie_server-2*.log**

Thank you in advance.

Hi there, Some of my team is working on the swarm of crazyflies project in windows only and using python to program the drones. The problem that we encounter there is that when the crazyradio are beside each other, the cf does not respond. But if the crazyradio are atleast 5inches apart, it starts to work properly. The problem is that we can only connect two crazyflies in each radio. Since I have been trying to work with crazyswarm, they asked me if I could somehow extract the program/firmware to communicate with multiple drones. And I was wondering if this is possible, that the program that was used for crazyswarm connection to the crazyradio be transferred to windows Python only. Thanks!

Hi Wolfgang,

Your work is really amazing. I have just followed the instructions as you said. But unexpected errors came out when I build in the workspace. The build errors are as follows. It is about the crazyflie_ros.

/home/binx/crazyswarm/ros_ws/src/crazyflie_ros/crazyflie_manager/src/manager.cpp:10:47: fatal error: crazyflie_driver/UploadTrajectory.h: No such file or directory
compilation terminated.
crazyflie_ros/crazyflie_manager/CMakeFiles/crazyflie_manager.dir/build.make:62: recipe for target 'crazyflie_ros/crazyflie_manager/CMakeFiles/crazyflie_manager.dir/src/manager.cpp.o' failed
make[2]: *** [crazyflie_ros/crazyflie_manager/CMakeFiles/crazyflie_manager.dir/src/manager.cpp.o] Error 1
CMakeFiles/Makefile2:3806: recipe for target 'crazyflie_ros/crazyflie_manager/CMakeFiles/crazyflie_manager.dir/all' failed
make[1]: *** [crazyflie_ros/crazyflie_manager/CMakeFiles/crazyflie_manager.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/home/binx/crazyswarm/ros_ws/src/crazyflie_ros/crazyflie_controller/src/controller.cpp:9:58: fatal error: crazyflie_controller/ExecuteTrajectoryAction.h: No such file or directory
compilation terminated.
crazyflie_ros/crazyflie_controller/CMakeFiles/crazyflie_controller.dir/build.make:62: recipe for target 'crazyflie_ros/crazyflie_controller/CMakeFiles/crazyflie_controller.dir/src/controller.cpp.o' failed
make[2]: *** [crazyflie_ros/crazyflie_controller/CMakeFiles/crazyflie_controller.dir/src/controller.cpp.o] Error 1
CMakeFiles/Makefile2:4619: recipe for target 'crazyflie_ros/crazyflie_controller/CMakeFiles/crazyflie_controller.dir/all' failed
make[1]: *** [crazyflie_ros/crazyflie_controller/CMakeFiles/crazyflie_controller.dir/all] Error 2
[  9%] Linking CXX executable /home/binx/crazyswarm/ros_ws/devel/lib/crazyflie_tools/reboot
[  9%] Linking CXX executable /home/binx/crazyswarm/ros_ws/devel/lib/crazyflie_tools/packetDropTest
[  9%] Built target packetDropTest
[  9%] Built target reboot
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

It seems like that the srv files in crazyflie_driver do not really converted to the header files which could be included in cpp.

Bitcraze recently released the Loco Positioning System, a tracking system for the crazyflie working with the Ultra-Wide-Band technology.

It now supports (in TdoA experimental mode) multiple crazyflies.

Does crazyswarm support the Loco Positioning System instead of VICON ? And if not, do you think achieving the compatibility between thoses two would be hard ?

Hi Everybody,
I have been testing the Crazyswarm firmware using a single Crazyflie. Today, I was able to fly the crazyflie, running the hover_swarm.lauch and then figure8_canned.py. The hovering part was good but the fly was not stable. I got too many warning messages during the fly, like below:

[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] [1504308616.146888169]: ICP did not converge!
[ WARN] [1504308616.146942180]: No updated pose for CF cf1 for 0.013919 s.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] [1504308616.172143550]: ICP did not converge!
[ WARN] [1504308616.172176086]: No updated pose for CF cf1 for 0.012231 s.
[ WARN] [1504308616.197821675]: Dynamic check failed
wroll: 153.948 >= 20
wyaw: -50.948 >= 10
roll: 2.03238 >= 1.4

[ WARN] [1504308616.197870392]: No updated pose for CF cf1 for 0.015990 s.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] [1504308616.214641650]: ICP did not converge!
[ WARN] [1504308616.214687627]: No updated pose for CF cf1 for 0.009467 s.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] [1504308616.232144194]: ICP did not converge!
[ WARN] [1504308616.232182803]: No updated pose for CF cf1 for 0.010545 s.

I placed my crazyflie at [1.5,1.5, 0.0] and inside the hover_swarm.launch file, my markers layout is:

markerConfigurations:
"0":
numPoints: 4
offset: [-1.5, -1.5, 0.0]
points:
"0": [1.509525,1.50635,0.03175]
"1": [1.476595,1.521454,0.019075]
"2": [1.47885178,1.479728477,0.019075]
"3": [1.522235,1.479619,0.019075]

Markers locations are in global coordinate frame and I used an offset of [-1.5, -1.5, 0.0]. Basically for this part, I followed this previous post: #4
Does anyone notice what is the error with this marker configuration?
I'd very much appreciate any help. Many thanks
Robert Bellido

We're currently in the process of trying to run the crazyswarm stack but we're hitting a few issues. When we run hover_swarm.launch no pointcloud and no tf data is available.

A potential issue we thought of is that we're running vicon tracker on a separate computer in the network so we thought vicon_host_name: was meant for the ip address but when changing it we get a std::runtime_error.

It seems like we've followed the setup and documentation appropriately, is there something else we're missing in setup?

Hi there,

It seems one of the git repos that you recursively clone with the build.sh script is either not available or is a private repo.

When it cd's into the externalDependencies/ directory for example, it tries to clone a phasespace_sdk submodule but then it prompts for authentication access to which users cannot clone from:

Cloning into 'externalDependencies/phasespace_sdk'...
Username for 'https://github.com': 
Password for '
remote: Repository not found.
fatal: repository 'https://github.com/USC-ACTLab/phasespace_sdk.git/' not found
fatal: clone of 'https://github.com/USC-ACTLab/phasespace_sdk.git' into submodule path 'externalDependencies/phasespace_sdk' failed

It also does not find object_tracker/: e.g.

./build.sh: line 17: cd: ros_ws/src/object_tracker/: No such file or directory

My second question is why didn't you just use the ros interface to vicon_sdk available here instead of requiring the download of the sdk from vicon itself?