lps-ros swarm

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sample
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Posts: 15
Joined: Wed May 02, 2018 1:57 pm

lps-ros swarm

Post by sample » Mon Feb 04, 2019 1:31 pm

Hi everyone,

I have a question regarding lps-ros, to be more exact flying swarm using dwm_loc_ekf_swarm_hover.launch. First of all I know about new crazyswarm release and I have tested it, it works, and congratulations on such a user friendly release. But for our application lps-ros is more convenient.
I have a few issues using dwm_loc_ekf_swarm_hover.launch. It's working for any three CF2.0, but when we want to fly five CF2.0 it's not working. We get error:

Code: Select all

terminate called after throwing an instance of 'std::runtime_error'
  what():  timeout
I have checked launch file several times, everything is modified accordingly.

Since we had crazyswarm setup on latest firmware I have downgraded firmware of the CF to 2018.01.1 and Crazyradio PA to version 0.53. We are using latest cfclient and LPS node firmware. We can fly 3 CFs using this setup, but can't get them 5 to fly. I have tried using two Crazyradios PA, still not working. We are using TDoA2 for positioning. In cfclient we are getting the right position for every single cf, but i have noticed that colored numbered anchor status indicator is missing.

My question is, which CF/CrazyradioPA/LPS_node firmware should I use for this launch file to work? Does it work on latest firmware?
How can we solve this error? I have looked through github issues and google, no luck.

Thanks!

EDIT:
console output for 5 cfs:

Code: Select all

[ INFO] [1549355335.144620619]: CF Console: SYS: -------------------------
[ INFO] [1549355335.145491794]: CF Console: ---

[ INFO] [1549355335.146963444]: CF Console: SYS: Crazyflie 2.0 is up and r
[ INFO] [1549355335.147927074]: CF Console: unning!

[ INFO] [1549355335.151270979]: CF Console: SYS: Build 0:6ee723ad1144 (201
[ INFO] [1549355335.152620008]: CF Console: 8.01.1) MODIFIED

[ INFO] [1549355335.154090062]: CF Console: SYS: I am 0x353534303335510236
[ INFO] [1549355335.155791086]: CF Console: 0019 and I have 1024KB of flas
[ INFO] [1549355335.157791475]: CF Console: h!

[ INFO] [1549355335.159305356]: CF Console: CFGBLK: v1, verification [OK]

[ INFO] [1549355335.160772841]: CF Console: DECK_DRIVERS: Found 11 drivers
[ INFO] [1549355335.161605439]: CF Console: 

[ INFO] [1549355335.163159242]: CF Console: DECK_INFO: Found 1 deck memory
[ INFO] [1549355335.163944879]: CF Console: .

[ INFO] [1549355335.165404940]: CF Console: DECK_CORE: 1 deck enumerated

[ INFO] [1549355335.166885070]: CF Console: MPU9250 I2C connection [OK].

[ INFO] [1549355335.168303613]: CF Console: AK8963 I2C connection [OK].

[ INFO] [1549355335.169759319]: CF Console: LPS25H I2C connection [OK].

[ INFO] [1549355335.171195315]: CF Console: ESTIMATOR: Using estimator 2

[ INFO] [1549355335.172689276]: CF Console: PLATFORM: Low interference mod
[ INFO] [1549355335.174315407]: CF Console: e. NRF51 TX power reduced by -
[ INFO] [1549355335.175238088]: CF Console: 12db.

[ INFO] [1549355335.176867736]: CF Console: EEPROM: I2C connection [OK].

[ INFO] [1549355335.178232991]: CF Console: AK8963: Self test [OK].

[ INFO] [1549355335.180870854]: CF Console: DECK_CORE: Deck 0 test [OK].

[ INFO] [1549355335.182681707]: CF Console: SYS: Free heap: 16448 bytes

[ INFO] [1549355335.184381195]: CF Console: DWM: Automatic mode: detected 
[ INFO] [1549355335.190745680]: CF Console: TDoA

[ INFO] [1549355335.195610088]: Requesting parameters...
[ INFO] [1549355335.203831477]: Found variables in cache.
[ INFO] [1549355335.238830642]: CF Console: SYS: -------------------------
[ INFO] [1549355335.239820283]: CF Console: ---

[ INFO] [1549355335.241988045]: CF Console: SYS: Crazyflie 2.0 is up and r
[ INFO] [1549355335.242899796]: CF Console: unning!

[ INFO] [1549355335.244359492]: CF Console: SYS: Build 0:6ee723ad1144 (201
[ INFO] [1549355335.246575068]: CF Console: 8.01.1) MODIFIED

[ INFO] [1549355335.248408204]: CF Console: SYS: I am 0x32313338323551121D
[ INFO] [1549355335.249963010]: CF Console: 0044 and I have 1024KB of flas
[ INFO] [1549355335.250783668]: CF Console: h!

[ INFO] [1549355335.252248183]: CF Console: CFGBLK: v1, verification [OK]

[ INFO] [1549355335.253723912]: CF Console: DECK_DRIVERS: Found 11 drivers
[ INFO] [1549355335.254716422]: CF Console: 

[ INFO] [1549355335.257354188]: CF Console: DECK_INFO: Found 1 deck memory
[ INFO] [1549355335.258447624]: CF Console: .

[ INFO] [1549355335.259929910]: CF Console: DECK_CORE: 1 deck enumerated

[ INFO] [1549355335.261406340]: CF Console: MPU9250 I2C connection [OK].

[ INFO] [1549355335.262871278]: CF Console: AK8963 I2C connection [OK].

[ INFO] [1549355335.264334021]: CF Console: LPS25H I2C connection [OK].

[ INFO] [1549355335.267673863]: CF Console: SYS: -------------------------
[ INFO] [1549355335.269508871]: CF Console: LPS25H I2C connection [OK].

[ INFO] [1549355335.273681086]: CF Console: ESTIMATOR: Using estimator 2

[ INFO] [1549355335.275231014]: CF Console: PLATFORM: Low interference mod
[ INFO] [1549355335.277140808]: CF Console: SYS: -------------------------
[ INFO] [1549355335.278052615]: CF Console: ---

[ INFO] [1549355335.280066855]: CF Console: SYS: Crazyflie 2.0 is up and r
[ INFO] [1549355335.285052499]: CF Console: e. NRF51 TX power reduced by -
[ INFO] [1549355335.286323394]: CF Console: 12db.

[ INFO] [1549355335.287764191]: CF Console: EEPROM: I2C connection [OK].

[ INFO] [1549355335.289580893]: CF Console: SYS: Crazyflie 2.0 is up and r
[ INFO] [1549355335.291329922]: CF Console: unning!

[ INFO] [1549355335.292857089]: CF Console: SYS: Build 0:6ee723ad1144 (201
[ INFO] [1549355335.294790621]: CF Console: EEPROM: I2C connection [OK].

[ INFO] [1549355335.296145959]: CF Console: AK8963: Self test [OK].

[ INFO] [1549355335.297623074]: CF Console: DECK_CORE: Deck 0 test [OK].

[ INFO] [1549355335.301079794]: CF Console: SYS: Build 0:6ee723ad1144 (201
[ INFO] [1549355335.303903374]: CF Console: 8.01.1) MODIFIED

[ INFO] [1549355335.341572664]: CF Console: SYS: Free heap: 16448 bytes

[ INFO] [1549355335.343222568]: CF Console: DWM: Automatic mode: detected 
[ INFO] [1549355335.345425574]: Requesting parameters...
[ INFO] [1549355335.354166074]: CF Console: SYS: I am 0x373036383435511934
[ INFO] [1549355335.355692514]: CF Console: 0034 and I have 1024KB of flas
[ INFO] [1549355335.356707322]: CF Console: h!

[ INFO] [1549355335.370984807]: Found variables in cache.
[ INFO] [1549355335.391352255]: CF Console: h!

[ INFO] [1549355335.394779763]: CF Console: CFGBLK: v1, verification [OK]

[ INFO] [1549355335.399407165]: CF Console: SYS: -------------------------
[ INFO] [1549355335.401163591]: CF Console: DECK_DRIVERS: Found 11 drivers
[ INFO] [1549355335.404747238]: CF Console: ---

[ INFO] [1549355335.405795299]: CF Console: 

[ INFO] [1549355335.410847088]: CF Console: DECK_INFO: Found 1 deck memory
[ INFO] [1549355335.414370942]: CF Console: SYS: Crazyflie 2.0 is up and r
[ INFO] [1549355335.416319841]: CF Console: .

[ INFO] [1549355335.421130802]: CF Console: DECK_CORE: 1 deck enumerated

[ INFO] [1549355335.423213124]: CF Console: unning!

[ INFO] [1549355335.425356111]: CF Console: SYS: Build 0:6ee723ad1144 (201
[ INFO] [1549355335.427086563]: CF Console: 8.01.1) MODIFIED

[ INFO] [1549355335.429651007]: CF Console: MPU9250 I2C connection [OK].

[ INFO] [1549355335.431217652]: CF Console: AK8963 I2C connection [OK].

[ INFO] [1549355335.432624579]: CF Console: LPS25H I2C connection [OK].

[ INFO] [1549355335.434060691]: CF Console: ESTIMATOR: Using estimator 2

[ INFO] [1549355335.435499935]: CF Console: PLATFORM: Low interference mod
[ INFO] [1549355335.436968249]: CF Console: e. NRF51 TX power reduced by -
[ INFO] [1549355335.437895066]: CF Console: 12db.

[ INFO] [1549355335.498714953]: CF Console: EEPROM: I2C connection [OK].

[ INFO] [1549355335.500076028]: CF Console: AK8963: Self test [OK].

[ INFO] [1549355335.538201910]: CF Console: DECK_CORE: Deck 0 test [OK].

[ INFO] [1549355335.540423971]: CF Console: DWM: Automatic mode: detected 
[ INFO] [1549355335.541461764]: CF Console: TDoA

[ INFO] [1549355335.554955078]: CF Console: SYS: I am 0x32313338323551122C
[ INFO] [1549355335.556445855]: CF Console: 0048 and I have 1024KB of flas
[ INFO] [1549355335.557284684]: CF Console: h!

[ INFO] [1549355335.558766278]: CF Console: CFGBLK: v1, verification [OK]

[ INFO] [1549355335.560240702]: CF Console: DECK_DRIVERS: Found 11 drivers
[ INFO] [1549355335.564911193]: Requesting parameters...
[ INFO] [1549355335.590979495]: CF Console: 

[ INFO] [1549355335.592443559]: CF Console: DECK_INFO: Found 1 deck memory
[ INFO] [1549355335.625793988]: CF Console: .

[ INFO] [1549355335.627730197]: Found variables in cache.
[ INFO] [1549355335.631521845]: CF Console: DECK_CORE: 1 deck enumerated

[ INFO] [1549355335.633553019]: CF Console: MPU9250 I2C connection [OK].

[ INFO] [1549355335.637044893]: CF Console: AK8963 I2C connection [OK].

[ INFO] [1549355335.638855827]: CF Console: LPS25H I2C connection [OK].

[ INFO] [1549355335.648639516]: CF Console: ESTIMATOR: Using estimator 2

[ INFO] [1549355335.683971269]: CF Console: e. NRF51 TX power reduced by -
[ INFO] [1549355335.747855888]: CF Console: 12db.

[ INFO] [1549355335.779722939]: CF Console: EEPROM: I2C connection [OK].

[ INFO] [1549355335.792191837]: CF Console: AK8963: Self test [OK].

INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/vice/.ros/log/latest'
[ INFO] [1549355335.872254065]: CF Console: AK8963: Self test [OK].

[ INFO] [1549355335.873779200]: CF Console: DECK_CORE: Deck 0 test [OK].

[ INFO] [1549355335.875243082]: CF Console: SYS: Free heap: 16448 bytes

[ INFO] [1549355335.876747534]: CF Console: DWM: Automatic mode: detected 
[ INFO] [1549355335.877676059]: CF Console: TDoA

[ INFO] [1549355335.879325015]: Requesting parameters...
[ INFO] [1549355335.887500152]: Found variables in cache.
[ INFO] [1549355337.301770294]: Requesting Logging variables...
[ INFO] [1549355337.310752773]: Found variables in cache.
[INFO] [1549355337.343808]: found update_params service
[INFO] [1549355337.344590]: waiting for emergency service
[INFO] [1549355337.349051]: found emergency service
[INFO] [1549355337.349608]: waiting for land service
[INFO] [1549355337.352610]: found land service
[INFO] [1549355337.353167]: waiting for takeoff service
[INFO] [1549355337.357580]: found takeoff service
[ INFO] [1549355337.384985379]: Requesting memories...
[ INFO] [1549355337.389338055]: Requesting Logging variables...
[ INFO] [1549355337.393562873]: Requesting Logging variables...
[ INFO] [1549355337.400398678]: Memories: 4
[ INFO] [1549355337.401617996]: Requesting Logging variables...
[ INFO] [1549355337.414640948]: Found variables in cache.
[INFO] [1549355337.425034]: Setting anchor position ...
[INFO] [1549355337.428897]: Anchor 0 at [-2.11, -1.5, 0.24]
[ INFO] [1549355337.433150765]: Requesting Logging variables...
[ INFO] [1549355337.439448961]: Found variables in cache.
[INFO] [1549355337.445846]: Setting anchor position ...
[INFO] [1549355337.448881]: Anchor 0 at [-2.11, -1.5, 0.24]
[ INFO] [1549355337.454099877]: Found variables in cache.
[ INFO] [1549355337.477763323]: Ready...
[ INFO] [1549355337.477887009]: Elapsed: 2.336419 s
[ INFO] [1549355337.484455506]: Found variables in cache.
[INFO] [1549355337.495621]: Setting anchor position ...
[INFO] [1549355337.499868]: Anchor 0 at [-2.11, -1.5, 0.24]
[INFO] [1549355337.511552]: found update_params service
[INFO] [1549355337.512292]: waiting for emergency service
[INFO] [1549355337.515863]: found emergency service
[INFO] [1549355337.516562]: waiting for land service
[INFO] [1549355337.518395]: found update_params service
[INFO] [1549355337.519087]: waiting for emergency service
[INFO] [1549355337.523375]: found land service
[INFO] [1549355337.523458]: found emergency service
[INFO] [1549355337.523918]: waiting for takeoff service
[INFO] [1549355337.523958]: waiting for land service
[INFO] [1549355337.525890]: found takeoff service
[INFO] [1549355337.527456]: Setting anchor position ...
[INFO] [1549355337.527691]: found land service
[INFO] [1549355337.528236]: waiting for takeoff service
[INFO] [1549355337.532185]: found takeoff service
[INFO] [1549355337.532948]: Anchor 0 at [-2.11, -1.5, 0.24]
[INFO] [1549355337.543963]: found update_params service
[INFO] [1549355337.544799]: waiting for emergency service
[INFO] [1549355337.549150]: found emergency service
[INFO] [1549355337.549648]: waiting for land service
[INFO] [1549355337.552240]: found land service
[INFO] [1549355337.552916]: waiting for takeoff service
[INFO] [1549355337.556341]: found takeoff service
[INFO] [1549355337.593892]: Setting anchor position ...
[INFO] [1549355337.597533]: Anchor 0 at [-2.11, -1.5, 0.24]
[INFO] [1549355337.621178]: found update_params service
[INFO] [1549355337.621767]: waiting for emergency service
[INFO] [1549355337.623795]: found emergency service
[INFO] [1549355337.624253]: waiting for land service
[INFO] [1549355337.626286]: found land service
[INFO] [1549355337.626720]: waiting for takeoff service
[INFO] [1549355337.628674]: found takeoff service
[ INFO] [1549355338.068741527]: Requesting memories...
[ INFO] [1549355338.104154211]: Requesting memories...
[ INFO] [1549355338.148247093]: Requesting memories...
[ INFO] [1549355338.152410431]: Requesting memories...
[ INFO] [1549355338.197373303]: Update parameters
[ INFO] [1549355338.230241939]: Memories: 4
[ INFO] [1549355338.244590834]: Memories: 4
[ INFO] [1549355338.261259998]: Memories: 4
[ INFO] [1549355338.307314866]: Memories: 4
[ INFO] [1549355338.428114750]: Ready...
[ INFO] [1549355338.428199798]: Elapsed: 3.041220 s
[ INFO] [1549355338.471934474]: Ready...
[ INFO] [1549355338.471988382]: Elapsed: 3.237844 s
[ INFO] [1549355338.500957384]: Ready...
[ INFO] [1549355338.501054218]: Elapsed: 3.443354 s
[ INFO] [1549355338.651277819]: Ready...
[ INFO] [1549355338.651349709]: Elapsed: 3.420808 s
[ INFO] [1549355339.287437337]: Update parameters
[ INFO] [1549355339.318478414]: Update parameters
[ INFO] [1549355339.345881260]: Update parameters
[ INFO] [1549355339.526110271]: Update parameters
[ERROR] [1549355339.526914831]: Exception thrown while processing service call: timeout
Traceback (most recent call last):
  File "/home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py", line 77, in <module>
    update_params([name + 'x', name + 'y', name + 'z'])
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 515, in call
    responses = transport.receive_once()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 727, in receive_once
    p.read_messages(b, msg_queue, sock) 
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 353, in read_messages
    self._read_ok_byte(b, sock)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 336, in _read_ok_byte
    raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str))
rospy.service.ServiceException: service [/crazyflie2/update_params] responded with an error: timeout
[crazyflie2/lps_efk_bridge-22] process has died [pid 5023, exit code 1, cmd /home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py __name:=lps_efk_bridge __log:=/home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie2-lps_efk_bridge-22.log].
log file: /home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie2-lps_efk_bridge-22*.log
[ERROR] [1549355340.331591742]: Exception thrown while processing service call: timeout
Traceback (most recent call last):
  File "/home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py", line 77, in <module>
    update_params([name + 'x', name + 'y', name + 'z'])
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 515, in call
    responses = transport.receive_once()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 727, in receive_once
    p.read_messages(b, msg_queue, sock) 
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 353, in read_messages
    self._read_ok_byte(b, sock)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 336, in _read_ok_byte
    raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str))
rospy.service.ServiceException: service [/crazyflie3/update_params] responded with an error: timeout
[ERROR] [1549355340.362761446]: Exception thrown while processing service call: timeout
Traceback (most recent call last):
  File "/home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py", line 77, in <module>
    update_params([name + 'x', name + 'y', name + 'z'])
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 515, in call
    responses = transport.receive_once()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 727, in receive_once
    p.read_messages(b, msg_queue, sock) 
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 353, in read_messages
    self._read_ok_byte(b, sock)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 336, in _read_ok_byte
    raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str))
rospy.service.ServiceException: service [/crazyflie0/update_params] responded with an error: timeout
[crazyflie0/lps_efk_bridge-8] process has died [pid 4895, exit code 1, cmd /home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py __name:=lps_efk_bridge __log:=/home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie0-lps_efk_bridge-8.log].
log file: /home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie0-lps_efk_bridge-8*.log
[crazyflie3/lps_efk_bridge-29] process has died [pid 5078, exit code 1, cmd /home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py __name:=lps_efk_bridge __log:=/home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie3-lps_efk_bridge-29.log].
log file: /home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie3-lps_efk_bridge-29*.log
[INFO] [1549355340.734739]: Anchor 1 at [-2.105, 1.5, 2.45]
[ INFO] [1549355340.760922621]: Update parameters
[INFO] [1549355341.014918]: Anchor 1 at [-2.105, 1.5, 2.45]
[ INFO] [1549355341.031295400]: Update parameters
[ERROR] [1549355342.060773400]: Exception thrown while processing service call: timeout
Traceback (most recent call last):
  File "/home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py", line 77, in <module>
    update_params([name + 'x', name + 'y', name + 'z'])
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 515, in call
    responses = transport.receive_once()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 727, in receive_once
    p.read_messages(b, msg_queue, sock) 
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 353, in read_messages
    self._read_ok_byte(b, sock)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 336, in _read_ok_byte
    raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str))
rospy.service.ServiceException: service [/crazyflie4/update_params] responded with an error: timeout
[INFO] [1549355342.306515]: Anchor 2 at [2.077, 1.5, 0.237]
[ INFO] [1549355342.334025589]: Update parameters
[crazyflie4/lps_efk_bridge-36] process has died [pid 5162, exit code 1, cmd /home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py __name:=lps_efk_bridge __log:=/home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie4-lps_efk_bridge-36.log].
log file: /home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie4-lps_efk_bridge-36*.log
[INFO] [1549355343.628513]: Anchor 3 at [2.092, -1.5, 2.455]
[ INFO] [1549355343.641162811]: Update parameters
[ERROR] [1549355344.195575494]: Exception thrown while processing service call: timeout
Traceback (most recent call last):
  File "/home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py", line 77, in <module>
    update_params([name + 'x', name + 'y', name + 'z'])
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 515, in call
    responses = transport.receive_once()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 727, in receive_once
    p.read_messages(b, msg_queue, sock) 
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 353, in read_messages
    self._read_ok_byte(b, sock)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 336, in _read_ok_byte
    raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str))
rospy.service.ServiceException: service [/crazyflie1/update_params] responded with an error: timeout
[crazyflie1/lps_efk_bridge-15] process has died [pid 4948, exit code 1, cmd /home/vice/crazy_ws/src/lps-ros/scripts/lps_ekf_bridge.py __name:=lps_efk_bridge __log:=/home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie1-lps_efk_bridge-15.log].
log file: /home/vice/.ros/log/0d5c5ff8-2920-11e9-8c0f-4c348842972b/crazyflie1-lps_efk_bridge-15*.log
^C[crazyflie_server-39] killing on exit
[link1_broadcaster-38] killing on exit
[crazyflie4/lps_viz-37] killing on exit
[crazyflie4/pose-35] killing on exit
[crazyflie4/controller_bridge-34] killing on exit
[crazyflie4/joystick_controller-33] killing on exit
[crazyflie4/joy-32] killing on exit
[crazyflie3/lps_viz-30] killing on exit
[crazyflie3/pose-28] killing on exit
[crazyflie3/controller_bridge-27] killing on exit
Exception in thread Thread-6:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
    self.run()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/timer.py", line 235, in run
    self._callback(TimerEvent(last_expected, last_real, current_expected, current_real, last_duration))
  File "/home/vice/crazy_ws/src/lps-ros/scripts/crazyflie_controller_bridge.py", line 76, in send_setpoint
    self.cmd_vel_pub.publish(self.landed_setpoint)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 882, in publish
    self.impl.publish(data)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 1041, in publish
    raise ROSException("publish() to a closed topic")
ROSException: publish() to a closed topic

[crazyflie3/joystick_controller-26] killing on exit
[crazyflie3/joy-25] killing on exit
[crazyflie2/lps_viz-23] killing on exit
[crazyflie2/pose-21] killing on exit
[crazyflie2/controller_bridge-20] killing on exit
Exception in thread Thread-6:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
    self.run()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/timer.py", line 235, in run
    self._callback(TimerEvent(last_expected, last_real, current_expected, current_real, last_duration))
  File "/home/vice/crazy_ws/src/lps-ros/scripts/crazyflie_controller_bridge.py", line 76, in send_setpoint
    self.cmd_vel_pub.publish(self.landed_setpoint)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 882, in publish
    self.impl.publish(data)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 1041, in publish
    raise ROSException("publish() to a closed topic")
ROSException: publish() to a closed topic

[crazyflie2/joystick_controller-19] killing on exit
[crazyflie2/joy-18] killing on exit
[crazyflie1/lps_viz-16] killing on exit
[crazyflie1/pose-14] killing on exit
[crazyflie1/controller_bridge-13] killing on exit
[crazyflie1/joystick_controller-12] killing on exit
[crazyflie1/joy-11] killing on exit
[crazyflie0/lps_viz-9] killing on exit
[crazyflie0/pose-7] killing on exit
[crazyflie0/controller_bridge-6] killing on exit
[crazyflie0/joystick_controller-5] killing on exit
[crazyflie0/joy-4] killing on exit
[rviz-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
console output for 3 cfs:

Code: Select all

SUMMARY
========

PARAMETERS
 * /anchor0_pos: [-2.11, -1.5, 0.24]
 * /anchor1_pos: [-2.105, 1.5, 2.45]
 * /anchor2_pos: [2.077, 1.5, 0.237]
 * /anchor3_pos: [2.092, -1.5, 2.455]
 * /anchor4_pos: [-2.11, -1.5, 2.45]
 * /anchor5_pos: [-2.105, 1.5, 0.24]
 * /anchor6_pos: [2.077, 1.5, 2.453]
 * /anchor7_pos: [2.092, -1.5, 0.245]
 * /crazyflie0/anchor0_pos: [-2.11, -1.5, 0.24]
 * /crazyflie0/anchor1_pos: [-2.105, 1.5, 2.45]
 * /crazyflie0/anchor2_pos: [2.077, 1.5, 0.237]
 * /crazyflie0/anchor3_pos: [2.092, -1.5, 2.455]
 * /crazyflie0/anchor4_pos: [-2.11, -1.5, 2.45]
 * /crazyflie0/anchor5_pos: [-2.105, 1.5, 0.24]
 * /crazyflie0/anchor6_pos: [2.077, 1.5, 2.453]
 * /crazyflie0/anchor7_pos: [2.092, -1.5, 0.245]
 * /crazyflie0/crazyflie_add/genericLogTopicFrequencies: [30, 30]
 * /crazyflie0/crazyflie_add/genericLogTopic_log_kfpos_Variables: ['kalman.stateX',...
 * /crazyflie0/crazyflie_add/genericLogTopic_log_kfqt_Variables: ['kalman.q0', 'ka...
 * /crazyflie0/crazyflie_add/genericLogTopics: ['log_kfpos', 'lo...
 * /crazyflie0/crazyflie_add/tf_prefix: crazyflie0
 * /crazyflie0/crazyflie_add/uri: radio://0/80/2M/E...
 * /crazyflie0/joy/dev: /dev/input/js0
 * /crazyflie0/joystick_controller/use_crazyflie_controller: True
 * /crazyflie0/lps_efk_bridge/tf_prefix: crazyflie1
 * /crazyflie0/n_anchors: 8
 * /crazyflie0/pose/name: goal
 * /crazyflie0/pose/rate: 30
 * /crazyflie0/pose/x: 0.0
 * /crazyflie0/pose/y: 0.0
 * /crazyflie0/pose/z: 1.2
 * /crazyflie1/anchor0_pos: [-2.11, -1.5, 0.24]
 * /crazyflie1/anchor1_pos: [-2.105, 1.5, 2.45]
 * /crazyflie1/anchor2_pos: [2.077, 1.5, 0.237]
 * /crazyflie1/anchor3_pos: [2.092, -1.5, 2.455]
 * /crazyflie1/anchor4_pos: [-2.11, -1.5, 2.45]
 * /crazyflie1/anchor5_pos: [-2.105, 1.5, 0.24]
 * /crazyflie1/anchor6_pos: [2.077, 1.5, 2.453]
 * /crazyflie1/anchor7_pos: [2.092, -1.5, 0.245]
 * /crazyflie1/crazyflie_add/genericLogTopicFrequencies: [30, 30]
 * /crazyflie1/crazyflie_add/genericLogTopic_log_kfpos_Variables: ['kalman.stateX',...
 * /crazyflie1/crazyflie_add/genericLogTopic_log_kfqt_Variables: ['kalman.q0', 'ka...
 * /crazyflie1/crazyflie_add/genericLogTopics: ['log_kfpos', 'lo...
 * /crazyflie1/crazyflie_add/tf_prefix: crazyflie1
 * /crazyflie1/crazyflie_add/uri: radio://0/80/2M/E...
 * /crazyflie1/joy/dev: /dev/input/js0
 * /crazyflie1/joystick_controller/use_crazyflie_controller: True
 * /crazyflie1/lps_efk_bridge/tf_prefix: crazyflie1
 * /crazyflie1/n_anchors: 8
 * /crazyflie1/pose/name: goal
 * /crazyflie1/pose/rate: 30
 * /crazyflie1/pose/x: 0.5
 * /crazyflie1/pose/y: -0.5
 * /crazyflie1/pose/z: 1.2
 * /crazyflie2/anchor0_pos: [-2.11, -1.5, 0.24]
 * /crazyflie2/anchor1_pos: [-2.105, 1.5, 2.45]
 * /crazyflie2/anchor2_pos: [2.077, 1.5, 0.237]
 * /crazyflie2/anchor3_pos: [2.092, -1.5, 2.455]
 * /crazyflie2/anchor4_pos: [-2.11, -1.5, 2.45]
 * /crazyflie2/anchor5_pos: [-2.105, 1.5, 0.24]
 * /crazyflie2/anchor6_pos: [2.077, 1.5, 2.453]
 * /crazyflie2/anchor7_pos: [2.092, -1.5, 0.245]
 * /crazyflie2/crazyflie_add/genericLogTopicFrequencies: [30, 30]
 * /crazyflie2/crazyflie_add/genericLogTopic_log_kfpos_Variables: ['kalman.stateX',...
 * /crazyflie2/crazyflie_add/genericLogTopic_log_kfqt_Variables: ['kalman.q0', 'ka...
 * /crazyflie2/crazyflie_add/genericLogTopics: ['log_kfpos', 'lo...
 * /crazyflie2/crazyflie_add/tf_prefix: crazyflie2
 * /crazyflie2/crazyflie_add/uri: radio://0/80/2M/E...
 * /crazyflie2/joy/dev: /dev/input/js0
 * /crazyflie2/joystick_controller/use_crazyflie_controller: True
 * /crazyflie2/lps_efk_bridge/tf_prefix: crazyflie1
 * /crazyflie2/n_anchors: 8
 * /crazyflie2/pose/name: goal
 * /crazyflie2/pose/rate: 30
 * /crazyflie2/pose/x: 0.5
 * /crazyflie2/pose/y: 0.5
 * /crazyflie2/pose/z: 1.2
 * /n_anchors: 8
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /crazyflie0/
    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)
  /crazyflie1/
    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)
    rviz (rviz/rviz)
  /crazyflie2/
    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)

auto-starting new master
process[master]: started with pid [7454]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9614e5fe-2920-11e9-8c0f-4c348842972b
process[rosout-1]: started with pid [7467]
started core service [/rosout]
process[rviz-2]: started with pid [7484]
process[crazyflie0/crazyflie_add-3]: started with pid [7485]
process[crazyflie0/joy-4]: started with pid [7486]
process[crazyflie0/joystick_controller-5]: started with pid [7499]
process[crazyflie0/controller_bridge-6]: started with pid [7514]
process[crazyflie0/pose-7]: started with pid [7517]
[ INFO] [1549355556.179239329]: wait_for_service /add_crazyflie
[ INFO] [1549355556.183878442]: waitForService: Service [/add_crazyflie] has not been advertised, waiting...
/home/vice/crazy_ws/src/crazyflie_ros/crazyflie_demo/scripts/publish_pose_teleop.py:46: SyntaxWarning: name 'lastData' is assigned to before global declaration
  global lastData
process[crazyflie0/lps_efk_bridge-8]: started with pid [7525]
process[crazyflie0/lps_viz-9]: started with pid [7533]
process[crazyflie1/crazyflie_add-10]: started with pid [7539]
[ INFO] [1549355556.288918068]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
process[crazyflie1/joy-11]: started with pid [7544]
process[crazyflie1/joystick_controller-12]: started with pid [7555]
process[crazyflie1/controller_bridge-13]: started with pid [7571]
process[crazyflie1/pose-14]: started with pid [7581]
[ INFO] [1549355556.409495863]: wait_for_service /add_crazyflie
[ INFO] [1549355556.415802808]: waitForService: Service [/add_crazyflie] has not been advertised, waiting...
process[crazyflie1/lps_efk_bridge-15]: started with pid [7588]
/home/vice/crazy_ws/src/crazyflie_ros/crazyflie_demo/scripts/publish_pose_teleop.py:46: SyntaxWarning: name 'lastData' is assigned to before global declaration
  global lastData
process[crazyflie1/lps_viz-16]: started with pid [7593]
process[crazyflie2/crazyflie_add-17]: started with pid [7606]
[ INFO] [1549355556.588990529]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
process[crazyflie2/joy-18]: started with pid [7613]
process[crazyflie2/joystick_controller-19]: started with pid [7622]
process[crazyflie2/controller_bridge-20]: started with pid [7641]
process[crazyflie2/pose-21]: started with pid [7650]
/home/vice/crazy_ws/src/crazyflie_ros/crazyflie_demo/scripts/publish_pose_teleop.py:46: SyntaxWarning: name 'lastData' is assigned to before global declaration
  global lastData
process[crazyflie2/lps_efk_bridge-22]: started with pid [7656]
process[crazyflie2/lps_viz-23]: started with pid [7667]
[ INFO] [1549355556.857446954]: wait_for_service /add_crazyflie
process[link1_broadcaster-24]: started with pid [7671]
[ INFO] [1549355556.933594257]: waitForService: Service [/add_crazyflie] has not been advertised, waiting...
process[crazyflie_server-25]: started with pid [7675]
[ INFO] [1549355557.176518348]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1549355557.185140128]: waitForService: Service [/add_crazyflie] is now available.
[ INFO] [1549355557.185198034]: found /add_crazyflie
[ INFO] [1549355557.219608591]: waitForService: Service [/add_crazyflie] is now available.
[ INFO] [1549355557.219672194]: found /add_crazyflie
[ INFO] [1549355557.223149915]: waitForService: Service [/add_crazyflie] is now available.
[ INFO] [1549355557.223332797]: found /add_crazyflie
[ INFO] [1549355557.273378951]: Adding radio://0/80/2M/E7E7E7E703 as crazyflie2 with trim(0.000000, 0.000000). Logging: 1, Parameters: 1, Use ROS time: 1
[ INFO] [1549355557.321392455]: Adding radio://0/80/2M/E7E7E7E702 as crazyflie1 with trim(0.000000, 0.000000). Logging: 1, Parameters: 1, Use ROS time: 1
[ INFO] [1549355557.397460435]: Adding radio://0/80/2M/E7E7E7E701 as crazyflie0 with trim(0.000000, 0.000000). Logging: 1, Parameters: 1, Use ROS time: 1
[crazyflie2/crazyflie_add-17] process has finished cleanly
log file: /home/vice/.ros/log/9614e5fe-2920-11e9-8c0f-4c348842972b/crazyflie2-crazyflie_add-17*.log
[crazyflie0/crazyflie_add-3] process has finished cleanly
log file: /home/vice/.ros/log/9614e5fe-2920-11e9-8c0f-4c348842972b/crazyflie0-crazyflie_add-3*.log
[crazyflie1/crazyflie_add-10] process has finished cleanly
log file: /home/vice/.ros/log/9614e5fe-2920-11e9-8c0f-4c348842972b/crazyflie1-crazyflie_add-10*.log
[ WARN] [1549355558.324559886]: Received unrequested data for block: 0
[ WARN] [1549355558.326091775]: Received unrequested data for block: 0
[ WARN] [1549355558.327614799]: Received unrequested data for block: 0
[ WARN] [1549355558.329044071]: Received unrequested data for block: 2
[ WARN] [1549355558.331200867]: Received unrequested data for block: 0
[ WARN] [1549355558.333184123]: Received unrequested data for block: 3
[ WARN] [1549355558.335278050]: Received unrequested data for block: 0
[ WARN] [1549355558.337722834]: Received unrequested data for block: 1
[ WARN] [1549355558.339071254]: Received unrequested data for block: 3
[ WARN] [1549355558.340645146]: Received unrequested data for block: 0
[ WARN] [1549355558.341916338]: Received unrequested data for block: 2
[ WARN] [1549355558.343444596]: Received unrequested data for block: 0
[ WARN] [1549355558.344934145]: Received unrequested data for block: 3
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[ WARN] [1549355558.349938333]: Received unrequested data for block: 0
[ WARN] [1549355558.352252864]: Received unrequested data for block: 0
[ WARN] [1549355558.353697386]: Received unrequested data for block: 2
[ WARN] [1549355558.355335818]: Received unrequested data for block: 0
[ WARN] [1549355558.356820315]: Received unrequested data for block: 3
[ WARN] [1549355558.358761444]: Received unrequested data for block: 0
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[ WARN] [1549355558.364684351]: Received unrequested data for block: 0
[ WARN] [1549355558.366091910]: Received unrequested data for block: 2
[ WARN] [1549355558.367756796]: Received unrequested data for block: 0
[ WARN] [1549355558.369453123]: Received unrequested data for block: 0
[ WARN] [1549355558.370846559]: Received unrequested data for block: 2
[ WARN] [1549355558.372499036]: Received unrequested data for block: 0
[ WARN] [1549355558.373978708]: Received unrequested data for block: 3
[ WARN] [1549355558.375617592]: Received unrequested data for block: 0
[ WARN] [1549355558.376988859]: Received unrequested data for block: 2
[ WARN] [1549355558.378538353]: Received unrequested data for block: 0
[ WARN] [1549355558.379947519]: Received unrequested data for block: 3
[ WARN] [1549355558.381486833]: Received unrequested data for block: 0
[ WARN] [1549355558.383005805]: Received unrequested data for block: 0
[ WARN] [1549355558.384473397]: Received unrequested data for block: 2
[ WARN] [1549355558.385989687]: Received unrequested data for block: 0
[ WARN] [1549355558.387516644]: Received unrequested data for block: 0
[ WARN] [1549355558.389458098]: Received unrequested data for block: 0
[ WARN] [1549355558.391609361]: Received unrequested data for block: 0
[ WARN] [1549355558.392950734]: Received unrequested data for block: 3
[ WARN] [1549355558.394816338]: Received unrequested data for block: 0
[ WARN] [1549355558.396448915]: Received unrequested data for block: 0
[ WARN] [1549355558.398235385]: Received unrequested data for block: 2
[ WARN] [1549355558.400469544]: Received unrequested data for block: 3
[ WARN] [1549355558.404603000]: Received unrequested data for block: 0
[ WARN] [1549355558.406746045]: Received unrequested data for block: 0
[ WARN] [1549355558.408270044]: Received unrequested data for block: 0
[ WARN] [1549355558.409484600]: Received unrequested data for block: 3
[ WARN] [1549355558.411070654]: Received unrequested data for block: 1
[ WARN] [1549355558.412373667]: Received unrequested data for block: 2
[ WARN] [1549355558.414626735]: Received unrequested data for block: 0
[ WARN] [1549355558.415965348]: Received unrequested data for block: 3
[ WARN] [1549355558.417986576]: Received unrequested data for block: 0
[ WARN] [1549355558.419138750]: Received unrequested data for block: 2
[ WARN] [1549355558.420587919]: Received unrequested data for block: 0
[ WARN] [1549355558.421805133]: Received unrequested data for block: 3
[ WARN] [1549355558.423182211]: Received unrequested data for block: 0
[ WARN] [1549355558.424339616]: Received unrequested data for block: 2
[ WARN] [1549355558.425741645]: Received unrequested data for block: 0
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[ WARN] [1549355558.429357348]: Received unrequested data for block: 0
[ WARN] [1549355558.430763614]: Received unrequested data for block: 1
[ WARN] [1549355558.432445584]: Received unrequested data for block: 0
[ WARN] [1549355558.434011261]: Received unrequested data for block: 0
[ WARN] [1549355558.435265202]: Received unrequested data for block: 2
[ WARN] [1549355558.436822939]: Received unrequested data for block: 0
[ WARN] [1549355558.438157575]: Received unrequested data for block: 3
[ WARN] [1549355558.439835212]: Received unrequested data for block: 0
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[ WARN] [1549355558.443347592]: Received unrequested data for block: 0
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[ WARN] [1549355558.446152546]: Received unrequested data for block: 2
[ WARN] [1549355558.447684276]: Received unrequested data for block: 0
[ WARN] [1549355558.449309234]: Received unrequested data for block: 1
[ WARN] [1549355558.451005842]: Received unrequested data for block: 0
[ WARN] [1549355558.452464414]: Received unrequested data for block: 2
[ WARN] [1549355558.453847302]: Received unrequested data for block: 2
[ WARN] [1549355558.455321386]: Received unrequested data for block: 3
[ WARN] [1549355558.457036592]: Received unrequested data for block: 0
[ WARN] [1549355558.458801349]: Received unrequested data for block: 0
[ WARN] [1549355558.460505850]: Received unrequested data for block: 0
[ WARN] [1549355558.461920253]: Received unrequested data for block: 2
[ WARN] [1549355558.463589657]: Received unrequested data for block: 0
[ WARN] [1549355558.465501495]: Received unrequested data for block: 0
[ WARN] [1549355558.466915703]: Received unrequested data for block: 2
[ WARN] [1549355558.469055312]: Received unrequested data for block: 0
[ WARN] [1549355558.470781510]: Received unrequested data for block: 0
[ WARN] [1549355558.472804687]: Received unrequested data for block: 0
[ WARN] [1549355558.474702660]: Received unrequested data for block: 3
[ WARN] [1549355558.476125212]: Received unrequested data for block: 2
[ INFO] [1549355558.498148570]: Requesting parameters...
[ WARN] [1549355558.500684322]: Received unrequested data for block: 3
[ INFO] [1549355558.510194867]: Found variables in cache.
[ WARN] [1549355558.512717045]: Received unrequested data for block: 3
[ WARN] [1549355558.514221078]: Received unrequested data for block: 0
[ WARN] [1549355558.515507721]: Received unrequested data for block: 2
[ WARN] [1549355558.517354993]: Received unrequested data for block: 0
[ WARN] [1549355558.518928148]: Received unrequested data for block: 3
[ WARN] [1549355558.520472183]: Received unrequested data for block: 0
[ WARN] [1549355558.522158463]: Received unrequested data for block: 2
[ WARN] [1549355558.523700098]: Received unrequested data for block: 0
[ WARN] [1549355558.525760851]: Received unrequested data for block: 3
[ WARN] [1549355558.570179234]: Received unrequested data for block: 3
[ WARN] [1549355558.571332109]: Received unrequested data for block: 2
[ WARN] [1549355558.572755711]: Received unrequested data for block: 0
[ WARN] [1549355558.574985690]: Received unrequested data for block: 0
[ WARN] [1549355558.576523083]: Received unrequested data for block: 1
[ WARN] [1549355558.592449883]: Received unrequested data for block: 3
[ WARN] [1549355558.594023643]: Received unrequested data for block: 0
[ WARN] [1549355558.595586382]: Received unrequested data for block: 0
[ WARN] [1549355558.596938591]: Received unrequested data for block: 3
[ WARN] [1549355558.598788048]: Received unrequested data for block: 2
[ WARN] [1549355558.601075855]: Received unrequested data for block: 0
[ WARN] [1549355558.602653600]: Received unrequested data for block: 0
[ WARN] [1549355558.603975210]: Received unrequested data for block: 3
[ WARN] [1549355558.605218537]: Received unrequested data for block: 2
[ WARN] [1549355558.606746426]: Received unrequested data for block: 0
[ WARN] [1549355558.608672188]: Received unrequested data for block: 0
[ WARN] [1549355558.609988154]: Received unrequested data for block: 3
[ WARN] [1549355558.611959112]: Received unrequested data for block: 0
[ WARN] [1549355558.613495539]: Received unrequested data for block: 0
[ WARN] [1549355558.614840209]: Received unrequested data for block: 3
[ WARN] [1549355558.617068502]: Received unrequested data for block: 0
[ WARN] [1549355558.618613565]: Received unrequested data for block: 0
[ WARN] [1549355558.619954614]: Received unrequested data for block: 3
[ WARN] [1549355558.621214771]: Received unrequested data for block: 2
[ WARN] [1549355558.622766672]: Received unrequested data for block: 0
[ WARN] [1549355558.624604956]: Received unrequested data for block: 0
[ WARN] [1549355558.625865179]: Received unrequested data for block: 2
[ WARN] [1549355558.627586341]: Received unrequested data for block: 0
[ WARN] [1549355558.629614051]: Received unrequested data for block: 3
[ WARN] [1549355558.631975212]: Received unrequested data for block: 0
[ WARN] [1549355558.633410868]: Received unrequested data for block: 3
[ WARN] [1549355558.634955249]: Received unrequested data for block: 2
[ WARN] [1549355558.636524878]: Received unrequested data for block: 0
[ WARN] [1549355558.638113521]: Received unrequested data for block: 3
[ WARN] [1549355558.639642589]: Received unrequested data for block: 0
[ WARN] [1549355558.641416079]: Received unrequested data for block: 0
[ WARN] [1549355558.642787324]: Received unrequested data for block: 3
[ WARN] [1549355558.644696322]: Received unrequested data for block: 0
[ WARN] [1549355558.646255582]: Received unrequested data for block: 1
[ WARN] [1549355558.648014888]: Received unrequested data for block: 0
[ WARN] [1549355558.650749443]: Received unrequested data for block: 0
[ WARN] [1549355558.652163945]: Received unrequested data for block: 2
[ WARN] [1549355558.668424276]: Received unrequested data for block: 0
[ WARN] [1549355558.670227368]: Received unrequested data for block: 0
[ WARN] [1549355558.671591224]: Received unrequested data for block: 3
[ WARN] [1549355558.673305368]: Received unrequested data for block: 0
[ WARN] [1549355558.674582387]: Received unrequested data for block: 2
[ WARN] [1549355558.676488199]: Received unrequested data for block: 0
[ WARN] [1549355558.716353680]: Received unrequested data for block: 0
[ WARN] [1549355558.718133332]: Received unrequested data for block: 0
[ WARN] [1549355558.719699944]: Received unrequested data for block: 0
[ WARN] [1549355558.721250767]: Received unrequested data for block: 3
[ WARN] [1549355558.722558279]: Received unrequested data for block: 2
[ WARN] [1549355558.724279769]: Received unrequested data for block: 0
[ WARN] [1549355558.725578980]: Received unrequested data for block: 2
[ WARN] [1549355558.727274715]: Received unrequested data for block: 0
[ WARN] [1549355558.728828955]: Received unrequested data for block: 0
[ WARN] [1549355558.730414029]: Received unrequested data for block: 3
[ WARN] [1549355558.731989149]: Received unrequested data for block: 0
[ WARN] [1549355558.733781397]: Received unrequested data for block: 0
[ WARN] [1549355558.735154663]: Received unrequested data for block: 3
[ WARN] [1549355558.736603310]: Received unrequested data for block: 2
[ WARN] [1549355558.738130816]: Received unrequested data for block: 0
[ WARN] [1549355558.739613170]: Received unrequested data for block: 2
[ WARN] [1549355558.741175863]: Received unrequested data for block: 0
[ WARN] [1549355558.743619982]: Received unrequested data for block: 0
[ WARN] [1549355558.744893592]: Received unrequested data for block: 2
[ WARN] [1549355558.746616600]: Received unrequested data for block: 0
[ WARN] [1549355558.747989913]: Received unrequested data for block: 3
[ WARN] [1549355558.749576457]: Received unrequested data for block: 3
[ WARN] [1549355558.751135030]: Received unrequested data for block: 0
[ WARN] [1549355558.752564391]: Received unrequested data for block: 2
[ WARN] [1549355558.754120038]: Received unrequested data for block: 0
[ WARN] [1549355558.756406845]: Received unrequested data for block: 3
[ WARN] [1549355558.773927271]: Received unrequested data for block: 0
[ INFO] [1549355558.781683709]: Requesting parameters...
[ WARN] [1549355558.835820623]: Received unrequested data for block: 0
[ WARN] [1549355558.837205979]: Received unrequested data for block: 3
[ WARN] [1549355558.838823333]: Received unrequested data for block: 0
[ WARN] [1549355558.840502494]: Received unrequested data for block: 0
[ WARN] [1549355558.841974745]: Received unrequested data for block: 3
[ INFO] [1549355558.853012313]: Found variables in cache.
[ WARN] [1549355558.866029670]: Received unrequested data for block: 2
[ WARN] [1549355558.868530532]: Received unrequested data for block: 0
[ WARN] [1549355558.871513605]: Received unrequested data for block: 3
[ WARN] [1549355558.873996291]: Received unrequested data for block: 0
[ WARN] [1549355558.875758182]: Received unrequested data for block: 0
[ WARN] [1549355558.904914007]: Received unrequested data for block: 0
[ WARN] [1549355558.906193981]: Received unrequested data for block: 3
[ WARN] [1549355558.907403844]: Received unrequested data for block: 2
[ WARN] [1549355558.908877467]: Received unrequested data for block: 0
[ WARN] [1549355558.910943116]: Received unrequested data for block: 3
[ INFO] [1549355558.911959309]: Requesting parameters...
[ INFO] [1549355558.949979494]: Found variables in cache.
[ INFO] [1549355560.290941363]: Requesting Logging variables...
[ INFO] [1549355560.300575046]: Found variables in cache.
[ INFO] [1549355560.380530386]: Requesting memories...
[ INFO] [1549355560.390187985]: Memories: 4
[ INFO] [1549355560.409535181]: Ready...
[ INFO] [1549355560.409644671]: Elapsed: 2.086908 s
[INFO] [1549355560.556347]: found update_params service
[INFO] [1549355560.556983]: waiting for emergency service
[INFO] [1549355560.570100]: found emergency service
[INFO] [1549355560.570650]: waiting for land service
[INFO] [1549355560.576717]: Setting anchor position ...
[INFO] [1549355560.579493]: found land service
[INFO] [1549355560.580027]: waiting for takeoff service
[INFO] [1549355560.589461]: found takeoff service
[INFO] [1549355560.597106]: Anchor 0 at [-2.11, -1.5, 0.24]
[ INFO] [1549355560.651189258]: Update parameters
[ INFO] [1549355560.717449094]: Requesting Logging variables...
[INFO] [1549355560.733195]: Anchor 1 at [-2.105, 1.5, 2.45]
[ INFO] [1549355560.735270498]: Found variables in cache.
[ INFO] [1549355560.778425727]: Update parameters
[INFO] [1549355560.812066]: Setting anchor position ...
[INFO] [1549355560.829105]: Anchor 0 at [-2.11, -1.5, 0.24]
[ INFO] [1549355560.844264541]: Requesting Logging variables...
[INFO] [1549355560.863055]: Setting anchor position ...
[INFO] [1549355560.867537]: Anchor 0 at [-2.11, -1.5, 0.24]
[ INFO] [1549355560.878802152]: Found variables in cache.
[INFO] [1549355560.896947]: Anchor 2 at [2.077, 1.5, 0.237]
[ INFO] [1549355560.908981203]: Update parameters
[INFO] [1549355560.909188]: found update_params service
[INFO] [1549355560.910023]: waiting for emergency service
[INFO] [1549355560.920429]: found emergency service
[INFO] [1549355560.921549]: waiting for land service
[INFO] [1549355560.925099]: found land service
[INFO] [1549355560.925564]: waiting for takeoff service
[INFO] [1549355560.927264]: found takeoff service
[INFO] [1549355560.949965]: found update_params service
[INFO] [1549355560.950856]: waiting for emergency service
[INFO] [1549355560.953588]: found emergency service
[INFO] [1549355560.956140]: waiting for land service
[INFO] [1549355560.959399]: found land service
[INFO] [1549355560.960172]: waiting for takeoff service
[INFO] [1549355560.962798]: found takeoff service
[ INFO] [1549355561.011204163]: Requesting memories...
[ INFO] [1549355561.040554885]: Memories: 4
[INFO] [1549355561.062728]: Anchor 3 at [2.092, -1.5, 2.455]
[ INFO] [1549355561.079895559]: Update parameters
[ INFO] [1549355561.103320334]: Ready...
[ INFO] [1549355561.103762810]: Elapsed: 2.721555 s
[INFO] [1549355561.218090]: Anchor 4 at [-2.11, -1.5, 2.45]
[ INFO] [1549355561.229036767]: Update parameters
[ INFO] [1549355561.248767188]: Requesting memories...
[ INFO] [1549355561.291983028]: Memories: 4
[ INFO] [1549355561.366845290]: Ready...
[ INFO] [1549355561.366948147]: Elapsed: 2.800205 s
[INFO] [1549355561.367194]: Anchor 5 at [-2.105, 1.5, 0.24]
[ INFO] [1549355561.380718653]: Update parameters
[ INFO] [1549355561.535849619]: Update parameters
[INFO] [1549355561.567073]: Anchor 6 at [2.077, 1.5, 2.453]
[ INFO] [1549355561.580256487]: Update parameters
[INFO] [1549355561.691634]: Anchor 1 at [-2.105, 1.5, 2.45]
[ INFO] [1549355561.701380911]: Update parameters
[INFO] [1549355561.744679]: Anchor 7 at [2.092, -1.5, 0.245]
[ INFO] [1549355561.761246771]: Update parameters
[ INFO] [1549355561.803808460]: Update parameters
[INFO] [1549355561.853084]: Anchor 2 at [2.077, 1.5, 0.237]
[ INFO] [1549355561.867049690]: Update parameters
[ INFO] [1549355561.926181032]: Update parameters
[INFO] [1549355561.966542]: Anchor 1 at [-2.105, 1.5, 2.45]
[ INFO] [1549355561.990386093]: Update parameters
[INFO] [1549355561.993066]: Anchor 3 at [2.092, -1.5, 2.455]
[ INFO] [1549355562.007999170]: Update parameters
[INFO] [1549355562.116086]: Anchor 2 at [2.077, 1.5, 0.237]
[ INFO] [1549355562.126951914]: Update parameters
[INFO] [1549355562.140769]: Anchor 4 at [-2.11, -1.5, 2.45]
[ INFO] [1549355562.152443637]: Update parameters
[INFO] [1549355562.270642]: Anchor 3 at [2.092, -1.5, 2.455]
[INFO] [1549355562.276031]: Anchor 5 at [-2.105, 1.5, 0.24]
[ INFO] [1549355562.284583322]: Update parameters
[ INFO] [1549355562.289311732]: Update parameters
[INFO] [1549355562.393279]: Anchor 4 at [-2.11, -1.5, 2.45]
[ INFO] [1549355562.405618318]: Update parameters
[INFO] [1549355562.436533]: Anchor 6 at [2.077, 1.5, 2.453]
[ INFO] [1549355562.452988510]: Update parameters
[INFO] [1549355562.546533]: Anchor 7 at [2.092, -1.5, 0.245]
[INFO] [1549355562.554532]: Anchor 5 at [-2.105, 1.5, 0.24]
[ INFO] [1549355562.561376475]: Update parameters
[ INFO] [1549355562.569865426]: Update parameters
[INFO] [1549355562.687315]: Anchor 6 at [2.077, 1.5, 2.453]
[ INFO] [1549355562.694188855]: Update parameters
[ INFO] [1549355562.697095466]: Update parameters
[INFO] [1549355562.792580]: Anchor 7 at [2.092, -1.5, 0.245]
[ INFO] [1549355562.806104166]: Update parameters
[ INFO] [1549355562.931609776]: Update parameters
EDIT 2:

This must be some kind of bandwidth problem. We have switched to 1M instead of 2M and we were able to fly 5 CFs using one Crazyradio PA. We have used Crazyradio version 99.55, Crazyflie firmware was updated using crazyswarm ros. Regarding that it would be nice to have updated instructions of how to update crazyflie NRF firmware using Crazyradio PA.
During the flight one of CFs just shuts down and falls, have you got any idea what's causing this? Could it be that there is not enough bandwidth when flying swarm using lps-ros and one (but it's always the same one) CF simply stops receiving data? We've noticed that LPS deck shuts down when that happens. We are planning to investigate this a bit further.



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