Following the instructions for running Hover with LPS in ROS (https://wiki.bitcraze.io/doc:lps:ros) I'm not able to fly my crazyflie. I get the same error as this thread (https://github.com/bitcraze/lps-ros/pull/5), but with the new firmware Release 2018 10, and latest commit of crazyflie_ros, and using ROS Kinetic in Ubuntu 16.04. Does anybody know where this error come from?
Ps The output I get after running roslaunch command is the following:
Code: Select all
toni@stephenson:~/catkin_ws/src/lps-ros/scripts$ roslaunch bitcraze_lps_estimator dwm_loc_ekf_hover.launch uri:=radio://0/100/2M x:=3.54 y:=0.87 z:=1.0
... logging to /home/toni/.ros/log/a152fdbe-e403-11e8-afa2-fcaa14e2dc3d/roslaunch-stephenson-11425.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://stephenson:45058/
SUMMARY
========
PARAMETERS
* /crazyflie/anchor0_pos: [1.72, 4.76, 1.51]
* /crazyflie/anchor1_pos: [-0.9, 4.29, 1.07]
* /crazyflie/anchor2_pos: [1.96, 0.88, 1.51]
* /crazyflie/anchor3_pos: [-1.67, 3.28, 1.78]
* /crazyflie/anchor4_pos: [2.17, 2.36, 1.7]
* /crazyflie/anchor5_pos: [0.0, 1.8, 1.51]
* /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://0/100/2M
* /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: 3.54
* /crazyflie/pose/y: 0.87
* /crazyflie/pose/z: 1.0
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
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)
log_range (bitcraze_lps_estimator/log_range.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)
ROS_MASTER_URI=http://localhost:11311
process[rviz-1]: started with pid [11445]
process[crazyflie/crazyflie_add-2]: started with pid [11446]
process[crazyflie/joy-3]: started with pid [11447]
process[crazyflie/joystick_controller-4]: started with pid [11454]
process[crazyflie/controller_bridge-5]: started with pid [11462]
process[crazyflie/pose-6]: started with pid [11475]
[ INFO] [1541759104.385996648]: wait_for_service /add_crazyflie
[ INFO] [1541759104.387699399]: waitForService: Service [/add_crazyflie] has not been advertised, waiting...
process[crazyflie/lps_efk_bridge-7]: started with pid [11486]
process[crazyflie/lps_viz-8]: started with pid [11496]
/home/toni/catkin_ws/src/crazyflie_ros/crazyflie_demo/scripts/publish_pose_teleop.py:46: SyntaxWarning: name 'lastData' is assigned to before global declaration
global lastData
process[crazyflie/log_range-9]: started with pid [11497]
process[link1_broadcaster-10]: started with pid [11499]
process[crazyflie_server-11]: started with pid [11501]
[ INFO] [1541759104.455031672]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1541759104.456465611]: waitForService: Service [/add_crazyflie] is now available.
[ INFO] [1541759104.456540199]: found /add_crazyflie
[ INFO] [1541759104.463595846]: Adding radio://0/100/2M as crazyflie with trim(0.000000, 0.000000). Logging: 1, Parameters: 1, Use ROS time: 1
[ INFO] [1541759104.513113810]: CF Console: SYS: -------------------------
[ INFO] [1541759104.513916542]: CF Console: ---
[ INFO] [1541759104.515404886]: CF Console: SYS: Crazyflie 2.0 is up and r
[ INFO] [1541759104.516320129]: CF Console: unning!
[ INFO] [1541759104.517713701]: CF Console: SYS: Build 0:47ee696b2d3c (201
[ INFO] [1541759104.518786990]: CF Console: 8.10) MODIFIED
[ INFO] [1541759104.520208358]: CF Console: SYS: I am 0x333530303536471100
[ INFO] [1541759104.521620297]: CF Console: 2C0028 and I have 1024KB of fl
[ INFO] [1541759104.522439023]: CF Console: ash!
[ INFO] [1541759104.523856689]: CF Console: CFGBLK: v1, verification [OK]
[ INFO] [1541759104.525300755]: CF Console: DECK_DRIVERS: Found 16 drivers
[ INFO] [1541759104.526041190]: CF Console:
[ INFO] [1541759104.527460113]: CF Console: DECK_INFO: Found 1 deck memory
[ INFO] [1541759104.528232605]: CF Console: .
[ INFO] [1541759104.529675414]: CF Console: DECK_CORE: 1 deck enumerated
[ INFO] [1541759104.531063189]: CF Console: MPU9250 I2C connection [OK].
[ INFO] [1541759104.532470589]: CF Console: AK8963 I2C connection [OK].
[ INFO] [1541759104.533860529]: CF Console: LPS25H I2C connection [OK].
[ INFO] [1541759104.535284551]: CF Console: ESTIMATOR: Estimator type forc
[ INFO] [1541759104.536073036]: CF Console: ed
[ INFO] [1541759104.537585893]: CF Console: ESTIMATOR: Using estimator 2
[ INFO] [1541759104.538975484]: CF Console: CONTROLLER: Using controller 1
[ INFO] [1541759104.539729328]: CF Console:
[ INFO] [1541759104.541165642]: CF Console: PLATFORM: Low interference mod
[ INFO] [1541759104.542585962]: CF Console: e. NRF51 TX power offset by -1
[ INFO] [1541759104.543457695]: CF Console: 2db.
[ INFO] [1541759104.544875431]: CF Console: EEPROM: I2C connection [OK].
[ INFO] [1541759104.546228077]: CF Console: AK8963: Self test [OK].
[ INFO] [1541759104.547643160]: CF Console: DECK_CORE: Deck 0 test [OK].
[ INFO] [1541759104.549026326]: CF Console: SYS: Free heap: 11432 bytes
[ INFO] [1541759104.550488759]: CF Console: DWM: Automatic mode: detected
[ INFO] [1541759104.551306018]: CF Console: TWR
[ INFO] [1541759104.557859940]: Requesting parameters...
[ INFO] [1541759104.565791440]: Found variables in cache.
[ INFO] [1541759104.827556388]: Requesting Logging variables...
[crazyflie/crazyflie_add-2] process has finished cleanly
log file: /home/toni/.ros/log/a152fdbe-e403-11e8-afa2-fcaa14e2dc3d/crazyflie-crazyflie_add-2*.log
[ WARN] [1541759104.838430564]: Don't know ack: Port: 5 Channel: 0 Len: 10
[ INFO] [1541759104.843382794]: Found variables in cache.
[ INFO] [1541759104.936349484]: Requesting memories...
[ INFO] [1541759104.944961847]: Memories: 6
[ INFO] [1541759104.959017898]: Ready...
[ INFO] [1541759104.959079427]: Elapsed: 0.449439 s
[INFO] [1541759104.999005]: found update_params service
[INFO] [1541759104.999453]: waiting for emergency service
[INFO] [1541759105.000837]: found emergency service
[INFO] [1541759105.001265]: waiting for land service
[INFO] [1541759105.002747]: found land service
[INFO] [1541759105.003067]: waiting for takeoff service
[INFO] [1541759105.004343]: found takeoff service
[INFO] [1541759105.116248]: Setting anchor position ...
[INFO] [1541759105.118058]: Anchor 0 at [1.72, 4.76, 1.51]
[ INFO] [1541759105.123963824]: Update parameters
[ERROR] [1541759105.124050215]: Could not find param anchorpos/anchor0x
[ERROR] [1541759105.124077173]: Could not find param anchorpos/anchor0y
[ERROR] [1541759105.124100220]: Could not find param anchorpos/anchor0z
[INFO] [1541759105.125154]: Anchor 1 at [-0.9, 4.29, 1.07]
[ INFO] [1541759105.132674521]: Update parameters
[ERROR] [1541759105.132725783]: Could not find param anchorpos/anchor1x
[ERROR] [1541759105.132752881]: Could not find param anchorpos/anchor1y
[ERROR] [1541759105.132788708]: Could not find param anchorpos/anchor1z
[INFO] [1541759105.133922]: Anchor 2 at [1.96, 0.88, 1.51]
[ INFO] [1541759105.139307431]: Update parameters
[ERROR] [1541759105.139361627]: Could not find param anchorpos/anchor2x
[ERROR] [1541759105.139386559]: Could not find param anchorpos/anchor2y
[ERROR] [1541759105.139409886]: Could not find param anchorpos/anchor2z
[INFO] [1541759105.140514]: Anchor 3 at [-1.67, 3.28, 1.78]
[ INFO] [1541759105.146245609]: Update parameters
[ERROR] [1541759105.146284090]: Could not find param anchorpos/anchor3x
[ERROR] [1541759105.146308604]: Could not find param anchorpos/anchor3y
[ERROR] [1541759105.146331022]: Could not find param anchorpos/anchor3z
[INFO] [1541759105.147529]: Anchor 4 at [2.17, 2.36, 1.7]
[ INFO] [1541759105.151772475]: Update parameters
[ERROR] [1541759105.151812982]: Could not find param anchorpos/anchor4x
[ERROR] [1541759105.151836658]: Could not find param anchorpos/anchor4y
[ERROR] [1541759105.151858308]: Could not find param anchorpos/anchor4z
[INFO] [1541759105.152887]: Anchor 5 at [0.0, 1.8, 1.51]
[ INFO] [1541759105.158669029]: Update parameters
[ERROR] [1541759105.158714424]: Could not find param anchorpos/anchor5x
[ERROR] [1541759105.158736773]: Could not find param anchorpos/anchor5y
[ERROR] [1541759105.158756677]: Could not find param anchorpos/anchor5z