First a short intro.
We are working on getting the Crazyflie to be part of science museum exhibition. Our goal is to learn kids about autonomous flight. Crazyflie and the LPS look like a great platform to do this! We're currently working on setting up our systems like described in the Getting Started https://wiki.bitcraze.io/doc:lps:index.
After following all the steps we are running into a problem with the example program. The script reports the following error:
Code: Select all
[ERROR] [1481552448.544456]: bad callback: <function callback_pos at 0xb71b1844>
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
cb(msg)
File "/home/exhibit/flying-robots/src/lps-ros/scripts/lps_ekf_bridge.py", line 26, in callback_pos
ps.pose.position.x = data.values[0]
IndexError: tuple index out of rangeHere's also the complete output. Thanks!
Code: Select all
started roslaunch server http://flying-robots:34294/
SUMMARY
========
PARAMETERS
* /crazyflie/anchor0_pos: [0, 0, 1.85]
* /crazyflie/anchor1_pos: [0, 2, 1.85]
* /crazyflie/anchor2_pos: [4, 2, 1.85]
* /crazyflie/anchor3_pos: [4, 0, 1.85]
* /crazyflie/anchor4_pos: [1.3, 1, 1.85]
* /crazyflie/anchor5_pos: [2.6, 1, 1.85]
* /crazyflie/crazyflie_add/genericLogTopicFrequencies: [30, 30, 30]
* /crazyflie/crazyflie_add/genericLogTopic_log_kfpos_Variables: ['kalman.stateX',...
* /crazyflie/crazyflie_add/genericLogTopic_log_kfqt_Variables: ['kalman.q0', 'ka...
* /crazyflie/crazyflie_add/genericLogTopic_log_ranges_Variables: ['ranging.distanc...
* /crazyflie/crazyflie_add/genericLogTopics: ['log_kfpos', 'lo...
* /crazyflie/crazyflie_add/tf_prefix: crazyflie
* /crazyflie/crazyflie_add/uri: radio://0/80/250K
* /crazyflie/joy/dev: /dev/input/js0
* /crazyflie/joystick_controller/use_crazyflie_controller: True
* /crazyflie/n_anchors: 6
* /crazyflie/pose/name: goal
* /crazyflie/pose/rate: 30
* /crazyflie/pose/x: 3
* /crazyflie/pose/y: 2.3
* /crazyflie/pose/z: 1.0
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.6
NODES
/crazyflie/
controller_bridge (bitcraze_lps_estimator/crazyflie_controller_bridge.py)
crazyflie_add (crazyflie_driver/crazyflie_add)
joy (joy/joy_node)
joystick_controller (crazyflie_demo/controller.py)
lps_efk_bridge (bitcraze_lps_estimator/lps_ekf_bridge.py)
lps_viz (bitcraze_lps_estimator/lps_viz.py)
pose (crazyflie_demo/publish_pose_teleop.py)
/
crazyflie_server (crazyflie_driver/crazyflie_server)
link1_broadcaster (tf/static_transform_publisher)
log_range (bitcraze_lps_estimator/log_range.py)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [21732]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 26e57bfe-c076-11e6-99d5-d12836f2e9f7
process[rosout-1]: started with pid [21745]
started core service [/rosout]
process[log_range-2]: started with pid [21762]
process[rviz-3]: started with pid [21763]
process[crazyflie/crazyflie_add-4]: started with pid [21764]
process[crazyflie/joy-5]: started with pid [21770]
process[crazyflie/joystick_controller-6]: started with pid [21784]
process[crazyflie/controller_bridge-7]: started with pid [21790]
process[crazyflie/pose-8]: started with pid [21800]
[ INFO] [1481552442.118562557]: wait_for_service /add_crazyflie
[ INFO] [1481552442.132930450]: waitForService: Service [/add_crazyflie] has not been advertised, waiting...
process[crazyflie/lps_efk_bridge-9]: started with pid [21809]
[ INFO] [1481552442.236465399]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
/home/exhibit/flying-robots/src/crazyflie_ros/crazyflie_demo/scripts/publish_pose_teleop.py:46: SyntaxWarning: name 'lastData' is assigned to before global declaration
global lastData
process[crazyflie/lps_viz-10]: started with pid [21814]
process[link1_broadcaster-11]: started with pid [21820]
process[crazyflie_server-12]: started with pid [21826]
[ INFO] [1481552442.911800857]: waitForService: Service [/add_crazyflie] is now available.
[ INFO] [1481552442.912696257]: found /add_crazyflie
[ INFO] [1481552443.104970057]: Adding radio://0/80/250K as crazyflie with trim(0.000000, 0.000000). Logging: 1, Parameters: 1, Use ROS time: 1
Configured Dongle with version 0.53
SYS: -------------------------
---
SYS: Crazyflie 2.0 is up and r
unning!
[crazyflie/crazyflie_add-4] process has finished cleanly
log file: /home/exhibit/.ros/log/26e57bfe-c076-11e6-99d5-d12836f2e9f7/crazyflie-crazyflie_add-4*.log
SYS: Build 204:740ac14535a5 (2
016.09-204) CLEAN
SYS: I am 0x353534303335510520
0039 and I have 1024KB of flas
h!
CFGBLK: v1, verification [OK]
MPU9250 I2C connection [OK].
AK8963 I2C connection [OK].
LPS25H I2C connection [OK].
DECK_DRIVERS: Found 9 drivers
DECK_INFO: Found 1 deck memory
.
DECK_CORE: 1 deck enumerated
EEPROM: I2C connection [OK].
AK8963: Self test [OK].
DECK_CORE: Deck 0 test [OK].
SYS: Free heap: 8032 bytes
[ INFO] [1481552445.015707577]: Requesting parameters...
Params: 110
[ INFO] [1481552447.279784173]: Requesting Logging variables...
[INFO] [1481552447.296800]: Setting anchor position ...
Log: 133
[INFO] [1481552447.319231]: Anchor 0 at [0, 0, 1.85]
[ INFO] [1481552447.383688263]: Update parameters
[INFO] [1481552447.477345]: Anchor 1 at [0, 2, 1.85]
[INFO] [1481552447.490778]: found update_params service
[INFO] [1481552447.494877]: waiting for emergency service
[INFO] [1481552447.516475]: found emergency service
[INFO] [1481552447.519841]: waiting for land service
[INFO] [1481552447.546845]: found land service
[ INFO] [1481552447.549206478]: Update parameters
[INFO] [1481552447.550790]: waiting for takeoff service
[INFO] [1481552447.565539]: found takeoff service
[INFO] [1481552447.685572]: Anchor 2 at [4, 2, 1.85]
[ INFO] [1481552447.743504158]: Update parameters
[INFO] [1481552447.817956]: Anchor 3 at [4, 0, 1.85]
[ INFO] [1481552447.871598852]: Update parameters
[INFO] [1481552447.972638]: Anchor 4 at [1.3, 1, 1.85]
[ INFO] [1481552448.037353231]: Update parameters
[INFO] [1481552448.160802]: Anchor 5 at [2.6, 1, 1.85]
[ INFO] [1481552448.228696135]: Update parameters
Could not find kalman.stateX in log toc!
Could not find kalman.stateY in log toc!
Could not find kalman.stateZ in log toc!
[ INFO] [1481552448.432797317]: Update parameters
Could not find kalman.q0 in log toc!
Could not find kalman.q1 in log toc!
Could not find kalman.q2 in log toc!
Could not find kalman.q3 in log toc!
[ERROR] [1481552448.544456]: bad callback: <function callback_pos at 0xb71b1844>
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
cb(msg)
File "/home/exhibit/flying-robots/src/lps-ros/scripts/lps_ekf_bridge.py", line 26, in callback_pos
ps.pose.position.x = data.values[0]
IndexError: tuple index out of range
