CF drone flips after launching the hello_world script #755
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darshit-desai
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I don't think tracking works correctly in this case (not even for takeoff). How does your launch file look like? Did you double check the |
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I checked it for crazyswarm2.0 and enabled the same parameters in crazyswarm1.0 yaml and launch files. I will check that out. I am sharing the launch file below. Launch file<?xml version="1.0"?>
<launch>
<arg name="joy_dev" default="/dev/input/js0" />
<rosparam command="load" file="$(find crazyswarm)/launch/crazyflieTypes.yaml" />
<rosparam command="load" file="$(find crazyswarm)/launch/crazyflies.yaml" />
<node pkg="crazyswarm" type="crazyswarm_server" name="crazyswarm_server" output="screen" >
<rosparam>
# Logging configuration (Use enable_logging to actually enable logging)
genericLogTopics: ["log1"]
genericLogTopicFrequencies: [10]
genericLogTopic_log1_Variables: ["stateEstimate.x", "ctrltarget.x"]
# firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or
# allCrazyflies.yaml to set per drone)
firmwareParams:
commander:
enHighLevel: 1
stabilizer:
estimator: 2 # 1: complementary, 2: kalman
controller: 2 # 1: PID, 2: mellinger
ring:
effect: 16 # 6: double spinner, 7: solid color, 16: packetRate
solidBlue: 255 # if set to solid color
solidGreen: 0 # if set to solid color
solidRed: 0 # if set to solid color
headlightEnable: 0
locSrv:
extPosStdDev: 1e-3
extQuatStdDev: 0.5e-1
kalman:
resetEstimation: 1
# tracking
motion_capture_type: "vicon" # one of none,vicon,optitrack,optitrack_closed_source,qualisys,vrpn
object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
send_position_only: False # set to False to send position+orientation; set to True to send position only
motion_capture_host_name: "192.168.78.11"
# motion_capture_interface_ip: "" # optional for optitrack with multiple interfaces
save_point_clouds: "/dev/null" # set to a valid path to log mocap point cloud binary file.
print_latency: False
write_csvs: False
force_no_cache: False
enable_parameters: True
enable_logging: True
enable_logging_pose: True
</rosparam>
</node>
<node name="joy" pkg="joy" type="joy_node" output="screen">
<param name="dev" value="$(arg joy_dev)" />
</node>
<node pkg="crazyswarm" type="crazyswarm_teleop" name="crazyswarm_teleop" output="screen">
<param name="csv_file" value="$(find crazyswarm)/launch/figure8_smooth.csv" />
<param name="timescale" value="0.8" />
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find crazyswarm)/launch/test.rviz"/>
<!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_x" args="/cf2/log1/values[0]"/> -->
<!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_roll" args="/cf1/log1/values[2] /cf1/log1/values[3]"/> -->
</launch>
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For single marker tracking, you also need to set |
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Update with Flight video and screen video in single marker configuration
@whoenig Just wanted to give an update on the exhaustive testing I did today with both CSW1 and CSW2, It is really weird that it takesoff easily but during hover the drone flips,
Video Links and setup photo and video links:
Here are the videos and the screen capture of the terminal and rviz screens, Not really sure what is wrong here? (Sorry the videos were too large to upload here)
YAML setup files (for reference and debugging)
crazyflies.yaml
allCrazyflies.yaml
crazyflieTypes.yaml (Tried to modify it for mocap deck but it's worse than the single marker config)
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