I'm trying to control my crazyflie using ZMQ as the input device. I have enabled the Crazyflie python client to use ZMQ as input device by editing the config.json file. I have also created a python script that will send a constant thrust signal but I can't figure out why its not working. When I run the python script nothing happens.
This is what I'm doing:
1) open CF python client w/ ZMQ enabled
2) connect the crazyflie
3) run the python script in the terminal
Any help or comments will be highly appreciated.
thanks,
Code: Select all
import time
try:
import zmq
except Exception as e:
raise Exception("ZMQ library probably not installed ({})".format(e))
context = zmq.Context()
sender = context.socket(zmq.PUSH)
bind_addr = "tcp://127.0.0.1:{}".format(1024 + 188)
sender.connect(bind_addr)
#sender.send_json(zmess)
thrust_step = 100
thrust_max = 30000
thrust_min = 20000
thrust = thrust_min
cmdmess = {
"version": 1,
"ctrl": {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"thrust": 20000
}
}
print "starting to send control commands!"
while 1:
time.sleep(0.01)
sender.send_json(cmdmess)