4 crazyflies 2 crazyradio LPS with ROS
Posted: Fri Oct 12, 2018 10:44 am
Hi,
I'm using ROS on a virtual machine of linux 16.04
I would like to autonomously drive 4 CF's with the help of LPS (6 anchors) in ROS environment, but I got stuck.
I've followed the: https://www.bitcraze.io/getting-started ... yflie-2-0/ to update the firmware of all the 4 crazyflies.
I've followed the: https://www.bitcraze.io/getting-started ... ng-system/ for setting the Loco Positioning System in the right way.
I've launch the: dwm_loc_ekf_hover.launch with a 6 anchors setup in both TWR and TdOA mode, and it works!
In TdOA I've even tryed with 2 CF's and it works!
Now I'm trying to launch the: dwm_loc_ekf_swarm_hover.launch with 4 CF's but I found necessary to add another Crazyradio.
So I' ve put 2 CF's on one Crazyradio and 2 CF's on the other Crazyradio changing the dwm_loc_ekf_swarm_hover.launch with the appropriate URI:
<arg name="uri0" default="radio://0/80/2M/E7E7E7E701"/>
<arg name="uri1" default="radio://1/70/2M/E7E7E7E702"/>
<arg name="uri2" default="radio://1/70/2M/E7E7E7E703"/>
<arg name="uri3" default="radio://0/80/2M/E7E7E7E704"/>
Unexpectedly the result was something like this: Could anyone help me in find what could be the problem?
Thank you very much.
P.S:
I'm pretty sure that the previous URI setup is correct because implementing it in the multi_teleop_xbox360.launch (https://github.com/whoenig/crazyflie_ros) I could manually drive the 4 CF's.
I'm using ROS on a virtual machine of linux 16.04
I would like to autonomously drive 4 CF's with the help of LPS (6 anchors) in ROS environment, but I got stuck.
I've followed the: https://www.bitcraze.io/getting-started ... yflie-2-0/ to update the firmware of all the 4 crazyflies.
I've followed the: https://www.bitcraze.io/getting-started ... ng-system/ for setting the Loco Positioning System in the right way.
I've launch the: dwm_loc_ekf_hover.launch with a 6 anchors setup in both TWR and TdOA mode, and it works!
In TdOA I've even tryed with 2 CF's and it works!
Now I'm trying to launch the: dwm_loc_ekf_swarm_hover.launch with 4 CF's but I found necessary to add another Crazyradio.
So I' ve put 2 CF's on one Crazyradio and 2 CF's on the other Crazyradio changing the dwm_loc_ekf_swarm_hover.launch with the appropriate URI:
<arg name="uri0" default="radio://0/80/2M/E7E7E7E701"/>
<arg name="uri1" default="radio://1/70/2M/E7E7E7E702"/>
<arg name="uri2" default="radio://1/70/2M/E7E7E7E703"/>
<arg name="uri3" default="radio://0/80/2M/E7E7E7E704"/>
Unexpectedly the result was something like this: Could anyone help me in find what could be the problem?
Thank you very much.
P.S:
I'm pretty sure that the previous URI setup is correct because implementing it in the multi_teleop_xbox360.launch (https://github.com/whoenig/crazyflie_ros) I could manually drive the 4 CF's.