hover_swarm.launch crash
Closed this issue · 2 comments
fbenti commented
I've followed the installation guide, however I'm not able to successfully launch the hover_swarm.launch. Here below, my setup:
hover_launch.swarm
<rosparam>
# Logging configuration (Use enable_logging to actually enable logging)
genericLogTopics: ["log1"]
genericLogTopicFrequencies: [10]
genericLogTopic_log1_Variables: ["stateEstimate.x", "ctrltarget.x"]
# firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or
# allCrazyflies.yaml to set per drone)
firmwareParams:
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
# tracking
motion_capture_type: "none" # one of none,vicon,optitrack,qualisys,vrpn
object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker
print_latency: False
write_csvs: False
force_no_cache: False
enable_parameters: True
enable_logging: False
</rosparam>
and the output:
... logging to /home/filippo/.ros/log/20c5f3d8-3ca9-11ed-bc07-65cb421aff1f/roslaunch-pc-6168.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://pc:40497/
SUMMARY
========
PARAMETERS
* /crazyflieTypes/CF21SingleMarker/batteryVoltageWarning: 3.8
* /crazyflieTypes/CF21SingleMarker/batteryVoltateCritical: 3.7
* /crazyflieTypes/CF21SingleMarker/bigQuad: False
* /crazyflieTypes/CF21SingleMarker/dynamicsConfiguration: 0
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_z: 60000
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_z: 12000
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/mass: 0.032
* /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/massThrust: 132000
* /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.1
* /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
* /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_xy: 1.0
* /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_z: 2.0
* /crazyflieTypes/CF21SingleMarker/markerConfiguration: 3
* /crazyflieTypes/default/batteryVoltageWarning: 3.8
* /crazyflieTypes/default/batteryVoltateCritical: 3.7
* /crazyflieTypes/default/bigQuad: False
* /crazyflieTypes/default/dynamicsConfiguration: 0
* /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
* /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
* /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
* /crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
* /crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
* /crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
* /crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
* /crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
* /crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
* /crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
* /crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
* /crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
* /crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
* /crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
* /crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
* /crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
* /crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
* /crazyflieTypes/default/markerConfiguration: 0
* /crazyflieTypes/defaultSingleMarker/batteryVoltageWarning: 3.8
* /crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
* /crazyflieTypes/defaultSingleMarker/bigQuad: False
* /crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
* /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
* /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.2
* /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
* /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_xy: 4.0
* /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_z: 8.0
* /crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
* /crazyflieTypes/large/batteryVoltageWarning: 11.4
* /crazyflieTypes/large/batteryVoltateCritical: 11.1
* /crazyflieTypes/large/bigQuad: True
* /crazyflieTypes/large/dynamicsConfiguration: 0
* /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
* /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
* /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
* /crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
* /crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
* /crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
* /crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
* /crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
* /crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
* /crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
* /crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
* /crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
* /crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
* /crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
* /crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
* /crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
* /crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
* /crazyflieTypes/large/markerConfiguration: 2
* /crazyflieTypes/medium/batteryVoltageWarning: 7.6
* /crazyflieTypes/medium/batteryVoltateCritical: 7.4
* /crazyflieTypes/medium/bigQuad: True
* /crazyflieTypes/medium/dynamicsConfiguration: 0
* /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
* /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
* /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
* /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
* /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
* /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
* /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
* /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
* /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
* /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
* /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
* /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
* /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
* /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
* /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
* /crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
* /crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
* /crazyflieTypes/medium/markerConfiguration: 1
* /crazyflies: [{'channel': 4, '...
* /crazyswarm_server/enable_logging: False
* /crazyswarm_server/enable_parameters: True
* /crazyswarm_server/firmwareParams/commander/enHighLevel: 1
* /crazyswarm_server/firmwareParams/kalman/resetEstimation: 1
* /crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
* /crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
* /crazyswarm_server/firmwareParams/ring/effect: 16
* /crazyswarm_server/firmwareParams/ring/headlightEnable: 0
* /crazyswarm_server/firmwareParams/ring/solidBlue: 255
* /crazyswarm_server/firmwareParams/ring/solidGreen: 0
* /crazyswarm_server/firmwareParams/ring/solidRed: 0
* /crazyswarm_server/firmwareParams/stabilizer/controller: 2
* /crazyswarm_server/firmwareParams/stabilizer/estimator: 2
* /crazyswarm_server/force_no_cache: False
* /crazyswarm_server/genericLogTopicFrequencies: [10]
* /crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x...
* /crazyswarm_server/genericLogTopics: ['log1']
* /crazyswarm_server/motion_capture_type: none
* /crazyswarm_server/object_tracking_type: motionCapture
* /crazyswarm_server/print_latency: False
* /crazyswarm_server/write_csvs: False
* /dynamicsConfigurations/0/maxFitnessScore: 0.001
* /dynamicsConfigurations/0/maxPitch: 1.4
* /dynamicsConfigurations/0/maxPitchRate: 20.0
* /dynamicsConfigurations/0/maxRoll: 1.4
* /dynamicsConfigurations/0/maxRollRate: 20.0
* /dynamicsConfigurations/0/maxXVelocity: 2.0
* /dynamicsConfigurations/0/maxYVelocity: 2.0
* /dynamicsConfigurations/0/maxYawRate: 10.0
* /dynamicsConfigurations/0/maxZVelocity: 3.0
* /markerConfigurations/0/numPoints: 4
* /markerConfigurations/0/offset: [0.0, -0.01, -0.04]
* /markerConfigurations/0/points/0: [0.0177184, 0.013...
* /markerConfigurations/0/points/1: [-0.0262914, 0.05...
* /markerConfigurations/0/points/2: [-0.0328889, -0.0...
* /markerConfigurations/0/points/3: [0.0431307, -0.03...
* /markerConfigurations/1/numPoints: 4
* /markerConfigurations/1/offset: [0.0, 0.0, -0.03]
* /markerConfigurations/1/points/0: [-0.00896228, -0....
* /markerConfigurations/1/points/1: [-0.0156318, 0.09...
* /markerConfigurations/1/points/2: [0.0461693, -0.08...
* /markerConfigurations/1/points/3: [-0.0789959, -0.0...
* /markerConfigurations/2/numPoints: 4
* /markerConfigurations/2/offset: [0.0, 0.0, -0.06]
* /markerConfigurations/2/points/0: [0.0558163, -0.00...
* /markerConfigurations/2/points/1: [-0.0113941, 0.00...
* /markerConfigurations/2/points/2: [-0.0306277, 0.05...
* /markerConfigurations/2/points/3: [0.0535816, -0.04...
* /markerConfigurations/3/numPoints: 1
* /markerConfigurations/3/offset: [0.0, -0.01, -0.04]
* /markerConfigurations/3/points/0: [0.0177184, 0.013...
* /numDynamicsConfigurations: 1
* /numMarkerConfigurations: 4
* /rosdistro: noetic
* /rosversion: 1.15.14
NODES
/
crazyswarm_server (crazyswarm/crazyswarm_server)
auto-starting new master
process[master]: started with pid [6179]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 20c5f3d8-3ca9-11ed-bc07-65cb421aff1f
process[rosout-1]: started with pid [6193]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [6200]
[crazyswarm_server-2] process has died [pid 6200, exit code -11, cmd
/home/filippo/Documents/crazyflie/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/filippo/.ros/log/20c5f3d8-3ca9-11ed-bc07-65cb421aff1f/crazyswarm_server-2.log].
log file: /home/filippo/.ros/log/20c5f3d8-3ca9-11ed-bc07-65cb421aff1f/crazyswarm_server-2*.log
fbenti commented
This is output error when I launch it in debug mode.
RLException: Roslaunch got a 'No such file or directory' error while attempting to run:
xterm -e gdb --args /home/filippo/Documents/crazyflie/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/filippo/.ros/log/1ae9200a-3cab-11ed-bc07-65cb421aff1f/crazyswarm_server-2.log
Please make sure that all the executables in this command exist and have
executable permission. This is often caused by a bad launch-prefix.
The traceback for the exception was written to the log file
powehi2020 commented
hi~ do you resolve it?