Search found 309 matches

by whoenig
Mon May 27, 2019 9:40 pm
Forum: Autonomous flight
Topic: Trajectory tracking with Qualisys and Mellinger controller
Replies: 1
Views: 111

Re: Trajectory tracking with Qualisys and Mellinger controller

Both crazyflie_ros and the crazyswarm support executing a pre-loaded trajectory (you can upload your trajectory while the CF is on the ground), see https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/scripts/figure8_csv.py for an example script. It assumes that your trajectory...
by whoenig
Mon May 27, 2019 9:37 pm
Forum: External positioning systems
Topic: How to send external position from Qualisys to CF2?
Replies: 2
Views: 123

Re: How to send external position from Qualisys to CF2?

If you use ROS, you can take a look at the Crazyswarm, which supports Qualisys: https://crazyswarm.readthedocs.io/en/latest/.

The Mellinger controller does not require you to use a mocap. It works with the flow-deck, UWB, or lighthouse as well.
by whoenig
Mon May 20, 2019 5:07 pm
Forum: General discussions
Topic: CF Ignores some of the high-level commands
Replies: 9
Views: 232

Re: CF Ignores some of the high-level commands

See also https://github.com/whoenig/crazyflie_ros/issues/140. @tobias: In crazyflie_ros, we resend the command until an acknowledgement is received, but not until we get the answer generated here: https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/crtp_commander_high_level.c#...
by whoenig
Wed May 01, 2019 1:02 am
Forum: Support
Topic: Bigquad - Expansion Drone Parts Recommendations
Replies: 2
Views: 164

Re: Bigquad - Expansion Drone Parts Recommendations

Two examples are here: https://crazyswarm.readthedocs.io/en/la ... dware.html, although as Tobias mentioned the field moves fast, so some of the components might not be available anymore.
by whoenig
Wed May 01, 2019 12:58 am
Forum: Loco Positioning System
Topic: Pose topic using Crazyswarm
Replies: 5
Views: 305

Re: Pose topic using Crazyswarm

Hi, Which firmware are you using? The compressed state estimate is only available in very recent firmwares (official and crazyswarm). The logic has been added to crazyflie_ros as well, but not yet to the crazyswarm. For the list of variables, you can use the cfclient, or `rosrun crazyflie_tools list...
by whoenig
Sun Apr 07, 2019 8:35 pm
Forum: Loco Positioning System
Topic: How to send the location of the crazyflie to MATLAB?
Replies: 2
Views: 180

Re: How to send the location of the crazyflie to MATLAB?

You might be able to use the robotics toolbox. Then, depending on which localization system you use, you can subscribe to a topic that includes information about the CFs pose.
by whoenig
Wed Apr 03, 2019 3:41 pm
Forum: Support
Topic: Trying out the Crazyswarm
Replies: 8
Views: 351

Re: Trying out the Crazyswarm

Perhaps we can continue the discussion here: https://github.com/USC-ACTLab/crazyswarm/issues/146? I will respond there today with some ideas.
by whoenig
Mon Apr 01, 2019 11:50 pm
Forum: Loco Positioning System
Topic: Pose topic using Crazyswarm
Replies: 5
Views: 305

Re: Pose topic using Crazyswarm

What you describe is actually not part of crazyflie_ros, but lps-ros, namely this file: https://github.com/bitcraze/lps-ros/blob/master/scripts/lps_ekf_bridge.py. This current solution is not perfect, because position and orientation are not necessarily logged at the same time. To implement this pro...
by whoenig
Fri Mar 29, 2019 7:15 pm
Forum: Loco Positioning System
Topic: Pose topic using Crazyswarm
Replies: 5
Views: 305

Re: Pose topic using Crazyswarm

Which topic are you referring to? You can still get the pose of each robot (they are part of ROS tf). There are currently some differences in the feature set between the two solutions, so if something else is missing, you might need to port some code from crazyflie_server to crazyswarm_server. If yo...
by whoenig
Fri Mar 29, 2019 5:16 am
Forum: Support
Topic: How can I make the quads unique?
Replies: 4
Views: 177

Re: How can I make the quads unique?

Hi,
There is a description with pictures in Section 5.1 in http://act.usc.edu/publications/Hoenig_ ... OS2017.pdf. Hope that helps!