Use crazyflie 1.0 with ROS

Discussions and questions about the Crazyflie Nano Quadcopter
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FabricioValerio
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Use crazyflie 1.0 with ROS

Post by FabricioValerio » Wed Aug 22, 2018 11:54 pm

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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Re: Use crazyflie 1.0 with ROS

Post by whoenig » Thu Aug 23, 2018 6:40 am

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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Re: Use crazyflie 1.0 with ROS

Post by FabricioValerio » Fri Aug 24, 2018 1:26 pm

Thanks for the reply. Logging sensor data is not working.

FabricioValerio
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Re: Use crazyflie 1.0 with ROS

Post by FabricioValerio » Wed Aug 29, 2018 11:03 pm

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
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Re: Use crazyflie 1.0 with ROS

Post by whoenig » Thu Aug 30, 2018 4:00 am

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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Re: Use crazyflie 1.0 with ROS

Post by FabricioValerio » Thu Aug 30, 2018 11:20 pm

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
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Posts: 11
Joined: Wed Aug 22, 2018 4:15 pm

Re: Use crazyflie 1.0 with ROS

Post by FabricioValerio » Thu Aug 30, 2018 11:24 pm

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

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