Search found 327 matches

by whoenig
Sat Jul 11, 2020 2:24 am
Forum: Support
Topic: ROS Melodic
Replies: 3
Views: 38

Re: ROS Melodic

Crazyflie_ros is created and maintained by me (Wolfgang Hoenig). Crazyswarm is created and maintained by James A. Preiss and myself. We frequently contribute back to the official repos such as firmware changes, but we are independent researchers. Bitcraze maintains a Python SDK and client. Both Pyth...
by whoenig
Tue Apr 21, 2020 2:08 am
Forum: Autonomous flight
Topic: Collision avoidance between Cfs with HL-commander
Replies: 6
Views: 1667

Re: Collision avoidance between Cfs with HL-commander

I think just implementing BVC, ORCA, or Barrier Functions (see e.g., https://arxiv.org/abs/2002.11807) might not be enough for a MS thesis since that has been done. To my knowledge, all of those proofs-of-concept require a motion capture system though. There could be some merit to leverage the peer-...
by whoenig
Thu Apr 16, 2020 4:37 pm
Forum: Autonomous flight
Topic: Collision avoidance between Cfs with HL-commander
Replies: 6
Views: 1667

Re: Collision avoidance between Cfs with HL-commander

Perhaps https://github.com/bitcraze/crazyflie-f ... issues/567 will help. In the discussion, there are also a few links with example implementations (with the goal being to integrate a version of them into the official firmware in the future.)
by whoenig
Thu Apr 16, 2020 4:35 pm
Forum: Bitcraze
Topic: Unable to echo accelerometer data from /crazyflie/imu topic
Replies: 6
Views: 676

Re: Unable to echo accelerometer data from /crazyflie/imu topic

I updated the github issue with some feedback. I am very sorry for the long delay!
by whoenig
Sun Feb 23, 2020 4:49 am
Forum: Support
Topic: Accuracy of trajectory calculated on 1-D
Replies: 1
Views: 2716

Re: Accuracy of trajectory calculated on 1-D

I usually use the logging variables "stateEstimate.{x,y,z}" and "ctrlTarget.{x,y,z}". The state estimate combines your mocap measurement with the oboard IMU. The best way is to log those variables using the uSD-card deck, and then use post-processing to analyze the data. However, you can also stream...
by whoenig
Sun Feb 23, 2020 4:44 am
Forum: Autonomous flight
Topic: How to generate trajectory
Replies: 3
Views: 3925

Re: How to generate trajectory

You can follow the example at https://github.com/whoenig/uav_trajecto ... tion-pairs to generate your trajectory (csv-file). This file can be uploaded to the CF before the flight.
by whoenig
Fri Feb 21, 2020 6:08 am
Forum: Bitcraze
Topic: Optitrack to Crazyflie Set up
Replies: 8
Views: 2451

Re: Optitrack to Crazyflie Set up

Yes. Each PC just goes to the LAN port. You can also connect to the Internet by connecting the router's Internet port to your campus network, but that is optional.
by whoenig
Tue Feb 18, 2020 12:44 am
Forum: Bitcraze
Topic: Optitrack to Crazyflie Set up
Replies: 8
Views: 2451

Re: Optitrack to Crazyflie Set up

Direct Ethernet connection: Yes, no need for a DHCP server. You can configure a static IP in your OS network settings, which is OS dependent (you should be able to find instructions using a search engine). A router is a bit more convenient (plug&play). NatNetSDK: No, the crazyswarm comes with the SD...
by whoenig
Mon Feb 17, 2020 7:42 am
Forum: Bitcraze
Topic: Optitrack to Crazyflie Set up
Replies: 8
Views: 2451

Re: Optitrack to Crazyflie Set up

The Optitrack documentation should have some more information. For most mocap systems it is recommended to use multiple network cards on the Windows PC, one for Optitrack and one to connect to other computers. You can either directly connect the two PC using ethernet (and define static IPs), or more...
by whoenig
Sun Jan 05, 2020 11:22 pm
Forum: Support
Topic: Library of crazyflie in ROS documents
Replies: 2
Views: 2158

Re: Library of crazyflie in ROS documents

This refers to the helper library in https://github.com/whoenig/crazyflie_ro ... azyflie.py. It should be found automatically, as long as you run python with crazyflie_ros/crazyflie_demo/scripts as your current working directory.