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Need help troubleshooting hover.launch

See original GitHub issue

Hello,

I am unable to get the hover.launch script to run and get my CF to fly. I am using an OptriTrack system. The data is streaming from Motive, and I am able to get the mocap_helper.launch to work (it shows my rigid body data from Motive).

When I launch the hover.launch script RVIZ opens but there is nothing inside of it. I am not getting any errors. It just looks like it is not finding the CF. I have followed all of the directions for the crazyswarm installation, preparation and configuration files. All of the crazyflie addresses are correct with the correct firmware from the directions.

Here is the hover.launch script and the logs for mocap_helper.launch and hover.launch. Any ideas what I should do to get my CF flying?

hover.launch

<?xml version="1.0"?>
<launch>
 <arg name="joy_dev" default="/dev/input/js0" />
  <rosparam command="load" file="$(find crazyswarm)/launch/crazyflies.yaml" />
 <rosparam command="load" file="$(find crazyswarm)/launch/crazyflieTypes.yaml" />
  <node pkg="crazyswarm" type="crazyswarm_server" name="crazyswarm_server" output="screen" >
   <rosparam>
     world_frame: "/world"
     # 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:
         pNAcc_xy: 1.0
         pNAcc_z: 2.0
     # tracking
     motion_capture_type: "optitrack" # one of none,vicon,optitrack,qualisys,vrpn
     object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker
     send_position_only: False # set to False to send position+orientation; set to True to send position only
     # vicon_host_name: "vicon"
     # optitrack_host_name: "optitrack"
     optitrack_local_ip: "***.***.***.***"
     optitrack_server_ip: "***.***.***.***"
     # 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: 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>

SUMMARY

PARAMETERS

  • /mocap_helper/motion_capture_type: optitrack
  • /mocap_helper/object_tracking_type: motionCapture
  • /mocap_helper/optitrack_host_name: optitrack
  • /rosdistro: melodic
  • /rosversion: 1.14.5

NODES / mocap_helper (crazyswarm/mocap_helper)

ROS_MASTER_URI=http://localhost:11311

process[mocap_helper-1]: started with pid [30317] frame 0: points: objects: “cf1”: occluded: 0 position: [-4.92317, 0.570461, 0.822788] rotation: [-0.788251, 0.104755, -0.11158, 0.596017] frame 1: points: objects: “cf1”: occluded: 0 position: [-4.92333, 0.570375, 0.822856] rotation: [-0.78732, 0.10543, -0.111544, 0.597135] frame 2: points: objects: “cf1”: occluded: 0 position: [-4.92335, 0.570372, 0.822874] rotation: [-0.787303, 0.105194, -0.111712, 0.597167] frame 3: points: objects: “cf1”: occluded: 0 position: [-4.92329, 0.570315, 0.822843] rotation: [-0.787619, 0.105473, -0.110191, 0.596984]

hover.launch

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/defaultSingleMarker/batteryVoltageWarning: 3.8
  • /crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
  • /crazyflieTypes/defaultSingleMarker/bigQuad: False
  • /crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
  • /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
  • /crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
  • /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/enable_logging: True
  • /crazyswarm_server/enable_parameters: True
  • /crazyswarm_server/firmwareParams/commander/enHighLevel: 1
  • /crazyswarm_server/firmwareParams/kalman/pNAcc_xy: 1.0
  • /crazyswarm_server/firmwareParams/kalman/pNAcc_z: 2.0
  • /crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
  • /crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
  • /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: 2
  • /crazyswarm_server/firmwareParams/stabilizer/estimator: 2
  • /crazyswarm_server/force_no_cache: False
  • /crazyswarm_server/genericLogTopicFrequencies: [10]
  • /crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x…
  • /crazyswarm_server/genericLogTopics: [‘log1’]
  • /crazyswarm_server/motion_capture_type: optitrack
  • /crazyswarm_server/object_tracking_type: motionCapture
  • /crazyswarm_server/optitrack_local_ip: 10.0.13.177
  • /crazyswarm_server/optitrack_server_ip: 10.0.13.184
  • /crazyswarm_server/print_latency: False
  • /crazyswarm_server/save_point_clouds: ~/pointCloud.ot
  • /crazyswarm_server/send_position_only: False
  • /crazyswarm_server/world_frame: /world
  • /crazyswarm_server/write_csvs: False
  • /crazyswarm_teleop/csv_file: /home/jcampbell/c…
  • /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
  • /markerConfigurations/0/numPoints: 4
  • /markerConfigurations/0/offset: [0.0, -0.01, -0.04]
  • /markerConfigurations/0/points/0: [0.0307946, -0.00…
  • /markerConfigurations/0/points/1: [0.0690987, -0.06…
  • /markerConfigurations/0/points/2: [0.0680017, 0.005…
  • /markerConfigurations/0/points/3: [-0.00648208, -0…
  • /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: melodic
  • /rosversion: 1.14.5

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

auto-starting new master process[master]: started with pid [30030] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 40d252aa-ac0c-11ea-8e0d-64006a91f7f5 process[rosout-1]: started with pid [30041] started core service [/rosout] process[crazyswarm_server-2]: started with pid [30048] process[crazyswarm_teleop-3]: started with pid [30049] process[rviz-4]: started with pid [30054] [ INFO] [1591897922.605681352]: Wait for services… [ INFO] [1591897922.607034106]: waitForService: Service [/emergency] has not been advertised, waiting… [ INFO] [1591897922.689557690]: waitForService: Service [/emergency] is now available. [ INFO] [1591897922.691725150]: Manager ready.

Issue Analytics

  • State:closed
  • Created 3 years ago
  • Comments:9 (3 by maintainers)

github_iconTop GitHub Comments

1reaction
whoenigcommented, Jun 11, 2020

@jpreiss I just pushed a change to include 18.04 in the list of supported OS.

0reactions
jpreisscommented, Jun 13, 2020

Glad to hear it’s working for you now!

Read more comments on GitHub >

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