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Crazyflie demo fixing #8

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8538202
initial
jakewelde Jul 20, 2022
f1bd701
additional
jakewelde Jul 20, 2022
b2174ae
fixes for perch
tdinesh Jul 20, 2022
21961d0
fix name?
ljarin Apr 4, 2023
e71293b
fix name
ljarin Apr 4, 2023
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2 changes: 1 addition & 1 deletion kr_multi_mav_manager/config/crazyflie/perch/mav_manager.yaml
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Expand Up @@ -2,4 +2,4 @@ need_imu: false
need_output_data: false
use_attitude_safety_catch: false
max_attitude_angle: 0.45
takeoff_height: 0.5
takeoff_height: 0.9
4 changes: 2 additions & 2 deletions kr_multi_mav_manager/config/crazyflie/perch/multi_mav_manager_empty.yaml
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Expand Up @@ -4,8 +4,8 @@ model_names: [
robot_radius: 0.1
battery_low: 3.50

min_safety_bounds: [-8.0, -2.5, 0.2] #Mininum safety bounds x, y, z
max_safety_bounds: [7.0, 2.5, 2.5] #Maximum safety bounds x, y, z
min_safety_bounds: [-2.5, -5.0, 0.2] #Mininum safety bounds x, y, z
max_safety_bounds: [2.5, 8.0, 2.5] #Maximum safety bounds x, y, z

max_vel: 2.0
max_acc: 0.8
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4 changes: 2 additions & 2 deletions kr_multi_mav_manager/launch/crazyflie/crazyflie.launch
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Expand Up @@ -23,15 +23,15 @@
<!-- For communication -->
<node pkg="nodelet"
type="nodelet"
args="load crazyflie_interface/SO3CmdToCrazyflie controller_nodelet"
args="load kr_crazyflie_interface/SO3CmdToCrazyflie controller_nodelet"
name="so3cmd_to_crazyflie"
required="true"
clear_params="true"
output="screen">
<remap from="~odom" to="odom"/>
<remap from="~so3_cmd" to="so3_cmd"/>
<remap from="~cmd_vel" to="cmd_vel"/>
<rosparam file="$(find crazyflie_interface)/config/crazyflie.yaml"/>
<rosparam file="$(find kr_crazyflie_interface)/config/crazyflie.yaml"/>
</node>

<include file="$(find crazyflie_driver)/launch/crazyflie_add.launch">
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8 changes: 4 additions & 4 deletions kr_multi_mav_manager/launch/robot_common.launch
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Expand Up @@ -16,11 +16,11 @@
<node pkg="nodelet"
type="nodelet"
name="trackers_manager"
args="load trackers_manager/TrackersManager controller_nodelet"
args="load kr_trackers_manager/TrackersManager controller_nodelet"
output="screen">
<rosparam file="$(find trackers_manager)/config/trackers.yaml"/>
<rosparam file="$(arg config_path)/tracker_params.yaml"/>
<rosparam file="$(arg config_path)/gains.yaml"/>
<rosparam file="$(find kr_mav_launch)/config/trackers.yaml"/>
<rosparam file="$(find kr_mav_launch)/config/tracker_params.yaml"/>
<rosparam file="$(find kr_mav_launch)/config/gains.yaml"/>
<remap from="~odom" to="odom"/>
<remap from="~cmd" to="position_cmd"/>
</node>
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6 changes: 3 additions & 3 deletions kr_multi_mav_manager/launch/robot_common_rotate.launch
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Expand Up @@ -25,10 +25,10 @@

<node pkg="nodelet"
type="nodelet"
name="trackers_manager"
args="load trackers_manager/TrackersManager controller_nodelet"
name="kr_trackers_manager"
args="load kr_trackers_manager/TrackersManager controller_nodelet"
output="screen">
<rosparam file="$(find trackers_manager)/config/trackers.yaml"/>
<rosparam file="$(find kr_trackers_manager)/config/trackers.yaml"/>
<rosparam file="$(arg config_path)/tracker_params.yaml"/>
<rosparam file="$(arg config_path)/gains.yaml"/>
<remap from="~odom" to="odom_static"/>
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2 changes: 1 addition & 1 deletion kr_multi_mav_manager/scripts/crazyflie/mav_ids.csv
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@@ -1 +1 @@
00, 01, 02, 03, 04, 05
00, 01, 03, 04, 05
16 changes: 8 additions & 8 deletions kr_multi_mav_manager/scripts/crazyflie/multi_crazyflie_demo.sh
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Expand Up @@ -5,7 +5,7 @@ CONFIG_PATH=$(rospack find kr_multi_mav_manager)/config/crazyflie/${LOCATION}
SCRIPTS_PATH=$(rospack find kr_multi_mav_manager)/scripts/crazyflie/

MAV_NAMESPACE=loco
MAV_MASS=0.036
MAV_MASS=0.04
ROTATE_WORLD=false

#Get all radio uris for MAVs from CSV
Expand Down Expand Up @@ -44,12 +44,12 @@ echo 'Running mavs with ID' ${MAV_IDS[*]}

# Generate rviz config file for specific mav from default one
RVIZ_CONFIG_FILE="$HOME/.ros/wp_nav.rviz"
LAUNCH_PATH=$(rospack find quadrotor_simulator)
LAUNCH_PATH=$(rospack find kr_mav_launch)
cp $LAUNCH_PATH/launch/rviz_config.rviz ${RVIZ_CONFIG_FILE}
sed -i "s/quadrotor/temp/g" ${RVIZ_CONFIG_FILE}

# Generate multi_mav_manger yaml config file based on number of robots
cp $(rospack find kr_multi_mav_manager)/config/crazyflie/${LOCATION}/kr_multi_mav_manager_empty.yaml ~/.ros/kr_multi_mav_manager.yaml
cp $(rospack find kr_multi_mav_manager)/config/crazyflie/${LOCATION}/multi_mav_manager_empty.yaml ~/.ros/kr_multi_mav_manager.yaml
for id in ${MAV_IDS[*]}
do
MAV_NAME=${MAV_NAMESPACE}${id}
Expand Down Expand Up @@ -87,18 +87,18 @@ tmux setw -g mouse on
tmux rename-window -t $SESSION_NAME "Main"
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; roscore" Enter
tmux split-window -t $SESSION_NAME -h
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 3; export DISPLAY=:0; rqt --standalone ${RQT_GUI}" Enter
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 5; export DISPLAY=:0; rqt --standalone ${RQT_GUI}" Enter
#tmux split-window -t $SESSION_NAME
#tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 3; export DISPLAY=:0; rosrun rviz rviz -d ${RVIZ_CONFIG_FILE}" Enter

tmux new-window -t $SESSION_NAME -n "Multi"
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 3; cd ~/.ros; roslaunch vicon.launch" Enter
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 5; cd ~/.ros; roslaunch vicon.launch" Enter
tmux split-window -t $SESSION_NAME -h
tmux select-pane -t 0
tmux split-window -t $SESSION_NAME -v
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 3; roslaunch crazyflie_driver crazyflie_server.launch" Enter
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 5; roslaunch crazyflie_driver crazyflie_server.launch" Enter
tmux split-window -t $SESSION_NAME -v
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 3; roslaunch kr_multi_mav_manager kr_multi_mav_manager.launch odom_topic:=odom config_path:=$HOME/.ros/" Enter
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 5; roslaunch kr_multi_mav_manager multi_mav_manager.launch odom_topic:=odom config_path:=$HOME/.ros/" Enter
tmux select-pane -t 3
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; roscd kr_multi_mav_manager/scripts/crazyflie; ./crazyflie_demo.sh"
# tmux select-layout -t $SESSION_NAME vertical
Expand All @@ -112,7 +112,7 @@ do
MAV_NAME=${MAV_NAMESPACE}${id}
echo $MAV_NAME ${MAV_RADIO_URIS[${id}]}
tmux new-window -t $SESSION_NAME -n "r${id}"
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 3; roslaunch kr_multi_mav_manager crazyflie.launch model:=${MAV_NAME} uri:=${MAV_RADIO_URIS[${id}]} mass:=${MAV_MASS} config_path:=${CONFIG_PATH} rotate_world:=${ROTATE_WORLD}" Enter
tmux send-keys -t $SESSION_NAME "$SETUP_ROS_STRING; sleep 6; roslaunch kr_multi_mav_manager crazyflie.launch model:=${MAV_NAME} uri:=${MAV_RADIO_URIS[${id}]} mass:=${MAV_MASS} config_path:=${CONFIG_PATH} rotate_world:=${ROTATE_WORLD}" Enter
done

tmux select-window -t $SESSION_NAME:1
Expand Down
12 changes: 6 additions & 6 deletions kr_multi_mav_manager/scripts/crazyflie/radio_uris_perch.csv
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
00,radio://0/60/2M/0xE7E7E7E700
01,radio://0/60/2M/0xE7E7E7E701
02,radio://0/60/2M/0xE7E7E7E702
03,radio://1/80/2M/0xE7E7E7E703
04,radio://1/80/2M/0xE7E7E7E704
05,radio://1/80/2M/0xE7E7E7E705
00,radio://0/110/2M/0xE7E7E7E700
01,radio://0/110/2M/0xE7E7E7E701
02,radio://0/110/2M/0xE7E7E7E702
03,radio://1/115/2M/0xE7E7E7E703
04,radio://1/115/2M/0xE7E7E7E704
05,radio://1/115/2M/0xE7E7E7E705
2 changes: 1 addition & 1 deletion rqt_multi_mav_gui/scripts/rqt_multi_mav_gui
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Expand Up @@ -5,4 +5,4 @@ import sys
from rqt_gui.main import Main

main = Main()
sys.exit(main.main(sys.argv, standalone='rqt_multi_mav_gui.multi_mag_gui.QuadrotorSafety'))
sys.exit(main.main(sys.argv, standalone='rqt_multi_mav_gui.multi_mav_gui.MultiMavGUI'))