Only 1 Crazyflie is being detected by crazyswarm when using Lighthouse tracking system

[AvaneenP]

Hey everyone,

I'm using 4 crazyflies with the lighthouse tracking system. I've followed all the instructions detailed in the lighthouse start guide and have made the appropriate changes to the hover_swarm.launch file. However when I launch the aforementioned file, it seems like all the frames except for one crazyflie disappear in RVIZ and any further nodes I try to run to control the crazyflies do not pick up the other 3 CFs. Anyone face this problem and have found a solution?

[AvaneenP]

I've uploaded a video here that shows what exactly is happening when I launch hover_swarm.launch: https://drive.google.com/file/d/1ArSWtq4aDP4r80F_VT91RwUND2fSa9Pp/view?usp=sharing

[knmcguire]

Hi! Thanks for the video. I can see that you are using the default backend. What happens when add backend:=cflib after the launch file comments?

Could you also share the config files (yaml) for the crazyflie?

(btw for context, this is the tutorial he was referring too https://www.bitcraze.io/documentation/tutorials/getting-started-with-lighthouse/)

[AvaneenP]

Here is my crazyflies.yaml file:

crazyflies:

• channel: 80
  id: 2
  initialPosition: [0.0, 0.0, 0.0]
  type: default
• channel: 80
  id: 3
  initialPosition: [1.0, 0.0, 0.0]
  type: default
• channel: 80
  id: 23
  initialPosition: [0.0, 1.0, 0.0]
  type: default
• channel: 80
  id: 213
  initialPosition: [0.0, -1.0, 0.0]
  type: default

my understanding is that the initial position does not matter when using the lighthouse tracking system, correct?

[AvaneenP]

Also I meant to specify that I am using ROS Noetic and not crazyswarm2, is this a known issue with ROS1?

[knmcguire]

ahhh oke yeah now it makes sense. Very sorry for this, I was assuming you were using Crazyswarm2. That one has no cflib backend.

But no this is not an issue known for ROS1, but questions for crazyswarm1 (ROS1) should be posted here: https://github.com/USC-ACTLab/crazyswarm/discussions.

But... I do must warn you that Crazyswarm1 is very minimally maintained and support is the same. Do you absolutely need to use ROS1 for some reason?

[AvaneenP]

Yes I only have access to ROS1 at this time

[knmcguire]

ah oke that is too bad, ROS1 will phase out soon so you should considering changing.

I'm not able to help out with Crazyswarm1 support but in the meantime, there is a lot support that was done in the crazyswarm1 discussions in the past, so perhaps your issue was already mentioned at one point. Or else you can start a new discussion thread over there and refer to it here. Don't forget to share your full launch file content too