Can't seem to get it to work

[vannem95]

I am getting this error when running hoverswarm.launch

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [launch]:

• RuntimeError: Unrecognized entity of the type: rosparam
• SyntaxError: invalid syntax (test.launch, line 1)

System info:
PC1: Windows Vicon tracker
PC2: Ubuntu 22.04.5 LTS
ROS2 humble

I was able to run this code below and perform takeoff/land on the crazyflie. I was also able to get the pose of the vicon markers using this (https://github.com/OPT4SMART/ros2-vicon-receiver) package. So, both vicon and crazyflie are not the problem.

Please help me solve this. Thanks in advance.

import logging
import time

import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

uri = 'radio://0/70/2M/E7E7E7E7E7'

z0 = 0.4
z = 1.0

x0 = 0.7
x1 = 0
x2 = -0.7

y0 = -1.0
y1 = -0.4
y2 = 0.4
y3 = 1.0

sequence1 = [
(x0, y0, z0, 3.0),
(x0, y0, z, 30.0),
(x0, y0, z0, 3.0),
]

sequence10 = [
(x2, y3, z0, 3.0),
(x2, y3, z, 30.0),
(x2, y3, z0, 3.0),
]

def simple_connect():

print("Yeah, I'm connected! :D")
time.sleep(1)
print("Now I will disconnect :'(")

def take_off(cf, position):
take_off_time = 1.0
sleep_time = 0.1*0.5
steps = int(take_off_time / sleep_time)
vz = position[2][0] / take_off_time

print(vz)

for i in range(steps):
    cf.commander.send_velocity_world_setpoint(0, 0, vz, 0)
    time.sleep(sleep_time)

def land(cf, position):
landing_time = 1.0
sleep_time = 0.1*0.5
steps = int(landing_time / sleep_time)
vz = -position[2][0] / landing_time

print(vz)

for _ in range(steps):
    cf.commander.send_velocity_world_setpoint(0, 0, vz, 0)
    time.sleep(sleep_time)

cf.commander.send_stop_setpoint()
# Hand control over to the high level commander to avoid timeout and locking of the Crazyflie
cf.commander.send_notify_setpoint_stop()

# Make sure that the last packet leaves before the link is closed
# since the message queue is not flushed before closing
time.sleep(0.1)

if name == 'main':
# Initialize the low-level drivers
cflib.crtp.init_drivers()

with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
    simple_connect()        
    cf = scf.cf
    take_off(cf, sequence1)
    land(cf, sequence10)
    #cf.takeoff(targetHeight=1.0, duration=2.5)
    #time.sleep(3)
    #cf.land(targetHeight=0.04, duration=2.5)	
    #time.sleep(3)

[whoenig]

• Your example script does not use Crazyswarm, but cflib. Please refer to our examples in crazyflie_examples for the API
• The error message you posted is regarding some launch file (test.launch), which is not part of our repository. You would need to post the launch file and all steps that are needed to reproduce the issue.

[vannem95]

Hi @whoenig. Thanks for the reply.

1. I am getting this error when running crazyflie_examples hello_world

orl@orl-XPS-8700:~$ ros2 launch crazyflie_examples launch.py script:=hello_world
[INFO] [launch]: All log files can be found below /home/orl/.ros/log/2024-09-23-14-22-01-962234-orl-XPS-8700-173606
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Unexpected type for parameter value None

2. My apologies. Here is test.launch. I took hover_swarm, commented out the joystick input nodes and set the motion capture host name to the ip address.

<?xml version="1.0"?>
<launch>
  <!--arg name="joy_dev" default="/dev/input/js0" /-->

  <rosparam command="load" file="$(find crazyswarm)/launch/crazyflieTypes.yaml" />
  <rosparam command="load" file="$(find crazyswarm)/launch/crazyflies.yaml" />

  <node pkg="crazyswarm" type="crazyswarm_server" name="crazyswarm_server" output="screen" >
    <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: "vicon" # one of none,vicon,optitrack,qualisys,vrpn
      object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
      send_position_only: False # set to False to send position+orientation; set to True to send position only
      motion_capture_host_name: "169.254.30.134"
      save_point_clouds: "/dev/null" # set to a valid path to log mocap point cloud binary file.
      print_latency: False
      write_csvs: False
      force_no_cache: False
      enable_parameters: True
      enable_logging: False
      enable_logging_pose: True
    </rosparam>
  </node>

  <!--node name="joy" pkg="joy" type="joy_node" output="screen">
    <param name="dev" value="$(arg joy_dev)" />
  </node-->

  <node pkg="crazyswarm" type="crazyswarm_teleop" name="crazyswarm_teleop" output="screen">
    <param name="csv_file" value="$(find crazyswarm)/launch/figure8_smooth.csv" />
    <param name="timescale" value="0.8" />
  </node>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find crazyswarm)/launch/test.rviz"/>

  <!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_x" args="/cf2/log1/values[0]"/> -->
  <!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_roll" args="/cf1/log1/values[2] /cf1/log1/values[3]"/> -->

</launch>

[knmcguire]

This seems to be a launch file from Crazyswarm1, which is based on ROS 1. ROSparam doesn't exist there

Please follow the installation instructions and the usage in the documentation: https://imrclab.github.io/crazyswarm2/.

Any questions about the crazyflie python library examples (so anything non ROS 2 and Crazyswarm2 related) should be asked on https://discussions.bitcraze.io/