Search found 377 matches

by whoenig
Mon Jan 18, 2021 9:29 pm
Forum: Bitcraze
Topic: Trajectory for crazyflie
Replies: 3
Views: 557

Re: Trajectory for crazyflie

For the integration you can use the `cmd_fullstate` topic. For the octomap, you can have a look at octomap_server, which allows you to build maps easily if you add motion capture markers to your RGB-D camera (or similar sensor).
by whoenig
Fri Jan 15, 2021 7:39 am
Forum: Bitcraze
Topic: Trajectory for crazyflie
Replies: 3
Views: 557

Re: Trajectory for crazyflie

(1) The mellinger controller has very high gains in order to accurately track a trajectory. In practice, this means that you'll need both a very accurate state estimate (it was tuned for a VICON motion capture system) and an accurate setpoint with higher-order terms (velocity, accelerations). It sho...
by whoenig
Wed Jan 13, 2021 10:01 am
Forum: General discussions
Topic: Question with fly with vrpn system
Replies: 3
Views: 627

Re: Question with fly with vrpn system

Yes, that is possible. You can also you use the Crazyswarm with VRPN.
by whoenig
Tue Jan 12, 2021 8:10 am
Forum: Bitcraze
Topic: error:[crazyflie_server-1] process has died [pid 20730, exit code -6
Replies: 6
Views: 946

Re: error:[crazyflie_server-1] process has died [pid 20730, exit code -6

Estimator : In all recent firmwares the estimator is actually picked dynamically. If you have the flow deck installed, ill will automatically switch to the EKF. The compile time flag you use, simply forces the estimator to be always EKF (instead of dynamically chosen). Paper : That paper uses the C...
by whoenig
Mon Jan 11, 2021 2:03 pm
Forum: Bitcraze
Topic: error:[crazyflie_server-1] process has died [pid 20730, exit code -6
Replies: 6
Views: 946

Re: error:[crazyflie_server-1] process has died [pid 20730, exit code -6

I was able to reproduce this issue and it seems to be caused by an incorrect log TOC. As workaround, you can run rm ~/.ros/*.csv to remove the log TOC cache files and re-run again. In the future, it would be better to open an issue on github at https://github.com/whoenig/crazyflie_ros/issues, includ...
by whoenig
Tue Nov 10, 2020 2:01 pm
Forum: Support
Topic: [SOLVED] publishing Pose values
Replies: 4
Views: 639

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: 1497

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: 680

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: 680

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...