Errors when running launch.py

[yanrui89]

Hi, I am experiencing some errors with running ros2 launch crazyflie launch.py. Thus, would like to consult you on this. The messages shown when ros2 launch is as shown:

[INFO] [launch]: All log files can be found below /home/yanrui89/.ros/log/2022-12-28-18-23-10-040092-yanrui89-ThinkPad-T590-222969
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [motion_capture_tracking_node-1]: process started with pid [222971]
[INFO] [teleop-2]: process started with pid [222973]
[INFO] [joy_node-3]: process started with pid [222975]
[INFO] [crazyflie_server-4]: process started with pid [222977]
[INFO] [rviz2-5]: process started with pid [222979]
[teleop-2] [INFO] [1672222990.631245625] [teleop]: Mode changed to cmd_vel_world
[crazyflie_server-4] [INFO] [1672222990.671975631] [cf1]: Requesting parameters...
[crazyflie_server-4] [INFO] [1672222990.678247613] [cf1]: Param TOC: 273 entries with CRC 523501841
[crazyflie_server-4] [INFO] [1672222990.678323873] [cf1]: Param TOC: found cache.
[rviz2-5] [INFO] [1672222991.228620578] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1672222991.228837072] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-5] [INFO] [1672222991.255205561] [rviz2]: Stereo is NOT SUPPORTED
[crazyflie_server-4] [INFO] [1672222991.589635791] [cf1]: reqParamTOC: 0.922321 s (273 params)
[crazyflie_server-4] terminate called after throwing an instance of 'rclcpp::exceptions::ParameterNotDeclaredException'
[crazyflie_server-4] what(): parameter 'cf1/params/commander/enHighLevel' cannot be set because it was not declared
[ERROR] [crazyflie_server-4]: process has died [pid 222977, exit code -6, cmd '/home/yanrui89/ros2_ws/install/crazyflie/lib/crazyflie/crazyflie_server --ros-args -r __node:=crazyflie_server --params-file /tmp/launch_params_lj97p8vj --params-file /tmp/launch_params_xuzl5ldv'].

[whoenig]

Which firmware does your CF have? The error indicates that your firmware does not have the commander.enHighLevel parameter.

[yanrui89]

Thanks for the reply! The CF firmware is 2022.12. In the config file "https://github.com/IMRCLab/crazyswarm2/blob/main/crazyflie/config/crazyflies.yaml", the commander.enHighLevel parameters are specified. However, when launching the launch file, the error appeared.

[whoenig]

Sounds like there might be a problem with the params cache. Can you try removing the files params*.csv from the folder where you execute your ros2 launch command?

[yanrui89]

Hmm, sorry I don't seem to have any params*.csv file from where I execute my ros2 launch command. However, not sure if this helps, but I am able to run the cpp backend by rolling back to an older version of the crazyswarm2 code (commit : 74d817e).

[whoenig]

I don't think there were any relevant changes since the commit you provided, so it's more likely that you are seeing some issue that occurs randomly. I tried the latest main with the latest firmware today and didn't see the problem you are having.

[Kaijun101]

Hi @whoenig and @yanrui89, I also faced similar error when building from master. I noticed that there was a changed from '' to '.' since commit : 73df2e4. could this be the issue?

[knmcguire]

You mean the slashes instead of dots right? It shouldn't had made a difference but who knows.

[knmcguire]

Ah wait... actually there is something that went wrong!

cf1/params/commander/enHighLevel should indeed not exist and should only be dots,

You are right:) Lets check the logic of the cpp server for this

[knmcguire]

I tried it out on my machine with the
ros2 launch crazyflie launch.py

And I'm ablet to recreate the error that @yanrui89 is seeing as well. This is with WSL 20.04 and Galactic.

@yanrui89 and @Kaijun101, which Ubuntu version and ROS version are you running?

[knmcguire]

Ah nevermind! It seems that I found the culprit

[knmcguire]

We forgot to change a line to change the slashes to dots in the parameter name, found by the good eye of @Kaijun101 !

The problem was here:

crazyswarm2/crazyflie/src/crazyflie_server.cpp

Line 225 in d902089

std::string paramName = name + "/params/" + std::regex_replace(i.first, std::regex("\\."), "/");

I've pushed this fix in this pull request: #168.

[Kaijun101]

Great, that the bug could be resolved!