Simultaneous linear and angular velocity

Hi everyone,

Is it possible to publish messages to the cmd_velocity_world topic that are composed of a linear and angular components, such as the example below?:

rostopic pub /cf0/cmd_velocity_world crazyflie_driver/VelocityWorld "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: 'cf0'
vel:
  x: 0.40
  y: 0.0
  z: 0.0
yawRate: 30.0" -r 10

I am asking this because when I publish such a velocity I would expect the cf to move in a circle, i.e., moving in its x direction while the yaw changes. However, what I observe is the cf rotating as it drifts in one direction. Also when I publish simple velocity msgs, meaning only linear or only angular the cf moves as expected, moving in its x direction when the msg published is a linear velocity, and rotating on the spot when every value is zero expect yawRate. I should say I have a Flow Deck. Also I am not using the vicon, as I am having quite some trouble to get a very stable point cloud at the moment. This is indeed weird because when I was using these packages (–> https://github.com/whoenig/crazyflie_ros) I could do this no problem… By the way these are my parameters

      world_frame: "/world"
      # Logging configuration (Use enable_logging to actually enable logging)
      genericLogTopics: ["log1"]
      genericLogTopicFrequencies: [10]
      genericLogTopic_log1_Variables: ["pm.vbat"]
      # 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: 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
        locSrv:
          extPosStdDev: 1e-3
          extQuatStdDev: 0.5e-1
        kalman:
          resetEstimation: 1
      # tracking
      motion_capture_type: "none" # 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: "192.168.10.1:801"
      # optitrack_host_name: "optitrack"
      # 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

Thanks.

[whoenig]

Looks great - thanks. I’ll close this issue now. If there is anything else missing, feel free to re-open.

[Hurisa]

Cool. No worries. Glad I could help.