How to get Crazyflies' twist imformation

[Omikaa]

Hello,
I have succeed to use Crazyswarm2 with motion capture to get Crazyflies's pose imformation.But now, my work need to get more imformatoin of crazyflie such as 'pose, rpy, velocity, rpy_rate'.
Few days ago, I proposed this question to get twist imformation, and I get the answer is no to get them with motion capture using Crazyswarm2.
So now, I can only use crazyflie-lib-python directly and get imformation from motion capture through ROS2. However , it is not possible to use other api easily.
I want to know that is there any method for me to use crazyswarm2 and also get twist imformation of drones.
Thanks very much.

[whoenig]

You can use the logging infrastructure in Crazyswarm2, see

crazyswarm2/crazyflie/config/crazyflies.yaml

Lines 82 to 88 in 62c2040

	#custom_topics:
	# topic_name1:
	# frequency: 10 # Hz
	# vars: ["stateEstimateZ.x", "stateEstimateZ.y", "stateEstimateZ.z", "pm.vbat"]
	# topic_name2:
	# frequency: 1 # Hz
	# vars: ["stabilizer.roll", "stabilizer.pitch", "stabilizer.yaw"]

for an example.

[Omikaa]

Do you mean that I can get all the logging imformation in the picture when crazyswarm2 is running?

[Omikaa]

And after I read some other discussions, I'd like to know can this frame work?
I use the crazyswarm2 with both motion capture and stateEstimate.Mocap is to get the pos, and stateEstimate is to get the velocity and so on.
Then I send the command(rpyt) to control a crazyflie .
Also, does the stateEstimate depend on flowdeck or other firmware?
Thank you so much for spending your time responsing me!

[whoenig]

You can't get all, but a subset. The logging variables will be continuously published as a ROS topic. At the same time, you can send commands, such as rpyt.

[Omikaa]

Get it, thank you. Maybe I should use cf-lib-python directly.