Search found 331 matches

by whoenig
Tue Nov 10, 2020 2:01 pm
Forum: Support
Topic: [SOLVED] publishing Pose values
Replies: 4
Views: 181

Re: publishing Pose values

You need to set "enable_logging" and "enable_logging_pose" to True in your launch file (see https://github.com/whoenig/crazyflie_ro ... ch#L19-L20 for an example that has "enable_logging_pose" missing).
by whoenig
Mon Nov 02, 2020 10:54 am
Forum: External positioning systems
Topic: Unstable when Yaw reaches 90 Degrees
Replies: 2
Views: 294

Re: Unstable when Yaw reaches 90 Degrees

Hi, which controller are you using (onboard PID, onboard Mellinger, or offboard crazyflie_ros controller)?
by whoenig
Tue Oct 20, 2020 4:01 pm
Forum: Support
Topic: Communication issues for high numbers of Crazyflies
Replies: 3
Views: 228

Re: Communication issues for high numbers of Crazyflies

Point-to-point communication just means that the ROS package tries to ensure that packets can be exchanged between PC and each CF. If there is a timeout, an (uncaught) exception is thrown (and therefore the crazyflie_driver terminates). This is likely the desired behavior if you are flying 1-5 CFs, ...
by whoenig
Mon Oct 19, 2020 1:15 am
Forum: Support
Topic: Communication issues for high numbers of Crazyflies
Replies: 3
Views: 228

Re: Communication issues for high numbers of Crazyflies

Have you considered using the Crazyswarm instead? You are running into multiple issues here: 1) crazyflie_ros uses point-to-point communication and throws an exception if a connection is lost; 2) crazyflie_ros uses one thread per CF with the radio being a shared resource. The Crazyswarm mitigates th...
by whoenig
Sat Jul 11, 2020 2:24 am
Forum: Support
Topic: ROS Melodic
Replies: 8
Views: 1224

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: 2186

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: 2186

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: 1250

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: 2923

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: 4372

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.