Joystick #273

NannCai · 2023-08-08T11:50:51Z

The takeoff height, duration and the function of different buttons of the joystick can be changed in teleop.yaml.

whoenig

Good job overall - thanks! Minor changes requested before we can merge.

whoenig · 2023-08-08T17:46:12Z

.vscode/c_cpp_properties.json

Please don't include any .vscode file

crazyflie/config/teleop.yaml

whoenig · 2023-08-08T17:46:37Z

crazyflie/config/teleop.yaml

+      duration: 1.0
+      height: 0.25
+      button: 6  # 7 start
+    land_paras:


whoenig · 2023-08-08T17:46:47Z

crazyflie/config/teleop.yaml

+      button: 6  # 7 start
+    land_paras:
+      button: 7 # 6 back
+    emergency_paras:


whoenig · 2023-08-08T17:47:34Z

crazyflie/launch/launch.py

-                ('notify_setpoints_stop', 'cf6/notify_setpoints_stop'),
+                ('takeoff', 'all/takeoff'),
+                ('land', 'all/land'),
+                ('cmd_vel_legacy', 'all/cmd_vel_legacy'),


those two should not be changed to all.

whoenig · 2023-08-08T17:48:49Z

crazyflie/src/teleop.cpp

-        request->height = 0.5;
-        request->duration = rclcpp::Duration::from_seconds(2);
+        request->height = takeoff_paras_.height;
+        request->duration = rclcpp::Duration::from_seconds(takeoff_paras_.duration);
        client_takeoff_->async_send_request(request);

        timer_takeoff_ = this->create_wall_timer(2s, [this]() {


the 2s also needs to be changed

whoenig · 2023-08-08T17:49:04Z

crazyflie/src/teleop.cpp

        client_takeoff_->async_send_request(request);

        timer_takeoff_ = this->create_wall_timer(2s, [this]() {
-            state_.z = 0.5;
+            state_.z = takeoff_paras_.height;  // Is here right? should I change the 2s in line 293


this is correct, and yes, the 2s also need to be changed.

whoenig

Looks great - thanks! I'll merge once the CI is happy.

whoenig

One minor thing: please use as default values the ones we had before for the button mapping, otherwise users will be very surprised.

whoenig

There is a compiler error, see comments.

whoenig · 2023-08-10T19:15:51Z

crazyflie/src/teleop.cpp

        client_takeoff_->async_send_request(request);

-        timer_takeoff_ = this->create_wall_timer(2s, [this]() {
-            state_.z = 0.5;
+        timer_takeoff_ = this->create_wall_timer(takeoff_paras_.duration, [this]() {


Does this actually work for your locally? The CI reports the following error:

[ 8%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/Connection.cpp.o /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp: In member function ‘void TeleopNode::takeoff()’: /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:297:10: error: no matching function for call to ‘TeleopNode::create_wall_timer(float&, TeleopNode::takeoff()::<lambda()>)’ 297 | }); | ^ In file included from /opt/ros/galactic/include/rclcpp/node.hpp:1329, from /opt/ros/galactic/include/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/galactic/include/rclcpp/executors.hpp:22, from /opt/ros/galactic/include/rclcpp/rclcpp.hpp:156, from /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:5: /opt/ros/galactic/include/rclcpp/node_impl.hpp:111:1: note: candidate: ‘template<class DurationRepT, class DurationT, class CallbackT> typename rclcpp::WallTimer<CallbackT>::SharedPtr rclcpp::Node::create_wall_timer(std::chrono::duration<_Rep1, _Period1>, CallbackT, rclcpp::CallbackGroup::SharedPtr)’ 111 | Node::create_wall_timer( | ^~~~ /opt/ros/galactic/include/rclcpp/node_impl.hpp:111:1: note: template argument deduction/substitution failed: /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:297:10: note: mismatched types ‘std::chrono::duration<_Rep1, _Period1>’ and ‘float’ 297 | }); | ^ [ 11%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/USBDevice.cpp.o [ 13%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/Crazyradio.cpp.o [ 16%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/CrazyradioThread.cpp.o [ 19%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/CrazyflieUSB.cpp.o [ 22%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/CrazyflieUSBThread.cpp.o make[2]: *** [CMakeFiles/teleop.dir/build.make:63: CMakeFiles/teleop.dir/src/teleop.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:184: CMakeFiles/teleop.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 25%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/Version.cpp.o [ 27%] Linking CXX static library libcrazyflieLinkCpp.a [ 27%] Built target crazyflieLinkCpp make: *** [Makefile:141: all] Error 2 --- --- stderr: crazyflie /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp: In member function ‘void TeleopNode::takeoff()’: /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:297:10: error: no matching function for call to ‘TeleopNode::create_wall_timer(float&, TeleopNode::takeoff()::<lambda()>)’ 297 | }); | ^ In file included from /opt/ros/galactic/include/rclcpp/node.hpp:1329, from /opt/ros/galactic/include/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/galactic/include/rclcpp/executors.hpp:22, from /opt/ros/galactic/include/rclcpp/rclcpp.hpp:156, from /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:5: /opt/ros/galactic/include/rclcpp/node_impl.hpp:111:1: note: candidate: ‘template<class DurationRepT, class DurationT, class CallbackT> typename rclcpp::WallTimer<CallbackT>::SharedPtr rclcpp::Node::create_wall_timer(std::chrono::duration<_Rep1, _Period1>, CallbackT, rclcpp::CallbackGroup::SharedPtr)’ 111 | Node::create_wall_timer( | ^~~~ /opt/ros/galactic/include/rclcpp/node_impl.hpp:111:1: note: template argument deduction/substitution failed: /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:297:10: note: mismatched types ‘std::chrono::duration<_Rep1, _Period1>’ and ‘float’ 297 | }); | ^ make[2]: *** [CMakeFiles/teleop.dir/build.make:63: CMakeFiles/teleop.dir/src/teleop.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:184: CMakeFiles/teleop.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... make: *** [Makefile:141: all] Error 2 --- Failed <<< crazyflie [11.7s, exited with code 2]

NannCai · 2023-08-11T12:56:53Z

Sorry, I fixed the bug and it works for me now. Could you please try again?

whoenig · 2023-08-11T18:35:57Z

Thanks!

Joystick

NannCai added 4 commits August 2, 2023 13:12

change the teleop paras

ecc078b

the duration and heigth works

8e55136

finish joystick function: change the function button in teleop.yaml file

1413f77

finish the real fly test, ready to pull

15ab560

NannCai marked this pull request as ready for review August 8, 2023 11:58

whoenig requested changes Aug 8, 2023

View reviewed changes

NannCai added 2 commits August 9, 2023 09:27

modify under the guidance

b5b4b0b

nothing

3af1ee3

NannCai requested a review from whoenig August 9, 2023 08:54

whoenig approved these changes Aug 9, 2023

View reviewed changes

whoenig requested changes Aug 9, 2023

View reviewed changes

use default button numbers

e090b77

NannCai requested a review from whoenig August 10, 2023 11:50

whoenig requested changes Aug 10, 2023

View reviewed changes

fixed the little bug, default takeoff duration and height

f626731

NannCai requested a review from whoenig August 11, 2023 12:22

whoenig approved these changes Aug 11, 2023

View reviewed changes

whoenig merged commit 9483029 into IMRCLab:main Aug 11, 2023
2 checks passed

This was referenced Aug 11, 2023

teleop: make takeoff height/time configurable #136

Closed

telop: add support for other joysticks #31

Closed

boomer319 pushed a commit to boomer319/verrueckterschwarm2 that referenced this pull request Nov 25, 2023

Merge pull request IMRCLab#273 from NannCai/joystick

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Joystick #273

Joystick #273

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Joystick #273

Joystick #273

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NannCai commented Aug 11, 2023

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