Unable to run figure8 example

[Sapio-S]

Hi!
I tried to run figure8.py and cmd_full_state.py in the crazyflie_examples directory, but the drone stays almost exactly where it is after taking off. I can see the drone shifting its position slightly (maybe a few millimeters) in the air, so I guess this behavior might be caused by an inappropriate scale of trajectory data.
Has anybody else encountered a similar problem? What might be wrong in my settings?

[whoenig]

Could you also include the output of crazyflie_server? I have seen such behavior only if the server (or script) crashes after a successful takeoff.

[Sapio-S]

Thanks for your quick reply! The output shows "start trajectory not yet implemented." How can I fix this?

[crazyflie_server.py-2] [INFO] [1700126026.087663866] [crazyflie_server]: All Crazyflies parameters are initialized
[crazyflie_server.py-2] [INFO] [1700126026.096495994] [crazyflie_server]: radio://0/80/2M/E7E7E7E704 setup custom logging
[crazyflie_server.py-2] [INFO] [1700126026.097243077] [crazyflie_server]: All Crazyflies loggging are initialized
[crazyflie_server.py-2] [INFO] [1700126026.744827049] [crazyflie_server]: Notify trajectory not yet implemented
[crazyflie_server.py-2] [INFO] [1700126026.745498312] [crazyflie_server]: takeoff(height=1.0 m,duration=2.0 s,group_mask=0) all
[crazyflie_server.py-2] [INFO] [1700126029.244718785] [crazyflie_server]: go_to(position=0.000000,0.000000,1.000000 m, yaw=0.000000 rad, duration=2.000000 s, relative=0, group_mask=0)
[crazyflie_server.py-2] [INFO] [1700126031.745044272] [crazyflie_server]: Start trajectory not yet implemented
[crazyflie_server.py-2] [INFO] [1700126041.028384905] [crazyflie_server]: land(height=0.05999999865889549 m,duration=2.0 s,group_mask=0)

[whoenig]

Either switch to the cpp (default) backend, or use the per-CF service, not the all service.

[knmcguire]

Yeah the cflib backend needs some love. This issue has been up for while: #71

[Sapio-S]

Thanks for your suggestions! Unfortunately, I still cannot run the figure8 example.

I tried to use the cpp backend, but it tells me to upgrade my Crazyradio firmware. I will upgrade it and try this again later.

[crazyflie_server-2] [INFO] [1700224991.006395086] [cf4]: Requesting memories...
[crazyflie_server-2] [INFO] [1700224991.009168141] [cf4]: Memories: 4
[crazyflie_server-2] [INFO] [1700224991.024442199] [all]: radiobroadcast://*/80/2M
[crazyflie_server-2] terminate called recursively
[crazyflie_server-2] terminate called after throwing an instance of 'std::runtime_error'
[crazyflie_server-2]   what():  Issue with connection radiobroadcast://*/80/2M. Your radio with firmware 3.2 does not support broadcast communication. Please upgrade your Crazyradio firmware!
[ERROR] [crazyflie_server-2]: process has died [pid 8112, exit code -6, cmd 'ros2_ws/install/crazyflie/lib/crazyflie/crazyflie_server --ros-args -r __node:=crazyflie_server --params-file /tmp/launch_params_6a1g9j6g --params-file /tmp/launch_params_gub18dsy'].

I also switched from all to per-CF in figure8.py, but got the same output that said "start trajectory not yet implemented." Am I using the right per-CF service?

for cf in allcfs.crazyflies:
    cf.uploadTrajectory(0, 0, traj1)
    cf.takeoff(targetHeight=1.0, duration=2.0)
    timeHelper.sleep(2.5)
    pos = np.array(cf.initialPosition) + np.array([0, 0, 1.0])
    cf.goTo(pos, 0, 2.0)
    timeHelper.sleep(2.5)
    cf.startTrajectory(0, timescale=TIMESCALE)
    timeHelper.sleep(traj1.duration * TIMESCALE + 2.0)

[knmcguire]

Hi! The figure8 example will simply not work on the cflib backend as that is not supported (yet) (see high level commands support here). So you have no choice but to upgrade the crazyradio for the CPP backend.

If I can make a guess I think you should have the crazyradio 2.0 right? You can upgrade the firmware by getting the latest candidate release: and flash them with these instructions. Also make sure to look at this latest issues as you might need to update your submodules, if you are still getting the error: #264

[knmcguire]

Just FYI, there is a pull request open now for upload trajectory and start: #372. It is not flight tested yet but it will be this week, but you can try it out if you'd like.

[knmcguire]

Fyi @Sapio-S if you update crazyswarm2 now, the cflib backend is able to handle trajectories now 😁

[Sapio-S]

Thank you soooooo much! After pulling the newest update, I finally launched the example successfully! 😊