Low level attitude control - topic cmd_attitude_setpoint

[GusBon]

Hi,

I am currently on a project with Crazyflie bolt based drones and I want to control using the attitude controller (sending them roll pitch yaw thrust commands).
So I would like to use Crazyswarm2, and I thought that I could achieve a low-level attitude by publishing on the "cmd_attitude_setpoints" topics of my drones.
Currently I am using Crazysim (https://github.com/gtfactslab/CrazySim) to test various behavior of Crazyflies with Crazyswarm. I managed to fly my drones using RQT (takeoff, goTo, land... using service caller, cmd_hover using topic publisher). But I when I try to send message to the cmd_attitude_setpoints topic nothing happens (I tried to put a thrust of 50000), nothing happens (rotors are not turning). Is there something that I have misunderstood about this topic ?

So is there another way to control roll pitch yaw and thrust of multiples Crazflie bolt based drones ?
Is Crazyswarm2 the best way to do that ?

[whoenig]

I don't think cmd_attitude_setpoints exists. There is cmd_vel_legacy that can take desired attitudes as input (

crazyswarm2/crazyflie/src/crazyflie_server.cpp

Lines 590 to 598 in d9064d9

	void cmd_vel_legacy_changed(const geometry_msgs::msg::Twist::SharedPtr msg)
	{
	float roll = msg->linear.y;
	float pitch = - (msg->linear.x);
	float yawrate = msg->angular.z;
	uint16_t thrust = std::min<uint16_t>(std::max<float>(msg->linear.z, 0.0), 60000);
	// RCLCPP_INFO(logger_, "roll: %f, pitch: %f, yaw: %f, thrust: %u", roll, pitch, yawrate, (unsigned int)thrust);
	cf_.sendSetpoint(roll, pitch, yawrate, thrust);
	}

in the cpp backend).

[GusBon]

Ah, I have the topic cmd_attitude_setpoints but the fact that I am using CrazySim might be in cause.
I am using the cflib backend but cmd_vel_legacy is also implemented :

crazyswarm2/crazyflie/scripts/crazyflie_server.py

Lines 971 to 981 in d9064d9

	def _cmd_vel_legacy_changed(self, msg, uri=""):
	"""
	Topic update callback to control the attitude and thrust
	of the crazyflie with teleop
	"""
	roll = msg.linear.y
	pitch = -msg.linear.x
	yawrate = msg.angular.z
	thrust = int(min(max(msg.linear.z, 0, 0), 60000))
	self.swarm._cfs[uri].cf.commander.send_setpoint(
	roll, pitch, yawrate, thrust)

Thanks, I will try to use that.