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I currently have CF2 installed on Ubuntu 22.04.2 for use with one Crazyflie 2.1, talking to a Optitrack mocap system via Motive on another machine, transmitting with a Crazyradio 2.0 on the Ubuntu machine. I currently have the crazyflie as an asset in my Motive system.
I have been trying to get the hello_world script going, but my server keeps crashing via the following error:
I'm pretty new to the Crazyflie ecosystem, so any help is appreciated. I have the mocap deck on my crazyflie. Here are my config files:
crazyflies.yaml:
# named list of all robots
robots:
cf231:
enabled: false
uri: radio://0/80/2M/E7E7E7E7E7
initial_position: [0, 0, 0]
type: cf21 # see robot_types
# firmware_params:
# kalman:
# pNAcc_xy: 1.0 # default 0.5
# firmware_logging:
# enabled: true
# custom_topics:
# topic_name3:
# frequency: 1
# vars: ["acc.x", "acc.y"]
cf5:
enabled: true
uri: radio://0/5/2M/E7E7E7E705
initial_position: [0, 0, 0]
type: cf21_mocap_deck # see robot_types
# firmware_params:
# kalman:
# pNAcc_xy: 1.0 # default 0.5
#firmware_logging:
# custom_topics:
# topic_name3:
# frequency: 1
# vars: ["acc.x", "acc.y", "acc.z"]
# Definition of the various robot types
robot_types:
cf21:
motion_capture:
enabled: true
# only if enabled; see motion_capture.yaml
marker: default_single_marker
dynamics: default
big_quad: false
battery:
voltage_warning: 3.8 # V
voltage_critical: 3.7 # V
# firmware_params:
# kalman:
# pNAcc_xy: 1.0 # default 0.5
#firmware_logging:
# enabled: true
# default_topics:
# pose:
# frequency: 1 # Hz
# custom_topics:
# topic_name3:
# frequency: 1
# vars: ["acc.x", "acc.y", "acc.z"]
cf21_mocap_deck:
motion_capture:
enabled: false # FALSE because I made it an asset in Motive. If not an asset, set to true.
# only if enabled; see motion_capture.yaml
marker: mocap_deck
dynamics: default
big_quad: false
battery:
voltage_warning: 3.8 # V
voltage_critical: 3.7 # V
# global settings for all robots
all:
# firmware logging for all drones (use robot_types/type_name to set per type, or
# robots/drone_name to set per drone)
firmware_logging:
enabled: true
default_topics:
# remove to disable default topic
pose:
frequency: 10 # Hz
status:
frequency: 1 # Hz
custom_topics:
topic_name1:
frequency: 10 # Hz
vars: ["stateEstimateZ.x", "stateEstimateZ.y", "stateEstimateZ.z", "pm.vbat"]
topic_name2:
frequency: 1 # Hz
vars: ["stabilizer.roll", "stabilizer.pitch", "stabilizer.yaw"]
# firmware parameters for all drones (use robot_types/type_name to set per type, or
# robots/drone_name to set per drone)
firmware_params:
commander:
enHighLevel: 1
stabilizer:
estimator: 2 # 1: complementary, 2: kalman
controller: 2 # 1: PID, 2: mellinger
# ring:
# effect: 16 # 6: double spinner, 7: solid color, 16: packetRate
# solidBlue: 255 # if set to solid color
# solidGreen: 0 # if set to solid color
# solidRed: 0 # if set to solid color
# headlightEnable: 0
locSrv:
extPosStdDev: 1e-3
extQuatStdDev: 0.5e-1
# kalman:
# resetEstimation: 1
broadcasts:
num_repeats: 15 # number of times broadcast commands are repeated
delay_between_repeats_ms: 1 # delay in milliseconds between individual repeats
motion_capture.yaml:
/motion_capture_tracking:
ros__parameters:
type: "optitrack"
hostname: "192.168.137.1"
mode: "libobjecttracker" # one of motionCapture,libRigidBodyTracker
topics:
poses:
qos:
mode: "sensor"
deadline: 100.0 # Hz
marker_configurations:
default: # for standard Crazyflie
offset: [0.0, 0.0, 0.0]
points:
p0: [ 0.0, 0.0, 0.022] # top
p1: [-0.042, 0.042, 0.0 ] # back left (M3)
p2: [-0.042, -0.042, 0.0 ] # back right (M2)
p3: [ 0.042, -0.042, 0.0 ] # front right (M1)
default_single_marker:
offset: [0.0, -0.01, -0.04]
points:
p0: [0.0177184,0.0139654,0.0557585]
mocap_deck:
offset: [0.0, 0.0, -0.01]
points:
p0: [0.029, 0.0, 0.0] # front
p1: [0.00, -0.03, 0.0] # right
p2: [-0.02, 0.0, 0.0] # back
p3: [0.00, 0.026, 0.0] # left
p4: [0.015, -0.015, ] # added my center one
medium_frame:
offset: [0.0, 0.0, -0.03]
points:
p0: [-0.00896228,-0.000716753,0.0716129]
p1: [-0.0156318,0.0997402,0.0508162]
p2: [0.0461693,-0.0881012,0.0380672]
p3: [-0.0789959,-0.0269793,0.0461144]
big_frame:
offset: [0.0, 0.0, -0.06]
points:
p0: [0.0558163,-0.00196302,0.0945539]
p1: [-0.0113941,0.00945842,0.0984811]
p2: [-0.0306277,0.0514879,0.0520456]
p3: [0.0535816,-0.0400775,0.0432799]
dynamics_configurations:
default:
max_velocity: [2, 2, 3] # m/s
max_angular_velocity: [20, 20, 10] # rad/s
max_roll: 1.4 #rad
max_pitch: 1.4 #rad
max_fitness_score: 0.001
# Rigid bodies will be automatically generated by the launch file
# rigid_bodies:
(note: also not sure I did the mocap part correctly. I have a marker setup different from the default, as can be seen above. I saw on a previous issue to leave the mocap_enabled: false if the object is an asset in Motive)
Any help on getting the server to quit dying is appreciated. Thanks!
The text was updated successfully, but these errors were encountered:
Hello all,
I currently have CF2 installed on Ubuntu 22.04.2 for use with one Crazyflie 2.1, talking to a Optitrack mocap system via Motive on another machine, transmitting with a Crazyradio 2.0 on the Ubuntu machine. I currently have the crazyflie as an asset in my Motive system.
I have been trying to get the hello_world script going, but my server keeps crashing via the following error:
I'm pretty new to the Crazyflie ecosystem, so any help is appreciated. I have the mocap deck on my crazyflie. Here are my config files:
crazyflies.yaml:
motion_capture.yaml:
(note: also not sure I did the mocap part correctly. I have a marker setup different from the default, as can be seen above. I saw on a previous issue to leave the mocap_enabled: false if the object is an asset in Motive)
Any help on getting the server to quit dying is appreciated. Thanks!
The text was updated successfully, but these errors were encountered: