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[crazyswarm_server-1] process has died when using the hover_swarm.launch

See original GitHub issue

We use the optitrack as mocap, and we have configured the Motive correctly. We follow the instructions on _https://crazyswarm.readthedocs.io/en/latest/usage.html_ . The related yaml files has been changed correctly and the launch file has been configured as :

firmware: “bitcraze” # one of “crazyswarm”, “bitcraze” broadcast_address: “E7E7E7E7E7” world_frame: “/world” genericLogTopics: [“log1”] genericLogTopicFrequencies: [10] # genericLogTopic_log1_Variables: [“ekfprof.usec_setup”, “ekfprof.usec_innov”, “ekfprof.usec_gain”, “ekfprof.usec_corr”, “ekfprof.usec_cov”] # genericLogTopic_log1_Variables: [“profiling.usec_ekf”, “profiling.usec_traj”, “profiling.usec_ctrl”, “profiling.usec_idle”] # genericLogTopic_log1_Variables: [“stabilizer.x”, “ctrltarget.x”, “vicon.x”, “stabilizer.z”, “ctrltarget.z”, “vicon.z”] # genericLogTopic_log1_Variables: [“stateEstimate.roll”, “ctrlMel.rolld”] genericLogTopic_log1_Variables: [“ctrlStat.edist”] # genericLogTopic_log1_Variables: [“stateEstimate.yaw”, “ctrltarget.yaw”, “stateEstimate.x”, “ctrltarget.x”] #, “ctrltarget.x”, “stateEstimate.roll”, “ctrlMel.rolld”] firmwareParams: # for all (independent of type) commander: enHighLevel: 1 stabilizer: estimator: 2 # 1: complementary, 2: kalman, 3: kalmanUSC (only crazyswarm firmware) controller: 1 # 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 #ekf: # ext_var_xy: 1.5e-7 # 1e-7 # 1.5e-7 # ext_var_vel: 2e-4 # 2e-4 # ext_var_q: 4.5e-3 # 2e-3 # 4.5e-3 # gyro_var_xy: 0.2e-2 # 0.2e-4 # gyro_var_z: 0.2e-2 # 0.2e-4 # acc_var_xyz: 2.4e-3 # 2.4e-3 # tracking motion_capture_type: “optitrack” # one of none,vicon,optitrack,qualisys,vrpn object_tracking_type: “motionCapture” # one of motionCapture,libobjecttracker # vicon_host_name: “vicon” optitrack_local_ip: “169.254.106.255” optitrack_server_ip: “169.254.41.1:3883” # qualisys_host_name: “10.0.5.219” # qualisys_base_port: 22222 # vrpn_host_name: “vicon” # save_point_clouds: ~/pointCloud.ot print_latency: False write_csvs: False force_no_cache: False enable_parameters: True enable_logging: False

And then I start the launch file eric@eric-ThinkPad-S2:~$ roslaunch crazyswarm hover_swarm.launch

eric@eric-ThinkPad-S2:~$ roslaunch crazyswarm hover_swarm.launch … logging to /home/eric/.ros/log/7b882882-5764-11e9-a618-34f64bc13130/roslaunch-eric-ThinkPad-S2-6968.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://eric-ThinkPad-S2:35681/

SUMMARY

PARAMETERS

/crazyflieTypes/default/batteryVoltageWarning: 3.8
/crazyflieTypes/default/batteryVoltateCritical: 3.7
/crazyflieTypes/default/bigQuad: False
/crazyflieTypes/default/dynamicsConfiguration: 0
/crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
/crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
/crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
/crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
/crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
/crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
/crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
/crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
/crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
/crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
/crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
/crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
/crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
/crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
/crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
/crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
/crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
/crazyflieTypes/default/markerConfiguration: 0
/crazyflieTypes/large/batteryVoltageWarning: 11.4
/crazyflieTypes/large/batteryVoltateCritical: 11.1
/crazyflieTypes/large/bigQuad: True
/crazyflieTypes/large/dynamicsConfiguration: 0
/crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
/crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
/crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
/crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
/crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
/crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
/crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
/crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
/crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
/crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
/crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
/crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
/crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
/crazyflieTypes/large/markerConfiguration: 2
/crazyflieTypes/medium/batteryVoltageWarning: 7.6
/crazyflieTypes/medium/batteryVoltateCritical: 7.4
/crazyflieTypes/medium/bigQuad: True
/crazyflieTypes/medium/dynamicsConfiguration: 0
/crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
/crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
/crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
/crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
/crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
/crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
/crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
/crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
/crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
/crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
/crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
/crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
/crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
/crazyflieTypes/medium/markerConfiguration: 1
/crazyflies: [{'initialPositio…
/crazyswarm_server/broadcast_address: E7E7E7E7E7
/crazyswarm_server/enable_logging: False
/crazyswarm_server/enable_parameters: True
/crazyswarm_server/firmware: bitcraze
/crazyswarm_server/firmwareParams/commander/enHighLevel: 1
/crazyswarm_server/firmwareParams/ring/effect: 16
/crazyswarm_server/firmwareParams/ring/headlightEnable: 0
/crazyswarm_server/firmwareParams/ring/solidBlue: 255
/crazyswarm_server/firmwareParams/ring/solidGreen: 0
/crazyswarm_server/firmwareParams/ring/solidRed: 0
/crazyswarm_server/firmwareParams/stabilizer/controller: 1
/crazyswarm_server/firmwareParams/stabilizer/estimator: 2
/crazyswarm_server/force_no_cache: False
/crazyswarm_server/genericLogTopicFrequencies: [10]
/crazyswarm_server/genericLogTopic_log1_Variables: [‘ctrlStat.edist’]
/crazyswarm_server/genericLogTopics: [‘log1’]
/crazyswarm_server/motion_capture_type: optitrack
/crazyswarm_server/object_tracking_type: motionCapture
/crazyswarm_server/optitrack_local_ip: 169.254.106.255
/crazyswarm_server/optitrack_server_ip: 169.254.41.1:3883
/crazyswarm_server/print_latency: False
/crazyswarm_server/world_frame: /world
/crazyswarm_server/write_csvs: False
/crazyswarm_teleop/csv_file: /home/eric/crazys…
/crazyswarm_teleop/timescale: 0.8
/dynamicsConfigurations/0/maxFitnessScore: 0.001
/dynamicsConfigurations/0/maxPitch: 1.4
/dynamicsConfigurations/0/maxPitchRate: 20.0
/dynamicsConfigurations/0/maxRoll: 1.4
/dynamicsConfigurations/0/maxRollRate: 20.0
/dynamicsConfigurations/0/maxXVelocity: 2.0
/dynamicsConfigurations/0/maxYVelocity: 2.0
/dynamicsConfigurations/0/maxYawRate: 10.0
/dynamicsConfigurations/0/maxZVelocity: 3.0
/joy/dev: /dev/input/js0
/markerConfigurations/0/numPoints: 4
/markerConfigurations/0/offset: [0.0, -0.01, -0.04]
/markerConfigurations/0/points/0: [0.0177184, 0.013…
/markerConfigurations/0/points/1: [-0.0262914, 0.05…
/markerConfigurations/0/points/2: [-0.0328889, -0.0…
/markerConfigurations/0/points/3: [0.0431307, -0.03…
/markerConfigurations/1/numPoints: 4
/markerConfigurations/1/offset: [0.0, 0.0, -0.03]
/markerConfigurations/1/points/0: [-0.00896228, -0…
/markerConfigurations/1/points/1: [-0.0156318, 0.09…
/markerConfigurations/1/points/2: [0.0461693, -0.08…
/markerConfigurations/1/points/3: [-0.0789959, -0.0…
/markerConfigurations/2/numPoints: 4
/markerConfigurations/2/offset: [0.0, 0.0, -0.06]
/markerConfigurations/2/points/0: [0.0558163, -0.00…
/markerConfigurations/2/points/1: [-0.0113941, 0.00…
/markerConfigurations/2/points/2: [-0.0306277, 0.05…
/markerConfigurations/2/points/3: [0.0535816, -0.04…
/markerConfigurations/3/numPoints: 1
/markerConfigurations/3/offset: [0.0, -0.01, -0.04]
/markerConfigurations/3/points/0: [0.0177184, 0.013…
/numDynamicsConfigurations: 1
/numMarkerConfigurations: 4
/rosdistro: kinetic
/rosversion: 1.12.14

NODES / crazyswarm_server (crazyswarm/crazyswarm_server) crazyswarm_teleop (crazyswarm/crazyswarm_teleop) joy (joy/joy_node) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[crazyswarm_server-1]: started with pid [6985] process[joy-2]: started with pid [6986] process[crazyswarm_teleop-3]: started with pid [6987] process[rviz-4]: started with pid [6994] [ INFO] [1554442479.080369264]: Wait for services… [ INFO] [1554442479.095308661]: Manager ready. [ INFO] [1554442479.265023748]: Opened joystick: /dev/input/js0. deadzone_: 0.050000. [crazyswarm_server-1] process has died [pid 6985, exit code -11, cmd /home/eric/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/eric/.ros/log/7b882882-5764-11e9-a618-34f64bc13130/crazyswarm_server-1.log]. log file: /home/eric/.ros/log/7b882882-5764-11e9-a618-34f64bc13130/crazyswarm_server-1*.log

Everything is ok, but it goes wrong at last:[crazyswarm_server-1] process has died

What’s wrong with it ? How to figure it out? Thanks!

Issue Analytics

State:
Created 4 years ago
Comments:11 (4 by maintainers)

Top GitHub Comments

1reaction

lkyfly0765commented, Apr 20, 2019

Here we find the solution of this problem. It’s for Optitrack users. For the [crazyswarm-server-1] Process has died problems, please check the following options:

In hover_swarm.launch file L44 https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L44, please confirm that the ‘optitrack_local_ip:’ to your ros laptop’s IP address, and Don’t comment this line or it will cause the connection problems of your computer with VRPN server.

The crazyflies.yaml & allCrazyflies.yaml is correcting configured. Importantly, the IDs must be set start from number 1.

The firmware version is update to the lastst version. You can flash the firmware using the chooser.py in ~/ros_ws/src/scripts. Importantly, you should confirm that BOTH STM32 & nRF51 firmware has been updated correctly.

For optitrack users, if you choose “motionCapture” as “object_tracking_type”, you should create rigid body in Motive software.

But, IMPORTANTLY,Rigid Bodies must be created in order of cf2’s ID number in allCrazyflies.yaml file.That is, cf1 must be created as the first one, and cf2 as the second one and cf3… A name of rigid body is also important. We highly recommended that you name the rigidbodies as cf1,cf2,cf3 and so on. However, its order is important! #reference https://github.com/USC-ACTLab/libmotioncapture/pull/3

5: For more cfs, the different markers on each cf may be very difficult. We highly recommended you to use “libobjecttracker” as"object_tracking_type" to avoid insufficient space to place the markers. Importantly, if you choose “libobjecttracker”, you should not create any rigid body in Motive software. And you should config the crazyflieTypes.yaml by using the $roslaunch crazyswarm mocap_helper.launch

0reactions

lkyfly0765commented, Apr 13, 2019

I couldn’t find the lines even for the version from a week ago. You could re-clone, or attach the source code file (crazyswarm_server.cpp) here. If you change the broadcast address it should not crash (however, broadcast communication might not work correctly.) The crash is likely caused by some incorrect setting in crazyflieTypes.yaml or allCrazyflies.yaml that causes an out-of-bounds error.

During my test, for Optitrack users, in hover_swarm.launch file L44 https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L44, you have to configure the ‘optitrack_local_ip:’ to your ros laptop’s IP add, or just comment out this line. If the IP add is not correct, it will occurs [crazyswarm_server-2] process has died when running the launch file. But I’m not sure will it connect to the Motive correctly if I comment it out.