"stateEstimateZ.x", "stateEstimateZ.y", "stateEstimateZ.x" : log variables

[ntukenmez3]

We would like to have an access to different log variables ("kalman.stateX", ...) through ROS2.
Do you have a template structure which is integrated in crazyflie_server.py?

[knmcguire]

You can add these as custom variables in crazyflie.yaml: https://imrclab.github.io/crazyswarm2/usage.html#crazyflies-yaml

Which log variables are available for the Crazyflie can be found here: https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/api/logs/

[ntukenmez3]

Then, I guess I need to follow the structure that I added below:

# Assign default topic types, variables and callbacks
        self.default_log_type = {"pose": PoseStamped,
                                 "scan": LaserScan,
                                 "odom": Odometry,
                                 "status": Status}
        self.default_log_vars = {"pose": ['stateEstimate.x', 'stateEstimate.y', 'stateEstimate.z',
                                          'stabilizer.roll', 'stabilizer.pitch', 'stabilizer.yaw'],
                                 "scan": ['range.front', 'range.left', 'range.back', 'range.right'],
                                 "odom": ['stateEstimate.x', 'stateEstimate.y', 'stateEstimate.z',
                                          'stabilizer.yaw', 'stabilizer.roll', 'stabilizer.pitch',
                                          'kalman.statePX', 'kalman.statePY', 'kalman.statePZ',
                                          'gyro.z', 'gyro.x', 'gyro.y'],
                                 "status": ['supervisor.info', 'pm.vbatMV', 'pm.state',
                                          'radio.rssi']}
        self.default_log_fnc = {"pose": self._log_pose_data_callback,
                                "scan": self._log_scan_data_callback,
                                "odom": self._log_odom_data_callback,
                                "status": self._log_status_data_callback}

At this point, the question I have which message type should I use for the custom log variables(from crazyflie_interfaces_msg)?

[knmcguire]

It's LogDataGeneric. You can see that when we create the publisher here in the cflib backend:

crazyswarm2/crazyflie/scripts/crazyflie_server.py

Lines 455 to 456 in b896e6d

	self.swarm._cfs[link_uri].logging["custom_log_publisher"][log_group_name] = self.create_publisher(
	LogDataGeneric, self.cf_dict[link_uri] + "/" + log_group_name, 10)

[ntukenmez3]

Thank you, and also I think ros2 topic info can be handy for any kind of topic.