Use crazyflie 1.0 with ROS

Discussions and questions about the Crazyflie Nano Quadcopter
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FabricioValerio
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Posts: 11
Joined: Wed Aug 22, 2018 4:15 pm

Use crazyflie 1.0 with ROS

Post by FabricioValerio »

Hi,

Which firmware version am I supposed to use crazyflie 1.0 with ROS? Because I am using the firmware from 2016.02 and I am not receiving any data from the crazyflie when I add it to a server and starts rviz or rqtplot.
whoenig
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Posts: 327
Joined: Mon Oct 27, 2014 2:55 am

Re: Use crazyflie 1.0 with ROS

Post by whoenig »

The latest version (or even 2016.02) should work, since the protocol did not change significantly. What is not working - logging sensor data or teleoperation?
FabricioValerio
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Posts: 11
Joined: Wed Aug 22, 2018 4:15 pm

Re: Use crazyflie 1.0 with ROS

Post by FabricioValerio »

Thanks for the reply. Logging sensor data is not working.
FabricioValerio
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Posts: 11
Joined: Wed Aug 22, 2018 4:15 pm

Re: Use crazyflie 1.0 with ROS

Post by FabricioValerio »

Now I am able to log sensor data and use cmd_vel. I want to control the crazyflie 1.0 via PC without using a controller (PS or XBOX) and using only the onboard sensors (accelerometer, gyroscope and barometer), is that possible using ROS and crazyflie 1.0?

Thanks in advance.
whoenig
Expert
Posts: 327
Joined: Mon Oct 27, 2014 2:55 am

Re: Use crazyflie 1.0 with ROS

Post by whoenig »

No, the Crazyflie will drift without any feedback. On CF 2.0 that is possible with the flow-deck for short periods. On CF 1 you will need some feedback (motion capture or camera).
FabricioValerio
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Posts: 11
Joined: Wed Aug 22, 2018 4:15 pm

Re: Use crazyflie 1.0 with ROS

Post by FabricioValerio »

Thanks for the reply. Sorry for my ignorance, but by saying "drift" what do you mean specifically? Assuming that the attitude control works properly.
FabricioValerio
Beginner
Posts: 11
Joined: Wed Aug 22, 2018 4:15 pm

Re: Use crazyflie 1.0 with ROS

Post by FabricioValerio »

Thanks for the answers, whoenig. You provide a great support in this forum.
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