[SOLVED] Ros - unsupported control mode: twist

[cygaro]

Hi everyone,
I'm trying to run the demo of the crazyflie_ros:

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roslaunch crazyflie_demo teleop_ps3.launch uri:=radio://0/100/2M

And it seems that is not working. The drone is not moving at all, but I think that the controller is working because if I press the up arrow I read some response on the terminal. On the terminal at some point appear this error:

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[ERROR] [1476874945.047441099]: Unsupported control mode: twist

I'm running Ubuntu 16.04, Ros Kinetic, hector_quadrotor (kinetic-devel).
Any idea or suggestion on how to solve this problem?

Thanks,
Giuseppe

[whoenig]

Hi,

This error seems to come from the hector_quadrotor package (https://github.com/tu-darmstadt-ros-pkg ... p.cpp#L182). If you use the indigo-devel branch instead (which should work on Kinetic as well), it should work.

Long term I'll provide a teleoperation node within crazyflie_ros to avoid such issues.

Best,
Wolfgang

[cygaro]

Hi whoenig, thanks for your answer.
I really appreciate your work and I would like to read the paper related to the crazyswarm. In my university we are starting to work on the crazyflie as platform to test some distributed algorithm. I hope I'll be able to give some detail in the near future.

The installation of all hector packages is giving me many problems (btw I'm really new to ros). I'm trying to installing it as follow:

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$ mkdir -p ./hector_ros/src
$ cd ./hector_ros/src
$ catkin_init_workspace
$ cd ../
$ wstool init src https://raw.github.com/tu-darmstadt-ros-pkg/hector_quadrotor/indigo-devel/hector_quadrotor.rosinstall
$ catkin_make

After last step I've that "cmake" fail, as follow:

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-- Could not find the required component 'driver_base'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "driver_base" with
  any of the following names:

    driver_baseConfig.cmake
    driver_base-config.cmake

If I'm also unable to install ros-indigo-driver-base because it seems that can not be found.

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E: Unable to locate package ros-indigo-driver-base

What should I do?

[whoenig]

Instead of installing all of hector_quadcopter, it suffices to put hector_quadcopter_teleop and hector_uav_msgs in your workspace. I.e. download those two folders from https://github.com/tu-darmstadt-ros-pkg ... _quadrotor, and put them in your src folder of your crazyflie workspace.

Regarding the paper and additional material, please send me an e-mail (you can find my email address in the package.xml files of the crazyflie_ros stack).

[cygaro]

Thank you! Solved as you suggested!