Add simple ROS-based simulator (using RVIZ for visualization) #350
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Usage: Terminal 1: roslaunch crazyswarm sim.launch Terminal 2: python3 example_distributed.py
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This looks good! I agree with the overall architectural decisions. Here are a few comments aside from the "NOT IMPLEMENTED"s already mentioned in the code:
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Thanks for this! I'm probably doing something dumb but I've been having some trouble getting sim.launch to run. It seems to have something to with conflicts between python2 and python3? Did you build for this with python2? |
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Looks like the code is only valid python 3 because of the shebang and using |
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Just circling back I wound up getting this working on my machine, just had to switch to ROS Noetic/Ubuntu 20, which I'm guessing is probably what Wolfgang is using. |
remove NRF and radio submodules, don't build fw in build.sh
do not assume that joystick 0 must exist
Crazyflie_ros will be deprecated in favor of the Crazyswarm. In order to avoid unnecessary deep dependencies, we move all the custom messages and services directly into the Crazyswarm project. This change also avoids to have crazyflie_cpp twice. Now, only the one that comes with crazyflie_tools is used.
Remove dependency to crazyflie_ros by adding msg/srv directly here.
Fixes error when retrieving unavailable CF battery status
Change "N/A" -> "Err" as per discussion in #282
implements #232
This dependency is required if the srv/msg descriptions are in the same package, see https://answers.ros.org/question/53265/catkin-messages-and-node-in-same-package/ Fixes issue #461.
Add dependency for nodes to messages
In case the motioncapturetype is set to "none", logging is enabled, and logging_pose is enabled, the current pose will be still shown in rviz. This is in particular useful for testing with LightHouse, LPS, or flow deck.
The updated version of libmotioncapture has a refined API, Python bindings, factory method to avoid repetitive code, and improved OptiTrack support.
This follows through with the discussion at #447, namely: * Remove the (out-of-date) submodules of client and lib * Update the documentation to advice users to use cfclient for firmware updates. This is required, because the most recent update procedure also updates the deck firmware (e.g., LightHouse deck). * Clarify in the documentation, that the Crazyradio firmware has to be updated, even for new radios (they ship with an old firmware). * Remove the prebuilt firmware for STM32 and NRF51 firmwares. Instead, specify the last tested official release in the documentation.
Show current pose of the Crazyflies even if no external mocap is used
…SC-ACTLab/crazyswarm into feature_upgrade_libmotioncapture
do not log point cloud files by default
Addresses issue #484.
* SDCC is not required anymore, since we removed the radio-firmware * ros-[ROS version]-vrpn is not required anymore (VRPN is now a submodule of libmotioncapture) * ros-[ROS version]-joy was missing, see issue #353
Docs: update dependencies for physical experiments
Docs: correct configuration description of external tracking.
Docs: add description of single-marker tracking
Generate "install dependencies" docs from CI script
In the current documentation it remained unclear that we support LPS, LightHouse etc. This updates the documentation throughout. The biggest change is in configuration.rst, which required some re-ordering of paragraphs. Addresses issue #108.
Docs: Clarify that we support not only mocap for external tracking
* Fix two failing Python Tests on Ubuntu 20.04 * Update test_videoOutput to use the correct Python version * Add missing information to docs * List ffmpeg-python and ffmpeg as optional dependency CI: * remove unused embedded gcc * avoid using sudo for pip (this was also causing the documentation to suggest using sudo, which is bad practice) Fixes issue #496
Usage: Terminal 1: roslaunch crazyswarm sim.launch Terminal 2: python3 example_distributed.py
* Improved example_distributed * The new ROS simulator can be used with $ roslaunch crazyswarm hover_swarm.launch sim:=True $ (python-script-without --sim-argument) * Implements some missing features
server (cflib) implement full state command
Usage:
Terminal 1: roslaunch crazyswarm sim.launch
Terminal 2: python3 example_distributed.py