From 34b0fc8b7c1c9c60a2db960357f86b63ebdf319a Mon Sep 17 00:00:00 2001 From: knmcguire Date: Wed, 18 Oct 2023 14:42:10 +0200 Subject: [PATCH 001/162] add notify setpoint --- crazyflie/scripts/crazyflie_server.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index ad8e299b4..b52bb6253 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -785,7 +785,15 @@ def _go_to_callback(self, request, response, uri="all"): return response def _notify_setpoints_stop_callback(self, request, response, uri="all"): - self.get_logger().info("Notify setpoint stop not yet implemented") + + self.get_logger().info(f"{uri}: Received notify setpoint stop") + + if uri == "all": + for link_uri in self.uris: + self.swarm._cfs[link_uri].cf.commander.send_notify_setpoint_stop() + else: + self.swarm._cfs[uri].cf.commander.send_notify_setpoint_stop() + return response def _upload_trajectory_callback(self, request, response, uri="all"): From 4b5cae6137e19827b7e9940edfe1570706f3fba2 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Wed, 18 Oct 2023 14:42:27 +0200 Subject: [PATCH 002/162] fix vel_mux issue --- crazyflie/scripts/vel_mux.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/crazyflie/scripts/vel_mux.py b/crazyflie/scripts/vel_mux.py index f1155ba1c..aab381cbb 100755 --- a/crazyflie/scripts/vel_mux.py +++ b/crazyflie/scripts/vel_mux.py @@ -12,7 +12,7 @@ from rclpy.node import Node from geometry_msgs.msg import Twist -from crazyflie_interfaces.srv import Takeoff, Land +from crazyflie_interfaces.srv import Takeoff, Land, NotifySetpointsStop from crazyflie_interfaces.msg import Hover import time @@ -39,6 +39,7 @@ def __init__(self): self.takeoff_client = self.create_client(Takeoff, robot_prefix + '/takeoff') self.publisher_hover = self.create_publisher(Hover, robot_prefix + '/cmd_hover', 10) self.land_client = self.create_client(Land, robot_prefix + '/land') + self.notify_client = self.create_client(NotifySetpointsStop, robot_prefix + '/notify_setpoints_stop') self.cf_has_taken_off = False self.takeoff_client.wait_for_service() @@ -72,6 +73,8 @@ def timer_callback(self): msg.z_distance = self.hover_height self.publisher_hover.publish(msg) else: + req = NotifySetpointsStop.Request() + self.notify_client.call_async(req) req = Land.Request() req.height = 0.1 req.duration = rclpy.duration.Duration(seconds=2.0).to_msg() @@ -80,7 +83,6 @@ def timer_callback(self): self.cf_has_taken_off = False self.received_first_cmd_vel = False - def main(args=None): rclpy.init(args=args) From 12e602b9917f889851a19a15fee250ee225d9588 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Wed, 18 Oct 2023 14:48:37 +0200 Subject: [PATCH 003/162] fix explaination example. Fixes #307 --- crazyflie_examples/launch/keyboard_velmux_launch.py | 2 +- docs2/tutorials.rst | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py index db7badac4..a6ad3f674 100644 --- a/crazyflie_examples/launch/keyboard_velmux_launch.py +++ b/crazyflie_examples/launch/keyboard_velmux_launch.py @@ -31,6 +31,6 @@ def generate_launch_description(): output='screen', parameters=[{"hover_height": 0.3}, {"incoming_twist_topic": "/cmd_vel"}, - {"robot_prefix": "/cf1"}] + {"robot_prefix": "/cf231"}] ), ]) diff --git a/docs2/tutorials.rst b/docs2/tutorials.rst index 58070bc67..a13e9a876 100644 --- a/docs2/tutorials.rst +++ b/docs2/tutorials.rst @@ -17,7 +17,7 @@ Teleoperation keyboard We have an example of the telop_twist_keyboard package working together with the crazyflie First, make sure that the crazyflies.yaml has the right URI and if you are using the `Flow deck `_ or `any other position system available `_ to the crazyflie. -set the controller to 1 (PID) +set the controller to 1 (PID). And if you have not already, install the teleop package for the keyboard. (replace DISTRO with humble or galactic): @@ -25,7 +25,9 @@ And if you have not already, install the teleop package for the keyboard. (repl sudo apt-get install ros-DISTRO-teleop-twist-keyboard -Then, run the following launch file to start up the crazyflie server (CFlib): +Then, first checkout keyboard_velmux_launch.py and make sure that the 'robot_prefix' of vel_mux matches your crazyflie ID in crazyfies.yaml ('cf231'). + +Then run the following launch file to start up the crazyflie server (CFlib): .. code-block:: bash From bb090e65239260dba80dde247af7404694627739 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 18 Oct 2023 21:54:27 +0200 Subject: [PATCH 004/162] crazyflie_py: fix flake8 and pep256 issues --- .github/workflows/ci-ros2.yml | 3 +- crazyflie_py/crazyflie_py/crazyflie.py | 253 ++++++++++++------- crazyflie_py/crazyflie_py/crazyswarm_py.py | 2 +- crazyflie_py/crazyflie_py/genericJoystick.py | 3 +- crazyflie_py/crazyflie_py/joystick.py | 5 +- crazyflie_py/crazyflie_py/keyboard.py | 2 +- crazyflie_py/crazyflie_py/linuxjsdev.py | 39 ++- crazyflie_py/crazyflie_py/uav_trajectory.py | 186 +++++++------- crazyflie_py/crazyflie_py/util.py | 23 +- crazyflie_py/test/test_copyright.py | 23 -- 10 files changed, 304 insertions(+), 235 deletions(-) delete mode 100644 crazyflie_py/test/test_copyright.py diff --git a/.github/workflows/ci-ros2.yml b/.github/workflows/ci-ros2.yml index dfb7ba1d6..5941c2c88 100644 --- a/.github/workflows/ci-ros2.yml +++ b/.github/workflows/ci-ros2.yml @@ -46,10 +46,11 @@ jobs: - name: build and test ROS 2 uses: ros-tooling/action-ros-ci@v0.3 with: - # TODO: removed crazyflie_interfaces since it causes some test failures package-name: | crazyflie crazyflie_examples + crazyflie_interfaces + crazyflie_py crazyflie_sim target-ros2-distro: ${{ matrix.ros_distribution }} vcs-repo-file-url: rosinstall \ No newline at end of file diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 174877303..c679e6c62 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -19,12 +19,14 @@ import rclpy.node import rowan from std_srvs.srv import Empty -from geometry_msgs.msg import Point, Twist +from geometry_msgs.msg import Point from rcl_interfaces.srv import GetParameters, SetParameters, ListParameters, DescribeParameters from rcl_interfaces.msg import Parameter, ParameterValue, ParameterType -from crazyflie_interfaces.srv import Takeoff, Land, GoTo, UploadTrajectory, StartTrajectory, NotifySetpointsStop +from crazyflie_interfaces.srv import Takeoff, Land, GoTo, \ + UploadTrajectory, StartTrajectory, NotifySetpointsStop from crazyflie_interfaces.msg import TrajectoryPolynomialPiece, FullState, Position + def arrayToGeometryPoint(a): result = Point() result.x = a[0] @@ -32,19 +34,24 @@ def arrayToGeometryPoint(a): result.z = a[2] return result + class TimeHelper: - """Object containing all time-related functionality. + """ + Object containing all time-related functionality. This class mainly exists to support both real hardware and (potentially faster or slower than realtime) simulation with the same script. When running on real hardware, this class uses ROS time functions. The simulation equivalent does not depend on ROS. - Attributes: + Attributes + ---------- visualizer: No-op object conforming to the Visualizer API used in simulation scripts. Maintains the property that scripts should not know/care if they are running in simulation or not. + """ + def __init__(self, node): self.node = node # self.rosRate = None @@ -53,7 +60,7 @@ def __init__(self, node): # self.visualizer = visNull.VisNull() def time(self): - """Returns the current time in seconds.""" + """Return current time in seconds.""" return self.node.get_clock().now().nanoseconds / 1e9 def sleep(self, duration): @@ -64,7 +71,7 @@ def sleep(self, duration): rclpy.spin_once(self.node, timeout_sec=0) def sleepForRate(self, rateHz): - """Sleeps so that, if called in a loop, executes at specified rate.""" + """Sleep so that, if called in a loop, executes at specified rate.""" # Note: The following ROS 2 construct cannot easily be used, because in ROS 2 # there is no implicit threading anymore. Thus, the rosRate.sleep() call # is blocking. Instead, we simulate the rate behavior ourselves. @@ -80,21 +87,27 @@ def sleepForRate(self, rateHz): self.nextTime += 1.0 / rateHz def isShutdown(self): - """Returns true if the script should abort, e.g. from Ctrl-C.""" + """Return True if the script should abort, e.g. from Ctrl-C.""" return not rclpy.ok() class Crazyflie: - """Object representing a single robot. + """ + Object representing a single robot. The bulk of the module's functionality is contained in this class. """ def __init__(self, node, cfname, paramTypeDict): - """Constructor. + """ + Construct Crazyflie. Args: + ---- + node: ROS node reference cfname (string): Name of the robot names[ace] + paramTypeDict: dictionary of the parameter types + """ prefix = "/" + cfname self.prefix = prefix @@ -114,13 +127,17 @@ def __init__(self, node, cfname, paramTypeDict): # # self.stopService = rospy.ServiceProxy(prefix + "/stop", Stop) self.goToService = node.create_client(GoTo, prefix + "/go_to") self.goToService.wait_for_service() - self.uploadTrajectoryService = node.create_client(UploadTrajectory, prefix + "/upload_trajectory") + self.uploadTrajectoryService = node.create_client( + UploadTrajectory, prefix + "/upload_trajectory") self.uploadTrajectoryService.wait_for_service() - self.startTrajectoryService = node.create_client(StartTrajectory, prefix + "/start_trajectory") + self.startTrajectoryService = node.create_client( + StartTrajectory, prefix + "/start_trajectory") self.startTrajectoryService.wait_for_service() - self.notifySetpointsStopService = node.create_client(NotifySetpointsStop, prefix + "/notify_setpoints_stop") + self.notifySetpointsStopService = node.create_client( + NotifySetpointsStop, prefix + "/notify_setpoints_stop") self.notifySetpointsStopService.wait_for_service() - self.setParamsService = node.create_client(SetParameters, "/crazyflie_server/set_parameters") + self.setParamsService = node.create_client( + SetParameters, "/crazyflie_server/set_parameters") self.setParamsService.wait_for_service() # Query some settings @@ -148,20 +165,24 @@ def __init__(self, node, cfname, paramTypeDict): self.paramTypeDict = paramTypeDict - self.cmdFullStatePublisher = node.create_publisher(FullState, prefix + "/cmd_full_state", 1) + self.cmdFullStatePublisher = node.create_publisher( + FullState, prefix + "/cmd_full_state", 1) self.cmdFullStateMsg = FullState() self.cmdFullStateMsg.header.frame_id = "/world" - # self.cmdStopPublisher = rospy.Publisher(prefix + "/cmd_stop", std_msgs.msg.Empty, queue_size=1) + # self.cmdStopPublisher = rospy.Publisher( + # prefix + "/cmd_stop", std_msgs.msg.Empty, queue_size=1) - # self.cmdVelPublisher = rospy.Publisher(prefix + "/cmd_vel", geometry_msgs.msg.Twist, queue_size=1) + # self.cmdVelPublisher = rospy.Publisher( + # prefix + "/cmd_vel", geometry_msgs.msg.Twist, queue_size=1) - self.cmdPositionPublisher = node.create_publisher(Position, prefix + "/cmd_position", 1) + self.cmdPositionPublisher = node.create_publisher( + Position, prefix + "/cmd_position", 1) self.cmdPositionMsg = Position() self.cmdPositionMsg.header.frame_id = "/world" - - # self.cmdVelocityWorldPublisher = rospy.Publisher(prefix + "/cmd_velocity_world", VelocityWorld, queue_size=1) + # self.cmdVelocityWorldPublisher = rospy.Publisher( + # prefix + "/cmd_velocity_world", VelocityWorld, queue_size=1) # self.cmdVelocityWorldMsg = VelocityWorld() # self.cmdVelocityWorldMsg.header.seq = 0 # self.cmdVelocityWorldMsg.header.frame_id = "/world" @@ -202,7 +223,8 @@ def __init__(self, node, cfname, paramTypeDict): # of this list. With real hardware, this list is **ignored**, and # collision avoidance is checked with all other Crazyflies on the # same radio channel. - # ellipsoidRadii (array-like of float[3]): Radii of collision volume ellipsoid in meters. + # ellipsoidRadii (array-like of float[3]): Radii of collision volume + # ellipsoid in meters. # The Crazyflie's boundary for collision checking is a tall # ellipsoid. This accounts for the downwash effect: Due to the # fast-moving stream of air produced by the rotors, the safe @@ -224,13 +246,13 @@ def __init__(self, node, cfname, paramTypeDict): # }) # self.setParam("colAv/enable", 1) - # def disableCollisionAvoidance(self): # """Disables onboard collision avoidance.""" # self.setParam("colAv/enable", 0) def emergency(self): - """Emergency stop. Cuts power; causes future commands to be ignored. + """ + Emergency stop. Cuts power; causes future commands to be ignored. This command is useful if the operator determines that the control script is flawed, and that continuing to follow it will cause wrong/ @@ -244,15 +266,18 @@ def emergency(self): req = Empty.Request() self.emergencyService.call_async(req) - def takeoff(self, targetHeight, duration, groupMask = 0): - """Execute a takeoff - fly straight up, then hover indefinitely. + def takeoff(self, targetHeight, duration, groupMask=0): + """ + Execute a takeoff - fly straight up, then hover indefinitely. Asynchronous command; returns immediately. Args: + ---- targetHeight (float): The z-coordinate at which to hover. duration (float): How long until the height is reached. Seconds. groupMask (int): Group mask bits. See :meth:`setGroupMask()` doc. + """ req = Takeoff.Request() req.group_mask = groupMask @@ -260,18 +285,21 @@ def takeoff(self, targetHeight, duration, groupMask = 0): req.duration = rclpy.duration.Duration(seconds=duration).to_msg() self.takeoffService.call_async(req) - def land(self, targetHeight, duration, groupMask = 0): - """Execute a landing - fly straight down. User must cut power after. + def land(self, targetHeight, duration, groupMask=0): + """ + Execute a landing - fly straight down. User must cut power after. Asynchronous command; returns immediately. Args: + ---- targetHeight (float): The z-coordinate at which to land. Meters. Usually should be a few centimeters above the initial position to ensure that the controller does not try to penetrate the floor if the mocap coordinate origin is not perfect. duration (float): How long until the height is reached. Seconds. groupMask (int): Group mask bits. See :meth:`setGroupMask()` doc. + """ req = Land.Request() req.group_mask = groupMask @@ -291,8 +319,9 @@ def land(self, targetHeight, duration, groupMask = 0): # """ # self.stopService(groupMask) - def goTo(self, goal, yaw, duration, relative = False, groupMask = 0): - """Move smoothly to the goal, then hover indefinitely. + def goTo(self, goal, yaw, duration, relative=False, groupMask=0): + """ + Move smoothly to the goal, then hover indefinitely. Asynchronous command; returns immediately. @@ -315,6 +344,7 @@ def goTo(self, goal, yaw, duration, relative = False, groupMask = 0): controller to become unstable. Args: + ---- goal (iterable of 3 floats): The goal position. Meters. yaw (float): The goal yaw angle (heading). Radians. duration (float): How long until the goal is reached. Seconds. @@ -323,6 +353,7 @@ def goTo(self, goal, yaw, duration, relative = False, groupMask = 0): position is interpreted as absolute coordintates in the global reference frame. groupMask (int): Group mask bits. See :meth:`setGroupMask()` doc. + """ req = GoTo.Request() req.group_mask = groupMask @@ -333,24 +364,27 @@ def goTo(self, goal, yaw, duration, relative = False, groupMask = 0): self.goToService.call_async(req) def uploadTrajectory(self, trajectoryId, pieceOffset, trajectory): - """Uploads a piecewise polynomial trajectory for later execution. + """ + Upload a piecewise polynomial trajectory for later execution. See uav_trajectory.py for more information about piecewise polynomial trajectories. Args: + ---- trajectoryId (int): ID number of this trajectory. Multiple trajectories can be uploaded. TODO: what is the maximum ID? pieceOffset (int): TODO(whoenig): explain this. trajectory (:obj:`pycrazyswarm.uav_trajectory.Trajectory`): Trajectory object. + """ pieces = [] for poly in trajectory.polynomials: piece = TrajectoryPolynomialPiece() piece.duration = rclpy.duration.Duration(seconds=poly.duration).to_msg() - piece.poly_x = poly.px.p.tolist() - piece.poly_y = poly.py.p.tolist() - piece.poly_z = poly.pz.p.tolist() + piece.poly_x = poly.px.p.tolist() + piece.poly_y = poly.py.p.tolist() + piece.poly_z = poly.pz.p.tolist() piece.poly_yaw = poly.pyaw.p.tolist() pieces.append(piece) req = UploadTrajectory.Request() @@ -359,12 +393,16 @@ def uploadTrajectory(self, trajectoryId, pieceOffset, trajectory): req.pieces = pieces self.uploadTrajectoryService.call_async(req) - def startTrajectory(self, trajectoryId, timescale = 1.0, reverse = False, relative = True, groupMask = 0): - """Begins executing a previously uploaded trajectory. + def startTrajectory(self, trajectoryId, + timescale=1.0, reverse=False, + relative=True, groupMask=0): + """ + Begin executing a previously uploaded trajectory. Asynchronous command; returns immediately. Args: + ---- trajectoryId (int): ID number as given to :meth:`uploadTrajectory()`. timescale (float): Scales the trajectory duration by this factor. For example if timescale == 2.0, the trajectory will take twice @@ -374,6 +412,7 @@ def startTrajectory(self, trajectoryId, timescale = 1.0, reverse = False, relati is shifted such that it begins at the current position setpoint. This is usually the desired behavior. groupMask (int): Group mask bits. See :meth:`setGroupMask()` doc. + """ req = StartTrajectory.Request() req.group_mask = groupMask @@ -384,7 +423,8 @@ def startTrajectory(self, trajectoryId, timescale = 1.0, reverse = False, relati self.startTrajectoryService.call_async(req) def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): - """Informs that streaming low-level setpoint packets are about to stop. + """ + Informs that streaming low-level setpoint packets are about to stop. Streaming setpoints are :meth:`cmdVelocityWorld`, :meth:`cmdFullState`, and so on. For safety purposes, they normally preempt onboard high-level @@ -403,10 +443,13 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): streaming setpoint modes. Args: + ---- remainValidMillisecs (int): Number of milliseconds that the last streaming setpoint should be followed before reverting to the onboard-determined behavior. May be longer e.g. if one radio is controlling many robots. + groupMask (int): Group mask bits. See :meth:`setGroupMask()` doc. + """ req = NotifySetpointsStop.Request() req.remain_valid_millisecs = remainValidMillisecs @@ -425,8 +468,10 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): # Returns: # position (np.array[3]): Current position. Meters. # """ - # self.tf.waitForTransform("/world", "/cf" + str(self.id), rospy.Time(0), rospy.Duration(10)) - # position, quaternion = self.tf.lookupTransform("/world", "/cf" + str(self.id), rospy.Time(0)) + # self.tf.waitForTransform( + # "/world", "/cf" + str(self.id), rospy.Time(0), rospy.Duration(10)) + # position, quaternion = self.tf.lookupTransform( + # "/world", "/cf" + str(self.id), rospy.Time(0)) # return np.array(position) # def getParam(self, name): @@ -451,13 +496,16 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): # return rospy.get_param(self.prefix + "/" + name) def setParam(self, name, value): - """Changes the value of the given parameter. + """ + Change the value of the given parameter. See :meth:`getParam()` docs for overview of the parameter system. Args: + ---- name (str): The parameter's name. value (Any): The parameter's value. + """ param_name = self.prefix[1:] + ".params." + name param_type = self.paramTypeDict[name] @@ -482,7 +530,8 @@ def setParam(self, name, value): # self.updateParamsService(params.keys()) def cmdFullState(self, pos, vel, acc, yaw, omega): - """Sends a streaming full-state controller setpoint command. + """ + Send a streaming full-state controller setpoint command. The full-state setpoint is most useful for aggressive maneuvers where feedforward inputs for acceleration and angular velocity are critical @@ -497,31 +546,33 @@ def cmdFullState(self, pos, vel, acc, yaw, omega): :meth:`goTo()` after a streaming setpoint has been sent. Args: + ---- pos (array-like of float[3]): Position. Meters. vel (array-like of float[3]): Velocity. Meters / second. acc (array-like of float[3]): Acceleration. Meters / second^2. yaw (float): Yaw angle. Radians. omega (array-like of float[3]): Angular velocity in body frame. Radians / sec. + """ self.cmdFullStateMsg.header.stamp = self.node.get_clock().now().to_msg() - self.cmdFullStateMsg.pose.position.x = pos[0] - self.cmdFullStateMsg.pose.position.y = pos[1] - self.cmdFullStateMsg.pose.position.z = pos[2] - self.cmdFullStateMsg.twist.linear.x = vel[0] - self.cmdFullStateMsg.twist.linear.y = vel[1] - self.cmdFullStateMsg.twist.linear.z = vel[2] - self.cmdFullStateMsg.acc.x = acc[0] - self.cmdFullStateMsg.acc.y = acc[1] - self.cmdFullStateMsg.acc.z = acc[2] + self.cmdFullStateMsg.pose.position.x = pos[0] + self.cmdFullStateMsg.pose.position.y = pos[1] + self.cmdFullStateMsg.pose.position.z = pos[2] + self.cmdFullStateMsg.twist.linear.x = vel[0] + self.cmdFullStateMsg.twist.linear.y = vel[1] + self.cmdFullStateMsg.twist.linear.z = vel[2] + self.cmdFullStateMsg.acc.x = acc[0] + self.cmdFullStateMsg.acc.y = acc[1] + self.cmdFullStateMsg.acc.z = acc[2] q = rowan.from_euler(0, 0, yaw) self.cmdFullStateMsg.pose.orientation.w = q[0] self.cmdFullStateMsg.pose.orientation.x = q[1] self.cmdFullStateMsg.pose.orientation.y = q[2] self.cmdFullStateMsg.pose.orientation.z = q[3] - self.cmdFullStateMsg.twist.angular.x = omega[0] - self.cmdFullStateMsg.twist.angular.y = omega[1] - self.cmdFullStateMsg.twist.angular.z = omega[2] + self.cmdFullStateMsg.twist.angular.x = omega[0] + self.cmdFullStateMsg.twist.angular.y = omega[1] + self.cmdFullStateMsg.twist.angular.z = omega[2] self.cmdFullStatePublisher.publish(self.cmdFullStateMsg) # def cmdVelocityWorld(self, vel, yawRate): @@ -597,22 +648,26 @@ def cmdFullState(self, pos, vel, acc, yaw, omega): # msg.linear.z = thrust # self.cmdVelPublisher.publish(msg) - def cmdPosition(self, pos, yaw = 0.): - """Sends a streaming command of absolute position and yaw setpoint. + def cmdPosition(self, pos, yaw=0.): + """ + Send a streaming command of absolute position and yaw setpoint. Useful for slow maneuvers where a high-level planner determines the desired position, and the rest is left to the onboard controller. For more information on streaming setpoint commands, see the :meth:`cmdFullState()` documentation. + Args: + ---- pos (array-like of float[3]): Position. Meters. yaw (float): Yaw angle. Radians. + """ self.cmdPositionMsg.header.stamp = self.node.get_clock().now().to_msg() - self.cmdPositionMsg.x = pos[0] - self.cmdPositionMsg.y = pos[1] - self.cmdPositionMsg.z = pos[2] + self.cmdPositionMsg.x = pos[0] + self.cmdPositionMsg.y = pos[1] + self.cmdPositionMsg.z = pos[2] self.cmdPositionMsg.yaw = yaw self.cmdPositionPublisher.publish(self.cmdPositionMsg) @@ -641,19 +696,22 @@ def cmdPosition(self, pos, yaw = 0.): class CrazyflieServer(rclpy.node.Node): - """Object for broadcasting commands to all robots at once. + """ + Object for broadcasting commands to all robots at once. Also is the container for the individual :obj:`Crazyflie` objects. - Attributes: + Attributes + ---------- crazyfiles (List[Crazyflie]): List of one Crazyflie object per robot, as determined by the crazyflies.yaml config file. crazyfliesById (Dict[int, Crazyflie]): Index to the same Crazyflie objects by their ID number (last byte of radio address). + """ + def __init__(self): - """Initialize the server. Waits for all ROS services before returning. - """ + """Initialize the server. Waits for all ROS services before returning.""" super().__init__("CrazyflieAPI") self.emergencyService = self.create_client(Empty, "all/emergency") self.emergencyService.wait_for_service() @@ -666,10 +724,12 @@ def __init__(self): self.goToService.wait_for_service() self.startTrajectoryService = self.create_client(StartTrajectory, "all/start_trajectory") self.startTrajectoryService.wait_for_service() - self.setParamsService = self.create_client(SetParameters, "/crazyflie_server/set_parameters") + self.setParamsService = self.create_client( + SetParameters, "/crazyflie_server/set_parameters") self.setParamsService.wait_for_service() - self.cmdFullStatePublisher = self.create_publisher(FullState, "all/cmd_full_state", 1) + self.cmdFullStatePublisher = self.create_publisher( + FullState, "all/cmd_full_state", 1) self.cmdFullStateMsg = FullState() self.cmdFullStateMsg.header.frame_id = "/world" @@ -700,7 +760,8 @@ def __init__(self): break # Find the types for the parameters and store them - describeParametersService = self.create_client(DescribeParameters, "/crazyflie_server/describe_parameters") + describeParametersService = self.create_client( + DescribeParameters, "/crazyflie_server/describe_parameters") describeParametersService.wait_for_service() req = DescribeParameters.Request() req.names = params @@ -735,7 +796,8 @@ def __init__(self): self.crazyfliesById[cfid] = cf def emergency(self): - """Emergency stop. Cuts power; causes future commands to be ignored. + """ + Emergency stop. Cuts power; causes future commands to be ignored. This command is useful if the operator determines that the control script is flawed, and that continuing to follow it will cause wrong/ @@ -749,17 +811,20 @@ def emergency(self): req = Empty.Request() self.emergencyService.call_async(req) - def takeoff(self, targetHeight, duration, groupMask = 0): - """Broadcasted takeoff - fly straight up, then hover indefinitely. + def takeoff(self, targetHeight, duration, groupMask=0): + """ + Broadcasted takeoff - fly straight up, then hover indefinitely. Broadcast version of :meth:`Crazyflie.takeoff()`. All robots that match the groupMask take off at exactly the same time. Use for synchronized movement. Asynchronous command; returns immediately. Args: + ---- targetHeight (float): The z-coordinate at which to hover. duration (float): How long until the height is reached. Seconds. groupMask (int): Group mask bits. See :meth:`setGroupMask()` doc. + """ req = Takeoff.Request() req.group_mask = groupMask @@ -767,20 +832,23 @@ def takeoff(self, targetHeight, duration, groupMask = 0): req.duration = rclpy.duration.Duration(seconds=duration).to_msg() self.takeoffService.call_async(req) - def land(self, targetHeight, duration, groupMask = 0): - """Broadcasted landing - fly straight down. User must cut power after. + def land(self, targetHeight, duration, groupMask=0): + """ + Broadcasted landing - fly straight down. User must cut power after. Broadcast version of :meth:`Crazyflie.land()`. All robots that match the groupMask land at exactly the same time. Use for synchronized movement. Asynchronous command; returns immediately. Args: + ---- targetHeight (float): The z-coordinate at which to land. Meters. Usually should be a few centimeters above the initial position to ensure that the controller does not try to penetrate the floor if the mocap coordinate origin is not perfect. duration (float): How long until the height is reached. Seconds. groupMask (int): Group mask bits. See :meth:`Crazyflie.setGroupMask()` doc. + """ req = Land.Request() req.group_mask = groupMask @@ -788,8 +856,9 @@ def land(self, targetHeight, duration, groupMask = 0): req.duration = rclpy.duration.Duration(seconds=duration).to_msg() self.landService.call_async(req) - def goTo(self, goal, yaw, duration, groupMask = 0): - """Broadcasted goTo - Move smoothly to goal, then hover indefinitely. + def goTo(self, goal, yaw, duration, groupMask=0): + """ + Broadcasted goTo - Move smoothly to goal, then hover indefinitely. Broadcast version of :meth:`Crazyflie.goTo()`. All robots that match the groupMask start moving at exactly the same time. Use for synchronized @@ -803,10 +872,12 @@ def goTo(self, goal, yaw, duration, groupMask = 0): See docstring of :meth:`Crazyflie.goTo()` for additional details. Args: + ---- goal (iterable of 3 floats): The goal offset. Meters. yaw (float): The goal yaw angle (heading). Radians. duration (float): How long until the goal is reached. Seconds. groupMask (int): Group mask bits. See :meth:`Crazyflie.setGroupMask()` doc. + """ req = GoTo.Request() req.group_mask = groupMask @@ -816,13 +887,17 @@ def goTo(self, goal, yaw, duration, groupMask = 0): req.duration = rclpy.duration.Duration(seconds=duration).to_msg() self.goToService.call_async(req) - def startTrajectory(self, trajectoryId, timescale = 1.0, reverse = False, relative = True, groupMask = 0): - """Broadcasted - begins executing a previously uploaded trajectory. + def startTrajectory(self, trajectoryId, + timescale=1.0, reverse=False, + relative=True, groupMask=0): + """ + Broadcasted - begins executing a previously uploaded trajectory. Broadcast version of :meth:`Crazyflie.startTrajectory()`. Asynchronous command; returns immediately. Args: + ---- trajectoryId (int): ID number as given to :meth:`Crazyflie.uploadTrajectory()`. timescale (float): Scales the trajectory duration by this factor. For example if timescale == 2.0, the trajectory will take twice @@ -831,6 +906,7 @@ def startTrajectory(self, trajectoryId, timescale = 1.0, reverse = False, relati relative (bool): If true (default), the position of the trajectory is shifted such that it begins at the current position setpoint. groupMask (int): Group mask bits. See :meth:`Crazyflie.setGroupMask()` doc. + """ req = StartTrajectory.Request() req.group_mask = groupMask @@ -841,7 +917,7 @@ def startTrajectory(self, trajectoryId, timescale = 1.0, reverse = False, relati self.startTrajectoryService.call_async(req) def setParam(self, name, value): - """Broadcasted setParam. See Crazyflie.setParam() for details.""" + """Set parameter via broadcasts. See Crazyflie.setParam for details.""" param_name = "all.params." + name param_type = self.paramTypeDict[name] if param_type == ParameterType.PARAMETER_INTEGER: @@ -853,7 +929,8 @@ def setParam(self, name, value): self.setParamsService.call_async(req) def cmdFullState(self, pos, vel, acc, yaw, omega): - """Sends a streaming full-state controller setpoint command. + """ + Send a streaming full-state controller setpoint command. The full-state setpoint is most useful for aggressive maneuvers where feedforward inputs for acceleration and angular velocity are critical @@ -868,29 +945,31 @@ def cmdFullState(self, pos, vel, acc, yaw, omega): :meth:`goTo()` after a streaming setpoint has been sent. Args: + ---- pos (array-like of float[3]): Position. Meters. vel (array-like of float[3]): Velocity. Meters / second. acc (array-like of float[3]): Acceleration. Meters / second^2. yaw (float): Yaw angle. Radians. omega (array-like of float[3]): Angular velocity in body frame. Radians / sec. + """ self.cmdFullStateMsg.header.stamp = self.get_clock().now().to_msg() - self.cmdFullStateMsg.pose.position.x = pos[0] - self.cmdFullStateMsg.pose.position.y = pos[1] - self.cmdFullStateMsg.pose.position.z = pos[2] - self.cmdFullStateMsg.twist.linear.x = vel[0] - self.cmdFullStateMsg.twist.linear.y = vel[1] - self.cmdFullStateMsg.twist.linear.z = vel[2] - self.cmdFullStateMsg.acc.x = acc[0] - self.cmdFullStateMsg.acc.y = acc[1] - self.cmdFullStateMsg.acc.z = acc[2] + self.cmdFullStateMsg.pose.position.x = pos[0] + self.cmdFullStateMsg.pose.position.y = pos[1] + self.cmdFullStateMsg.pose.position.z = pos[2] + self.cmdFullStateMsg.twist.linear.x = vel[0] + self.cmdFullStateMsg.twist.linear.y = vel[1] + self.cmdFullStateMsg.twist.linear.z = vel[2] + self.cmdFullStateMsg.acc.x = acc[0] + self.cmdFullStateMsg.acc.y = acc[1] + self.cmdFullStateMsg.acc.z = acc[2] q = rowan.from_euler(0, 0, yaw) self.cmdFullStateMsg.pose.orientation.w = q[0] self.cmdFullStateMsg.pose.orientation.x = q[1] self.cmdFullStateMsg.pose.orientation.y = q[2] self.cmdFullStateMsg.pose.orientation.z = q[3] - self.cmdFullStateMsg.twist.angular.x = omega[0] - self.cmdFullStateMsg.twist.angular.y = omega[1] - self.cmdFullStateMsg.twist.angular.z = omega[2] - self.cmdFullStatePublisher.publish(self.cmdFullStateMsg) \ No newline at end of file + self.cmdFullStateMsg.twist.angular.x = omega[0] + self.cmdFullStateMsg.twist.angular.y = omega[1] + self.cmdFullStateMsg.twist.angular.z = omega[2] + self.cmdFullStatePublisher.publish(self.cmdFullStateMsg) diff --git a/crazyflie_py/crazyflie_py/crazyswarm_py.py b/crazyflie_py/crazyflie_py/crazyswarm_py.py index 2775080c4..959ac44a6 100644 --- a/crazyflie_py/crazyflie_py/crazyswarm_py.py +++ b/crazyflie_py/crazyflie_py/crazyswarm_py.py @@ -7,7 +7,7 @@ class Crazyswarm: def __init__(self): rclpy.init() - + self.allcfs = CrazyflieServer() self.timeHelper = TimeHelper(self.allcfs) diff --git a/crazyflie_py/crazyflie_py/genericJoystick.py b/crazyflie_py/crazyflie_py/genericJoystick.py index 2dbb08be3..32364b203 100644 --- a/crazyflie_py/crazyflie_py/genericJoystick.py +++ b/crazyflie_py/crazyflie_py/genericJoystick.py @@ -1,4 +1,3 @@ -import time import copy # import pyglet from . import keyboard @@ -20,6 +19,7 @@ # def on_joyhat_motion(joystick, hat_x, hat_y): # pass + class Joystick: def __init__(self, timeHelper): # joysticks = pyglet.input.get_joysticks() @@ -77,7 +77,6 @@ def waitUntilButtonPressed(self): while keyPoller.poll() is not None: self.timeHelper.sleep(0.01) - def checkIfAnyButtonIsPressed(self): if self.joyID is not None: state = self.js.read(self.joyID) diff --git a/crazyflie_py/crazyflie_py/joystick.py b/crazyflie_py/crazyflie_py/joystick.py index ba8207965..f6ae10500 100644 --- a/crazyflie_py/crazyflie_py/joystick.py +++ b/crazyflie_py/crazyflie_py/joystick.py @@ -2,6 +2,7 @@ import rospy from sensor_msgs.msg import Joy + class Joystick: def __init__(self): self.lastButtonState = 0 @@ -10,8 +11,8 @@ def __init__(self): def joyChanged(self, data): if (not self.buttonWasPressed and - data.buttons[5] == 1 and - self.lastButtonState == 0): + data.buttons[5] == 1 and + self.lastButtonState == 0): self.buttonWasPressed = True self.lastButtonState = data.buttons[5] diff --git a/crazyflie_py/crazyflie_py/keyboard.py b/crazyflie_py/crazyflie_py/keyboard.py index e5f788775..b4c92992f 100644 --- a/crazyflie_py/crazyflie_py/keyboard.py +++ b/crazyflie_py/crazyflie_py/keyboard.py @@ -20,7 +20,7 @@ def __exit__(self, type, value, traceback): termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term) def poll(self): - dr,dw,de = select.select([sys.stdin], [], [], 0) + dr, dw, de = select.select([sys.stdin], [], [], 0) if not dr == []: return sys.stdin.read(1) return None diff --git a/crazyflie_py/crazyflie_py/linuxjsdev.py b/crazyflie_py/crazyflie_py/linuxjsdev.py index ba5df731e..c9ebf50a3 100644 --- a/crazyflie_py/crazyflie_py/linuxjsdev.py +++ b/crazyflie_py/crazyflie_py/linuxjsdev.py @@ -23,8 +23,9 @@ # along with this program; if not, write to the Free Software Foundation, # Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. """ -Linux joystick driver using the Linux input_joystick subsystem. Requires sysfs -to be mounted on /sys and /dev/input/js* to be readable. +Linux joystick driver using the Linux input_joystick subsystem. + +Requires sysfs to be mounted on /sys and /dev/input/js* to be readable. This module is very linux specific but should work on any CPU platform """ @@ -67,9 +68,7 @@ class JEvent(object): - """ - Joystick event class. Encapsulate single joystick event. - """ + """Joystick event class. Encapsulate single joystick event.""" def __init__(self, evt_type, number, value): self.type = evt_type @@ -80,6 +79,7 @@ def __repr__(self): return "JEvent(type={}, number={}, value={})".format( self.type, self.number, self.value) + # Constants TYPE_BUTTON = 1 TYPE_AXIS = 2 @@ -123,7 +123,7 @@ def open(self): self.__initvalues() def close(self): - """Open the joystick device""" + """Open the joystick device.""" if not self._f: return @@ -133,21 +133,21 @@ def close(self): self._f = None def __initvalues(self): - """Read the buttons and axes initial values from the js device""" + """Read the buttons and axes initial values from the js device.""" for _ in range(len(self.axes) + len(self.buttons)): data = self._f.read(struct.calcsize(JS_EVENT_FMT)) jsdata = struct.unpack(JS_EVENT_FMT, data) self.__updatestate(jsdata) def __updatestate(self, jsdata): - """Update the internal absolute state of buttons and axes""" + """Update the internal absolute state of buttons and axes.""" if jsdata[JE_TYPE] & JS_EVENT_AXIS != 0: self.axes[jsdata[JE_NUMBER]] = jsdata[JE_VALUE] / 32768.0 elif jsdata[JE_TYPE] & JS_EVENT_BUTTON != 0: self.buttons[jsdata[JE_NUMBER]] = jsdata[JE_VALUE] def __decode_event(self, jsdata): - """ Decode a jsdev event into a dict """ + """Decode a jsdev event into a dict.""" # TODO: Add timestamp? if jsdata[JE_TYPE] & JS_EVENT_AXIS != 0: return JEvent(evt_type=TYPE_AXIS, @@ -159,7 +159,7 @@ def __decode_event(self, jsdata): value=jsdata[JE_VALUE] / 32768.0) def _read_all_events(self): - """Consume all the events queued up in the JS device""" + """Consume all the events queued up in the JS device.""" try: while True: data = self._f.read(struct.calcsize(JS_EVENT_FMT)) @@ -182,7 +182,7 @@ def _read_all_events(self): pass def read(self): - """ Returns a list of all joystick event since the last call """ + """Return a list of all joystick event since the last call.""" if not self._f: raise Exception("Joystick device not opened") @@ -192,9 +192,7 @@ def read(self): class Joystick(): - """ - Linux jsdev implementation of the Joystick class - """ + """Linux jsdev implementation of the Joystick class.""" def __init__(self): self.name = MODULE_NAME @@ -203,8 +201,9 @@ def __init__(self): def devices(self): """ - Returns a list containing an {"id": id, "name": name} dict for each - detected device. Result is cached once one or more devices are found. + Return a list containing an {"id": id, "name": name} dict for each detected device. + + Result is cached once one or more devices are found. """ if len(self._devices) == 0: syspaths = glob.glob("/sys/class/input/js*") @@ -219,15 +218,13 @@ def devices(self): return self._devices def open(self, device_id): - """ - Open the joystick device. The device_id is given by available_devices - """ + """Open the joystick device. The device_id is given by available_devices.""" self._js[device_id].open() def close(self, device_id): - """Open the joystick device""" + """Open the joystick device.""" self._js[device_id].close() def read(self, device_id): - """ Returns a list of all joystick event since the last call """ + """Return a list of all joystick event since the last call.""" return self._js[device_id].read() diff --git a/crazyflie_py/crazyflie_py/uav_trajectory.py b/crazyflie_py/crazyflie_py/uav_trajectory.py index 91939450a..b75af3585 100644 --- a/crazyflie_py/crazyflie_py/uav_trajectory.py +++ b/crazyflie_py/crazyflie_py/uav_trajectory.py @@ -2,108 +2,116 @@ import numpy as np + def normalize(v): - norm = np.linalg.norm(v) - assert norm > 0 - return v / norm + norm = np.linalg.norm(v) + assert norm > 0 + return v / norm class Polynomial: - def __init__(self, p): - self.p = p + def __init__(self, p): + self.p = p - # evaluate a polynomial using horner's rule - def eval(self, t): - assert t >= 0 - x = 0.0 - for i in range(0, len(self.p)): - x = x * t + self.p[len(self.p) - 1 - i] - return x + # evaluate a polynomial using horner's rule + def eval(self, t): + assert t >= 0 + x = 0.0 + for i in range(0, len(self.p)): + x = x * t + self.p[len(self.p) - 1 - i] + return x - # compute and return derivative - def derivative(self): - return Polynomial([(i+1) * self.p[i+1] for i in range(0, len(self.p) - 1)]) + # compute and return derivative + def derivative(self): + return Polynomial([(i+1) * self.p[i+1] for i in range(0, len(self.p) - 1)]) class TrajectoryOutput: - def __init__(self): - self.pos = None # position [m] - self.vel = None # velocity [m/s] - self.acc = None # acceleration [m/s^2] - self.omega = None # angular velocity [rad/s] - self.yaw = None # yaw angle [rad] + def __init__(self): + self.pos = None # position [m] + self.vel = None # velocity [m/s] + self.acc = None # acceleration [m/s^2] + self.omega = None # angular velocity [rad/s] + self.yaw = None # yaw angle [rad] # 4d single polynomial piece for x-y-z-yaw, includes duration. class Polynomial4D: - def __init__(self, duration, px, py, pz, pyaw): - self.duration = duration - self.px = Polynomial(px) - self.py = Polynomial(py) - self.pz = Polynomial(pz) - self.pyaw = Polynomial(pyaw) - - # compute and return derivative - def derivative(self): - return Polynomial4D( - self.duration, - self.px.derivative().p, - self.py.derivative().p, - self.pz.derivative().p, - self.pyaw.derivative().p) - - def eval(self, t): - result = TrajectoryOutput() - # flat variables - result.pos = np.array([self.px.eval(t), self.py.eval(t), self.pz.eval(t)]) - result.yaw = self.pyaw.eval(t) - - # 1st derivative - derivative = self.derivative() - result.vel = np.array([derivative.px.eval(t), derivative.py.eval(t), derivative.pz.eval(t)]) - dyaw = derivative.pyaw.eval(t) - - # 2nd derivative - derivative2 = derivative.derivative() - result.acc = np.array([derivative2.px.eval(t), derivative2.py.eval(t), derivative2.pz.eval(t)]) - - # 3rd derivative - derivative3 = derivative2.derivative() - jerk = np.array([derivative3.px.eval(t), derivative3.py.eval(t), derivative3.pz.eval(t)]) - - thrust = result.acc + np.array([0, 0, 9.81]) # add gravity - - z_body = normalize(thrust) - x_world = np.array([np.cos(result.yaw), np.sin(result.yaw), 0]) - y_body = normalize(np.cross(z_body, x_world)) - x_body = np.cross(y_body, z_body) - - jerk_orth_zbody = jerk - (np.dot(jerk, z_body) * z_body) - h_w = jerk_orth_zbody / np.linalg.norm(thrust) - - result.omega = np.array([-np.dot(h_w, y_body), np.dot(h_w, x_body), z_body[2] * dyaw]) - return result + def __init__(self, duration, px, py, pz, pyaw): + self.duration = duration + self.px = Polynomial(px) + self.py = Polynomial(py) + self.pz = Polynomial(pz) + self.pyaw = Polynomial(pyaw) + + # compute and return derivative + def derivative(self): + return Polynomial4D( + self.duration, + self.px.derivative().p, + self.py.derivative().p, + self.pz.derivative().p, + self.pyaw.derivative().p) + + def eval(self, t): + result = TrajectoryOutput() + # flat variables + result.pos = np.array([self.px.eval(t), self.py.eval(t), self.pz.eval(t)]) + result.yaw = self.pyaw.eval(t) + + # 1st derivative + derivative = self.derivative() + result.vel = np.array([derivative.px.eval(t), + derivative.py.eval(t), + derivative.pz.eval(t)]) + dyaw = derivative.pyaw.eval(t) + + # 2nd derivative + derivative2 = derivative.derivative() + result.acc = np.array([derivative2.px.eval(t), + derivative2.py.eval(t), + derivative2.pz.eval(t)]) + + # 3rd derivative + derivative3 = derivative2.derivative() + jerk = np.array([derivative3.px.eval(t), + derivative3.py.eval(t), + derivative3.pz.eval(t)]) + + thrust = result.acc + np.array([0, 0, 9.81]) # add gravity + + z_body = normalize(thrust) + x_world = np.array([np.cos(result.yaw), np.sin(result.yaw), 0]) + y_body = normalize(np.cross(z_body, x_world)) + x_body = np.cross(y_body, z_body) + + jerk_orth_zbody = jerk - (np.dot(jerk, z_body) * z_body) + h_w = jerk_orth_zbody / np.linalg.norm(thrust) + + result.omega = np.array([-np.dot(h_w, y_body), np.dot(h_w, x_body), z_body[2] * dyaw]) + return result class Trajectory: - def __init__(self): - self.polynomials = None - self.duration = None - - def n_pieces(self): - return len(self.polynomials) - - def loadcsv(self, filename): - data = np.loadtxt(filename, delimiter=",", skiprows=1, usecols=range(33)) - self.polynomials = [Polynomial4D(row[0], row[1:9], row[9:17], row[17:25], row[25:33]) for row in data] - self.duration = np.sum(data[:,0]) - - def eval(self, t): - assert t >= 0 - assert t <= self.duration - - current_t = 0.0 - for p in self.polynomials: - if t <= current_t + p.duration: - return p.eval(t - current_t) - current_t = current_t + p.duration + def __init__(self): + self.polynomials = None + self.duration = None + + def n_pieces(self): + return len(self.polynomials) + + def loadcsv(self, filename): + data = np.loadtxt(filename, delimiter=",", skiprows=1, usecols=range(33)) + self.polynomials = [Polynomial4D(row[0], row[1:9], + row[9:17], row[17:25], row[25:33]) for row in data] + self.duration = np.sum(data[:, 0]) + + def eval(self, t): + assert t >= 0 + assert t <= self.duration + + current_t = 0.0 + for p in self.polynomials: + if t <= current_t + p.duration: + return p.eval(t - current_t) + current_t = current_t + p.duration diff --git a/crazyflie_py/crazyflie_py/util.py b/crazyflie_py/crazyflie_py/util.py index e27dfaa74..602862b5b 100644 --- a/crazyflie_py/crazyflie_py/util.py +++ b/crazyflie_py/crazyflie_py/util.py @@ -6,15 +6,19 @@ def check_ellipsoid_collisions(positions, radii): - """Checks for collisions between a set of ellipsoids at given positions. + """ + Check for collisions between a set of ellipsoids at given positions. Args: + ---- positions (array float[n, 3]): The ellipsoid centers. radii (array float[3]): The radii of the axis-aligned ellipsoids. - Returns: + Returns + ------- colliding (array bool[n]): True at index i if the i'th ellipsoid intersects any of the other ellipsoids. + """ scaled = positions / radii[None, :] dists = sp.spatial.distance.pdist(scaled) @@ -27,33 +31,36 @@ def check_ellipsoid_collisions(positions, radii): def poisson_disk_sample(n, dim, mindist): - """Generates random points with guaranteed minimum pairwise distance. + """ + Generate random points with guaranteed minimum pairwise distance. Uses extremely naive and slow "dart throwing" algorithm. TODO(jpreiss): find/implement a library with a fast algorithm. Args: + ---- n (int): Number of points. dim (int): Dimensionality of points. mindist (float): Minimum Euclidean distance between any two points. - Returns: + Returns + ------- pts (array float[n, dim]): The sampled points. - """ + """ # Select hypercube volume such that n points will not pack it too tightly. # Note: Will be too sparse for dim >> 3, but reasonable for dim == 2 or 3. measure_ratio = 1.25 std = (measure_ratio * n) ** (1.0 / dim) * mindist + def sample(): return std * np.random.uniform(-0.5, 0.5, size=dim) # Sample the points using dart-throwing. - pts = sample()[None,:] + pts = sample()[None, :] while len(pts) < n: pt = sample() dists = np.linalg.norm(pts - pt, axis=1) if np.all(dists >= mindist): - pts = np.concatenate([pts, pt[None,:]], axis=0) + pts = np.concatenate([pts, pt[None, :]], axis=0) return pts - diff --git a/crazyflie_py/test/test_copyright.py b/crazyflie_py/test/test_copyright.py deleted file mode 100644 index cc8ff03f7..000000000 --- a/crazyflie_py/test/test_copyright.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' From 24bc57b90a7883511819317d7c572b1b146880a9 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 19 Oct 2023 07:17:05 +0200 Subject: [PATCH 005/162] CI: add rowan --- .github/workflows/ci-ros2.yml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.github/workflows/ci-ros2.yml b/.github/workflows/ci-ros2.yml index 5941c2c88..315d94ba1 100644 --- a/.github/workflows/ci-ros2.yml +++ b/.github/workflows/ci-ros2.yml @@ -42,6 +42,12 @@ jobs: sudo apt update sudo apt install -y libusb-1.0-0-dev + - name: install pip dependencies + # TODO: would be better to follow https://answers.ros.org/question/370666/how-to-declare-an-external-python-dependency-in-ros2/ + # but this requires some upstream changes + run: | + pip install rowan + - uses: actions/checkout@v2 - name: build and test ROS 2 uses: ros-tooling/action-ros-ci@v0.3 From 92664ff85c24698ab48867a89597afc7d44f97be Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 19 Oct 2023 11:20:35 +0200 Subject: [PATCH 006/162] fix more flake8 issues --- crazyflie_py/crazyflie_py/__init__.py | 2 +- crazyflie_py/crazyflie_py/crazyflie.py | 137 ++++++++++--------- crazyflie_py/crazyflie_py/crazyswarm_py.py | 3 +- crazyflie_py/crazyflie_py/genericJoystick.py | 10 +- crazyflie_py/crazyflie_py/joystick.py | 4 +- crazyflie_py/crazyflie_py/keyboard.py | 5 +- crazyflie_py/crazyflie_py/linuxjsdev.py | 46 +++---- crazyflie_py/crazyflie_py/uav_trajectory.py | 12 +- 8 files changed, 115 insertions(+), 104 deletions(-) diff --git a/crazyflie_py/crazyflie_py/__init__.py b/crazyflie_py/crazyflie_py/__init__.py index 6184517df..44fbd53e3 100644 --- a/crazyflie_py/crazyflie_py/__init__.py +++ b/crazyflie_py/crazyflie_py/__init__.py @@ -1,3 +1,3 @@ from .crazyswarm_py import Crazyswarm -__all__ = ["Crazyswarm"] +__all__ = ['Crazyswarm'] diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index c679e6c62..03055a8bc 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -1,9 +1,9 @@ #!/usr/bin/env python +from collections import defaultdict # import sys # import rospy -import numpy as np # import time # import tf_conversions # from std_srvs.srv import Empty @@ -13,18 +13,19 @@ # from tf import TransformListener # from .visualizer import visNull -from collections import defaultdict + +from crazyflie_interfaces.msg import FullState, Position, TrajectoryPolynomialPiece +from crazyflie_interfaces.srv import GoTo, Land,\ + NotifySetpointsStop, StartTrajectory, Takeoff, UploadTrajectory +from geometry_msgs.msg import Point +import numpy as np +from rcl_interfaces.msg import Parameter, ParameterType, ParameterValue +from rcl_interfaces.srv import DescribeParameters, GetParameters, ListParameters, SetParameters import rclpy import rclpy.node import rowan from std_srvs.srv import Empty -from geometry_msgs.msg import Point -from rcl_interfaces.srv import GetParameters, SetParameters, ListParameters, DescribeParameters -from rcl_interfaces.msg import Parameter, ParameterValue, ParameterType -from crazyflie_interfaces.srv import Takeoff, Land, GoTo, \ - UploadTrajectory, StartTrajectory, NotifySetpointsStop -from crazyflie_interfaces.msg import TrajectoryPolynomialPiece, FullState, Position def arrayToGeometryPoint(a): @@ -109,42 +110,42 @@ def __init__(self, node, cfname, paramTypeDict): paramTypeDict: dictionary of the parameter types """ - prefix = "/" + cfname + prefix = '/' + cfname self.prefix = prefix self.node = node # self.tf = tf - # rospy.wait_for_service(prefix + "/set_group_mask") - # self.setGroupMaskService = rospy.ServiceProxy(prefix + "/set_group_mask", SetGroupMask) - self.emergencyService = node.create_client(Empty, prefix + "/emergency") + # rospy.wait_for_service(prefix + '/set_group_mask') + # self.setGroupMaskService = rospy.ServiceProxy(prefix + '/set_group_mask', SetGroupMask) + self.emergencyService = node.create_client(Empty, prefix + '/emergency') self.emergencyService.wait_for_service() - self.takeoffService = node.create_client(Takeoff, prefix + "/takeoff") + self.takeoffService = node.create_client(Takeoff, prefix + '/takeoff') self.takeoffService.wait_for_service() - self.landService = node.create_client(Land, prefix + "/land") + self.landService = node.create_client(Land, prefix + '/land') self.landService.wait_for_service() - # # rospy.wait_for_service(prefix + "/stop") - # # self.stopService = rospy.ServiceProxy(prefix + "/stop", Stop) - self.goToService = node.create_client(GoTo, prefix + "/go_to") + # # rospy.wait_for_service(prefix + '/stop') + # # self.stopService = rospy.ServiceProxy(prefix + '/stop', Stop) + self.goToService = node.create_client(GoTo, prefix + '/go_to') self.goToService.wait_for_service() self.uploadTrajectoryService = node.create_client( - UploadTrajectory, prefix + "/upload_trajectory") + UploadTrajectory, prefix + '/upload_trajectory') self.uploadTrajectoryService.wait_for_service() self.startTrajectoryService = node.create_client( - StartTrajectory, prefix + "/start_trajectory") + StartTrajectory, prefix + '/start_trajectory') self.startTrajectoryService.wait_for_service() self.notifySetpointsStopService = node.create_client( - NotifySetpointsStop, prefix + "/notify_setpoints_stop") + NotifySetpointsStop, prefix + '/notify_setpoints_stop') self.notifySetpointsStopService.wait_for_service() self.setParamsService = node.create_client( - SetParameters, "/crazyflie_server/set_parameters") + SetParameters, '/crazyflie_server/set_parameters') self.setParamsService.wait_for_service() # Query some settings - getParamsService = node.create_client(GetParameters, "/crazyflie_server/get_parameters") + getParamsService = node.create_client(GetParameters, '/crazyflie_server/get_parameters') getParamsService.wait_for_service() req = GetParameters.Request() - req.names = ["robots.{}.initial_position".format(cfname), "robots.{}.uri".format(cfname)] + req.names = ['robots.{}.initial_position'.format(cfname), 'robots.{}.uri'.format(cfname)] future = getParamsService.call_async(req) while rclpy.ok(): rclpy.spin_once(node) @@ -166,26 +167,26 @@ def __init__(self, node, cfname, paramTypeDict): self.paramTypeDict = paramTypeDict self.cmdFullStatePublisher = node.create_publisher( - FullState, prefix + "/cmd_full_state", 1) + FullState, prefix + '/cmd_full_state', 1) self.cmdFullStateMsg = FullState() - self.cmdFullStateMsg.header.frame_id = "/world" + self.cmdFullStateMsg.header.frame_id = '/world' # self.cmdStopPublisher = rospy.Publisher( - # prefix + "/cmd_stop", std_msgs.msg.Empty, queue_size=1) + # prefix + '/cmd_stop', std_msgs.msg.Empty, queue_size=1) # self.cmdVelPublisher = rospy.Publisher( - # prefix + "/cmd_vel", geometry_msgs.msg.Twist, queue_size=1) + # prefix + '/cmd_vel', geometry_msgs.msg.Twist, queue_size=1) self.cmdPositionPublisher = node.create_publisher( - Position, prefix + "/cmd_position", 1) + Position, prefix + '/cmd_position', 1) self.cmdPositionMsg = Position() - self.cmdPositionMsg.header.frame_id = "/world" + self.cmdPositionMsg.header.frame_id = '/world' # self.cmdVelocityWorldPublisher = rospy.Publisher( - # prefix + "/cmd_velocity_world", VelocityWorld, queue_size=1) + # prefix + '/cmd_velocity_world', VelocityWorld, queue_size=1) # self.cmdVelocityWorldMsg = VelocityWorld() # self.cmdVelocityWorldMsg.header.seq = 0 - # self.cmdVelocityWorldMsg.header.frame_id = "/world" + # self.cmdVelocityWorldMsg.header.frame_id = '/world' # def setGroupMask(self, groupMask): # """Sets the group mask bits for this robot. @@ -193,7 +194,7 @@ def __init__(self, node, cfname, paramTypeDict): # The purpose of groups is to make it possible to trigger an action # (for example, executing a previously-uploaded trajectory) on a subset # of all robots without needing to send more than one radio packet. - # This is important to achieve tight, synchronized "choreography". + # This is important to achieve tight, synchronized 'choreography'. # Up to 8 groups may exist, corresponding to bits in the groupMask byte. # When a broadcast command is triggered on the :obj:`CrazyflieServer` object @@ -240,15 +241,15 @@ def __init__(self, node, cfname, paramTypeDict): # # Set radii before enabling to ensure collision avoidance never # # observes a wrong radius value. # self.setParams({ - # "colAv/ellipsoidX": float(ellipsoidRadii[0]), - # "colAv/ellipsoidY": float(ellipsoidRadii[1]), - # "colAv/ellipsoidZ": float(ellipsoidRadii[2]), + # 'colAv/ellipsoidX': float(ellipsoidRadii[0]), + # 'colAv/ellipsoidY': float(ellipsoidRadii[1]), + # 'colAv/ellipsoidZ': float(ellipsoidRadii[2]), # }) - # self.setParam("colAv/enable", 1) + # self.setParam('colAv/enable', 1) # def disableCollisionAvoidance(self): # """Disables onboard collision avoidance.""" - # self.setParam("colAv/enable", 0) + # self.setParam('colAv/enable', 0) def emergency(self): """ @@ -469,9 +470,9 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): # position (np.array[3]): Current position. Meters. # """ # self.tf.waitForTransform( - # "/world", "/cf" + str(self.id), rospy.Time(0), rospy.Duration(10)) + # '/world', '/cf' + str(self.id), rospy.Time(0), rospy.Duration(10)) # position, quaternion = self.tf.lookupTransform( - # "/world", "/cf" + str(self.id), rospy.Time(0)) + # '/world', '/cf' + str(self.id), rospy.Time(0)) # return np.array(position) # def getParam(self, name): @@ -493,7 +494,7 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): # Returns: # value (Any): The parameter's value. # """ - # return rospy.get_param(self.prefix + "/" + name) + # return rospy.get_param(self.prefix + '/' + name) def setParam(self, name, value): """ @@ -507,7 +508,7 @@ def setParam(self, name, value): value (Any): The parameter's value. """ - param_name = self.prefix[1:] + ".params." + name + param_name = self.prefix[1:] + '.params.' + name param_type = self.paramTypeDict[name] if param_type == ParameterType.PARAMETER_INTEGER: param_value = ParameterValue(type=param_type, integer_value=int(value)) @@ -526,7 +527,7 @@ def setParam(self, name, value): # params (Dict[str, Any]): Dict of parameter names/values. # """ # for name, value in params.items(): - # rospy.set_param(self.prefix + "/" + name, value) + # rospy.set_param(self.prefix + '/' + name, value) # self.updateParamsService(params.keys()) def cmdFullState(self, pos, vel, acc, yaw, omega): @@ -614,11 +615,11 @@ def cmdFullState(self, pos, vel, acc, yaw, omega): # self.cmdStopPublisher.publish(std_msgs.msg.Empty()) # def cmdVel(self, roll, pitch, yawrate, thrust): - # """Sends a streaming command of the "easy mode" manual control inputs. + # """Sends a streaming command of the 'easy mode' manual control inputs. # The (absolute roll & pitch, yaw rate, thrust) inputs are typically # used for manual flying by beginners or causal pilots, as opposed to the - # "acrobatic mode" inputs where roll and pitch rates are controlled + # 'acrobatic mode' inputs where roll and pitch rates are controlled # instead of absolute angles. This mode limits the possible maneuvers, # e.g. it is not possible to do a flip because the controller joystick # would need to rotate 360 degrees. @@ -678,7 +679,7 @@ def cmdPosition(self, pos, yaw=0.): # common to change the LED ring color many times during a flight, e.g. # as some kind of status indicator. This method makes it convenient. - # PRECONDITION: The param "ring/effect" must be set to 7 (solid color) + # PRECONDITION: The param 'ring/effect' must be set to 7 (solid color) # for this command to have any effect. The default mode uses the ring # color to indicate radio connection quality. @@ -690,9 +691,9 @@ def cmdPosition(self, pos, yaw=0.): # g (float): Green component of color, in range [0, 1]. # b (float): Blue component of color, in range [0, 1]. # """ - # self.setParam("ring/solidRed", int(r * 255)) - # self.setParam("ring/solidGreen", int(g * 255)) - # self.setParam("ring/solidBlue", int(b * 255)) + # self.setParam('ring/solidRed', int(r * 255)) + # self.setParam('ring/solidGreen', int(g * 255)) + # self.setParam('ring/solidBlue', int(b * 255)) class CrazyflieServer(rclpy.node.Node): @@ -712,37 +713,37 @@ class CrazyflieServer(rclpy.node.Node): def __init__(self): """Initialize the server. Waits for all ROS services before returning.""" - super().__init__("CrazyflieAPI") - self.emergencyService = self.create_client(Empty, "all/emergency") + super().__init__('CrazyflieAPI') + self.emergencyService = self.create_client(Empty, 'all/emergency') self.emergencyService.wait_for_service() - self.takeoffService = self.create_client(Takeoff, "all/takeoff") + self.takeoffService = self.create_client(Takeoff, 'all/takeoff') self.takeoffService.wait_for_service() - self.landService = self.create_client(Land, "all/land") + self.landService = self.create_client(Land, 'all/land') self.landService.wait_for_service() - self.goToService = self.create_client(GoTo, "all/go_to") + self.goToService = self.create_client(GoTo, 'all/go_to') self.goToService.wait_for_service() - self.startTrajectoryService = self.create_client(StartTrajectory, "all/start_trajectory") + self.startTrajectoryService = self.create_client(StartTrajectory, 'all/start_trajectory') self.startTrajectoryService.wait_for_service() self.setParamsService = self.create_client( - SetParameters, "/crazyflie_server/set_parameters") + SetParameters, '/crazyflie_server/set_parameters') self.setParamsService.wait_for_service() self.cmdFullStatePublisher = self.create_publisher( - FullState, "all/cmd_full_state", 1) + FullState, 'all/cmd_full_state', 1) self.cmdFullStateMsg = FullState() - self.cmdFullStateMsg.header.frame_id = "/world" + self.cmdFullStateMsg.header.frame_id = '/world' cfnames = [] for srv_name, srv_types in self.get_service_names_and_types(): - if "crazyflie_interfaces/srv/StartTrajectory" in srv_types: - # remove "/" and "/start_trajectory" + if 'crazyflie_interfaces/srv/StartTrajectory' in srv_types: + # remove '/' and '/start_trajectory' cfname = srv_name[1:-17] - if cfname != "all": + if cfname != 'all': cfnames.append(cfname) # Query all parameters - listParamsService = self.create_client(ListParameters, "/crazyflie_server/list_parameters") + listParamsService = self.create_client(ListParameters, '/crazyflie_server/list_parameters') listParamsService.wait_for_service() req = ListParameters.Request() req.depth = ListParameters.Request.DEPTH_RECURSIVE @@ -755,13 +756,13 @@ def __init__(self): # Filter the parameters that belong to this Crazyflie response = future.result() for p in response.result.names: - if ".params." in p: + if '.params.' in p: params.append(p) break # Find the types for the parameters and store them describeParametersService = self.create_client( - DescribeParameters, "/crazyflie_server/describe_parameters") + DescribeParameters, '/crazyflie_server/describe_parameters') describeParametersService.wait_for_service() req = DescribeParameters.Request() req.names = params @@ -773,7 +774,7 @@ def __init__(self): # Filter the parameters that belong to this Crazyflie response = future.result() for p, d in zip(params, response.descriptors): - idx = p.index(".params.") + idx = p.index('.params.') cf_name = p[0:idx] param_name = p[idx+8:] t = d.type @@ -782,11 +783,11 @@ def __init__(self): else: allParamTypeDicts[cf_name] = {param_name: t} break - self.paramTypeDict = allParamTypeDicts["all"] + self.paramTypeDict = allParamTypeDicts['all'] self.crazyflies = [] - self.crazyfliesById = dict() - self.crazyfliesByName = dict() + self.crazyfliesById = {} + self.crazyfliesByName = {} for cfname in cfnames: cf = Crazyflie(self, cfname, allParamTypeDicts[cfname]) self.crazyflies.append(cf) @@ -918,7 +919,7 @@ def startTrajectory(self, trajectoryId, def setParam(self, name, value): """Set parameter via broadcasts. See Crazyflie.setParam for details.""" - param_name = "all.params." + name + param_name = 'all.params.' + name param_type = self.paramTypeDict[name] if param_type == ParameterType.PARAMETER_INTEGER: param_value = ParameterValue(type=param_type, integer_value=int(value)) diff --git a/crazyflie_py/crazyflie_py/crazyswarm_py.py b/crazyflie_py/crazyflie_py/crazyswarm_py.py index 959ac44a6..ad3280639 100644 --- a/crazyflie_py/crazyflie_py/crazyswarm_py.py +++ b/crazyflie_py/crazyflie_py/crazyswarm_py.py @@ -1,10 +1,11 @@ import rclpy from . import genericJoystick -from .crazyflie import TimeHelper, CrazyflieServer +from .crazyflie import CrazyflieServer, TimeHelper class Crazyswarm: + def __init__(self): rclpy.init() diff --git a/crazyflie_py/crazyflie_py/genericJoystick.py b/crazyflie_py/crazyflie_py/genericJoystick.py index 32364b203..1fe1651a3 100644 --- a/crazyflie_py/crazyflie_py/genericJoystick.py +++ b/crazyflie_py/crazyflie_py/genericJoystick.py @@ -1,5 +1,6 @@ import copy # import pyglet + from . import keyboard # class JoyStickHandler: @@ -21,6 +22,7 @@ class Joystick: + def __init__(self, timeHelper): # joysticks = pyglet.input.get_joysticks() # joystick = joysticks[0] @@ -35,14 +37,14 @@ def __init__(self, timeHelper): self.js = linuxjsdev.Joystick() devices = self.js.devices() if len(devices) == 0: - print("Warning: No joystick found!") + print('Warning: No joystick found!') else: - ids = [dev["id"] for dev in devices] + ids = [dev['id'] for dev in devices] # For backwards compatibility, always choose device 0 if available. - self.joyID = 0 if 0 in ids else devices[0]["id"] + self.joyID = 0 if 0 in ids else devices[0]['id'] self.js.open(self.joyID) except ImportError: - print("Warning: Joystick only supported on Linux.") + print('Warning: Joystick only supported on Linux.') # def on_joybutton_press(joystick, button): # print(button) diff --git a/crazyflie_py/crazyflie_py/joystick.py b/crazyflie_py/crazyflie_py/joystick.py index f6ae10500..bdc1a096a 100644 --- a/crazyflie_py/crazyflie_py/joystick.py +++ b/crazyflie_py/crazyflie_py/joystick.py @@ -1,13 +1,15 @@ import time + import rospy from sensor_msgs.msg import Joy class Joystick: + def __init__(self): self.lastButtonState = 0 self.buttonWasPressed = False - rospy.Subscriber("/joy", Joy, self.joyChanged) + rospy.Subscriber('/joy', Joy, self.joyChanged) def joyChanged(self, data): if (not self.buttonWasPressed and diff --git a/crazyflie_py/crazyflie_py/keyboard.py b/crazyflie_py/crazyflie_py/keyboard.py index b4c92992f..d91cd1c25 100644 --- a/crazyflie_py/crazyflie_py/keyboard.py +++ b/crazyflie_py/crazyflie_py/keyboard.py @@ -1,9 +1,10 @@ -import sys import select +import sys import termios class KeyPoller(): + def __enter__(self): # Save the terminal settings self.fd = sys.stdin.fileno() @@ -16,7 +17,7 @@ def __enter__(self): return self - def __exit__(self, type, value, traceback): + def __exit__(self, type, value, traceback): # noqa A002 termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term) def poll(self): diff --git a/crazyflie_py/crazyflie_py/linuxjsdev.py b/crazyflie_py/crazyflie_py/linuxjsdev.py index c9ebf50a3..8bea8def8 100644 --- a/crazyflie_py/crazyflie_py/linuxjsdev.py +++ b/crazyflie_py/crazyflie_py/linuxjsdev.py @@ -37,19 +37,19 @@ import sys if not sys.platform.startswith('linux'): - raise ImportError("Only supported on Linux") + raise ImportError('Only supported on Linux') try: import fcntl except ImportError as e: - raise Exception("fcntl library probably not installed ({})".format(e)) + raise Exception('fcntl library probably not installed ({})'.format(e)) __author__ = 'Bitcraze AB' __all__ = ['Joystick'] logger = logging.getLogger(__name__) -JS_EVENT_FMT = "@IhBB" +JS_EVENT_FMT = '@IhBB' JE_TIME = 0 JE_VALUE = 1 JE_TYPE = 2 @@ -63,8 +63,8 @@ JSIOCGAXES = 0x80016a11 JSIOCGBUTTONS = 0x80016a12 -MODULE_MAIN = "Joystick" -MODULE_NAME = "linuxjsdev" +MODULE_MAIN = 'Joystick' +MODULE_NAME = 'linuxjsdev' class JEvent(object): @@ -76,7 +76,7 @@ def __init__(self, evt_type, number, value): self.value = value def __repr__(self): - return "JEvent(type={}, number={}, value={})".format( + return 'JEvent(type={}, number={}, value={})'.format( self.type, self.number, self.value) @@ -90,7 +90,7 @@ class _JS(): def __init__(self, num, name): self.num = num self.name = name - self._f_name = "/dev/input/js{}".format(num) + self._f_name = '/dev/input/js{}'.format(num) self._f = None self.opened = False @@ -98,12 +98,12 @@ def __init__(self, num, name): self.axes = [] self._prev_pressed = {} - def open(self): + def open(self): # noqa: A003 if self._f: - raise Exception("{} at {} is already " - "opened".format(self.name, self._f_name)) + raise Exception('{} at {} is already ' + 'opened'.format(self.name, self._f_name)) - self._f = open("/dev/input/js{}".format(self.num), "rb") + self._f = open('/dev/input/js{}'.format(self.num), 'rb') fcntl.fcntl(self._f.fileno(), fcntl.F_SETFL, os.O_NONBLOCK) # Get number of axis and button @@ -111,15 +111,15 @@ def open(self): if fcntl.ioctl(self._f.fileno(), JSIOCGAXES, val) != 0: self._f.close() self._f = None - raise Exception("Failed to read number of axes") + raise Exception('Failed to read number of axes') - self.axes = list(0 for i in range(val.value)) + self.axes = [0 for i in range(val.value)] if fcntl.ioctl(self._f.fileno(), JSIOCGBUTTONS, val) != 0: self._f.close() self._f = None - raise Exception("Failed to read number of axes") + raise Exception('Failed to read number of axes') - self.buttons = list(0 for i in range(val.value)) + self.buttons = [0 for i in range(val.value)] self.__initvalues() def close(self): @@ -127,7 +127,7 @@ def close(self): if not self._f: return - logger.info("Closed {} ({})".format(self.name, self.num)) + logger.info('Closed {} ({})'.format(self.name, self.num)) self._f.close() self._f = None @@ -170,7 +170,7 @@ def _read_all_events(self): logger.info(str(e)) self._f.close() self._f = None - raise IOError("Device has been disconnected") + raise IOError('Device has been disconnected') except TypeError: pass except ValueError: @@ -184,7 +184,7 @@ def _read_all_events(self): def read(self): """Return a list of all joystick event since the last call.""" if not self._f: - raise Exception("Joystick device not opened") + raise Exception('Joystick device not opened') self._read_all_events() @@ -201,23 +201,23 @@ def __init__(self): def devices(self): """ - Return a list containing an {"id": id, "name": name} dict for each detected device. + Return a list containing an {'id': id, 'name': name} dict for each detected device. Result is cached once one or more devices are found. """ if len(self._devices) == 0: - syspaths = glob.glob("/sys/class/input/js*") + syspaths = glob.glob('/sys/class/input/js*') for path in syspaths: device_id = int(os.path.basename(path)[2:]) - with open(path + "/device/name") as namefile: + with open(path + '/device/name') as namefile: name = namefile.read().strip() self._js[device_id] = _JS(device_id, name) - self._devices.append({"id": device_id, "name": name}) + self._devices.append({'id': device_id, 'name': name}) return self._devices - def open(self, device_id): + def open(self, device_id): # noqa: A003 """Open the joystick device. The device_id is given by available_devices.""" self._js[device_id].open() diff --git a/crazyflie_py/crazyflie_py/uav_trajectory.py b/crazyflie_py/crazyflie_py/uav_trajectory.py index b75af3585..39e0db1d2 100644 --- a/crazyflie_py/crazyflie_py/uav_trajectory.py +++ b/crazyflie_py/crazyflie_py/uav_trajectory.py @@ -10,11 +10,12 @@ def normalize(v): class Polynomial: + def __init__(self, p): self.p = p # evaluate a polynomial using horner's rule - def eval(self, t): + def eval(self, t): # noqa: A003 assert t >= 0 x = 0.0 for i in range(0, len(self.p)): @@ -27,6 +28,7 @@ def derivative(self): class TrajectoryOutput: + def __init__(self): self.pos = None # position [m] self.vel = None # velocity [m/s] @@ -37,6 +39,7 @@ def __init__(self): # 4d single polynomial piece for x-y-z-yaw, includes duration. class Polynomial4D: + def __init__(self, duration, px, py, pz, pyaw): self.duration = duration self.px = Polynomial(px) @@ -53,7 +56,7 @@ def derivative(self): self.pz.derivative().p, self.pyaw.derivative().p) - def eval(self, t): + def eval(self, t): # noqa: A003 result = TrajectoryOutput() # flat variables result.pos = np.array([self.px.eval(t), self.py.eval(t), self.pz.eval(t)]) @@ -93,6 +96,7 @@ def eval(self, t): class Trajectory: + def __init__(self): self.polynomials = None self.duration = None @@ -101,12 +105,12 @@ def n_pieces(self): return len(self.polynomials) def loadcsv(self, filename): - data = np.loadtxt(filename, delimiter=",", skiprows=1, usecols=range(33)) + data = np.loadtxt(filename, delimiter=',', skiprows=1, usecols=range(33)) self.polynomials = [Polynomial4D(row[0], row[1:9], row[9:17], row[17:25], row[25:33]) for row in data] self.duration = np.sum(data[:, 0]) - def eval(self, t): + def eval(self, t): # noqa: A003 assert t >= 0 assert t <= self.duration From a0a5d533c47326f018440002b376b3db6659aa94 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 19 Oct 2023 22:18:16 +0200 Subject: [PATCH 007/162] disable pep257 checks that are not applicable for us --- crazyflie_py/crazyflie_py/crazyflie.py | 20 +++++--------------- crazyflie_py/crazyflie_py/util.py | 8 ++------ crazyflie_py/test/test_pep257.py | 2 +- docs2/howto.rst | 13 ++++++++++++- 4 files changed, 20 insertions(+), 23 deletions(-) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 03055a8bc..025cac736 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -45,8 +45,7 @@ class TimeHelper: When running on real hardware, this class uses ROS time functions. The simulation equivalent does not depend on ROS. - Attributes - ---------- + Attributes: visualizer: No-op object conforming to the Visualizer API used in simulation scripts. Maintains the property that scripts should not know/care if they are running in simulation or not. @@ -104,10 +103,9 @@ def __init__(self, node, cfname, paramTypeDict): Construct Crazyflie. Args: - ---- - node: ROS node reference - cfname (string): Name of the robot names[ace] - paramTypeDict: dictionary of the parameter types + node: ROS node reference. + cfname (string): Name of the robot names[ace]. + paramTypeDict: dictionary of the parameter types. """ prefix = '/' + cfname @@ -345,7 +343,6 @@ def goTo(self, goal, yaw, duration, relative=False, groupMask=0): controller to become unstable. Args: - ---- goal (iterable of 3 floats): The goal position. Meters. yaw (float): The goal yaw angle (heading). Radians. duration (float): How long until the goal is reached. Seconds. @@ -444,7 +441,6 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): streaming setpoint modes. Args: - ---- remainValidMillisecs (int): Number of milliseconds that the last streaming setpoint should be followed before reverting to the onboard-determined behavior. May be longer e.g. if one radio @@ -503,7 +499,6 @@ def setParam(self, name, value): See :meth:`getParam()` docs for overview of the parameter system. Args: - ---- name (str): The parameter's name. value (Any): The parameter's value. @@ -547,7 +542,6 @@ def cmdFullState(self, pos, vel, acc, yaw, omega): :meth:`goTo()` after a streaming setpoint has been sent. Args: - ---- pos (array-like of float[3]): Position. Meters. vel (array-like of float[3]): Velocity. Meters / second. acc (array-like of float[3]): Acceleration. Meters / second^2. @@ -702,8 +696,7 @@ class CrazyflieServer(rclpy.node.Node): Also is the container for the individual :obj:`Crazyflie` objects. - Attributes - ---------- + Attributes: crazyfiles (List[Crazyflie]): List of one Crazyflie object per robot, as determined by the crazyflies.yaml config file. crazyfliesById (Dict[int, Crazyflie]): Index to the same Crazyflie @@ -873,7 +866,6 @@ def goTo(self, goal, yaw, duration, groupMask=0): See docstring of :meth:`Crazyflie.goTo()` for additional details. Args: - ---- goal (iterable of 3 floats): The goal offset. Meters. yaw (float): The goal yaw angle (heading). Radians. duration (float): How long until the goal is reached. Seconds. @@ -898,7 +890,6 @@ def startTrajectory(self, trajectoryId, Asynchronous command; returns immediately. Args: - ---- trajectoryId (int): ID number as given to :meth:`Crazyflie.uploadTrajectory()`. timescale (float): Scales the trajectory duration by this factor. For example if timescale == 2.0, the trajectory will take twice @@ -946,7 +937,6 @@ def cmdFullState(self, pos, vel, acc, yaw, omega): :meth:`goTo()` after a streaming setpoint has been sent. Args: - ---- pos (array-like of float[3]): Position. Meters. vel (array-like of float[3]): Velocity. Meters / second. acc (array-like of float[3]): Acceleration. Meters / second^2. diff --git a/crazyflie_py/crazyflie_py/util.py b/crazyflie_py/crazyflie_py/util.py index 602862b5b..2c201ff9c 100644 --- a/crazyflie_py/crazyflie_py/util.py +++ b/crazyflie_py/crazyflie_py/util.py @@ -10,12 +10,10 @@ def check_ellipsoid_collisions(positions, radii): Check for collisions between a set of ellipsoids at given positions. Args: - ---- positions (array float[n, 3]): The ellipsoid centers. radii (array float[3]): The radii of the axis-aligned ellipsoids. - Returns - ------- + Returns: colliding (array bool[n]): True at index i if the i'th ellipsoid intersects any of the other ellipsoids. @@ -38,13 +36,11 @@ def poisson_disk_sample(n, dim, mindist): TODO(jpreiss): find/implement a library with a fast algorithm. Args: - ---- n (int): Number of points. dim (int): Dimensionality of points. mindist (float): Minimum Euclidean distance between any two points. - Returns - ------- + Returns: pts (array float[n, dim]): The sampled points. """ diff --git a/crazyflie_py/test/test_pep257.py b/crazyflie_py/test/test_pep257.py index b234a3840..bd90b5f8e 100644 --- a/crazyflie_py/test/test_pep257.py +++ b/crazyflie_py/test/test_pep257.py @@ -19,5 +19,5 @@ @pytest.mark.linter @pytest.mark.pep257 def test_pep257(): - rc = main(argv=['.', 'test']) + rc = main(argv=['.', 'test', '--add-ignore', 'D406', 'D407', 'D417']) assert rc == 0, 'Found code style errors / warnings' diff --git a/docs2/howto.rst b/docs2/howto.rst index abdeecc1c..7c214d872 100644 --- a/docs2/howto.rst +++ b/docs2/howto.rst @@ -90,4 +90,15 @@ To close the logblocks again, run: .. code-block:: bash ros2 service call /cf2/remove_logging crazyflie_interfaces/srv/RemoveLogging "{topic_name: 'topic_test'}" - ros2 service call /cf2/remove_logging crazyflie_interfaces/srv/RemoveLogging "{topic_name: 'pose'}" \ No newline at end of file + ros2 service call /cf2/remove_logging crazyflie_interfaces/srv/RemoveLogging "{topic_name: 'pose'}" + +Run Tests Locally +----------------- + +This requires some updated pip packages for testing, see https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html, otherwise the reported failures will be inconsistent with CI. + +Then execute: + +``` +colcon test --event-handlers=console_cohesion+ --return-code-on-test-failure --packages-select crazyflie_py +``` From a3d5feaaad1142f41a64f2a9d134aac6ec19cd30 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Fri, 20 Oct 2023 21:05:59 +0200 Subject: [PATCH 008/162] crazyflie_sim: fix flake8 and pep256 issues --- crazyflie_sim/CMakeLists.txt | 16 ++ crazyflie_sim/crazyflie_sim/backend/none.py | 8 +- crazyflie_sim/crazyflie_sim/backend/np.py | 53 ++-- .../crazyflie_sim/crazyflie_server.py | 242 ++++++++++-------- crazyflie_sim/crazyflie_sim/crazyflie_sil.py | 103 +++++--- crazyflie_sim/crazyflie_sim/sim_data_types.py | 25 +- .../crazyflie_sim/visualization/blender.py | 146 ++++++----- .../crazyflie_sim/visualization/pdf.py | 96 +++---- .../visualization/record_states.py | 82 +++--- .../crazyflie_sim/visualization/rviz.py | 10 +- crazyflie_sim/package.xml | 1 + crazyflie_sim/test/test_copyright.py | 23 -- 12 files changed, 442 insertions(+), 363 deletions(-) delete mode 100644 crazyflie_sim/test/test_copyright.py diff --git a/crazyflie_sim/CMakeLists.txt b/crazyflie_sim/CMakeLists.txt index 61965fed1..e144c2c35 100644 --- a/crazyflie_sim/CMakeLists.txt +++ b/crazyflie_sim/CMakeLists.txt @@ -16,4 +16,20 @@ ament_python_install_package(${PROJECT_NAME} SCRIPTS_DESTINATION lib/${PROJECT_N # DESTINATION share/${PROJECT_NAME}/ # ) +if(BUILD_TESTING) + find_package(ament_cmake_pytest REQUIRED) + set(_pytest_tests + test/test_flake8.py + test/test_pep257.py + ) + foreach(_test_path ${_pytest_tests}) + get_filename_component(_test_name ${_test_path} NAME_WE) + ament_add_pytest_test(${_test_name} ${_test_path} + APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} + TIMEOUT 60 + WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} + ) + endforeach() +endif() + ament_package() diff --git a/crazyflie_sim/crazyflie_sim/backend/none.py b/crazyflie_sim/crazyflie_sim/backend/none.py index c4bcf08a1..48b4c4bda 100644 --- a/crazyflie_sim/crazyflie_sim/backend/none.py +++ b/crazyflie_sim/crazyflie_sim/backend/none.py @@ -1,13 +1,14 @@ from __future__ import annotations from rclpy.node import Node -from rosgraph_msgs.msg import Clock from rclpy.time import Time -from ..sim_data_types import State, Action +from rosgraph_msgs.msg import Clock + +from ..sim_data_types import Action, State class Backend: - """Tracks the desired state perfectly (no physics simulation)""" + """Tracks the desired state perfectly (no physics simulation).""" def __init__(self, node: Node, names: list[str], states: list[State]): self.node = node @@ -33,4 +34,3 @@ def step(self, states_desired: list[State], actions: list[Action]) -> list[State def shutdown(self): pass - diff --git a/crazyflie_sim/crazyflie_sim/backend/np.py b/crazyflie_sim/crazyflie_sim/backend/np.py index eb2e43eb9..26e0c4cc3 100644 --- a/crazyflie_sim/crazyflie_sim/backend/np.py +++ b/crazyflie_sim/crazyflie_sim/backend/np.py @@ -1,16 +1,16 @@ from __future__ import annotations +import numpy as np from rclpy.node import Node -from rosgraph_msgs.msg import Clock from rclpy.time import Time -from ..sim_data_types import State, Action +from rosgraph_msgs.msg import Clock +import rowan +from ..sim_data_types import Action, State -import numpy as np -import rowan class Backend: - """Backend that uses newton-euler rigid-body dynamics implemented in numpy""" + """Backend that uses newton-euler rigid-body dynamics implemented in numpy.""" def __init__(self, node: Node, names: list[str], states: list[State]): self.node = node @@ -50,11 +50,11 @@ def shutdown(self): class Quadrotor: - """Basic rigid body quadrotor model (no drag) using numpy and rowan""" + """Basic rigid body quadrotor model (no drag) using numpy and rowan.""" def __init__(self, state): # parameters (Crazyflie 2.0 quadrotor) - self.mass = 0.034 # kg + self.mass = 0.034 # kg # self.J = np.array([ # [16.56,0.83,0.71], # [0.83,16.66,1.8], @@ -63,21 +63,21 @@ def __init__(self, state): self.J = np.array([16.571710e-6, 16.655602e-6, 29.261652e-6]) # Note: we assume here that our control is forces - arm_length = 0.046 # m + arm_length = 0.046 # m arm = 0.707106781 * arm_length - t2t = 0.006 # thrust-to-torque ratio + t2t = 0.006 # thrust-to-torque ratio self.B0 = np.array([ [1, 1, 1, 1], [-arm, -arm, arm, arm], [-arm, arm, arm, -arm], [-t2t, t2t, -t2t, t2t] ]) - self.g = 9.81 # not signed + self.g = 9.81 # not signed - if self.J.shape == (3,3): - self.inv_J = np.linalg.pinv(self.J) # full matrix -> pseudo inverse + if self.J.shape == (3, 3): + self.inv_J = np.linalg.pinv(self.J) # full matrix -> pseudo inverse else: - self.inv_J = 1 / self.J # diagonal matrix -> division + self.inv_J = 1 / self.J # diagonal matrix -> division self.state = state @@ -95,23 +95,28 @@ def rpm_to_force(rpm): # compute next state eta = np.dot(self.B0, force) - f_u = np.array([0,0,eta[0]]) - tau_u = np.array([eta[1],eta[2],eta[3]]) + f_u = np.array([0, 0, eta[0]]) + tau_u = np.array([eta[1], eta[2], eta[3]]) - # dynamics - # dot{p} = v + # dynamics + # dot{p} = v pos_next = self.state.pos + self.state.vel * dt - # mv = mg + R f_u - vel_next = self.state.vel + (np.array([0,0,-self.g]) + rowan.rotate(self.state.quat,f_u) / self.mass) * dt + # mv = mg + R f_u + vel_next = self.state.vel + ( + np.array([0, 0, -self.g]) + + rowan.rotate(self.state.quat, f_u) / self.mass) * dt # dot{R} = R S(w) # to integrate the dynamics, see # https://www.ashwinnarayan.com/post/how-to-integrate-quaternions/, and # https://arxiv.org/pdf/1604.08139.pdf - q_next = rowan.normalize(rowan.calculus.integrate(self.state.quat, self.state.omega, dt)) + q_next = rowan.normalize( + rowan.calculus.integrate( + self.state.quat, self.state.omega, dt)) - # mJ = Jw x w + tau_u - omega_next = self.state.omega + (self.inv_J * (np.cross(self.J * self.state.omega, self.state.omega) + tau_u)) * dt + # mJ = Jw x w + tau_u + omega_next = self.state.omega + ( + self.inv_J * (np.cross(self.J * self.state.omega, self.state.omega) + tau_u)) * dt self.state.pos = pos_next self.state.vel = vel_next @@ -121,5 +126,5 @@ def rpm_to_force(rpm): # if we fall below the ground, set velocities to 0 if self.state.pos[2] < 0: self.state.pos[2] = 0 - self.state.vel = [0,0,0] - self.state.omega = [0,0,0] + self.state.vel = [0, 0, 0] + self.state.omega = [0, 0, 0] diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_server.py b/crazyflie_sim/crazyflie_sim/crazyflie_server.py index 0ba75f78f..8c3364e83 100755 --- a/crazyflie_sim/crazyflie_sim/crazyflie_server.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_server.py @@ -3,79 +3,84 @@ """ A crazyflie server for simulation. - 2022 - Wolfgang Hönig (TU Berlin) """ +from functools import partial +import importlib + +from crazyflie_interfaces.msg import FullState, Hover +from crazyflie_interfaces.srv import GoTo, Land, Takeoff +from crazyflie_interfaces.srv import NotifySetpointsStop, StartTrajectory, UploadTrajectory +from geometry_msgs.msg import Twist import rclpy from rclpy.node import Node import rowan -import importlib - -from crazyflie_interfaces.srv import Takeoff, Land, GoTo -from crazyflie_interfaces.srv import UploadTrajectory, StartTrajectory, NotifySetpointsStop -from crazyflie_interfaces.msg import Hover, FullState - from std_srvs.srv import Empty -from geometry_msgs.msg import Twist -from functools import partial # import BackendRviz from .backend_rviz # from .backend import * # from .backend.none import BackendNone from .crazyflie_sil import CrazyflieSIL, TrajectoryPolynomialPiece -from .sim_data_types import State, Action +from .sim_data_types import State class CrazyflieServer(Node): + def __init__(self): super().__init__( - "crazyflie_server", + 'crazyflie_server', allow_undeclared_parameters=True, automatically_declare_parameters_from_overrides=True, ) # Turn ROS parameters into a dictionary self._ros_parameters = self._param_to_dict(self._parameters) - self.cfs = dict() - - self.world_tf_name = "world" + self.cfs = {} + + self.world_tf_name = 'world' try: - self.world_tf_name = self._ros_parameters["world_tf_name"] + self.world_tf_name = self._ros_parameters['world_tf_name'] except KeyError: pass - robot_data = self._ros_parameters["robots"] + robot_data = self._ros_parameters['robots'] # Parse robots names = [] initial_states = [] for cfname in robot_data: - if robot_data[cfname]["enabled"]: - type_cf = robot_data[cfname]["type"] + if robot_data[cfname]['enabled']: + type_cf = robot_data[cfname]['type'] # do not include virtual objects - connection = self._ros_parameters['robot_types'][type_cf].get("connection", "crazyflie") - if connection == "crazyflie": + connection = self._ros_parameters['robot_types'][type_cf].get( + 'connection', 'crazyflie') + if connection == 'crazyflie': names.append(cfname) - pos = robot_data[cfname]["initial_position"] + pos = robot_data[cfname]['initial_position'] initial_states.append(State(pos)) # initialize backend by dynamically loading the module - backend_name = self._ros_parameters["sim"]["backend"] - module = importlib.import_module(".backend." + backend_name, package="crazyflie_sim") - class_ = getattr(module, "Backend") + backend_name = self._ros_parameters['sim']['backend'] + module = importlib.import_module('.backend.' + backend_name, package='crazyflie_sim') + class_ = getattr(module, 'Backend') self.backend = class_(self, names, initial_states) # initialize visualizations by dynamically loading the modules self.visualizations = [] - for vis_key in self._ros_parameters["sim"]["visualizations"]: - if self._ros_parameters["sim"]["visualizations"][vis_key]["enabled"]: - module = importlib.import_module(".visualization." + str(vis_key), package="crazyflie_sim") - class_ = getattr(module, "Visualization") - vis = class_(self, self._ros_parameters["sim"]["visualizations"][vis_key], names, initial_states) + for vis_key in self._ros_parameters['sim']['visualizations']: + if self._ros_parameters['sim']['visualizations'][vis_key]['enabled']: + module = importlib.import_module('.visualization.' + + str(vis_key), + package='crazyflie_sim') + class_ = getattr(module, 'Visualization') + vis = class_(self, + self._ros_parameters['sim']['visualizations'][vis_key], + names, + initial_states) self.visualizations.append(vis) - controller_name = backend_name = self._ros_parameters["sim"]["controller"] + controller_name = backend_name = self._ros_parameters['sim']['controller'] # create robot SIL objects for name, initial_state in zip(names, initial_states): @@ -86,51 +91,72 @@ def __init__(self): self.backend.time) # Create services for the entire swarm and each individual crazyflie - self.create_service(Empty, "all/emergency", self._emergency_callback) - self.create_service(Takeoff, "all/takeoff", self._takeoff_callback) - self.create_service(Land, "all/land", self._land_callback) - self.create_service(GoTo, "all/go_to", self._go_to_callback) - self.create_service(StartTrajectory, "all/start_trajectory", self._start_trajectory_callback) + self.create_service(Empty, 'all/emergency', self._emergency_callback) + self.create_service(Takeoff, 'all/takeoff', self._takeoff_callback) + self.create_service(Land, 'all/land', self._land_callback) + self.create_service(GoTo, 'all/go_to', self._go_to_callback) + self.create_service(StartTrajectory, + 'all/start_trajectory', + self._start_trajectory_callback) for name, _ in self.cfs.items(): self.create_service( - Empty, name + - "/emergency", partial(self._emergency_callback, name=name) + Empty, + name + '/emergency', + partial(self._emergency_callback, name=name) ) self.create_service( - Takeoff, name + - "/takeoff", partial(self._takeoff_callback, name=name) + Takeoff, + name + '/takeoff', + partial(self._takeoff_callback, name=name) ) self.create_service( - Land, name + "/land", partial(self._land_callback, name=name) + Land, + name + '/land', + partial(self._land_callback, name=name) ) self.create_service( - GoTo, name + "/go_to", partial(self._go_to_callback, name=name) + GoTo, + name + '/go_to', + partial(self._go_to_callback, name=name) ) self.create_service( - StartTrajectory, name + "/start_trajectory", partial(self._start_trajectory_callback, name=name) + StartTrajectory, + name + '/start_trajectory', + partial(self._start_trajectory_callback, name=name) ) self.create_service( - UploadTrajectory, name + "/upload_trajectory", partial(self._upload_trajectory_callback, name=name) + UploadTrajectory, + name + '/upload_trajectory', + partial(self._upload_trajectory_callback, name=name) ) self.create_service( - NotifySetpointsStop, name + "/notify_setpoints_stop", partial(self._notify_setpoints_stop_callback, name=name) + NotifySetpointsStop, + name + '/notify_setpoints_stop', + partial(self._notify_setpoints_stop_callback, name=name) ) self.create_subscription( - Twist, name + - "/cmd_vel_legacy", partial(self._cmd_vel_legacy_changed, name=name), 10 + Twist, + name + '/cmd_vel_legacy', + partial(self._cmd_vel_legacy_changed, name=name), + 10 ) self.create_subscription( - Hover, name + - "/cmd_hover", partial(self._cmd_hover_changed, name=name), 10 + Hover, + name + '/cmd_hover', + partial(self._cmd_hover_changed, name=name), + 10 ) self.create_subscription( - FullState, name + - "/cmd_full_state", partial(self._cmd_full_state_changed, name=name), 10 + FullState, + name + '/cmd_full_state', + partial(self._cmd_full_state_changed, name=name), + 10 ) # step as fast as possible - max_dt = 0.0 if "max_dt" not in self._ros_parameters["sim"] else self._ros_parameters["sim"]["max_dt"] + max_dt = 0.0 if 'max_dt' not in self._ros_parameters['sim'] \ + else self._ros_parameters['sim']['max_dt'] self.timer = self.create_timer(max_dt, self._timer_callback) self.is_shutdown = False @@ -147,7 +173,7 @@ def _timer_callback(self): states_desired = [cf.getSetpoint() for _, cf in self.cfs.items()] # execute the control loop - actions = [cf.executeController() for _, cf in self.cfs.items()] + actions = [cf.executeController() for _, cf in self.cfs.items()] # execute the physics simulator states_next = self.backend.step(states_desired, actions) @@ -160,9 +186,7 @@ def _timer_callback(self): vis.step(self.backend.time(), states_next, states_desired, actions) def _param_to_dict(self, param_ros): - """ - Turn ROS 2 parameters from the node into a dict - """ + """Turn ROS 2 parameters from the node into a dict.""" tree = {} for item in param_ros: t = tree @@ -173,58 +197,48 @@ def _param_to_dict(self, param_ros): t = t.setdefault(part, {}) return tree - def _emergency_callback(self, request, response, name="all"): - self.get_logger().info("emergency not yet implemented") + def _emergency_callback(self, request, response, name='all'): + self.get_logger().info('emergency not yet implemented') return response - def _takeoff_callback(self, request, response, name="all"): - """ - Service callback to take the crazyflie land to - a certain height in high level commander - """ - + def _takeoff_callback(self, request, response, name='all'): + """Service callback to takeoff the crazyflie.""" duration = float(request.duration.sec) + \ float(request.duration.nanosec / 1e9) self.get_logger().info( - f"takeoff(height={request.height} m," - + f"duration={duration} s," - + f"group_mask={request.group_mask}) {name}" + f'takeoff(height={request.height} m,' + + f'duration={duration} s,' + + f'group_mask={request.group_mask}) {name}' ) - cfs = self.cfs if name == "all" else {name: self.cfs[name]} + cfs = self.cfs if name == 'all' else {name: self.cfs[name]} for _, cf in cfs.items(): cf.takeoff(request.height, duration, request.group_mask) return response - def _land_callback(self, request, response, name="all"): - """ - Service callback to make the crazyflie land to - a certain height in high level commander - """ + def _land_callback(self, request, response, name='all'): + """Service callback to land the crazyflie.""" duration = float(request.duration.sec) + \ float(request.duration.nanosec / 1e9) self.get_logger().info( - f"land(height={request.height} m," - + f"duration={duration} s," - + f"group_mask={request.group_mask})" + f'land(height={request.height} m,' + + f'duration={duration} s,' + + f'group_mask={request.group_mask})' ) - cfs = self.cfs if name == "all" else {name: self.cfs[name]} + cfs = self.cfs if name == 'all' else {name: self.cfs[name]} for _, cf in cfs.items(): cf.land(request.height, duration, request.group_mask) return response - def _go_to_callback(self, request, response, name="all"): - """ - Service callback to have the crazyflie go to - a certain position in high level commander - """ + def _go_to_callback(self, request, response, name='all'): + """Service callback to have the crazyflie go to a position.""" duration = float(request.duration.sec) + \ float(request.duration.nanosec / 1e9) self.get_logger().info( - "go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, relative=%d, group_mask=%d)" + 'go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, relative=%d, group_mask=%d)' % ( request.goal.x, request.goal.y, @@ -235,21 +249,21 @@ def _go_to_callback(self, request, response, name="all"): request.group_mask, ) ) - cfs = self.cfs if name == "all" else {name: self.cfs[name]} + cfs = self.cfs if name == 'all' else {name: self.cfs[name]} for _, cf in cfs.items(): - cf.goTo([request.goal.x, request.goal.y, request.goal.z], + cf.goTo([request.goal.x, request.goal.y, request.goal.z], request.yaw, duration, request.relative, request.group_mask) - + return response - def _notify_setpoints_stop_callback(self, request, response, name="all"): - self.get_logger().info("Notify setpoint stop not yet implemented") + def _notify_setpoints_stop_callback(self, request, response, name='all'): + self.get_logger().info('Notify setpoint stop not yet implemented') return response - def _upload_trajectory_callback(self, request, response, name="all"): - self.get_logger().info("Upload trajectory(id=%d)" % (request.trajectory_id)) + def _upload_trajectory_callback(self, request, response, name='all'): + self.get_logger().info('Upload trajectory(id=%d)' % (request.trajectory_id)) - cfs = self.cfs if name == "all" else {name: self.cfs[name]} + cfs = self.cfs if name == 'all' else {name: self.cfs[name]} for _, cf in cfs.items(): pieces = [] for piece in request.pieces: @@ -259,14 +273,19 @@ def _upload_trajectory_callback(self, request, response, name="all"): poly_yaw = piece.poly_yaw duration = float(piece.duration.sec) + \ float(piece.duration.nanosec / 1e9) - pieces.append(TrajectoryPolynomialPiece(poly_x, poly_y, poly_z, poly_yaw, duration)) + pieces.append(TrajectoryPolynomialPiece( + poly_x, + poly_y, + poly_z, + poly_yaw, + duration)) cf.uploadTrajectory(request.trajectory_id, request.piece_offset, pieces) return response - - def _start_trajectory_callback(self, request, response, name="all"): + + def _start_trajectory_callback(self, request, response, name='all'): self.get_logger().info( - "start_trajectory(id=%d, timescale=%f, reverse=%d, relative=%d, group_mask=%d)" + 'start_trajectory(id=%d, timescale=%f, reverse=%d, relative=%d, group_mask=%d)' % ( request.trajectory_id, request.timescale, @@ -275,29 +294,38 @@ def _start_trajectory_callback(self, request, response, name="all"): request.group_mask, ) ) - cfs = self.cfs if name == "all" else {name: self.cfs[name]} + cfs = self.cfs if name == 'all' else {name: self.cfs[name]} for _, cf in cfs.items(): - cf.startTrajectory(request.trajectory_id, request.timescale, request.reversed, request.relative, request.group_mask) + cf.startTrajectory( + request.trajectory_id, + request.timescale, + request.reversed, + request.relative, + request.group_mask) return response - def _cmd_vel_legacy_changed(self, msg, name=""): + def _cmd_vel_legacy_changed(self, msg, name=''): """ - Topic update callback to control the attitude and thrust - of the crazyflie with teleop - """ - self.get_logger().info("cmd_vel_legacy not yet implemented") + Topic update callback. + Controls the attitude and thrust of the crazyflie with teleop. + """ + self.get_logger().info('cmd_vel_legacy not yet implemented') - def _cmd_hover_changed(self, msg, name=""): + def _cmd_hover_changed(self, msg, name=''): """ - Topic update callback to control the hover command - of the crazyflie from the velocity multiplexer (vel_mux) + Topic update callback for hover command. + + Used from the velocity multiplexer (vel_mux). """ - self.get_logger().info("cmd_hover not yet implemented") + self.get_logger().info('cmd_hover not yet implemented') def _cmd_full_state_changed(self, msg, name): - q = [msg.pose.orientation.w, msg.pose.orientation.x, msg.pose.orientation.y, msg.pose.orientation.z] + q = [msg.pose.orientation.w, + msg.pose.orientation.x, + msg.pose.orientation.y, + msg.pose.orientation.z] rpy = rowan.to_euler(q) self.cfs[name].cmdFullState( @@ -323,5 +351,5 @@ def main(args=None): crazyflie_server.destroy_node() -if __name__ == "__main__": +if __name__ == '__main__': main() diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_sil.py b/crazyflie_sim/crazyflie_sim/crazyflie_sil.py index a4f9fe66b..cf904d746 100644 --- a/crazyflie_sim/crazyflie_sim/crazyflie_sil.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_sil.py @@ -1,21 +1,21 @@ #!/usr/bin/env python3 """ -Crazyflie Software-In-The-Loop Wrapper that uses the firmware Python bindings - +Crazyflie Software-In-The-Loop Wrapper that uses the firmware Python bindings. 2022 - Wolfgang Hönig (TU Berlin) """ from __future__ import annotations -import numpy as np - import cffirmware as firm +import numpy as np import rowan + from . import sim_data_types class TrajectoryPolynomialPiece: + def __init__(self, poly_x, poly_y, poly_z, poly_yaw, duration): self.poly_x = poly_x self.poly_y = poly_y @@ -23,6 +23,7 @@ def __init__(self, poly_x, poly_y, poly_z, poly_yaw, duration): self.poly_yaw = poly_yaw self.duration = duration + def copy_svec(v): return firm.mkvec(v.x, v.y, v.z) @@ -36,9 +37,7 @@ class CrazyflieSIL: MODE_LOW_POSITION = 3 MODE_LOW_VELOCITY = 4 - def __init__(self, name, initialPosition, controller_name, time_func): - # Core. self.name = name self.groupMask = 0 @@ -49,7 +48,7 @@ def __init__(self, name, initialPosition, controller_name, time_func): self.mode = CrazyflieSIL.MODE_IDLE self.planner = firm.planner() firm.plan_init(self.planner) - self.trajectories = dict() + self.trajectories = {} # previous state for HL commander self.cmdHl_pos = firm.mkvec(*initialPosition) @@ -68,7 +67,7 @@ def __init__(self, name, initialPosition, controller_name, time_func): self.state.velocity.y = 0 self.state.velocity.z = 0 self.state.attitude.roll = 0 - self.state.attitude.pitch = -0 # WARNING: this is in the legacy coordinate system + self.state.attitude.pitch = -0 # WARNING: this is in the legacy coordinate system self.state.attitude.yaw = 0 self.sensors = firm.sensorData_t() @@ -84,54 +83,65 @@ def __init__(self, name, initialPosition, controller_name, time_func): self.controller_name = controller_name # set up controller - if controller_name == "none": + if controller_name == 'none': self.controller = None - elif controller_name == "pid": + elif controller_name == 'pid': firm.controllerPidInit() self.controller = firm.controllerPid - elif controller_name == "mellinger": + elif controller_name == 'mellinger': self.mellinger_control = firm.controllerMellinger_t() firm.controllerMellingerInit(self.mellinger_control) self.controller = firm.controllerMellinger - elif controller_name == "brescianini": + elif controller_name == 'brescianini': firm.controllerBrescianiniInit() self.controller = firm.controllerBrescianini else: - raise ValueError("Unknown controller {}".format(controller_name)) + raise ValueError('Unknown controller {}'.format(controller_name)) def setGroupMask(self, groupMask): self.groupMask = groupMask - def takeoff(self, targetHeight, duration, groupMask = 0): + def takeoff(self, targetHeight, duration, groupMask=0): if self._isGroup(groupMask): self.mode = CrazyflieSIL.MODE_HIGH_POLY targetYaw = 0.0 - firm.plan_takeoff(self.planner, + firm.plan_takeoff( + self.planner, self.cmdHl_pos, - self.cmdHl_yaw, targetHeight, targetYaw, duration, self.time_func()) + self.cmdHl_yaw, + targetHeight, targetYaw, duration, self.time_func()) - def land(self, targetHeight, duration, groupMask = 0): + def land(self, targetHeight, duration, groupMask=0): if self._isGroup(groupMask): self.mode = CrazyflieSIL.MODE_HIGH_POLY targetYaw = 0.0 - firm.plan_land(self.planner, + firm.plan_land( + self.planner, self.cmdHl_pos, - self.cmdHl_yaw, targetHeight, targetYaw, duration, self.time_func()) + self.cmdHl_yaw, + targetHeight, targetYaw, duration, self.time_func()) # def stop(self, groupMask = 0): # if self._isGroup(groupMask): # self.mode = CrazyflieSIL.MODE_IDLE # firm.plan_stop(self.planner) - def goTo(self, goal, yaw, duration, relative = False, groupMask = 0): + def goTo(self, goal, yaw, duration, relative=False, groupMask=0): if self._isGroup(groupMask): if self.mode != CrazyflieSIL.MODE_HIGH_POLY: # We need to update to the latest firmware that has go_to_from. - raise ValueError("goTo from low-level modes not yet supported.") + raise ValueError('goTo from low-level modes not yet supported.') self.mode = CrazyflieSIL.MODE_HIGH_POLY - firm.plan_go_to(self.planner, relative, firm.mkvec(*goal), yaw, duration, self.time_func()) - - def uploadTrajectory(self, trajectoryId: int, pieceOffset: int, pieces: list[TrajectoryPolynomialPiece]): + firm.plan_go_to( + self.planner, + relative, + firm.mkvec(*goal), + yaw, duration, self.time_func()) + + def uploadTrajectory(self, + trajectoryId: int, + pieceOffset: int, + pieces: list[TrajectoryPolynomialPiece]): traj = firm.piecewise_traj() traj.t_begin = 0 traj.timescale = 1.0 @@ -148,7 +158,12 @@ def uploadTrajectory(self, trajectoryId: int, pieceOffset: int, pieces: list[Tra firm.poly4d_set(fwpiece, 3, coef, piece.poly_yaw[coef]) self.trajectories[trajectoryId] = traj - def startTrajectory(self, trajectoryId: int, timescale: float = 1.0, reverse: bool = False, relative: bool = True, groupMask: int = 0): + def startTrajectory(self, + trajectoryId: int, + timescale: float = 1.0, + reverse: bool = False, + relative: bool = True, + groupMask: int = 0): if self._isGroup(groupMask): self.mode = CrazyflieSIL.MODE_HIGH_POLY traj = self.trajectories[trajectoryId] @@ -185,7 +200,7 @@ def cmdFullState(self, pos, vel, acc, yaw, omega): self.setpoint.acceleration.x = acc[0] self.setpoint.acceleration.y = acc[1] self.setpoint.acceleration.z = acc[2] - + self.cmdHl_pos = copy_svec(self.setpoint.position) self.cmdHl_vel = copy_svec(self.setpoint.velocity) self.cmdHl_yaw = yaw @@ -282,18 +297,24 @@ def executeController(self): return None if self.mode != CrazyflieSIL.MODE_HIGH_POLY: - return sim_data_types.Action([0,0,0,0]) + return sim_data_types.Action([0, 0, 0, 0]) time_in_seconds = self.time_func() # ticks is essentially the time in milliseconds as an integer tick = int(time_in_seconds * 1000) - if self.controller_name != "mellinger": + if self.controller_name != 'mellinger': self.controller(self.control, self.setpoint, self.sensors, self.state, tick) else: - self.controller(self.mellinger_control, self.control, self.setpoint, self.sensors, self.state, tick) + self.controller( + self.mellinger_control, + self.control, + self.setpoint, + self.sensors, + self.state, + tick) return self._fwcontrol_to_sim_data_types_action() - # "private" methods + # 'private' methods def _isGroup(self, groupMask): return groupMask == 0 or (self.groupMask & groupMask) > 0 @@ -313,23 +334,29 @@ def pwm_to_rpm(pwm): def pwm_to_force(pwm): # polyfit using data and scripts from https://github.com/IMRCLab/crazyflie-system-id - p = [ 1.71479058e-09, 8.80284482e-05, -2.21152097e-01] + p = [1.71479058e-09, 8.80284482e-05, -2.21152097e-01] force_in_grams = np.polyval(p, pwm) force_in_newton = force_in_grams * 9.81 / 1000.0 return np.maximum(force_in_newton, 0) - return sim_data_types.Action([pwm_to_rpm(self.motors_thrust_pwm.motors.m1), - pwm_to_rpm(self.motors_thrust_pwm.motors.m2), - pwm_to_rpm(self.motors_thrust_pwm.motors.m3), - pwm_to_rpm(self.motors_thrust_pwm.motors.m4)]) - + return sim_data_types.Action( + [pwm_to_rpm(self.motors_thrust_pwm.motors.m1), + pwm_to_rpm(self.motors_thrust_pwm.motors.m2), + pwm_to_rpm(self.motors_thrust_pwm.motors.m3), + pwm_to_rpm(self.motors_thrust_pwm.motors.m4)]) @staticmethod def _fwsetpoint_to_sim_data_types_state(fwsetpoint): pos = np.array([fwsetpoint.position.x, fwsetpoint.position.y, fwsetpoint.position.z]) vel = np.array([fwsetpoint.velocity.x, fwsetpoint.velocity.y, fwsetpoint.velocity.z]) - acc = np.array([fwsetpoint.acceleration.x, fwsetpoint.acceleration.y, fwsetpoint.acceleration.z]) - omega = np.radians(np.array([fwsetpoint.attitudeRate.roll, fwsetpoint.attitudeRate.pitch, fwsetpoint.attitudeRate.yaw])) + acc = np.array([ + fwsetpoint.acceleration.x, + fwsetpoint.acceleration.y, + fwsetpoint.acceleration.z]) + omega = np.radians(np.array([ + fwsetpoint.attitudeRate.roll, + fwsetpoint.attitudeRate.pitch, + fwsetpoint.attitudeRate.yaw])) if fwsetpoint.mode.quat == firm.modeDisable: # compute rotation based on differential flatness diff --git a/crazyflie_sim/crazyflie_sim/sim_data_types.py b/crazyflie_sim/crazyflie_sim/sim_data_types.py index c5c484f49..8c1394001 100644 --- a/crazyflie_sim/crazyflie_sim/sim_data_types.py +++ b/crazyflie_sim/crazyflie_sim/sim_data_types.py @@ -1,8 +1,11 @@ import numpy as np + class State: - """Class that stores the state of a UAV as used in the simulator interface""" - def __init__(self, pos = np.zeros(3), vel = np.zeros(3), quat = np.array([1,0,0,0]), omega = np.zeros(3)): + """Class that stores the state of a UAV as used in the simulator interface.""" + + def __init__(self, pos=np.zeros(3), vel=np.zeros(3), + quat=np.array([1, 0, 0, 0]), omega=np.zeros(3)): # internally use one numpy array self._state = np.empty(13) self.pos = pos @@ -12,7 +15,7 @@ def __init__(self, pos = np.zeros(3), vel = np.zeros(3), quat = np.array([1,0,0, @property def pos(self): - """position [m; world frame]""" + """Position [m; world frame].""" return self._state[0:3] @pos.setter @@ -21,7 +24,7 @@ def pos(self, value): @property def vel(self): - """velocity [m/s; world frame]""" + """Velocity [m/s; world frame].""" return self._state[3:6] @vel.setter @@ -30,7 +33,7 @@ def vel(self, value): @property def quat(self): - """quaternion [qw, qx, qy, qz; body -> world]""" + """Quaternion [qw, qx, qy, qz; body -> world].""" return self._state[6:10] @quat.setter @@ -39,7 +42,7 @@ def quat(self, value): @property def omega(self): - """angular velocity [rad/s; body frame]""" + """Angular velocity [rad/s; body frame].""" return self._state[10:13] @omega.setter @@ -47,11 +50,13 @@ def omega(self, value): self._state[10:13] = value def __repr__(self) -> str: - return "State pos={}, vel={}, quat={}, omega={}".format(self.pos, self.vel, self.quat, self.omega) + return 'State pos={}, vel={}, quat={}, omega={}'.format( + self.pos, self.vel, self.quat, self.omega) class Action: - """Class that stores the action of a UAV as used in the simulator interface""" + """Class that stores the action of a UAV as used in the simulator interface.""" + def __init__(self, rpm): # internally use one numpy array self._action = np.empty(4) @@ -59,7 +64,7 @@ def __init__(self, rpm): @property def rpm(self): - """rotation per second [rpm]""" + """Rotation per second [rpm].""" return self._action @rpm.setter @@ -67,4 +72,4 @@ def rpm(self, value): self._action = value def __repr__(self) -> str: - return "Action rpm={}".format(self.rpm) + return 'Action rpm={}'.format(self.rpm) diff --git a/crazyflie_sim/crazyflie_sim/visualization/blender.py b/crazyflie_sim/crazyflie_sim/visualization/blender.py index ea876fd94..577687774 100755 --- a/crazyflie_sim/crazyflie_sim/visualization/blender.py +++ b/crazyflie_sim/crazyflie_sim/visualization/blender.py @@ -1,40 +1,43 @@ +import datetime +import os +from pathlib import Path + import bpy import numpy as np -import os -import datetime +from rclpy.node import Node import rowan as rw import yaml -from pathlib import Path -from rclpy.node import Node -from ..sim_data_types import State, Action -# rotation vectors are axis-angle format in "compact form", where +from ..sim_data_types import Action, State + + +# rotation vectors are axis-angle format in 'compact form', where # theta = norm(rvec) and axis = rvec / theta # they can be converted to a matrix using cv2. Rodrigues, see # https://docs.opencv.org/4.7.0/d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac def opencv2quat(rvec): angle = np.linalg.norm(rvec) if angle == 0: - q = np.array([1,0,0,0]) + q = np.array([1, 0, 0, 0]) else: axis = rvec.flatten() / angle q = rw.from_axis_angle(axis, angle) return q + class Visualization: def __init__(self, node: Node, params: dict, names: list[str], states: list[State]): self.node = node - ## blender + # blender # load environment world = bpy.context.scene.world world.use_nodes = True - background_paths = [""] - self.env = world.node_tree.nodes.new("ShaderNodeTexEnvironment") - if params["cycle_bg"]: + self.env = world.node_tree.nodes.new('ShaderNodeTexEnvironment') + if params['cycle_bg']: bg_paths = [] - p = Path(__file__).resolve().parent / "data/env" + p = Path(__file__).resolve().parent / 'data/env' print(p) for subdir, dirs, files in os.walk(p): bg_paths.extend([os.path.join(subdir, file) for file in files]) @@ -46,60 +49,64 @@ def __init__(self, node: Node, params: dict, names: list[str], states: list[Stat self.env.image = self.bg_imgs[self.bg_idx] else: self.cycle_bg = False - self.env.image = bpy.data.images.load(Path(__file__).resolve().parent / "data/env/env.jpg") + self.env.image = bpy.data.images.load( + Path(__file__).resolve().parent / 'data/env/env.jpg') node_tree = world.node_tree - node_tree.links.new(self.env.outputs["Color"], node_tree.nodes["Background"].inputs["Color"]) - - # import crazyflie object - bpy.ops.import_scene.obj(filepath=f"{Path(__file__).resolve().parent}/data/model/cf.obj", axis_forward="Y", axis_up="Z") - self.cf_default = bpy.data.objects["cf"] + node_tree.links.new( + self.env.outputs['Color'], + node_tree.nodes['Background'].inputs['Color']) + + # import crazyflie object + bpy.ops.import_scene.obj( + filepath=f'{Path(__file__).resolve().parent}/data/model/cf.obj', + axis_forward='Y', axis_up='Z') + self.cf_default = bpy.data.objects['cf'] # save scene self.scene = bpy.context.scene self.scene.render.resolution_x = 320 self.scene.render.resolution_y = 320 self.scene.render.pixel_aspect_x = 1.0 self.scene.render.pixel_aspect_y = 1.0 - self.scene.render.image_settings.file_format = "JPEG" - self.scene.unit_settings.length_unit = "METERS" - self.scene.unit_settings.system = "METRIC" + self.scene.render.image_settings.file_format = 'JPEG' + self.scene.unit_settings.length_unit = 'METERS' + self.scene.unit_settings.system = 'METRIC' self.scene.unit_settings.scale_length = 1.0 - #self.scene.render.threads = 2 # max CPU cores to use to render + # self.scene.render.threads = 2 # max CPU cores to use to render # remove default objects - bpy.data.objects.remove(bpy.data.objects["Cube"]) - bpy.data.objects.remove(bpy.data.objects["Light"]) + bpy.data.objects.remove(bpy.data.objects['Cube']) + bpy.data.objects.remove(bpy.data.objects['Light']) # create lamp - lamp_data = bpy.data.lights.new(name="Lamp", type="SUN") + lamp_data = bpy.data.lights.new(name='Lamp', type='SUN') lamp_data.energy = 1.5 lamp_data.angle = 0.19198621809482574 # 11 deg - self.lamp = bpy.data.objects.new(name="Lamp", object_data=lamp_data) + self.lamp = bpy.data.objects.new(name='Lamp', object_data=lamp_data) bpy.context.collection.objects.link(self.lamp) bpy.context.view_layer.objects.active = self.lamp # camera - self.camera = bpy.data.objects["Camera"] + self.camera = bpy.data.objects['Camera'] self.camera.data.lens = 0.7376461029052734 - self.camera.data.lens_unit = "FOV" - self.camera.data.sensor_fit = "AUTO" + self.camera.data.lens_unit = 'FOV' + self.camera.data.sensor_fit = 'AUTO' self.camera.data.sensor_width = 1.4 self.camera.data.sensor_height = 18 self.camera.data.angle = 1.518436431884765 # 87 deg self.camera.data.clip_start = 1.1e-6 # link camera to scene - self.cf_default.hide_render = False # set rotation mode to quaternion - self.cf_default.rotation_mode = "QUATERNION" - self.camera.rotation_mode = "QUATERNION" - self.lamp.rotation_mode = "QUATERNION" + self.cf_default.rotation_mode = 'QUATERNION' + self.camera.rotation_mode = 'QUATERNION' + self.lamp.rotation_mode = 'QUATERNION' - base = "simulation_results" - self.path = base + "/" + datetime.datetime.now().strftime("%Y-%m-%d_%H%M%S") + "/" - os.makedirs(self.path, exist_ok=True) + base = 'simulation_results' + self.path = base + '/' + datetime.datetime.now().strftime('%Y-%m-%d_%H%M%S') + '/' + os.makedirs(self.path, exist_ok=True) self.ts = [] self.frame = 0 - self.fps = params["fps"] # frames per second + self.fps = params['fps'] # frames per second self.names = names self.n = len(names) @@ -107,14 +114,13 @@ def __init__(self, node: Node, params: dict, names: list[str], states: list[Stat self.cam_state_filenames = [] # dictionary with (name, idx) pairs to later find corresponding cf - self.names_idx_map = dict() + self.names_idx_map = {} # init list self.cf_list = [self.cf_default] - self.cf_cameras = params["cf_cameras"] if "cf_cameras" in params else dict() + self.cf_cameras = params['cf_cameras'] if 'cf_cameras' in params else {} # matrix where rows are the constant transformation between camera and its cf # it should only be accessed if corresponding cf carries a camera self.Q_virt_cf_cam = np.zeros((self.n, 4)) - for idx, (name, state) in enumerate(zip(names, states)): self.names_idx_map[name] = idx @@ -128,38 +134,43 @@ def __init__(self, node: Node, params: dict, names: list[str], states: list[Stat # set positions self.cf_list[idx].location = np.array(state.pos) - self.tvecs = np.zeros((self.n, 3)) for name in names: - os.mkdir(self.path + "/" + name + "/") # create dir for every cf for saving images - csf = f"{self.path}/{name}/{name}.csv" - calibration_sf = f"{self.path}/{name}/calibration.yaml" + os.mkdir(self.path + '/' + name + '/') # create dir for every cf for saving images + csf = f'{self.path}/{name}/{name}.csv' + calibration_sf = f'{self.path}/{name}/calibration.yaml' # initialize /.csv self.state_filenames.append(csf) - ### self.cam_state_filenames.append(cam_sf) - with open(csf, "w") as file: - file.write("image_name,timestamp,x,y,z,qw,qx,qy,qz\n") + # self.cam_state_filenames.append(cam_sf) + with open(csf, 'w') as file: + file.write('image_name,timestamp,x,y,z,qw,qx,qy,qz\n') if name in self.cf_cameras: - calibration = self.cf_cameras[name]["calibration"] - calibration["dist_coeff"] = np.zeros(5).tolist() - calibration["camera_matrix"] = np.array([[170.0,0,160.0], [0,170.0,160.0],[0,0,1]]).tolist() - with open(calibration_sf, "w") as file: + calibration = self.cf_cameras[name]['calibration'] + calibration['dist_coeff'] = np.zeros(5).tolist() + calibration['camera_matrix'] = np.array([ + [170.0, 0, 160.0], + [0, 170.0, 160.0], + [0, 0, 1]]).tolist() + with open(calibration_sf, 'w') as file: yaml.dump(calibration, file) - rvec = np.array(calibration["rvec"]) if "rvec" in calibration else np.array([1.2092, -1.2092, 1.2092]) - tvec = np.array(calibration["tvec"]) if "tvec" in calibration else np.zeros(3) + rvec = np.array([1.2092, -1.2092, 1.2092]) + if 'rvec' in calibration: + rvec = np.array(calibration['rvec']) + tvec = np.array(calibration['tvec']) if 'tvec' in calibration else np.zeros(3) self.tvecs[self.names_idx_map[name]] = tvec q_real_camera_to_robot = rw.inverse(opencv2quat(rvec)) - q_virtual_camera_to_real_camera = rw.from_euler(np.pi, 0, 0, "xyz") - self.Q_virt_cf_cam[self.names_idx_map[name]] = rw.multiply(q_real_camera_to_robot, q_virtual_camera_to_real_camera) - + q_virtual_camera_to_real_camera = rw.from_euler(np.pi, 0, 0, 'xyz') + self.Q_virt_cf_cam[self.names_idx_map[name]] = rw.multiply( + q_real_camera_to_robot, + q_virtual_camera_to_real_camera) def step(self, t, states: list[State], states_desired: list[State], actions: list[Action]): self.ts.append(t) - # render and record `self.fps` frames per second + # render and record `self.fps` frames per second if t - self.frame / self.fps >= 1 / self.fps: self.frame += 1 # quaternion matrix - Q = np.zeros((self.n, 4)) + Q = np.zeros((self.n, 4)) # position matrix P = np.zeros((self.n, 3)) @@ -167,17 +178,20 @@ def step(self, t, states: list[State], states_desired: list[State], actions: lis for name, state in zip(self.names, states): idx = self.names_idx_map[name] Q[idx] = np.array(state.quat) - P[idx] = np.array(state.pos) + P[idx] = np.array(state.pos) # set rotations self.cf_list[idx].rotation_quaternion = Q[idx] # set positions self.cf_list[idx].location = P[idx] - # record states - image_name = f"{self.names[idx]}_{self.frame:05}.jpg" if name in self.cf_cameras else "None" # image capturing scene from cf's pov or None + # record states + # image capturing scene from cf's pov or None + image_name = None + if name in self.cf_cameras: + image_name = f'{self.names[idx]}_{self.frame:05}.jpg' # record cf's state in world frame - with open(self.state_filenames[idx], "a") as file: - file.write(f"{image_name},{t},{P[idx,0]},{P[idx,1]},{P[idx,2]},{Q[idx,0]},{Q[idx,1]},{Q[idx,2]},{Q[idx,3]}\n") + with open(self.state_filenames[idx], 'a') as file: + file.write(f'{image_name},{t},{P[idx,0]},{P[idx,1]},{P[idx,2]},{Q[idx,0]},{Q[idx,1]},{Q[idx,2]},{Q[idx,3]}\n') # noqa E501 # cycle background image if enabled if self.cycle_bg: @@ -199,12 +213,12 @@ def step(self, t, states: list[State], states_desired: list[State], actions: lis # hide corresponding cf for rendering self.cf_list[idx].hide_render = True # Render image - image_name = f"{name}_{self.frame:05}.jpg" # image capturing scene from cf's pov - self.scene.render.filepath = f"{self.path}/{name}/{image_name}" + image_name = f'{name}_{self.frame:05}.jpg' # image capturing scene from cf's pov + self.scene.render.filepath = f'{self.path}/{name}/{image_name}' bpy.ops.render.render(write_still=True) # show again after rendering self.cf_list[idx].hide_render = False def shutdown(self): - for idx in range(1,self.n): + for idx in range(1, self.n): bpy.data.objects.remove(self.cf_list[idx]) diff --git a/crazyflie_sim/crazyflie_sim/visualization/pdf.py b/crazyflie_sim/crazyflie_sim/visualization/pdf.py index bb789b296..d3b04507d 100644 --- a/crazyflie_sim/crazyflie_sim/visualization/pdf.py +++ b/crazyflie_sim/crazyflie_sim/visualization/pdf.py @@ -1,16 +1,18 @@ from __future__ import annotations -from rclpy.node import Node -from ..sim_data_types import State, Action - import copy + +from matplotlib.backends.backend_pdf import PdfPages +import matplotlib.pyplot as plt import numpy as np +from rclpy.node import Node import rowan -import matplotlib.pyplot as plt -from matplotlib.backends.backend_pdf import PdfPages + +from ..sim_data_types import Action, State + class Visualization: - """Plots current and desired states into a PDF""" + """Plots current and desired states into a PDF.""" def __init__(self, node: Node, params: dict, names: list[str], states: list[State]): self.node = node @@ -19,7 +21,7 @@ def __init__(self, node: Node, params: dict, names: list[str], states: list[Stat self.all_states = [] self.all_states_desired = [] self.all_actions = [] - self.filename = params["output_file"] + self.filename = params['output_file'] def step(self, t, states: list[State], states_desired: list[State], actions: list[Action]): self.ts.append(t) @@ -39,79 +41,79 @@ def shutdown(self): # position fig, axs = plt.subplots(3, 1, sharex=True) - axs[0].set_ylabel("px [m]") - axs[1].set_ylabel("py [m]") - axs[2].set_ylabel("pz [m]") - axs[-1].set_xlabel("Time [s]") + axs[0].set_ylabel('px [m]') + axs[1].set_ylabel('py [m]') + axs[2].set_ylabel('pz [m]') + axs[-1].set_xlabel('Time [s]') for d in range(3): - axs[d].plot(self.ts, cf_states[:,d], label="state") - axs[d].plot(self.ts, cf_states_desired[:,d], label="desired") + axs[d].plot(self.ts, cf_states[:, d], label='state') + axs[d].plot(self.ts, cf_states_desired[:, d], label='desired') axs[0].legend() pdf.savefig(fig) plt.close() # velocity fig, axs = plt.subplots(3, 1, sharex=True) - axs[0].set_ylabel("vx [m/s]") - axs[1].set_ylabel("vy [m/s]") - axs[2].set_ylabel("vz [m/s]") - axs[-1].set_xlabel("Time [s]") + axs[0].set_ylabel('vx [m/s]') + axs[1].set_ylabel('vy [m/s]') + axs[2].set_ylabel('vz [m/s]') + axs[-1].set_xlabel('Time [s]') for d in range(3): - axs[d].plot(self.ts, cf_states[:,3+d], label="state") - axs[d].plot(self.ts, cf_states_desired[:,3+d], label="desired") + axs[d].plot(self.ts, cf_states[:, 3+d], label='state') + axs[d].plot(self.ts, cf_states_desired[:, 3+d], label='desired') axs[0].legend() pdf.savefig(fig) plt.close() # orientation fig, axs = plt.subplots(3, 1, sharex=True) - axs[0].set_ylabel("roll [deg]") - axs[1].set_ylabel("pitch [deg]") - axs[2].set_ylabel("yaw [deg]") - axs[-1].set_xlabel("Time [s]") + axs[0].set_ylabel('roll [deg]') + axs[1].set_ylabel('pitch [deg]') + axs[2].set_ylabel('yaw [deg]') + axs[-1].set_xlabel('Time [s]') - rpy = np.degrees(rowan.to_euler(cf_states[:,6:10], convention='xyz')) - rpy_desired = np.degrees(rowan.to_euler(cf_states_desired[:,6:10], convention='xyz')) + rpy = np.degrees(rowan.to_euler(cf_states[:, 6:10], convention='xyz')) + rpy_desired = np.degrees( + rowan.to_euler(cf_states_desired[:, 6:10], convention='xyz')) for d in range(3): - axs[d].plot(self.ts, rpy[:,d], label="state") - axs[d].plot(self.ts, rpy_desired[:,d], label="desired") + axs[d].plot(self.ts, rpy[:, d], label='state') + axs[d].plot(self.ts, rpy_desired[:, d], label='desired') axs[0].legend() pdf.savefig(fig) plt.close() # omega fig, axs = plt.subplots(3, 1, sharex=True) - axs[0].set_ylabel("wx [deg/s]") - axs[1].set_ylabel("wy [deg/s]") - axs[2].set_ylabel("wz [deg/s]") - axs[-1].set_xlabel("Time [s]") + axs[0].set_ylabel('wx [deg/s]') + axs[1].set_ylabel('wy [deg/s]') + axs[2].set_ylabel('wz [deg/s]') + axs[-1].set_xlabel('Time [s]') for d in range(3): - axs[d].plot(self.ts, np.degrees(cf_states[:,10+d]), label="state") - axs[d].plot(self.ts, np.degrees(cf_states_desired[:,10+d]), label="desired") + axs[d].plot(self.ts, np.degrees(cf_states[:, 10+d]), label='state') + axs[d].plot(self.ts, np.degrees(cf_states_desired[:, 10+d]), label='desired') axs[0].legend() pdf.savefig(fig) plt.close() # actions fig, axs = plt.subplots(2, 2, sharex=True, sharey=True) - axs[0,0].set_ylabel("rpm") - axs[1,0].set_ylabel("rpm") - axs[1,0].set_xlabel("Time [s]") - axs[1,1].set_xlabel("Time [s]") - - axs[0,0].plot(self.ts, cf_actions[:,3], label="M4") - axs[0,0].set_title("M4") - axs[0,1].plot(self.ts, cf_actions[:,0], label="M1") - axs[0,1].set_title("M1") - axs[1,1].plot(self.ts, cf_actions[:,1], label="M2") - axs[1,1].set_title("M2") - axs[1,0].plot(self.ts, cf_actions[:,2], label="M3") - axs[1,0].set_title("M3") + axs[0, 0].set_ylabel('rpm') + axs[1, 0].set_ylabel('rpm') + axs[1, 0].set_xlabel('Time [s]') + axs[1, 1].set_xlabel('Time [s]') + + axs[0, 0].plot(self.ts, cf_actions[:, 3], label='M4') + axs[0, 0].set_title('M4') + axs[0, 1].plot(self.ts, cf_actions[:, 0], label='M1') + axs[0, 1].set_title('M1') + axs[1, 1].plot(self.ts, cf_actions[:, 1], label='M2') + axs[1, 1].set_title('M2') + axs[1, 0].plot(self.ts, cf_actions[:, 2], label='M3') + axs[1, 0].set_title('M3') pdf.savefig(fig) plt.close() - diff --git a/crazyflie_sim/crazyflie_sim/visualization/record_states.py b/crazyflie_sim/crazyflie_sim/visualization/record_states.py index 9734f1cd6..240bfae4d 100644 --- a/crazyflie_sim/crazyflie_sim/visualization/record_states.py +++ b/crazyflie_sim/crazyflie_sim/visualization/record_states.py @@ -1,50 +1,53 @@ from __future__ import annotations -import numpy as np -import os import datetime -from pathlib import Path +import os + +import numpy as np from rclpy.node import Node -from ..sim_data_types import State, Action + +from ..sim_data_types import Action, State class Visualization: - """Records states in given format file""" + """Records states in given format file.""" def __init__(self, node: Node, params: dict, names: list[str], states: list[State]): self.node = node self.names = names - self.outdir = params["output_dir"] if "output_dir" in params else "state_info" - self.outdir = self.outdir + "/" + datetime.datetime.now().strftime("%Y-%m-%d_%H%M%S") - os.makedirs(self.outdir, exist_ok=True) + self.outdir = params['output_dir'] if 'output_dir' in params else 'state_info' + self.outdir = self.outdir + '/' + datetime.datetime.now().strftime('%Y-%m-%d_%H%M%S') + os.makedirs(self.outdir, exist_ok=True) self.names_idx_map = {} - self.logging_time = params["logging_time"] if "logging_time" in params else 0.3 # how many seconds to leave between logs - self.last_log = -self.logging_time # timestamp of last log, initialized to -self.logging_time so log occurs at t=0 + # how many seconds to leave between logs + self.logging_time = params['logging_time'] if 'logging_time' in params else 0.3 + # timestamp of last log, initialized to -self.logging_time so log occurs at t=0 + self.last_log = -self.logging_time self.supported_formats = { - "csv": { - "log": self.__log_csv + 'csv': { + 'log': self.__log_csv }, - "np": { - "log": self.__log_np, - "shutdown": self.__shutdown_np + 'np': { + 'log': self.__log_np, + 'shutdown': self.__shutdown_np } - } - self.active_formats = [fmt for fmt in params["file_formats"]] + } + self.active_formats = params['file_formats'] for idx, name in enumerate(names): self.names_idx_map[name] = idx self.n = len(names) - if "csv" in self.active_formats: + if 'csv' in self.active_formats: for idx, name in enumerate(names): - os.makedirs(f"{self.outdir}/csv", exist_ok=True) - csf = f"{self.outdir}/csv/{name}.csv" + os.makedirs(f'{self.outdir}/csv', exist_ok=True) + csf = f'{self.outdir}/csv/{name}.csv' # initialize .csv - with open(csf, "w") as file: - file.write("timestamp,x,y,z,qw,qx,qy,qz\n") - self.ts = [] # list of timestamps - if "np" in self.active_formats: - os.makedirs(f"{self.outdir}/np", exist_ok=True) - self.Ps = [] # list of positions matrices (self.n x 3) - self.Qs = [] # list of quaternion matrices (self.n x 4) + with open(csf, 'w') as file: + file.write('timestamp,x,y,z,qw,qx,qy,qz\n') + self.ts = [] # list of timestamps + if 'np' in self.active_formats: + os.makedirs(f'{self.outdir}/np', exist_ok=True) + self.Ps = [] # list of positions matrices (self.n x 3) + self.Qs = [] # list of quaternion matrices (self.n x 4) def step(self, t, states: list[State], states_desired: list[State], actions: list[Action]): if t - self.last_log >= self.logging_time: @@ -52,32 +55,33 @@ def step(self, t, states: list[State], states_desired: list[State], actions: lis self.ts.append(t) P = np.zeros((self.n, 3)) Q = np.zeros((self.n, 4)) - for name, state in zip(self.names, states): - idx = self.names_idx_map[name] + for name, state in zip(self.names, states): + idx = self.names_idx_map[name] P[idx] = np.array(state.pos) Q[idx] = np.array(state.quat) for fmt in self.active_formats: - self.supported_formats[fmt]["log"](t, idx, P, Q) - + self.supported_formats[fmt]['log'](t, idx, P, Q) def __log_csv(self, t, idx: int, P: np.ndarray, Q: np.ndarray): - """ record states in csv file """ - with open(f"{self.outdir}/csv/{self.names[idx]}.csv", "a") as file: - file.write(f"{t},{P[idx,0]},{P[idx,1]},{P[idx,2]},{Q[idx,0]},{Q[idx,1]},{Q[idx,2]},{Q[idx,3]}\n") + """Record states in csv file.""" + with open(f'{self.outdir}/csv/{self.names[idx]}.csv', 'a') as file: + file.write(f'{t},{P[idx,0]},{P[idx,1]},{P[idx,2]},{Q[idx,0]},{Q[idx,1]},{Q[idx,2]},{Q[idx,3]}\n') # noqa E501 def __log_np(self, t, idx: int, P: np.ndarray, Q: np.ndarray): self.Ps.append(P) self.Qs.append(Q) - def __shutdown_np(self): P = np.array(self.Ps) Q = np.array(self.Qs) for idx, name in enumerate(self.names): - np.savez_compressed(f"{self.outdir}/np/{name}.npz", t=self.ts, pos=P[idx::self.n,idx,:], quat=Q[idx::self.n,idx,:]) + np.savez_compressed( + f'{self.outdir}/np/{name}.npz', + t=self.ts, + pos=P[idx::self.n, idx, :], + quat=Q[idx::self.n, idx, :]) def shutdown(self): for fmt in self.active_formats: - if "shutdown" in self.supported_formats[fmt]: - self.supported_formats[fmt]["shutdown"]() - + if 'shutdown' in self.supported_formats[fmt]: + self.supported_formats[fmt]['shutdown']() diff --git a/crazyflie_sim/crazyflie_sim/visualization/rviz.py b/crazyflie_sim/crazyflie_sim/visualization/rviz.py index 1c629ee66..c1ed92687 100644 --- a/crazyflie_sim/crazyflie_sim/visualization/rviz.py +++ b/crazyflie_sim/crazyflie_sim/visualization/rviz.py @@ -1,13 +1,14 @@ from __future__ import annotations from geometry_msgs.msg import TransformStamped -from tf2_ros import TransformBroadcaster from rclpy.node import Node -from ..sim_data_types import State, Action +from tf2_ros import TransformBroadcaster + +from ..sim_data_types import Action, State class Visualization: - """Publishes ROS 2 transforms of the states, so that they can be visualized in RVIZ""" + """Publishes ROS 2 transforms of the states, so that they can be visualized in RVIZ.""" def __init__(self, node: Node, params: dict, names: list[str], states: list[State]): self.node = node @@ -20,7 +21,7 @@ def step(self, t, states: list[State], states_desired: list[State], actions: lis for name, state in zip(self.names, states): msg = TransformStamped() msg.header.stamp = self.node.get_clock().now().to_msg() - msg.header.frame_id = "world" + msg.header.frame_id = 'world' msg.child_frame_id = name msg.transform.translation.x = state.pos[0] msg.transform.translation.y = state.pos[1] @@ -34,4 +35,3 @@ def step(self, t, states: list[State], states_desired: list[State], actions: lis def shutdown(self): pass - diff --git a/crazyflie_sim/package.xml b/crazyflie_sim/package.xml index dd1caa89f..0bdea17c3 100644 --- a/crazyflie_sim/package.xml +++ b/crazyflie_sim/package.xml @@ -17,6 +17,7 @@ ament_flake8 ament_pep257 python3-pytest + ament_cmake_pytest ament_cmake diff --git a/crazyflie_sim/test/test_copyright.py b/crazyflie_sim/test/test_copyright.py deleted file mode 100644 index cc8ff03f7..000000000 --- a/crazyflie_sim/test/test_copyright.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' From f08cfa337ed6633e56120959bf21fb5835a266a6 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sat, 21 Oct 2023 22:29:51 +0200 Subject: [PATCH 009/162] crazyflie_examples: fix flake8 and pep256 issues --- crazyflie_examples/CMakeLists.txt | 16 ++++ .../crazyflie_examples/cmd_full_state.py | 11 ++- .../crazyflie_examples/figure8.py | 9 ++- .../crazyflie_examples/hello_world.py | 3 +- .../crazyflie_examples/multi_trajectory.py | 11 +-- .../crazyflie_examples/nice_hover.py | 9 ++- .../crazyflie_examples/set_param.py | 10 +-- .../launch/keyboard_velmux_launch.py | 10 ++- .../launch/multiranger_mapping_launch.py | 47 ++++++----- .../launch/multiranger_nav2_launch.py | 77 ++++++++++--------- crazyflie_examples/package.xml | 1 + crazyflie_examples/test/test_copyright.py | 23 ------ 12 files changed, 113 insertions(+), 114 deletions(-) delete mode 100644 crazyflie_examples/test/test_copyright.py diff --git a/crazyflie_examples/CMakeLists.txt b/crazyflie_examples/CMakeLists.txt index 9ea4389cd..0c70c94d2 100644 --- a/crazyflie_examples/CMakeLists.txt +++ b/crazyflie_examples/CMakeLists.txt @@ -16,4 +16,20 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME}/ ) +if(BUILD_TESTING) + find_package(ament_cmake_pytest REQUIRED) + set(_pytest_tests + test/test_flake8.py + test/test_pep257.py + ) + foreach(_test_path ${_pytest_tests}) + get_filename_component(_test_name ${_test_path} NAME_WE) + ament_add_pytest_test(${_test_name} ${_test_path} + APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} + TIMEOUT 60 + WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} + ) + endforeach() +endif() + ament_package() diff --git a/crazyflie_examples/crazyflie_examples/cmd_full_state.py b/crazyflie_examples/crazyflie_examples/cmd_full_state.py index 93040f90b..4979e6461 100644 --- a/crazyflie_examples/crazyflie_examples/cmd_full_state.py +++ b/crazyflie_examples/crazyflie_examples/cmd_full_state.py @@ -1,10 +1,10 @@ #!/usr/bin/env python -import numpy as np from pathlib import Path -from crazyflie_py import * +from crazyflie_py import Crazyswarm from crazyflie_py.uav_trajectory import Trajectory +import numpy as np def executeTrajectory(timeHelper, cf, trajpath, rate=100, offset=np.zeros(3)): @@ -39,12 +39,15 @@ def main(): cf.takeoff(targetHeight=Z, duration=Z+1.0) timeHelper.sleep(Z+2.0) - executeTrajectory(timeHelper, cf, Path(__file__).parent / "data/figure8.csv", rate, offset=np.array([0, 0, 0.5])) + executeTrajectory(timeHelper, cf, + Path(__file__).parent / 'data/figure8.csv', + rate, + offset=np.array([0, 0, 0.5])) cf.notifySetpointsStop() cf.land(targetHeight=0.03, duration=Z+1.0) timeHelper.sleep(Z+2.0) -if __name__ == "__main__": +if __name__ == '__main__': main() diff --git a/crazyflie_examples/crazyflie_examples/figure8.py b/crazyflie_examples/crazyflie_examples/figure8.py index 58c768bc5..af75d2998 100644 --- a/crazyflie_examples/crazyflie_examples/figure8.py +++ b/crazyflie_examples/crazyflie_examples/figure8.py @@ -1,10 +1,11 @@ #!/usr/bin/env python -import numpy as np from pathlib import Path -from crazyflie_py import * +from crazyflie_py import Crazyswarm from crazyflie_py.uav_trajectory import Trajectory +import numpy as np + def main(): swarm = Crazyswarm() @@ -12,7 +13,7 @@ def main(): allcfs = swarm.allcfs traj1 = Trajectory() - traj1.loadcsv(Path(__file__).parent / "data/figure8.csv") + traj1.loadcsv(Path(__file__).parent / 'data/figure8.csv') TRIALS = 1 TIMESCALE = 1.0 @@ -36,5 +37,5 @@ def main(): timeHelper.sleep(3.0) -if __name__ == "__main__": +if __name__ == '__main__': main() diff --git a/crazyflie_examples/crazyflie_examples/hello_world.py b/crazyflie_examples/crazyflie_examples/hello_world.py index add21cb8c..20bae593e 100644 --- a/crazyflie_examples/crazyflie_examples/hello_world.py +++ b/crazyflie_examples/crazyflie_examples/hello_world.py @@ -1,6 +1,5 @@ """Takeoff-hover-land for one CF. Useful to validate hardware config.""" -# from pycrazyswarm import Crazyswarm from crazyflie_py import Crazyswarm @@ -19,5 +18,5 @@ def main(): timeHelper.sleep(TAKEOFF_DURATION) -if __name__ == "__main__": +if __name__ == '__main__': main() diff --git a/crazyflie_examples/crazyflie_examples/multi_trajectory.py b/crazyflie_examples/crazyflie_examples/multi_trajectory.py index a38b73139..57b5caa7d 100644 --- a/crazyflie_examples/crazyflie_examples/multi_trajectory.py +++ b/crazyflie_examples/crazyflie_examples/multi_trajectory.py @@ -1,21 +1,22 @@ #!/usr/bin/env python -import numpy as np from pathlib import Path -from crazyflie_py import * +from crazyflie_py import Crazyswarm from crazyflie_py.uav_trajectory import Trajectory +import numpy as np + def main(): swarm = Crazyswarm() timeHelper = swarm.timeHelper allcfs = swarm.allcfs trajs = [] - n = 2 # number of distinct trajectories + n = 2 # number of distinct trajectories for i in range(n): traj = Trajectory() - traj.loadcsv(Path(__file__).parent / f"data/multi_trajectory/traj{i}.csv") + traj.loadcsv(Path(__file__).parent / f'data/multi_trajectory/traj{i}.csv') trajs.append(traj) TRIALS = 1 @@ -38,5 +39,5 @@ def main(): timeHelper.sleep(3.0) -if __name__ == "__main__": +if __name__ == '__main__': main() diff --git a/crazyflie_examples/crazyflie_examples/nice_hover.py b/crazyflie_examples/crazyflie_examples/nice_hover.py index 43b83331d..b85647cdf 100644 --- a/crazyflie_examples/crazyflie_examples/nice_hover.py +++ b/crazyflie_examples/crazyflie_examples/nice_hover.py @@ -1,12 +1,12 @@ #!/usr/bin/env python +from crazyflie_py import Crazyswarm import numpy as np -from crazyflie_py import * def main(): Z = 1.0 - + swarm = Crazyswarm() timeHelper = swarm.timeHelper allcfs = swarm.allcfs @@ -17,11 +17,12 @@ def main(): pos = np.array(cf.initialPosition) + np.array([0, 0, Z]) cf.goTo(pos, 0, 1.0) - print("press button to continue...") + print('press button to continue...') swarm.input.waitUntilButtonPressed() allcfs.land(targetHeight=0.02, duration=1.0+Z) timeHelper.sleep(1.0+Z) -if __name__ == "__main__": + +if __name__ == '__main__': main() diff --git a/crazyflie_examples/crazyflie_examples/set_param.py b/crazyflie_examples/crazyflie_examples/set_param.py index 1e52cc6f2..69c49daf0 100644 --- a/crazyflie_examples/crazyflie_examples/set_param.py +++ b/crazyflie_examples/crazyflie_examples/set_param.py @@ -1,26 +1,24 @@ #!/usr/bin/env python -from crazyflie_py import * +from crazyflie_py import Crazyswarm def main(): - Z = 1.0 - swarm = Crazyswarm() timeHelper = swarm.timeHelper allcfs = swarm.allcfs # disable LED (one by one) for cf in allcfs.crazyflies: - cf.setParam("led.bitmask", 128) + cf.setParam('led.bitmask', 128) timeHelper.sleep(1.0) timeHelper.sleep(2.0) # enable LED (broadcast) - allcfs.setParam("led.bitmask", 0) + allcfs.setParam('led.bitmask', 0) timeHelper.sleep(5.0) -if __name__ == "__main__": +if __name__ == '__main__': main() diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py index db7badac4..25d318a0b 100644 --- a/crazyflie_examples/launch/keyboard_velmux_launch.py +++ b/crazyflie_examples/launch/keyboard_velmux_launch.py @@ -1,8 +1,10 @@ import os -import yaml + from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node +import yaml + def generate_launch_description(): # load crazyflies @@ -29,8 +31,8 @@ def generate_launch_description(): executable='vel_mux.py', name='vel_mux', output='screen', - parameters=[{"hover_height": 0.3}, - {"incoming_twist_topic": "/cmd_vel"}, - {"robot_prefix": "/cf1"}] + parameters=[{'hover_height': 0.3}, + {'incoming_twist_topic': '/cmd_vel'}, + {'robot_prefix': '/cf1'}] ), ]) diff --git a/crazyflie_examples/launch/multiranger_mapping_launch.py b/crazyflie_examples/launch/multiranger_mapping_launch.py index 7523caf77..7ff246f83 100644 --- a/crazyflie_examples/launch/multiranger_mapping_launch.py +++ b/crazyflie_examples/launch/multiranger_mapping_launch.py @@ -1,11 +1,10 @@ import os -import yaml + from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription from launch_ros.actions import Node -from launch.conditions import LaunchConfigurationEquals -from launch.launch_description_sources import PythonLaunchDescriptionSource +import yaml + def generate_launch_description(): # load crazyflies @@ -32,25 +31,25 @@ def generate_launch_description(): executable='vel_mux.py', name='vel_mux', output='screen', - parameters=[{"hover_height": 0.3}, - {"incoming_twist_topic": "/cmd_vel"}, - {"robot_prefix": "/cf1"}] + parameters=[{'hover_height': 0.3}, + {'incoming_twist_topic': '/cmd_vel'}, + {'robot_prefix': '/cf1'}] ), Node( - parameters=[ - {'odom_frame': 'odom'}, - {'map_frame': 'world'}, - {'base_frame': 'cf1'}, - {'scan_topic': '/cf1/scan'}, - {'use_scan_matching': False}, - {'max_laser_range': 3.5}, - {'resolution': 0.1}, - {'minimum_travel_distance': 0.01}, - {'minimum_travel_heading': 0.001}, - {'map_update_interval': 0.1} - ], - package='slam_toolbox', - executable='async_slam_toolbox_node', - name='slam_toolbox', - output='screen'), - ]) \ No newline at end of file + parameters=[ + {'odom_frame': 'odom'}, + {'map_frame': 'world'}, + {'base_frame': 'cf1'}, + {'scan_topic': '/cf1/scan'}, + {'use_scan_matching': False}, + {'max_laser_range': 3.5}, + {'resolution': 0.1}, + {'minimum_travel_distance': 0.01}, + {'minimum_travel_heading': 0.001}, + {'map_update_interval': 0.1} + ], + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen'), + ]) diff --git a/crazyflie_examples/launch/multiranger_nav2_launch.py b/crazyflie_examples/launch/multiranger_nav2_launch.py index e556277d3..9e1421325 100644 --- a/crazyflie_examples/launch/multiranger_nav2_launch.py +++ b/crazyflie_examples/launch/multiranger_nav2_launch.py @@ -1,11 +1,11 @@ import os -import yaml + from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch_ros.actions import Node -from launch.conditions import LaunchConfigurationEquals +from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +import yaml def generate_launch_description(): @@ -20,11 +20,10 @@ def generate_launch_description(): server_params = crazyflies - cf_examples_dir = get_package_share_directory("crazyflie_examples") + cf_examples_dir = get_package_share_directory('crazyflie_examples') bringup_dir = get_package_share_directory('nav2_bringup') bringup_launch_dir = os.path.join(bringup_dir, 'launch') - map_name = "map" - + map_name = 'map' return LaunchDescription([ Node( @@ -32,7 +31,7 @@ def generate_launch_description(): executable='crazyflie_server.py', name='crazyflie_server', output='screen', - parameters=[{"world_tf_name": 'map'}, + parameters=[{'world_tf_name': 'map'}, server_params], ), Node( @@ -40,44 +39,46 @@ def generate_launch_description(): executable='vel_mux.py', name='vel_mux', output='screen', - parameters=[{"hover_height": 0.3}, - {"incoming_twist_topic": "/cmd_vel"}, - {"robot_prefix": "/cf1"}] + parameters=[{'hover_height': 0.3}, + {'incoming_twist_topic': '/cmd_vel'}, + {'robot_prefix': '/cf1'}] ), Node( - parameters=[ - {'odom_frame': 'odom'}, - {'map_frame': 'map'}, - {'base_frame': 'cf1'}, - {'scan_topic': '/cf1/scan'}, - {'use_scan_matching': False}, - {'max_laser_range': 3.5}, - {'resolution': 0.1}, - {'minimum_travel_distance': 0.01}, - {'minimum_travel_heading': 0.001}, - {'map_update_interval': 0.1}, - {'mode': 'localization'}, - {"map_file_name": cf_examples_dir + "/data/" + map_name}, - {"map_start_pose": [0.0, 0.0, 0.0]} ], - package='slam_toolbox', - executable='async_slam_toolbox_node', - name='slam_toolbox', - output='screen'), + parameters=[ + {'odom_frame': 'odom'}, + {'map_frame': 'map'}, + {'base_frame': 'cf1'}, + {'scan_topic': '/cf1/scan'}, + {'use_scan_matching': False}, + {'max_laser_range': 3.5}, + {'resolution': 0.1}, + {'minimum_travel_distance': 0.01}, + {'minimum_travel_heading': 0.001}, + {'map_update_interval': 0.1}, + {'mode': 'localization'}, + {'map_file_name': cf_examples_dir + '/data/' + map_name}, + {'map_start_pose': [0.0, 0.0, 0.0]}], + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen'), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(bringup_launch_dir, 'bringup_launch.py')), - launch_arguments={'slam': 'False', - 'use_sim_time': 'false', - 'map': cf_examples_dir + "/data/" + map_name + ".yaml", - 'params_file': os.path.join(cf_examples_dir, 'nav2_params.yaml'), - 'autostart': 'true', - 'use_composition': 'true', - 'transform_publish_period': '0.02' - }.items() + launch_arguments={ + 'slam': 'False', + 'use_sim_time': 'false', + 'map': cf_examples_dir + '/data/' + map_name + '.yaml', + 'params_file': os.path.join(cf_examples_dir, 'nav2_params.yaml'), + 'autostart': 'true', + 'use_composition': 'true', + 'transform_publish_period': '0.02' + }.items() ), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(bringup_launch_dir, 'rviz_launch.py')), launch_arguments={ - 'rviz_config': os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz')}.items()) + 'rviz_config': os.path.join( + bringup_dir, 'rviz', 'nav2_default_view.rviz')}.items()) ]) diff --git a/crazyflie_examples/package.xml b/crazyflie_examples/package.xml index 04015c337..1eba5101d 100644 --- a/crazyflie_examples/package.xml +++ b/crazyflie_examples/package.xml @@ -17,6 +17,7 @@ ament_flake8 ament_pep257 python3-pytest + ament_cmake_pytest ament_cmake diff --git a/crazyflie_examples/test/test_copyright.py b/crazyflie_examples/test/test_copyright.py deleted file mode 100644 index cc8ff03f7..000000000 --- a/crazyflie_examples/test/test_copyright.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' From 4bad810674d8c9f3a2dcb8562ea06c24dedb4237 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 1 Nov 2023 14:10:57 +0100 Subject: [PATCH 010/162] cpp backend: process all incoming radio messages Process all radio messages every millisecond. The behavior before was to process one message every 100 ms, which caused long delays for incoming messages (such as log topics). Fixes #300 --- crazyflie/deps/crazyflie_tools | 2 +- crazyflie/src/crazyflie_server.cpp | 9 +++++++-- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index f26165753..2e0ae6da8 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit f26165753fb8cb527ca4f78f81b2db0a7c4c251f +Subproject commit 2e0ae6da886aff19bf93116c487e7c737fa3e417 diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index d0910f3b5..9594e2ee4 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -141,7 +141,11 @@ class CrazyflieROS subscription_cmd_position_ = node->create_subscription(name + "/cmd_position", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieROS::cmd_position_changed, this, _1), sub_opt_cf_cmd); // spinning timer - spin_timer_ = node->create_wall_timer(std::chrono::milliseconds(100), std::bind(&CrazyflieROS::spin_once, this), callback_group_cf_srv); + // used to process all incoming radio messages + spin_timer_ = + node->create_wall_timer( + std::chrono::milliseconds(1), + std::bind(&CrazyflieROS::spin_once, this), callback_group_cf_srv); auto start = std::chrono::system_clock::now(); @@ -367,7 +371,8 @@ class CrazyflieROS void spin_once() { - cf_.spin_once(); + // process all packets from the receive queue + cf_.processAllPackets(); } std::string broadcastUri() const From b22d9881b300858b981adfbdfd1ecedf36c43c84 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Tue, 7 Nov 2023 11:26:27 +0100 Subject: [PATCH 011/162] server (cpp): continous unicast latency monitoring --- crazyflie/CMakeLists.txt | 1 + crazyflie/config/server.yaml | 2 + crazyflie/deps/crazyflie_tools | 2 +- crazyflie/src/crazyflie_server.cpp | 63 ++++++++++++++++++++++++------ 4 files changed, 56 insertions(+), 12 deletions(-) diff --git a/crazyflie/CMakeLists.txt b/crazyflie/CMakeLists.txt index ca4dc3764..8553b314d 100644 --- a/crazyflie/CMakeLists.txt +++ b/crazyflie/CMakeLists.txt @@ -85,6 +85,7 @@ ament_target_dependencies(crazyflie_server # Install C++ executables install(TARGETS # crazyflie_tools + comCheck scan listParams listLogVariables diff --git a/crazyflie/config/server.yaml b/crazyflie/config/server.yaml index d1ca14a8e..e0d8d6af6 100644 --- a/crazyflie/config/server.yaml +++ b/crazyflie/config/server.yaml @@ -4,6 +4,8 @@ frequency: 1.0 # report/run checks once per second motion_capture: warning_if_rate_outside: [80.0, 120.0] + communication: + max_unicast_latency: 10.0 # ms firmware_params: query_all_values_on_connect: False # simulation related diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index f26165753..65a8fcdf4 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit f26165753fb8cb527ca4f78f81b2db0a7c4c251f +Subproject commit 65a8fcdf48762994dce277db506793cdcc9c7135 diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index d0910f3b5..8c7d9c3c8 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -119,6 +119,7 @@ class CrazyflieROS , name_(name) , node_(node) , tf_broadcaster_(node) + , last_on_latency_(std::chrono::steady_clock::now()) { auto sub_opt_cf_cmd = rclcpp::SubscriptionOptions(); sub_opt_cf_cmd.callback_group = callback_group_cf_cmd; @@ -143,6 +144,18 @@ class CrazyflieROS // spinning timer spin_timer_ = node->create_wall_timer(std::chrono::milliseconds(100), std::bind(&CrazyflieROS::spin_once, this), callback_group_cf_srv); + // link statistics + warning_freq_ = node->get_parameter("warnings.frequency").get_parameter_value().get(); + max_latency_ = node->get_parameter("warnings.communication.max_unicast_latency").get_parameter_value().get(); + + if (warning_freq_ >= 0.0) { + cf_.setLatencyCallback(std::bind(&CrazyflieROS::on_latency, this, std::placeholders::_1)); + link_statistics_timer_ = + node->create_wall_timer( + std::chrono::milliseconds((int)(1000.0/warning_freq_)), + std::bind(&CrazyflieROS::on_link_statistics_timer, this), callback_group_cf_srv); + + } auto start = std::chrono::system_clock::now(); @@ -679,6 +692,25 @@ class CrazyflieROS (*pub)->publish(msg); } + void on_link_statistics_timer() + { + cf_.triggerLatencyMeasurement(); + + auto now = std::chrono::steady_clock::now(); + std::chrono::duration elapsed = now - last_on_latency_; + if (elapsed.count() > 1.0 / warning_freq_) { + RCLCPP_WARN(logger_, "last latency update: %f s", elapsed.count()); + } + } + + void on_latency(uint64_t latency_in_us) + { + if (latency_in_us / 1000.0 > max_latency_) { + RCLCPP_WARN(logger_, "Latency: %f ms", latency_in_us / 1000.0); + } + last_on_latency_ = std::chrono::steady_clock::now(); + } + private: rclcpp::Logger logger_; CrazyflieLogger cf_logger_; @@ -715,7 +747,13 @@ class CrazyflieROS // multithreading rclcpp::CallbackGroup::SharedPtr callback_group_cf_; rclcpp::TimerBase::SharedPtr spin_timer_; - + + // link statistics + rclcpp::TimerBase::SharedPtr link_statistics_timer_; + std::chrono::time_point last_on_latency_; + float warning_freq_; + float max_latency_; + }; class CrazyflieServer : public rclcpp::Node @@ -767,6 +805,19 @@ class CrazyflieServer : public rclcpp::Node broadcasts_delay_between_repeats_ms_ = this->get_parameter("all.broadcasts.delay_between_repeats_ms").get_parameter_value().get(); mocap_enabled_ = false; + // Warnings + this->declare_parameter("warnings.frequency", 1.0); + float freq = this->get_parameter("warnings.frequency").get_parameter_value().get(); + if (freq >= 0.0) { + watchdog_timer_ = this->create_wall_timer(std::chrono::milliseconds((int)(1000.0/freq)), std::bind(&CrazyflieServer::on_watchdog_timer, this), callback_group_all_srv_); + } + this->declare_parameter("warnings.motion_capture.warning_if_rate_outside", std::vector({80.0, 120.0})); + auto rate_range = this->get_parameter("warnings.motion_capture.warning_if_rate_outside").get_parameter_value().get>(); + mocap_min_rate_ = rate_range[0]; + mocap_max_rate_ = rate_range[1]; + + this->declare_parameter("warnings.communication.max_unicast_latency", 10.0); + // load crazyflies from params auto node_parameters_iface = this->get_node_parameters_interface(); const std::map ¶meter_overrides = @@ -836,16 +887,6 @@ class CrazyflieServer : public rclcpp::Node param_subscriber_ = std::make_shared(this); cb_handle_ = param_subscriber_->add_parameter_event_callback(std::bind(&CrazyflieServer::on_parameter_event, this, _1)); - // Warnings - this->declare_parameter("warnings.frequency", 1.0); - float freq = this->get_parameter("warnings.frequency").get_parameter_value().get(); - if (freq >= 0.0) { - watchdog_timer_ = this->create_wall_timer(std::chrono::milliseconds((int)(1000.0/freq)), std::bind(&CrazyflieServer::on_watchdog_timer, this), callback_group_all_srv_); - } - this->declare_parameter("warnings.motion_capture.warning_if_rate_outside", std::vector({80.0, 120.0})); - auto rate_range = this->get_parameter("warnings.motion_capture.warning_if_rate_outside").get_parameter_value().get>(); - mocap_min_rate_ = rate_range[0]; - mocap_max_rate_ = rate_range[1]; } From 88eaa668a5b8425f4361be382520ed8c04ac7d1d Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Mon, 13 Nov 2023 13:49:58 +0100 Subject: [PATCH 012/162] Update crazyflie_server.py --- crazyflie/scripts/crazyflie_server.py | 22 ++++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index ad8e299b4..a95c06e0a 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -24,8 +24,7 @@ from crazyflie_interfaces.srv import Takeoff, Land, GoTo, RemoveLogging, AddLogging from crazyflie_interfaces.srv import UploadTrajectory, StartTrajectory, NotifySetpointsStop from rcl_interfaces.msg import ParameterDescriptor, SetParametersResult, ParameterType -from crazyflie_interfaces.msg import Hover -from crazyflie_interfaces.msg import LogDataGeneric +from crazyflie_interfaces.msg import Hover, LogDataGeneric, FullState from motion_capture_tracking_interfaces.msg import NamedPoseArray from std_srvs.srv import Empty @@ -246,6 +245,10 @@ def __init__(self): Hover, name + "/cmd_hover", partial(self._cmd_hover_changed, uri=uri), 10 ) + self.create_subscription( + Hover, name + + "/cmd_full_state", partial(self._cmd_full_state_changed, uri=uri), 10 + ) qos_profile = QoSProfile(reliability =QoSReliabilityPolicy.BEST_EFFORT, history=QoSHistoryPolicy.KEEP_LAST, depth=1, @@ -846,6 +849,21 @@ def _cmd_hover_changed(self, msg, uri=""): self.swarm._cfs[uri].cf.commander.send_hover_setpoint(vx, vy, yawrate, z) self.get_logger().info(f"{uri}: Received hover topic {vx} {vy} {yawrate} {z}") + def _cmd_full_state_changed(self, msg, uri=""): + """ + Topic update callback to full state cmd topic + """ + pos = [msg.pose.position.x, msg.pose.position.y, msg.pose.position.z] + vel = [msg.twist.linear.x, msg.twist.linear.y, msg.twist.linear.z] + acc = [msg.acc.x, msg.acc.y, msg.acc.z] + q = [msg.pose.orientation.x, msg.pose.orientation.y, msg.pose.orientation.z, msg.pose.orientation.w] + roll_rate = msg.twist.angular.x + pitch_rate = msg.twist.angular.y + yaw_rate = msg.twist.angular.z + + self.swarm._cfs[uri].cf.commander.send_hover_setpoint(pos, vel, acc, q, roll_rate, pitch_rate, yaw_rate) + self.get_logger().info(f"{uri}: Received full state topic {pose} {vel} {acc} {q}, {roll_rate}, {pitch_rate}, {yaw_rate}) + def _remove_logging(self, request, response, uri="all"): """ Service callback to remove logging blocks of the crazyflie From c849435d307649813e44f6ca2ef0fcf395290612 Mon Sep 17 00:00:00 2001 From: torobo Date: Tue, 14 Nov 2023 14:48:15 +0900 Subject: [PATCH 013/162] debug cmd_full_state cb --- crazyflie/scripts/crazyflie_server.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index a95c06e0a..1b6018d72 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -246,7 +246,7 @@ def __init__(self): "/cmd_hover", partial(self._cmd_hover_changed, uri=uri), 10 ) self.create_subscription( - Hover, name + + FullState, name + "/cmd_full_state", partial(self._cmd_full_state_changed, uri=uri), 10 ) qos_profile = QoSProfile(reliability =QoSReliabilityPolicy.BEST_EFFORT, @@ -861,8 +861,8 @@ def _cmd_full_state_changed(self, msg, uri=""): pitch_rate = msg.twist.angular.y yaw_rate = msg.twist.angular.z - self.swarm._cfs[uri].cf.commander.send_hover_setpoint(pos, vel, acc, q, roll_rate, pitch_rate, yaw_rate) - self.get_logger().info(f"{uri}: Received full state topic {pose} {vel} {acc} {q}, {roll_rate}, {pitch_rate}, {yaw_rate}) + self.swarm._cfs[uri].cf.commander.send_full_state_setpoint(pos, vel, acc, q, roll_rate, pitch_rate, yaw_rate) + self.get_logger().info(f"{uri}: Received full state topic {pos} {vel} {acc} {q}, {roll_rate}, {pitch_rate}, {yaw_rate}") def _remove_logging(self, request, response, uri="all"): """ From 8319945e73f6fb6d82baa6eebb5e9b25dd42c0f7 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 16 Nov 2023 09:54:39 +0100 Subject: [PATCH 014/162] add support for downloadUSDLogfile --- crazyflie/CMakeLists.txt | 1 + crazyflie/deps/crazyflie_tools | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/crazyflie/CMakeLists.txt b/crazyflie/CMakeLists.txt index ca4dc3764..1b3479b5a 100644 --- a/crazyflie/CMakeLists.txt +++ b/crazyflie/CMakeLists.txt @@ -95,6 +95,7 @@ install(TARGETS console log setParam + downloadUSDLogfile # teleop crazyflie_server diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index 2e0ae6da8..c7f3b6c89 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit 2e0ae6da886aff19bf93116c487e7c737fa3e417 +Subproject commit c7f3b6c895be149073758825383bdfd9d31f6679 From ae9815d46dc7dc7523ab0c33dd827c5b08aa8800 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 16 Nov 2023 10:43:02 +0100 Subject: [PATCH 015/162] sim: fix cmd_full_state example --- crazyflie_sim/crazyflie_sim/crazyflie_sil.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_sil.py b/crazyflie_sim/crazyflie_sim/crazyflie_sil.py index cf904d746..dc3018ad0 100644 --- a/crazyflie_sim/crazyflie_sim/crazyflie_sil.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_sil.py @@ -296,7 +296,7 @@ def executeController(self): if self.controller is None: return None - if self.mode != CrazyflieSIL.MODE_HIGH_POLY: + if self.mode == CrazyflieSIL.MODE_IDLE: return sim_data_types.Action([0, 0, 0, 0]) time_in_seconds = self.time_func() From a8a1625dfc28e4445e6afad036819ee172bbc980 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 16 Nov 2023 11:06:24 +0100 Subject: [PATCH 016/162] Add docs on collision avoidance and traj --- docs2/howto.rst | 37 ++++++++++++++++++++++++++++++++++--- 1 file changed, 34 insertions(+), 3 deletions(-) diff --git a/docs2/howto.rst b/docs2/howto.rst index 7c214d872..274f52374 100644 --- a/docs2/howto.rst +++ b/docs2/howto.rst @@ -99,6 +99,37 @@ This requires some updated pip packages for testing, see https://docs.ros.org/en Then execute: -``` -colcon test --event-handlers=console_cohesion+ --return-code-on-test-failure --packages-select crazyflie_py -``` +.. code-block:: bash + + colcon test --event-handlers=console_cohesion+ --return-code-on-test-failure --packages-select crazyflie_py + +Collision Avoidance +------------------- + +The official firmware has support for collision avoidance using the Buffered Voronoi Cell algorithm. +It requires the use of a motion capture system (so that the positions of other drones are known) and can be enabled +in the `crazyflies.yaml`: + +.. code-block:: yaml + + all: + firmware_params: + colAv: + enable: 1 + +or inside a Python script via: + +.. code-block:: python + + swarm = Crazyswarm() + allcfs = swarm.allcfs + allcfs.setParam("colAv.enable", 1) + +Note that the algorithm might require tuning of its hyperparameters. Documention can be found at https://github.com/bitcraze/crazyflie-firmware/blob/dbb9df1137f11d4e7e3771c56d25a7137b5b69cc/src/modules/src/collision_avoidance.c#L348-L428. + +Generate Trajectories +--------------------- + +Crazyswarm2 supports polynomial trajectories (8th order). These can be generated from waypoints, waypoint/time pairs, or optimization. Useful tools are available at https://github.com/whoenig/uav_trajectories, including scripts to visualize the resulting trajectories. + +For the multi-robot case, there is no easy to-use library, yet. One can use collision avoidance (see HowTo) or preplan trajectories using https://github.com/IMRCLab/db-CBS or https://github.com/mjdebord/smoothener/tree/cylinders. From e8808b989ef9053d7e998574310492c3fdaa550f Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Thu, 16 Nov 2023 13:27:13 +0100 Subject: [PATCH 017/162] add usb permission and update instructions Should fix #50 --- docs2/installation.rst | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/docs2/installation.rst b/docs2/installation.rst index 9cc72c428..404f9f20a 100644 --- a/docs2/installation.rst +++ b/docs2/installation.rst @@ -56,7 +56,11 @@ First Installation .. note:: symlink-install allows you to edit Python and config files without running `colcon build` every time. -5. Set up software-in-the-loop simulation (optional) +5. Set up USB permissions for crazyradio + + For the crazyradio, you need to setup usb rules in order to communicate with the Crazyflie. Find the instructions for that here `in Bitcraze's USB permission guide for Linux `_. + +6. Set up software-in-the-loop simulation (optional) This currently requires cloning the Crazyflie firmware and building the Python bindings manually. In a separate folder (not part of your ROS 2 workspace!), From 890e7ceb8e1b2c779ec78c64a3c1a3497eb04deb Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Thu, 16 Nov 2023 13:41:15 +0100 Subject: [PATCH 018/162] Update installation.rst --- docs2/installation.rst | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/docs2/installation.rst b/docs2/installation.rst index 404f9f20a..9ed2813d2 100644 --- a/docs2/installation.rst +++ b/docs2/installation.rst @@ -56,11 +56,22 @@ First Installation .. note:: symlink-install allows you to edit Python and config files without running `colcon build` every time. -5. Set up USB permissions for crazyradio +5. Set up Crazyradio For the crazyradio, you need to setup usb rules in order to communicate with the Crazyflie. Find the instructions for that here `in Bitcraze's USB permission guide for Linux `_. - -6. Set up software-in-the-loop simulation (optional) + + You will also need to update the crazyradio firmware to the latest development branch to be able to use all features. For Crazyradio PA (1), `follow these instructions `_. For Crazyradio 2, follow `these instuctions to build the firmware `_ and `these instuctions to flash it `_. + +6. Update the crazyflies + + If this is the first time handling crazyflies it is always good to start with `Bitcraze's getting started guide `_. + + You can update each crazyflie firmware to the latest release via `these instructions of the Bitcraze Crazyflie client `_ . + + While you are at it, make sure that each crazyflie have an unique radio address which you can change in `the client via these instructions `_ . + +7. Set up software-in-the-loop simulation (optional) This currently requires cloning the Crazyflie firmware and building the Python bindings manually. In a separate folder (not part of your ROS 2 workspace!), From 316eb23632586d13d8b735d0c5b27a0505bb13b4 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 16 Nov 2023 14:32:35 +0100 Subject: [PATCH 019/162] fix uppercase error and lost file --- crazyflie_examples/launch/multiranger_nav2_launch.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/crazyflie_examples/launch/multiranger_nav2_launch.py b/crazyflie_examples/launch/multiranger_nav2_launch.py index 9e1421325..33d834242 100644 --- a/crazyflie_examples/launch/multiranger_nav2_launch.py +++ b/crazyflie_examples/launch/multiranger_nav2_launch.py @@ -67,11 +67,11 @@ def generate_launch_description(): os.path.join(bringup_launch_dir, 'bringup_launch.py')), launch_arguments={ 'slam': 'False', - 'use_sim_time': 'false', + 'use_sim_time': 'False', 'map': cf_examples_dir + '/data/' + map_name + '.yaml', - 'params_file': os.path.join(cf_examples_dir, 'nav2_params.yaml'), - 'autostart': 'true', - 'use_composition': 'true', + 'params_file': os.path.join(cf_examples_dir, 'config/nav2_params.yaml'), + 'autostart': 'True', + 'use_composition': 'True', 'transform_publish_period': '0.02' }.items() ), From c111710eccbdbaf44f93e45edfae8535e40c0e31 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 16 Nov 2023 15:26:19 +0100 Subject: [PATCH 020/162] add simple mapper --- crazyflie_examples/CMakeLists.txt | 6 + .../launch/multiranger_simple_mapper.py | 46 +++++ crazyflie_examples/scripts/simple_mapper.py | 165 ++++++++++++++++++ 3 files changed, 217 insertions(+) create mode 100644 crazyflie_examples/launch/multiranger_simple_mapper.py create mode 100644 crazyflie_examples/scripts/simple_mapper.py diff --git a/crazyflie_examples/CMakeLists.txt b/crazyflie_examples/CMakeLists.txt index 0c70c94d2..68ed05566 100644 --- a/crazyflie_examples/CMakeLists.txt +++ b/crazyflie_examples/CMakeLists.txt @@ -32,4 +32,10 @@ if(BUILD_TESTING) endforeach() endif() +# Install Python executables +install(PROGRAMS + scripts/simple_mapper.py + DESTINATION lib/${PROJECT_NAME} +) + ament_package() diff --git a/crazyflie_examples/launch/multiranger_simple_mapper.py b/crazyflie_examples/launch/multiranger_simple_mapper.py new file mode 100644 index 000000000..1b7b56d3a --- /dev/null +++ b/crazyflie_examples/launch/multiranger_simple_mapper.py @@ -0,0 +1,46 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +import yaml + + +def generate_launch_description(): + # load crazyflies + crazyflies_yaml = os.path.join( + get_package_share_directory('crazyflie'), + 'config', + 'crazyflies.yaml') + + with open(crazyflies_yaml, 'r') as ymlfile: + crazyflies = yaml.safe_load(ymlfile) + + server_params = crazyflies + + cf_examples_dir = get_package_share_directory('crazyflie_examples') + bringup_dir = get_package_share_directory('nav2_bringup') + bringup_launch_dir = os.path.join(bringup_dir, 'launch') + map_name = 'map' + + return LaunchDescription([ + Node( + package='crazyflie', + executable='crazyflie_server.py', + name='crazyflie_server', + output='screen', + parameters=[{'world_tf_name': 'map'}, + server_params], + ), + Node( + package='crazyflie', + executable='vel_mux.py', + name='vel_mux', + output='screen', + parameters=[{'hover_height': 0.3}, + {'incoming_twist_topic': '/cmd_vel'}, + {'robot_prefix': '/cf231'}] + ) + ]) diff --git a/crazyflie_examples/scripts/simple_mapper.py b/crazyflie_examples/scripts/simple_mapper.py new file mode 100644 index 000000000..dc5f9791b --- /dev/null +++ b/crazyflie_examples/scripts/simple_mapper.py @@ -0,0 +1,165 @@ +""" This simple mapper is loosely based on both the bitcraze cflib point cloud example + https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/multiranger/multiranger_pointcloud.py + and the webots epuck simple mapper example: + https://github.com/cyberbotics/webots_ros2 + + Originally from https://github.com/knmcguire/crazyflie_ros2_experimental/ + """ + +import rclpy +from rclpy.node import Node +from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile + +from nav_msgs.msg import Odometry +from sensor_msgs.msg import LaserScan +from nav_msgs.msg import OccupancyGrid +from geometry_msgs.msg import TransformStamped +from tf2_ros import StaticTransformBroadcaster + +import tf_transformations +import math +import numpy as np +from bresenham import bresenham + +GLOBAL_SIZE_X = 20.0 +GLOBAL_SIZE_Y = 20.0 +MAP_RES = 0.1 + +class SimpleMapper(Node): + def __init__(self): + super().__init__('simple_mapper') + self.odom_subscriber = self.create_subscription(Odometry, '/odom', self.odom_subcribe_callback, 10) + self.ranges_subscriber = self.create_subscription(LaserScan, '/scan', self.scan_subsribe_callback, 10) + self.position = [0.0, 0.0, 0.0] + self.angles = [0.0, 0.0, 0.0] + self.ranges = [0.0, 0.0, 0.0, 0.0] + self.range_max = 3.5 + + self.tfbr = StaticTransformBroadcaster(self) + t_map = TransformStamped() + t_map.header.stamp = self.get_clock().now().to_msg() + t_map.header.frame_id = 'map' + t_map.child_frame_id = 'odom' + t_map.transform.translation.x = 0.0 + t_map.transform.translation.y = 0.0 + t_map.transform.translation.z = 0.0 + self.tfbr.sendTransform(t_map) + + self.position_update = False + + self.map = [-1] * int(GLOBAL_SIZE_X / MAP_RES) * int(GLOBAL_SIZE_Y / MAP_RES) + self.map_publisher = self.create_publisher(OccupancyGrid, '/map', + qos_profile=QoSProfile( depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL, history=HistoryPolicy.KEEP_LAST,)) + + def odom_subcribe_callback(self, msg): + self.position[0] = msg.pose.pose.position.x + self.position[1] = msg.pose.pose.position.y + self.position[2] = msg.pose.pose.position.z + q = msg.pose.pose.orientation + euler = tf_transformations.euler_from_quaternion([q.x, q.y, q.z, q.w]) + self.angles[0] = euler[0] + self.angles[1] = euler[1] + self.angles[2] = euler[2] + self.position_update = True + + def scan_subsribe_callback(self, msg): + self.ranges = msg.ranges + self.range_max = msg.range_max + data = self.rotate_and_create_points() + + points_x = [] + points_y = [] + # + if self.position_update is False: + return + for i in range(len(data)): + point_x = int((data[i][0] - GLOBAL_SIZE_X / 2.0)/ MAP_RES ) + point_y = int((data[i][1] - GLOBAL_SIZE_Y / 2.0)/ MAP_RES ) + points_x.append(point_x) + points_y.append(point_y) + position_x_map = int((self.position[0] - GLOBAL_SIZE_X / 2.0)/ MAP_RES ) + position_y_map = int((self.position[1] - GLOBAL_SIZE_Y / 2.0)/ MAP_RES ) + for line_x, line_y in bresenham(position_x_map, position_y_map, point_x, point_y): + self.map[line_y * int(GLOBAL_SIZE_X / MAP_RES) + line_x] = 0 + self.map[point_y * int(GLOBAL_SIZE_X / MAP_RES) + point_x] = 100 + + msg = OccupancyGrid() + msg.header.stamp = self.get_clock().now().to_msg() + msg.header.frame_id = 'map' + msg.info.resolution = MAP_RES + msg.info.width = int(GLOBAL_SIZE_X / MAP_RES) + msg.info.height = int(GLOBAL_SIZE_Y / MAP_RES) + msg.info.origin.position.x = - GLOBAL_SIZE_X / 2.0 + msg.info.origin.position.y = - GLOBAL_SIZE_Y / 2.0 + msg.data = self.map + self.map_publisher.publish(msg) + + def rotate_and_create_points(self): + data = [] + o = self.position + roll = self.angles[0] + pitch = self.angles[1] + yaw = self.angles[2] + r_back = self.ranges[0] + r_left = self.ranges[1] + r_front = self.ranges[2] + r_right = self.ranges[3] + + if (r_left < self.range_max and r_left != 0.0): + left = [o[0], o[1] + r_left, o[2]] + data.append(self.rot(roll, pitch, yaw, o, left)) + + if (r_right < self.range_max and r_right != 0.0): + right = [o[0], o[1] - r_right, o[2]] + data.append(self.rot(roll, pitch, yaw, o, right)) + + if (r_front < self.range_max and r_front != 0.0): + front = [o[0] + r_front, o[1], o[2]] + data.append(self.rot(roll, pitch, yaw, o, front)) + + if (r_back < self.range_max and r_back != 0.0): + back = [o[0] - r_back, o[1], o[2]] + data.append(self.rot(roll, pitch, yaw, o, back)) + + return data + + def rot(self, roll, pitch, yaw, origin, point): + cosr = math.cos((roll)) + cosp = math.cos((pitch)) + cosy = math.cos((yaw)) + + sinr = math.sin((roll)) + sinp = math.sin((pitch)) + siny = math.sin((yaw)) + + roty = np.array([[cosy, -siny, 0], + [siny, cosy, 0], + [0, 0, 1]]) + + rotp = np.array([[cosp, 0, sinp], + [0, 1, 0], + [-sinp, 0, cosp]]) + + rotr = np.array([[1, 0, 0], + [0, cosr, -sinr], + [0, sinr, cosr]]) + + rotFirst = np.dot(rotr, rotp) + + rot = np.array(np.dot(rotFirst, roty)) + + tmp = np.subtract(point, origin) + tmp2 = np.dot(rot, tmp) + return np.add(tmp2, origin) + +def main(args=None): + + rclpy.init(args=args) + simple_mapper = SimpleMapper() + rclpy.spin(simple_mapper) + rclpy.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() \ No newline at end of file From ae7db66b37e73f27364d49bc0b7ff8de6ca45212 Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Thu, 16 Nov 2023 16:51:50 +0100 Subject: [PATCH 021/162] Delete pc_permissions.sh --- pc_permissions.sh | 15 --------------- 1 file changed, 15 deletions(-) delete mode 100755 pc_permissions.sh diff --git a/pc_permissions.sh b/pc_permissions.sh deleted file mode 100755 index 1b225474d..000000000 --- a/pc_permissions.sh +++ /dev/null @@ -1,15 +0,0 @@ -#!/bin/bash - -# Sets PC permissions - -sudo groupadd plugdev -sudo usermod -a -G plugdev $USER - -echo -e "# Crazyradio (normal operation) \nSUBSYSTEM==\"usb\", ATTRS{idVendor}==\"1915\", ATTRS{idProduct}==\"7777\", MODE=\"0664\", GROUP=\"plugdev\" \n# Bootloader \nSUBSYSTEM==\"usb\", ATTRS{idVendor}==\"1915\", ATTRS{idProduct}==\"0101\", MODE=\"0664\", GROUP=\"plugdev\"" | sudo tee /etc/udev/rules.d/99-crazyradio.rules - - -echo -e "SUBSYSTEM==\"usb\", ATTRS{idVendor}==\"0483\", ATTRS{idProduct}==\"5740\", MODE=\"0664\", GROUP=\"plugdev\"" | sudo tee /etc/udev/rules.d/99-crazyflie.rules - -sudo udevadm control --reload-rules && udevadm trigger - - From 7e3328cc9ed77e383ff0d7bc70ad51ab2cfa8642 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 16 Nov 2023 16:58:09 +0100 Subject: [PATCH 022/162] add internal link --- docs2/howto.rst | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docs2/howto.rst b/docs2/howto.rst index 274f52374..7c0ed6bdf 100644 --- a/docs2/howto.rst +++ b/docs2/howto.rst @@ -103,6 +103,8 @@ Then execute: colcon test --event-handlers=console_cohesion+ --return-code-on-test-failure --packages-select crazyflie_py +.. _Collision Avoidance: + Collision Avoidance ------------------- @@ -132,4 +134,4 @@ Generate Trajectories Crazyswarm2 supports polynomial trajectories (8th order). These can be generated from waypoints, waypoint/time pairs, or optimization. Useful tools are available at https://github.com/whoenig/uav_trajectories, including scripts to visualize the resulting trajectories. -For the multi-robot case, there is no easy to-use library, yet. One can use collision avoidance (see HowTo) or preplan trajectories using https://github.com/IMRCLab/db-CBS or https://github.com/mjdebord/smoothener/tree/cylinders. +For the multi-robot case, there is no easy to-use library, yet. One can use collision avoidance (see :ref:`Collision Avoidance`) or preplan trajectories using https://github.com/IMRCLab/db-CBS or https://github.com/mjdebord/smoothener/tree/cylinders. From fed4474b12271857f6069c7cc2e6a57ebed24aab Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 16 Nov 2023 17:16:49 +0100 Subject: [PATCH 023/162] fix doc build --- docs2/installation.rst | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/docs2/installation.rst b/docs2/installation.rst index 9ed2813d2..325bb73f0 100644 --- a/docs2/installation.rst +++ b/docs2/installation.rst @@ -64,8 +64,7 @@ First Installation 6. Update the crazyflies - If this is the first time handling crazyflies it is always good to start with `Bitcraze's getting started guide `_. + If this is the first time handling crazyflies it is always good to start with `Bitcraze's getting started guide `_. You can update each crazyflie firmware to the latest release via `these instructions of the Bitcraze Crazyflie client `_ . From 94c61d4ecee4c5601f19f2da8fcb4c3c17a8e4ff Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 16 Nov 2023 17:22:28 +0100 Subject: [PATCH 024/162] Run docs CI on PRs; deploy only in main --- .github/workflows/ci-docs2.yml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci-docs2.yml b/.github/workflows/ci-docs2.yml index 3884a8f19..37521f765 100644 --- a/.github/workflows/ci-docs2.yml +++ b/.github/workflows/ci-docs2.yml @@ -1,8 +1,10 @@ -name: Docs deploy +name: Docs on: push: branches: [ main ] + pull_request: + branches: [ main ] jobs: build: @@ -33,6 +35,7 @@ jobs: touch docs2/_build/html/.nojekyll - name: Deploy + if: github.ref == 'refs/heads/main' uses: JamesIves/github-pages-deploy-action@v4 with: folder: docs2/_build/html # The folder the action should deploy. From 0ef00381c7a434a3f5d9a038c0c2faccdaa5e4b1 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 16 Nov 2023 17:38:08 +0100 Subject: [PATCH 025/162] fix flake8 errors --- crazyflie_examples/launch/keyboard_velmux_launch.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py index fa06c87ba..8fee2f797 100644 --- a/crazyflie_examples/launch/keyboard_velmux_launch.py +++ b/crazyflie_examples/launch/keyboard_velmux_launch.py @@ -31,8 +31,8 @@ def generate_launch_description(): executable='vel_mux.py', name='vel_mux', output='screen', - parameters=[{"hover_height": 0.3}, - {"incoming_twist_topic": "/cmd_vel"}, - {"robot_prefix": "/cf231"}] + parameters=[{'hover_height': 0.3}, + {'incoming_twist_topic': '/cmd_vel'}, + {'robot_prefix': '/cf231'}] ), ]) From 4d616a4897cf218ef42b2e6b18fcdab9c94779ce Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Fri, 17 Nov 2023 14:25:20 +0100 Subject: [PATCH 026/162] update submodule --- crazyflie/deps/crazyflie_tools | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index c7f3b6c89..1efd3788f 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit c7f3b6c895be149073758825383bdfd9d31f6679 +Subproject commit 1efd3788f5bf59e0fa3da2e4d2bc5cd7bee5b0fc From 487f7e7eeb03d3a9208177afde75b36f16a31502 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Mon, 20 Nov 2023 13:23:43 +0100 Subject: [PATCH 027/162] add trajectory cflib --- crazyflie/scripts/crazyflie_server.py | 70 ++++++++++++++++++++++++++- 1 file changed, 68 insertions(+), 2 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index b52bb6253..a47c9c896 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -20,6 +20,8 @@ from cflib.crazyflie.swarm import CachedCfFactory from cflib.crazyflie.swarm import Swarm from cflib.crazyflie.log import LogConfig +from cflib.crazyflie.mem import MemoryElement +from cflib.crazyflie.mem import Poly4D from crazyflie_interfaces.srv import Takeoff, Land, GoTo, RemoveLogging, AddLogging from crazyflie_interfaces.srv import UploadTrajectory, StartTrajectory, NotifySetpointsStop @@ -797,11 +799,75 @@ def _notify_setpoints_stop_callback(self, request, response, uri="all"): return response def _upload_trajectory_callback(self, request, response, uri="all"): - self.get_logger().info("Notify trajectory not yet implemented") + + id = request.trajectory_id + offset = request.piece_offset + size = request.pieces.size() + total_duration = 0 + self.get_logger().info("upload_trajectory(id=%d,offset=%d, size=%d)"% ( + id, + offset, + size, + )) + + trajectory = [] + for i in range(size): + piece = request.pieces[i] + px = piece.poly_x + py = piece.poly_y + pz = piece.poly_z + pyaw = piece.poly_yaw + duration = request.duration.sec + trajectory.append(Poly4D(duration, px, py, pz, pyaw )) + total_duration = total_duration + duration + + if uri == "all": + upload_success_all = True + for link_uri in self.uris: + trajectory_mem = self.swarm._cfs[link_uri].cf.mem.get_mems(MemoryElement.TYPE_TRAJ)[id] + trajectory_mem.trajectory = trajectory + upload_result = trajectory_mem.write_data_sync() + if not upload_result: + self.get_logger().info(f"{link_uri}: Upload failed") + upload_success_all = False + else: + self.swarm._cfs[link_uri].cf.high_level_commander.define_trajectory(id, offset, len(trajectory)) + if upload_success_all is False: + response.success = False + return response + else: + trajectory_mem = self.swarm._cfs[uri].cf.mem.get_mems(MemoryElement.TYPE_TRAJ)[id] + trajectory_mem.trajectory = trajectory + upload_result = trajectory_mem.write_data_sync() + if not upload_result: + self.get_logger().info(f"{uri}: Upload failed") + response.success = False + return response + self.swarm._cfs[uri].cf.high_level_commander.define_trajectory(id, offset, len(trajectory)) + return response def _start_trajectory_callback(self, request, response, uri="all"): - self.get_logger().info("Start trajectory not yet implemented") + + id = request.trajectory_id + ts = request.timescale + rel = request.relative + rev = request.reversed + gm = request.group_mask + + self.get_logger().info("start_trajectory(id=%d,timescale=%f,relative=%d, reversed=%d, group_mask=%d)"% ( + id, + ts, + rel, + rev, + gm + )) + if uri == "all": + for link_uri in self.uris: + self.swarm._cfs[link_uri].cf.commander.start_trajectory(id, ts, rel, rev, gm) + else: + self.swarm._cfs[uri].cf.commander.start_trajectory(id, ts, rel, rev, gm) + return response def _poses_changed(self, msg): From 0a37e57049f1cd2cedd5089868108915bf664167 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Mon, 20 Nov 2023 13:55:41 +0100 Subject: [PATCH 028/162] fixed error messaging --- crazyflie/scripts/crazyflie_server.py | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index a47c9c896..138dc6bf8 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -802,22 +802,22 @@ def _upload_trajectory_callback(self, request, response, uri="all"): id = request.trajectory_id offset = request.piece_offset - size = request.pieces.size() + lenght = len(request.pieces) total_duration = 0 - self.get_logger().info("upload_trajectory(id=%d,offset=%d, size=%d)"% ( + self.get_logger().info("upload_trajectory(id=%d,offset=%d, lenght=%d)"% ( id, offset, - size, + lenght, )) trajectory = [] - for i in range(size): + for i in range(lenght): piece = request.pieces[i] - px = piece.poly_x - py = piece.poly_y - pz = piece.poly_z - pyaw = piece.poly_yaw - duration = request.duration.sec + px = Poly4D.Poly(piece.poly_x) + py = Poly4D.Poly(piece.poly_y) + pz = Poly4D.Poly(piece.poly_z) + pyaw = Poly4D.Poly(piece.poly_yaw) + duration = piece.duration.sec trajectory.append(Poly4D(duration, px, py, pz, pyaw )) total_duration = total_duration + duration @@ -864,9 +864,9 @@ def _start_trajectory_callback(self, request, response, uri="all"): )) if uri == "all": for link_uri in self.uris: - self.swarm._cfs[link_uri].cf.commander.start_trajectory(id, ts, rel, rev, gm) + self.swarm._cfs[link_uri].cf.high_level_commander.start_trajectory(id, ts, rel, rev, gm) else: - self.swarm._cfs[uri].cf.commander.start_trajectory(id, ts, rel, rev, gm) + self.swarm._cfs[uri].cf.high_level_commander.start_trajectory(id, ts, rel, rev, gm) return response From fb11fa03fc79e766e8eacdfc2c3bcca97f8040bc Mon Sep 17 00:00:00 2001 From: knmcguire Date: Mon, 20 Nov 2023 14:00:06 +0100 Subject: [PATCH 029/162] add launch file --- .../multiranger_simple_mapper_launch.py | 44 +++++++++++++++++++ 1 file changed, 44 insertions(+) create mode 100644 crazyflie_examples/launch/multiranger_simple_mapper_launch.py diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py new file mode 100644 index 000000000..f046d8996 --- /dev/null +++ b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py @@ -0,0 +1,44 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +import yaml + + +def generate_launch_description(): + # load crazyflies + crazyflies_yaml = os.path.join( + get_package_share_directory('crazyflie'), + 'config', + 'crazyflies.yaml') + + with open(crazyflies_yaml, 'r') as ymlfile: + crazyflies = yaml.safe_load(ymlfile) + + server_params = crazyflies + + return LaunchDescription([ + Node( + package='crazyflie', + executable='crazyflie_server.py', + name='crazyflie_server', + output='screen', + parameters=[server_params], + ), + Node( + package='crazyflie', + executable='vel_mux.py', + name='vel_mux', + output='screen', + parameters=[{'hover_height': 0.3}, + {'incoming_twist_topic': '/cmd_vel'}, + {'robot_prefix': '/cf1'}] + ), + #Node( + # package='crazyflie_examples', + # executable='simple_mapper.py', + # name='simple mapper', + # output='screen' + #), + ]) From 8468108f4b75bc29ce47b6634362239f296b026a Mon Sep 17 00:00:00 2001 From: knmcguire Date: Mon, 20 Nov 2023 14:39:32 +0100 Subject: [PATCH 030/162] moved simple mapper to crazyflie scripts --- crazyflie/CMakeLists.txt | 1 + .../scripts/simple_mapper.py | 9 +++- crazyflie_examples/CMakeLists.txt | 6 --- .../launch/multiranger_simple_mapper.py | 46 ------------------- .../multiranger_simple_mapper_launch.py | 12 ++--- 5 files changed, 14 insertions(+), 60 deletions(-) rename {crazyflie_examples => crazyflie}/scripts/simple_mapper.py (95%) mode change 100644 => 100755 delete mode 100644 crazyflie_examples/launch/multiranger_simple_mapper.py diff --git a/crazyflie/CMakeLists.txt b/crazyflie/CMakeLists.txt index ca4dc3764..828cd9a44 100644 --- a/crazyflie/CMakeLists.txt +++ b/crazyflie/CMakeLists.txt @@ -106,6 +106,7 @@ install(PROGRAMS scripts/chooser.py scripts/vel_mux.py scripts/cfmult.py + scripts/simple_mapper.py DESTINATION lib/${PROJECT_NAME} ) diff --git a/crazyflie_examples/scripts/simple_mapper.py b/crazyflie/scripts/simple_mapper.py old mode 100644 new mode 100755 similarity index 95% rename from crazyflie_examples/scripts/simple_mapper.py rename to crazyflie/scripts/simple_mapper.py index dc5f9791b..967bd3d93 --- a/crazyflie_examples/scripts/simple_mapper.py +++ b/crazyflie/scripts/simple_mapper.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python3 + """ This simple mapper is loosely based on both the bitcraze cflib point cloud example https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/multiranger/multiranger_pointcloud.py and the webots epuck simple mapper example: @@ -28,8 +30,8 @@ class SimpleMapper(Node): def __init__(self): super().__init__('simple_mapper') - self.odom_subscriber = self.create_subscription(Odometry, '/odom', self.odom_subcribe_callback, 10) - self.ranges_subscriber = self.create_subscription(LaserScan, '/scan', self.scan_subsribe_callback, 10) + self.odom_subscriber = self.create_subscription(Odometry, '/cf231/odom', self.odom_subcribe_callback, 10) + self.ranges_subscriber = self.create_subscription(LaserScan, '/cf231/scan', self.scan_subsribe_callback, 10) self.position = [0.0, 0.0, 0.0] self.angles = [0.0, 0.0, 0.0] self.ranges = [0.0, 0.0, 0.0, 0.0] @@ -51,6 +53,9 @@ def __init__(self): self.map_publisher = self.create_publisher(OccupancyGrid, '/map', qos_profile=QoSProfile( depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL, history=HistoryPolicy.KEEP_LAST,)) + self.get_logger().info(f"Simple mapper set for crazyflie"+ + f" using the odom and scan topic") + def odom_subcribe_callback(self, msg): self.position[0] = msg.pose.pose.position.x self.position[1] = msg.pose.pose.position.y diff --git a/crazyflie_examples/CMakeLists.txt b/crazyflie_examples/CMakeLists.txt index 68ed05566..0c70c94d2 100644 --- a/crazyflie_examples/CMakeLists.txt +++ b/crazyflie_examples/CMakeLists.txt @@ -32,10 +32,4 @@ if(BUILD_TESTING) endforeach() endif() -# Install Python executables -install(PROGRAMS - scripts/simple_mapper.py - DESTINATION lib/${PROJECT_NAME} -) - ament_package() diff --git a/crazyflie_examples/launch/multiranger_simple_mapper.py b/crazyflie_examples/launch/multiranger_simple_mapper.py deleted file mode 100644 index 1b7b56d3a..000000000 --- a/crazyflie_examples/launch/multiranger_simple_mapper.py +++ /dev/null @@ -1,46 +0,0 @@ -import os - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node -import yaml - - -def generate_launch_description(): - # load crazyflies - crazyflies_yaml = os.path.join( - get_package_share_directory('crazyflie'), - 'config', - 'crazyflies.yaml') - - with open(crazyflies_yaml, 'r') as ymlfile: - crazyflies = yaml.safe_load(ymlfile) - - server_params = crazyflies - - cf_examples_dir = get_package_share_directory('crazyflie_examples') - bringup_dir = get_package_share_directory('nav2_bringup') - bringup_launch_dir = os.path.join(bringup_dir, 'launch') - map_name = 'map' - - return LaunchDescription([ - Node( - package='crazyflie', - executable='crazyflie_server.py', - name='crazyflie_server', - output='screen', - parameters=[{'world_tf_name': 'map'}, - server_params], - ), - Node( - package='crazyflie', - executable='vel_mux.py', - name='vel_mux', - output='screen', - parameters=[{'hover_height': 0.3}, - {'incoming_twist_topic': '/cmd_vel'}, - {'robot_prefix': '/cf231'}] - ) - ]) diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py index f046d8996..97fc12ba7 100644 --- a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py +++ b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py @@ -35,10 +35,10 @@ def generate_launch_description(): {'incoming_twist_topic': '/cmd_vel'}, {'robot_prefix': '/cf1'}] ), - #Node( - # package='crazyflie_examples', - # executable='simple_mapper.py', - # name='simple mapper', - # output='screen' - #), + Node( + package='crazyflie', + executable='simple_mapper.py', + name='simple_mapper', + output='screen' + ), ]) From 1c81737f10c4c8c65d88a2253dfc12acf138ca22 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Mon, 20 Nov 2023 14:49:33 +0100 Subject: [PATCH 031/162] add robot prefix parameters --- crazyflie/scripts/simple_mapper.py | 11 +++++++---- crazyflie/scripts/vel_mux.py | 2 +- crazyflie_examples/launch/keyboard_velmux_launch.py | 4 +++- .../launch/multiranger_simple_mapper_launch.py | 8 ++++++-- 4 files changed, 17 insertions(+), 8 deletions(-) diff --git a/crazyflie/scripts/simple_mapper.py b/crazyflie/scripts/simple_mapper.py index 967bd3d93..db7723850 100755 --- a/crazyflie/scripts/simple_mapper.py +++ b/crazyflie/scripts/simple_mapper.py @@ -30,8 +30,11 @@ class SimpleMapper(Node): def __init__(self): super().__init__('simple_mapper') - self.odom_subscriber = self.create_subscription(Odometry, '/cf231/odom', self.odom_subcribe_callback, 10) - self.ranges_subscriber = self.create_subscription(LaserScan, '/cf231/scan', self.scan_subsribe_callback, 10) + self.declare_parameter('robot_prefix', '/cf231') + robot_prefix = self.get_parameter('robot_prefix').value + + self.odom_subscriber = self.create_subscription(Odometry, robot_prefix + '/odom', self.odom_subcribe_callback, 10) + self.ranges_subscriber = self.create_subscription(LaserScan, robot_prefix + '/scan', self.scan_subsribe_callback, 10) self.position = [0.0, 0.0, 0.0] self.angles = [0.0, 0.0, 0.0] self.ranges = [0.0, 0.0, 0.0, 0.0] @@ -50,10 +53,10 @@ def __init__(self): self.position_update = False self.map = [-1] * int(GLOBAL_SIZE_X / MAP_RES) * int(GLOBAL_SIZE_Y / MAP_RES) - self.map_publisher = self.create_publisher(OccupancyGrid, '/map', + self.map_publisher = self.create_publisher(OccupancyGrid, robot_prefix + '/map', qos_profile=QoSProfile( depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL, history=HistoryPolicy.KEEP_LAST,)) - self.get_logger().info(f"Simple mapper set for crazyflie"+ + self.get_logger().info(f"Simple mapper set for crazyflie "+ robot_prefix + f" using the odom and scan topic") def odom_subcribe_callback(self, msg): diff --git a/crazyflie/scripts/vel_mux.py b/crazyflie/scripts/vel_mux.py index f1155ba1c..a9809f6c1 100755 --- a/crazyflie/scripts/vel_mux.py +++ b/crazyflie/scripts/vel_mux.py @@ -20,7 +20,7 @@ class VelMux(Node): def __init__(self): super().__init__('vel_mux') self.declare_parameter('hover_height', 0.5) - self.declare_parameter('robot_prefix', '/cf1') + self.declare_parameter('robot_prefix', '/cf231') self.declare_parameter('incoming_twist_topic', '/cmd_vel') self.hover_height = self.get_parameter('hover_height').value diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py index 25d318a0b..241348aaa 100644 --- a/crazyflie_examples/launch/keyboard_velmux_launch.py +++ b/crazyflie_examples/launch/keyboard_velmux_launch.py @@ -18,6 +18,8 @@ def generate_launch_description(): server_params = crazyflies + crazyflie_name = '/cf231' + return LaunchDescription([ Node( package='crazyflie', @@ -33,6 +35,6 @@ def generate_launch_description(): output='screen', parameters=[{'hover_height': 0.3}, {'incoming_twist_topic': '/cmd_vel'}, - {'robot_prefix': '/cf1'}] + {'robot_prefix': crazyflie_name}] ), ]) diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py index 97fc12ba7..0f850410b 100644 --- a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py +++ b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py @@ -18,6 +18,8 @@ def generate_launch_description(): server_params = crazyflies + crazyflie_name = '/cf231' + return LaunchDescription([ Node( package='crazyflie', @@ -33,12 +35,14 @@ def generate_launch_description(): output='screen', parameters=[{'hover_height': 0.3}, {'incoming_twist_topic': '/cmd_vel'}, - {'robot_prefix': '/cf1'}] + {'robot_prefix': crazyflie_name}] ), Node( package='crazyflie', executable='simple_mapper.py', name='simple_mapper', - output='screen' + output='screen', + parameters=[ + {'robot_prefix': crazyflie_name}] ), ]) From ed35c8c0fcf9524bcf9a45af325ee5f92d78a548 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Mon, 20 Nov 2023 14:52:13 +0100 Subject: [PATCH 032/162] revert velmux changes, will do later --- crazyflie/scripts/vel_mux.py | 2 +- crazyflie_examples/launch/keyboard_velmux_launch.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/crazyflie/scripts/vel_mux.py b/crazyflie/scripts/vel_mux.py index a9809f6c1..b89706ac5 100755 --- a/crazyflie/scripts/vel_mux.py +++ b/crazyflie/scripts/vel_mux.py @@ -20,7 +20,7 @@ class VelMux(Node): def __init__(self): super().__init__('vel_mux') self.declare_parameter('hover_height', 0.5) - self.declare_parameter('robot_prefix', '/cf231') + self.declare_parameter('robot_prefix', '/cf') self.declare_parameter('incoming_twist_topic', '/cmd_vel') self.hover_height = self.get_parameter('hover_height').value diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py index 241348aaa..06b395ad4 100644 --- a/crazyflie_examples/launch/keyboard_velmux_launch.py +++ b/crazyflie_examples/launch/keyboard_velmux_launch.py @@ -35,6 +35,6 @@ def generate_launch_description(): output='screen', parameters=[{'hover_height': 0.3}, {'incoming_twist_topic': '/cmd_vel'}, - {'robot_prefix': crazyflie_name}] + {'robot_prefix': '/cf1'}] ), ]) From 7b1f1a3143498e5c55bfad0c318d02c9edcb82a0 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Tue, 21 Nov 2023 13:42:24 +0100 Subject: [PATCH 033/162] fixed duration issue --- crazyflie/scripts/crazyflie_server.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index 138dc6bf8..7f569e0bd 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -817,7 +817,7 @@ def _upload_trajectory_callback(self, request, response, uri="all"): py = Poly4D.Poly(piece.poly_y) pz = Poly4D.Poly(piece.poly_z) pyaw = Poly4D.Poly(piece.poly_yaw) - duration = piece.duration.sec + duration = float(piece.duration.sec) + float(piece.duration.nanosec)/1e9 trajectory.append(Poly4D(duration, px, py, pz, pyaw )) total_duration = total_duration + duration From ca6152a8d71f78c228f56e7aba1dd39d8c41b079 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Tue, 21 Nov 2023 13:43:53 +0100 Subject: [PATCH 034/162] update overview --- docs2/overview.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs2/overview.rst b/docs2/overview.rst index 7383949ee..655afd9c6 100644 --- a/docs2/overview.rst +++ b/docs2/overview.rst @@ -87,7 +87,7 @@ Support functionality with backends +---------------------+---------+-----------+---------+ | - go_to | Yes | Yes | Yes | +---------------------+---------+-----------+---------+ -| - upload/start traj | Yes | No | Yes | +| - upload/start traj | Yes | Yes | Yes | +---------------------+---------+-----------+---------+ | Positioning System | +---------------------+---------+-----------+---------+ From 36cb38dc1f171a50fdb634121f6f9ea7a4f46201 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Tue, 21 Nov 2023 13:55:14 +0100 Subject: [PATCH 035/162] autopep8 format --- crazyflie/scripts/crazyflie_server.py | 186 +++++++++++++++----------- 1 file changed, 107 insertions(+), 79 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index 7f569e0bd..448405256 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -54,6 +54,7 @@ "double": ParameterType.PARAMETER_DOUBLE, } + class CrazyflieServer(Node): def __init__(self): super().__init__( @@ -69,21 +70,21 @@ def __init__(self): self.cf_dict = {} self.uri_dict = {} self.type_dict = {} - + # Assign default topic types, variables and callbacks self.default_log_type = {"pose": PoseStamped, - "scan": LaserScan, - "odom": Odometry} + "scan": LaserScan, + "odom": Odometry} 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']} + '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']} self.default_log_fnc = {"pose": self._log_pose_data_callback, - "scan": self._log_scan_data_callback, - "odom": self._log_odom_data_callback} + "scan": self._log_scan_data_callback, + "odom": self._log_odom_data_callback} self.world_tf_name = "world" try: @@ -100,7 +101,8 @@ def __init__(self): if robot_data[crazyflie]["enabled"]: type_cf = robot_data[crazyflie]["type"] # do not include virtual objects - connection = self._ros_parameters['robot_types'][type_cf].get("connection", "crazyflie") + connection = self._ros_parameters['robot_types'][type_cf].get( + "connection", "crazyflie") if connection == "crazyflie": uri = robot_data[crazyflie]["uri"] self.uris.append(uri) @@ -153,7 +155,8 @@ def __init__(self): prefix = default_log_name topic_type = self.default_log_type[default_log_name] list_logvar = self.default_log_vars[default_log_name] - self._init_default_logblocks(prefix, link_uri, list_logvar, logging_enabled, topic_type) + self._init_default_logblocks( + prefix, link_uri, list_logvar, logging_enabled, topic_type) # Check for any custom_log topics custom_logging_enabled = False @@ -207,13 +210,14 @@ def __init__(self): self.get_logger().info("Check if you got the right URIs, if they are turned on" + " or if your script have proper access to a Crazyradio PA") exit() - + # Create services for the entire swarm and each individual crazyflie self.create_service(Empty, "all/emergency", self._emergency_callback) self.create_service(Takeoff, "all/takeoff", self._takeoff_callback) self.create_service(Land, "all/land", self._land_callback) self.create_service(GoTo, "all/go_to", self._go_to_callback) - self.create_service(StartTrajectory, "all/start_trajectory", self._start_trajectory_callback) + self.create_service( + StartTrajectory, "all/start_trajectory", self._start_trajectory_callback) for uri in self.cf_dict: name = self.cf_dict[uri] @@ -232,28 +236,35 @@ def __init__(self): GoTo, name + "/go_to", partial(self._go_to_callback, uri=uri) ) self.create_service( - StartTrajectory, name + "/start_trajectory", partial(self._start_trajectory_callback, uri=uri) + StartTrajectory, name + + "/start_trajectory", partial( + self._start_trajectory_callback, uri=uri) ) self.create_service( - UploadTrajectory, name + "/upload_trajectory", partial(self._upload_trajectory_callback, uri=uri) + UploadTrajectory, name + + "/upload_trajectory", partial( + self._upload_trajectory_callback, uri=uri) ) self.create_service( - NotifySetpointsStop, name + "/notify_setpoints_stop", partial(self._notify_setpoints_stop_callback, uri=uri) + NotifySetpointsStop, name + + "/notify_setpoints_stop", partial( + self._notify_setpoints_stop_callback, uri=uri) ) self.create_subscription( Twist, name + - "/cmd_vel_legacy", partial(self._cmd_vel_legacy_changed, uri=uri), 10 + "/cmd_vel_legacy", partial(self._cmd_vel_legacy_changed, + uri=uri), 10 ) self.create_subscription( Hover, name + "/cmd_hover", partial(self._cmd_hover_changed, uri=uri), 10 ) - qos_profile = QoSProfile(reliability =QoSReliabilityPolicy.BEST_EFFORT, - history=QoSHistoryPolicy.KEEP_LAST, - depth=1, - deadline = Duration(seconds=0, nanoseconds=1e9/100.0)) + qos_profile = QoSProfile(reliability=QoSReliabilityPolicy.BEST_EFFORT, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1, + deadline=Duration(seconds=0, nanoseconds=1e9/100.0)) self.create_subscription( - NamedPoseArray, "/poses", + NamedPoseArray, "/poses", self._poses_changed, qos_profile ) @@ -263,7 +274,7 @@ def _init_default_logblocks(self, prefix, link_uri, list_logvar, global_logging_ """ cf_name = self.cf_dict[link_uri] cf_type = self.type_dict[link_uri] - + logging_enabled = False logging_freq = 10 try: @@ -293,8 +304,10 @@ def _init_default_logblocks(self, prefix, link_uri, list_logvar, global_logging_ else: lg.add_variable(logvar) - self.swarm._cfs[link_uri].logging[prefix + "_logging_enabled"] = logging_enabled - self.swarm._cfs[link_uri].logging[prefix + "_logging_freq"] = logging_freq + self.swarm._cfs[link_uri].logging[prefix + + "_logging_enabled"] = logging_enabled + self.swarm._cfs[link_uri].logging[prefix + + "_logging_freq"] = logging_freq self.swarm._cfs[link_uri].logging[prefix + "_log_config"] = lg if logging_enabled and global_logging_enabled: self.swarm._cfs[link_uri].logging[prefix + "_publisher"] = self.create_publisher( @@ -356,7 +369,7 @@ def _init_logging(self): if cf_handle.logging[prefix + "_logging_enabled"] and cf_handle.logging["enabled"]: callback_fnc = self.default_log_fnc[prefix] self._init_default_logging(prefix, link_uri, callback_fnc) - + # Start logging for costum logging blocks cf_handle.l_toc = cf.log.toc.toc if len(cf_handle.logging["custom_log_groups"]) != 0 and cf_handle.logging["enabled"]: @@ -408,11 +421,11 @@ def _init_default_logging(self, prefix, link_uri, callback_fnc): f"{link_uri} setup logging for {prefix} at freq {frequency}") except KeyError as e: self.get_logger().info(f'{link_uri}: Could not start log configuration,' - '{} not found in TOC'.format(str(e))) + '{} not found in TOC'.format(str(e))) except AttributeError: self.get_logger().info( f'{link_uri}: Could not add log config, bad configuration.') - + def _log_scan_data_callback(self, timestamp, data, logconf, uri): """ Once multiranger range is retrieved from the Crazyflie, @@ -431,7 +444,7 @@ def _log_scan_data_callback(self, timestamp, data, logconf, uri): if right_range > max_range: right_range = float("inf") if back_range > max_range: - back_range = float("inf") + back_range = float("inf") self.ranges = [back_range, right_range, front_range, left_range] msg = LaserScan() @@ -440,8 +453,8 @@ def _log_scan_data_callback(self, timestamp, data, logconf, uri): msg.range_min = 0.01 msg.range_max = 3.49 msg.ranges = self.ranges - msg.angle_min = -0.5 * 2* pi - msg.angle_max = 0.25 * 2 * pi + msg.angle_min = -0.5 * 2 * pi + msg.angle_max = 0.25 * 2 * pi msg.angle_increment = 1.0 * pi/2 self.swarm._cfs[uri].logging["scan_publisher"].publish(msg) @@ -572,10 +585,11 @@ def _init_parameters(self): for param in sorted(p_toc[group].keys()): name = group + "." + param - # Check the parameter type + # Check the parameter type elem = p_toc[group][param] type_cf_param = elem.ctype - parameter_descriptor = ParameterDescriptor(type=cf_log_to_ros_param[type_cf_param]) + parameter_descriptor = ParameterDescriptor( + type=cf_log_to_ros_param[type_cf_param]) # Check ros parameters if an parameter should be set # Parameter sets for individual robots has priority, @@ -586,11 +600,13 @@ def _init_parameters(self): except KeyError: pass try: - set_param_value = self._ros_parameters["robot_types"][self.cf_dict[link_uri]]["firmware_params"][group][param] + set_param_value = self._ros_parameters["robot_types"][self.cf_dict[link_uri] + ]["firmware_params"][group][param] except KeyError: pass try: - set_param_value = self._ros_parameters["robots"][self.cf_dict[link_uri]]["firmware_params"][group][param] + set_param_value = self._ros_parameters["robots"][self.cf_dict[link_uri] + ]["firmware_params"][group][param] except KeyError: pass @@ -637,7 +653,7 @@ def _init_parameters(self): descriptor=parameter_descriptor, ) - # Now all parameters are set + # Now all parameters are set set_param_all = True self.get_logger().info("All Crazyflies parameters are initialized") @@ -673,8 +689,8 @@ def _parameters_callback(self, params): try: for link_uri in self.uris: cf = self.swarm._cfs[link_uri].cf.param.set_value( - name_param, param.value - ) + name_param, param.value + ) self.get_logger().info( f" {link_uri}: {name_param} is set to {param.value}" ) @@ -682,9 +698,9 @@ def _parameters_callback(self, params): except Exception as e: self.get_logger().info(str(e)) return SetParametersResult(successful=False) - + return SetParametersResult(successful=False) - + def _emergency_callback(self, request, response, uri="all"): if uri == "all": for link_uri in self.uris: @@ -792,23 +808,23 @@ def _notify_setpoints_stop_callback(self, request, response, uri="all"): if uri == "all": for link_uri in self.uris: - self.swarm._cfs[link_uri].cf.commander.send_notify_setpoint_stop() + self.swarm._cfs[link_uri].cf.commander.send_notify_setpoint_stop() else: self.swarm._cfs[uri].cf.commander.send_notify_setpoint_stop() return response def _upload_trajectory_callback(self, request, response, uri="all"): - + id = request.trajectory_id offset = request.piece_offset lenght = len(request.pieces) total_duration = 0 - self.get_logger().info("upload_trajectory(id=%d,offset=%d, lenght=%d)"% ( - id, - offset, - lenght, - )) + self.get_logger().info("upload_trajectory(id=%d,offset=%d, lenght=%d)" % ( + id, + offset, + lenght, + )) trajectory = [] for i in range(lenght): @@ -817,59 +833,66 @@ def _upload_trajectory_callback(self, request, response, uri="all"): py = Poly4D.Poly(piece.poly_y) pz = Poly4D.Poly(piece.poly_z) pyaw = Poly4D.Poly(piece.poly_yaw) - duration = float(piece.duration.sec) + float(piece.duration.nanosec)/1e9 - trajectory.append(Poly4D(duration, px, py, pz, pyaw )) + duration = float(piece.duration.sec) + \ + float(piece.duration.nanosec)/1e9 + trajectory.append(Poly4D(duration, px, py, pz, pyaw)) total_duration = total_duration + duration - + if uri == "all": upload_success_all = True for link_uri in self.uris: - trajectory_mem = self.swarm._cfs[link_uri].cf.mem.get_mems(MemoryElement.TYPE_TRAJ)[id] + trajectory_mem = self.swarm._cfs[link_uri].cf.mem.get_mems( + MemoryElement.TYPE_TRAJ)[id] trajectory_mem.trajectory = trajectory upload_result = trajectory_mem.write_data_sync() if not upload_result: self.get_logger().info(f"{link_uri}: Upload failed") upload_success_all = False - else: - self.swarm._cfs[link_uri].cf.high_level_commander.define_trajectory(id, offset, len(trajectory)) + else: + self.swarm._cfs[link_uri].cf.high_level_commander.define_trajectory( + id, offset, len(trajectory)) if upload_success_all is False: response.success = False return response else: - trajectory_mem = self.swarm._cfs[uri].cf.mem.get_mems(MemoryElement.TYPE_TRAJ)[id] + trajectory_mem = self.swarm._cfs[uri].cf.mem.get_mems( + MemoryElement.TYPE_TRAJ)[id] trajectory_mem.trajectory = trajectory upload_result = trajectory_mem.write_data_sync() if not upload_result: self.get_logger().info(f"{uri}: Upload failed") response.success = False return response - self.swarm._cfs[uri].cf.high_level_commander.define_trajectory(id, offset, len(trajectory)) + self.swarm._cfs[uri].cf.high_level_commander.define_trajectory( + id, offset, len(trajectory)) return response - + def _start_trajectory_callback(self, request, response, uri="all"): - + id = request.trajectory_id ts = request.timescale rel = request.relative rev = request.reversed gm = request.group_mask - self.get_logger().info("start_trajectory(id=%d,timescale=%f,relative=%d, reversed=%d, group_mask=%d)"% ( - id, - ts, - rel, - rev, - gm - )) + self.get_logger().info("start_trajectory(id=%d,timescale=%f,relative=%d, reversed=%d, group_mask=%d)" % ( + id, + ts, + rel, + rev, + gm + )) if uri == "all": for link_uri in self.uris: - self.swarm._cfs[link_uri].cf.high_level_commander.start_trajectory(id, ts, rel, rev, gm) + self.swarm._cfs[link_uri].cf.high_level_commander.start_trajectory( + id, ts, rel, rev, gm) else: - self.swarm._cfs[uri].cf.high_level_commander.start_trajectory(id, ts, rel, rev, gm) + self.swarm._cfs[uri].cf.high_level_commander.start_trajectory( + id, ts, rel, rev, gm) return response - + def _poses_changed(self, msg): """ Topic update callback to the motion capture lib's @@ -887,7 +910,7 @@ def _poses_changed(self, msg): if name in self.uri_dict.keys(): uri = self.uri_dict[name] - #self.get_logger().info(f"{uri}: send extpos {x}, {y}, {z} to {name}") + # self.get_logger().info(f"{uri}: send extpos {x}, {y}, {z} to {name}") if isnan(quat.x): self.swarm._cfs[uri].cf.extpos.send_extpos( x, y, z) @@ -895,7 +918,6 @@ def _poses_changed(self, msg): self.swarm._cfs[uri].cf.extpos.send_extpose( x, y, z, quat.x, quat.y, quat.z, quat.w) - def _cmd_vel_legacy_changed(self, msg, uri=""): """ Topic update callback to control the attitude and thrust @@ -917,8 +939,10 @@ def _cmd_hover_changed(self, msg, uri=""): vy = msg.vy z = msg.z_distance yawrate = -1.0*degrees(msg.yaw_rate) - self.swarm._cfs[uri].cf.commander.send_hover_setpoint(vx, vy, yawrate, z) - self.get_logger().info(f"{uri}: Received hover topic {vx} {vy} {yawrate} {z}") + self.swarm._cfs[uri].cf.commander.send_hover_setpoint( + vx, vy, yawrate, z) + self.get_logger().info( + f"{uri}: Received hover topic {vx} {vy} {yawrate} {z}") def _remove_logging(self, request, response, uri="all"): """ @@ -968,8 +992,10 @@ def _add_logging(self, request, response, uri="all"): self.cf_dict[uri] + ".logs." + topic_name + ".frequency.", frequency) self.swarm._cfs[uri].logging[topic_name + "_publisher"] = self.create_publisher( self.default_log_type[topic_name], self.cf_dict[uri] + "/" + topic_name, 10) - self.swarm._cfs[uri].logging[topic_name + "_log_config"].period_in_ms = 1000 / frequency - self.swarm._cfs[uri].logging[topic_name + "_log_config"].start() + self.swarm._cfs[uri].logging[topic_name + + "_log_config"].period_in_ms = 1000 / frequency + self.swarm._cfs[uri].logging[topic_name + + "_log_config"].start() self.get_logger().info(f"{uri}: Add {topic_name} logging") except rclpy.exceptions.ParameterAlreadyDeclaredException: self.get_logger().info( @@ -988,7 +1014,7 @@ def _add_logging(self, request, response, uri="all"): lg_custom.add_variable(log_name) self.swarm._cfs[uri].logging["custom_log_publisher"][topic_name] = self.create_publisher( LogDataGeneric, self.cf_dict[uri] + "/" + topic_name, 10) - + self.swarm._cfs[uri].cf.log.add_config(lg_custom) lg_custom.data_received_cb.add_callback( @@ -1006,8 +1032,10 @@ def _add_logging(self, request, response, uri="all"): self.get_logger().info( f"{uri}: Failed to add {topic_name} logging") self.get_logger().info(str(e) + "is not in TOC") - self.undeclare_parameter(self.cf_dict[uri] + ".logs." + topic_name + ".frequency.") - self.undeclare_parameter(self.cf_dict[uri] + ".logs." + topic_name + ".vars.") + self.undeclare_parameter( + self.cf_dict[uri] + ".logs." + topic_name + ".frequency.") + self.undeclare_parameter( + self.cf_dict[uri] + ".logs." + topic_name + ".vars.") response.success = False return response except rclpy.exceptions.ParameterAlreadyDeclaredException: @@ -1018,7 +1046,7 @@ def _add_logging(self, request, response, uri="all"): response.success = True return response - + def main(args=None): From ff7ac0fadd3a4a2b42aeacdeb0969576e155d288 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Tue, 21 Nov 2023 13:57:30 +0100 Subject: [PATCH 036/162] fix doc --- docs2/overview.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs2/overview.rst b/docs2/overview.rst index 655afd9c6..7cb09506e 100644 --- a/docs2/overview.rst +++ b/docs2/overview.rst @@ -87,7 +87,7 @@ Support functionality with backends +---------------------+---------+-----------+---------+ | - go_to | Yes | Yes | Yes | +---------------------+---------+-----------+---------+ -| - upload/start traj | Yes | Yes | Yes | +| - upload/start traj | Yes | Yes | Yes | +---------------------+---------+-----------+---------+ | Positioning System | +---------------------+---------+-----------+---------+ From 098691d38e452e3808024937ab016ddf35ca3b4b Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 23 Nov 2023 14:49:15 +0100 Subject: [PATCH 037/162] fix mapping issue wrong order ranges --- crazyflie/scripts/simple_mapper.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/crazyflie/scripts/simple_mapper.py b/crazyflie/scripts/simple_mapper.py index db7723850..f0f316e78 100755 --- a/crazyflie/scripts/simple_mapper.py +++ b/crazyflie/scripts/simple_mapper.py @@ -109,9 +109,9 @@ def rotate_and_create_points(self): pitch = self.angles[1] yaw = self.angles[2] r_back = self.ranges[0] - r_left = self.ranges[1] + r_right = self.ranges[1] r_front = self.ranges[2] - r_right = self.ranges[3] + r_left = self.ranges[3] if (r_left < self.range_max and r_left != 0.0): left = [o[0], o[1] + r_left, o[2]] From 02b70523ad3890ab7ebd50a45da1fb5edb63696e Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 23 Nov 2023 14:52:21 +0100 Subject: [PATCH 038/162] change file name simple mapper --- crazyflie/CMakeLists.txt | 2 +- .../scripts/{simple_mapper.py => simple_mapper_multiranger.py} | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename crazyflie/scripts/{simple_mapper.py => simple_mapper_multiranger.py} (100%) diff --git a/crazyflie/CMakeLists.txt b/crazyflie/CMakeLists.txt index 828cd9a44..e6bf91d0a 100644 --- a/crazyflie/CMakeLists.txt +++ b/crazyflie/CMakeLists.txt @@ -106,7 +106,7 @@ install(PROGRAMS scripts/chooser.py scripts/vel_mux.py scripts/cfmult.py - scripts/simple_mapper.py + scripts/simple_mapper_multiranger.py DESTINATION lib/${PROJECT_NAME} ) diff --git a/crazyflie/scripts/simple_mapper.py b/crazyflie/scripts/simple_mapper_multiranger.py similarity index 100% rename from crazyflie/scripts/simple_mapper.py rename to crazyflie/scripts/simple_mapper_multiranger.py From 2386488754be1c82f97bd9971171b65b273adae3 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 23 Nov 2023 14:54:09 +0100 Subject: [PATCH 039/162] simple mappr function name change --- crazyflie/scripts/simple_mapper_multiranger.py | 8 ++++---- .../launch/multiranger_simple_mapper_launch.py | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/crazyflie/scripts/simple_mapper_multiranger.py b/crazyflie/scripts/simple_mapper_multiranger.py index f0f316e78..879f551ec 100755 --- a/crazyflie/scripts/simple_mapper_multiranger.py +++ b/crazyflie/scripts/simple_mapper_multiranger.py @@ -27,9 +27,9 @@ GLOBAL_SIZE_Y = 20.0 MAP_RES = 0.1 -class SimpleMapper(Node): +class SimpleMapperMultiranger(Node): def __init__(self): - super().__init__('simple_mapper') + super().__init__('simple_mapper_multiranger') self.declare_parameter('robot_prefix', '/cf231') robot_prefix = self.get_parameter('robot_prefix').value @@ -163,8 +163,8 @@ def rot(self, roll, pitch, yaw, origin, point): def main(args=None): rclpy.init(args=args) - simple_mapper = SimpleMapper() - rclpy.spin(simple_mapper) + simple_mapper_multiranger = SimpleMapperMultiranger() + rclpy.spin(simple_mapper_multiranger) rclpy.destroy_node() rclpy.shutdown() diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py index 0f850410b..d8e4b4952 100644 --- a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py +++ b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py @@ -39,8 +39,8 @@ def generate_launch_description(): ), Node( package='crazyflie', - executable='simple_mapper.py', - name='simple_mapper', + executable='simple_mapper_multiranger.py', + name='simple_mapper_multiranger', output='screen', parameters=[ {'robot_prefix': crazyflie_name}] From 93668a3b53b2e597dacbf655bea924698f21bd87 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 23 Nov 2023 14:55:28 +0100 Subject: [PATCH 040/162] fix callback names typo --- crazyflie/scripts/simple_mapper_multiranger.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/crazyflie/scripts/simple_mapper_multiranger.py b/crazyflie/scripts/simple_mapper_multiranger.py index 879f551ec..afd4ef851 100755 --- a/crazyflie/scripts/simple_mapper_multiranger.py +++ b/crazyflie/scripts/simple_mapper_multiranger.py @@ -33,8 +33,8 @@ def __init__(self): self.declare_parameter('robot_prefix', '/cf231') robot_prefix = self.get_parameter('robot_prefix').value - self.odom_subscriber = self.create_subscription(Odometry, robot_prefix + '/odom', self.odom_subcribe_callback, 10) - self.ranges_subscriber = self.create_subscription(LaserScan, robot_prefix + '/scan', self.scan_subsribe_callback, 10) + self.odom_subscriber = self.create_subscription(Odometry, robot_prefix + '/odom', self.odom_subscribe_callback, 10) + self.ranges_subscriber = self.create_subscription(LaserScan, robot_prefix + '/scan', self.scan_subscribe_callback, 10) self.position = [0.0, 0.0, 0.0] self.angles = [0.0, 0.0, 0.0] self.ranges = [0.0, 0.0, 0.0, 0.0] @@ -59,7 +59,7 @@ def __init__(self): self.get_logger().info(f"Simple mapper set for crazyflie "+ robot_prefix + f" using the odom and scan topic") - def odom_subcribe_callback(self, msg): + def odom_subscribe_callback(self, msg): self.position[0] = msg.pose.pose.position.x self.position[1] = msg.pose.pose.position.y self.position[2] = msg.pose.pose.position.z @@ -70,7 +70,7 @@ def odom_subcribe_callback(self, msg): self.angles[2] = euler[2] self.position_update = True - def scan_subsribe_callback(self, msg): + def scan_subscribe_callback(self, msg): self.ranges = msg.ranges self.range_max = msg.range_max data = self.rotate_and_create_points() From b466f821667e401e6e2fef9e85e02f4895bd3bbb Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 23 Nov 2023 14:55:54 +0100 Subject: [PATCH 041/162] autopep8 --- .../scripts/simple_mapper_multiranger.py | 81 ++++++++++--------- 1 file changed, 44 insertions(+), 37 deletions(-) diff --git a/crazyflie/scripts/simple_mapper_multiranger.py b/crazyflie/scripts/simple_mapper_multiranger.py index afd4ef851..096b6126a 100755 --- a/crazyflie/scripts/simple_mapper_multiranger.py +++ b/crazyflie/scripts/simple_mapper_multiranger.py @@ -27,16 +27,19 @@ GLOBAL_SIZE_Y = 20.0 MAP_RES = 0.1 + class SimpleMapperMultiranger(Node): def __init__(self): super().__init__('simple_mapper_multiranger') self.declare_parameter('robot_prefix', '/cf231') - robot_prefix = self.get_parameter('robot_prefix').value - - self.odom_subscriber = self.create_subscription(Odometry, robot_prefix + '/odom', self.odom_subscribe_callback, 10) - self.ranges_subscriber = self.create_subscription(LaserScan, robot_prefix + '/scan', self.scan_subscribe_callback, 10) - self.position = [0.0, 0.0, 0.0] - self.angles = [0.0, 0.0, 0.0] + robot_prefix = self.get_parameter('robot_prefix').value + + self.odom_subscriber = self.create_subscription( + Odometry, robot_prefix + '/odom', self.odom_subscribe_callback, 10) + self.ranges_subscriber = self.create_subscription( + LaserScan, robot_prefix + '/scan', self.scan_subscribe_callback, 10) + self.position = [0.0, 0.0, 0.0] + self.angles = [0.0, 0.0, 0.0] self.ranges = [0.0, 0.0, 0.0, 0.0] self.range_max = 3.5 @@ -52,13 +55,14 @@ def __init__(self): self.position_update = False - self.map = [-1] * int(GLOBAL_SIZE_X / MAP_RES) * int(GLOBAL_SIZE_Y / MAP_RES) + self.map = [-1] * int(GLOBAL_SIZE_X / MAP_RES) * \ + int(GLOBAL_SIZE_Y / MAP_RES) self.map_publisher = self.create_publisher(OccupancyGrid, robot_prefix + '/map', - qos_profile=QoSProfile( depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL, history=HistoryPolicy.KEEP_LAST,)) + qos_profile=QoSProfile(depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL, history=HistoryPolicy.KEEP_LAST,)) - self.get_logger().info(f"Simple mapper set for crazyflie "+ robot_prefix + + self.get_logger().info(f"Simple mapper set for crazyflie " + robot_prefix + f" using the odom and scan topic") - + def odom_subscribe_callback(self, msg): self.position[0] = msg.pose.pose.position.x self.position[1] = msg.pose.pose.position.y @@ -81,15 +85,17 @@ def scan_subscribe_callback(self, msg): if self.position_update is False: return for i in range(len(data)): - point_x = int((data[i][0] - GLOBAL_SIZE_X / 2.0)/ MAP_RES ) - point_y = int((data[i][1] - GLOBAL_SIZE_Y / 2.0)/ MAP_RES ) + point_x = int((data[i][0] - GLOBAL_SIZE_X / 2.0) / MAP_RES) + point_y = int((data[i][1] - GLOBAL_SIZE_Y / 2.0) / MAP_RES) points_x.append(point_x) points_y.append(point_y) - position_x_map = int((self.position[0] - GLOBAL_SIZE_X / 2.0)/ MAP_RES ) - position_y_map = int((self.position[1] - GLOBAL_SIZE_Y / 2.0)/ MAP_RES ) + position_x_map = int( + (self.position[0] - GLOBAL_SIZE_X / 2.0) / MAP_RES) + position_y_map = int( + (self.position[1] - GLOBAL_SIZE_Y / 2.0) / MAP_RES) for line_x, line_y in bresenham(position_x_map, position_y_map, point_x, point_y): - self.map[line_y * int(GLOBAL_SIZE_X / MAP_RES) + line_x] = 0 - self.map[point_y * int(GLOBAL_SIZE_X / MAP_RES) + point_x] = 100 + self.map[line_y * int(GLOBAL_SIZE_X / MAP_RES) + line_x] = 0 + self.map[point_y * int(GLOBAL_SIZE_X / MAP_RES) + point_x] = 100 msg = OccupancyGrid() msg.header.stamp = self.get_clock().now().to_msg() @@ -132,33 +138,34 @@ def rotate_and_create_points(self): return data def rot(self, roll, pitch, yaw, origin, point): - cosr = math.cos((roll)) - cosp = math.cos((pitch)) - cosy = math.cos((yaw)) + cosr = math.cos((roll)) + cosp = math.cos((pitch)) + cosy = math.cos((yaw)) + + sinr = math.sin((roll)) + sinp = math.sin((pitch)) + siny = math.sin((yaw)) - sinr = math.sin((roll)) - sinp = math.sin((pitch)) - siny = math.sin((yaw)) + roty = np.array([[cosy, -siny, 0], + [siny, cosy, 0], + [0, 0, 1]]) - roty = np.array([[cosy, -siny, 0], - [siny, cosy, 0], - [0, 0, 1]]) + rotp = np.array([[cosp, 0, sinp], + [0, 1, 0], + [-sinp, 0, cosp]]) - rotp = np.array([[cosp, 0, sinp], - [0, 1, 0], - [-sinp, 0, cosp]]) + rotr = np.array([[1, 0, 0], + [0, cosr, -sinr], + [0, sinr, cosr]]) - rotr = np.array([[1, 0, 0], - [0, cosr, -sinr], - [0, sinr, cosr]]) + rotFirst = np.dot(rotr, rotp) - rotFirst = np.dot(rotr, rotp) + rot = np.array(np.dot(rotFirst, roty)) - rot = np.array(np.dot(rotFirst, roty)) + tmp = np.subtract(point, origin) + tmp2 = np.dot(rot, tmp) + return np.add(tmp2, origin) - tmp = np.subtract(point, origin) - tmp2 = np.dot(rot, tmp) - return np.add(tmp2, origin) def main(args=None): @@ -170,4 +177,4 @@ def main(args=None): if __name__ == '__main__': - main() \ No newline at end of file + main() From 7019b14203a6bbb1012c53d0c1716da90d1dc3da Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 23 Nov 2023 14:56:20 +0100 Subject: [PATCH 042/162] revert change velmux --- crazyflie_examples/launch/keyboard_velmux_launch.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py index 06b395ad4..25d318a0b 100644 --- a/crazyflie_examples/launch/keyboard_velmux_launch.py +++ b/crazyflie_examples/launch/keyboard_velmux_launch.py @@ -18,8 +18,6 @@ def generate_launch_description(): server_params = crazyflies - crazyflie_name = '/cf231' - return LaunchDescription([ Node( package='crazyflie', From b20230ab4b69a6948ab63ee497d861affd350c89 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 23 Nov 2023 15:05:47 +0100 Subject: [PATCH 043/162] add doc about the example --- docs2/tutorials.rst | 38 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 38 insertions(+) diff --git a/docs2/tutorials.rst b/docs2/tutorials.rst index bb550ce1c..f56d62f75 100644 --- a/docs2/tutorials.rst +++ b/docs2/tutorials.rst @@ -87,6 +87,44 @@ Here you can see an example of 5 crazyflies with the Pose default topic enabled, +Mapping with simple mapper +-------------------------- + +If you have a crazyflie with a multiranger and flowdeck, you can try out some simple mapping. + +Make sure that the scan and odometry logging is enabled in crazyflies.yaml: + +.. code-block:: bash + + firmware_logging: + enabled: true + default_topics: + odom: + frequency: 10 # Hz + scan: + frequency: 10 # Hz + +and make sure that the pid controller and kalman filter is enabled: + +.. code-block:: bash + + firmware_params: + stabilizer: + estimator: 2 # 1: complementary, 2: kalman + controller: 1 # 1: PID, 2: mellinger + +If you are using a different name for your crazyflie, make sure to change the following in the example launch file (multiranger_simple_mapper_launch.py): + +.. code-block:: bash + crazyflie_name = '/cf231' + +Then start the simple mapper example launch file: + +.. code-block:: bash + ros2 launch crazyflie_examples multiranger_simple_mapper_launch.py + +And watch the mapping happening in rviz2 while controlling the crazyflie with the teleop node (see the sections above). + Mapping with the SLAM toolbox ----------------------------- From 99ccd67c875ece9fe4945dbacb89c196b2740bc5 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 23 Nov 2023 15:08:33 +0100 Subject: [PATCH 044/162] fix doc issues --- docs2/tutorials.rst | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs2/tutorials.rst b/docs2/tutorials.rst index f56d62f75..84281cc81 100644 --- a/docs2/tutorials.rst +++ b/docs2/tutorials.rst @@ -116,11 +116,13 @@ and make sure that the pid controller and kalman filter is enabled: If you are using a different name for your crazyflie, make sure to change the following in the example launch file (multiranger_simple_mapper_launch.py): .. code-block:: bash + crazyflie_name = '/cf231' Then start the simple mapper example launch file: .. code-block:: bash + ros2 launch crazyflie_examples multiranger_simple_mapper_launch.py And watch the mapping happening in rviz2 while controlling the crazyflie with the teleop node (see the sections above). From 9050b3790a13f51e4d44f37d804c012355659b9f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Wolfgang=20H=C3=B6nig?= Date: Fri, 1 Dec 2023 06:27:33 +0100 Subject: [PATCH 045/162] add system tests Add infrastructure for continuous integration tests that run on physical hardware (to be manually triggered via github actions; requires a custom github runner with access to the robot hardware). This initial change runs two of the example scripts and uploads a resulting PDF with the trajectory tracking results. Co-authored-by: JulienT hevenoz --- .github/workflows/systemtests.yml | 68 ++++++ systemtests/mcap_handler.py | 64 ++++++ systemtests/plotter_class.py | 343 ++++++++++++++++++++++++++++++ systemtests/run_test.py | 119 +++++++++++ 4 files changed, 594 insertions(+) create mode 100644 .github/workflows/systemtests.yml create mode 100644 systemtests/mcap_handler.py create mode 100644 systemtests/plotter_class.py create mode 100755 systemtests/run_test.py diff --git a/.github/workflows/systemtests.yml b/.github/workflows/systemtests.yml new file mode 100644 index 000000000..21588070b --- /dev/null +++ b/.github/workflows/systemtests.yml @@ -0,0 +1,68 @@ +name: System Tests + +on: + push: + branches: [ "feature_systemtests" ] + # manual trigger + workflow_dispatch: + +jobs: + build: + runs-on: self-hosted + steps: + - name: Create workspace + id: step1 + run: | + cd ros2_ws/src || mkdir -p ros2_ws/src + - name: Checkout motion capture package + id: step2 + run: | + cd ros2_ws/src + ls motion_capture_tracking || git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git + - name: Checkout Crazyswarm2 + id: step3 + uses: actions/checkout@v4 + with: + path: ros2_ws/src/crazyswarm2 + submodules: 'recursive' + - name: Build workspace + id: step4 + run: | + source /opt/ros/humble/setup.bash + cd ros2_ws + colcon build --symlink-install + + - name: Flight test + id: step5 + run: | + cd ros2_ws + source /opt/ros/humble/setup.bash + . install/local_setup.bash + export ROS_LOCALHOST_ONLY=1 + python3 src/crazyswarm2/systemtests/run_test.py + + - name: Upload files + id: step6 + uses: actions/upload-artifact@v3 + with: + name: pdf_bagfiles_and_logs + path: | + ros2_ws/bagfiles + ros2_ws/results + ~/.ros/log + + + + + + # - name: build and test ROS 2 + # uses: ros-tooling/action-ros-ci@v0.3 + # with: + # package-name: | + # crazyflie + # crazyflie_examples + # crazyflie_interfaces + # crazyflie_py + # crazyflie_sim + # target-ros2-distro: humble + # vcs-repo-file-url: rosinstall \ No newline at end of file diff --git a/systemtests/mcap_handler.py b/systemtests/mcap_handler.py new file mode 100644 index 000000000..de15911c1 --- /dev/null +++ b/systemtests/mcap_handler.py @@ -0,0 +1,64 @@ +from pathlib import Path +from rclpy.serialization import deserialize_message +from rosidl_runtime_py.utilities import get_message +from std_msgs.msg import String +import rosbag2_py +import csv + +class McapHandler: + def __init__(self): + pass + + def read_messages(self, input_bag: str): + reader = rosbag2_py.SequentialReader() + reader.open( + rosbag2_py.StorageOptions(uri=input_bag, storage_id="mcap"), + rosbag2_py.ConverterOptions( + input_serialization_format="cdr", output_serialization_format="cdr" + ), + ) + topic_types = reader.get_all_topics_and_types() + + def typename(topic_name): + for topic_type in topic_types: + if topic_type.name == topic_name: + return topic_type.type + raise ValueError(f"topic {topic_name} not in bag") + + while reader.has_next(): + topic, data, timestamp = reader.read_next() + msg_type = get_message(typename(topic)) + msg = deserialize_message(data, msg_type) + yield topic, msg, timestamp + del reader + + def write_mcap_to_csv(self, inputbag:str, outputfile:str): + '''A method which translates an .mcap rosbag file format to a .csv file. + Only written to translate the /tf topic but could easily be extended to other topics''' + + try: + print("Translating .mcap to .csv") + f = open(outputfile, 'w+') + writer = csv.writer(f) + for topic, msg, timestamp in self.read_messages(inputbag): + writer.writerow([timestamp, msg.transforms[0].transform.translation.x, msg.transforms[0].transform.translation.y, msg.transforms[0].transform.translation.z]) + f.close() + except FileNotFoundError: + print(f"McapHandler : file {outputfile} not found") + exit(1) + + + + +if __name__ == "__main__": + + #command line utility + + from argparse import ArgumentParser, Namespace + parser = ArgumentParser(description="Translates the /tf topic of an .mcap rosbag file format to a .csv file") + parser.add_argument("inputbag", type=str, help="The .mcap rosbag file to be translated") + parser.add_argument("outputfile", type=str, help="Output csv file that has to be created/overwritten") + args:Namespace = parser.parse_args() + + translator = McapHandler() + translator.write_mcap_to_csv(args.inputbag,args.outputfile) diff --git a/systemtests/plotter_class.py b/systemtests/plotter_class.py new file mode 100644 index 000000000..beca43e33 --- /dev/null +++ b/systemtests/plotter_class.py @@ -0,0 +1,343 @@ +import matplotlib.pyplot as plt +import os +import sys +from matplotlib.backends.backend_pdf import PdfPages +import numpy as np +from crazyflie_py.uav_trajectory import Trajectory + + +class Plotter: + + def __init__(self): + self.params = {'experiment':'1','trajectory':'figure8.csv','motors':'standard motors(CF)', 'propellers':'standard propellers(CF)'} + self.bag_times = np.empty([0]) + self.bag_x = np.empty([0]) + self.bag_y = np.empty([0]) + self.bag_z = np.empty([0]) + self.ideal_traj_x = np.empty([0]) + self.ideal_traj_y = np.empty([0]) + self.ideal_traj_z = np.empty([0]) + self.euclidian_dist = np.empty([0]) + self.deviation = [] #list of all indexes where euclidian_distance(ideal - recorded) > EPSILON + + self.EPSILON = 0.05 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test + self.DELAY_CONST_FIG8 = 4.75 #this is the delay constant which I found by adding up all the time.sleep() etc in the figure8.py file. This should be implemented better later + self.ALTITUDE_CONST_FIG8 = 1.0 #this is the altitude given for the takeoff in figure8.py. I should find a better solution than a symbolic constant ? + self.ALTITUDE_CONST_MULTITRAJ = 1 #takeoff altitude for traj0 in multi_trajectory.py + + def file_guard(self, pdf_path): + msg = None + if os.path.exists(pdf_path): + msg = input("file already exists, overwrite? [y/n]: ") + if msg == "n": + print("exiting...") + sys.exit(0) + elif msg == "y": + print("overwriting...") + os.remove(pdf_path) + else: + print("invalid msg...") + self.file_guard(pdf_path) + return + + + + def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile): + '''Method that reads the csv data of the ideal test trajectory and of the actual recorded trajectory and initializes the attribute arrays''' + + #check which test we are plotting : figure8 or multi_trajectory + if("fig8" in rosbag_csvfile): + fig8 = True + print("Plotting fig8 test data") + else: + fig8 = False + print("Plotting multi_trajectory test data") + + #get ideal trajectory data + self.ideal_traj_csv = Trajectory() + try: + path_to_ideal_csv = os.path.join(os.path.dirname(os.path.abspath(__file__)),ideal_csvfile) + self.ideal_traj_csv.loadcsv(path_to_ideal_csv) + except FileNotFoundError: + print("Plotter : File not found " + path_to_ideal_csv) + exit(1) + + + #get rosbag data + rosbag_data = np.loadtxt(rosbag_csvfile, delimiter=",") + + self.bag_times = np.array(rosbag_data[:,0]) + self.bag_x = np.array(rosbag_data[:,1]) + self.bag_y = np.array(rosbag_data[:,2]) + self.bag_z = np.array(rosbag_data[:,3]) + + self.adjust_arrays() + bag_arrays_size = len(self.bag_times) + print("number of datapoints in self.bag_*: ",bag_arrays_size) + + #####calculate ideal trajectory points corresponding to the times of recorded points + + self.ideal_traj_x = np.empty([bag_arrays_size]) + self.ideal_traj_y = np.empty([bag_arrays_size]) + self.ideal_traj_z = np.empty([bag_arrays_size]) + self.euclidian_dist = np.empty([bag_arrays_size]) + + + no_match_in_idealcsv=[] + + for i in range(bag_arrays_size): + try: + pos = self.ideal_traj_csv.eval(self.bag_times[i] - self.DELAY_CONST_FIG8).pos + except AssertionError: + no_match_in_idealcsv.append(i) + pos = [0,0,0] #for all recorded datapoints who cannot be matched to a corresponding ideal position we assume the drone is on its ground start position (ie those datapoints are before takeoff or after landing) + + + self.ideal_traj_x[i], self.ideal_traj_y[i]= pos[0], pos[1] + if(fig8) : #special case : in fig8 test no altitude is given in the trajectory polynomials but is stays constant after takeoff in figure8.py + self.ideal_traj_z[i] = self.ALTITUDE_CONST_FIG8 + else : #for multi_trajectory test the altitude given in the trajectory polynomials is added to the takeoff altitude + self.ideal_traj_z[i] = self.ALTITUDE_CONST_MULTITRAJ + pos[2] + + self.euclidian_dist[i] = np.linalg.norm([self.ideal_traj_x[i]-self.bag_x[i], + self.ideal_traj_y[i]-self.bag_y[i], self.ideal_traj_z[i]-self.bag_z[i]]) + if self.euclidian_dist[i] > self.EPSILON: + self.deviation.append(i) + + self.no_match_warning(no_match_in_idealcsv) + + + def no_match_warning(self, unmatched_values:list): + ''' A method which prints a warning saying how many (if any) recorded datapoints could not be matched to an ideal datapoint''' + + no_match_arr = np.array(unmatched_values) + + if no_match_arr.size == 0: + return + + split_index_arr = [] + + for i in range(no_match_arr.size - 1): #find indexes which are not consecutive + if(no_match_arr[i+1] != no_match_arr[i]+1): + split_index_arr.append(i+1) + + banana_split = np.split(no_match_arr, split_index_arr) #split array into sub-array of consecutive indexes -> each sub-array is a timerange for which ideal positions weren't able to calculated + print(f"{len(no_match_arr)} recorded positions weren't able to be matched with a specified ideal position and were given the default (0,0,0) ideal position instead.") + print("Probable reason : their timestamp is before the start of the ideal trajectory or after its end.") + if len(banana_split)==2: + timerange1_start = self.bag_times[banana_split[0][0]] + timerange1_end= self.bag_times[banana_split[0][1]] + timerange2_start = self.bag_times[banana_split[1][0]] + timerange2_end = self.bag_times[banana_split[1][1]] + print(f"These datapoints correspond to the time ranges [{timerange1_start} , {timerange1_end}] and [{timerange2_start} , {timerange2_end}]") + + + + def adjust_arrays(self): + ''' Method that trims the self.bag_* attributes to get rid of the datapoints where the drone is immobile on the ground and makes self.bag_times start at 0 [s]''' + + print(f"rosbag initial length {(self.bag_times[-1]-self.bag_times[0]) * 10**-9}s") + + #find the takeoff time and landing times + ground_level = self.bag_z[0] + airborne = False + takeoff_index = None + landing_index = None + i=0 + for z_coord in self.bag_z: + if not(airborne) and z_coord > ground_level + ground_level*(0.1): #when altitude of the drone is 10% higher than the ground level, it started takeoff + takeoff_index = i + takeoff_time = self.bag_times[takeoff_index] + airborne = True + print(f"takeof time is {(takeoff_time-self.bag_times[0]) * 10**-9}") + if airborne and z_coord < ground_level + ground_level*(0.1): #find when it lands again + landing_index = i + landing_time = self.bag_times[landing_index] + print(f"landing time is {(landing_time-self.bag_times[0]) * 10**-9}") + break + i+=1 + + assert (takeoff_index != None) and (landing_index != None), "Plotter : couldn't find drone takeoff or landing" + + + ####get rid of datapoints before takeoff and after landing in bag_times, bag_x, bag_y, bag_y + + assert len(self.bag_times) == len(self.bag_x) == len(self.bag_y) == len(self.bag_z), "Plotter : self.bag_* aren't the same size before trimming" + index_arr = np.arange(len(self.bag_times)) + slicing_arr = np.delete(index_arr, index_arr[takeoff_index:landing_index+1]) #in our slicing array we take out all the indexes of when the drone is in flight so that it only contains the indexes of when the drone is on the ground + + #delete the datapoints where drone is on the ground + self.bag_times = np.delete(self.bag_times, slicing_arr) + self.bag_x = np.delete(self.bag_x, slicing_arr) + self.bag_y = np.delete(self.bag_y, slicing_arr) + self.bag_z = np.delete(self.bag_z, slicing_arr) + + assert len(self.bag_times) == len(self.bag_x) == len(self.bag_y) == len(self.bag_z), "Plotter : self.bag_* aren't the same size after trimming" + + #rewrite bag_times to start at 0 and be written in [s] instead of [ns] + bag_start_time = self.bag_times[0] + self.bag_times = (self.bag_times-bag_start_time) * (10**-9) + assert self.bag_times[0] == 0 + print(f"trimmed bag_times starts: {self.bag_times[0]}s and ends: {self.bag_times[-1]}, size: {len(self.bag_times)}") + + + + def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str): + '''Method that creates the pdf with the plots''' + + self.read_csv_and_set_arrays(ideal_csvfile,rosbag_csvfile) + + passed="failed" + if self.test_passed(): + passed = "passed" + + #create PDF to save figures + if(pdfname[-4:] != ".pdf"): + pdfname= pdfname + '.pdf' + + #check if user wants to overwrite the report file + self.file_guard(pdfname) + pdf_pages = PdfPages(pdfname) + + #create title page + if "figure8" in ideal_csvfile: + name = "Figure8" + elif "multi_trajectory" in ideal_csvfile: + name = "Multi_trajectory" + else: + name = "Unnamed test" + print("Plotter : test name not defined") + + text = f'{name} trajectory test' + title_text_settings = f'Settings:\n' + title_text_parameters = f'Parameters:\n' + for key, value in self.params.items(): + title_text_parameters += f" {key}: {value}\n" + title_text_results = f'Results: test {passed}\n' + f'max error : ' + + title_text = text + "\n" + title_text_settings + "\n" + title_text_parameters + "\n" + title_text_results + fig = plt.figure(figsize=(5,8)) + fig.text(0.1, 0.1, title_text, size=11) + + + pdf_pages.savefig(fig) + + + #create plots + fig, ax = plt.subplots() + ax.plot(self.bag_times, self.ideal_traj_x, label='Ideal trajectory', linestyle="--", linewidth=1, zorder=10) + ax.plot(self.bag_times, self.bag_x, label='Recorded trajectory') + ax.set_xlabel('time [s]') + ax.set_ylabel('x position [m]') + ax.set_title("Trajectory x") + + ax.grid(which='major', color='#DDDDDD', linewidth=0.8) + ax.grid(which='minor', color='#EEEEEE', linestyle=':', linewidth=0.5) + ax.minorticks_on() + fig.tight_layout(pad = 4) + fig.legend() + + pdf_pages.savefig(fig) + + fig2, ax2 = plt.subplots() + ax2.plot(self.bag_times, self.ideal_traj_y, label='Ideal trajectory', linestyle="--", linewidth=1, zorder=10) + ax2.plot(self.bag_times, self.bag_y, label='Recorded trajectory') + ax2.set_xlabel('time [s]') + ax2.set_ylabel('y position [m]') + ax2.set_title("Trajectory y") + ax2.grid(which='major', color='#DDDDDD', linewidth=0.8) + ax2.grid(which='minor', color='#EEEEEE', linestyle=':', linewidth=0.5) + ax2.minorticks_on() + fig2.tight_layout(pad = 4) + fig2.legend() + pdf_pages.savefig(fig2) + + + fig3, ax3 = plt.subplots() + ax3.plot(self.bag_times, self.ideal_traj_z, label='Ideal trajectory', linestyle="--", linewidth=1, zorder=10) + ax3.plot(self.bag_times, self.bag_z, label='Recorded trajectory') + ax3.set_xlabel('time [s]') + ax3.set_ylabel('z position [m]') + ax3.set_title("Trajectory z") + ax3.grid(which='major', color='#DDDDDD', linewidth=0.8) + ax3.grid(which='minor', color='#EEEEEE', linestyle=':', linewidth=0.5) + ax3.minorticks_on() + fig3.tight_layout(pad = 4) + fig3.legend() + pdf_pages.savefig(fig3) + + fig4, ax4 = plt.subplots() + ax4.plot(self.bag_times, self.euclidian_dist) + ax4.set_xlabel('time [s]') + ax4.set_ylabel('Euclidean distance [m]') + ax4.set_title('Deviation between ideal and recorded trajectories') + fig4.tight_layout(pad=4) + ax4.grid(which='major', color='#DDDDDD', linewidth=0.8) + ax4.grid(which='minor', color='#EEEEEE', linestyle=':', linewidth=0.5) + ax4.minorticks_on() + pdf_pages.savefig(fig4) + + + fig5,ax5 = plt.subplots() + ax5.plot(self.ideal_traj_x, self.ideal_traj_y, label='Ideal trajectory', linestyle="--", linewidth=1, zorder=10) + ax5.plot(self.bag_x, self.bag_y, label='Recorded trajectory') + ax5.set_xlabel('x [m]') + ax5.set_ylabel('y [m]') + ax5.set_title('2D visualization') + fig5.tight_layout(pad=4) + ax5.grid(which='major', color='#DDDDDD', linewidth=0.8) + ax5.grid(which='minor', color='#EEEEEE', linestyle=':', linewidth=0.5) + ax5.minorticks_on() + pdf_pages.savefig(fig5) + + + fig6 = plt.figure() + ax6 = fig6.add_subplot(projection="3d") + ax6.plot3D(self.ideal_traj_x,self.ideal_traj_y,self.ALTITUDE_CONST_FIG8, label='Ideal trajectory', linestyle="--", linewidth=1, zorder=10) + ax6.plot3D(self.bag_x,self.bag_y,self.bag_z, label='Recorded trajectory', linewidth=1) + ax6.grid(True) + ax6.set_title('3D visualization') + ax6.set_xlabel('x [m]') + ax6.set_ylabel('y [m]') + ax6.set_zlabel('z [m]') + plt.close(fig6) + plt.tight_layout(pad=4) + pdf_pages.savefig(fig6) + + + + pdf_pages.close() + + print("Results saved in " + pdfname) + + def test_passed(self) -> bool : + '''Returns True if the deviation between recorded and ideal trajectories of the drone always stayed lower + than EPSILON. Returns False otherwise ''' + + nb_dev_points = len(self.deviation) + + if nb_dev_points == 0: + print("Test passed") + return True + else: + print(f"The deviation between ideal and recorded trajectories is greater than {self.EPSILON}m for {nb_dev_points} " + f"datapoints, which corresponds to a duration of {nb_dev_points*0.01}s") + return False + +if __name__=="__main__": + + #command line utility + + from argparse import ArgumentParser, Namespace + parser = ArgumentParser(description="Creates a pdf plotting the recorded trajectory of a drone against its desired trajectory") + parser.add_argument("desired_trajectory", type=str, help=".csv file containing (time,x,y,z) of the ideal/desired drone trajectory") + parser.add_argument("recorded_trajectory", type=str, help=".csv file containing (time,x,y,z) of the recorded drone trajectory") + parser.add_argument("pdf", type=str, help="name of the pdf file you want to create/overwrite") + parser.add_argument("--open", help="Open the pdf directly after it is created", action="store_true") + args : Namespace = parser.parse_args() + + plotter = Plotter() + plotter.create_figures(args.desired_trajectory, args.recorded_trajectory, args.pdf) + if args.open: + import subprocess + subprocess.call(["xdg-open", args.pdf]) diff --git a/systemtests/run_test.py b/systemtests/run_test.py new file mode 100755 index 000000000..73cfa1406 --- /dev/null +++ b/systemtests/run_test.py @@ -0,0 +1,119 @@ +#!/usr/bin/env python3 +#!/usr/bin/env python3 +from subprocess import Popen, PIPE +import time +import os +import signal +from mcap_handler import McapHandler +from datetime import datetime +from plotter_class import Plotter +from pathlib import Path +import shutil +import atexit + + +class Waiter: + '''A helper class which sleeps the amount of seconds it is instanciated with. If the user interrupts with ^C during the waiting time (zB if the drone crashes), it will stop sleeping and continue + to the end of the program where all child processes are terminated correctly. All subsequent Waiter() calls will be ignored''' + wait=True + + def __init__(self, seconds): + if seconds > 0 : + self.sleep(seconds) + + def sleep(self, seconds): + start=time.time() + while Waiter.wait and time.time()<(start+seconds): + try: + time.sleep(1) + except KeyboardInterrupt: + Waiter.wait = False + +def record_start_and_terminate(testname:str, testduration:int, bagfolder:str): + '''Helper function that starts recording the /tf topic in a rosbag, starts the test, waits, closes the rosbag and terminate all processes + NB the testname must be the name of the crayzflie_examples executable (ie the CLI grammar "ros2 run crazyflie_examples testname" must be valid)''' + index = bagfolder.find("bag_") + bagname = bagfolder[index:] + + + src = "source " + bagfolder[:index-9] + "install/setup.bash" # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" + + command = f"{src} && ros2 bag record -s mcap -o {testname}_{bagname} /tf" + record_bag = Popen(command, shell=True, cwd=bagfolder, stderr=PIPE, stdout=True, + start_new_session=True, text=True, executable="/bin/bash") + + command = f"{src} && ros2 run crazyflie_examples {testname}" + start_flight_test = Popen(command, shell=True, stderr=True, stdout=True, + start_new_session=True, text=True, executable="/bin/bash") + + + Waiter(testduration) #wait x seconds for the crazyflie to fly the test + + os.killpg(os.getpgid(start_flight_test.pid), signal.SIGTERM) #kill flight test and all of its child processes + os.killpg(os.getpgid(record_bag.pid), signal.SIGTERM) #kill rosbag + + #if something went wrong with the bash command lines in Popen, print the error + if record_bag.stderr != None: + print(testname," record_bag stderr: ", record_bag.stderr.readlines()) + if start_flight_test.stderr != None: + print(testname," start_flight flight stderr: ", start_flight_test.stderr.readlines()) + + + +def translate_and_plot(testname:str, bagfolder:str): + '''Helper function that translates rosbag .mcap format to .csv, then uses that csv to plot a pdf ''' + index = bagfolder.find("bag_") + bagname = bagfolder[index:] + # NB : the mcap filename is almost the same as the folder name but has _0 at the end + inputbag = str(bagfolder) + f"/{testname}_{bagname}/{testname}_{bagname}_0.mcap" + output_csv = str(bagfolder) + f"/{testname}_{bagname}/{testname}_{bagname}_0.csv" + writer = McapHandler() + writer.write_mcap_to_csv(inputbag, output_csv) #translate bag from mcap to csv + output_pdf = str(path.parents[3].joinpath(f"results/Results_{testname}_"+ now +".pdf")) + rosbag_csv = output_csv + if "figure8" in testname: + test_file = "../crazyflie_examples/crazyflie_examples/data/figure8.csv" + elif "multi_trajectory" in testname: + test_file = "../crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv" + else: + print("run_test.py : test file not defined") + plotter = Plotter() + plotter.create_figures(test_file, rosbag_csv, output_pdf) #plot the data + + +if __name__ == "__main__": + + path = Path(__file__) #Path(__file__) should be "/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/src/crazyswarm2/systemtests/newsub.py" ; path.parents[0]=.../systemstests + + #delete results, logs and bags of previous experiments + shutil.rmtree(path.parents[3].joinpath("bagfiles")) + shutil.rmtree(path.parents[3].joinpath("results")) + shutil.rmtree(Path.home() / ".ros/log") + + + #create the folder where we will record the different bags and the folder where the results pdf will be saved + now = datetime.now().strftime('%d_%m_%Y-%H_%M_%S') + bagfolder = str((path.parents[3].joinpath(f"bagfiles/bag_" + now))) # /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/bagfiles/bag_d_m_Y-H_M_S + os.makedirs(bagfolder) + os.makedirs(path.parents[3].joinpath("results")) # /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/results + + + src = "source " + str(path.parents[3].joinpath("install/setup.bash")) # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" + command = f"{src} && ros2 launch crazyflie launch.py" + launch_crazyswarm = Popen(command, shell=True, stderr=True, stdout=True, text=True, + start_new_session=True, executable="/bin/bash") + + time.sleep(1) + print("f8") + record_start_and_terminate("figure8", 20, bagfolder) + print("multi") + record_start_and_terminate("multi_trajectory", 80, bagfolder) + + os.killpg(os.getpgid(launch_crazyswarm.pid), signal.SIGTERM) #kill crazyswarm and all of its child processes + + + #test done, now we create the results pdf + translate_and_plot("figure8", bagfolder) + translate_and_plot("multi_trajectory", bagfolder) + + exit(0) From 5bd08d8194ac97062a11645e79c3eeff3621c53e Mon Sep 17 00:00:00 2001 From: julienthevenoz <125280576+julienthevenoz@users.noreply.github.com> Date: Thu, 7 Dec 2023 21:47:58 +0100 Subject: [PATCH 046/162] Improve systemtests (#378) * clean processes automatically at exit; replaced custom Waiter class with Popen.wait() function * cleanup --- .github/workflows/systemtests.yml | 2 +- systemtests/run_test.py | 105 +++++++++++++++++------------- 2 files changed, 61 insertions(+), 46 deletions(-) diff --git a/.github/workflows/systemtests.yml b/.github/workflows/systemtests.yml index 21588070b..da29294a4 100644 --- a/.github/workflows/systemtests.yml +++ b/.github/workflows/systemtests.yml @@ -2,7 +2,7 @@ name: System Tests on: push: - branches: [ "feature_systemtests" ] + branches: [ "feature-systemtests-better" ] # manual trigger workflow_dispatch: diff --git a/systemtests/run_test.py b/systemtests/run_test.py index 73cfa1406..d5f80f554 100755 --- a/systemtests/run_test.py +++ b/systemtests/run_test.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 #!/usr/bin/env python3 -from subprocess import Popen, PIPE +from subprocess import Popen, PIPE, TimeoutExpired import time import os import signal @@ -12,45 +12,58 @@ import atexit -class Waiter: - '''A helper class which sleeps the amount of seconds it is instanciated with. If the user interrupts with ^C during the waiting time (zB if the drone crashes), it will stop sleeping and continue - to the end of the program where all child processes are terminated correctly. All subsequent Waiter() calls will be ignored''' - wait=True +def clean_process(process:Popen) -> int : + '''Kills process and its children on exit if they aren't already terminated (called with atexit). Returns 0 on success, 1 on failure''' + + if process.poll() == None: + group_id = os.getpgid(process.pid) + print(f"cleaning process {group_id}") + os.killpg(group_id, signal.SIGTERM) + time.sleep(0.01) #necessary delay before first poll + i=0 + while i < 10 and process.poll() == None: #in case the process termination is lazy and takes some time, we wait up to 0.5 sec per process + if process.poll() != None: + return 0 #if we have a returncode-> it terminated + time.sleep(0.05) #if not wait a bit longer + if(i == 9): + print(f"Process group {process} with groupID {group_id} didn't terminate correctly") + return 1 #after 0.5s we stop waiting and consider it did not terminate correctly + return 0 + else: + return 0 #process already terminated - def __init__(self, seconds): - if seconds > 0 : - self.sleep(seconds) - - def sleep(self, seconds): - start=time.time() - while Waiter.wait and time.time()<(start+seconds): - try: - time.sleep(1) - except KeyboardInterrupt: - Waiter.wait = False - -def record_start_and_terminate(testname:str, testduration:int, bagfolder:str): - '''Helper function that starts recording the /tf topic in a rosbag, starts the test, waits, closes the rosbag and terminate all processes + +def record_start_and_clean(testname:str, max_wait:int, bagfolder:str): + '''Starts recording the /tf topic in a rosbag, starts the test, waits, closes the rosbag and terminate all processes. max_wait is the max amount of time you want to wait + before forcefully terminating the test flight script (in case it never finishes correctly). NB the testname must be the name of the crayzflie_examples executable (ie the CLI grammar "ros2 run crazyflie_examples testname" must be valid)''' + index = bagfolder.find("bag_") bagname = bagfolder[index:] - - src = "source " + bagfolder[:index-9] + "install/setup.bash" # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" - - command = f"{src} && ros2 bag record -s mcap -o {testname}_{bagname} /tf" - record_bag = Popen(command, shell=True, cwd=bagfolder, stderr=PIPE, stdout=True, - start_new_session=True, text=True, executable="/bin/bash") - command = f"{src} && ros2 run crazyflie_examples {testname}" - start_flight_test = Popen(command, shell=True, stderr=True, stdout=True, - start_new_session=True, text=True, executable="/bin/bash") - + try: + command = f"{src} && ros2 bag record -s mcap -o {testname}_{bagname} /tf" + record_bag = Popen(command, shell=True, cwd=bagfolder, stderr=PIPE, stdout=True, + start_new_session=True, text=True, executable="/bin/bash") + atexit.register(clean_process, record_bag) + + command = f"{src} && ros2 run crazyflie_examples {testname}" + start_flight_test = Popen(command, shell=True, stderr=True, stdout=True, + start_new_session=True, text=True, executable="/bin/bash") + atexit.register(clean_process, start_flight_test) - Waiter(testduration) #wait x seconds for the crazyflie to fly the test + start_flight_test.wait(timeout=max_wait) #raise Timeoutexpired after max_wait seconds if start_flight_test didn't finish by itself + clean_process(start_flight_test) + clean_process(record_bag) - os.killpg(os.getpgid(start_flight_test.pid), signal.SIGTERM) #kill flight test and all of its child processes - os.killpg(os.getpgid(record_bag.pid), signal.SIGTERM) #kill rosbag + except TimeoutExpired: #if max_wait is exceeded + clean_process(start_flight_test) + clean_process(record_bag) + + except KeyboardInterrupt: #if drone crashes, user can ^C to skip the waiting + clean_process(start_flight_test) + clean_process(record_bag) #if something went wrong with the bash command lines in Popen, print the error if record_bag.stderr != None: @@ -59,9 +72,9 @@ def record_start_and_terminate(testname:str, testduration:int, bagfolder:str): print(testname," start_flight flight stderr: ", start_flight_test.stderr.readlines()) - def translate_and_plot(testname:str, bagfolder:str): - '''Helper function that translates rosbag .mcap format to .csv, then uses that csv to plot a pdf ''' + '''Translates rosbag .mcap format to .csv, then uses that csv to plot a pdf ''' + index = bagfolder.find("bag_") bagname = bagfolder[index:] # NB : the mcap filename is almost the same as the folder name but has _0 at the end @@ -81,15 +94,18 @@ def translate_and_plot(testname:str, bagfolder:str): plotter.create_figures(test_file, rosbag_csv, output_pdf) #plot the data + if __name__ == "__main__": - path = Path(__file__) #Path(__file__) should be "/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/src/crazyswarm2/systemtests/newsub.py" ; path.parents[0]=.../systemstests + path = Path(__file__) #Path(__file__) in this case "/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/src/crazyswarm2/systemtests/newsub.py" ; path.parents[0]=.../systemstests - #delete results, logs and bags of previous experiments - shutil.rmtree(path.parents[3].joinpath("bagfiles")) - shutil.rmtree(path.parents[3].joinpath("results")) - shutil.rmtree(Path.home() / ".ros/log") - + #delete results, logs and bags of previous experiments if they exist + if(Path(path.parents[3].joinpath("bagfiles")).exists()): + shutil.rmtree(path.parents[3].joinpath("bagfiles")) + if(Path(path.parents[3].joinpath("results")).exists()): + shutil.rmtree(path.parents[3].joinpath("results")) + if(Path(Path.home() / ".ros/log").exists()): + shutil.rmtree(Path.home() / ".ros/log") #create the folder where we will record the different bags and the folder where the results pdf will be saved now = datetime.now().strftime('%d_%m_%Y-%H_%M_%S') @@ -102,14 +118,13 @@ def translate_and_plot(testname:str, bagfolder:str): command = f"{src} && ros2 launch crazyflie launch.py" launch_crazyswarm = Popen(command, shell=True, stderr=True, stdout=True, text=True, start_new_session=True, executable="/bin/bash") + atexit.register(clean_process, launch_crazyswarm) #atexit helps us to make sure processes are cleaned even if script exits unexpectedly time.sleep(1) - print("f8") - record_start_and_terminate("figure8", 20, bagfolder) - print("multi") - record_start_and_terminate("multi_trajectory", 80, bagfolder) + record_start_and_clean("figure8", 20, bagfolder) + record_start_and_clean("multi_trajectory", 80, bagfolder) - os.killpg(os.getpgid(launch_crazyswarm.pid), signal.SIGTERM) #kill crazyswarm and all of its child processes + clean_process(launch_crazyswarm) #kill crazyswarm and all of its child processes #test done, now we create the results pdf From 455eceb5cba48333782a816e784458c72cf2aabf Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Wed, 13 Dec 2023 09:38:44 +0100 Subject: [PATCH 047/162] Update overview.rst --- docs2/overview.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs2/overview.rst b/docs2/overview.rst index 7cb09506e..c824081d2 100644 --- a/docs2/overview.rst +++ b/docs2/overview.rst @@ -75,7 +75,7 @@ Support functionality with backends +---------------------+---------+-----------+---------+ | Manual control | +---------------------+---------+-----------+---------+ -| - cmd_full_state | Yes | No | Yes | +| - cmd_full_state | Yes | Yes | Yes | +---------------------+---------+-----------+---------+ | - cmd_position | Yes | No | No | +---------------------+---------+-----------+---------+ From 963df7b71302e471cc075af3234e051f2968c923 Mon Sep 17 00:00:00 2001 From: HP99 Date: Wed, 13 Dec 2023 19:13:28 +0100 Subject: [PATCH 048/162] fix yaw conversion from quat in cmd_full_state in crazyflie_sim/crazyflie_server (#382) --- crazyflie_sim/crazyflie_sim/crazyflie_server.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_server.py b/crazyflie_sim/crazyflie_sim/crazyflie_server.py index 8c3364e83..0d05fede7 100755 --- a/crazyflie_sim/crazyflie_sim/crazyflie_server.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_server.py @@ -326,7 +326,7 @@ def _cmd_full_state_changed(self, msg, name): msg.pose.orientation.x, msg.pose.orientation.y, msg.pose.orientation.z] - rpy = rowan.to_euler(q) + rpy = rowan.to_euler(q, convention='xyz') self.cfs[name].cmdFullState( [msg.pose.position.x, msg.pose.position.y, msg.pose.position.z], From d446a09a56d81508b552b0e60bd9b94c69e49348 Mon Sep 17 00:00:00 2001 From: HP99 Date: Wed, 13 Dec 2023 19:22:39 +0100 Subject: [PATCH 049/162] fix quaternion integration equation in backend np (#383) * fix quaternion integration equation in backend np --- crazyflie_sim/crazyflie_sim/backend/np.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/crazyflie_sim/crazyflie_sim/backend/np.py b/crazyflie_sim/crazyflie_sim/backend/np.py index 26e0c4cc3..92d35528c 100644 --- a/crazyflie_sim/crazyflie_sim/backend/np.py +++ b/crazyflie_sim/crazyflie_sim/backend/np.py @@ -110,9 +110,11 @@ def rpm_to_force(rpm): # to integrate the dynamics, see # https://www.ashwinnarayan.com/post/how-to-integrate-quaternions/, and # https://arxiv.org/pdf/1604.08139.pdf + # Sec 4.5, https://arxiv.org/pdf/1711.02508.pdf + omega_global = rowan.rotate(self.state.quat, self.state.omega) q_next = rowan.normalize( rowan.calculus.integrate( - self.state.quat, self.state.omega, dt)) + self.state.quat, omega_global, dt)) # mJ = Jw x w + tau_u omega_next = self.state.omega + ( From 253a7aa54d9711a8605b672432f417d2eddb61ac Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Thu, 14 Dec 2023 09:49:22 +0100 Subject: [PATCH 050/162] remove logging --- crazyflie/scripts/crazyflie_server.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index ea75853c0..ca44a9320 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -946,8 +946,6 @@ def _cmd_hover_changed(self, msg, uri=""): yawrate = -1.0*degrees(msg.yaw_rate) self.swarm._cfs[uri].cf.commander.send_hover_setpoint( vx, vy, yawrate, z) - self.get_logger().info( - f"{uri}: Received hover topic {vx} {vy} {yawrate} {z}") def _cmd_full_state_changed(self, msg, uri=""): """ @@ -960,9 +958,7 @@ def _cmd_full_state_changed(self, msg, uri=""): roll_rate = msg.twist.angular.x pitch_rate = msg.twist.angular.y yaw_rate = msg.twist.angular.z - self.swarm._cfs[uri].cf.commander.send_full_state_setpoint(pos, vel, acc, q, roll_rate, pitch_rate, yaw_rate) - self.get_logger().info(f"{uri}: Received full state topic {pos} {vel} {acc} {q}, {roll_rate}, {pitch_rate}, {yaw_rate}") def _remove_logging(self, request, response, uri="all"): """ From ba56210da49a9a1029baf2714c03ec17dc2677fe Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Thu, 14 Dec 2023 09:50:19 +0100 Subject: [PATCH 051/162] Update overview.rst --- docs2/overview.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs2/overview.rst b/docs2/overview.rst index c824081d2..014cfc93d 100644 --- a/docs2/overview.rst +++ b/docs2/overview.rst @@ -75,7 +75,7 @@ Support functionality with backends +---------------------+---------+-----------+---------+ | Manual control | +---------------------+---------+-----------+---------+ -| - cmd_full_state | Yes | Yes | Yes | +| - cmd_full_state | Yes | Yes | Yes | +---------------------+---------+-----------+---------+ | - cmd_position | Yes | No | No | +---------------------+---------+-----------+---------+ From 9db83605dc687c68f142f271536b4a380e823fb8 Mon Sep 17 00:00:00 2001 From: julienthevenoz <125280576+julienthevenoz@users.noreply.github.com> Date: Sun, 17 Dec 2023 21:09:59 +0100 Subject: [PATCH 052/162] Feature pytest (#386) * Python unittest integration * replaced run_test.py with test_flights.py ; changed the github action accordingly; corrected 0.3m x-offset in plotter for multi_trajectory (and other details) * Results folder uploaded even if step5 (flight_test) failed --- .github/workflows/systemtests.yml | 8 +- systemtests/plotter_class.py | 36 ++++--- systemtests/run_test.py | 134 ------------------------ systemtests/test_flights.py | 162 ++++++++++++++++++++++++++++++ 4 files changed, 190 insertions(+), 150 deletions(-) delete mode 100755 systemtests/run_test.py create mode 100644 systemtests/test_flights.py diff --git a/.github/workflows/systemtests.yml b/.github/workflows/systemtests.yml index da29294a4..045b64049 100644 --- a/.github/workflows/systemtests.yml +++ b/.github/workflows/systemtests.yml @@ -39,17 +39,17 @@ jobs: source /opt/ros/humble/setup.bash . install/local_setup.bash export ROS_LOCALHOST_ONLY=1 - python3 src/crazyswarm2/systemtests/run_test.py + python3 src/crazyswarm2/systemtests/test_flights.py - name: Upload files id: step6 + if: '!cancelled()' uses: actions/upload-artifact@v3 with: - name: pdf_bagfiles_and_logs + name: pdf_rosbags_and_logs path: | - ros2_ws/bagfiles ros2_ws/results - ~/.ros/log + diff --git a/systemtests/plotter_class.py b/systemtests/plotter_class.py index beca43e33..5655aedb6 100644 --- a/systemtests/plotter_class.py +++ b/systemtests/plotter_class.py @@ -4,6 +4,7 @@ from matplotlib.backends.backend_pdf import PdfPages import numpy as np from crazyflie_py.uav_trajectory import Trajectory +from pathlib import Path class Plotter: @@ -21,9 +22,10 @@ def __init__(self): self.deviation = [] #list of all indexes where euclidian_distance(ideal - recorded) > EPSILON self.EPSILON = 0.05 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test - self.DELAY_CONST_FIG8 = 4.75 #this is the delay constant which I found by adding up all the time.sleep() etc in the figure8.py file. This should be implemented better later - self.ALTITUDE_CONST_FIG8 = 1.0 #this is the altitude given for the takeoff in figure8.py. I should find a better solution than a symbolic constant ? + self.DELAY_CONST_FIG8 = 4.75 #this is the delay constant which I found by adding up all the time.sleep() etc in the figure8.py file. This could be implemented better later ? + self.ALTITUDE_CONST_FIG8 = 1 #this is the altitude given for the takeoff in figure8.py. I should find a better solution than a symbolic constant ? self.ALTITUDE_CONST_MULTITRAJ = 1 #takeoff altitude for traj0 in multi_trajectory.py + self.X_OFFSET_CONST_MULTITRAJ = -0.3 #offest on the x axis between ideal and real trajectory. Reason: ideal trajectory (traj0.csv) starts with offset of 0.3m and CrazyflieServer.startTrajectory() is relative to start position def file_guard(self, pdf_path): msg = None @@ -45,18 +47,22 @@ def file_guard(self, pdf_path): def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile): '''Method that reads the csv data of the ideal test trajectory and of the actual recorded trajectory and initializes the attribute arrays''' - #check which test we are plotting : figure8 or multi_trajectory - if("fig8" in rosbag_csvfile): - fig8 = True + #check which test we are plotting : figure8 or multi_trajectory or another one + if("figure8" in rosbag_csvfile): + fig8, m_t = True, False print("Plotting fig8 test data") - else: - fig8 = False + elif "multi_trajectory" in rosbag_csvfile: + fig8, m_t = False, True print("Plotting multi_trajectory test data") + else: + fig8, m_t = False, False + print("Plotting unspecified test data") #get ideal trajectory data self.ideal_traj_csv = Trajectory() try: path_to_ideal_csv = os.path.join(os.path.dirname(os.path.abspath(__file__)),ideal_csvfile) + print(path_to_ideal_csv) self.ideal_traj_csv.loadcsv(path_to_ideal_csv) except FileNotFoundError: print("Plotter : File not found " + path_to_ideal_csv) @@ -93,11 +99,15 @@ def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile): pos = [0,0,0] #for all recorded datapoints who cannot be matched to a corresponding ideal position we assume the drone is on its ground start position (ie those datapoints are before takeoff or after landing) - self.ideal_traj_x[i], self.ideal_traj_y[i]= pos[0], pos[1] - if(fig8) : #special case : in fig8 test no altitude is given in the trajectory polynomials but is stays constant after takeoff in figure8.py - self.ideal_traj_z[i] = self.ALTITUDE_CONST_FIG8 - else : #for multi_trajectory test the altitude given in the trajectory polynomials is added to the takeoff altitude - self.ideal_traj_z[i] = self.ALTITUDE_CONST_MULTITRAJ + pos[2] + self.ideal_traj_x[i], self.ideal_traj_y[i], self.ideal_traj_z[i]= pos[0], pos[1], pos[2] + + #special cases + if fig8: + self.ideal_traj_z[i] = self.ALTITUDE_CONST_FIG8 #special case: in fig8 no altitude is given in the trajectory polynomials (idealcsv) but is fixed as the takeoff altitude in figure8.py + elif m_t: + self.ideal_traj_z[i] = pos[2] + self.ALTITUDE_CONST_MULTITRAJ #for multi_trajectory the altitude given in the trajectory polynomials is added to the fixed takeoff altitude specified in multi_trajectory.py + self.ideal_traj_x[i] = pos[0] + self.X_OFFSET_CONST_MULTITRAJ #the x-axis is offset by 0.3 m because ideal start position not being (0,0,0) + self.euclidian_dist[i] = np.linalg.norm([self.ideal_traj_x[i]-self.bag_x[i], self.ideal_traj_y[i]-self.bag_y[i], self.ideal_traj_z[i]-self.bag_z[i]]) @@ -341,3 +351,5 @@ def test_passed(self) -> bool : if args.open: import subprocess subprocess.call(["xdg-open", args.pdf]) + + diff --git a/systemtests/run_test.py b/systemtests/run_test.py deleted file mode 100755 index d5f80f554..000000000 --- a/systemtests/run_test.py +++ /dev/null @@ -1,134 +0,0 @@ -#!/usr/bin/env python3 -#!/usr/bin/env python3 -from subprocess import Popen, PIPE, TimeoutExpired -import time -import os -import signal -from mcap_handler import McapHandler -from datetime import datetime -from plotter_class import Plotter -from pathlib import Path -import shutil -import atexit - - -def clean_process(process:Popen) -> int : - '''Kills process and its children on exit if they aren't already terminated (called with atexit). Returns 0 on success, 1 on failure''' - - if process.poll() == None: - group_id = os.getpgid(process.pid) - print(f"cleaning process {group_id}") - os.killpg(group_id, signal.SIGTERM) - time.sleep(0.01) #necessary delay before first poll - i=0 - while i < 10 and process.poll() == None: #in case the process termination is lazy and takes some time, we wait up to 0.5 sec per process - if process.poll() != None: - return 0 #if we have a returncode-> it terminated - time.sleep(0.05) #if not wait a bit longer - if(i == 9): - print(f"Process group {process} with groupID {group_id} didn't terminate correctly") - return 1 #after 0.5s we stop waiting and consider it did not terminate correctly - return 0 - else: - return 0 #process already terminated - - -def record_start_and_clean(testname:str, max_wait:int, bagfolder:str): - '''Starts recording the /tf topic in a rosbag, starts the test, waits, closes the rosbag and terminate all processes. max_wait is the max amount of time you want to wait - before forcefully terminating the test flight script (in case it never finishes correctly). - NB the testname must be the name of the crayzflie_examples executable (ie the CLI grammar "ros2 run crazyflie_examples testname" must be valid)''' - - index = bagfolder.find("bag_") - bagname = bagfolder[index:] - src = "source " + bagfolder[:index-9] + "install/setup.bash" # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" - - try: - command = f"{src} && ros2 bag record -s mcap -o {testname}_{bagname} /tf" - record_bag = Popen(command, shell=True, cwd=bagfolder, stderr=PIPE, stdout=True, - start_new_session=True, text=True, executable="/bin/bash") - atexit.register(clean_process, record_bag) - - command = f"{src} && ros2 run crazyflie_examples {testname}" - start_flight_test = Popen(command, shell=True, stderr=True, stdout=True, - start_new_session=True, text=True, executable="/bin/bash") - atexit.register(clean_process, start_flight_test) - - start_flight_test.wait(timeout=max_wait) #raise Timeoutexpired after max_wait seconds if start_flight_test didn't finish by itself - clean_process(start_flight_test) - clean_process(record_bag) - - except TimeoutExpired: #if max_wait is exceeded - clean_process(start_flight_test) - clean_process(record_bag) - - except KeyboardInterrupt: #if drone crashes, user can ^C to skip the waiting - clean_process(start_flight_test) - clean_process(record_bag) - - #if something went wrong with the bash command lines in Popen, print the error - if record_bag.stderr != None: - print(testname," record_bag stderr: ", record_bag.stderr.readlines()) - if start_flight_test.stderr != None: - print(testname," start_flight flight stderr: ", start_flight_test.stderr.readlines()) - - -def translate_and_plot(testname:str, bagfolder:str): - '''Translates rosbag .mcap format to .csv, then uses that csv to plot a pdf ''' - - index = bagfolder.find("bag_") - bagname = bagfolder[index:] - # NB : the mcap filename is almost the same as the folder name but has _0 at the end - inputbag = str(bagfolder) + f"/{testname}_{bagname}/{testname}_{bagname}_0.mcap" - output_csv = str(bagfolder) + f"/{testname}_{bagname}/{testname}_{bagname}_0.csv" - writer = McapHandler() - writer.write_mcap_to_csv(inputbag, output_csv) #translate bag from mcap to csv - output_pdf = str(path.parents[3].joinpath(f"results/Results_{testname}_"+ now +".pdf")) - rosbag_csv = output_csv - if "figure8" in testname: - test_file = "../crazyflie_examples/crazyflie_examples/data/figure8.csv" - elif "multi_trajectory" in testname: - test_file = "../crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv" - else: - print("run_test.py : test file not defined") - plotter = Plotter() - plotter.create_figures(test_file, rosbag_csv, output_pdf) #plot the data - - - -if __name__ == "__main__": - - path = Path(__file__) #Path(__file__) in this case "/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/src/crazyswarm2/systemtests/newsub.py" ; path.parents[0]=.../systemstests - - #delete results, logs and bags of previous experiments if they exist - if(Path(path.parents[3].joinpath("bagfiles")).exists()): - shutil.rmtree(path.parents[3].joinpath("bagfiles")) - if(Path(path.parents[3].joinpath("results")).exists()): - shutil.rmtree(path.parents[3].joinpath("results")) - if(Path(Path.home() / ".ros/log").exists()): - shutil.rmtree(Path.home() / ".ros/log") - - #create the folder where we will record the different bags and the folder where the results pdf will be saved - now = datetime.now().strftime('%d_%m_%Y-%H_%M_%S') - bagfolder = str((path.parents[3].joinpath(f"bagfiles/bag_" + now))) # /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/bagfiles/bag_d_m_Y-H_M_S - os.makedirs(bagfolder) - os.makedirs(path.parents[3].joinpath("results")) # /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/results - - - src = "source " + str(path.parents[3].joinpath("install/setup.bash")) # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" - command = f"{src} && ros2 launch crazyflie launch.py" - launch_crazyswarm = Popen(command, shell=True, stderr=True, stdout=True, text=True, - start_new_session=True, executable="/bin/bash") - atexit.register(clean_process, launch_crazyswarm) #atexit helps us to make sure processes are cleaned even if script exits unexpectedly - - time.sleep(1) - record_start_and_clean("figure8", 20, bagfolder) - record_start_and_clean("multi_trajectory", 80, bagfolder) - - clean_process(launch_crazyswarm) #kill crazyswarm and all of its child processes - - - #test done, now we create the results pdf - translate_and_plot("figure8", bagfolder) - translate_and_plot("multi_trajectory", bagfolder) - - exit(0) diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py new file mode 100644 index 000000000..cfd84f1c1 --- /dev/null +++ b/systemtests/test_flights.py @@ -0,0 +1,162 @@ +import unittest + +from pathlib import Path +import shutil +import os +from plotter_class import Plotter +from mcap_handler import McapHandler +from subprocess import Popen, PIPE, TimeoutExpired +import time +import signal +import atexit + +############################# + +def setUpModule(): + + path = Path(__file__) #Path(__file__) in this case "/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/src/crazyswarm2/systemtests/test_flights.py" ; path.parents[0]=.../systemstests + + #delete results, logs and bags of previous experiments if they exist + if(Path(path.parents[3] / "results").exists()): + shutil.rmtree(path.parents[3] / "results") + + os.makedirs(path.parents[3] / "results") # /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/results + +def tearDownModule(): + pass + + +def clean_process(process:Popen) -> int : + '''Kills process and its children on exit if they aren't already terminated (called with atexit). Returns 0 on termination, 1 if SIGKILL was needed''' + if process.poll() == None: + group_id = os.getpgid(process.pid) + print(f"cleaning process {group_id}") + os.killpg(group_id, signal.SIGTERM) + time.sleep(0.01) #necessary delay before first poll + i=0 + while i < 10 and process.poll() == None: #in case the process termination is lazy and takes some time, we wait up to 0.5 sec per process + if process.poll() != None: + return 0 #if we have a returncode-> it terminated + time.sleep(0.05) #if not wait a bit longer + if(i == 9): + os.killpg(group_id, signal.SIGKILL) + return 1 #after 0.5s we stop waiting, consider it did not terminate correctly and kill it + return 0 + else: + return 0 #process already terminated + + +class TestFlights(unittest.TestCase): + + def __init__(self, methodName: str = "runTest") -> None: + super().__init__(methodName) + self.test_file = None + self.launch_crazyswarm : Popen = None + self.ros2_ws = Path(__file__).parents[3] #/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws + + def idFolderName(self): + return self.id().split(".")[-1] #returns the name of the test_function currently being run, for example "test_figure8" + + # runs once per test_ function + def setUp(self): + + if(Path(Path.home() / ".ros/log").exists()): #delete log files of the previous test + shutil.rmtree(Path.home() / ".ros/log") + self.test_file = None + + # launch server + src = "source " + str(Path(__file__).parents[3] / "install/setup.bash") # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" + command = f"{src} && ros2 launch crazyflie launch.py" + self.launch_crazyswarm = Popen(command, shell=True, stderr=True, stdout=PIPE, text=True, + start_new_session=True, executable="/bin/bash") + atexit.register(clean_process, self.launch_crazyswarm) #atexit helps us to make sure processes are cleaned even if script exits unexpectedly + time.sleep(1) + + + # runs once per test_ function + def tearDown(self) -> None: + clean_process(self.launch_crazyswarm) #kill crazyswarm_server and all of its child processes + + # copy .ros/log files to results folder + if Path(Path.home() / ".ros/log").exists(): + shutil.copytree(Path.home() / ".ros/log", Path(__file__).parents[3] / f"results/{self.idFolderName()}/roslogs") + + return super().tearDown() + + + + def record_start_and_clean(self, testname:str, max_wait:int): + '''Starts recording the /tf topic in a rosbag, starts the test, waits, closes the rosbag and terminate all processes. max_wait is the max amount of time you want to wait + before forcefully terminating the test flight script (in case it never finishes correctly). + NB the testname must be the name of the crayzflie_examples executable (ie the CLI grammar "ros2 run crazyflie_examples testname" must be valid)''' + + src = f"source {str(self.ros2_ws)}/install/setup.bash" + try: + command = f"{src} && ros2 bag record -s mcap -o test_{testname} /tf" + record_bag = Popen(command, shell=True, stderr=PIPE, stdout=True, text=True, + cwd= self.ros2_ws / "results/", start_new_session=True, executable="/bin/bash") + atexit.register(clean_process, record_bag) + + command = f"{src} && ros2 run crazyflie_examples {testname}" + start_flight_test = Popen(command, shell=True, stderr=True, stdout=True, + start_new_session=True, text=True, executable="/bin/bash") + atexit.register(clean_process, start_flight_test) + + start_flight_test.wait(timeout=max_wait) #raise Timeoutexpired after max_wait seconds if start_flight_test didn't finish by itself + clean_process(start_flight_test) + clean_process(record_bag) + + except TimeoutExpired: #if max_wait is exceeded + clean_process(start_flight_test) + clean_process(record_bag) + + except KeyboardInterrupt: #if drone crashes, user can ^C to skip the waiting + clean_process(start_flight_test) + clean_process(record_bag) + + #if something went wrong with the bash command lines in Popen, print the error + if record_bag.stderr != None: + print(testname," record_bag stderr: ", record_bag.stderr.readlines()) + if start_flight_test.stderr != None: + print(testname," start_flight flight stderr: ", start_flight_test.stderr.readlines()) + + + def translate_plot_and_check(self, testname:str) -> bool : + '''Translates rosbag .mcap format to .csv, then uses that csv to plot a pdf. Checks the deviation between ideal and real trajectories, i.e if the drone + successfully followed its given trajectory. Returns True if deviation < epsilon(defined in plotter_class.py) at every timestep, false if not. ''' + + # NB : the mcap filename is almost the same as the folder name but has _0 at the end + inputbag = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.mcap" + output_csv = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.csv" + + writer = McapHandler() + writer.write_mcap_to_csv(inputbag, output_csv) #translate bag from mcap to csv + output_pdf = f"{str(self.ros2_ws)}/results/test_{testname}/results_{testname}.pdf" + rosbag_csv = output_csv + + plotter = Plotter() + plotter.create_figures(self.test_file, rosbag_csv, output_pdf) #plot the data + return plotter.test_passed() + + + + def test_figure8(self): + self.test_file = "../crazyflie_examples/crazyflie_examples/data/figure8.csv" + # run test + self.record_start_and_clean("figure8", 20) + #create the plot etc + test_passed = self.translate_plot_and_check("figure8") + assert test_passed, "figure8 test failed : deviation larger than epsilon" + + def test_multi_trajectory(self): + self.test_file = "../crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv" + self.record_start_and_clean("multi_trajectory", 80) + test_passed = self.translate_plot_and_check("multi_trajectory") + assert test_passed, "multitrajectory test failed : deviation larger than epsilon" + + + + +if __name__ == '__main__': + unittest.main() + From e954bc866c94116d7be87c4d60e6c2827ab89dbc Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 20 Dec 2023 06:50:53 +0100 Subject: [PATCH 053/162] Fix frequent crashes of figure8 example * Update crazyflie_cpp to upload trajectory pieces one-by-one (waiting for the result), similar to how we handle firmware communication issues for reading the various TOCs or parameters * Changing the Python layer to make uploadTrajectory a blocking call, i.e., waiting until the upload succeeded --- crazyflie/deps/crazyflie_tools | 2 +- crazyflie_py/crazyflie_py/crazyflie.py | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index 1efd3788f..fbd1f7306 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit 1efd3788f5bf59e0fa3da2e4d2bc5cd7bee5b0fc +Subproject commit fbd1f730636f01632b3b99abd0fb2a0789a2d221 diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 025cac736..da83edd48 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -389,7 +389,11 @@ def uploadTrajectory(self, trajectoryId, pieceOffset, trajectory): req.trajectory_id = trajectoryId req.piece_offset = pieceOffset req.pieces = pieces - self.uploadTrajectoryService.call_async(req) + future = self.uploadTrajectoryService.call_async(req) + while rclpy.ok(): + rclpy.spin_once(self.node) + if future.done(): + break def startTrajectory(self, trajectoryId, timescale=1.0, reverse=False, From ec7344cab6277fd2b01a24833005a89ea767c1ca Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Wolfgang=20H=C3=B6nig?= Date: Sun, 31 Dec 2023 21:41:24 +0100 Subject: [PATCH 054/162] crazyflie_py: add support for setting groupMask (#384) * crazyflie_py: add support for setting groupMask See https://github.com/IMRCLab/crazyswarm2/discussions/203 Only works with recent firmware versions. --- .../crazyflie_examples/group_mask.py | 27 +++++++++++ crazyflie_examples/setup.cfg | 1 + crazyflie_py/crazyflie_py/crazyflie.py | 48 +++++++++++-------- 3 files changed, 55 insertions(+), 21 deletions(-) create mode 100644 crazyflie_examples/crazyflie_examples/group_mask.py diff --git a/crazyflie_examples/crazyflie_examples/group_mask.py b/crazyflie_examples/crazyflie_examples/group_mask.py new file mode 100644 index 000000000..72ee8b2a9 --- /dev/null +++ b/crazyflie_examples/crazyflie_examples/group_mask.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python + +from crazyflie_py import Crazyswarm + + +def main(): + swarm = Crazyswarm() + timeHelper = swarm.timeHelper + allcfs = swarm.allcfs + + # set group mask to enable group 1 and 4 (one by one) + for cf in allcfs.crazyflies: + cf.setGroupMask(0b00001001) + + print('Takeoff with a different mask (2) -> nothing should happen') + allcfs.takeoff(targetHeight=0.5, duration=3.0, groupMask=2) + timeHelper.sleep(3) + + print('Takeoff with correct mask (1) -> should work') + allcfs.takeoff(targetHeight=0.5, duration=3.0, groupMask=1) + timeHelper.sleep(3) + allcfs.land(targetHeight=0.02, duration=3.0) + timeHelper.sleep(3) + + +if __name__ == '__main__': + main() diff --git a/crazyflie_examples/setup.cfg b/crazyflie_examples/setup.cfg index 06e3a1c1a..b1b614c9e 100644 --- a/crazyflie_examples/setup.cfg +++ b/crazyflie_examples/setup.cfg @@ -3,6 +3,7 @@ console_scripts = hello_world = crazyflie_examples.hello_world:main nice_hover = crazyflie_examples.nice_hover:main figure8 = crazyflie_examples.figure8:main + group_mask = crazyflie_examples.group_mask:main multi_trajectory = crazyflie_examples.multi_trajectory:main cmd_full_state = crazyflie_examples.cmd_full_state:main set_param = crazyflie_examples.set_param:main diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index da83edd48..bbb7cbf2f 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -114,8 +114,6 @@ def __init__(self, node, cfname, paramTypeDict): # self.tf = tf - # rospy.wait_for_service(prefix + '/set_group_mask') - # self.setGroupMaskService = rospy.ServiceProxy(prefix + '/set_group_mask', SetGroupMask) self.emergencyService = node.create_client(Empty, prefix + '/emergency') self.emergencyService.wait_for_service() self.takeoffService = node.create_client(Takeoff, prefix + '/takeoff') @@ -186,29 +184,37 @@ def __init__(self, node, cfname, paramTypeDict): # self.cmdVelocityWorldMsg.header.seq = 0 # self.cmdVelocityWorldMsg.header.frame_id = '/world' - # def setGroupMask(self, groupMask): - # """Sets the group mask bits for this robot. + def setGroupMask(self, groupMask): + """ + Set the group mask bits for this robot. - # The purpose of groups is to make it possible to trigger an action - # (for example, executing a previously-uploaded trajectory) on a subset - # of all robots without needing to send more than one radio packet. - # This is important to achieve tight, synchronized 'choreography'. + The purpose of groups is to make it possible to trigger an action + (for example, executing a previously-uploaded trajectory) on a subset + of all robots without needing to send more than one radio packet. + This is important to achieve tight, synchronized 'choreography'. - # Up to 8 groups may exist, corresponding to bits in the groupMask byte. - # When a broadcast command is triggered on the :obj:`CrazyflieServer` object - # with a groupMask argument, the command only affects those robots whose - # groupMask has a nonzero bitwise-AND with the command's groupMask. - # A command with a groupMask of zero applies to all robots regardless of - # group membership. + Up to 8 groups may exist, corresponding to bits in the groupMask byte. + When a broadcast command is triggered on the :obj:`CrazyflieServer` object + with a groupMask argument, the command only affects those robots whose + groupMask has a nonzero bitwise-AND with the command's groupMask. + A command with a groupMask of zero applies to all robots regardless of + group membership. - # Some individual robot (not broadcast) commands also support groupMask, - # but it is not especially useful in that case. + Some individual robot (not broadcast) commands also support groupMask, + but it is not especially useful in that case. - # Args: - # groupMask (int): An 8-bit integer representing this robot's - # membership status in each of the <= 8 possible groups. - # """ - # self.setGroupMaskService(groupMask) + Args: + ---- + groupMask (int): An 8-bit integer representing this robot's + membership status in each of the <= 8 possible groups. + + """ + # Note that this requires a recent firmware; older firmware versions + # do not have such a parameter. + try: + self.setParam('hlCommander.groupmask', groupMask) + except KeyError: + self.node.get_logger().error('setGroupMask: Your firmware is too old - Please update.') # def enableCollisionAvoidance(self, others, ellipsoidRadii): # """Enables onboard collision avoidance. From 911293e062e1f9a122f4b8d2274a5e512e5d0ff7 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 10 Jan 2024 06:42:20 +0100 Subject: [PATCH 055/162] sim - vis - pdf: support multiple CFs The current implementation overrides the output pdf file for each UAV. This changes the implementation to write the data for all UAVs in one PDF. --- crazyflie_sim/crazyflie_sim/visualization/pdf.py | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/crazyflie_sim/crazyflie_sim/visualization/pdf.py b/crazyflie_sim/crazyflie_sim/visualization/pdf.py index d3b04507d..2ad0016af 100644 --- a/crazyflie_sim/crazyflie_sim/visualization/pdf.py +++ b/crazyflie_sim/crazyflie_sim/visualization/pdf.py @@ -30,17 +30,17 @@ def step(self, t, states: list[State], states_desired: list[State], actions: lis self.all_actions.append(copy.deepcopy(actions)) def shutdown(self): + with PdfPages(self.filename) as pdf: - for k, name in enumerate(self.names): + for k, name in enumerate(self.names): - cf_states = np.array([s[k]._state for s in self.all_states]) - cf_states_desired = np.array([s[k]._state for s in self.all_states_desired]) - cf_actions = np.array([s[k]._action for s in self.all_actions]) - - with PdfPages(self.filename) as pdf: + cf_states = np.array([s[k]._state for s in self.all_states]) + cf_states_desired = np.array([s[k]._state for s in self.all_states_desired]) + cf_actions = np.array([s[k]._action for s in self.all_actions]) # position fig, axs = plt.subplots(3, 1, sharex=True) + fig.suptitle(name + " position") axs[0].set_ylabel('px [m]') axs[1].set_ylabel('py [m]') axs[2].set_ylabel('pz [m]') @@ -55,6 +55,7 @@ def shutdown(self): # velocity fig, axs = plt.subplots(3, 1, sharex=True) + fig.suptitle(name + " velocity") axs[0].set_ylabel('vx [m/s]') axs[1].set_ylabel('vy [m/s]') axs[2].set_ylabel('vz [m/s]') @@ -69,6 +70,7 @@ def shutdown(self): # orientation fig, axs = plt.subplots(3, 1, sharex=True) + fig.suptitle(name + " orientation") axs[0].set_ylabel('roll [deg]') axs[1].set_ylabel('pitch [deg]') axs[2].set_ylabel('yaw [deg]') @@ -87,6 +89,7 @@ def shutdown(self): # omega fig, axs = plt.subplots(3, 1, sharex=True) + fig.suptitle(name + " angular velocity") axs[0].set_ylabel('wx [deg/s]') axs[1].set_ylabel('wy [deg/s]') axs[2].set_ylabel('wz [deg/s]') @@ -101,6 +104,7 @@ def shutdown(self): # actions fig, axs = plt.subplots(2, 2, sharex=True, sharey=True) + fig.suptitle(name + " motor actions") axs[0, 0].set_ylabel('rpm') axs[1, 0].set_ylabel('rpm') axs[1, 0].set_xlabel('Time [s]') From 57ee45737d23c7e08cbc8fc8dd6562c948e3a5d9 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 10 Jan 2024 06:50:09 +0100 Subject: [PATCH 056/162] fix flake8 issues --- crazyflie_sim/crazyflie_sim/visualization/pdf.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/crazyflie_sim/crazyflie_sim/visualization/pdf.py b/crazyflie_sim/crazyflie_sim/visualization/pdf.py index 2ad0016af..6f72ec751 100644 --- a/crazyflie_sim/crazyflie_sim/visualization/pdf.py +++ b/crazyflie_sim/crazyflie_sim/visualization/pdf.py @@ -40,7 +40,7 @@ def shutdown(self): # position fig, axs = plt.subplots(3, 1, sharex=True) - fig.suptitle(name + " position") + fig.suptitle(name + ' position') axs[0].set_ylabel('px [m]') axs[1].set_ylabel('py [m]') axs[2].set_ylabel('pz [m]') @@ -55,7 +55,7 @@ def shutdown(self): # velocity fig, axs = plt.subplots(3, 1, sharex=True) - fig.suptitle(name + " velocity") + fig.suptitle(name + ' velocity') axs[0].set_ylabel('vx [m/s]') axs[1].set_ylabel('vy [m/s]') axs[2].set_ylabel('vz [m/s]') @@ -70,7 +70,7 @@ def shutdown(self): # orientation fig, axs = plt.subplots(3, 1, sharex=True) - fig.suptitle(name + " orientation") + fig.suptitle(name + ' orientation') axs[0].set_ylabel('roll [deg]') axs[1].set_ylabel('pitch [deg]') axs[2].set_ylabel('yaw [deg]') @@ -89,7 +89,7 @@ def shutdown(self): # omega fig, axs = plt.subplots(3, 1, sharex=True) - fig.suptitle(name + " angular velocity") + fig.suptitle(name + ' angular velocity') axs[0].set_ylabel('wx [deg/s]') axs[1].set_ylabel('wy [deg/s]') axs[2].set_ylabel('wz [deg/s]') @@ -104,7 +104,7 @@ def shutdown(self): # actions fig, axs = plt.subplots(2, 2, sharex=True, sharey=True) - fig.suptitle(name + " motor actions") + fig.suptitle(name + ' motor actions') axs[0, 0].set_ylabel('rpm') axs[1, 0].set_ylabel('rpm') axs[1, 0].set_xlabel('Time [s]') From 51a12dd611247ecd42ff88ac4057c794fe03d8d8 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 10 Jan 2024 07:38:18 +0100 Subject: [PATCH 057/162] sim - backend - add neuralswarm Implements a new simulation backend "neuralswarm", that is based on the existing np backend but uses the NeuralSwarm2 interaction force prediction between UAVs in the system model. --- crazyflie_examples/crazyflie_examples/swap.py | 43 +++++ crazyflie_examples/setup.cfg | 1 + .../backend/data/neuralswarm2/phi_G.pth | Bin 0 -> 17207 bytes .../backend/data/neuralswarm2/phi_L.pth | Bin 0 -> 17399 bytes .../backend/data/neuralswarm2/phi_S.pth | Bin 0 -> 17399 bytes .../backend/data/neuralswarm2/rho_L.pth | Bin 0 -> 19383 bytes .../backend/data/neuralswarm2/rho_S.pth | Bin 0 -> 19383 bytes .../crazyflie_sim/backend/neuralswarm.py | 170 ++++++++++++++++++ crazyflie_sim/crazyflie_sim/backend/np.py | 6 +- 9 files changed, 217 insertions(+), 3 deletions(-) create mode 100644 crazyflie_examples/crazyflie_examples/swap.py create mode 100644 crazyflie_sim/crazyflie_sim/backend/data/neuralswarm2/phi_G.pth create mode 100644 crazyflie_sim/crazyflie_sim/backend/data/neuralswarm2/phi_L.pth create mode 100644 crazyflie_sim/crazyflie_sim/backend/data/neuralswarm2/phi_S.pth create mode 100644 crazyflie_sim/crazyflie_sim/backend/data/neuralswarm2/rho_L.pth create mode 100644 crazyflie_sim/crazyflie_sim/backend/data/neuralswarm2/rho_S.pth create mode 100644 crazyflie_sim/crazyflie_sim/backend/neuralswarm.py diff --git a/crazyflie_examples/crazyflie_examples/swap.py b/crazyflie_examples/crazyflie_examples/swap.py new file mode 100644 index 000000000..7f2f041fd --- /dev/null +++ b/crazyflie_examples/crazyflie_examples/swap.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python + +from crazyflie_py import Crazyswarm +import numpy as np + + +def main(): + Id2 = 231 + Id1 = 5 + Pos1 = np.array([0.0, -0.2, 0.0]) + Pos2 = np.array([0.0, 0.2, 0.0]) + Height1 = 0.4 + Height2 = 0.5 + swapTime = 3 + + swarm = Crazyswarm() + timeHelper = swarm.timeHelper + allcfs = swarm.allcfs + + allcfs.takeoff(targetHeight=Height1, duration=3.0) + timeHelper.sleep(3.5) + + # go to initial positions + allcfs.crazyfliesById[Id1].goTo(Pos1 + np.array([0, 0, Height1]), 0, 3.0) + allcfs.crazyfliesById[Id2].goTo(Pos2 + np.array([0, 0, Height2]), 0, 3.0) + timeHelper.sleep(3.5) + + # swap 1 + allcfs.crazyfliesById[Id1].goTo(Pos2 + np.array([0, 0, Height1]), 0, swapTime) + allcfs.crazyfliesById[Id2].goTo(Pos1 + np.array([0, 0, Height2]), 0, swapTime) + timeHelper.sleep(swapTime + 1.5) + + # swap 2 + allcfs.crazyfliesById[Id1].goTo(Pos1 + np.array([0, 0, Height1]), 0, swapTime) + allcfs.crazyfliesById[Id2].goTo(Pos2 + np.array([0, 0, Height2]), 0, swapTime) + timeHelper.sleep(swapTime + 1.5) + + allcfs.land(targetHeight=0.02, duration=3.0) + timeHelper.sleep(3.5) + + +if __name__ == '__main__': + main() diff --git a/crazyflie_examples/setup.cfg b/crazyflie_examples/setup.cfg index b1b614c9e..0c0238812 100644 --- a/crazyflie_examples/setup.cfg +++ b/crazyflie_examples/setup.cfg @@ -7,3 +7,4 @@ console_scripts = multi_trajectory = crazyflie_examples.multi_trajectory:main cmd_full_state = crazyflie_examples.cmd_full_state:main set_param = crazyflie_examples.set_param:main + swap = crazyflie_examples.swap:main diff --git a/crazyflie_sim/crazyflie_sim/backend/data/neuralswarm2/phi_G.pth b/crazyflie_sim/crazyflie_sim/backend/data/neuralswarm2/phi_G.pth new file mode 100644 index 0000000000000000000000000000000000000000..855955e0a045a2a6393116682eb0f15ab029c923 GIT binary patch literal 17207 zcmb8X30zKH_dedJG$Tn=NQyL%y3g8?G$WakF)~DkTNw&Tr3oo2Nl{8tq=<(5tQ93h zhLCxPND)G2>VJEl_xpaI_j%v<_xt}&pZ)1`cKcjiXYaN5IqO<$A1@DS83_q_d5M2J z)FgUK_^n>BBw+1AQ-8l;Ka*9<0-YUIBz*tn2$x#0U}a$7!Ue$rD^~<5OkC~1aP>le 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https://github.com/aerorobotics/neural-swarm/blob/master/planning/robots.py +""" + +from pathlib import Path + +import numpy as np +from rclpy.node import Node +from rclpy.time import Time +from rosgraph_msgs.msg import Clock +import torch +import torch.nn as nn +import torch.nn.functional as F + +from .np import Quadrotor +from ..sim_data_types import Action, State + + +# H is the dimension of the hidden state +class phi_Net(nn.Module): + + def __init__(self, inputdim=6, hiddendim=40): + super(phi_Net, self).__init__() + self.fc1 = nn.Linear(inputdim, 25) + self.fc2 = nn.Linear(25, 40) + self.fc3 = nn.Linear(40, 40) + self.fc4 = nn.Linear(40, hiddendim) + + def forward(self, x): + x = F.relu(self.fc1(x)) + x = F.relu(self.fc2(x)) + x = F.relu(self.fc3(x)) + x = self.fc4(x) + return x + + +class rho_Net(nn.Module): + + def __init__(self, hiddendim=40): + super(rho_Net, self).__init__() + self.fc1 = nn.Linear(hiddendim, 40) + self.fc2 = nn.Linear(40, 40) + self.fc3 = nn.Linear(40, 40) + self.fc4 = nn.Linear(40, 1) + + def forward(self, x): + x = F.relu(self.fc1(x)) + x = F.relu(self.fc2(x)) + x = F.relu(self.fc3(x)) + x = self.fc4(x) + return x + + +class NeuralSwarm: + + def __init__(self, model_folder): + self.H = 20 + self.rho_L_net = rho_Net(hiddendim=self.H) + self.phi_L_net = phi_Net(inputdim=6, hiddendim=self.H) # x,y,z,vx,vy,vz + self.rho_L_net.load_state_dict(torch.load('{}/rho_L.pth'.format(model_folder))) + self.phi_L_net.load_state_dict(torch.load('{}/phi_L.pth'.format(model_folder))) + self.rho_S_net = rho_Net(hiddendim=self.H) + self.phi_S_net = phi_Net(inputdim=6, hiddendim=self.H) # x,y,z,vx,vy,vz + self.rho_S_net.load_state_dict(torch.load('{}/rho_S.pth'.format(model_folder))) + self.phi_S_net.load_state_dict(torch.load('{}/phi_S.pth'.format(model_folder))) + self.phi_G_net = phi_Net(inputdim=4, hiddendim=self.H) # z,vx,vy,vz + self.phi_G_net.load_state_dict(torch.load('{}/phi_G.pth'.format(model_folder))) + + def compute_Fa(self, data_self, data_neighbors): + rho_input = torch.zeros(self.H) + cftype, x = data_self + for cftype_neighbor, x_neighbor in data_neighbors: + x_12 = torch.zeros(6) + x_12 = (x_neighbor - x).float() + if abs(x_12[0]) < 0.2 and abs(x_12[1]) < 0.2 and abs(x_12[3]) < 1.5: + if cftype_neighbor == 'small' or cftype_neighbor == 'small_powerful_motors': + rho_input += self.phi_S_net(x_12) + elif cftype_neighbor == 'large': + rho_input += self.phi_L_net(x_12) + else: + raise Exception('Unknown cftype!') + + # interaction with the ground + x_12 = torch.zeros(4) + x_12[0] = 0 - x[2] + x_12[1:4] = -x[3:6] + rho_input += self.phi_G_net(x_12) + + if cftype == 'small' or cftype == 'small_powerful_motors': + faz = self.rho_S_net(rho_input) + elif cftype == 'large': + faz = self.rho_L_net(rho_input) + else: + raise Exception('Unknown cftype!') + + return np.array([0, 0, faz[0].item()]) + + +class Backend: + """Backend that is based on the one defined in np.py.""" + + def __init__(self, node: Node, names: list[str], states: list[State]): + self.node = node + self.names = names + self.clock_publisher = node.create_publisher(Clock, 'clock', 10) + self.t = 0 + self.dt = 0.0005 + + self.uavs = [] + for state in states: + uav = Quadrotor(state) + self.uavs.append(uav) + self.neuralswarm = NeuralSwarm(Path(__file__).parent / 'data/neuralswarm2') + + def time(self) -> float: + return self.t + + def step(self, states_desired: list[State], actions: list[Action]) -> list[State]: + # advance the time + self.t += self.dt + + fa_data = [] + for uav in self.uavs: + fa_data.append(('small', torch.hstack( + (torch.tensor(uav.state.pos), torch.tensor(uav.state.vel))))) + + next_states = [] + for k, (uav, action) in enumerate(zip(self.uavs, actions)): + # estimate F_a + # print(k, fa_data[k], fa_data[0:k] + fa_data[k+1:]) + f_a = self.neuralswarm.compute_Fa(fa_data[k], fa_data[0:k] + fa_data[k+1:]) + # convert grams to Newtons + f_a = f_a / 1000 * 9.81 + # print(f_a) + uav.step(action, self.dt, f_a) + next_states.append(uav.state) + + # print(states_desired, actions, next_states) + # publish the current clock + clock_message = Clock() + clock_message.clock = Time(seconds=self.time()).to_msg() + self.clock_publisher.publish(clock_message) + + return next_states + + def shutdown(self): + pass + + +if __name__ == '__main__': + + # test case, see Fig 5g in NeuralSwarm2 paper + ns = NeuralSwarm(Path(__file__).parent / 'data/neuralswarm2') + + # x, y, z, vx, vy, vz + states = torch.tensor([ + [0, 0, 0.6, 0, 0, 0], + [0, -0.1, 0.5, 0, 0, 0], + [0, 0.1, 0.5, 0, 0, 0], + [0, 0, 0.3, 0, 0, 0], + ]) + + print(ns.compute_Fa(('small', states[3]), + [('small', states[0]), + ('small', states[1]), + ('small', states[2])])) diff --git a/crazyflie_sim/crazyflie_sim/backend/np.py b/crazyflie_sim/crazyflie_sim/backend/np.py index 92d35528c..fa3b6c2ef 100644 --- a/crazyflie_sim/crazyflie_sim/backend/np.py +++ b/crazyflie_sim/crazyflie_sim/backend/np.py @@ -81,7 +81,7 @@ def __init__(self, state): self.state = state - def step(self, action, dt): + def step(self, action, dt, f_a=np.zeros(3)): # convert RPM -> Force def rpm_to_force(rpm): @@ -101,10 +101,10 @@ def rpm_to_force(rpm): # dynamics # dot{p} = v pos_next = self.state.pos + self.state.vel * dt - # mv = mg + R f_u + # mv = mg + R f_u + f_a vel_next = self.state.vel + ( np.array([0, 0, -self.g]) + - rowan.rotate(self.state.quat, f_u) / self.mass) * dt + (rowan.rotate(self.state.quat, f_u) + f_a) / self.mass) * dt # dot{R} = R S(w) # to integrate the dynamics, see From 2fcdacf91c8a904ee85e4a30ff548375b952e733 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 10 Jan 2024 13:49:20 +0100 Subject: [PATCH 058/162] sim - visualization - rviz: use sim time Uses the simulation time rather than wall clock time for the published tf. Fixes #401. --- crazyflie_sim/crazyflie_sim/visualization/rviz.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/crazyflie_sim/crazyflie_sim/visualization/rviz.py b/crazyflie_sim/crazyflie_sim/visualization/rviz.py index c1ed92687..154144451 100644 --- a/crazyflie_sim/crazyflie_sim/visualization/rviz.py +++ b/crazyflie_sim/crazyflie_sim/visualization/rviz.py @@ -1,5 +1,7 @@ from __future__ import annotations +import math + from geometry_msgs.msg import TransformStamped from rclpy.node import Node from tf2_ros import TransformBroadcaster @@ -20,7 +22,8 @@ def step(self, t, states: list[State], states_desired: list[State], actions: lis msgs = [] for name, state in zip(self.names, states): msg = TransformStamped() - msg.header.stamp = self.node.get_clock().now().to_msg() + msg.header.stamp.sec = math.floor(t) + msg.header.stamp.nanosec = int((t - msg.header.stamp.sec) * 1e9) msg.header.frame_id = 'world' msg.child_frame_id = name msg.transform.translation.x = state.pos[0] From d71ee98ad6306dd6a9bd8da4c2aad38235618354 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Mon, 15 Jan 2024 14:58:39 +0100 Subject: [PATCH 059/162] crazyflie_server (cpp): add more connection statistics * Adds new types and topics to publish connection statistics for each connection * Adds a new warning if ack rate (for unicast) is low --- crazyflie/config/server.yaml | 2 + crazyflie/deps/crazyflie_tools | 2 +- crazyflie/src/crazyflie_server.cpp | 69 ++++++++++++++++++- crazyflie_interfaces/CMakeLists.txt | 2 + .../msg/ConnectionStatistics.msg | 6 ++ .../msg/ConnectionStatisticsArray.msg | 2 + 6 files changed, 79 insertions(+), 4 deletions(-) create mode 100644 crazyflie_interfaces/msg/ConnectionStatistics.msg create mode 100644 crazyflie_interfaces/msg/ConnectionStatisticsArray.msg diff --git a/crazyflie/config/server.yaml b/crazyflie/config/server.yaml index e0d8d6af6..6ec8a3989 100644 --- a/crazyflie/config/server.yaml +++ b/crazyflie/config/server.yaml @@ -6,6 +6,8 @@ warning_if_rate_outside: [80.0, 120.0] communication: max_unicast_latency: 10.0 # ms + min_unicast_ack_rate: 0.9 + publish_stats: false firmware_params: query_all_values_on_connect: False # simulation related diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index fbd1f7306..8cf7ee6b0 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit fbd1f730636f01632b3b99abd0fb2a0789a2d221 +Subproject commit 8cf7ee6b0e91b78e428e167914c7a9a267e11ac2 diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index a76fdfc80..c49ac63c4 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -21,6 +21,7 @@ #include "crazyflie_interfaces/msg/full_state.hpp" #include "crazyflie_interfaces/msg/position.hpp" #include "crazyflie_interfaces/msg/log_data_generic.hpp" +#include "crazyflie_interfaces/msg/connection_statistics_array.hpp" using std::placeholders::_1; using std::placeholders::_2; @@ -151,6 +152,11 @@ class CrazyflieROS // link statistics warning_freq_ = node->get_parameter("warnings.frequency").get_parameter_value().get(); max_latency_ = node->get_parameter("warnings.communication.max_unicast_latency").get_parameter_value().get(); + min_ack_rate_ = node->get_parameter("warnings.communication.min_unicast_ack_rate").get_parameter_value().get(); + publish_stats_ = node->get_parameter("warnings.communication.publish_stats").get_parameter_value().get(); + if (publish_stats_) { + publisher_connection_stats_ = node->create_publisher(name + "/connection_statistics", 10); + } if (warning_freq_ >= 0.0) { cf_.setLatencyCallback(std::bind(&CrazyflieROS::on_latency, this, std::placeholders::_1)); @@ -706,12 +712,34 @@ class CrazyflieROS if (elapsed.count() > 1.0 / warning_freq_) { RCLCPP_WARN(logger_, "last latency update: %f s", elapsed.count()); } + + auto stats = cf_.connectionStatsDelta(); + float ack_rate = stats.sent_count / stats.ack_count; + if (ack_rate < min_ack_rate_) { + RCLCPP_WARN(logger_, "Ack rate: %.1f %%", ack_rate * 100); + } + + if (publish_stats_) { + crazyflie_interfaces::msg::ConnectionStatisticsArray msg; + msg.header.stamp = node_->get_clock()->now(); + msg.header.frame_id = "world"; + msg.stats.resize(1); + + msg.stats[0].uri = cf_.uri(); + msg.stats[0].sent_count = stats.sent_count; + msg.stats[0].sent_ping_count = stats.sent_ping_count; + msg.stats[0].receive_count = stats.receive_count; + msg.stats[0].enqueued_count = stats.enqueued_count; + msg.stats[0].ack_count = stats.ack_count; + + publisher_connection_stats_->publish(msg); + } } void on_latency(uint64_t latency_in_us) { if (latency_in_us / 1000.0 > max_latency_) { - RCLCPP_WARN(logger_, "Latency: %f ms", latency_in_us / 1000.0); + RCLCPP_WARN(logger_, "Latency: %.1f ms", latency_in_us / 1000.0); } last_on_latency_ = std::chrono::steady_clock::now(); } @@ -758,7 +786,9 @@ class CrazyflieROS std::chrono::time_point last_on_latency_; float warning_freq_; float max_latency_; - + float min_ack_rate_; + bool publish_stats_; + rclcpp::Publisher::SharedPtr publisher_connection_stats_; }; class CrazyflieServer : public rclcpp::Node @@ -822,6 +852,13 @@ class CrazyflieServer : public rclcpp::Node mocap_max_rate_ = rate_range[1]; this->declare_parameter("warnings.communication.max_unicast_latency", 10.0); + this->declare_parameter("warnings.communication.min_unicast_ack_rate", 0.9); + this->declare_parameter("warnings.communication.publish_stats", false); + + publish_stats_ = this->get_parameter("warnings.communication.publish_stats").get_parameter_value().get(); + if (publish_stats_) { + publisher_connection_stats_ = this->create_publisher("all/connection_statistics", 10); + } // load crazyflies from params auto node_parameters_iface = this->get_node_parameters_interface(); @@ -1160,7 +1197,7 @@ class CrazyflieServer : public rclcpp::Node mean_rate /= (mocap_data_received_timepoints_.size() - 1); if (num_rates_wrong > 0) { - RCLCPP_WARN(logger_, "Motion capture rate off (#: %d, Avg: %f)", num_rates_wrong, mean_rate); + RCLCPP_WARN(logger_, "Motion capture rate off (#: %d, Avg: %.1f)", num_rates_wrong, mean_rate); } } else if (mocap_enabled_) { // b) warn if no data was received @@ -1168,6 +1205,30 @@ class CrazyflieServer : public rclcpp::Node } mocap_data_received_timepoints_.clear(); + + if (publish_stats_) { + + crazyflie_interfaces::msg::ConnectionStatisticsArray msg; + msg.header.stamp = this->get_clock()->now(); + msg.header.frame_id = "world"; + msg.stats.resize(broadcaster_.size()); + + size_t i = 0; + for (auto &bc : broadcaster_) { + auto &cfbc = bc.second; + + auto stats = cfbc->connectionStatsDelta(); + + msg.stats[i].uri = cfbc->uri(); + msg.stats[i].sent_count = stats.sent_count; + msg.stats[i].sent_ping_count = stats.sent_ping_count; + msg.stats[i].receive_count = stats.receive_count; + msg.stats[i].enqueued_count = stats.enqueued_count; + msg.stats[i].ack_count = stats.ack_count; + ++i; + } + publisher_connection_stats_->publish(msg); + } } template @@ -1232,6 +1293,8 @@ class CrazyflieServer : public rclcpp::Node float mocap_min_rate_; float mocap_max_rate_; std::vector> mocap_data_received_timepoints_; + bool publish_stats_; + rclcpp::Publisher::SharedPtr publisher_connection_stats_; // multithreading rclcpp::CallbackGroup::SharedPtr callback_group_mocap_; diff --git a/crazyflie_interfaces/CMakeLists.txt b/crazyflie_interfaces/CMakeLists.txt index f5b8b6cc7..583e95fa1 100644 --- a/crazyflie_interfaces/CMakeLists.txt +++ b/crazyflie_interfaces/CMakeLists.txt @@ -18,6 +18,8 @@ find_package(std_msgs REQUIRED) find_package(rosidl_default_generators REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} + "msg/ConnectionStatistics.msg" + "msg/ConnectionStatisticsArray.msg" "msg/FullState.msg" "msg/LogDataGeneric.msg" "msg/Hover.msg" diff --git a/crazyflie_interfaces/msg/ConnectionStatistics.msg b/crazyflie_interfaces/msg/ConnectionStatistics.msg new file mode 100644 index 000000000..a28d08c1b --- /dev/null +++ b/crazyflie_interfaces/msg/ConnectionStatistics.msg @@ -0,0 +1,6 @@ +string uri +uint64 sent_count +uint64 sent_ping_count +uint64 receive_count +uint64 enqueued_count +uint64 ack_count diff --git a/crazyflie_interfaces/msg/ConnectionStatisticsArray.msg b/crazyflie_interfaces/msg/ConnectionStatisticsArray.msg new file mode 100644 index 000000000..8451db2ad --- /dev/null +++ b/crazyflie_interfaces/msg/ConnectionStatisticsArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +ConnectionStatistics[] stats From 7be73c4a064547bf86609fa5725719e5c6597cdf Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 18 Jan 2024 14:28:52 +0100 Subject: [PATCH 060/162] add initial draft of dynobench backend --- .../crazyflie_sim/backend/dynobench.py | 108 ++++++++++++++++++ 1 file changed, 108 insertions(+) create mode 100644 crazyflie_sim/crazyflie_sim/backend/dynobench.py diff --git a/crazyflie_sim/crazyflie_sim/backend/dynobench.py b/crazyflie_sim/crazyflie_sim/backend/dynobench.py new file mode 100644 index 000000000..a6dbd379e --- /dev/null +++ b/crazyflie_sim/crazyflie_sim/backend/dynobench.py @@ -0,0 +1,108 @@ +from __future__ import annotations + +import numpy as np +from rclpy.node import Node +from rclpy.time import Time +import robot_python +from rosgraph_msgs.msg import Clock + +# import sys +# sys.path.append("/home/whoenig/projects/dynobench/build") + +from ..sim_data_types import Action, State + + +class Backend: + """Backend that uses newton-euler rigid-body dynamics implemented in numpy.""" + + def __init__(self, node: Node, names: list[str], states: list[State]): + self.node = node + self.names = names + self.clock_publisher = node.create_publisher(Clock, 'clock', 10) + self.t = 0 + self.dt = 0.0005 + + self.uavs = [] + for state in states: + uav = Quadrotor(state) + self.uavs.append(uav) + + def time(self) -> float: + return self.t + + def step(self, states_desired: list[State], actions: list[Action]) -> list[State]: + # advance the time + self.t += self.dt + + next_states = [] + + for uav, action in zip(self.uavs, actions): + uav.step(action, self.dt) + next_states.append(uav.state) + + # print(states_desired, actions, next_states) + # publish the current clock + clock_message = Clock() + clock_message.clock = Time(seconds=self.time()).to_msg() + self.clock_publisher.publish(clock_message) + + return next_states + + def shutdown(self): + pass + + +# convert RPM -> Force +def rpm_to_force(rpm): + # polyfit using data and scripts from https://github.com/IMRCLab/crazyflie-system-id + p = [2.55077341e-08, -4.92422570e-05, -1.51910248e-01] + force_in_grams = np.polyval(p, rpm) + force_in_newton = force_in_grams * 9.81 / 1000.0 + return np.maximum(force_in_newton, 0) + + +def sim_state2dynobench_state(state): + result = np.empty(13) + result[0:3] = state.pos + result[3:6] = state.quat[1:] + result[6] = state.quat[0] + result[7:10] = state.vel + result[10:13] = state.omega + return result + + +def dynobench_state2sim_state(state): + result = State() + result.pos = state[0:3] + result.quat = np.concatenate((state[6:7], state[3:6])) + result.vel = state[7:10] + result.omega = state[10:13] + return result + + +class Quadrotor: + """Basic rigid body quadrotor model (no drag) using numpy and rowan.""" + + def __init__(self, state): + self.uav = robot_python.robot_factory( + '/home/whoenig/projects/dynobench/models/quad3d_v0.yaml', [], []) + self.state = state + + def step(self, action, dt): + + # m: 0.034 + # max_f: 1.3 + force_in_newton = rpm_to_force(action.rpm) + normalized_force = force_in_newton / (1.3 * (0.034 / 4) * 9.81) + + xnext = np.zeros(13) + # print(sim_state2dynobench_state(self.state)) + print(normalized_force) + self.uav.step(xnext, sim_state2dynobench_state(self.state), normalized_force, dt) + self.state = dynobench_state2sim_state(xnext) + + # if we fall below the ground, set velocities to 0 + if self.state.pos[2] < 0: + self.state.pos[2] = 0 + self.state.vel = [0, 0, 0] + self.state.omega = [0, 0, 0] From e28a9f24478d5a34a873b5deb7cd62a701581fb5 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 18 Jan 2024 14:37:58 +0100 Subject: [PATCH 061/162] sim - backend - dynobench: cleanup --- .../backend/data/dynobench/crazyflie2.yaml | 15 +++++++++++++++ crazyflie_sim/crazyflie_sim/backend/dynobench.py | 6 ++---- 2 files changed, 17 insertions(+), 4 deletions(-) create mode 100644 crazyflie_sim/crazyflie_sim/backend/data/dynobench/crazyflie2.yaml diff --git a/crazyflie_sim/crazyflie_sim/backend/data/dynobench/crazyflie2.yaml b/crazyflie_sim/crazyflie_sim/backend/data/dynobench/crazyflie2.yaml new file mode 100644 index 000000000..34ffef628 --- /dev/null +++ b/crazyflie_sim/crazyflie_sim/backend/data/dynobench/crazyflie2.yaml @@ -0,0 +1,15 @@ +# distance_weights: [1. , .5, .2, .2 ] +distance_weights: [1., .5, .1, .05] +max_vel: 4 +max_angular_vel: 8 +max_acc: 25 # used for bounds on time +max_angular_acc: 20 # used for bounds on time +motor_control: true # True = controls are forces in the motors (False is NOT implemented) +m: 0.034 +max_f: 1.3 +arm_length: 0.046 +t2t: 0.006 # thrust-to-torque ratio +J_v: [16.571710e-6, 16.655602e-6, 29.261652e-6] # inertia matrix +dt: .01 +size: [.25] +dynamics: quad3d diff --git a/crazyflie_sim/crazyflie_sim/backend/dynobench.py b/crazyflie_sim/crazyflie_sim/backend/dynobench.py index a6dbd379e..0c092918c 100644 --- a/crazyflie_sim/crazyflie_sim/backend/dynobench.py +++ b/crazyflie_sim/crazyflie_sim/backend/dynobench.py @@ -1,4 +1,4 @@ -from __future__ import annotations +from pathlib import Path import numpy as np from rclpy.node import Node @@ -85,7 +85,7 @@ class Quadrotor: def __init__(self, state): self.uav = robot_python.robot_factory( - '/home/whoenig/projects/dynobench/models/quad3d_v0.yaml', [], []) + str((Path(__file__).parent / 'data/dynobench/crazyflie2.yaml').resolve()), [], []) self.state = state def step(self, action, dt): @@ -96,8 +96,6 @@ def step(self, action, dt): normalized_force = force_in_newton / (1.3 * (0.034 / 4) * 9.81) xnext = np.zeros(13) - # print(sim_state2dynobench_state(self.state)) - print(normalized_force) self.uav.step(xnext, sim_state2dynobench_state(self.state), normalized_force, dt) self.state = dynobench_state2sim_state(xnext) From f63e0b07f7ccac72b211677a2ecbcd306fa60dc1 Mon Sep 17 00:00:00 2001 From: Khaled Wahba <51020237+Khaledwahba1994@users.noreply.github.com> Date: Mon, 22 Jan 2024 21:18:57 +0100 Subject: [PATCH 062/162] backend sim: pinocchio (#408) * Add pinoccio backend for simulation --- .../backend/data/pinocchio/crazyflie2.urdf | 27 ++++ .../crazyflie_sim/backend/pinocchio.py | 118 ++++++++++++++++++ 2 files changed, 145 insertions(+) create mode 100644 crazyflie_sim/crazyflie_sim/backend/data/pinocchio/crazyflie2.urdf create mode 100644 crazyflie_sim/crazyflie_sim/backend/pinocchio.py diff --git a/crazyflie_sim/crazyflie_sim/backend/data/pinocchio/crazyflie2.urdf b/crazyflie_sim/crazyflie_sim/backend/data/pinocchio/crazyflie2.urdf new file mode 100644 index 000000000..d6f589ec9 --- /dev/null +++ b/crazyflie_sim/crazyflie_sim/backend/data/pinocchio/crazyflie2.urdf @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/crazyflie_sim/crazyflie_sim/backend/pinocchio.py b/crazyflie_sim/crazyflie_sim/backend/pinocchio.py new file mode 100644 index 000000000..77b066aa8 --- /dev/null +++ b/crazyflie_sim/crazyflie_sim/backend/pinocchio.py @@ -0,0 +1,118 @@ +from pathlib import Path + +import numpy as np +import pinocchio as pin +from rclpy.node import Node +from rclpy.time import Time +from rosgraph_msgs.msg import Clock + +from ..sim_data_types import Action, State + + +class Backend: + """Backend that uses pinocchio to simulate the rigid-body dynamics.""" + + def __init__(self, node: Node, names: list[str], states: list[State]): + self.node = node + self.names = names + self.clock_publisher = node.create_publisher(Clock, 'clock', 10) + self.t = 0 + self.dt = 0.0005 + + self.uavs = [] + for state in states: + uav = Quadrotor(state) + self.uavs.append(uav) + + def time(self) -> float: + return self.t + + def step(self, states_desired: list[State], actions: list[Action]) -> list[State]: + # advance the time + self.t += self.dt + + next_states = [] + + for uav, action in zip(self.uavs, actions): + uav.step(action, self.dt) + next_states.append(uav.state) + + # print(states_desired, actions, next_states) + # publish the current clock + clock_message = Clock() + clock_message.clock = Time(seconds=self.time()).to_msg() + self.clock_publisher.publish(clock_message) + + return next_states + + def shutdown(self): + pass + + +# convert RPM -> Force +def rpm_to_force(rpm): + # polyfit using data and scripts from https://github.com/IMRCLab/crazyflie-system-id + p = [2.55077341e-08, -4.92422570e-05, -1.51910248e-01] + force_in_grams = np.polyval(p, rpm) + force_in_newton = force_in_grams * 9.81 / 1000.0 + return np.maximum(force_in_newton, 0) + + +def pinocchio_state2sim_state(q, v): + result = State() + result.pos = q[0:3] + result.quat = np.concatenate((q[6:7], q[3:6])) + result.vel = v[0:3] + result.omega = v[3:6] + return result + + +def sim_state2pinocchio_state(state): + result = np.empty(13) + result[0:3] = state.pos + result[3:6] = state.quat[1:] + result[6] = state.quat[0] + result[7:10] = state.vel + result[10:13] = state.omega + q = result[0:7] # geometric states: x, y, z, qx, qy, qz, qw + v = result[7:] # velocities: vx, vy, vz, wx, wy, wz + return q, v + + +class Quadrotor: + """Basic rigid body quadrotor model (no drag) using numpy and rowan.""" + + def __init__(self, state): + arm_length = 0.046 # m + arm = 0.707106781 * arm_length + t2t = 0.006 # thrust-to-torque ratio + self.B0 = np.array([ + [1, 1, 1, 1], + [-arm, -arm, arm, arm], + [-arm, arm, arm, -arm], + [-t2t, t2t, -t2t, t2t] + ]) + self.uav, self.collision_model, self.visual_model = pin.buildModelsFromUrdf( + str((Path(__file__).parent / 'data/pinocchio/crazyflie2.urdf'))) + self.uavPinocchioData = self.uav.createData() + self.state = state + + def step(self, action, dt): + + # m: 0.034 + # max_f: 1.3 + force_in_newton = rpm_to_force(action.rpm) + eta = np.dot(self.B0, force_in_newton) + force_generalized = np.array([0., 0., eta[0], eta[1], eta[2], eta[3]]) + + q, v = sim_state2pinocchio_state(self.state) + a = pin.aba(self.uav, self.uavPinocchioData, q, v, force_generalized) + v_next = v + a*dt + q_next = pin.integrate(self.uav, q, v*dt) + self.state = pinocchio_state2sim_state(q_next, v_next) + + # if we fall below the ground, set velocities to 0 + if self.state.pos[2] < 0: + self.state.pos[2] = 0 + self.state.vel = [0, 0, 0] + self.state.omega = [0, 0, 0] From 5d8cbc43c1d2b876b7ee82e16ad4fe7468fc79f4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Wolfgang=20H=C3=B6nig?= Date: Sat, 27 Jan 2024 14:43:06 +0100 Subject: [PATCH 063/162] Add status topic (#406) Adding `//status` topic with battery information, supervisor information, and radio statistics * handling of overflow * add safeguard for older firmware versions * update submodule --- crazyflie/deps/crazyflie_tools | 2 +- crazyflie/src/crazyflie_server.cpp | 127 ++++++++++++++++++++++++++-- crazyflie_interfaces/CMakeLists.txt | 1 + crazyflie_interfaces/msg/Status.msg | 31 +++++++ 4 files changed, 153 insertions(+), 8 deletions(-) create mode 100644 crazyflie_interfaces/msg/Status.msg diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index 8cf7ee6b0..36ea3d401 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit 8cf7ee6b0e91b78e428e167914c7a9a267e11ac2 +Subproject commit 36ea3d40161db8f580dbb8846789bc036a2ccedd diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index c49ac63c4..d79e307f7 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -20,6 +20,7 @@ #include "motion_capture_tracking_interfaces/msg/named_pose_array.hpp" #include "crazyflie_interfaces/msg/full_state.hpp" #include "crazyflie_interfaces/msg/position.hpp" +#include "crazyflie_interfaces/msg/status.hpp" #include "crazyflie_interfaces/msg/log_data_generic.hpp" #include "crazyflie_interfaces/msg/connection_statistics_array.hpp" @@ -102,6 +103,21 @@ class CrazyflieROS uint16_t right; } __attribute__((packed)); + struct logStatus { + // general status + uint16_t supervisorInfo; // supervisor.info + // battery related + // Note that using BQ-deck/Bolt one can actually have two batteries at the same time. + // vbat refers to the battery directly connected to the CF board and might not reflect + // the "external" battery on BQ/Bolt builds + uint16_t vbatMV; // pm.vbatMV + uint8_t pmState; // pm.state + // radio related + uint8_t rssi; // radio.rssi + uint16_t numRxBc; // radio.numRxBc + uint16_t numRxUc; // radio.numRxUc + } __attribute__((packed)); + public: CrazyflieROS( const std::string& link_uri, @@ -110,6 +126,7 @@ class CrazyflieROS rclcpp::Node* node, rclcpp::CallbackGroup::SharedPtr callback_group_cf_cmd, rclcpp::CallbackGroup::SharedPtr callback_group_cf_srv, + const CrazyflieBroadcaster* cfbc, bool enable_parameters = true) : logger_(rclcpp::get_logger(name)) , cf_logger_(logger_) @@ -121,6 +138,7 @@ class CrazyflieROS , node_(node) , tf_broadcaster_(node) , last_on_latency_(std::chrono::steady_clock::now()) + , cfbc_(cfbc) { auto sub_opt_cf_cmd = rclcpp::SubscriptionOptions(); sub_opt_cf_cmd.callback_group = callback_group_cf_cmd; @@ -355,6 +373,47 @@ class CrazyflieROS }, cb)); log_block_scan_->start(uint8_t(100.0f / (float)freq)); // this is in tens of milliseconds } + else if (i.first.find("default_topics.status") == 0) { + int freq = log_config_map["default_topics.status.frequency"].get(); + RCLCPP_INFO(logger_, "Logging to /status at %d Hz", freq); + + publisher_status_ = node->create_publisher(name + "/status", 10); + + std::function cb = std::bind(&CrazyflieROS::on_logging_status, this, std::placeholders::_1, std::placeholders::_2); + + std::list > logvars({ + // general status + {"supervisor", "info"}, + // battery related + {"pm", "vbatMV"}, + {"pm", "state"}, + // radio related + {"radio", "rssi"} + }); + + // check if this firmware version has radio.numRx{Bc,Uc} + status_has_radio_stats_ = false; + for (auto iter = cf_.logVariablesBegin(); iter != cf_.logVariablesEnd(); ++iter) { + auto entry = *iter; + if (entry.group == "radio" && entry.name == "numRxBc") { + logvars.push_back({"radio", "numRxBc"}); + logvars.push_back({"radio", "numRxUc"}); + status_has_radio_stats_ = true; + break; + } + } + + // older firmware -> use other 16-bit variables + if (!status_has_radio_stats_) { + RCLCPP_WARN(logger_, "Older firmware. status/num_rx_broadcast and status/num_rx_unicast are set to zero."); + logvars.push_back({"pm", "vbatMV"}); + logvars.push_back({"pm", "vbatMV"}); + } + + log_block_status_.reset(new LogBlock( + &cf_,logvars, cb)); + log_block_status_->start(uint8_t(100.0f / (float)freq)); // this is in tens of milliseconds + } else if (i.first.find("custom_topics") == 0 && i.first.rfind(".vars") != std::string::npos) { std::string topic_name = i.first.substr(14, i.first.size() - 14 - 5); @@ -690,6 +749,51 @@ class CrazyflieROS } } + void on_logging_status(uint32_t time_in_ms, const logStatus* data) { + if (publisher_status_) { + + crazyflie_interfaces::msg::Status msg; + msg.header.stamp = node_->get_clock()->now(); + msg.header.frame_id = name_; + msg.supervisor_info = data->supervisorInfo; + msg.battery_voltage = data->vbatMV / 1000.0f; + msg.pm_state = data->pmState; + msg.rssi = data->rssi; + if (status_has_radio_stats_) { + int32_t deltaRxBc = data->numRxBc - previous_numRxBc; + int32_t deltaRxUc = data->numRxUc - previous_numRxUc; + // handle overflow + if (deltaRxBc < 0) { + deltaRxBc += std::numeric_limits::max(); + } + if (deltaRxUc < 0) { + deltaRxUc += std::numeric_limits::max(); + } + msg.num_rx_broadcast = deltaRxBc; + msg.num_rx_unicast = deltaRxUc; + previous_numRxBc = data->numRxBc; + previous_numRxUc = data->numRxUc; + } else { + msg.num_rx_broadcast = 0; + msg.num_rx_unicast = 0; + } + + // connection sent stats (unicast) + const auto statsUc = cf_.connectionStats(); + size_t deltaTxUc = statsUc.sent_count - previous_stats_unicast_.sent_count; + msg.num_tx_unicast = deltaTxUc; + previous_stats_unicast_ = statsUc; + + // connection sent stats (broadcast) + const auto statsBc = cfbc_->connectionStats(); + size_t deltaTxBc = statsBc.sent_count - previous_stats_broadcast_.sent_count; + msg.num_tx_broadcast = deltaTxBc; + previous_stats_broadcast_ = statsBc; + + publisher_status_->publish(msg); + } + } + void on_logging_custom(uint32_t time_in_ms, const std::vector* values, void* userData) { auto pub = reinterpret_cast::SharedPtr*>(userData); @@ -774,6 +878,15 @@ class CrazyflieROS std::unique_ptr> log_block_scan_; rclcpp::Publisher::SharedPtr publisher_scan_; + std::unique_ptr> log_block_status_; + bool status_has_radio_stats_; + rclcpp::Publisher::SharedPtr publisher_status_; + uint16_t previous_numRxBc; + uint16_t previous_numRxUc; + bitcraze::crazyflieLinkCpp::Connection::Statistics previous_stats_unicast_; + bitcraze::crazyflieLinkCpp::Connection::Statistics previous_stats_broadcast_; + const CrazyflieBroadcaster* cfbc_; + std::list> log_blocks_generic_; std::list::SharedPtr> publishers_generic_; @@ -888,19 +1001,19 @@ class CrazyflieServer : public rclcpp::Node // if it is a Crazyflie, try to connect if (constr == "crazyflie") { std::string uri = parameter_overrides.at("robots." + name + ".uri").get(); + auto broadcastUri = Crazyflie::broadcastUriFromUnicastUri(uri); + if (broadcaster_.count(broadcastUri) == 0) { + broadcaster_.emplace(broadcastUri, std::make_unique(broadcastUri)); + } + crazyflies_.emplace(name, std::make_unique( uri, cf_type, name, this, callback_group_cf_cmd_, - callback_group_cf_srv_)); - - auto broadcastUri = crazyflies_[name]->broadcastUri(); - RCLCPP_INFO(logger_, "%s", broadcastUri.c_str()); - if (broadcaster_.count(broadcastUri) == 0) { - broadcaster_.emplace(broadcastUri, std::make_unique(broadcastUri)); - } + callback_group_cf_srv_, + broadcaster_.at(broadcastUri).get())); update_name_to_id_map(name, crazyflies_[name]->id()); } diff --git a/crazyflie_interfaces/CMakeLists.txt b/crazyflie_interfaces/CMakeLists.txt index 583e95fa1..0e92f4d09 100644 --- a/crazyflie_interfaces/CMakeLists.txt +++ b/crazyflie_interfaces/CMakeLists.txt @@ -25,6 +25,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/Hover.msg" "msg/LogBlock.msg" "msg/Position.msg" + "msg/Status.msg" "msg/TrajectoryPolynomialPiece.msg" "msg/VelocityWorld.msg" "srv/GoTo.srv" diff --git a/crazyflie_interfaces/msg/Status.msg b/crazyflie_interfaces/msg/Status.msg new file mode 100644 index 000000000..bebd42a71 --- /dev/null +++ b/crazyflie_interfaces/msg/Status.msg @@ -0,0 +1,31 @@ + +# Constants +uint16 SUPERVISOR_INFO_CAN_BE_ARMED = 0 +uint16 SUPERVISOR_INFO_IS_ARMED = 2 +uint16 SUPERVISOR_INFO_AUTO_ARM = 4 +uint16 SUPERVISOR_INFO_CAN_FLY = 8 +uint16 SUPERVISOR_INFO_IS_FLYING = 16 +uint16 SUPERVISOR_INFO_IS_TUMBLED = 32 +uint16 SUPERVISOR_INFO_IS_LOCKED = 64 + +uint8 PM_STATE_BATTERY = 0 +uint8 PM_STATE_CHARGING = 1 +uint8 PM_STATE_CHARGED = 2 +uint8 PM_STATE_LOW_POWER = 3 +uint8 PM_STATE_SHUTDOWN = 4 + +std_msgs/Header header + +# general status +uint16 supervisor_info # Bitfield, see SUPERVISOR_INFO for individual bits + +# battery related +float32 battery_voltage # internal battery voltage [V] +uint8 pm_state # See PM_STATE_* for potential values + +# radio related +uint8 rssi # latest radio signal strength indicator [dBm] +uint32 num_rx_broadcast # number of received broadcast packets during the last period +uint32 num_tx_broadcast # number of broadcast packets sent during the last period +uint32 num_rx_unicast # number of received unicast packets during the last period +uint32 num_tx_unicast # number of unicast packets sent during the last period From 74839dcd661fd3904d00066597396eeb31fe0027 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sat, 27 Jan 2024 14:52:54 +0100 Subject: [PATCH 064/162] docs: update warning to include shared user accounts --- docs2/conf.py | 2 +- docs2/usage.rst | 5 +++++ 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/docs2/conf.py b/docs2/conf.py index 63931d5d4..4acc270d1 100644 --- a/docs2/conf.py +++ b/docs2/conf.py @@ -62,7 +62,7 @@ # General information about the project. project = 'Crazyswarm2' -copyright = '2021-2022, Wolfgang Hönig (IMRClab), Kimberly McGuire (Bitcraze AB) and contributors' +copyright = '2021-2024, Wolfgang Hönig (TU Berlin), Kimberly McGuire (Bitcraze AB), and contributors' author = 'Wolfgang Hönig, Kimberly McGuire' # The version info for the project you're documenting, acts as replacement for diff --git a/docs2/usage.rst b/docs2/usage.rst index c35939ff7..d8278958b 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -19,6 +19,11 @@ Usage .. code-block:: bash export ROS_LOCALHOST_ONLY=1 + export ROS_DOMAIN_ID= + + The first environment variable restricts ROS to your local machine. The second is useful + if you have multiple user accounts on the same machine (e.g., a shared workstation computer). + In such case, each user should use a unique `domain ID `_. Configuration From 762672a6d4a78efca3613e24bfaf84ab75ce245e Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sat, 27 Jan 2024 14:55:23 +0100 Subject: [PATCH 065/162] systemtests: use non-default domain id This should avoid interference with systemtests running on the same machine as flight tests --- .github/workflows/systemtests.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/systemtests.yml b/.github/workflows/systemtests.yml index 045b64049..1cae1631a 100644 --- a/.github/workflows/systemtests.yml +++ b/.github/workflows/systemtests.yml @@ -39,6 +39,7 @@ jobs: source /opt/ros/humble/setup.bash . install/local_setup.bash export ROS_LOCALHOST_ONLY=1 + export ROS_DOMAIN_ID=99 python3 src/crazyswarm2/systemtests/test_flights.py - name: Upload files From f861618803838173e7b7939c0d65fc4a8c192feb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Wolfgang=20H=C3=B6nig?= Date: Wed, 31 Jan 2024 13:38:45 +0100 Subject: [PATCH 066/162] Add robot_description support [cpp,cflib,sim] (#412) * add robot_description support in cpp, cflib and sim backends --- crazyflie/CMakeLists.txt | 3 +- crazyflie/config/config.rviz | 49 +- crazyflie/launch/launch.py | 9 + crazyflie/scripts/crazyflie_server.py | 11 + crazyflie/src/crazyflie_server.cpp | 14 + crazyflie/urdf/cf2_assembly_with_props.dae | 433 ++++++++++++++++++ crazyflie/urdf/crazyflie_description.urdf | 11 + .../crazyflie_sim/crazyflie_server.py | 12 + 8 files changed, 532 insertions(+), 10 deletions(-) create mode 100644 crazyflie/urdf/cf2_assembly_with_props.dae create mode 100644 crazyflie/urdf/crazyflie_description.urdf diff --git a/crazyflie/CMakeLists.txt b/crazyflie/CMakeLists.txt index ed6c31903..c8899cfbe 100644 --- a/crazyflie/CMakeLists.txt +++ b/crazyflie/CMakeLists.txt @@ -112,10 +112,11 @@ install(PROGRAMS DESTINATION lib/${PROJECT_NAME} ) -# Install launch and config files. +# Install launch, config, and urdf files. install(DIRECTORY launch config + urdf DESTINATION share/${PROJECT_NAME}/ ) diff --git a/crazyflie/config/config.rviz b/crazyflie/config/config.rviz index d19a5dc9a..9d1b49a9e 100644 --- a/crazyflie/config/config.rviz +++ b/crazyflie/config/config.rviz @@ -52,7 +52,7 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true - test: + cf231: Value: true world: Value: true @@ -60,13 +60,44 @@ Visualization Manager: Name: TF Show Arrows: true Show Axes: true - Show Names: false + Show Names: true Tree: world: - test: + cf231: {} Update Interval: 0 Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cf231/robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + cf231: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: CF231 + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -113,25 +144,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 6.814720153808594 + Distance: 3.1647839546203613 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: -0.028163839131593704 + Y: -0.049007341265678406 + Z: -0.025782346725463867 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.665398120880127 + Pitch: 0.4847976565361023 Target Frame: Value: Orbit (rviz) - Yaw: 2.8785719871520996 + Yaw: 2.9185757637023926 Saved: ~ Window Geometry: Displays: diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index e71b9cf51..8a9290c11 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -30,6 +30,15 @@ def generate_launch_description(): server_params = [crazyflies] + [server_yaml_contents["/crazyflie_server"]["ros__parameters"]] + # robot description + urdf = os.path.join( + get_package_share_directory('crazyflie'), + 'urdf', + 'crazyflie_description.urdf') + with open(urdf, 'r') as f: + robot_desc = f.read() + server_params[1]["robot_description"] = robot_desc + # construct motion_capture_configuration motion_capture_yaml = os.path.join( get_package_share_directory('crazyflie'), diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index ca44a9320..fbbe8fe72 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -30,6 +30,7 @@ from motion_capture_tracking_interfaces.msg import NamedPoseArray from std_srvs.srv import Empty +from std_msgs.msg import String from geometry_msgs.msg import Twist from geometry_msgs.msg import PoseStamped, TransformStamped from sensor_msgs.msg import LaserScan @@ -220,6 +221,16 @@ def __init__(self): for uri in self.cf_dict: name = self.cf_dict[uri] + + pub = self.create_publisher(String, name + '/robot_description', + rclpy.qos.QoSProfile( + depth=1, + durability=rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL)) + + msg = String() + msg.data = self._ros_parameters['robot_description'].replace("$NAME", name) + pub.publish(msg) + self.create_service( Empty, name + "/emergency", partial(self._emergency_callback, uri=uri) diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index d79e307f7..4a71e0245 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -12,6 +12,7 @@ #include "crazyflie_interfaces/srv/land.hpp" #include "crazyflie_interfaces/srv/go_to.hpp" #include "crazyflie_interfaces/srv/notify_setpoints_stop.hpp" +#include "std_msgs/msg/string.hpp" #include "geometry_msgs/msg/twist.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" @@ -160,6 +161,15 @@ class CrazyflieROS subscription_cmd_full_state_ = node->create_subscription(name + "/cmd_full_state", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieROS::cmd_full_state_changed, this, _1), sub_opt_cf_cmd); subscription_cmd_position_ = node->create_subscription(name + "/cmd_position", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieROS::cmd_position_changed, this, _1), sub_opt_cf_cmd); + publisher_robot_description_ = node->create_publisher(name + "/robot_description", + rclcpp::QoS(1).transient_local()); + { + auto msg = std::make_unique(); + auto robot_desc = node->get_parameter("robot_description").get_parameter_value().get(); + msg->data = std::regex_replace(robot_desc, std::regex("\\$NAME"), name); + publisher_robot_description_->publish(std::move(msg)); + } + // spinning timer // used to process all incoming radio messages spin_timer_ = @@ -871,6 +881,8 @@ class CrazyflieROS rclcpp::Subscription::SharedPtr subscription_cmd_full_state_; rclcpp::Subscription::SharedPtr subscription_cmd_position_; + rclcpp::Publisher::SharedPtr publisher_robot_description_; + // logging std::unique_ptr> log_block_pose_; rclcpp::Publisher::SharedPtr publisher_pose_; @@ -953,6 +965,8 @@ class CrazyflieServer : public rclcpp::Node broadcasts_delay_between_repeats_ms_ = this->get_parameter("all.broadcasts.delay_between_repeats_ms").get_parameter_value().get(); mocap_enabled_ = false; + this->declare_parameter("robot_description", ""); + // Warnings this->declare_parameter("warnings.frequency", 1.0); float freq = this->get_parameter("warnings.frequency").get_parameter_value().get(); diff --git a/crazyflie/urdf/cf2_assembly_with_props.dae b/crazyflie/urdf/cf2_assembly_with_props.dae new file mode 100644 index 000000000..8e781721e --- /dev/null +++ b/crazyflie/urdf/cf2_assembly_with_props.dae @@ -0,0 +1,433 @@ + + + + + + Kimberly McGuire (Bitcraze AB) + Blender 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b + + 2024-01-30T21:06:41 + 2024-01-30T21:06:41 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.009523815 0.009523815 0.009523815 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.1169535 0.1169535 0.1169535 1 + + + 0.8 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.3428556 0.3428556 0.3428556 1 + + + 0.6528497 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 0.5 + + + + + + + + + + + + + + + + + + + + + + + + + + -0.00999999 0.00999999 5e-4 -0.00999999 0.00999999 0.002499997 -0.00999999 0.01199996 0.002499997 -0.00999999 0.01199996 5e-4 0.00999999 0.01199996 0.002499997 0.00999999 0.01199996 5e-4 0.00999999 0.00999999 0.002499997 0.00999999 0.00999999 5e-4 -0.00999999 -0.00999999 5e-4 -0.00999999 -0.01199996 5e-4 -0.00999999 -0.01199996 0.002499997 -0.00999999 -0.00999999 0.002499997 0.00999999 -0.01199996 5e-4 0.00999999 -0.01199996 0.002499997 0.00999999 -0.00999999 5e-4 0.00999999 -0.00999999 0.002499997 -0.00999999 -0.01399999 -5e-4 -0.00999999 -0.01399999 5e-4 -0.00999999 0.01399999 5e-4 -0.00999999 0.01399999 -5e-4 0.00999999 0.01399999 5e-4 0.00999999 0.01399999 -5e-4 0.00999999 -0.01399999 5e-4 0.00999999 -0.01399999 -5e-4 -0.00109595 0.008999943 -5e-4 0.00109595 0.008999943 -5e-4 0.00109595 -0.008999943 -5e-4 -0.00109595 -0.008999943 -5e-4 -0.008095979 0.008999943 -5e-4 -0.008095979 -0.008999943 -5e-4 0.008095979 -0.008999943 -5e-4 0.008095979 0.008999943 -5e-4 -0.00109595 -0.008999943 5e-4 -0.008095979 -0.008999943 5e-4 -0.008095979 0.008999943 5e-4 -0.00109595 0.008999943 5e-4 0.00109595 0.008999943 5e-4 0.008095979 0.008999943 5e-4 0.008095979 -0.008999943 5e-4 0.00109595 -0.008999943 5e-4 + + + + + + + + + + -1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 -1 0 0 1 0 0 1 0 0 + + + + + + + + + + + + + + +

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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0.025 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0.011 0 0 1 0.014 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1.229657 0.02 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0.015 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + 0.705359 0 0 0.031 0 0.705359 0 0.031 0 0 0.705359 0.014 0 0 0 1 + + + + + + + + + + + + 0.7071068 0.7071068 0 0.031 -0.7071068 0.7071068 0 0.031 0 0 1 0.014 0 0 0 1 + + + + + + + + + + 0.6918778 0.7220147 0 0.031 -0.7220147 0.6918778 0 0.031 0 0 1 0.022 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/crazyflie/urdf/crazyflie_description.urdf b/crazyflie/urdf/crazyflie_description.urdf new file mode 100644 index 000000000..88a68e5c0 --- /dev/null +++ b/crazyflie/urdf/crazyflie_description.urdf @@ -0,0 +1,11 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_server.py b/crazyflie_sim/crazyflie_sim/crazyflie_server.py index 0d05fede7..13bf4ae2e 100755 --- a/crazyflie_sim/crazyflie_sim/crazyflie_server.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_server.py @@ -16,6 +16,7 @@ import rclpy from rclpy.node import Node import rowan +from std_msgs.msg import String from std_srvs.srv import Empty @@ -100,6 +101,17 @@ def __init__(self): self._start_trajectory_callback) for name, _ in self.cfs.items(): + pub = self.create_publisher( + String, + name + '/robot_description', + rclpy.qos.QoSProfile( + depth=1, + durability=rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL)) + + msg = String() + msg.data = self._ros_parameters['robot_description'].replace('$NAME', name) + pub.publish(msg) + self.create_service( Empty, name + '/emergency', From 14bdc226541dfab1a3ec1284a7c59ea24034863f Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 1 Feb 2024 16:03:45 +0100 Subject: [PATCH 067/162] server cpp: add new communication warnings * unicast_receive_rate measures the end-to-end rate of received unicast packets over sent unicast packets * broadcast_receive_rate measures the end-to-end rate of received broadcast packets over sent unicast packets Warnings if this is larger than 1 or smaller than a user-defined threshold. --- crazyflie/config/crazyflies.yaml | 2 ++ crazyflie/config/server.yaml | 2 ++ crazyflie/src/crazyflie_server.cpp | 27 +++++++++++++++++++++++++++ 3 files changed, 31 insertions(+) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index e136fcd8b..adefcbfd1 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -77,6 +77,8 @@ all: # remove to disable default topic pose: frequency: 10 # Hz + status: + frequency: 1 # Hz #custom_topics: # topic_name1: # frequency: 10 # Hz diff --git a/crazyflie/config/server.yaml b/crazyflie/config/server.yaml index 6ec8a3989..59a3ebcb5 100644 --- a/crazyflie/config/server.yaml +++ b/crazyflie/config/server.yaml @@ -7,6 +7,8 @@ communication: max_unicast_latency: 10.0 # ms min_unicast_ack_rate: 0.9 + min_unicast_receive_rate: 0.9 # requires status topic to be enabled + min_broadcast_receive_rate: 0.9 # requires status topic to be enabled publish_stats: false firmware_params: query_all_values_on_connect: False diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index 4a71e0245..1dfe1de98 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -181,6 +181,8 @@ class CrazyflieROS warning_freq_ = node->get_parameter("warnings.frequency").get_parameter_value().get(); max_latency_ = node->get_parameter("warnings.communication.max_unicast_latency").get_parameter_value().get(); min_ack_rate_ = node->get_parameter("warnings.communication.min_unicast_ack_rate").get_parameter_value().get(); + min_unicast_receive_rate_ = node->get_parameter("warnings.communication.min_unicast_receive_rate").get_parameter_value().get(); + min_broadcast_receive_rate_ = node->get_parameter("warnings.communication.min_broadcast_receive_rate").get_parameter_value().get(); publish_stats_ = node->get_parameter("warnings.communication.publish_stats").get_parameter_value().get(); if (publish_stats_) { publisher_connection_stats_ = node->create_publisher(name + "/connection_statistics", 10); @@ -801,6 +803,27 @@ class CrazyflieROS previous_stats_broadcast_ = statsBc; publisher_status_->publish(msg); + + // warnings + if (msg.num_rx_unicast > msg.num_tx_unicast) { + RCLCPP_WARN(logger_, "Unexpected number of unicast packets. Sent: %d. Received: %d", msg.num_tx_unicast, msg.num_rx_unicast); + } + if (msg.num_tx_unicast > 0) { + float unicast_receive_rate = msg.num_rx_unicast / (float)msg.num_tx_unicast; + if (unicast_receive_rate < min_unicast_receive_rate_) { + RCLCPP_WARN(logger_, "Low unicast receive rate (%.2f < %.2f). Sent: %d. Received: %d", unicast_receive_rate, min_unicast_receive_rate_, msg.num_tx_unicast, msg.num_rx_unicast); + } + } + + if (msg.num_rx_broadcast > msg.num_tx_broadcast) { + RCLCPP_WARN(logger_, "Unexpected number of broadcast packets. Sent: %d. Received: %d", msg.num_tx_broadcast, msg.num_rx_broadcast); + } + if (msg.num_tx_broadcast > 0) { + float broadcast_receive_rate = msg.num_rx_broadcast / (float)msg.num_tx_broadcast; + if (broadcast_receive_rate < min_broadcast_receive_rate_) { + RCLCPP_WARN(logger_, "Low broadcast receive rate (%.2f < %.2f). Sent: %d. Received: %d", broadcast_receive_rate, min_broadcast_receive_rate_, msg.num_tx_broadcast, msg.num_rx_broadcast); + } + } } } @@ -912,6 +935,8 @@ class CrazyflieROS float warning_freq_; float max_latency_; float min_ack_rate_; + float min_unicast_receive_rate_; + float min_broadcast_receive_rate_; bool publish_stats_; rclcpp::Publisher::SharedPtr publisher_connection_stats_; }; @@ -980,6 +1005,8 @@ class CrazyflieServer : public rclcpp::Node this->declare_parameter("warnings.communication.max_unicast_latency", 10.0); this->declare_parameter("warnings.communication.min_unicast_ack_rate", 0.9); + this->declare_parameter("warnings.communication.min_unicast_receive_rate", 0.9); + this->declare_parameter("warnings.communication.min_broadcast_receive_rate", 0.9); this->declare_parameter("warnings.communication.publish_stats", false); publish_stats_ = this->get_parameter("warnings.communication.publish_stats").get_parameter_value().get(); From 19f40f5ef1b5439faac6233e5ad1e50696d0e036 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 1 Feb 2024 21:55:38 +0100 Subject: [PATCH 068/162] add initial gui draft --- crazyflie/CMakeLists.txt | 1 + crazyflie/scripts/gui.py | 145 ++++++++++++++++++++++++++++++++ crazyflie/urdf/cf2_assembly.stl | Bin 0 -> 166184 bytes 3 files changed, 146 insertions(+) create mode 100755 crazyflie/scripts/gui.py create mode 100644 crazyflie/urdf/cf2_assembly.stl diff --git a/crazyflie/CMakeLists.txt b/crazyflie/CMakeLists.txt index c8899cfbe..66e1e4ae1 100644 --- a/crazyflie/CMakeLists.txt +++ b/crazyflie/CMakeLists.txt @@ -109,6 +109,7 @@ install(PROGRAMS scripts/vel_mux.py scripts/cfmult.py scripts/simple_mapper_multiranger.py + scripts/gui.py DESTINATION lib/${PROJECT_NAME} ) diff --git a/crazyflie/scripts/gui.py b/crazyflie/scripts/gui.py new file mode 100755 index 000000000..3941d8c77 --- /dev/null +++ b/crazyflie/scripts/gui.py @@ -0,0 +1,145 @@ +#!/usr/bin/env python3 + +import math +import threading +from pathlib import Path + +import rclpy +from geometry_msgs.msg import Pose, Twist +from rcl_interfaces.msg import Log +from rclpy.executors import ExternalShutdownException +from rclpy.node import Node + +from tf2_ros import TransformException +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener + +from nicegui import Client, app, events, ui, ui_run + + +class NiceGuiNode(Node): + + def __init__(self) -> None: + super().__init__('nicegui') + + # find all crazyflies + self.cfnames = [] + for srv_name, srv_types in self.get_service_names_and_types(): + if 'crazyflie_interfaces/srv/StartTrajectory' in srv_types: + # remove '/' and '/start_trajectory' + cfname = srv_name[1:-17] + if cfname != 'all': + self.cfnames.append(cfname) + + print(self.cfnames) + self.cfs = [] + + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) + + + + + self.cmd_vel_publisher = self.create_publisher(Twist, 'cmd_vel', 1) + self.sub_log = self.create_subscription(Log, 'rosout', self.on_rosout, 1) + + self.logs = dict() + + with Client.auto_index_client: + # with ui.row().classes('w-full h-full no-wrap'): + # self.log = ui.log().classes('w-full h-full no-wrap') + + + + + with ui.row().classes('items-stretch'): + # with ui.card().classes('w-44 text-center items-center'): + # ui.label('Data').classes('text-2xl') + # ui.label('linear velocity').classes('text-xs mb-[-1.8em]') + # slider_props = 'readonly selection-color=transparent' + # self.linear = ui.slider(min=-1, max=1, step=0.05, value=0).props(slider_props) + # ui.label('angular velocity').classes('text-xs mb-[-1.8em]') + # self.angular = ui.slider(min=-1, max=1, step=0.05, value=0).props(slider_props) + # ui.label('position').classes('text-xs mb-[-1.4em]') + # self.position = ui.label('---') + with ui.card().classes('w-full h-full'): + ui.label('Visualization').classes('text-2xl') + with ui.scene(800, 600, on_click=self.on_vis_click) as scene: + for name in self.cfnames: + robot = scene.stl('/urdf/cf2_assembly.stl').scale(1.0).material('#ff0000').with_name(name) + self.cfs.append(robot) + # with scene.group() as self.robot_3d: + # prism = [[-0.5, -0.5], [0.5, -0.5], [0.75, 0], [0.5, 0.5], [-0.5, 0.5]] + # self.robot_object = scene.extrusion(prism, 0.4).material('#4488ff', 0.5) + + with ui.row().classes('w-full h-full'): + with ui.tabs().classes('w-full') as tabs: + self.tabs = [] + for name in ["all"] + self.cfnames: + self.tabs.append(ui.tab(name)) + with ui.tab_panels(tabs, value=self.tabs[0]).classes('w-full') as self.tabpanels: + for name, tab in zip(["all"] + self.cfnames, self.tabs): + with ui.tab_panel(tab): + self.logs[name] = ui.log().classes('w-full h-full no-wrap') + ui.label("Battery Voltage: ") + ui.button("Reboot") + + # Call on_timer function + self.timer = self.create_timer(0.1, self.on_timer) + + def send_speed(self, x: float, y: float) -> None: + msg = Twist() + msg.linear.x = x + msg.angular.z = -y + self.linear.value = x + self.angular.value = y + self.cmd_vel_publisher.publish(msg) + + def on_rosout(self, msg: Log) -> None: + if msg.name in self.logs: + self.logs[msg.name].push(msg.msg) + + def on_timer(self) -> None: + for name, robot in zip(self.cfnames, self.cfs): + t = self.tf_buffer.lookup_transform( + "world", + name, + rclpy.time.Time()) + pos = t.transform.translation + robot.move(pos.x, pos.y, pos.z) + + def on_vis_click(self, e: events.SceneClickEventArguments): + hit = e.hits[0] + name = hit.object_name or hit.object_id + ui.notify(f'You clicked on the {name}') + if name == 'ground': + self.tabpanels.value = 'all' + else: + self.tabpanels.value = name + + + + # def handle_pose(self, msg: Pose) -> None: + # self.position.text = f'x: {msg.position.x:.2f}, y: {msg.position.y:.2f}' + # self.robot_3d.move(msg.position.x, msg.position.y) + # self.robot_3d.rotate(0, 0, 2 * math.atan2(msg.orientation.z, msg.orientation.w)) + + +def main() -> None: + # NOTE: This function is defined as the ROS entry point in setup.py, but it's empty to enable NiceGUI auto-reloading + pass + + +def ros_main() -> None: + rclpy.init() + node = NiceGuiNode() + try: + rclpy.spin(node) + except ExternalShutdownException: + pass + + +app.add_static_files("/urdf", "/home/whoenig/projects/crazyflie/crazyswarm2/src/crazyswarm2/crazyflie/urdf/") +app.on_startup(lambda: threading.Thread(target=ros_main).start()) +ui_run.APP_IMPORT_STRING = f'{__name__}:app' # ROS2 uses a non-standard module name, so we need to specify it here +ui.run(uvicorn_reload_dirs=str(Path(__file__).parent.resolve()), favicon='🤖') diff --git a/crazyflie/urdf/cf2_assembly.stl b/crazyflie/urdf/cf2_assembly.stl new file mode 100644 index 0000000000000000000000000000000000000000..02772d31eee4006fef671357ff447daf0f273ffa GIT binary patch literal 166184 zcmce<3EY;`_6EF5MaE;E=iyKx6w&=Ww<$t~lHpLKOc|n#8S2%5qRhfUsYvFdB=tPc zEg~eE%#|XU8mJJW@4D`Nujjq?`@VJj&-Z=${r-RJJbPVxtv#*1_uA`TZ;NX$zpUGp z=bgLL`Q0wNbf?2FIj_sP=XKlrfPEV8)7bql|9)E^sP;{g 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00:00:00 2001 From: julienthevenoz <125280576+julienthevenoz@users.noreply.github.com> Date: Fri, 2 Feb 2024 16:22:07 +0100 Subject: [PATCH 069/162] Add simulation system tests --- .github/workflows/systemtests_sim.yml | 75 +++++++++ crazyflie/config/motion_capture.yaml | 2 +- .../data/multi_trajectory/traj0.csv | 6 +- systemtests/figure8_ideal_traj.csv | 24 +++ systemtests/mcap_handler.py | 5 +- systemtests/multi_trajectory_traj0_ideal.csv | 52 +++++++ systemtests/plotter_class.py | 146 +++++++++++------- systemtests/test_flights.py | 62 ++++++-- 8 files changed, 294 insertions(+), 78 deletions(-) create mode 100644 .github/workflows/systemtests_sim.yml create mode 100644 systemtests/figure8_ideal_traj.csv create mode 100644 systemtests/multi_trajectory_traj0_ideal.csv diff --git a/.github/workflows/systemtests_sim.yml b/.github/workflows/systemtests_sim.yml new file mode 100644 index 000000000..e30cd8fc7 --- /dev/null +++ b/.github/workflows/systemtests_sim.yml @@ -0,0 +1,75 @@ +name: System Tests Simulation + +on: + push: + branches: [ "main", "feature-systemtests-sim-fixed-timestamp" ] + # manual trigger + workflow_dispatch: + +jobs: + build: + runs-on: self-hosted + steps: + - name: Build firmware + id: step1 + run: | + ls crazyflie-firmware || git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git + cd crazyflie-firmware + git pull + git submodule sync + git submodule update --init --recursive + make cf2_defconfig + make bindings_python + cd build + python3 setup.py install --user + - name: Create workspace + id: step2 + run: | + cd ros2_ws/src || mkdir -p ros2_ws/src + - name: Checkout motion capture package + id: step3 + run: | + cd ros2_ws/src + ls motion_capture_tracking || git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git + cd motion_capture_tracking + git pull + git submodule sync + git submodule update --recursive --init + - name: Checkout Crazyswarm2 + id: step4 + uses: actions/checkout@v4 + with: + path: ros2_ws/src/crazyswarm2 + submodules: 'recursive' + - name: Build workspace + id: step5 + run: | + source /opt/ros/humble/setup.bash + cd ros2_ws + colcon build --symlink-install + + - name: Flight test + id: step6 + run: | + cd ros2_ws + source /opt/ros/humble/setup.bash + . install/local_setup.bash + export PYTHONPATH="${PYTHONPATH}:/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/crazyflie-firmware/build/" + export ROS_LOCALHOST_ONLY=1 + export ROS_DOMAIN_ID=99 + python3 src/crazyswarm2/systemtests/test_flights.py --sim -v #-v is verbose argument of unittest + + - name: Upload files + id: step7 + if: '!cancelled()' + uses: actions/upload-artifact@v3 + with: + name: pdf_rosbags_and_logs + path: | + ros2_ws/results + + + + + + diff --git a/crazyflie/config/motion_capture.yaml b/crazyflie/config/motion_capture.yaml index cf5e025c3..c9324ea41 100644 --- a/crazyflie/config/motion_capture.yaml +++ b/crazyflie/config/motion_capture.yaml @@ -1,7 +1,7 @@ /motion_capture_tracking: ros__parameters: type: "optitrack" - hostname: "130.149.82.37" + hostname: "141.23.110.143" mode: "libobjecttracker" # one of motionCapture,libRigidBodyTracker diff --git a/crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv b/crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv index 98c33752e..8a257c03e 100644 --- a/crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv +++ b/crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv @@ -1,5 +1,5 @@ Duration,x^0,x^1,x^2,x^3,x^4,x^5,x^6,x^7,y^0,y^1,y^2,y^3,y^4,y^5,y^6,y^7,z^0,z^1,z^2,z^3,z^4,z^5,z^6,z^7,yaw^0,yaw^1,yaw^2,yaw^3,yaw^4,yaw^5,yaw^6,yaw^7 -0.960464,0.294342,0,0,0,-2.11233,4.6768,-3.73784,1.04989,0.172656,0,0,0,3.30457,-7.9007,6.65669,-1.94082,0.069979,0,0,0,-0.297773,0.623628,-0.493335,0.138654,0,0,0,0,0,0,0,0 +0.960464,0.0,0,0,0,-2.11233,4.6768,-3.73784,1.04989,0.0,0,0,0,3.30457,-7.9007,6.65669,-1.94082,0.0,0,0,0,-0.297773,0.623628,-0.493335,0.138654,0,0,0,0,0,0,0,0 1.57331,0.176622,-0.147985,0.0532986,0.0623229,0.343746,-0.500924,0.241338,-0.0403025,0.289553,0.0742267,-0.0522539,-0.0351683,-0.975361,1.50407,-0.788135,0.141456,0.043558,-0.0592408,-0.0401473,-0.00342225,-1.05145,1.64557,-0.878344,0.159958,0,0,0,0,0,0,0,0 1.68226,0.294342,0.17123,-0.0334701,-0.0192207,-0.0992382,0.118149,-0.0472082,0.00658999,0.084993,-0.0345305,0.0714366,0.00548031,0.800464,-1.18606,0.592827,-0.10086,-0.246232,0.00212717,0.0685892,0.0024846,1.23285,-1.76366,0.869779,-0.147011,0,0,0,0,0,0,0,0 1.92896,0.374489,-0.0338637,0.00252255,0.00888171,0.0111398,-0.0108929,0.00298726,-0.000251823,0.276975,-0.0784884,-0.0934159,0.000645144,-1.04135,1.33809,-0.584077,0.0868443,0.183524,0.0937667,-0.0541849,-0.00524925,-0.318377,0.393297,-0.166638,0.0242508,0,0,0,0,0,0,0,0 @@ -29,5 +29,5 @@ Duration,x^0,x^1,x^2,x^3,x^4,x^5,x^6,x^7,y^0,y^1,y^2,y^3,y^4,y^5,y^6,y^7,z^0,z^1 1.27955,0.296893,-0.0207413,-0.0288722,0.000206756,-1.45292,2.73635,-1.78001,0.396694,0.363893,0.0205828,-0.0396241,-0.00426978,-2.18054,3.96089,-2.52441,0.555328,0.000432,0.116162,-0.0271769,-0.0121203,-0.0967398,0.0511672,0.0231312,-0.0137364,0,0,0,0,0,0,0,0 1.25924,0.129979,-0.0386626,0.0254433,0.00229348,0.314605,-0.568015,0.359101,-0.0786867,0.096373,-0.177655,-0.00188175,0.0162637,-1.43193,2.92354,-2.00733,0.465729,0.019741,-0.0837562,-0.0114419,0.0108961,-0.89746,1.80018,-1.22397,0.282268,0,0,0,0,0,0,0,0 1.35118,0.155486,0.0338914,-0.00270101,-0.0039661,0.202739,-0.374799,0.237823,-0.0512712,-0.106737,0.0769914,0.0704076,-0.0152089,1.54198,-2.90366,1.8396,-0.394692,-0.101778,0.0286494,0.0412961,-0.00329222,1.31264,-2.35215,1.45212,-0.306802,0,0,0,0,0,0,0,0 -1.14424,0.2,0.0015442,-0.00224162,0.00123466,-0.00661606,0.0134679,-0.00982511,0.00245085,0.1,-0.0953098,-0.0830381,0.0218392,-2.55729,5.66335,-4.2252,1.06822,0.1,0.0445589,-0.0317429,-0.000623191,-0.213517,0.427027,-0.293881,0.0698972,0,0,0,0,0,0,0,0 -1.06974,0.2,-7.36408e-05,0.000107209,-5.42089e-05,0.000468972,-0.00106323,0.000841569,-0.000226684,-0.1,0.0736875,0.104178,-0.0410587,3.38468,-7.9737,6.38949,-1.73737,0.1,-0.0104492,0.00871066,0.00133714,0.089598,-0.209747,0.164384,-0.043835,0,0,0,0,0,0,0,0 +1.14424,0.2,0.0015442,-0.00224162,0.00123466,-0.00661606,0.0134679,-0.00982511,0.00245085,0.0,-0.0953098,-0.0830381,0.0218392,-2.55729,5.66335,-4.2252,1.06822,0.1,0.0445589,-0.0317429,-0.000623191,-0.213517,0.427027,-0.293881,0.0698972,0,0,0,0,0,0,0,0 +1.06974,0.0,-7.36408e-05,0.000107209,-5.42089e-05,0.000468972,-0.00106323,0.000841569,-0.000226684,0.0,0.0736875,0.104178,-0.0410587,3.38468,-7.9737,6.38949,-1.73737,0.1,-0.0104492,0.00871066,0.00133714,0.089598,-0.209747,0.164384,-0.043835,0,0,0,0,0,0,0,0 diff --git a/systemtests/figure8_ideal_traj.csv b/systemtests/figure8_ideal_traj.csv new file mode 100644 index 000000000..5b91fc79f --- /dev/null +++ b/systemtests/figure8_ideal_traj.csv @@ -0,0 +1,24 @@ +duration,x^0,x^1,x^2,x^3,x^4,x^5,x^6,x^7,y^0,y^1,y^2,y^3,y^4,y^5,y^6,y^7,z^0,z^1,z^2,z^3,z^4,z^5,z^6,z^7,yaw^0,yaw^1,yaw^2,yaw^3,yaw^4,yaw^5,yaw^6,yaw^7, + +#### wait on the ground +0.6,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000 + +####takeoff +2.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000001,0.000000,0.000000,0.232052,0.184839,0.030911,-0.176192,0.050572,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000 +####hover +3.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000 +####figure8 +1.050000,0.000000,-0.000000,0.000000,-0.000000,0.830443,-0.276140,-0.384219,0.180493,-0.000000,0.000000,-0.000000,0.000000,-1.356107,0.688430,0.587426,-0.329106,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +0.710000,0.396058,0.918033,0.128965,-0.773546,0.339704,0.034310,-0.026417,-0.030049,-0.445604,-0.684403,0.888433,1.493630,-1.361618,-0.139316,0.158875,0.095799,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +0.620000,0.922409,0.405715,-0.582968,-0.092188,-0.114670,0.101046,0.075834,-0.037926,-0.291165,0.967514,0.421451,-1.086348,0.545211,0.030109,-0.050046,-0.068177,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +0.700000,0.923174,-0.431533,-0.682975,0.177173,0.319468,-0.043852,-0.111269,0.023166,0.289869,0.724722,-0.512011,-0.209623,-0.218710,0.108797,0.128756,-0.055461,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +0.560000,0.405364,-0.834716,0.158939,0.288175,-0.373738,-0.054995,0.036090,0.078627,0.450742,-0.385534,-0.954089,0.128288,0.442620,0.055630,-0.060142,-0.076163,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +0.560000,0.001062,-0.646270,-0.012560,-0.324065,0.125327,0.119738,0.034567,-0.063130,0.001593,-1.031457,0.015159,0.820816,-0.152665,-0.130729,-0.045679,0.080444,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +0.700000,-0.402804,-0.820508,-0.132914,0.236278,0.235164,-0.053551,-0.088687,0.031253,-0.449354,-0.411507,0.902946,0.185335,-0.239125,-0.041696,0.016857,0.016709,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +0.620000,-0.921641,-0.464596,0.661875,0.286582,-0.228921,-0.051987,0.004669,0.038463,-0.292459,0.777682,0.565788,-0.432472,-0.060568,-0.082048,-0.009439,0.041158,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +0.710000,-0.923935,0.447832,0.627381,-0.259808,-0.042325,-0.032258,0.001420,0.005294,0.288570,0.873350,-0.515586,-0.730207,-0.026023,0.288755,0.215678,-0.148061,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +1.053185,-0.398611,0.850510,-0.144007,-0.485368,-0.079781,0.176330,0.234482,-0.153567,0.447039,-0.532729,-0.855023,0.878509,0.775168,-0.391051,-0.713519,0.391628,1.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, +####hover +1.7,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000 +####landing +2.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000001,0.000000,0.000000,-0.232049,-0.184841,-0.030916,0.176196,-0.050573,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000 diff --git a/systemtests/mcap_handler.py b/systemtests/mcap_handler.py index de15911c1..5e55a8784 100644 --- a/systemtests/mcap_handler.py +++ b/systemtests/mcap_handler.py @@ -41,7 +41,9 @@ def write_mcap_to_csv(self, inputbag:str, outputfile:str): f = open(outputfile, 'w+') writer = csv.writer(f) for topic, msg, timestamp in self.read_messages(inputbag): - writer.writerow([timestamp, msg.transforms[0].transform.translation.x, msg.transforms[0].transform.translation.y, msg.transforms[0].transform.translation.z]) + if topic =="/tf": + t = msg.transforms[0].header.stamp.sec + msg.transforms[0].header.stamp.nanosec *10**(-9) + writer.writerow([t, msg.transforms[0].transform.translation.x, msg.transforms[0].transform.translation.y, msg.transforms[0].transform.translation.z]) f.close() except FileNotFoundError: print(f"McapHandler : file {outputfile} not found") @@ -62,3 +64,4 @@ def write_mcap_to_csv(self, inputbag:str, outputfile:str): translator = McapHandler() translator.write_mcap_to_csv(args.inputbag,args.outputfile) + diff --git a/systemtests/multi_trajectory_traj0_ideal.csv b/systemtests/multi_trajectory_traj0_ideal.csv new file mode 100644 index 000000000..5cc458941 --- /dev/null +++ b/systemtests/multi_trajectory_traj0_ideal.csv @@ -0,0 +1,52 @@ +Duration,x^0,x^1,x^2,x^3,x^4,x^5,x^6,x^7,y^0,y^1,y^2,y^3,y^4,y^5,y^6,y^7,z^0,z^1,z^2,z^3,z^4,z^5,z^6,z^7,yaw^0,yaw^1,yaw^2,yaw^3,yaw^4,yaw^5,yaw^6,yaw^7 + +#wait before takeoff +0.5,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.0,0.000000,0.000000,0.0,0.0,0.0,0.0,0.0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000 + + +####takeoff +2.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000001,0.000000,0.000000,0.232052,0.184839,0.030911,-0.176192,0.050572,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000 + +####hover 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+2.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000001,0.000000,0.000000,-0.232049,-0.184841,-0.030916,0.176196,-0.050573,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000 diff --git a/systemtests/plotter_class.py b/systemtests/plotter_class.py index 5655aedb6..4b34d461c 100644 --- a/systemtests/plotter_class.py +++ b/systemtests/plotter_class.py @@ -9,8 +9,8 @@ class Plotter: - def __init__(self): - self.params = {'experiment':'1','trajectory':'figure8.csv','motors':'standard motors(CF)', 'propellers':'standard propellers(CF)'} + def __init__(self, sim_backend = False): + self.params = {'experiment':'1','trajectory':'','motors':'standard motors(CF)', 'propellers':'standard propellers(CF)'} self.bag_times = np.empty([0]) self.bag_x = np.empty([0]) self.bag_y = np.empty([0]) @@ -20,13 +20,16 @@ def __init__(self): self.ideal_traj_z = np.empty([0]) self.euclidian_dist = np.empty([0]) self.deviation = [] #list of all indexes where euclidian_distance(ideal - recorded) > EPSILON - - self.EPSILON = 0.05 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test - self.DELAY_CONST_FIG8 = 4.75 #this is the delay constant which I found by adding up all the time.sleep() etc in the figure8.py file. This could be implemented better later ? + self.test_name = None + + self.SIM = sim_backend #indicates if we are plotting data from real life test or from a simulated test. Default is false (real life test) + self.EPSILON = 0.1 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test (NB : epsilon is doubled for multi_trajectory test) + self.ALLOWED_DEV_POINTS = 0.05 #allowed percentage of datapoints whose deviation > EPSILON while still passing test (currently % for fig8 and 10% for mt) + self.DELAY_CONST_FIG8 = 4.75 #this is the delay constant which I found by adding up all the time.sleep() etc in the figure8.py file. + if self.SIM : #It allows to temporally adjust the ideal and real trajectories on the graph. Could this be implemented in a better (not hardcoded) way ? + self.DELAY_CONST_FIG8 = -0.18 #for an unknown reason, the delay constant with the sim_backend is different self.ALTITUDE_CONST_FIG8 = 1 #this is the altitude given for the takeoff in figure8.py. I should find a better solution than a symbolic constant ? - self.ALTITUDE_CONST_MULTITRAJ = 1 #takeoff altitude for traj0 in multi_trajectory.py - self.X_OFFSET_CONST_MULTITRAJ = -0.3 #offest on the x axis between ideal and real trajectory. Reason: ideal trajectory (traj0.csv) starts with offset of 0.3m and CrazyflieServer.startTrajectory() is relative to start position - + def file_guard(self, pdf_path): msg = None if os.path.exists(pdf_path): @@ -47,22 +50,11 @@ def file_guard(self, pdf_path): def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile): '''Method that reads the csv data of the ideal test trajectory and of the actual recorded trajectory and initializes the attribute arrays''' - #check which test we are plotting : figure8 or multi_trajectory or another one - if("figure8" in rosbag_csvfile): - fig8, m_t = True, False - print("Plotting fig8 test data") - elif "multi_trajectory" in rosbag_csvfile: - fig8, m_t = False, True - print("Plotting multi_trajectory test data") - else: - fig8, m_t = False, False - print("Plotting unspecified test data") - + #get ideal trajectory data self.ideal_traj_csv = Trajectory() try: path_to_ideal_csv = os.path.join(os.path.dirname(os.path.abspath(__file__)),ideal_csvfile) - print(path_to_ideal_csv) self.ideal_traj_csv.loadcsv(path_to_ideal_csv) except FileNotFoundError: print("Plotter : File not found " + path_to_ideal_csv) @@ -91,9 +83,15 @@ def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile): no_match_in_idealcsv=[] + delay = 0 + if self.test_name == "fig8": + delay = self.DELAY_CONST_FIG8 + elif self.test_name == "m_t": + delay = self.DELAY_CONST_MT + for i in range(bag_arrays_size): try: - pos = self.ideal_traj_csv.eval(self.bag_times[i] - self.DELAY_CONST_FIG8).pos + pos = self.ideal_traj_csv.eval(self.bag_times[i] - delay).pos except AssertionError: no_match_in_idealcsv.append(i) pos = [0,0,0] #for all recorded datapoints who cannot be matched to a corresponding ideal position we assume the drone is on its ground start position (ie those datapoints are before takeoff or after landing) @@ -101,14 +99,6 @@ def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile): self.ideal_traj_x[i], self.ideal_traj_y[i], self.ideal_traj_z[i]= pos[0], pos[1], pos[2] - #special cases - if fig8: - self.ideal_traj_z[i] = self.ALTITUDE_CONST_FIG8 #special case: in fig8 no altitude is given in the trajectory polynomials (idealcsv) but is fixed as the takeoff altitude in figure8.py - elif m_t: - self.ideal_traj_z[i] = pos[2] + self.ALTITUDE_CONST_MULTITRAJ #for multi_trajectory the altitude given in the trajectory polynomials is added to the fixed takeoff altitude specified in multi_trajectory.py - self.ideal_traj_x[i] = pos[0] + self.X_OFFSET_CONST_MULTITRAJ #the x-axis is offset by 0.3 m because ideal start position not being (0,0,0) - - self.euclidian_dist[i] = np.linalg.norm([self.ideal_traj_x[i]-self.bag_x[i], self.ideal_traj_y[i]-self.bag_y[i], self.ideal_traj_z[i]-self.bag_z[i]]) if self.euclidian_dist[i] > self.EPSILON: @@ -146,8 +136,7 @@ def no_match_warning(self, unmatched_values:list): def adjust_arrays(self): ''' Method that trims the self.bag_* attributes to get rid of the datapoints where the drone is immobile on the ground and makes self.bag_times start at 0 [s]''' - print(f"rosbag initial length {(self.bag_times[-1]-self.bag_times[0]) * 10**-9}s") - + print(f"rosbag initial length {(self.bag_times[-1]-self.bag_times[0]) }s") #find the takeoff time and landing times ground_level = self.bag_z[0] airborne = False @@ -157,16 +146,16 @@ def adjust_arrays(self): for z_coord in self.bag_z: if not(airborne) and z_coord > ground_level + ground_level*(0.1): #when altitude of the drone is 10% higher than the ground level, it started takeoff takeoff_index = i - takeoff_time = self.bag_times[takeoff_index] airborne = True - print(f"takeof time is {(takeoff_time-self.bag_times[0]) * 10**-9}") - if airborne and z_coord < ground_level + ground_level*(0.1): #find when it lands again + print(f"takeoff time is {self.bag_times[takeoff_index]}s") + if airborne and z_coord <= ground_level + ground_level*(0.1): #find when it lands again landing_index = i - landing_time = self.bag_times[landing_index] - print(f"landing time is {(landing_time-self.bag_times[0]) * 10**-9}") + print(f"landing time is {self.bag_times[landing_index]}s") break i+=1 + + assert (takeoff_index != None) and (landing_index != None), "Plotter : couldn't find drone takeoff or landing" @@ -176,26 +165,44 @@ def adjust_arrays(self): index_arr = np.arange(len(self.bag_times)) slicing_arr = np.delete(index_arr, index_arr[takeoff_index:landing_index+1]) #in our slicing array we take out all the indexes of when the drone is in flight so that it only contains the indexes of when the drone is on the ground - #delete the datapoints where drone is on the ground - self.bag_times = np.delete(self.bag_times, slicing_arr) - self.bag_x = np.delete(self.bag_x, slicing_arr) - self.bag_y = np.delete(self.bag_y, slicing_arr) - self.bag_z = np.delete(self.bag_z, slicing_arr) + # #delete the datapoints where drone is on the ground + # self.bag_times = np.delete(self.bag_times, slicing_arr) + # self.bag_x = np.delete(self.bag_x, slicing_arr) + # self.bag_y = np.delete(self.bag_y, slicing_arr) + # self.bag_z = np.delete(self.bag_z, slicing_arr) assert len(self.bag_times) == len(self.bag_x) == len(self.bag_y) == len(self.bag_z), "Plotter : self.bag_* aren't the same size after trimming" - #rewrite bag_times to start at 0 and be written in [s] instead of [ns] - bag_start_time = self.bag_times[0] - self.bag_times = (self.bag_times-bag_start_time) * (10**-9) - assert self.bag_times[0] == 0 print(f"trimmed bag_times starts: {self.bag_times[0]}s and ends: {self.bag_times[-1]}, size: {len(self.bag_times)}") - def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str): + def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str, overwrite=False): '''Method that creates the pdf with the plots''' + #check which test we are plotting : figure8 or multi_trajectory or another one + if("figure8" in rosbag_csvfile): + self.test_name = "fig8" + self.params["trajectory"] = "figure8" + print("Plotting fig8 test data") + elif "multi_trajectory" in rosbag_csvfile: + self.test_name = "mt" + self.params["trajectory"] = "multi_trajectory" + self.EPSILON *= 2 #multi_trajectory test has way more difficulties + self.ALLOWED_DEV_POINTS *= 2 + print("Plotting multi_trajectory test data") + else: + self.test_name = "undefined" + self.params["trajectory"] = "undefined" + print("Plotting unspecified test data") + + self.read_csv_and_set_arrays(ideal_csvfile,rosbag_csvfile) + offset_list = self.find_temporal_offset() + if len(offset_list) == 1: + offset_string = f"temporal offset : {offset_list[0]}s \n" + elif len(offset_list) ==2: + offset_string = f"averaged temporal offset : {(offset_list[0]+offset_list[1])/2}s \n" passed="failed" if self.test_passed(): @@ -206,7 +213,8 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str): pdfname= pdfname + '.pdf' #check if user wants to overwrite the report file - self.file_guard(pdfname) + if not overwrite : + self.file_guard(pdfname) pdf_pages = PdfPages(pdfname) #create title page @@ -223,7 +231,7 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str): title_text_parameters = f'Parameters:\n' for key, value in self.params.items(): title_text_parameters += f" {key}: {value}\n" - title_text_results = f'Results: test {passed}\n' + f'max error : ' + title_text_results = f'Results: test {passed}\n' + offset_string + f'max error : ' title_text = text + "\n" + title_text_settings + "\n" + title_text_parameters + "\n" + title_text_results fig = plt.figure(figsize=(5,8)) @@ -321,18 +329,41 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str): print("Results saved in " + pdfname) def test_passed(self) -> bool : - '''Returns True if the deviation between recorded and ideal trajectories of the drone always stayed lower - than EPSILON. Returns False otherwise ''' + '''Returns True if the deviation between recorded and ideal trajectories of the drone didn't exceed EPSILON for more than ALLOWED_DEV_POINTS % of datapoints. + Returns False otherwise ''' nb_dev_points = len(self.deviation) + threshold = self.ALLOWED_DEV_POINTS * len(self.bag_times) + percentage = (len(self.deviation) / len(self.bag_times)) * 100 - if nb_dev_points == 0: - print("Test passed") + if nb_dev_points < threshold: + print(f"Test {self.test_name} passed : {percentage:8.4f}% of datapoints had deviation larger than {self.EPSILON}m ({self.ALLOWED_DEV_POINTS * 100}% max for pass)") return True else: - print(f"The deviation between ideal and recorded trajectories is greater than {self.EPSILON}m for {nb_dev_points} " - f"datapoints, which corresponds to a duration of {nb_dev_points*0.01}s") + print(f"Test {self.test_name} failed : The deviation between ideal and recorded trajectories is greater than {self.EPSILON}m for {percentage:8.4f}% of datapoints") return False + + def find_temporal_offset(self) -> list : + ''' Returns a list containing the on-graph temporal offset between real and ideal trajectory. If offset is different for x and y axis, returns both in the same list''' + peak_x = self.bag_x.argmax() #find index of extremum value of real trajectory along x axis + peak_time_x = self.bag_times[peak_x] #find corresponding time + peak_x_ideal = self.ideal_traj_x.argmax() #find index of extremum value of ideal traj along x axis + peak_time_x_ideal = self.bag_times[peak_x_ideal] #find corresponding time + offset_x = peak_time_x_ideal - peak_time_x + + peak_y = self.bag_y.argmax() #find index of extremum value of real trajectory along y ayis + peak_time_y = self.bag_times[peak_y] #find corresponding time + peak_y_ideal = self.ideal_traj_y.argmax() #find index of extremum value of ideal traj along y ayis + peak_time_y_ideal = self.bag_times[peak_y_ideal] #find corresponding time + offset_y = peak_time_y_ideal - peak_time_y + + if offset_x == offset_y: + print(f"On-graph temporal offset is {offset_x}s, delay const is {self.DELAY_CONST_FIG8} so uncorrected/absolute offset is {offset_x-self.DELAY_CONST_FIG8}") + return [offset_x] + else : + print(f"On-graph temporal offsets are {offset_x} & {offset_y} secs, delay const is {self.DELAY_CONST_FIG8}") + return [offset_x, offset_y] + if __name__=="__main__": @@ -344,12 +375,13 @@ def test_passed(self) -> bool : parser.add_argument("recorded_trajectory", type=str, help=".csv file containing (time,x,y,z) of the recorded drone trajectory") parser.add_argument("pdf", type=str, help="name of the pdf file you want to create/overwrite") parser.add_argument("--open", help="Open the pdf directly after it is created", action="store_true") + parser.add_argument("--overwrite", action="store_true", help="If the given pdf already exists, overwrites it without asking") args : Namespace = parser.parse_args() plotter = Plotter() - plotter.create_figures(args.desired_trajectory, args.recorded_trajectory, args.pdf) + plotter.create_figures(args.desired_trajectory, args.recorded_trajectory, args.pdf, overwrite=args.overwrite) if args.open: import subprocess subprocess.call(["xdg-open", args.pdf]) - - + + diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index cfd84f1c1..8f7c20d10 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -9,6 +9,7 @@ import time import signal import atexit +from argparse import ArgumentParser, Namespace ############################# @@ -30,7 +31,7 @@ def clean_process(process:Popen) -> int : '''Kills process and its children on exit if they aren't already terminated (called with atexit). Returns 0 on termination, 1 if SIGKILL was needed''' if process.poll() == None: group_id = os.getpgid(process.pid) - print(f"cleaning process {group_id}") + #print(f"cleaning process {group_id}") os.killpg(group_id, signal.SIGTERM) time.sleep(0.01) #necessary delay before first poll i=0 @@ -44,9 +45,21 @@ def clean_process(process:Popen) -> int : return 0 else: return 0 #process already terminated + +def print_PIPE(process : Popen, process_name, always=False): + '''If process creates some error, prints the stderr and stdout PIPE of the process. NB : stderr and stdout must = PIPE in the Popen constructor''' + if process.returncode != 0 or always: + out, err = process.communicate() + print(f"{process_name} returncode = {process.returncode}") + print(f"{process_name} stderr : {err}") + print(f"{process_name} stdout : {out}") + else: + print(f"{process_name} completed sucessfully") + class TestFlights(unittest.TestCase): + SIM = False def __init__(self, methodName: str = "runTest") -> None: super().__init__(methodName) @@ -65,17 +78,21 @@ def setUp(self): self.test_file = None # launch server + current_env = None src = "source " + str(Path(__file__).parents[3] / "install/setup.bash") # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" command = f"{src} && ros2 launch crazyflie launch.py" - self.launch_crazyswarm = Popen(command, shell=True, stderr=True, stdout=PIPE, text=True, - start_new_session=True, executable="/bin/bash") + if TestFlights.SIM : + command += " backend:=sim" #launch crazyswarm from simulation backend + current_env = os.environ.copy() + self.launch_crazyswarm = Popen(command, shell=True, stderr=PIPE, stdout=PIPE, text=True, + start_new_session=True, executable="/bin/bash", env=current_env) atexit.register(clean_process, self.launch_crazyswarm) #atexit helps us to make sure processes are cleaned even if script exits unexpectedly time.sleep(1) - # runs once per test_ function def tearDown(self) -> None: clean_process(self.launch_crazyswarm) #kill crazyswarm_server and all of its child processes + print_PIPE(self.launch_crazyswarm, "launch_crazyswarm") # copy .ros/log files to results folder if Path(Path.home() / ".ros/log").exists(): @@ -92,19 +109,26 @@ def record_start_and_clean(self, testname:str, max_wait:int): src = f"source {str(self.ros2_ws)}/install/setup.bash" try: - command = f"{src} && ros2 bag record -s mcap -o test_{testname} /tf" + command = f"{src} && ros2 bag record -s mcap -o test_{testname} /tf" record_bag = Popen(command, shell=True, stderr=PIPE, stdout=True, text=True, cwd= self.ros2_ws / "results/", start_new_session=True, executable="/bin/bash") atexit.register(clean_process, record_bag) command = f"{src} && ros2 run crazyflie_examples {testname}" + if TestFlights.SIM: + command += " --ros-args -p use_sim_time:=True" #necessary args to start the test in simulation start_flight_test = Popen(command, shell=True, stderr=True, stdout=True, start_new_session=True, text=True, executable="/bin/bash") atexit.register(clean_process, start_flight_test) - start_flight_test.wait(timeout=max_wait) #raise Timeoutexpired after max_wait seconds if start_flight_test didn't finish by itself + if TestFlights.SIM : + start_flight_test.wait(timeout=max_wait*5) #simulation can be super slow + else : + start_flight_test.wait(timeout=max_wait) #raise Timeoutexpired after max_wait seconds if start_flight_test didn't finish by itself + clean_process(start_flight_test) clean_process(record_bag) + print("finished the test") except TimeoutExpired: #if max_wait is exceeded clean_process(start_flight_test) @@ -113,14 +137,12 @@ def record_start_and_clean(self, testname:str, max_wait:int): except KeyboardInterrupt: #if drone crashes, user can ^C to skip the waiting clean_process(start_flight_test) clean_process(record_bag) - + #if something went wrong with the bash command lines in Popen, print the error - if record_bag.stderr != None: - print(testname," record_bag stderr: ", record_bag.stderr.readlines()) - if start_flight_test.stderr != None: - print(testname," start_flight flight stderr: ", start_flight_test.stderr.readlines()) - + print_PIPE(record_bag, f"record_bag for {self.idFolderName()}") + print_PIPE(start_flight_test, f"start_flight_test for {self.idFolderName()}") + def translate_plot_and_check(self, testname:str) -> bool : '''Translates rosbag .mcap format to .csv, then uses that csv to plot a pdf. Checks the deviation between ideal and real trajectories, i.e if the drone successfully followed its given trajectory. Returns True if deviation < epsilon(defined in plotter_class.py) at every timestep, false if not. ''' @@ -134,14 +156,14 @@ def translate_plot_and_check(self, testname:str) -> bool : output_pdf = f"{str(self.ros2_ws)}/results/test_{testname}/results_{testname}.pdf" rosbag_csv = output_csv - plotter = Plotter() + plotter = Plotter(sim_backend=TestFlights.SIM) plotter.create_figures(self.test_file, rosbag_csv, output_pdf) #plot the data return plotter.test_passed() def test_figure8(self): - self.test_file = "../crazyflie_examples/crazyflie_examples/data/figure8.csv" + self.test_file = "figure8_ideal_traj.csv" # run test self.record_start_and_clean("figure8", 20) #create the plot etc @@ -149,7 +171,7 @@ def test_figure8(self): assert test_passed, "figure8 test failed : deviation larger than epsilon" def test_multi_trajectory(self): - self.test_file = "../crazyflie_examples/crazyflie_examples/data/multi_trajectory/traj0.csv" + self.test_file = "multi_trajectory_traj0_ideal.csv" self.record_start_and_clean("multi_trajectory", 80) test_passed = self.translate_plot_and_check("multi_trajectory") assert test_passed, "multitrajectory test failed : deviation larger than epsilon" @@ -158,5 +180,13 @@ def test_multi_trajectory(self): if __name__ == '__main__': - unittest.main() + from argparse import ArgumentParser + import sys + parser = ArgumentParser(description="Runs (real or simulated) flight tests with pytest framework") + parser.add_argument("--sim", action="store_true", help="Runs the test from the simulation backend") + args, other_args = parser.parse_known_args() + if args.sim : + TestFlights.SIM = True + + unittest.main(argv=[sys.argv[0]] + other_args) From d468687aeb891faa2830f1c7cd29638716c5793b Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sat, 3 Feb 2024 22:29:11 +0100 Subject: [PATCH 070/162] server [cflib]: add Status topic --- crazyflie/scripts/crazyflie_server.py | 27 +++++++++++++++++++++++---- 1 file changed, 23 insertions(+), 4 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index fbbe8fe72..4ba4dcf4a 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -26,7 +26,7 @@ from crazyflie_interfaces.srv import Takeoff, Land, GoTo, RemoveLogging, AddLogging from crazyflie_interfaces.srv import UploadTrajectory, StartTrajectory, NotifySetpointsStop from rcl_interfaces.msg import ParameterDescriptor, SetParametersResult, ParameterType -from crazyflie_interfaces.msg import Hover, LogDataGeneric, FullState +from crazyflie_interfaces.msg import Status, Hover, LogDataGeneric, FullState from motion_capture_tracking_interfaces.msg import NamedPoseArray from std_srvs.srv import Empty @@ -74,17 +74,21 @@ def __init__(self): # Assign default topic types, variables and callbacks self.default_log_type = {"pose": PoseStamped, "scan": LaserScan, - "odom": Odometry} + "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']} + '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} + "odom": self._log_odom_data_callback, + "status": self._log_status_data_callback} self.world_tf_name = "world" try: @@ -569,6 +573,21 @@ def _log_odom_data_callback(self, timestamp, data, logconf, uri): t_base.transform.rotation.w = q[3] self.tfbr.sendTransform(t_base) + def _log_status_data_callback(self, timestamp, data, logconf, uri): + """ + Send out the ROS 2 status topic + """ + + msg = Status() + msg.header.stamp = self.get_clock().now().to_msg() + msg.header.frame_id = self.world_tf_name + msg.supervisor_info = data.get('supervisor.info') + msg.battery_voltage = data.get('pm.vbatMV') / 1000.0 + msg.pm_state = data.get('pm.state') + msg.rssi = data.get('radio.rssi') + + self.swarm._cfs[uri].logging["status_publisher"].publish(msg) + def _log_custom_data_callback(self, timestamp, data, logconf, uri): """ Once custom log block is retrieved from the Crazyflie, From efeffb2a70998bb19136e741ca45c7ca4c575b3e Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sat, 3 Feb 2024 22:29:36 +0100 Subject: [PATCH 071/162] Status topic: fix incorrect constant for can_be_armed --- crazyflie_interfaces/msg/Status.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie_interfaces/msg/Status.msg b/crazyflie_interfaces/msg/Status.msg index bebd42a71..d7c2f2352 100644 --- a/crazyflie_interfaces/msg/Status.msg +++ b/crazyflie_interfaces/msg/Status.msg @@ -1,6 +1,6 @@ # Constants -uint16 SUPERVISOR_INFO_CAN_BE_ARMED = 0 +uint16 SUPERVISOR_INFO_CAN_BE_ARMED = 1 uint16 SUPERVISOR_INFO_IS_ARMED = 2 uint16 SUPERVISOR_INFO_AUTO_ARM = 4 uint16 SUPERVISOR_INFO_CAN_FLY = 8 From bcfa55372911b25f28b0f1cfc42bfa5106ed6b94 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sat, 3 Feb 2024 22:30:15 +0100 Subject: [PATCH 072/162] server [sim]: unify naming convention for logging --- .../crazyflie_sim/crazyflie_server.py | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_server.py b/crazyflie_sim/crazyflie_sim/crazyflie_server.py index 13bf4ae2e..8050737b4 100755 --- a/crazyflie_sim/crazyflie_sim/crazyflie_server.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_server.py @@ -210,7 +210,7 @@ def _param_to_dict(self, param_ros): return tree def _emergency_callback(self, request, response, name='all'): - self.get_logger().info('emergency not yet implemented') + self.get_logger().info(f'[{name}] emergency not yet implemented') return response @@ -219,9 +219,9 @@ def _takeoff_callback(self, request, response, name='all'): duration = float(request.duration.sec) + \ float(request.duration.nanosec / 1e9) self.get_logger().info( - f'takeoff(height={request.height} m,' + f'[{name}] takeoff(height={request.height} m,' + f'duration={duration} s,' - + f'group_mask={request.group_mask}) {name}' + + f'group_mask={request.group_mask})' ) cfs = self.cfs if name == 'all' else {name: self.cfs[name]} for _, cf in cfs.items(): @@ -234,7 +234,7 @@ def _land_callback(self, request, response, name='all'): duration = float(request.duration.sec) + \ float(request.duration.nanosec / 1e9) self.get_logger().info( - f'land(height={request.height} m,' + f'[{name}] land(height={request.height} m,' + f'duration={duration} s,' + f'group_mask={request.group_mask})' ) @@ -250,8 +250,9 @@ def _go_to_callback(self, request, response, name='all'): float(request.duration.nanosec / 1e9) self.get_logger().info( - 'go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, relative=%d, group_mask=%d)' + '[%s] go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, relative=%d, group_mask=%d)' % ( + name, request.goal.x, request.goal.y, request.goal.z, @@ -269,11 +270,11 @@ def _go_to_callback(self, request, response, name='all'): return response def _notify_setpoints_stop_callback(self, request, response, name='all'): - self.get_logger().info('Notify setpoint stop not yet implemented') + self.get_logger().info(f'[{name}] Notify setpoint stop not yet implemented') return response def _upload_trajectory_callback(self, request, response, name='all'): - self.get_logger().info('Upload trajectory(id=%d)' % (request.trajectory_id)) + self.get_logger().info('[%s] Upload trajectory(id=%d)' % (name, request.trajectory_id)) cfs = self.cfs if name == 'all' else {name: self.cfs[name]} for _, cf in cfs.items(): @@ -297,8 +298,9 @@ def _upload_trajectory_callback(self, request, response, name='all'): def _start_trajectory_callback(self, request, response, name='all'): self.get_logger().info( - 'start_trajectory(id=%d, timescale=%f, reverse=%d, relative=%d, group_mask=%d)' + '[%s] start_trajectory(id=%d, timescale=%f, reverse=%d, relative=%d, group_mask=%d)' % ( + name, request.trajectory_id, request.timescale, request.reversed, From 8db6586d157ba8bbbddd7483b1cab19dcd7faf7e Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sat, 3 Feb 2024 22:32:27 +0100 Subject: [PATCH 073/162] server [cpp]: switch to the node logger so that logs are published via /rosout on humble --- crazyflie/src/crazyflie_server.cpp | 100 +++++++++++++++++------------ 1 file changed, 58 insertions(+), 42 deletions(-) diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index 4a71e0245..b4e7e65ea 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -39,13 +39,19 @@ using std_srvs::srv::Empty; using motion_capture_tracking_interfaces::msg::NamedPoseArray; using crazyflie_interfaces::msg::FullState; +// Note on logging: we use a single logger with string prefixes +// A better way would be to use named child loggers, but these do not +// report to /rosout in humble, see https://github.com/ros2/rclpy/issues/1131 +// Once we do not support humble anymore, consider switching to child loggers + // Helper class to convert crazyflie_cpp logging messages to ROS logging messages class CrazyflieLogger : public Logger { public: - CrazyflieLogger(rclcpp::Logger logger) + CrazyflieLogger(rclcpp::Logger logger, const std::string& prefix) : Logger() , logger_(logger) + , prefix_(prefix) { } @@ -53,20 +59,21 @@ class CrazyflieLogger : public Logger virtual void info(const std::string &msg) { - RCLCPP_INFO(logger_, "%s", msg.c_str()); + RCLCPP_INFO(logger_, "%s %s", prefix_.c_str(), msg.c_str()); } virtual void warning(const std::string &msg) { - RCLCPP_WARN(logger_, "%s", msg.c_str()); + RCLCPP_WARN(logger_, "%s %s", prefix_.c_str(), msg.c_str()); } virtual void error(const std::string &msg) { - RCLCPP_ERROR(logger_, "%s", msg.c_str()); + RCLCPP_ERROR(logger_, "%s %s", prefix_.c_str(), msg.c_str()); } private: rclcpp::Logger logger_; + std::string prefix_; }; std::set extract_names( @@ -129,8 +136,8 @@ class CrazyflieROS rclcpp::CallbackGroup::SharedPtr callback_group_cf_srv, const CrazyflieBroadcaster* cfbc, bool enable_parameters = true) - : logger_(rclcpp::get_logger(name)) - , cf_logger_(logger_) + : logger_(node->get_logger()) + , cf_logger_(logger_, "[" + name + "]") , cf_( link_uri, cf_logger_, @@ -228,7 +235,7 @@ class CrazyflieROS bool query_all_values_on_connect = node->get_parameter("firmware_params.query_all_values_on_connect").get_parameter_value().get(); int numParams = 0; - RCLCPP_INFO(logger_, "Requesting parameters..."); + RCLCPP_INFO(logger_, "[%s] Requesting parameters...", name_.c_str()); cf_.requestParamToc(/*forceNoCache*/false, /*requestValues*/query_all_values_on_connect); for (auto iter = cf_.paramsBegin(); iter != cf_.paramsEnd(); ++iter) { auto entry = *iter; @@ -285,7 +292,7 @@ class CrazyflieROS } break; default: - RCLCPP_WARN(logger_, "Unknown param type for %s/%s", entry.group.c_str(), entry.name.c_str()); + RCLCPP_WARN(logger_, "[%s] Unknown param type for %s/%s", name_.c_str(), entry.group.c_str(), entry.name.c_str()); break; } // If there is no such parameter in all, add it @@ -301,7 +308,7 @@ class CrazyflieROS } auto end1 = std::chrono::system_clock::now(); std::chrono::duration elapsedSeconds1 = end1 - start; - RCLCPP_INFO(logger_, "reqParamTOC: %f s (%d params)", elapsedSeconds1.count(), numParams); + RCLCPP_INFO(logger_, "[%s] reqParamTOC: %f s (%d params)", name_.c_str(), elapsedSeconds1.count(), numParams); // Set parameters as specified in the configuration files, as in the following order // 1.) check all/firmware_params @@ -351,7 +358,7 @@ class CrazyflieROS // check if any of the default topics are enabled if (i.first.find("default_topics.pose") == 0) { int freq = log_config_map["default_topics.pose.frequency"].get(); - RCLCPP_INFO(logger_, "Logging to /pose at %d Hz", freq); + RCLCPP_INFO(logger_, "[%s] Logging to /pose at %d Hz", name_.c_str(), freq); publisher_pose_ = node->create_publisher(name + "/pose", 10); @@ -368,7 +375,7 @@ class CrazyflieROS } else if (i.first.find("default_topics.scan") == 0) { int freq = log_config_map["default_topics.scan.frequency"].get(); - RCLCPP_INFO(logger_, "Logging to /scan at %d Hz", freq); + RCLCPP_INFO(logger_, "[%s] Logging to /scan at %d Hz", name_.c_str(), freq); publisher_scan_ = node->create_publisher(name + "/scan", 10); @@ -385,7 +392,7 @@ class CrazyflieROS } else if (i.first.find("default_topics.status") == 0) { int freq = log_config_map["default_topics.status.frequency"].get(); - RCLCPP_INFO(logger_, "Logging to /status at %d Hz", freq); + RCLCPP_INFO(logger_, "[%s] Logging to /status at %d Hz", name_.c_str(), freq); publisher_status_ = node->create_publisher(name + "/status", 10); @@ -415,7 +422,7 @@ class CrazyflieROS // older firmware -> use other 16-bit variables if (!status_has_radio_stats_) { - RCLCPP_WARN(logger_, "Older firmware. status/num_rx_broadcast and status/num_rx_unicast are set to zero."); + RCLCPP_WARN(logger_, "[%s] Older firmware. status/num_rx_broadcast and status/num_rx_unicast are set to zero.", name_.c_str()); logvars.push_back({"pm", "vbatMV"}); logvars.push_back({"pm", "vbatMV"}); } @@ -431,7 +438,7 @@ class CrazyflieROS int freq = log_config_map["custom_topics." + topic_name + ".frequency"].get(); auto vars = log_config_map["custom_topics." + topic_name + ".vars"].get>(); - RCLCPP_INFO(logger_, "Logging to %s at %d Hz", topic_name.c_str(), freq); + RCLCPP_INFO(logger_, "[%s] Logging to %s at %d Hz", name_.c_str(), topic_name.c_str(), freq); publishers_generic_.emplace_back(node->create_publisher(name + "/" + topic_name, 10)); @@ -453,7 +460,7 @@ class CrazyflieROS } } - RCLCPP_INFO(logger_, "Requesting memories..."); + RCLCPP_INFO(logger_, "[%s] Requesting memories...", name_.c_str()); cf_.requestMemoryToc(); } @@ -489,7 +496,7 @@ class CrazyflieROS if (p.get_name().find(prefix) != 0) { RCLCPP_ERROR( logger_, - "Incorrect parameter update request for param \"%s\"", p.get_name().c_str()); + "[%s] Incorrect parameter update request for param \"%s\"", name_.c_str(), p.get_name().c_str()); return; } size_t pos = p.get_name().find(".", prefix.size()); @@ -498,7 +505,8 @@ class CrazyflieROS RCLCPP_INFO( logger_, - "Update parameter \"%s.%s\" to %s", + "[%s] Update parameter \"%s.%s\" to %s", + name_.c_str(), group.c_str(), name.c_str(), p.value_to_string().c_str()); @@ -535,7 +543,7 @@ class CrazyflieROS break; } } else { - RCLCPP_ERROR(logger_, "Could not find param %s/%s", group.c_str(), name.c_str()); + RCLCPP_ERROR(logger_, "[%s] Could not find param %s/%s", name_.c_str(), group.c_str(), name.c_str()); } } @@ -594,7 +602,7 @@ class CrazyflieROS if (pos != std::string::npos) { message_buffer_[pos] = 0; - RCLCPP_INFO(logger_, "%s", message_buffer_.c_str()); + RCLCPP_INFO(logger_, "[%s] %s", name_.c_str(), message_buffer_.c_str()); message_buffer_.erase(0, pos + 1); } } @@ -602,14 +610,15 @@ class CrazyflieROS void emergency(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "emergency()"); + RCLCPP_INFO(logger_, "[%s] emergency()", name_.c_str()); cf_.emergencyStop(); } void start_trajectory(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "start_trajectory(id=%d, timescale=%f, reversed=%d, relative=%d, group_mask=%d)", + RCLCPP_INFO(logger_, "[%s] start_trajectory(id=%d, timescale=%f, reversed=%d, relative=%d, group_mask=%d)", + name_.c_str(), request->trajectory_id, request->timescale, request->reversed, @@ -625,7 +634,8 @@ class CrazyflieROS void takeoff(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "takeoff(height=%f m, duration=%f s, group_mask=%d)", + RCLCPP_INFO(logger_, "[%s] takeoff(height=%f m, duration=%f s, group_mask=%d)", + name_.c_str(), request->height, rclcpp::Duration(request->duration).seconds(), request->group_mask); @@ -635,7 +645,8 @@ class CrazyflieROS void land(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "land(height=%f m, duration=%f s, group_mask=%d)", + RCLCPP_INFO(logger_, "[%s] land(height=%f m, duration=%f s, group_mask=%d)", + name_.c_str(), request->height, rclcpp::Duration(request->duration).seconds(), request->group_mask); @@ -645,7 +656,8 @@ class CrazyflieROS void go_to(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, relative=%d, group_mask=%d)", + RCLCPP_INFO(logger_, "[%s] go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, relative=%d, group_mask=%d)", + name_.c_str(), request->goal.x, request->goal.y, request->goal.z, request->yaw, rclcpp::Duration(request->duration).seconds(), request->relative, @@ -658,7 +670,8 @@ class CrazyflieROS void upload_trajectory(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "upload_trajectory(id=%d, offset=%d)", + RCLCPP_INFO(logger_, "[%s] upload_trajectory(id=%d, offset=%d)", + name_.c_str(), request->trajectory_id, request->piece_offset); @@ -670,7 +683,7 @@ class CrazyflieROS || request->pieces[i].poly_z.size() != 8 || request->pieces[i].poly_yaw.size() != 8) { - RCLCPP_FATAL(logger_, "Wrong number of pieces!"); + RCLCPP_FATAL(logger_, "[%s] Wrong number of pieces!", name_.c_str()); return; } pieces[i].duration = rclcpp::Duration(request->pieces[i].duration).seconds(); @@ -688,7 +701,8 @@ class CrazyflieROS void notify_setpoints_stop(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "notify_setpoints_stop(remain_valid_millisecs%d, group_mask=%d)", + RCLCPP_INFO(logger_, "[%s] notify_setpoints_stop(remain_valid_millisecs%d, group_mask=%d)", + name_.c_str(), request->remain_valid_millisecs, request->group_mask); @@ -824,13 +838,13 @@ class CrazyflieROS auto now = std::chrono::steady_clock::now(); std::chrono::duration elapsed = now - last_on_latency_; if (elapsed.count() > 1.0 / warning_freq_) { - RCLCPP_WARN(logger_, "last latency update: %f s", elapsed.count()); + RCLCPP_WARN(logger_, "[%s] last latency update: %f s", name_.c_str(), elapsed.count()); } auto stats = cf_.connectionStatsDelta(); float ack_rate = stats.sent_count / stats.ack_count; if (ack_rate < min_ack_rate_) { - RCLCPP_WARN(logger_, "Ack rate: %.1f %%", ack_rate * 100); + RCLCPP_WARN(logger_, "[%s] Ack rate: %.1f %%", name_.c_str(), ack_rate * 100); } if (publish_stats_) { @@ -853,7 +867,7 @@ class CrazyflieROS void on_latency(uint64_t latency_in_us) { if (latency_in_us / 1000.0 > max_latency_) { - RCLCPP_WARN(logger_, "Latency: %.1f ms", latency_in_us / 1000.0); + RCLCPP_WARN(logger_, "[%s] Latency: %.1f ms", name_.c_str(), latency_in_us / 1000.0); } last_on_latency_ = std::chrono::steady_clock::now(); } @@ -921,7 +935,7 @@ class CrazyflieServer : public rclcpp::Node public: CrazyflieServer() : Node("crazyflie_server") - , logger_(rclcpp::get_logger("all")) + , logger_(get_logger()) { // Create callback groups (each group can run in a separate thread) callback_group_mocap_ = this->create_callback_group( @@ -1036,7 +1050,7 @@ class CrazyflieServer : public rclcpp::Node uint8_t id = parameter_overrides.at("robots." + name + ".id").get(); update_name_to_id_map(name, id); } else { - RCLCPP_INFO(logger_, "Unknown connection type %s", constr.c_str()); + RCLCPP_INFO(logger_, "[all] Unknown connection type %s", constr.c_str()); } } } @@ -1063,7 +1077,7 @@ class CrazyflieServer : public rclcpp::Node void emergency(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "emergency()"); + RCLCPP_INFO(logger_, "[all] emergency()"); for (int i = 0; i < broadcasts_num_repeats_; ++i) { for (auto &bc : broadcaster_) { @@ -1077,7 +1091,7 @@ class CrazyflieServer : public rclcpp::Node void start_trajectory(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "start_trajectory(id=%d, timescale=%f, reversed=%d, group_mask=%d)", + RCLCPP_INFO(logger_, "[all] start_trajectory(id=%d, timescale=%f, reversed=%d, group_mask=%d)", request->trajectory_id, request->timescale, request->reversed, @@ -1097,7 +1111,7 @@ class CrazyflieServer : public rclcpp::Node void takeoff(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "takeoff(height=%f m, duration=%f s, group_mask=%d)", + RCLCPP_INFO(logger_, "[all] takeoff(height=%f m, duration=%f s, group_mask=%d)", request->height, rclcpp::Duration(request->duration).seconds(), request->group_mask); @@ -1113,7 +1127,7 @@ class CrazyflieServer : public rclcpp::Node void land(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "land(height=%f m, duration=%f s, group_mask=%d)", + RCLCPP_INFO(logger_, "[all] land(height=%f m, duration=%f s, group_mask=%d)", request->height, rclcpp::Duration(request->duration).seconds(), request->group_mask); @@ -1129,7 +1143,7 @@ class CrazyflieServer : public rclcpp::Node void go_to(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, group_mask=%d)", + RCLCPP_INFO(logger_, "[all] go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, group_mask=%d)", request->goal.x, request->goal.y, request->goal.z, request->yaw, rclcpp::Duration(request->duration).seconds(), request->group_mask); @@ -1147,7 +1161,7 @@ class CrazyflieServer : public rclcpp::Node void notify_setpoints_stop(const std::shared_ptr request, std::shared_ptr response) { - RCLCPP_INFO(logger_, "notify_setpoints_stop(remain_valid_millisecs%d, group_mask=%d)", + RCLCPP_INFO(logger_, "[all] notify_setpoints_stop(remain_valid_millisecs%d, group_mask=%d)", request->remain_valid_millisecs, request->group_mask); @@ -1254,7 +1268,7 @@ class CrazyflieServer : public rclcpp::Node RCLCPP_INFO( logger_, - "Update parameter \"%s.%s\" to %s", + "[all] Update parameter \"%s.%s\" to %s", group.c_str(), name.c_str(), p.value_to_string().c_str()); @@ -1324,11 +1338,11 @@ class CrazyflieServer : public rclcpp::Node mean_rate /= (mocap_data_received_timepoints_.size() - 1); if (num_rates_wrong > 0) { - RCLCPP_WARN(logger_, "Motion capture rate off (#: %d, Avg: %.1f)", num_rates_wrong, mean_rate); + RCLCPP_WARN(logger_, "[all] Motion capture rate off (#: %d, Avg: %.1f)", num_rates_wrong, mean_rate); } } else if (mocap_enabled_) { // b) warn if no data was received - RCLCPP_WARN(logger_, "Motion capture did not receive data!"); + RCLCPP_WARN(logger_, "[all] Motion capture did not receive data!"); } mocap_data_received_timepoints_.clear(); @@ -1377,7 +1391,7 @@ class CrazyflieServer : public rclcpp::Node { const auto iter = name_to_id_.find(name); if (iter != name_to_id_.end()) { - RCLCPP_WARN(logger_, "At least two objects with the same id (%d, %s, %s)", id, name.c_str(), iter->first.c_str()); + RCLCPP_WARN(logger_, "[all] At least two objects with the same id (%d, %s, %s)", id, name.c_str(), iter->first.c_str()); } else { name_to_id_.insert(std::make_pair(name, id)); } @@ -1400,6 +1414,8 @@ class CrazyflieServer : public rclcpp::Node std::map> crazyflies_; + + // broadcastUri -> broadcast object std::map> broadcaster_; From 94a1d93ded5918f3df18e11ffcdc26db494dc3b4 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sat, 3 Feb 2024 22:33:04 +0100 Subject: [PATCH 074/162] gui: add support for status --- crazyflie/scripts/gui.py | 156 +++++++++++++++++++++++++++++---------- 1 file changed, 116 insertions(+), 40 deletions(-) diff --git a/crazyflie/scripts/gui.py b/crazyflie/scripts/gui.py index 3941d8c77..830d94a34 100755 --- a/crazyflie/scripts/gui.py +++ b/crazyflie/scripts/gui.py @@ -2,7 +2,9 @@ import math import threading +import time from pathlib import Path +from functools import partial import rclpy from geometry_msgs.msg import Pose, Twist @@ -14,6 +16,9 @@ from tf2_ros.buffer import Buffer from tf2_ros.transform_listener import TransformListener +from crazyflie_interfaces.msg import Status +import rowan + from nicegui import Client, app, events, ui, ui_run @@ -31,58 +36,55 @@ def __init__(self) -> None: if cfname != 'all': self.cfnames.append(cfname) - print(self.cfnames) - self.cfs = [] - self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) - - - self.cmd_vel_publisher = self.create_publisher(Twist, 'cmd_vel', 1) - self.sub_log = self.create_subscription(Log, 'rosout', self.on_rosout, 1) + self.sub_log = self.create_subscription(Log, 'rosout', self.on_rosout, rclpy.qos.QoSProfile( + depth=1000, + durability=rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL)) self.logs = dict() + self.supervisor_labels = dict() + self.battery_labels = dict() + self.radio_labels = dict() + self.robotmodels = dict() + # set of robot names that had a status recently + self.watchdog = dict() with Client.auto_index_client: - # with ui.row().classes('w-full h-full no-wrap'): - # self.log = ui.log().classes('w-full h-full no-wrap') - - - with ui.row().classes('items-stretch'): - # with ui.card().classes('w-44 text-center items-center'): - # ui.label('Data').classes('text-2xl') - # ui.label('linear velocity').classes('text-xs mb-[-1.8em]') - # slider_props = 'readonly selection-color=transparent' - # self.linear = ui.slider(min=-1, max=1, step=0.05, value=0).props(slider_props) - # ui.label('angular velocity').classes('text-xs mb-[-1.8em]') - # self.angular = ui.slider(min=-1, max=1, step=0.05, value=0).props(slider_props) - # ui.label('position').classes('text-xs mb-[-1.4em]') - # self.position = ui.label('---') with ui.card().classes('w-full h-full'): ui.label('Visualization').classes('text-2xl') - with ui.scene(800, 600, on_click=self.on_vis_click) as scene: + with ui.scene(800, 400, on_click=self.on_vis_click) as scene: for name in self.cfnames: robot = scene.stl('/urdf/cf2_assembly.stl').scale(1.0).material('#ff0000').with_name(name) - self.cfs.append(robot) - # with scene.group() as self.robot_3d: - # prism = [[-0.5, -0.5], [0.5, -0.5], [0.75, 0], [0.5, 0.5], [-0.5, 0.5]] - # self.robot_object = scene.extrusion(prism, 0.4).material('#4488ff', 0.5) - - with ui.row().classes('w-full h-full'): + self.robotmodels[name] = robot + self.watchdog[name] = time.time() + scene.camera.x = 0 + scene.camera.y = -1 + scene.camera.z = 2 + scene.camera.look_at_x = 0 + scene.camera.look_at_y = 0 + scene.camera.look_at_z = 0 + + with ui.row().classes('w-full h-lvh'): with ui.tabs().classes('w-full') as tabs: self.tabs = [] for name in ["all"] + self.cfnames: self.tabs.append(ui.tab(name)) - with ui.tab_panels(tabs, value=self.tabs[0]).classes('w-full') as self.tabpanels: + with ui.tab_panels(tabs, value=self.tabs[0], on_change=self.on_tab_change).classes('w-full') as self.tabpanels: for name, tab in zip(["all"] + self.cfnames, self.tabs): with ui.tab_panel(tab): - self.logs[name] = ui.log().classes('w-full h-full no-wrap') - ui.label("Battery Voltage: ") - ui.button("Reboot") + self.logs[name] = ui.log().classes('w-full h-96 no-wrap') + self.supervisor_labels[name] = ui.label("") + self.battery_labels[name] = ui.label("") + self.radio_labels[name] = ui.label("") + ui.button("Reboot", on_click=partial(self.on_reboot, name=name)) + + for name in self.cfnames: + self.create_subscription(Status, name + '/status', partial(self.on_status, name=name), 1) # Call on_timer function self.timer = self.create_timer(0.1, self.on_timer) @@ -96,17 +98,39 @@ def send_speed(self, x: float, y: float) -> None: self.cmd_vel_publisher.publish(msg) def on_rosout(self, msg: Log) -> None: - if msg.name in self.logs: - self.logs[msg.name].push(msg.msg) + # filter by crazyflie and add to the correct log + if msg.name == "crazyflie_server": + if msg.msg.startswith("["): + idx = msg.msg.find("]") + name = msg.msg[1:idx] + # if it was an "all" category, add only to CFs + if name == 'all': + for logname ,log in self.logs.items(): + if logname != "all": + log.push(msg.msg) + elif name in self.logs: + self.logs[name].push(msg.msg[idx+2:]) + + # add all possible messages to the 'all' tab + self.logs['all'].push(msg.msg) def on_timer(self) -> None: - for name, robot in zip(self.cfnames, self.cfs): + for name, robotmodel in self.robotmodels.items(): t = self.tf_buffer.lookup_transform( "world", name, rclpy.time.Time()) pos = t.transform.translation - robot.move(pos.x, pos.y, pos.z) + robotmodel.move(pos.x, pos.y, pos.z) + robotmodel.rotate(*rowan.to_euler([ + t.transform.rotation.w, + t.transform.rotation.x, + t.transform.rotation.y, + t.transform.rotation.z], "xyz")) + + # no update for a while -> mark red + if time.time() - self.watchdog[name] > 2.0: + robotmodel.material('#ff0000') def on_vis_click(self, e: events.SceneClickEventArguments): hit = e.hits[0] @@ -117,12 +141,64 @@ def on_vis_click(self, e: events.SceneClickEventArguments): else: self.tabpanels.value = name + def on_status(self, msg, name) -> None: + status_ok = True + supervisor_text = "" + if msg.supervisor_info & Status.SUPERVISOR_INFO_CAN_BE_ARMED: + supervisor_text += "can be armed; " + if msg.supervisor_info & Status.SUPERVISOR_INFO_IS_ARMED: + supervisor_text += "is armed; " + if msg.supervisor_info & Status.SUPERVISOR_INFO_AUTO_ARM: + supervisor_text += "auto-arm; " + if msg.supervisor_info & Status.SUPERVISOR_INFO_CAN_FLY: + supervisor_text += "can fly; " + if msg.supervisor_info & Status.SUPERVISOR_INFO_IS_FLYING: + supervisor_text += "is flying; " + if msg.supervisor_info & Status.SUPERVISOR_INFO_IS_TUMBLED: + supervisor_text += "is tumpled; " + status_ok = False + if msg.supervisor_info & Status.SUPERVISOR_INFO_IS_LOCKED: + supervisor_text += "is locked; " + status_ok = False + self.supervisor_labels[name].set_text(supervisor_text) + + battery_text = f'{msg.battery_voltage:.2f} V' + if msg.battery_voltage < 3.8: + status_ok = False + if msg.pm_state == Status.PM_STATE_BATTERY: + battery_text += " (on battery)" + elif msg.pm_state == Status.PM_STATE_CHARGING: + battery_text += " (charging)" + elif msg.pm_state == Status.PM_STATE_CHARGED: + battery_text += " (charged)" + elif msg.pm_state == Status.PM_STATE_LOW_POWER: + battery_text += " (low power)" + status_ok = False + elif msg.pm_state == Status.PM_STATE_SHUTDOWN: + battery_text += " (shutdown)" + status_ok = False + self.battery_labels[name].set_text(battery_text) + + radio_text = f'{msg.rssi} dBm; Unicast: {msg.num_rx_unicast} / {msg.num_tx_unicast}; Broadcast: {msg.num_rx_broadcast} / {msg.num_tx_broadcast}' + self.radio_labels[name].set_text(radio_text) + + if status_ok: + self.robotmodels[name].material('#00ff00') + else: + self.robotmodels[name].material('#ff0000') + + self.watchdog[name] = time.time() + + def on_tab_change(self, arg): + for name, robotmodel in self.robotmodels.items(): + if name != arg.value: + robotmodel.scale(1) + if arg.value in self.robotmodels: + self.robotmodels[arg.value].scale(2) - # def handle_pose(self, msg: Pose) -> None: - # self.position.text = f'x: {msg.position.x:.2f}, y: {msg.position.y:.2f}' - # self.robot_3d.move(msg.position.x, msg.position.y) - # self.robot_3d.rotate(0, 0, 2 * math.atan2(msg.orientation.z, msg.orientation.w)) + def on_reboot(self, name) -> None: + ui.notify(f'Reboot not implemented, yet') def main() -> None: From 1eb3ab65d9761cce429b29e08aaa57a68ff75906 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sun, 4 Feb 2024 22:05:42 +0100 Subject: [PATCH 075/162] server [cflib] unify logging messages --- crazyflie/scripts/crazyflie_server.py | 85 +++++++++++++++------------ 1 file changed, 48 insertions(+), 37 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index 4ba4dcf4a..ac7882d15 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -67,7 +67,10 @@ def __init__(self): self._ros_parameters = self._param_to_dict(self._parameters) self.uris = [] - self.cf_dict = {} + # for logging, assign a all -> all mapping + self.cf_dict = { + 'all': 'all' + } self.uri_dict = {} self.type_dict = {} @@ -224,6 +227,9 @@ def __init__(self): StartTrajectory, "all/start_trajectory", self._start_trajectory_callback) for uri in self.cf_dict: + if uri == "all": + continue + name = self.cf_dict[uri] pub = self.create_publisher(String, name + '/robot_description', @@ -354,7 +360,7 @@ def _fully_connected(self, link_uri): Called when all parameters have been updated and the full log toc has been received of the Crazyflie """ - self.get_logger().info(f" {link_uri} is fully connected!") + self.get_logger().info(f"[{self.cf_dict[link_uri]}] is fully connected!") self.swarm.fully_connected_crazyflie_cnt += 1 @@ -367,10 +373,10 @@ def _fully_connected(self, link_uri): return def _disconnected(self, link_uri): - self.get_logger().info(f" {link_uri} is disconnected!") + self.get_logger().info(f"[{self.cf_dict[link_uri]}] is disconnected!") def _connection_failed(self, link_uri, msg): - self.get_logger().info(f"{link_uri} connection Failed") + self.get_logger().info(f"[{self.cf_dict[link_uri]}] connection Failed") self.swarm.close_links() def _init_logging(self): @@ -406,20 +412,20 @@ def _init_logging(self): self._log_error_callback) lg_custom.start() except KeyError as e: - self.get_logger().info(f'{link_uri}: Could not start log configuration,' + self.get_logger().info(f'[{self.cf_dict[link_uri]}] Could not start log configuration,' '{} not found in TOC'.format(str(e))) except AttributeError: self.get_logger().info( - f'{link_uri}: Could not add log config, bad configuration.') + f'[{self.cf_dict[link_uri]}] Could not add log config, bad configuration.') - self.get_logger().info(f"{link_uri} setup custom logging") + self.get_logger().info(f"[{self.cf_dict[link_uri]}] setup custom logging") self.create_service( RemoveLogging, self.cf_dict[link_uri] + "/remove_logging", partial(self._remove_logging, uri=link_uri)) self.create_service( AddLogging, self.cf_dict[link_uri] + "/add_logging", partial(self._add_logging, uri=link_uri)) - self.get_logger().info("All Crazyflies loggging are initialized") + self.get_logger().info("All Crazyflies logging are initialized.") def _init_default_logging(self, prefix, link_uri, callback_fnc): """ @@ -438,13 +444,13 @@ def _init_default_logging(self, prefix, link_uri, callback_fnc): self.declare_parameter( self.cf_dict[link_uri] + ".logs." + prefix + ".frequency.", frequency) self.get_logger().info( - f"{link_uri} setup logging for {prefix} at freq {frequency}") + f"[{self.cf_dict[link_uri]}] setup logging for {prefix} at freq {frequency}") except KeyError as e: - self.get_logger().info(f'{link_uri}: Could not start log configuration,' + self.get_logger().error(f'[{self.cf_dict[link_uri]}] Could not start log configuration,' '{} not found in TOC'.format(str(e))) except AttributeError: - self.get_logger().info( - f'{link_uri}: Could not add log config, bad configuration.') + self.get_logger().error( + f'[{self.cf_dict[link_uri]}] Could not add log config, bad configuration.') def _log_scan_data_callback(self, timestamp, data, logconf, uri): """ @@ -652,7 +658,7 @@ def _init_parameters(self): # crazyflie with get_value due to threading. cf.param.set_value(name, set_param_value) self.get_logger().info( - f" {link_uri}: {name} is set to {set_param_value}" + f"[{self.cf_dict[link_uri]}] {name} is set to {set_param_value}" ) self.declare_parameter( self.cf_dict[link_uri] + @@ -691,7 +697,7 @@ def _init_parameters(self): # Now all parameters are set set_param_all = True - self.get_logger().info("All Crazyflies parameters are initialized") + self.get_logger().info("All Crazyflies parameters are initialized.") def _parameters_callback(self, params): """ @@ -710,7 +716,7 @@ def _parameters_callback(self, params): name_param, param.value ) self.get_logger().info( - f" {self.uri_dict[cf_name]}: {name_param} is set to {param.value}" + f"[{self.uri_dict[cf_name]}] {name_param} is set to {param.value}" ) return SetParametersResult(successful=True) except Exception as e: @@ -727,7 +733,7 @@ def _parameters_callback(self, params): name_param, param.value ) self.get_logger().info( - f" {link_uri}: {name_param} is set to {param.value}" + f"[{self.cf_dict[link_uri]}] {name_param} is set to {param.value}" ) return SetParametersResult(successful=True) except Exception as e: @@ -751,12 +757,14 @@ def _takeoff_callback(self, request, response, uri="all"): a certain height in high level commander """ + print("call1 ", uri) + duration = float(request.duration.sec) + \ float(request.duration.nanosec / 1e9) self.get_logger().info( - f"takeoff(height={request.height} m," + f"[{self.cf_dict[uri]}] takeoff(height={request.height} m," + f"duration={duration} s," - + f"group_mask={request.group_mask}) {uri}" + + f"group_mask={request.group_mask})" ) if uri == "all": for link_uri in self.uris: @@ -778,7 +786,7 @@ def _land_callback(self, request, response, uri="all"): duration = float(request.duration.sec) + \ float(request.duration.nanosec / 1e9) self.get_logger().info( - f"land(height={request.height} m," + f"[{self.cf_dict[uri]}] land(height={request.height} m," + f"duration={duration} s," + f"group_mask={request.group_mask})" ) @@ -803,8 +811,9 @@ def _go_to_callback(self, request, response, uri="all"): float(request.duration.nanosec / 1e9) self.get_logger().info( - "go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, relative=%d, group_mask=%d)" + "[%s] go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, relative=%d, group_mask=%d)" % ( + self.cf_dict[uri], request.goal.x, request.goal.y, request.goal.z, @@ -839,7 +848,7 @@ def _go_to_callback(self, request, response, uri="all"): def _notify_setpoints_stop_callback(self, request, response, uri="all"): - self.get_logger().info(f"{uri}: Received notify setpoint stop") + self.get_logger().info(f"[{self.cf_dict[uri]}] Received notify setpoint stop") if uri == "all": for link_uri in self.uris: @@ -855,7 +864,8 @@ def _upload_trajectory_callback(self, request, response, uri="all"): offset = request.piece_offset lenght = len(request.pieces) total_duration = 0 - self.get_logger().info("upload_trajectory(id=%d,offset=%d, lenght=%d)" % ( + self.get_logger().info("[%s] upload_trajectory(id=%d,offset=%d, lenght=%d)" % ( + self.cf_dict[uri], id, offset, lenght, @@ -881,7 +891,7 @@ def _upload_trajectory_callback(self, request, response, uri="all"): trajectory_mem.trajectory = trajectory upload_result = trajectory_mem.write_data_sync() if not upload_result: - self.get_logger().info(f"{link_uri}: Upload failed") + self.get_logger().info(f"[{self.cf_dict[uri]}] Upload failed") upload_success_all = False else: self.swarm._cfs[link_uri].cf.high_level_commander.define_trajectory( @@ -895,7 +905,7 @@ def _upload_trajectory_callback(self, request, response, uri="all"): trajectory_mem.trajectory = trajectory upload_result = trajectory_mem.write_data_sync() if not upload_result: - self.get_logger().info(f"{uri}: Upload failed") + self.get_logger().info(f"[{self.cf_dict[uri]}] Upload failed") response.success = False return response self.swarm._cfs[uri].cf.high_level_commander.define_trajectory( @@ -911,7 +921,8 @@ def _start_trajectory_callback(self, request, response, uri="all"): rev = request.reversed gm = request.group_mask - self.get_logger().info("start_trajectory(id=%d,timescale=%f,relative=%d, reversed=%d, group_mask=%d)" % ( + self.get_logger().info("[%s] start_trajectory(id=%d,timescale=%f,relative=%d, reversed=%d, group_mask=%d)" % ( + self.cf_dict[uri], id, ts, rel, @@ -1002,10 +1013,10 @@ def _remove_logging(self, request, response, uri="all"): self.swarm._cfs[uri].logging[topic_name + "_log_config"].stop() self.destroy_publisher( self.swarm._cfs[uri].logging[topic_name + "_publisher"]) - self.get_logger().info(f"{uri}: Remove {topic_name} logging") + self.get_logger().info(f"[{self.cf_dict[uri]}] Remove {topic_name} logging") except rclpy.exceptions.ParameterNotDeclaredException: self.get_logger().info( - f"{uri}: No logblock of {topic_name} has been found ") + f"[{self.cf_dict[uri]}] No logblock of {topic_name} has been found ") response.success = False return response else: @@ -1015,10 +1026,10 @@ def _remove_logging(self, request, response, uri="all"): for log_name in self.swarm._cfs[uri].logging["custom_log_groups"][topic_name]["vars"]: self.destroy_publisher( self.swarm._cfs[uri].logging["custom_log_publisher"][topic_name]) - self.get_logger().info(f"{uri}: Remove {topic_name} logging") + self.get_logger().info(f"[{self.cf_dict[uri]}] Remove {topic_name} logging") except rclpy.exceptions.ParameterNotDeclaredException: self.get_logger().info( - f"{uri}: No logblock of {topic_name} has been found ") + f"[{self.cf_dict[uri]}] No logblock of {topic_name} has been found ") response.success = False return response @@ -1042,10 +1053,10 @@ def _add_logging(self, request, response, uri="all"): "_log_config"].period_in_ms = 1000 / frequency self.swarm._cfs[uri].logging[topic_name + "_log_config"].start() - self.get_logger().info(f"{uri}: Add {topic_name} logging") + self.get_logger().info(f"[{self.cf_dict[uri]}] Add {topic_name} logging") except rclpy.exceptions.ParameterAlreadyDeclaredException: self.get_logger().info( - f"{uri}: The content the logging of {topic_name} has already started ") + f"[{self.cf_dict[uri]}] The content the logging of {topic_name} has already started ") response.success = False return response else: @@ -1073,11 +1084,11 @@ def _add_logging(self, request, response, uri="all"): self.swarm._cfs[uri].logging["custom_log_groups"][topic_name]["vars"] = variables self.swarm._cfs[uri].logging["custom_log_groups"][topic_name]["frequency"] = frequency - self.get_logger().info(f"{uri}: Add {topic_name} logging") + self.get_logger().info(f"[{self.cf_dict[uri]}] Add {topic_name} logging") except KeyError as e: - self.get_logger().info( - f"{uri}: Failed to add {topic_name} logging") - self.get_logger().info(str(e) + "is not in TOC") + self.get_logger().error( + f"[{self.cf_dict[uri]}] Failed to add {topic_name} logging") + self.get_logger().error(str(e) + "is not in TOC") self.undeclare_parameter( self.cf_dict[uri] + ".logs." + topic_name + ".frequency.") self.undeclare_parameter( @@ -1085,8 +1096,8 @@ def _add_logging(self, request, response, uri="all"): response.success = False return response except rclpy.exceptions.ParameterAlreadyDeclaredException: - self.get_logger().info( - f"{uri}: The content or part of the logging of {topic_name} has already started ") + self.get_logger().error( + f"[{self.cf_dict[uri]}] The content or part of the logging of {topic_name} has already started ") response.success = False return response From d0b4ad555da155aadaba4961edd2e9b8041d776b Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Mon, 5 Feb 2024 10:30:07 +0100 Subject: [PATCH 076/162] fix flake8 issues --- crazyflie_sim/crazyflie_sim/crazyflie_server.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_server.py b/crazyflie_sim/crazyflie_sim/crazyflie_server.py index 8050737b4..93dd698da 100755 --- a/crazyflie_sim/crazyflie_sim/crazyflie_server.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_server.py @@ -250,7 +250,11 @@ def _go_to_callback(self, request, response, name='all'): float(request.duration.nanosec / 1e9) self.get_logger().info( - '[%s] go_to(position=%f,%f,%f m, yaw=%f rad, duration=%f s, relative=%d, group_mask=%d)' + """[%s] go_to(position=%f,%f,%f m, + yaw=%f rad, + duration=%f s, + relative=%d, + group_mask=%d)""" % ( name, request.goal.x, From e996e62258d88b8bbfcace57b78fa9b647099015 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Mon, 5 Feb 2024 10:46:07 +0100 Subject: [PATCH 077/162] remove hard-coded path --- crazyflie/scripts/gui.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/crazyflie/scripts/gui.py b/crazyflie/scripts/gui.py index 830d94a34..5bd156634 100755 --- a/crazyflie/scripts/gui.py +++ b/crazyflie/scripts/gui.py @@ -1,18 +1,17 @@ #!/usr/bin/env python3 -import math import threading import time from pathlib import Path from functools import partial import rclpy -from geometry_msgs.msg import Pose, Twist +from geometry_msgs.msg import Twist from rcl_interfaces.msg import Log from rclpy.executors import ExternalShutdownException from rclpy.node import Node -from tf2_ros import TransformException +# from tf2_ros import TransformException from tf2_ros.buffer import Buffer from tf2_ros.transform_listener import TransformListener @@ -215,7 +214,9 @@ def ros_main() -> None: pass -app.add_static_files("/urdf", "/home/whoenig/projects/crazyflie/crazyswarm2/src/crazyswarm2/crazyflie/urdf/") +app.add_static_files("/urdf", + str((Path(__file__).parent.parent.parent / "share" / "crazyflie" / "urdf").resolve()), + follow_symlink=True) app.on_startup(lambda: threading.Thread(target=ros_main).start()) ui_run.APP_IMPORT_STRING = f'{__name__}:app' # ROS2 uses a non-standard module name, so we need to specify it here ui.run(uvicorn_reload_dirs=str(Path(__file__).parent.resolve()), favicon='🤖') From 8bd3ca6190f22c7c4e01996e7534add720e4e8e1 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Mon, 5 Feb 2024 10:46:56 +0100 Subject: [PATCH 078/162] update documentation --- crazyflie/launch/launch.py | 5 +++++ docs2/faq.rst | 4 ++-- docs2/overview.rst | 2 ++ docs2/usage.rst | 8 ++++++++ 4 files changed, 17 insertions(+), 2 deletions(-) diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index 8a9290c11..4eec72a92 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -134,4 +134,9 @@ def generate_launch_description(): "use_sim_time": True, }] ), + Node( + package='crazyflie', + executable='gui.py', + name='gui', + ), ]) diff --git a/docs2/faq.rst b/docs2/faq.rst index 8270b9343..7422be127 100644 --- a/docs2/faq.rst +++ b/docs2/faq.rst @@ -45,9 +45,9 @@ Crazyswarm2 was forked from Crazyswarm. However, there is also heavy re-design o In Crazyswarm1, a simple visualization of the setpoints for high-level Python scripts is supported. There is no support for simulation of ROS code that does not use the high-level Python scripts and no support for physics-based simulation. In contrast, Crazyswarm2 implements the simulation as an alternative backend. This will support multiple physics/visualization backends (optionally with physics and aerodynamic interaction). -- **Support of Distributed Swarm Monitoring (Planned).** +- **Support of Distributed Swarm Monitoring.** In Crazyswarm1, a common swarm monitoring tool is the chooser.py (to enable/disable CFs, check the battery voltage etc.). However, this tool was not functioning while the swarm is operational. - In contrast, Crazyswarm2 will allow common swarm monitoring tasks without restarting ROS nodes or launching additional tools. + In contrast, Crazyswarm2 allows common swarm monitoring tasks without restarting ROS nodes or launching additional tools. How is Crazyswarm2 different from Bitcraze's cflib? diff --git a/docs2/overview.rst b/docs2/overview.rst index 014cfc93d..cc413fe1f 100644 --- a/docs2/overview.rst +++ b/docs2/overview.rst @@ -67,6 +67,8 @@ Support functionality with backends +---------------------+---------+-----------+---------+ | - default: odom | No | Yes | No | +---------------------+---------+-----------+---------+ +| - default: status | Yes | Yes | No | ++---------------------+---------+-----------+---------+ | - custom | Yes | Yes | No | +---------------------+---------+-----------+---------+ | - Add/Remove Srv | No | Yes | No | diff --git a/docs2/usage.rst b/docs2/usage.rst index d8278958b..52117f0ae 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -155,3 +155,11 @@ You may run the script multiple times or different scripts while leaving the ser [terminal1]$ ros2 launch crazyflie launch.py [terminal2]$ ros2 run crazyflie_examples hello_world + +Swarm Management +---------------- + +The launch file will also start a swarm management tool that is a ROS node and web-based GUI. +In the upper pane is the location of the drone visualized in a 3D window, similar to rviz. +In the lower pane, the status as well as log messages are visible (tabbed per drone). +In the future, we are planning to add support for rebooting and other actions. \ No newline at end of file From 55e11dada5b5cd106c168ed9869b41c6630247a8 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Mon, 5 Feb 2024 10:56:41 +0100 Subject: [PATCH 079/162] enable status topic by default --- crazyflie/config/crazyflies.yaml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index e136fcd8b..f102bd78a 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -72,11 +72,13 @@ all: # firmware logging for all drones (use robot_types/type_name to set per type, or # robots/drone_name to set per drone) firmware_logging: - enabled: false + enabled: true default_topics: # remove to disable default topic - pose: - frequency: 10 # Hz + # pose: + # frequency: 10 # Hz + status: + frequency: 1 # Hz #custom_topics: # topic_name1: # frequency: 10 # Hz From 60524ac0c50f01c68ec223e81e3cbe5725326c8e Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Tue, 6 Feb 2024 07:13:24 +0100 Subject: [PATCH 080/162] Kimberly's feedback: 1) unused code removal 2) Better error handling of tf errors 3) Improved handling of simulation time 4) Unified error handling in on_timer --- crazyflie/launch/launch.py | 4 ++ crazyflie/scripts/gui.py | 82 +++++++++++++++++++++----------------- 2 files changed, 49 insertions(+), 37 deletions(-) diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index 4eec72a92..624ae65fd 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -138,5 +138,9 @@ def generate_launch_description(): package='crazyflie', executable='gui.py', name='gui', + output='screen', + parameters=[{ + "use_sim_time": True, + }] ), ]) diff --git a/crazyflie/scripts/gui.py b/crazyflie/scripts/gui.py index 5bd156634..9bc434aad 100755 --- a/crazyflie/scripts/gui.py +++ b/crazyflie/scripts/gui.py @@ -48,8 +48,6 @@ def __init__(self) -> None: self.battery_labels = dict() self.radio_labels = dict() self.robotmodels = dict() - # set of robot names that had a status recently - self.watchdog = dict() with Client.auto_index_client: @@ -60,11 +58,13 @@ def __init__(self) -> None: for name in self.cfnames: robot = scene.stl('/urdf/cf2_assembly.stl').scale(1.0).material('#ff0000').with_name(name) self.robotmodels[name] = robot - self.watchdog[name] = time.time() + # augment with some additional fields + robot.status_ok = False + robot.status_watchdog = time.time() scene.camera.x = 0 scene.camera.y = -1 scene.camera.z = 2 - scene.camera.look_at_x = 0 + scene.camera.look_at_x = 0 scene.camera.look_at_y = 0 scene.camera.look_at_z = 0 @@ -80,21 +80,16 @@ def __init__(self) -> None: self.supervisor_labels[name] = ui.label("") self.battery_labels[name] = ui.label("") self.radio_labels[name] = ui.label("") - ui.button("Reboot", on_click=partial(self.on_reboot, name=name)) for name in self.cfnames: self.create_subscription(Status, name + '/status', partial(self.on_status, name=name), 1) # Call on_timer function - self.timer = self.create_timer(0.1, self.on_timer) - - def send_speed(self, x: float, y: float) -> None: - msg = Twist() - msg.linear.x = x - msg.angular.z = -y - self.linear.value = x - self.angular.value = y - self.cmd_vel_publisher.publish(msg) + update_rate = 30 # Hz + self.timer = self.create_timer( + 1.0/update_rate, + self.on_timer, + clock=rclpy.clock.Clock(clock_type=rclpy.clock.ClockType.SYSTEM_TIME)) def on_rosout(self, msg: Log) -> None: # filter by crazyflie and add to the correct log @@ -115,20 +110,38 @@ def on_rosout(self, msg: Log) -> None: def on_timer(self) -> None: for name, robotmodel in self.robotmodels.items(): - t = self.tf_buffer.lookup_transform( - "world", - name, - rclpy.time.Time()) - pos = t.transform.translation - robotmodel.move(pos.x, pos.y, pos.z) - robotmodel.rotate(*rowan.to_euler([ - t.transform.rotation.w, - t.transform.rotation.x, - t.transform.rotation.y, - t.transform.rotation.z], "xyz")) - - # no update for a while -> mark red - if time.time() - self.watchdog[name] > 2.0: + ros_time = rclpy.time.Time() # get the latest + robot_status_ok = robotmodel.status_ok + if self.tf_buffer.can_transform("world", name, ros_time): + t = self.tf_buffer.lookup_transform( + "world", + name, + ros_time) + transform_time = rclpy.time.Time.from_msg(t.header.stamp) + transform_age = self.get_clock().now() - transform_time + # latest transform is older than a second indicates a problem + if transform_age.nanoseconds * 1e-9 > 1: + robot_status_ok = False + else: + pos = t.transform.translation + robotmodel.move(pos.x, pos.y, pos.z) + robotmodel.rotate(*rowan.to_euler([ + t.transform.rotation.w, + t.transform.rotation.x, + t.transform.rotation.y, + t.transform.rotation.z], "xyz")) + else: + # no available transform indicates a problem + robot_status_ok = False + + # no status update for a while, indicate a problem + if time.time() - robotmodel.status_watchdog > 2.0: + robot_status_ok = False + + # any issues detected -> mark red, otherwise green + if robot_status_ok: + robotmodel.material('#00ff00') + else: robotmodel.material('#ff0000') def on_vis_click(self, e: events.SceneClickEventArguments): @@ -181,13 +194,11 @@ def on_status(self, msg, name) -> None: radio_text = f'{msg.rssi} dBm; Unicast: {msg.num_rx_unicast} / {msg.num_tx_unicast}; Broadcast: {msg.num_rx_broadcast} / {msg.num_tx_broadcast}' self.radio_labels[name].set_text(radio_text) - if status_ok: - self.robotmodels[name].material('#00ff00') - else: - self.robotmodels[name].material('#ff0000') - - self.watchdog[name] = time.time() + # save status here + self.robotmodels[name].status_ok = status_ok + # store the time when we last received any status + self.robotmodels[name].status_watchdog[name] = time.time() def on_tab_change(self, arg): for name, robotmodel in self.robotmodels.items(): @@ -196,9 +207,6 @@ def on_tab_change(self, arg): if arg.value in self.robotmodels: self.robotmodels[arg.value].scale(2) - def on_reboot(self, name) -> None: - ui.notify(f'Reboot not implemented, yet') - def main() -> None: # NOTE: This function is defined as the ROS entry point in setup.py, but it's empty to enable NiceGUI auto-reloading From 9f136a2e17786e0b5aff403ba772f4c02fbeee0f Mon Sep 17 00:00:00 2001 From: phanfeld Date: Tue, 6 Feb 2024 14:59:38 +0100 Subject: [PATCH 081/162] first, untested version of image publisher --- crazyflie/config/camera_config.yaml | 58 ++++++++++ crazyflie/src/image_streamer.py | 158 ++++++++++++++++++++++++++++ 2 files changed, 216 insertions(+) create mode 100644 crazyflie/config/camera_config.yaml create mode 100644 crazyflie/src/image_streamer.py diff --git a/crazyflie/config/camera_config.yaml b/crazyflie/config/camera_config.yaml new file mode 100644 index 000000000..2c801c64a --- /dev/null +++ b/crazyflie/config/camera_config.yaml @@ -0,0 +1,58 @@ +image_width: 725 +image_height: 500 +camera_name: crazyflie +camera_matrix: + rows: 3 + cols: 3 + data: [383.76372, 0. , 363.38408, + 0. , 381.38288, 271.61177, + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.001747, -0.009650, -0.002608, -0.002890, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] +projection_matrix: + rows: 3 + cols: 4 + data: [380.19111, 0. , 360.28396, 0. , + 0. , 380.987 , 270.48483, 0. , + 0. , 0. , 1. , 0. ] + + + +# image_width: 533 +# image_height: 320 +# camera_name: hoverair +# camera_matrix: +# rows: 3 +# cols: 3 +# data: [295.21347, 0. , 284.02365, +# 0. , 294.30945, 196.91373, +# 0. , 0. , 1. ] +# distortion_model: plumb_bob +# distortion_coefficients: +# rows: 1 +# cols: 5 +# data: [0.029797, -0.026754, 0.000635, -0.001295, 0.000000] +# rectification_matrix: +# rows: 3 +# cols: 3 +# data: [1., 0., 0., +# 0., 1., 0., +# 0., 0., 1.] +# projection_matrix: +# rows: 3 +# cols: 4 +# data: [297.20145, 0. , 283.47583, 0. , +# 0. , 296.96598, 197.18161, 0. , +# 0. , 0. , 1. , 0. ] + + + diff --git a/crazyflie/src/image_streamer.py b/crazyflie/src/image_streamer.py new file mode 100644 index 000000000..ed5ce88ee --- /dev/null +++ b/crazyflie/src/image_streamer.py @@ -0,0 +1,158 @@ +import socket,os,struct, time +import numpy as np +import cv2 +import yaml +from ament_index_python.packages import get_package_share_directory + + +import rclpy +from rclpy.node import Node +from sensor_msgs.msg import Image, CameraInfo + +from rcl_interfaces.msg import ParameterDescriptor, ParameterType + + +class ImageNode(rclpy.node.Node): + def __init__(self): + super().__init__("image_node") + + # declare topic names + self.declare_parameter( + name="image_topic", + value="/camera/image", + descriptor=ParameterDescriptor( + type=ParameterType.PARAMETER_STRING, + description="Image topic to publish to.", + ), + ) + + self.declare_parameter( + name="camera_info_topic", + value="/camera/camera_info", + descriptor=ParameterDescriptor( + type=ParameterType.PARAMETER_STRING, + description="Camera info topic to subscribe to.", + ), + ) + + # update topic names from config + image_topic = ( + self.get_parameter("image_topic").get_parameter_value().string_value + ) + self.get_logger().info(f"Image topic: {image_topic}") + + info_topic = ( + self.get_parameter("camera_info_topic").get_parameter_value().string_value + ) + self.get_logger().info(f"Image info topic: {info_topic}") + + + # load camera parameters from yaml + # TODO: could possibly be done in the same way as with the other parameters + config_path = os.path.join( + get_package_share_directory('crazyflie'), + 'config', + 'camera_config.yaml' + ) + + # create messages and publishers + self.image_mgs = Image() + self.camera_info_msg = self._construct_from_yaml(config_path) + self.image_publisher = self.create_publisher(Image, image_topic, 10) + self.info_publisher = self.create_publisher(CameraInfo, info_topic, 10) + + # TODO: just for testing, needs to be moved + self.info_publisher.publish(self.camera_info_msg) + + # set up connection to AI Deck + deck_ip = "192.168.4.1" + deck_port = '5000' + self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.client_socket.connect((deck_ip, deck_port)) + self.image = None + self.rx_buffer = bytearray() + + # set up timers for callbacks + timer_period = 0.5 + self.rx_timer = self.create_timer(timer_period, self.receive_callback) + self.tx_timer = self.create_timer(timer_period, self.publish_callback) + + + def _construct_from_yaml(self, path): + camera_info = CameraInfo() + with open(path) as f: + config = yaml.load(f, Loader=yaml.FullLoader) + + camera_info.header.frame_id = config['camera_name'] + camera_info.header.stamp = self.get_clock().now().to_msg() + camera_info.width = int(config['image_width']) + camera_info.height = int(config['image_height']) + camera_info.distortion_model = config['distortion_model'] + camera_info.d = config['distortion_coefficients']['data'] + camera_info.k = config['camera_matrix']['data'] + camera_info.r = config['rectification_matrix']['data'] + camera_info.p = config['projection_matrix']['data'] + return camera_info + + def _rx_bytes(self, size): + data = bytearray() + while len(data) < size: + data.extend(self.client_socket.recv(size-len(data))) + return data + + def receive_callback(self): + # first get the info + packetInfoRaw = self._rx_bytes(4) + [length, routing, function] = struct.unpack('{:02X})".format(length, src, dst)) + chunk = self._rx_bytes(length - 2) + imgStream.extend(chunk) + + raw_img = np.frombuffer(imgStream, dtype=np.uint8) + raw_img.shape = (width, height) + self.image = cv2.cvtColor(raw_img, cv2.COLOR_BayerBG2RGBA) + + else: # otherwise set image to None again + self.image = None + + def publish_callback(self): + if self.image is not None: + self.image_mgs.header.frame_id = self.camera_info_msg.header.frame_id + self.image_mgs.header.stamp = self.get_clock().now().to_msg() + self.camera_info_msg.header.stamp = self.image_mgs.header.stamp + + self.image_mgs.height = self.camera_info_msg.height + self.image_mgs.width = self.camera_info_msg.width + self.image_mgs.encoding = 'rgba8' + self.image_mgs.step = self.image.step + self.image_mgs.is_bigendian = 0 # TODO: implement automatic check depending on system + self.image_mgs.data = self.image.data + + self.image_publisher.publish(self.image_mgs) + self.info_publisher.publish(self.camera_info_msg) + self.image = None + + + +def main(args=None): + rclpy.init(args=args) + node = ImageNode() + rclpy.spin(node) + + node.destroy_node() + rclpy.shutdown() + +if __name__ == "__main__": + main() \ No newline at end of file From 9d9ec2636054b97392b595176c28efcde058c8c8 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Tue, 6 Feb 2024 16:38:44 +0100 Subject: [PATCH 082/162] watchdog bugfix --- crazyflie/scripts/gui.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie/scripts/gui.py b/crazyflie/scripts/gui.py index 9bc434aad..9a7d4b9e5 100755 --- a/crazyflie/scripts/gui.py +++ b/crazyflie/scripts/gui.py @@ -198,7 +198,7 @@ def on_status(self, msg, name) -> None: self.robotmodels[name].status_ok = status_ok # store the time when we last received any status - self.robotmodels[name].status_watchdog[name] = time.time() + self.robotmodels[name].status_watchdog = time.time() def on_tab_change(self, arg): for name, robotmodel in self.robotmodels.items(): From 9efb8ed7df87ca16eaa55ee1c31dec27b4240bdd Mon Sep 17 00:00:00 2001 From: phanfeld Date: Tue, 6 Feb 2024 16:58:35 +0100 Subject: [PATCH 083/162] working implementation of image publisher --- crazyflie/src/image_streamer.py | 37 +++++++++++++++++---------------- 1 file changed, 19 insertions(+), 18 deletions(-) diff --git a/crazyflie/src/image_streamer.py b/crazyflie/src/image_streamer.py index ed5ce88ee..204d824eb 100644 --- a/crazyflie/src/image_streamer.py +++ b/crazyflie/src/image_streamer.py @@ -56,7 +56,7 @@ def __init__(self): ) # create messages and publishers - self.image_mgs = Image() + self.image_msg = Image() self.camera_info_msg = self._construct_from_yaml(config_path) self.image_publisher = self.create_publisher(Image, image_topic, 10) self.info_publisher = self.create_publisher(CameraInfo, info_topic, 10) @@ -66,14 +66,16 @@ def __init__(self): # set up connection to AI Deck deck_ip = "192.168.4.1" - deck_port = '5000' + deck_port = 5000 + print("Connecting to socket on {}:{}...".format(deck_ip, deck_port)) self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.client_socket.connect((deck_ip, deck_port)) + print("Socket connected") self.image = None self.rx_buffer = bytearray() # set up timers for callbacks - timer_period = 0.5 + timer_period = 0.01 self.rx_timer = self.create_timer(timer_period, self.receive_callback) self.tx_timer = self.create_timer(timer_period, self.publish_callback) @@ -123,24 +125,23 @@ def receive_callback(self): raw_img = np.frombuffer(imgStream, dtype=np.uint8) raw_img.shape = (width, height) self.image = cv2.cvtColor(raw_img, cv2.COLOR_BayerBG2RGBA) - - else: # otherwise set image to None again - self.image = None + # else: # otherwise set image to None again + # self.image = None def publish_callback(self): if self.image is not None: - self.image_mgs.header.frame_id = self.camera_info_msg.header.frame_id - self.image_mgs.header.stamp = self.get_clock().now().to_msg() - self.camera_info_msg.header.stamp = self.image_mgs.header.stamp - - self.image_mgs.height = self.camera_info_msg.height - self.image_mgs.width = self.camera_info_msg.width - self.image_mgs.encoding = 'rgba8' - self.image_mgs.step = self.image.step - self.image_mgs.is_bigendian = 0 # TODO: implement automatic check depending on system - self.image_mgs.data = self.image.data - - self.image_publisher.publish(self.image_mgs) + self.image_msg.header.frame_id = self.camera_info_msg.header.frame_id + self.image_msg.header.stamp = self.get_clock().now().to_msg() + self.camera_info_msg.header.stamp = self.image_msg.header.stamp + width, height, channels = self.image.shape + self.image_msg.height = height + self.image_msg.width = width + self.image_msg.encoding = 'rgba8' + self.image_msg.step = width * channels # number of bytes each row in the array will occupy + self.image_msg.is_bigendian = 0 # TODO: implement automatic check depending on system + self.image_msg.data = self.image.flatten().data + + self.image_publisher.publish(self.image_msg) self.info_publisher.publish(self.camera_info_msg) self.image = None From 597e943b330f813122430988f899329587f99405 Mon Sep 17 00:00:00 2001 From: phanfeld Date: Wed, 7 Feb 2024 09:45:19 +0100 Subject: [PATCH 084/162] correct camera calibration --- crazyflie/config/camera_config.yaml | 48 +++++------------------------ crazyflie/src/image_streamer.py | 5 +-- 2 files changed, 9 insertions(+), 44 deletions(-) diff --git a/crazyflie/config/camera_config.yaml b/crazyflie/config/camera_config.yaml index 2c801c64a..69527384f 100644 --- a/crazyflie/config/camera_config.yaml +++ b/crazyflie/config/camera_config.yaml @@ -1,17 +1,17 @@ -image_width: 725 -image_height: 500 +image_width: 324 +image_height: 324 camera_name: crazyflie camera_matrix: rows: 3 cols: 3 - data: [383.76372, 0. , 363.38408, - 0. , 381.38288, 271.61177, + data: [181.87464, 0. , 162.52301, + 0. , 182.58129, 160.79418, 0. , 0. , 1. ] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 - data: [-0.001747, -0.009650, -0.002608, -0.002890, 0.000000] + data: [-0.070366, -0.006434, -0.002691, -0.001983, 0.000000] rectification_matrix: rows: 3 cols: 3 @@ -21,38 +21,6 @@ rectification_matrix: projection_matrix: rows: 3 cols: 4 - data: [380.19111, 0. , 360.28396, 0. , - 0. , 380.987 , 270.48483, 0. , - 0. , 0. , 1. , 0. ] - - - -# image_width: 533 -# image_height: 320 -# camera_name: hoverair -# camera_matrix: -# rows: 3 -# cols: 3 -# data: [295.21347, 0. , 284.02365, -# 0. , 294.30945, 196.91373, -# 0. , 0. , 1. ] -# distortion_model: plumb_bob -# distortion_coefficients: -# rows: 1 -# cols: 5 -# data: [0.029797, -0.026754, 0.000635, -0.001295, 0.000000] -# rectification_matrix: -# rows: 3 -# cols: 3 -# data: [1., 0., 0., -# 0., 1., 0., -# 0., 0., 1.] -# projection_matrix: -# rows: 3 -# cols: 4 -# data: [297.20145, 0. , 283.47583, 0. , -# 0. , 296.96598, 197.18161, 0. , -# 0. , 0. , 1. , 0. ] - - - + data: [169.24555, 0. , 161.54541, 0. , + 0. , 169.97813, 159.07974, 0. , + 0. , 0. , 1. , 0. ] \ No newline at end of file diff --git a/crazyflie/src/image_streamer.py b/crazyflie/src/image_streamer.py index 204d824eb..6f831895e 100644 --- a/crazyflie/src/image_streamer.py +++ b/crazyflie/src/image_streamer.py @@ -19,7 +19,7 @@ def __init__(self): # declare topic names self.declare_parameter( name="image_topic", - value="/camera/image", + value="/image", descriptor=ParameterDescriptor( type=ParameterType.PARAMETER_STRING, description="Image topic to publish to.", @@ -61,9 +61,6 @@ def __init__(self): self.image_publisher = self.create_publisher(Image, image_topic, 10) self.info_publisher = self.create_publisher(CameraInfo, info_topic, 10) - # TODO: just for testing, needs to be moved - self.info_publisher.publish(self.camera_info_msg) - # set up connection to AI Deck deck_ip = "192.168.4.1" deck_port = 5000 From 6d1495b659278836f2524ff276e9779ee8a995fa Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 7 Feb 2024 16:39:12 +0100 Subject: [PATCH 085/162] server cpp: improve handling of crashed CF When connecting two CFs and turning on off, the unicast connection of the other one essentially froze. There were two reasons: 1.) Division by zero caused a crash; 2.) The crazyflie_link_cpp essentially starved one connection. Fixes #419. --- crazyflie/deps/crazyflie_tools | 2 +- crazyflie/src/crazyflie_server.cpp | 8 +++++--- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index 36ea3d401..4b6255529 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit 36ea3d40161db8f580dbb8846789bc036a2ccedd +Subproject commit 4b6255529698e421f802b020eabeafd63b14be66 diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index 4a71e0245..07734ed32 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -828,9 +828,11 @@ class CrazyflieROS } auto stats = cf_.connectionStatsDelta(); - float ack_rate = stats.sent_count / stats.ack_count; - if (ack_rate < min_ack_rate_) { - RCLCPP_WARN(logger_, "Ack rate: %.1f %%", ack_rate * 100); + if (stats.ack_count > 0) { + float ack_rate = stats.sent_count / stats.ack_count; + if (ack_rate < min_ack_rate_) { + RCLCPP_WARN(logger_, "Ack rate: %.1f %%", name_.c_str(), ack_rate * 100); + } } if (publish_stats_) { From 6762111d07b8090dbbd76175d11030b4d1e36ca1 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 7 Feb 2024 16:41:25 +0100 Subject: [PATCH 086/162] update submodule --- crazyflie/deps/crazyflie_tools | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index 4b6255529..0ad0c3d79 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit 4b6255529698e421f802b020eabeafd63b14be66 +Subproject commit 0ad0c3d791e2220d5ca832bd6d7f8a2fd3d5149f From fcb287a75f376fa7614003ddbee67562d4be6e63 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 7 Feb 2024 16:43:07 +0100 Subject: [PATCH 087/162] update submodule --- crazyflie/deps/crazyflie_tools | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index 0ad0c3d79..32218e742 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit 0ad0c3d791e2220d5ca832bd6d7f8a2fd3d5149f +Subproject commit 32218e7429651a681edf573d2ec24006fb07591e From b3271b992670b84ea63454cc69b791335f9e3979 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 7 Feb 2024 17:00:55 +0100 Subject: [PATCH 088/162] fix regression caused by augmenting cf_dict to contain "all" --- crazyflie/scripts/crazyflie_server.py | 32 ++++++++++++++------------- 1 file changed, 17 insertions(+), 15 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index ac7882d15..a38dd6808 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -364,7 +364,8 @@ def _fully_connected(self, link_uri): self.swarm.fully_connected_crazyflie_cnt += 1 - if self.swarm.fully_connected_crazyflie_cnt == len(self.cf_dict): + # use len(self.cf_dict) - 1, since cf_dict contains "all" as well + if self.swarm.fully_connected_crazyflie_cnt == len(self.cf_dict) - 1: self.get_logger().info("All Crazyflies are fully connected!") self._init_parameters() self._init_logging() @@ -707,38 +708,39 @@ def _parameters_callback(self, params): for param in params: param_split = param.name.split(".") - if param_split[0] in self.cf_dict.values(): - cf_name = param_split[0] + if param_split[0] == "all": if param_split[1] == "params": name_param = param_split[2] + "." + param_split[3] try: - self.swarm._cfs[self.uri_dict[cf_name]].cf.param.set_value( - name_param, param.value - ) + for link_uri in self.uris: + cf = self.swarm._cfs[link_uri].cf.param.set_value( + name_param, param.value + ) self.get_logger().info( - f"[{self.uri_dict[cf_name]}] {name_param} is set to {param.value}" + f"[{self.cf_dict[link_uri]}] {name_param} is set to {param.value}" ) return SetParametersResult(successful=True) except Exception as e: self.get_logger().info(str(e)) return SetParametersResult(successful=False) - if param_split[1] == "logs": - return SetParametersResult(successful=True) - elif param_split[0] == "all": + elif param_split[0] in self.cf_dict.values(): + cf_name = param_split[0] if param_split[1] == "params": name_param = param_split[2] + "." + param_split[3] try: - for link_uri in self.uris: - cf = self.swarm._cfs[link_uri].cf.param.set_value( - name_param, param.value - ) + self.swarm._cfs[self.uri_dict[cf_name]].cf.param.set_value( + name_param, param.value + ) self.get_logger().info( - f"[{self.cf_dict[link_uri]}] {name_param} is set to {param.value}" + f"[{self.uri_dict[cf_name]}] {name_param} is set to {param.value}" ) return SetParametersResult(successful=True) except Exception as e: self.get_logger().info(str(e)) return SetParametersResult(successful=False) + if param_split[1] == "logs": + return SetParametersResult(successful=True) + return SetParametersResult(successful=False) From 6b14385737483b51d6f52cc552402e7a06a488cb Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 8 Feb 2024 21:34:53 +0100 Subject: [PATCH 089/162] do not launch gui automatically --- crazyflie/launch/launch.py | 9 --------- 1 file changed, 9 deletions(-) diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index 624ae65fd..8a9290c11 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -134,13 +134,4 @@ def generate_launch_description(): "use_sim_time": True, }] ), - Node( - package='crazyflie', - executable='gui.py', - name='gui', - output='screen', - parameters=[{ - "use_sim_time": True, - }] - ), ]) From 62fc28f4ddb996a1983cf93942a3dcf928f1bd1d Mon Sep 17 00:00:00 2001 From: phanfeld Date: Fri, 9 Feb 2024 12:29:50 +0100 Subject: [PATCH 090/162] loading all parameters from config file --- crazyflie/CMakeLists.txt | 1 + ...amera_config.yaml => aideck_streamer.yaml} | 4 ++ .../aideck_streamer.py} | 64 +++++++++++-------- 3 files changed, 44 insertions(+), 25 deletions(-) rename crazyflie/config/{camera_config.yaml => aideck_streamer.yaml} (86%) rename crazyflie/{src/image_streamer.py => scripts/aideck_streamer.py} (79%) diff --git a/crazyflie/CMakeLists.txt b/crazyflie/CMakeLists.txt index c8899cfbe..de8eaf697 100644 --- a/crazyflie/CMakeLists.txt +++ b/crazyflie/CMakeLists.txt @@ -109,6 +109,7 @@ install(PROGRAMS scripts/vel_mux.py scripts/cfmult.py scripts/simple_mapper_multiranger.py + scripts/aideck_streamer.py DESTINATION lib/${PROJECT_NAME} ) diff --git a/crazyflie/config/camera_config.yaml b/crazyflie/config/aideck_streamer.yaml similarity index 86% rename from crazyflie/config/camera_config.yaml rename to crazyflie/config/aideck_streamer.yaml index 69527384f..280ba9163 100644 --- a/crazyflie/config/camera_config.yaml +++ b/crazyflie/config/aideck_streamer.yaml @@ -1,3 +1,7 @@ +image_topic: /camera/image +camera_info_topic: /camera/camera_info +deck_ip: "192.168.4.1" +deck_port: 5000 image_width: 324 image_height: 324 camera_name: crazyflie diff --git a/crazyflie/src/image_streamer.py b/crazyflie/scripts/aideck_streamer.py similarity index 79% rename from crazyflie/src/image_streamer.py rename to crazyflie/scripts/aideck_streamer.py index 6f831895e..c97df2960 100644 --- a/crazyflie/src/image_streamer.py +++ b/crazyflie/scripts/aideck_streamer.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import socket,os,struct, time import numpy as np import cv2 @@ -12,14 +13,28 @@ from rcl_interfaces.msg import ParameterDescriptor, ParameterType -class ImageNode(rclpy.node.Node): +class ImageStreamerNode(Node): def __init__(self): super().__init__("image_node") + # declare config path parameter + self.declare_parameter( + name="config_path", + value=os.path.join( + get_package_share_directory('crazyflie'), + 'config', + 'aideck_streamer.yaml' + ) + ) + + config_path = self.get_parameter("config_path").value + with open(config_path) as f: + config = yaml.load(f, Loader=yaml.FullLoader) + # declare topic names self.declare_parameter( name="image_topic", - value="/image", + value=config["image_topic"], descriptor=ParameterDescriptor( type=ParameterType.PARAMETER_STRING, description="Image topic to publish to.", @@ -28,46 +43,49 @@ def __init__(self): self.declare_parameter( name="camera_info_topic", - value="/camera/camera_info", + value=config["camera_info_topic"], descriptor=ParameterDescriptor( type=ParameterType.PARAMETER_STRING, description="Camera info topic to subscribe to.", ), ) - # update topic names from config + # declare aideck ip and port + self.declare_parameter( + name='deck_ip', + value=config['deck_ip'], + ) + + self.declare_parameter( + name='deck_port', + value=config['deck_port'], + ) + + # define variables from ros2 parameters image_topic = ( - self.get_parameter("image_topic").get_parameter_value().string_value + self.get_parameter("image_topic").value ) self.get_logger().info(f"Image topic: {image_topic}") info_topic = ( - self.get_parameter("camera_info_topic").get_parameter_value().string_value + self.get_parameter("camera_info_topic").value ) self.get_logger().info(f"Image info topic: {info_topic}") - - # load camera parameters from yaml - # TODO: could possibly be done in the same way as with the other parameters - config_path = os.path.join( - get_package_share_directory('crazyflie'), - 'config', - 'camera_config.yaml' - ) # create messages and publishers self.image_msg = Image() - self.camera_info_msg = self._construct_from_yaml(config_path) + self.camera_info_msg = self._construct_from_yaml(config) self.image_publisher = self.create_publisher(Image, image_topic, 10) self.info_publisher = self.create_publisher(CameraInfo, info_topic, 10) # set up connection to AI Deck - deck_ip = "192.168.4.1" - deck_port = 5000 - print("Connecting to socket on {}:{}...".format(deck_ip, deck_port)) + deck_ip = self.get_parameter("deck_ip").value + deck_port = int(self.get_parameter("deck_port").value) + self.get_logger().info("Connecting to socket on {}:{}...".format(deck_ip, deck_port)) self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.client_socket.connect((deck_ip, deck_port)) - print("Socket connected") + self.get_logger().info("Socket connected") self.image = None self.rx_buffer = bytearray() @@ -77,10 +95,8 @@ def __init__(self): self.tx_timer = self.create_timer(timer_period, self.publish_callback) - def _construct_from_yaml(self, path): + def _construct_from_yaml(self, config): camera_info = CameraInfo() - with open(path) as f: - config = yaml.load(f, Loader=yaml.FullLoader) camera_info.header.frame_id = config['camera_name'] camera_info.header.stamp = self.get_clock().now().to_msg() @@ -122,8 +138,6 @@ def receive_callback(self): raw_img = np.frombuffer(imgStream, dtype=np.uint8) raw_img.shape = (width, height) self.image = cv2.cvtColor(raw_img, cv2.COLOR_BayerBG2RGBA) - # else: # otherwise set image to None again - # self.image = None def publish_callback(self): if self.image is not None: @@ -146,7 +160,7 @@ def publish_callback(self): def main(args=None): rclpy.init(args=args) - node = ImageNode() + node = ImageStreamerNode() rclpy.spin(node) node.destroy_node() From 172938185a506b0271e2420d36f4630980a3e024 Mon Sep 17 00:00:00 2001 From: phanfeld Date: Fri, 9 Feb 2024 13:31:37 +0100 Subject: [PATCH 091/162] script needs to be executable --- crazyflie/scripts/aideck_streamer.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 crazyflie/scripts/aideck_streamer.py diff --git a/crazyflie/scripts/aideck_streamer.py b/crazyflie/scripts/aideck_streamer.py old mode 100644 new mode 100755 From 668c8d9dcf466559bf67ae055aef09c30bdd8042 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Fri, 9 Feb 2024 14:25:45 +0100 Subject: [PATCH 092/162] server [all]: offer all/emergency service last as a "finished" indicator * In all backends, move the service announcement of all/emergency to be the last service * Add logic to wait for the server in gui.py * Enable gui.py by default and disable rviz by default --- crazyflie/launch/launch.py | 10 ++++ crazyflie/scripts/crazyflie_server.py | 18 +++--- crazyflie/scripts/gui.py | 57 +++++++++++++++---- crazyflie/src/crazyflie_server.cpp | 27 ++++----- crazyflie_py/crazyflie_py/crazyflie.py | 2 + .../crazyflie_sim/crazyflie_server.py | 20 ++++--- 6 files changed, 93 insertions(+), 41 deletions(-) diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index 8a9290c11..7676e175d 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -71,6 +71,8 @@ def generate_launch_description(): return LaunchDescription([ DeclareLaunchArgument('backend', default_value='cpp'), DeclareLaunchArgument('debug', default_value='False'), + DeclareLaunchArgument('rviz', default_value='False'), + DeclareLaunchArgument('gui', default_value='True'), Node( package='motion_capture_tracking', executable='motion_capture_tracking_node', @@ -125,6 +127,7 @@ def generate_launch_description(): parameters=server_params ), Node( + condition=LaunchConfigurationEquals('rviz', 'True'), package='rviz2', namespace='', executable='rviz2', @@ -134,4 +137,11 @@ def generate_launch_description(): "use_sim_time": True, }] ), + Node( + condition=LaunchConfigurationEquals('gui', 'True'), + package='crazyflie', + namespace='', + executable='gui.py', + name='gui', + ), ]) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index a38dd6808..90c476313 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -218,14 +218,6 @@ def __init__(self): " or if your script have proper access to a Crazyradio PA") exit() - # Create services for the entire swarm and each individual crazyflie - self.create_service(Empty, "all/emergency", self._emergency_callback) - self.create_service(Takeoff, "all/takeoff", self._takeoff_callback) - self.create_service(Land, "all/land", self._land_callback) - self.create_service(GoTo, "all/go_to", self._go_to_callback) - self.create_service( - StartTrajectory, "all/start_trajectory", self._start_trajectory_callback) - for uri in self.cf_dict: if uri == "all": continue @@ -294,6 +286,16 @@ def __init__(self): self._poses_changed, qos_profile ) + # Create services for the entire swarm and each individual crazyflie + self.create_service(Takeoff, "all/takeoff", self._takeoff_callback) + self.create_service(Land, "all/land", self._land_callback) + self.create_service(GoTo, "all/go_to", self._go_to_callback) + self.create_service( + StartTrajectory, "all/start_trajectory", self._start_trajectory_callback) + + # This is the last service to announce and can be used to check if the server is fully available + self.create_service(Empty, "all/emergency", self._emergency_callback) + def _init_default_logblocks(self, prefix, link_uri, list_logvar, global_logging_enabled, topic_type): """ Prepare default logblocks as defined in crazyflies.yaml diff --git a/crazyflie/scripts/gui.py b/crazyflie/scripts/gui.py index 9a7d4b9e5..086d6d315 100755 --- a/crazyflie/scripts/gui.py +++ b/crazyflie/scripts/gui.py @@ -6,6 +6,7 @@ from functools import partial import rclpy +from std_srvs.srv import Empty from geometry_msgs.msg import Twist from rcl_interfaces.msg import Log from rclpy.executors import ExternalShutdownException @@ -18,7 +19,7 @@ from crazyflie_interfaces.msg import Status import rowan -from nicegui import Client, app, events, ui, ui_run +from nicegui import Client, app, events, ui, ui_run, Tailwind class NiceGuiNode(Node): @@ -26,6 +27,10 @@ class NiceGuiNode(Node): def __init__(self) -> None: super().__init__('nicegui') + # wait until the crazyflie_server is up and running + self.emergencyService = self.create_client(Empty, 'all/emergency') + self.emergencyService.wait_for_service() + # find all crazyflies self.cfnames = [] for srv_name, srv_types in self.get_service_names_and_types(): @@ -49,6 +54,9 @@ def __init__(self) -> None: self.radio_labels = dict() self.robotmodels = dict() + self.normal_style = Tailwind().text_color('black').font_weight('normal') + self.red_style = Tailwind().text_color('red-600').font_weight('bold') + with Client.auto_index_client: with ui.row().classes('items-stretch'): @@ -60,7 +68,11 @@ def __init__(self) -> None: self.robotmodels[name] = robot # augment with some additional fields robot.status_ok = False + robot.battery_ok = False robot.status_watchdog = time.time() + robot.supervisor_text = "" + robot.battery_text = "" + robot.radio_text = "" scene.camera.x = 0 scene.camera.y = -1 scene.camera.z = 2 @@ -111,7 +123,8 @@ def on_rosout(self, msg: Log) -> None: def on_timer(self) -> None: for name, robotmodel in self.robotmodels.items(): ros_time = rclpy.time.Time() # get the latest - robot_status_ok = robotmodel.status_ok + robot_status_ok = robotmodel.status_ok and robotmodel.battery_ok + robot_status_text = "" if self.tf_buffer.can_transform("world", name, ros_time): t = self.tf_buffer.lookup_transform( "world", @@ -122,6 +135,7 @@ def on_timer(self) -> None: # latest transform is older than a second indicates a problem if transform_age.nanoseconds * 1e-9 > 1: robot_status_ok = False + robot_status_text += "old transform; " else: pos = t.transform.translation robotmodel.move(pos.x, pos.y, pos.z) @@ -133,10 +147,20 @@ def on_timer(self) -> None: else: # no available transform indicates a problem robot_status_ok = False + robot_status_text += "unavailable transform; " # no status update for a while, indicate a problem if time.time() - robotmodel.status_watchdog > 2.0: robot_status_ok = False + robot_status_text += "no recent status update; " + + self.supervisor_labels[name].set_text(robot_status_text) + self.battery_labels[name].set_text("N.A.") + self.radio_labels[name].set_text("N.A.") + else: + self.supervisor_labels[name].set_text(robot_status_text + robotmodel.supervisor_text) + self.battery_labels[name].set_text(robotmodel.battery_text) + self.radio_labels[name].set_text(robotmodel.radio_text) # any issues detected -> mark red, otherwise green if robot_status_ok: @@ -144,6 +168,11 @@ def on_timer(self) -> None: else: robotmodel.material('#ff0000') + if robotmodel.battery_ok: + self.normal_style.apply(self.battery_labels[name]) + else: + self.red_style.apply(self.battery_labels[name]) + def on_vis_click(self, e: events.SceneClickEventArguments): hit = e.hits[0] name = hit.object_name or hit.object_id @@ -155,6 +184,7 @@ def on_vis_click(self, e: events.SceneClickEventArguments): def on_status(self, msg, name) -> None: status_ok = True + is_flying = False supervisor_text = "" if msg.supervisor_info & Status.SUPERVISOR_INFO_CAN_BE_ARMED: supervisor_text += "can be armed; " @@ -166,17 +196,21 @@ def on_status(self, msg, name) -> None: supervisor_text += "can fly; " if msg.supervisor_info & Status.SUPERVISOR_INFO_IS_FLYING: supervisor_text += "is flying; " + is_flying = True if msg.supervisor_info & Status.SUPERVISOR_INFO_IS_TUMBLED: - supervisor_text += "is tumpled; " + supervisor_text += "is tumbled; " status_ok = False if msg.supervisor_info & Status.SUPERVISOR_INFO_IS_LOCKED: supervisor_text += "is locked; " status_ok = False - self.supervisor_labels[name].set_text(supervisor_text) + self.robotmodels[name].supervisor_text = supervisor_text battery_text = f'{msg.battery_voltage:.2f} V' - if msg.battery_voltage < 3.8: - status_ok = False + battery_ok = True + # TODO (WH): We could read the voltage limits from the firmware (parameter) or crazyflies.yaml + # In the firmware, anything below 3.2 is warning, anything below 3.0 is critical + if (is_flying and msg.battery_voltage < 3.2) or (not is_flying and msg.battery_voltage < 3.8): + battery_ok = False if msg.pm_state == Status.PM_STATE_BATTERY: battery_text += " (on battery)" elif msg.pm_state == Status.PM_STATE_CHARGING: @@ -185,17 +219,18 @@ def on_status(self, msg, name) -> None: battery_text += " (charged)" elif msg.pm_state == Status.PM_STATE_LOW_POWER: battery_text += " (low power)" - status_ok = False + battery_ok = False elif msg.pm_state == Status.PM_STATE_SHUTDOWN: battery_text += " (shutdown)" - status_ok = False - self.battery_labels[name].set_text(battery_text) - + battery_ok = False + self.robotmodels[name].battery_text = battery_text + radio_text = f'{msg.rssi} dBm; Unicast: {msg.num_rx_unicast} / {msg.num_tx_unicast}; Broadcast: {msg.num_rx_broadcast} / {msg.num_tx_broadcast}' - self.radio_labels[name].set_text(radio_text) + self.robotmodels[name].radio_text = radio_text # save status here self.robotmodels[name].status_ok = status_ok + self.robotmodels[name].battery_ok = battery_ok # store the time when we last received any status self.robotmodels[name].status_watchdog = time.time() diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index b4e7e65ea..2e3688778 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -957,19 +957,6 @@ class CrazyflieServer : public rclcpp::Node callback_group_cf_srv_ = this->create_callback_group( rclcpp::CallbackGroupType::MutuallyExclusive); - // topics for "all" - subscription_cmd_full_state_ = this->create_subscription("all/cmd_full_state", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieServer::cmd_full_state_changed, this, _1), sub_opt_all_cmd); - - // services for "all" - auto service_qos = rmw_qos_profile_services_default; - - service_emergency_ = this->create_service("all/emergency", std::bind(&CrazyflieServer::emergency, this, _1, _2), service_qos, callback_group_all_srv_); - service_start_trajectory_ = this->create_service("all/start_trajectory", std::bind(&CrazyflieServer::start_trajectory, this, _1, _2), service_qos, callback_group_all_srv_); - service_takeoff_ = this->create_service("all/takeoff", std::bind(&CrazyflieServer::takeoff, this, _1, _2), service_qos, callback_group_all_srv_); - service_land_ = this->create_service("all/land", std::bind(&CrazyflieServer::land, this, _1, _2), service_qos, callback_group_all_srv_); - service_go_to_ = this->create_service("all/go_to", std::bind(&CrazyflieServer::go_to, this, _1, _2), service_qos, callback_group_all_srv_); - service_notify_setpoints_stop_ = this->create_service("all/notify_setpoints_stop", std::bind(&CrazyflieServer::notify_setpoints_stop, this, _1, _2), service_qos, callback_group_all_srv_); - // declare global params this->declare_parameter("all.broadcasts.num_repeats", 15); this->declare_parameter("all.broadcasts.delay_between_repeats_ms", 1); @@ -1070,6 +1057,20 @@ class CrazyflieServer : public rclcpp::Node param_subscriber_ = std::make_shared(this); cb_handle_ = param_subscriber_->add_parameter_event_callback(std::bind(&CrazyflieServer::on_parameter_event, this, _1)); + // topics for "all" + subscription_cmd_full_state_ = this->create_subscription("all/cmd_full_state", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieServer::cmd_full_state_changed, this, _1), sub_opt_all_cmd); + + // services for "all" + auto service_qos = rmw_qos_profile_services_default; + + service_start_trajectory_ = this->create_service("all/start_trajectory", std::bind(&CrazyflieServer::start_trajectory, this, _1, _2), service_qos, callback_group_all_srv_); + service_takeoff_ = this->create_service("all/takeoff", std::bind(&CrazyflieServer::takeoff, this, _1, _2), service_qos, callback_group_all_srv_); + service_land_ = this->create_service("all/land", std::bind(&CrazyflieServer::land, this, _1, _2), service_qos, callback_group_all_srv_); + service_go_to_ = this->create_service("all/go_to", std::bind(&CrazyflieServer::go_to, this, _1, _2), service_qos, callback_group_all_srv_); + service_notify_setpoints_stop_ = this->create_service("all/notify_setpoints_stop", std::bind(&CrazyflieServer::notify_setpoints_stop, this, _1, _2), service_qos, callback_group_all_srv_); + + // This is the last service to announce and can be used to check if the server is fully available + service_emergency_ = this->create_service("all/emergency", std::bind(&CrazyflieServer::emergency, this, _1, _2), service_qos, callback_group_all_srv_); } diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index bbb7cbf2f..30c50dd27 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -717,6 +717,8 @@ class CrazyflieServer(rclpy.node.Node): def __init__(self): """Initialize the server. Waits for all ROS services before returning.""" super().__init__('CrazyflieAPI') + + # wait for server to be fully started self.emergencyService = self.create_client(Empty, 'all/emergency') self.emergencyService.wait_for_service() diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_server.py b/crazyflie_sim/crazyflie_sim/crazyflie_server.py index 93dd698da..f34c556ef 100755 --- a/crazyflie_sim/crazyflie_sim/crazyflie_server.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_server.py @@ -91,15 +91,6 @@ def __init__(self): controller_name, self.backend.time) - # Create services for the entire swarm and each individual crazyflie - self.create_service(Empty, 'all/emergency', self._emergency_callback) - self.create_service(Takeoff, 'all/takeoff', self._takeoff_callback) - self.create_service(Land, 'all/land', self._land_callback) - self.create_service(GoTo, 'all/go_to', self._go_to_callback) - self.create_service(StartTrajectory, - 'all/start_trajectory', - self._start_trajectory_callback) - for name, _ in self.cfs.items(): pub = self.create_publisher( String, @@ -166,6 +157,17 @@ def __init__(self): 10 ) + # Create services for the entire swarm and each individual crazyflie + self.create_service(Takeoff, 'all/takeoff', self._takeoff_callback) + self.create_service(Land, 'all/land', self._land_callback) + self.create_service(GoTo, 'all/go_to', self._go_to_callback) + self.create_service(StartTrajectory, + 'all/start_trajectory', + self._start_trajectory_callback) + + # This is the last service to announce and can be used to check if the server is fully available + self.create_service(Empty, 'all/emergency', self._emergency_callback) + # step as fast as possible max_dt = 0.0 if 'max_dt' not in self._ros_parameters['sim'] \ else self._ros_parameters['sim']['max_dt'] From efe3ccb32d0bc9099b518b2c8d2524b19a3bc424 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Fri, 9 Feb 2024 14:26:59 +0100 Subject: [PATCH 093/162] enable simulation systemtests on all PRs --- .github/workflows/systemtests_sim.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/systemtests_sim.yml b/.github/workflows/systemtests_sim.yml index e30cd8fc7..75a84d912 100644 --- a/.github/workflows/systemtests_sim.yml +++ b/.github/workflows/systemtests_sim.yml @@ -2,7 +2,9 @@ name: System Tests Simulation on: push: - branches: [ "main", "feature-systemtests-sim-fixed-timestamp" ] + branches: [ main ] + pull_request: + branches: [ main ] # manual trigger workflow_dispatch: From 369075789f4cdd02f328fcd84b2953c486292943 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Fri, 9 Feb 2024 15:07:22 +0100 Subject: [PATCH 094/162] fix flake8 --- crazyflie_sim/crazyflie_sim/crazyflie_server.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_server.py b/crazyflie_sim/crazyflie_sim/crazyflie_server.py index f34c556ef..00ddfc33b 100755 --- a/crazyflie_sim/crazyflie_sim/crazyflie_server.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_server.py @@ -165,7 +165,8 @@ def __init__(self): 'all/start_trajectory', self._start_trajectory_callback) - # This is the last service to announce and can be used to check if the server is fully available + # This is the last service to announce. + # Can be used to check if the server is fully available. self.create_service(Empty, 'all/emergency', self._emergency_callback) # step as fast as possible From 034c4d2d770aef1a85eac26dd6582c1597346b57 Mon Sep 17 00:00:00 2001 From: ben-jarvis Date: Mon, 19 Feb 2024 17:33:19 +0100 Subject: [PATCH 095/162] Fix odom logging vz typo --- crazyflie/scripts/crazyflie_server.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index 90c476313..b47c636af 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -543,7 +543,7 @@ def _log_odom_data_callback(self, timestamp, data, logconf, uri): pitch = radians(data.get('stabilizer.pitch')) vx = data.get('kalman.statePX') vy = data.get('kalman.statePY') - vz = data.get('kalman.statePY') + vz = data.get('kalman.statePZ') yawrate = data.get('gyro.z') rollrate = data.get('gyro.x') pitchrate = data.get('gyro.y') From c29f0e16fd48eb8669442c901ca48db295bbe431 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 21 Feb 2024 07:19:09 +0100 Subject: [PATCH 096/162] Docs: hint to explicitly build in release mode See also https://github.com/colcon/colcon-cmake/issues/96 --- .github/workflows/systemtests.yml | 2 +- .github/workflows/systemtests_sim.yml | 2 +- docs2/installation.rst | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/systemtests.yml b/.github/workflows/systemtests.yml index 1cae1631a..dc2d7f34d 100644 --- a/.github/workflows/systemtests.yml +++ b/.github/workflows/systemtests.yml @@ -30,7 +30,7 @@ jobs: run: | source /opt/ros/humble/setup.bash cd ros2_ws - colcon build --symlink-install + colcon build --symlink-install -DCMAKE_BUILD_TYPE=Release - name: Flight test id: step5 diff --git a/.github/workflows/systemtests_sim.yml b/.github/workflows/systemtests_sim.yml index 75a84d912..4ef5f583e 100644 --- a/.github/workflows/systemtests_sim.yml +++ b/.github/workflows/systemtests_sim.yml @@ -48,7 +48,7 @@ jobs: run: | source /opt/ros/humble/setup.bash cd ros2_ws - colcon build --symlink-install + colcon build --symlink-install -DCMAKE_BUILD_TYPE=Release - name: Flight test id: step6 diff --git a/docs2/installation.rst b/docs2/installation.rst index 325bb73f0..72bd74f8a 100644 --- a/docs2/installation.rst +++ b/docs2/installation.rst @@ -51,7 +51,7 @@ First Installation .. code-block:: bash cd ../ - colcon build --symlink-install + colcon build --symlink-install -DCMAKE_BUILD_TYPE=Release .. note:: symlink-install allows you to edit Python and config files without running `colcon build` every time. @@ -99,7 +99,7 @@ You can update your local copy using the following commands: git submodule sync git submodule update --init --recursive cd ../../ - colcon build --symlink-install + colcon build --symlink-install -DCMAKE_BUILD_TYPE=Release .. Once you have completed installation, From 0e15e749dfacd50aad8ddac0d86a038329345b31 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 21 Feb 2024 08:53:39 +0100 Subject: [PATCH 097/162] fix typo --- .github/workflows/systemtests.yml | 2 +- .github/workflows/systemtests_sim.yml | 2 +- docs2/installation.rst | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/systemtests.yml b/.github/workflows/systemtests.yml index dc2d7f34d..68f851ef5 100644 --- a/.github/workflows/systemtests.yml +++ b/.github/workflows/systemtests.yml @@ -30,7 +30,7 @@ jobs: run: | source /opt/ros/humble/setup.bash cd ros2_ws - colcon build --symlink-install -DCMAKE_BUILD_TYPE=Release + colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release - name: Flight test id: step5 diff --git a/.github/workflows/systemtests_sim.yml b/.github/workflows/systemtests_sim.yml index 4ef5f583e..439c4ad17 100644 --- a/.github/workflows/systemtests_sim.yml +++ b/.github/workflows/systemtests_sim.yml @@ -48,7 +48,7 @@ jobs: run: | source /opt/ros/humble/setup.bash cd ros2_ws - colcon build --symlink-install -DCMAKE_BUILD_TYPE=Release + colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release - name: Flight test id: step6 diff --git a/docs2/installation.rst b/docs2/installation.rst index 72bd74f8a..d9cf15381 100644 --- a/docs2/installation.rst +++ b/docs2/installation.rst @@ -51,7 +51,7 @@ First Installation .. code-block:: bash cd ../ - colcon build --symlink-install -DCMAKE_BUILD_TYPE=Release + colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release .. note:: symlink-install allows you to edit Python and config files without running `colcon build` every time. @@ -99,7 +99,7 @@ You can update your local copy using the following commands: git submodule sync git submodule update --init --recursive cd ../../ - colcon build --symlink-install -DCMAKE_BUILD_TYPE=Release + colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release .. Once you have completed installation, From 4bbe8ce98ad5ca291cfcd5a9184233242b09bae9 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sat, 24 Feb 2024 23:23:51 +0100 Subject: [PATCH 098/162] dynamically update use_sim_time, depending on backend Fixes #438 --- crazyflie/launch/launch.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index 7676e175d..bd958cd10 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -134,7 +134,7 @@ def generate_launch_description(): name='rviz2', arguments=['-d' + os.path.join(get_package_share_directory('crazyflie'), 'config', 'config.rviz')], parameters=[{ - "use_sim_time": True, + "use_sim_time": PythonExpression(["'", LaunchConfiguration('backend'), "' == 'sim'"]), }] ), Node( @@ -143,5 +143,8 @@ def generate_launch_description(): namespace='', executable='gui.py', name='gui', + parameters=[{ + "use_sim_time": PythonExpression(["'", LaunchConfiguration('backend'), "' == 'sim'"]), + }] ), ]) From dc7491e6bb85b34a74329e1966318aad9b3e6bd0 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Sun, 25 Feb 2024 22:00:43 +0100 Subject: [PATCH 099/162] crazyflie_examples: add launch.py --- crazyflie_examples/launch/launch.py | 50 +++++++++++++++++++++++++++++ docs2/usage.rst | 12 +++++++ 2 files changed, 62 insertions(+) create mode 100644 crazyflie_examples/launch/launch.py diff --git a/crazyflie_examples/launch/launch.py b/crazyflie_examples/launch/launch.py new file mode 100644 index 000000000..2b2e82e82 --- /dev/null +++ b/crazyflie_examples/launch/launch.py @@ -0,0 +1,50 @@ +import os + +from ament_index_python.packages import get_package_share_directory + + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import Node + + +def generate_launch_description(): + script = LaunchConfiguration('script') + backend = LaunchConfiguration('backend') + + script_launch_arg = DeclareLaunchArgument( + 'script' + ) + + backend_launch_arg = DeclareLaunchArgument( + 'backend', + default_value='cpp' + ) + + crazyflie = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('crazyflie'), 'launch'), + '/launch.py']), + launch_arguments={ + 'backend': backend, + }.items() + ) + + example_node = Node( + package='crazyflie_examples', + executable=script, + name=script, + parameters=[{ + 'use_sim_time': PythonExpression(["'", backend, "' == 'sim'"]), + }] + ) + + return LaunchDescription([ + script_launch_arg, + backend_launch_arg, + crazyflie, + example_node + ]) diff --git a/docs2/usage.rst b/docs2/usage.rst index 52117f0ae..74caf33d9 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -127,6 +127,12 @@ The configuration of the simulation (physics simulator, controller, etc.) can be Example: +.. code-block:: bash + + [terminal]$ ros2 launch crazyflie_examples launch.py script:=hello_world backend:=sim + +which is a short-hand for the following two commands: + .. code-block:: bash [terminal1]$ ros2 launch crazyflie launch.py backend:=sim @@ -156,6 +162,12 @@ You may run the script multiple times or different scripts while leaving the ser [terminal1]$ ros2 launch crazyflie launch.py [terminal2]$ ros2 run crazyflie_examples hello_world +If you only want to run a single script once, you can also use: + +.. code-block:: bash + + [terminal]$ ros2 launch crazyflie_examples launch.py script:=hello_world + Swarm Management ---------------- From d3a2ea85cca7233c7f124522a6720d20dd1967a6 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 6 Mar 2024 21:04:14 +0100 Subject: [PATCH 100/162] add latency to status --- crazyflie/scripts/gui.py | 2 +- crazyflie/src/crazyflie_server.cpp | 4 ++++ crazyflie_interfaces/msg/Status.msg | 1 + 3 files changed, 6 insertions(+), 1 deletion(-) diff --git a/crazyflie/scripts/gui.py b/crazyflie/scripts/gui.py index 086d6d315..a0f221b71 100755 --- a/crazyflie/scripts/gui.py +++ b/crazyflie/scripts/gui.py @@ -225,7 +225,7 @@ def on_status(self, msg, name) -> None: battery_ok = False self.robotmodels[name].battery_text = battery_text - radio_text = f'{msg.rssi} dBm; Unicast: {msg.num_rx_unicast} / {msg.num_tx_unicast}; Broadcast: {msg.num_rx_broadcast} / {msg.num_tx_broadcast}' + radio_text = f'{msg.rssi} dBm; Unicast: {msg.num_rx_unicast} / {msg.num_tx_unicast}; Broadcast: {msg.num_rx_broadcast} / {msg.num_tx_broadcast}; Latency: {msg.latency_unicast} ms' self.robotmodels[name].radio_text = radio_text # save status here diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index de21f2544..98e964fa0 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -816,6 +816,8 @@ class CrazyflieROS msg.num_tx_broadcast = deltaTxBc; previous_stats_broadcast_ = statsBc; + msg.latency_unicast = last_latency_in_ms_; + publisher_status_->publish(msg); // warnings @@ -896,6 +898,7 @@ class CrazyflieROS RCLCPP_WARN(logger_, "[%s] Latency: %.1f ms", name_.c_str(), latency_in_us / 1000.0); } last_on_latency_ = std::chrono::steady_clock::now(); + last_latency_in_ms_ = (uint16_t)(latency_in_us / 1000.0); } private: @@ -949,6 +952,7 @@ class CrazyflieROS // link statistics rclcpp::TimerBase::SharedPtr link_statistics_timer_; std::chrono::time_point last_on_latency_; + uint16_t last_latency_in_ms_; float warning_freq_; float max_latency_; float min_ack_rate_; diff --git a/crazyflie_interfaces/msg/Status.msg b/crazyflie_interfaces/msg/Status.msg index d7c2f2352..61494cc13 100644 --- a/crazyflie_interfaces/msg/Status.msg +++ b/crazyflie_interfaces/msg/Status.msg @@ -29,3 +29,4 @@ uint32 num_rx_broadcast # number of received broadcast packets during the last uint32 num_tx_broadcast # number of broadcast packets sent during the last period uint32 num_rx_unicast # number of received unicast packets during the last period uint32 num_tx_unicast # number of unicast packets sent during the last period +uint16 latency_unicast # latency (in ms) for unicast packets From ec415695e3662e19ceb2f07c0242f0a792e8daf5 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 6 Mar 2024 21:04:43 +0100 Subject: [PATCH 101/162] launch.py: disable joystick teleop by default --- crazyflie/launch/launch.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index bd958cd10..f20f49550 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -87,11 +87,12 @@ def generate_launch_description(): name='teleop', remappings=[ ('emergency', 'all/emergency'), - ('takeoff', 'cf6/takeoff'), - ('land', 'cf6/land'), - ('cmd_vel_legacy', 'cf6/cmd_vel_legacy'), - ('cmd_full_state', 'cf6/cmd_full_state'), - ('notify_setpoints_stop', 'cf6/notify_setpoints_stop'), + ('takeoff', 'all/takeoff'), + ('land', 'all/land'), + # uncomment to manually control (and update teleop.yaml) + # ('cmd_vel_legacy', 'cf6/cmd_vel_legacy'), + # ('cmd_full_state', 'cf6/cmd_full_state'), + # ('notify_setpoints_stop', 'cf6/notify_setpoints_stop'), ], parameters=[teleop_params] ), From 6a9d1c396e8fa92bee7d2ade4855a9e422bd6da5 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Wed, 6 Mar 2024 21:05:07 +0100 Subject: [PATCH 102/162] server [cpp] log message improvements --- crazyflie/src/crazyflie_server.cpp | 22 +++++++++++++--------- 1 file changed, 13 insertions(+), 9 deletions(-) diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index 98e964fa0..a31a5e5e1 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -821,23 +821,23 @@ class CrazyflieROS publisher_status_->publish(msg); // warnings - if (msg.num_rx_unicast > msg.num_tx_unicast) { - RCLCPP_WARN(logger_, "Unexpected number of unicast packets. Sent: %d. Received: %d", msg.num_tx_unicast, msg.num_rx_unicast); + if (msg.num_rx_unicast > msg.num_tx_unicast * 1.05 /*allow some slack*/) { + RCLCPP_WARN(logger_, "[%s] Unexpected number of unicast packets. Sent: %d. Received: %d", name_.c_str(), msg.num_tx_unicast, msg.num_rx_unicast); } if (msg.num_tx_unicast > 0) { float unicast_receive_rate = msg.num_rx_unicast / (float)msg.num_tx_unicast; if (unicast_receive_rate < min_unicast_receive_rate_) { - RCLCPP_WARN(logger_, "Low unicast receive rate (%.2f < %.2f). Sent: %d. Received: %d", unicast_receive_rate, min_unicast_receive_rate_, msg.num_tx_unicast, msg.num_rx_unicast); + RCLCPP_WARN(logger_, "[%s] Low unicast receive rate (%.2f < %.2f). Sent: %d. Received: %d", name_.c_str(), unicast_receive_rate, min_unicast_receive_rate_, msg.num_tx_unicast, msg.num_rx_unicast); } } - if (msg.num_rx_broadcast > msg.num_tx_broadcast) { - RCLCPP_WARN(logger_, "Unexpected number of broadcast packets. Sent: %d. Received: %d", msg.num_tx_broadcast, msg.num_rx_broadcast); + if (msg.num_rx_broadcast > msg.num_tx_broadcast * 1.05 /*allow some slack*/) { + RCLCPP_WARN(logger_, "[%s] Unexpected number of broadcast packets. Sent: %d. Received: %d", name_.c_str(), msg.num_tx_broadcast, msg.num_rx_broadcast); } if (msg.num_tx_broadcast > 0) { float broadcast_receive_rate = msg.num_rx_broadcast / (float)msg.num_tx_broadcast; if (broadcast_receive_rate < min_broadcast_receive_rate_) { - RCLCPP_WARN(logger_, "Low broadcast receive rate (%.2f < %.2f). Sent: %d. Received: %d", broadcast_receive_rate, min_broadcast_receive_rate_, msg.num_tx_broadcast, msg.num_rx_broadcast); + RCLCPP_WARN(logger_, "[%s] Low broadcast receive rate (%.2f < %.2f). Sent: %d. Received: %d", name_.c_str(), broadcast_receive_rate, min_broadcast_receive_rate_, msg.num_tx_broadcast, msg.num_rx_broadcast); } } } @@ -871,7 +871,7 @@ class CrazyflieROS if (stats.ack_count > 0) { float ack_rate = stats.sent_count / stats.ack_count; if (ack_rate < min_ack_rate_) { - RCLCPP_WARN(logger_, "Ack rate: %.1f %%", name_.c_str(), ack_rate * 100); + RCLCPP_WARN(logger_, "[%s] Ack rate: %.1f %%", name_.c_str(), ack_rate * 100); } } @@ -895,7 +895,7 @@ class CrazyflieROS void on_latency(uint64_t latency_in_us) { if (latency_in_us / 1000.0 > max_latency_) { - RCLCPP_WARN(logger_, "[%s] Latency: %.1f ms", name_.c_str(), latency_in_us / 1000.0); + RCLCPP_WARN(logger_, "[%s] High latency: %.1f ms", name_.c_str(), latency_in_us / 1000.0); } last_on_latency_ = std::chrono::steady_clock::now(); last_latency_in_ms_ = (uint16_t)(latency_in_us / 1000.0); @@ -1361,11 +1361,15 @@ class CrazyflieServer : public rclcpp::Node // a) check if the rate was within specified bounds if (mocap_data_received_timepoints_.size() >= 2) { double mean_rate = 0; + double min_rate = std::numeric_limits::max(); + double max_rate = 0; int num_rates_wrong = 0; for (size_t i = 0; i < mocap_data_received_timepoints_.size() - 1; ++i) { std::chrono::duration diff = mocap_data_received_timepoints_[i+1] - mocap_data_received_timepoints_[i]; double rate = 1.0 / diff.count(); mean_rate += rate; + min_rate = std::min(min_rate, rate); + max_rate = std::max(max_rate, rate); if (rate <= mocap_min_rate_ || rate >= mocap_max_rate_) { num_rates_wrong++; } @@ -1373,7 +1377,7 @@ class CrazyflieServer : public rclcpp::Node mean_rate /= (mocap_data_received_timepoints_.size() - 1); if (num_rates_wrong > 0) { - RCLCPP_WARN(logger_, "[all] Motion capture rate off (#: %d, Avg: %.1f)", num_rates_wrong, mean_rate); + RCLCPP_WARN(logger_, "[all] Motion capture rate off (#: %d, Avg: %.1f, Min: %.1f, Max: %.1f)", num_rates_wrong, mean_rate, min_rate, max_rate); } } else if (mocap_enabled_) { // b) warn if no data was received From 1e8ef226cf47d5e72a7ee61cf3afbebd141a3a00 Mon Sep 17 00:00:00 2001 From: julienthevenoz <125280576+julienthevenoz@users.noreply.github.com> Date: Mon, 18 Mar 2024 12:17:59 +0100 Subject: [PATCH 103/162] Feature infinite flight (#444) * infinite flight example --- .../crazyflie_examples/infinite_flight.py | 89 +++++++++++++++++++ crazyflie_examples/setup.cfg | 1 + crazyflie_py/crazyflie_py/crazyflie.py | 35 +++++++- 3 files changed, 124 insertions(+), 1 deletion(-) create mode 100644 crazyflie_examples/crazyflie_examples/infinite_flight.py diff --git a/crazyflie_examples/crazyflie_examples/infinite_flight.py b/crazyflie_examples/crazyflie_examples/infinite_flight.py new file mode 100644 index 000000000..6aa94c6fb --- /dev/null +++ b/crazyflie_examples/crazyflie_examples/infinite_flight.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python + +from pathlib import Path + +from crazyflie_py import Crazyswarm +from crazyflie_py.uav_trajectory import Trajectory +import numpy as np + + +def main(): + swarm = Crazyswarm() + timeHelper = swarm.timeHelper + allcfs = swarm.allcfs + + traj1 = Trajectory() + traj1.loadcsv(Path(__file__).parent / 'data/figure8.csv') + + TIMESCALE = 1.0 + for cf in allcfs.crazyflies: + cf.uploadTrajectory(0, 0, traj1) + timeHelper.sleep(1) + + # pm_state : 0 = on battery 1 = charging 2 = charged 3 = low power 4 = shutdown + flight_counter = 1 + + while True: + print('takeoff') + allcfs.takeoff(targetHeight=1.0, duration=2.0) + timeHelper.sleep(2.5) + for cf in allcfs.crazyflies: + pos = np.array(cf.initialPosition) + np.array([0, 0, 1.0]) + cf.goTo(pos, 0, 2.0) + timeHelper.sleep(2.5) + + # fly figure8 until battery is low + fig8_counter = 0 + status = allcfs.crazyflies[0].get_status() + # while status['battery'] > 3.8: + while status['pm_state'] == 0: + fig8_counter += 1 + print(f'starting figure8 number {fig8_counter} of flight number {flight_counter}') + allcfs.startTrajectory(0, timescale=TIMESCALE) + timeHelper.sleep(traj1.duration * TIMESCALE + 2.0) + status = allcfs.crazyflies[0].get_status() + print(f'pm state : {status["pm_state"]}, battery left : {status["battery"]}') + timeHelper.sleep(1) + + # not sure if useful + # check if pm = 3 just to be sure, if not abort test + if status['pm_state'] != 3: + print(f'power state is not 3 (low) but {status["pm_state"]}. Landing and aborting') + allcfs.land(targetHeight=0.06, duration=2.0) + timeHelper.sleep(3) + return 1 + + # now that battery is low, we try to land on the pad and see if it's charging + allcfs.land(targetHeight=0.06, duration=2.0) + timeHelper.sleep(5) + status = allcfs.crazyflies[0].get_status() + + # if not charging, take off and land back again until it charges + while status['pm_state'] != 1: + print('Not charging, retrying') + allcfs.takeoff(targetHeight=1.0, duration=2.0) + timeHelper.sleep(2.5) + for cf in allcfs.crazyflies: + pos = np.array(cf.initialPosition) + np.array([0, 0, 1.0]) + cf.goTo(pos, 0, 2.0) + timeHelper.sleep(2.5) + allcfs.land(targetHeight=0.06, duration=2.0) + timeHelper.sleep(5) + status = allcfs.crazyflies[0].get_status() + + # now we wait until the crazyflie is charged + # while status['battery'] < 4.1: + while status['pm_state'] != 2: + print(f'Charging in progress, battery at {status["battery"]}V') + timeHelper.sleep(60) + status = allcfs.crazyflies[0].get_status() + # check if it's still charging ###not sure if this check is useful + if status['pm_state'] != 1: + print(f'charging interrupted, pm state : {status["pm_state"]}') + + print('Charging finished, time to fly again') + flight_counter += 1 + + +if __name__ == '__main__': + main() diff --git a/crazyflie_examples/setup.cfg b/crazyflie_examples/setup.cfg index 0c0238812..f387d09cf 100644 --- a/crazyflie_examples/setup.cfg +++ b/crazyflie_examples/setup.cfg @@ -8,3 +8,4 @@ console_scripts = cmd_full_state = crazyflie_examples.cmd_full_state:main set_param = crazyflie_examples.set_param:main swap = crazyflie_examples.swap:main + infinite_flight = crazyflie_examples.infinite_flight:main diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 30c50dd27..a1e39466d 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -14,7 +14,7 @@ # from .visualizer import visNull -from crazyflie_interfaces.msg import FullState, Position, TrajectoryPolynomialPiece +from crazyflie_interfaces.msg import FullState, Position, Status, TrajectoryPolynomialPiece from crazyflie_interfaces.srv import GoTo, Land,\ NotifySetpointsStop, StartTrajectory, Takeoff, UploadTrajectory from geometry_msgs.msg import Point @@ -136,6 +136,9 @@ def __init__(self, node, cfname, paramTypeDict): self.setParamsService = node.create_client( SetParameters, '/crazyflie_server/set_parameters') self.setParamsService.wait_for_service() + self.statusSubscriber = node.create_subscription( + Status, f'{self.prefix}/status', self.status_topic_callback, 10) + self.status = {} # Query some settings getParamsService = node.create_client(GetParameters, '/crazyflie_server/get_parameters') @@ -699,6 +702,36 @@ def cmdPosition(self, pos, yaw=0.): # self.setParam('ring/solidGreen', int(g * 255)) # self.setParam('ring/solidBlue', int(b * 255)) + def status_topic_callback(self, msg): + """ + Call back for topic /cfXXX/status. + + Update the status attribute every time a crazyflie_interfaces/msg/Status + message is published on the topic /cfXXX/status + """ + self.status = {'id': msg.header.frame_id, + 'timestamp_sec': msg.header.stamp.sec, + 'timestamp_nsec': msg.header.stamp.nanosec, + 'supervisor': msg.supervisor_info, + 'battery': msg.battery_voltage, + 'pm_state': msg.pm_state, + 'rssi': msg.rssi, + 'num_rx_broadcast': msg.num_rx_broadcast, + 'num_tx_broadcast': msg.num_tx_broadcast, + 'num_rx_unicast': msg.num_rx_unicast, + 'num_tx_unicast': msg.num_tx_unicast} + + def get_status(self): + """ + Return the status attribute. + + Status is a dictionary containing: + frame id, timestamp, supervisor info, battery voltage, pm state, rssi, nb of received or + transmitted broadcast or unicast messages. see crazyflie_interfaces/msg/Status for details + """ + # self.node.get_logger().info(f'Crazyflie.get_status() was called {self.status}') + return self.status + class CrazyflieServer(rclpy.node.Node): """ From ff3f67307505205e57c8b6c1857167944c902b60 Mon Sep 17 00:00:00 2001 From: julienthevenoz <125280576+julienthevenoz@users.noreply.github.com> Date: Wed, 3 Apr 2024 06:47:30 +0200 Subject: [PATCH 104/162] Fix systemtest (#464) * tuning delay --- systemtests/mcap_handler.py | 6 +++++- systemtests/plotter_class.py | 10 ++++++---- 2 files changed, 11 insertions(+), 5 deletions(-) diff --git a/systemtests/mcap_handler.py b/systemtests/mcap_handler.py index 5e55a8784..b5945a214 100644 --- a/systemtests/mcap_handler.py +++ b/systemtests/mcap_handler.py @@ -34,15 +34,19 @@ def typename(topic_name): def write_mcap_to_csv(self, inputbag:str, outputfile:str): '''A method which translates an .mcap rosbag file format to a .csv file. + Also modifies the timestamp to start at 0.0 instead of the wall time. Only written to translate the /tf topic but could easily be extended to other topics''' + t_start = None try: print("Translating .mcap to .csv") f = open(outputfile, 'w+') writer = csv.writer(f) for topic, msg, timestamp in self.read_messages(inputbag): if topic =="/tf": - t = msg.transforms[0].header.stamp.sec + msg.transforms[0].header.stamp.nanosec *10**(-9) + if t_start == None: + t_start = msg.transforms[0].header.stamp.sec + msg.transforms[0].header.stamp.nanosec *10**(-9) + t = msg.transforms[0].header.stamp.sec + msg.transforms[0].header.stamp.nanosec *10**(-9) - t_start writer.writerow([t, msg.transforms[0].transform.translation.x, msg.transforms[0].transform.translation.y, msg.transforms[0].transform.translation.z]) f.close() except FileNotFoundError: diff --git a/systemtests/plotter_class.py b/systemtests/plotter_class.py index 4b34d461c..af35a0cf4 100644 --- a/systemtests/plotter_class.py +++ b/systemtests/plotter_class.py @@ -23,11 +23,13 @@ def __init__(self, sim_backend = False): self.test_name = None self.SIM = sim_backend #indicates if we are plotting data from real life test or from a simulated test. Default is false (real life test) - self.EPSILON = 0.1 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test (NB : epsilon is doubled for multi_trajectory test) + self.EPSILON = 0.15 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test (NB : epsilon is doubled for multi_trajectory test) self.ALLOWED_DEV_POINTS = 0.05 #allowed percentage of datapoints whose deviation > EPSILON while still passing test (currently % for fig8 and 10% for mt) - self.DELAY_CONST_FIG8 = 4.75 #this is the delay constant which I found by adding up all the time.sleep() etc in the figure8.py file. + self.DELAY_CONST_FIG8 = 1.3 #4.75 #this is the delay constant which I found by adding up all the time.sleep() etc in the figure8.py file. + self.DELAY_CONST_MT = 5.5 if self.SIM : #It allows to temporally adjust the ideal and real trajectories on the graph. Could this be implemented in a better (not hardcoded) way ? - self.DELAY_CONST_FIG8 = -0.18 #for an unknown reason, the delay constant with the sim_backend is different + self.DELAY_CONST_FIG8 = -0.45 #for an unknown reason, the delay constants with the sim_backend is different + self.DELAY_CONST_MT = -0.3 self.ALTITUDE_CONST_FIG8 = 1 #this is the altitude given for the takeoff in figure8.py. I should find a better solution than a symbolic constant ? def file_guard(self, pdf_path): @@ -86,7 +88,7 @@ def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile): delay = 0 if self.test_name == "fig8": delay = self.DELAY_CONST_FIG8 - elif self.test_name == "m_t": + elif self.test_name == "mt": delay = self.DELAY_CONST_MT for i in range(bag_arrays_size): From f54270244954be90f2f89127468cc77970003bcf Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Tue, 9 Apr 2024 21:08:48 +0200 Subject: [PATCH 105/162] Swarm flash utility (#456) * add flash as executable * manage flashing with simple zipfile * flash both zip as bins * works with absolute path * add flash to cfmultitool * flash target based only on file name * add missing variable --- crazyflie/CMakeLists.txt | 1 + crazyflie/scripts/cfmult.py | 22 +++++++++++-- crazyflie/scripts/flash.py | 61 +++++++++++++++++++++++++++++++++++++ 3 files changed, 81 insertions(+), 3 deletions(-) create mode 100755 crazyflie/scripts/flash.py diff --git a/crazyflie/CMakeLists.txt b/crazyflie/CMakeLists.txt index 8a2e4f378..352c472cb 100644 --- a/crazyflie/CMakeLists.txt +++ b/crazyflie/CMakeLists.txt @@ -111,6 +111,7 @@ install(PROGRAMS scripts/simple_mapper_multiranger.py scripts/aideck_streamer.py scripts/gui.py + scripts/flash.py DESTINATION lib/${PROJECT_NAME} ) diff --git a/crazyflie/scripts/cfmult.py b/crazyflie/scripts/cfmult.py index 9f1ee126c..e3beef82b 100755 --- a/crazyflie/scripts/cfmult.py +++ b/crazyflie/scripts/cfmult.py @@ -25,7 +25,8 @@ "version", "listLogVariables", "listParams", - "listMemories" + "listMemories", + "flash", } @@ -46,6 +47,9 @@ def main(): yaml_parser.add_argument("-C", "--configpath", default=Path(__file__).parent.parent.resolve() / "config", help="Path to the configuration *.yaml files") + + parser.add_argument("--file_name", help="File name for flashing the crazyflie", + type=str, default="") args = parser.parse_args() @@ -63,13 +67,25 @@ def main(): # Run for all URI's determined. for uri in uris: - cmd = [ + if args.subcommand[0] == "flash": + SUBPROC_TIMEOUT = 20 + cmd = [ "ros2", "run", "crazyflie", - *args.subcommand, + "flash.py", f"--uri={uri}", + f"--file_name={args.file_name}" ] + else: + SUBPROC_TIMEOUT = 1 + cmd = [ + "ros2", + "run", + "crazyflie", + *args.subcommand, + f"--uri={uri}", + ] print(f"{' '.join(cmd)}") subprocess.run(cmd, timeout=SUBPROC_TIMEOUT) diff --git a/crazyflie/scripts/flash.py b/crazyflie/scripts/flash.py new file mode 100755 index 000000000..af58e1d0b --- /dev/null +++ b/crazyflie/scripts/flash.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 + +""" +A flash utility script to flash crazyflies with the latest or custom firmware + + 2024 - K. N. McGuire (Bitcraze AB) +""" + +import rclpy +from rclpy.node import Node +import cflib.crtp # noqa +from cflib.bootloader import Bootloader, Target +from cflib.bootloader.boottypes import BootVersion +import argparse +import os + +class Flash(Node): + def __init__(self, uri, file_name): + super().__init__('flash') + + self.get_logger().info(f"Flashing {uri} with {file_name}") + + base_file_name = os.path.basename(file_name) + + if base_file_name.endswith("zip") and base_file_name.startswith("firmware-cf2"): + targets = [] + elif base_file_name.endswith("bin") and base_file_name.startswith("cf2"): + targets = [Target("cf2", 'stm32', 'fw', [], [])] + else: + self.get_logger().error(f"Unsupported file type or name. Only cf2*.bin or firmware-cf2*.zip supported") + return + + bl = Bootloader(uri) + try: + bl.flash_full(None, file_name, True, targets) + except Exception as e: + self.get_logger().error(f"Failed to flash, Error {str(e)}") + finally: + if bl: + bl.close() + + return + +def main(args=None): + cflib.crtp.init_drivers() + rclpy.init(args=args) + parser = argparse.ArgumentParser(description="This is a sample script") + parser.add_argument('--uri', type=str, default="radio://0/80/2M/E7E7E7E7E7", help='unique resource identifier') + parser.add_argument('--file_name', type=str, default="cf2.bin", help='') + + # Parse the arguments + args = parser.parse_args() + + print("URI: ", args.uri) + flash_node = Flash(args.uri, args.file_name) + + flash_node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file From bf00cb7688e6ba9c0e848e35f3d3d2e38f8e8def Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Tue, 9 Apr 2024 21:11:55 +0200 Subject: [PATCH 106/162] server yaml file substitute with temporary files (#454) * got external yaml file to be entered in launch * used python expression to choose parameter file * implement param load for mocap and teleop --- crazyflie/config/crazyflies.yaml | 4 +-- crazyflie/launch/launch.py | 44 +++++++++++++++++++------------- 2 files changed, 28 insertions(+), 20 deletions(-) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index 5a49a0e0e..1c13f9ebd 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -3,7 +3,7 @@ robots: cf231: enabled: true uri: radio://0/80/2M/E7E7E7E7E7 - initial_position: [0, 0, 0] + initial_position: [0.0, 0.0, 0.0] type: cf21 # see robot_types # firmware_params: # kalman: @@ -17,7 +17,7 @@ robots: cf5: enabled: false uri: radio://0/80/2M/E7E7E7E705 - initial_position: [0, -0.5, 0] + initial_position: [0.0, -0.5, 0.0] type: cf21 # see robot_types # firmware_params: # kalman: diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index f20f49550..d5df4b37d 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -10,6 +10,7 @@ def generate_launch_description(): + # load crazyflies crazyflies_yaml = os.path.join( get_package_share_directory('crazyflie'), @@ -26,9 +27,11 @@ def generate_launch_description(): 'server.yaml') with open(server_yaml, 'r') as ymlfile: - server_yaml_contents = yaml.safe_load(ymlfile) + server_yaml_content = yaml.safe_load(ymlfile) - server_params = [crazyflies] + [server_yaml_contents["/crazyflie_server"]["ros__parameters"]] + server_yaml_content["/crazyflie_server"]["ros__parameters"]['robots'] = crazyflies['robots'] + server_yaml_content["/crazyflie_server"]["ros__parameters"]['robot_types'] = crazyflies['robot_types'] + server_yaml_content["/crazyflie_server"]["ros__parameters"]['all'] = crazyflies['all'] # robot description urdf = os.path.join( @@ -36,8 +39,9 @@ def generate_launch_description(): 'urdf', 'crazyflie_description.urdf') with open(urdf, 'r') as f: + robot_desc = f.read() - server_params[1]["robot_description"] = robot_desc + server_yaml_content["/crazyflie_server"]["ros__parameters"]["robot_description"] = robot_desc # construct motion_capture_configuration motion_capture_yaml = os.path.join( @@ -46,40 +50,44 @@ def generate_launch_description(): 'motion_capture.yaml') with open(motion_capture_yaml, 'r') as ymlfile: - motion_capture = yaml.safe_load(ymlfile) + motion_capture_content = yaml.safe_load(ymlfile) - motion_capture_params = motion_capture["/motion_capture_tracking"]["ros__parameters"] - motion_capture_params["rigid_bodies"] = dict() + motion_capture_content["/motion_capture_tracking"]["ros__parameters"]["rigid_bodies"] = dict() for key, value in crazyflies["robots"].items(): type = crazyflies["robot_types"][value["type"]] if value["enabled"] and type["motion_capture"]["enabled"]: - motion_capture_params["rigid_bodies"][key] = { + motion_capture_content["/motion_capture_tracking"]["ros__parameters"]["rigid_bodies"][key] = { "initial_position": value["initial_position"], "marker": type["motion_capture"]["marker"], "dynamics": type["motion_capture"]["dynamics"], } # copy relevent settings to server params - server_params[1]["poses_qos_deadline"] = motion_capture_params["topics"]["poses"]["qos"]["deadline"] + server_yaml_content["/crazyflie_server"]["ros__parameters"]["poses_qos_deadline"] = motion_capture_content[ + "/motion_capture_tracking"]["ros__parameters"]["topics"]["poses"]["qos"]["deadline"] - # teleop params - teleop_params = os.path.join( - get_package_share_directory('crazyflie'), - 'config', - 'teleop.yaml') + # Save server and mocap in temp file such that nodes can read it out later + with open('tmp_server.yaml', 'w') as outfile: + yaml.dump(server_yaml_content, outfile, default_flow_style=False, sort_keys=False) + + with open('tmp_motion_capture.yaml', 'w') as outfile: + yaml.dump(motion_capture_content, outfile, default_flow_style=False, sort_keys=False) return LaunchDescription([ DeclareLaunchArgument('backend', default_value='cpp'), DeclareLaunchArgument('debug', default_value='False'), DeclareLaunchArgument('rviz', default_value='False'), DeclareLaunchArgument('gui', default_value='True'), + DeclareLaunchArgument('server_yaml_file', default_value=''), + DeclareLaunchArgument('teleop_yaml_file', default_value=''), + DeclareLaunchArgument('mocap_yaml_file', default_value=''), Node( package='motion_capture_tracking', executable='motion_capture_tracking_node', condition=LaunchConfigurationNotEquals('backend','sim'), name='motion_capture_tracking', output='screen', - parameters=[motion_capture_params] + parameters= [PythonExpression(["'tmp_motion_capture.yaml' if '", LaunchConfiguration('mocap_yaml_file'), "' == '' else '", LaunchConfiguration('mocap_yaml_file'), "'"])], ), Node( package='crazyflie', @@ -94,7 +102,7 @@ def generate_launch_description(): # ('cmd_full_state', 'cf6/cmd_full_state'), # ('notify_setpoints_stop', 'cf6/notify_setpoints_stop'), ], - parameters=[teleop_params] + parameters= [PythonExpression(["'teleop.yaml' if '", LaunchConfiguration('teleop_yaml_file'), "' == '' else '", LaunchConfiguration('teleop_yaml_file'), "'"])], ), Node( package='joy', @@ -107,7 +115,7 @@ def generate_launch_description(): condition=LaunchConfigurationEquals('backend','cflib'), name='crazyflie_server', output='screen', - parameters=server_params + parameters= [PythonExpression(["'tmp_server.yaml' if '", LaunchConfiguration('server_yaml_file'), "' == '' else '", LaunchConfiguration('server_yaml_file'), "'"])], ), Node( package='crazyflie', @@ -115,7 +123,7 @@ def generate_launch_description(): condition=LaunchConfigurationEquals('backend','cpp'), name='crazyflie_server', output='screen', - parameters=server_params, + parameters= [PythonExpression(["'tmp_server.yaml' if '", LaunchConfiguration('server_yaml_file'), "' == '' else '", LaunchConfiguration('server_yaml_file'), "'"])], prefix=PythonExpression(['"xterm -e gdb -ex run --args" if ', LaunchConfiguration('debug'), ' else ""']), ), Node( @@ -125,7 +133,7 @@ def generate_launch_description(): name='crazyflie_server', output='screen', emulate_tty=True, - parameters=server_params + parameters= [PythonExpression(["'tmp_server.yaml' if '", LaunchConfiguration('server_yaml_file'), "' == '' else '", LaunchConfiguration('server_yaml_file'), "'"])], ), Node( condition=LaunchConfigurationEquals('rviz', 'True'), From 366c8e44cf1536b69c40d8c355d455f443112ffe Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Wed, 27 Mar 2024 12:20:55 +0100 Subject: [PATCH 107/162] Denis' plotting now more or less working --- systemtests/SDplotting_save.zip | Bin 0 -> 10078 bytes systemtests/cfusdlog.py | 126 +++++++++ systemtests/data_helper.py | 179 ++++++++++++ systemtests/info/info_cf231_.yaml | 5 + systemtests/logs/cf231_ | Bin 0 -> 85439 bytes systemtests/plot.py | 319 +++++++++++++++++++++ systemtests/reports/cf231_.pdf | Bin 0 -> 58244 bytes systemtests/save.py | 57 ++++ systemtests/settings.yaml | 447 ++++++++++++++++++++++++++++++ 9 files changed, 1133 insertions(+) create mode 100644 systemtests/SDplotting_save.zip create mode 100644 systemtests/cfusdlog.py create mode 100644 systemtests/data_helper.py create mode 100644 systemtests/info/info_cf231_.yaml create mode 100644 systemtests/logs/cf231_ create mode 100644 systemtests/plot.py create mode 100644 systemtests/reports/cf231_.pdf create mode 100644 systemtests/save.py create mode 100644 systemtests/settings.yaml diff --git a/systemtests/SDplotting_save.zip b/systemtests/SDplotting_save.zip new file mode 100644 index 0000000000000000000000000000000000000000..1a85fddaacfb400332b82a7ecd043fa1e792d136 GIT binary patch literal 10078 zcmbt)Ra6~YyXD5+-3cB%I0Sch4K5pZcMtAP@Zhc+4-nkl-QC^klY9Gg|M!l29{%pH z#*%udIjd^D%rU>IC<6hB3HVcN9;GXOiTxj$K)7;t1OqOn 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zA8SNW1`He%;-5oNe}|;rg#PUQt%%hB1^(AO(;t{WA*sLXO-Smm?Y{v3dy%RCB>B5V z_OH#eKcT6=t05r!pGp3oB2<6>x4)VH)rk7jocp^P0&3v@@$>#)TXp}P{9h0BkJt5g hH3Y0<{3H4Qhx4T<0|otu1M07f9UK6_p!{?9zW`Du*3JL` literal 0 HcmV?d00001 diff --git a/systemtests/cfusdlog.py b/systemtests/cfusdlog.py new file mode 100644 index 000000000..fedc807e7 --- /dev/null +++ b/systemtests/cfusdlog.py @@ -0,0 +1,126 @@ +# -*- coding: utf-8 -*- +""" +Helper to decode binary logged sensor data from crazyflie2 with uSD-Card-Deck. + +Source: https://github.com/IMRCLab/crazyflie-firmware/blob/master/tools/usdlog/cfusdlog.py + +MIT License + +Copyright (c) 2021 Intelligent Multi-Robot Coordination Lab @ TU Berlin, Germany + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +""" +import argparse +from zlib import crc32 +import struct +import numpy as np + +# extract null-terminated string +def _get_name(data, idx): + endIdx = idx + while data[endIdx] != 0: + endIdx = endIdx + 1 + return data[idx:endIdx].decode("utf-8"), endIdx + 1 + +def decode(filename): + # read file as binary + with open(filename, 'rb') as f: + data = f.read() + + # check magic header + if data[0] != 0xBC: + print("Unsupported format!") + return + + # check CRC + crc = crc32(data[0:-4]) + expected_crc, = struct.unpack('I', data[-4:]) + if crc != expected_crc: + print("WARNING: CRC does not match!") + + # check version + version, num_event_types = struct.unpack('HH', data[1:5]) + if version != 1 and version != 2: + print("Unsupported version!", version) + return + + result = dict() + event_by_id = dict() + + # read header with data types + idx = 5 + for _ in range(num_event_types): + event_id, = struct.unpack('H', data[idx:idx+2]) + idx += 2 + event_name, idx = _get_name(data, idx) + result[event_name] = dict() + result[event_name]["timestamp"] = [] + num_variables, = struct.unpack('H', data[idx:idx+2]) + idx += 2 + fmtStr = "<" + variables = [] + for _ in range(num_variables): + var_name_and_type, idx = _get_name(data, idx) + var_name = var_name_and_type[0:-3] + var_type = var_name_and_type[-2] + result[event_name][var_name] = [] + fmtStr += var_type + variables.append(var_name) + event_by_id[event_id] = { + 'name': event_name, + 'fmtStr': fmtStr, + 'numBytes': struct.calcsize(fmtStr), + 'variables': variables, + } + + while idx < len(data) - 4: + if version == 1: + event_id, timestamp, = struct.unpack(' None: + pass + + @staticmethod + def generate_data(data: dict[str, np.ndarray], + event: str, + info: dict[str, str | int | float]) -> dict[str, np.ndarray]: + source = data[event].get(info.get("source", None), None) + t = data[event]["timestamp"] + t_fit = data[event].get("fitTimestamp", None) + + if info.get("derivative", 0) < 0: + raise ValueError("Derivative must be greater than or equal to 0") + + if info["type"] == "linspace": + data_new = DataHelper.generate_data_linspace(source, info["step"]) + elif info["type"] == "poly": + data_new = DataHelper.generate_data_poly(t, source, t_fit, info) + elif info["type"] == "cs": + data_new = DataHelper.generate_data_cs(t, source, t_fit, info) + elif info["type"] == "bs": + data_new = DataHelper.generate_data_bs(t, source, t_fit, info) + elif info["type"] == "custom": + data_new = DataHelper.generate_data_custom(data[event], info["target"]) + else: + raise NotImplementedError + + # exit 1: add each vector of the custom data list iteratively to the data dictionary and return + if isinstance(info["target"], list): + dict_new = {} + for i, target in enumerate(info["target"]): + dict_new[target] = data_new[i] + + return dict_new + + # exit 2: add single vector to dictionary and return + return {info["target"]: data_new} + + @staticmethod + def generate_data_linspace(x: np.ndarray, step: int) -> np.ndarray: + return np.arange(x[0], x[-1], step) + + @staticmethod + def generate_data_poly(x: np.ndarray, y: np.ndarray, x_fit: np.ndarray, info: dict[str, str | int | float]) -> np.ndarray: + p = P.Polynomial.fit(x, y, info["degree"]) + p = p.deriv(info["derivative"]) + + if not info.get("original_length", False): + return p(x_fit) + + return p(x) + + @staticmethod + def generate_data_cs(x: np.ndarray, y: np.ndarray, x_fit: np.ndarray, info: dict[str, str | int | float]) -> np.ndarray: + cs = CubicSpline(x, y) + + if not info.get("original_length", False): + return cs(x_fit, info["derivative"]) + + return cs(x, info["derivative"]) + + @staticmethod + def generate_data_bs(x: np.ndarray, y: np.ndarray, x_fit: np.ndarray, info: dict[str, str | int | float]) -> np.ndarray: + tck = splrep(x, y, s=info["smoothing"]) + bs = BSpline(*tck) + + if not info.get("original_length", False): + return bs(x_fit, info["derivative"]) + + return bs(x, info["derivative"]) + + @staticmethod + def generate_data_custom(data: dict[str, np.ndarray], target_list: list[str]) -> list[np.ndarray]: + pass + # init objects for computing custom data (residuals, state errors, etc.) + # res_payload = ResidualsPayload(data) + + # check and generate target for custom data + # custom_data = [] + # for target in target_list: + # if target == "error.px": + # custom_data.append(res_payload.get_error_payload_position_x()) + # elif target == "error.py": + # custom_data.append(res_payload.get_error_payload_position_y()) + # elif target == "error.pz": + # custom_data.append(res_payload.get_error_payload_position_z()) + # elif target == "error.pvx": + # custom_data.append(res_payload.get_error_payload_velocity_x()) + # elif target == "error.pvy": + # custom_data.append(res_payload.get_error_payload_velocity_x()) + # elif target == "error.pvz": + # custom_data.append(res_payload.get_error_payload_velocity_x()) + # elif target == "error.cpx": + # custom_data.append(res_payload.get_error_cable_unit_vector_x()) + # elif target == "error.cpy": + # custom_data.append(res_payload.get_error_cable_unit_vector_y()) + # elif target == "error.cpz": + # custom_data.append(res_payload.get_error_cable_unit_vector_z()) + # elif target == "error.pwx": + # custom_data.append(res_payload.get_error_payload_angular_velocity_x()) + # elif target == "error.pwy": + # custom_data.append(res_payload.get_error_payload_angular_velocity_y()) + # elif target == "error.pwz": + # custom_data.append(res_payload.get_error_payload_angular_velocity_z()) + # elif target == "error.rpyx": + # custom_data.append(res_payload.get_error_uav_orientation_x()) + # elif target == "error.rpyy": + # custom_data.append(res_payload.get_error_uav_orientation_y()) + # elif target == "error.rpyz": + # custom_data.append(res_payload.get_error_uav_orientation_z()) + # elif target == "error.wx": + # custom_data.append(res_payload.get_error_uav_angular_velocity_x()) + # elif target == "error.wy": + # custom_data.append(res_payload.get_error_uav_angular_velocity_y()) + # elif target == "error.wz": + # custom_data.append(res_payload.get_error_uav_angular_velocity_z()) + # elif target == "residual.f": + # custom_data.append(res_payload.get_residual_force()) + # elif target == "residual.tx": + # custom_data.append(res_payload.get_residual_torque_x()) + # elif target == "residual.ty": + # custom_data.append(res_payload.get_residual_torque_y()) + # elif target == "residual.tz": + # custom_data.append(res_payload.get_residual_torque_z()) + + # return custom_data + + +if __name__ == "__main__": + pass + # small test + # data = {"event": { + # "timestamp": np.array([1, 2, 3, 4, 5, 6, 7, 8, 9, 10]), + # "source": np.array([10, 20, 15, 30, 15, 10, 5, 10, 15, 20])}} + + # info = {"type": "poly", + # "degree": 100, + # "derivative": 1, + # "source": "source", + # "target": "target"} + + # target, generated_data = DataHelper.generate_data(data, "event", info) + # plt.plot(data["event"]["timestamp"], data["event"]["source"], label="source") + # plt.plot(data["event"]["timestamp"], generated_data, label="generated") + # plt.legend() + # plt.show() + + # another small test + # x = np.arange(10) + # y = np.sin(x) + # cs = CubicSpline(x, y) + # xs = np.arange(-0.5, 9.6, 0.1) + # fig, ax = plt.subplots(figsize=(6.5, 4)) + # ax.plot(x, y, 'o', label='data') + # ax.plot(xs, np.sin(xs), label='true') + # ax.plot(xs, cs(xs), label="S") + # ax.plot(xs, cs.derivative(1), label="S'") + # ax.plot(xs, cs.derivative(2), label="S''") + # ax.plot(xs, cs.derivative(3), label="S'''") + # ax.set_xlim(-0.5, 9.5) + # ax.legend(loc='lower left', ncol=2) + # plt.show() + + # print(cs.c.shape) + # csder = cs.derivative(1) + # print(csder.c.shape) \ No newline at end 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print(data[one_event].items()) + + + # else: #if only one event + # if settings["convert_units"]: + # for key, value in settings["convert_units"].items(): + # data[event][key] = data[event][key] * value + # # shift time vector to start at 0 + # data[event]["timestamp"] = (data[event]["timestamp"] - data[event]['timestamp'][0]) + + # # crop data + # start_time = settings["start_time"] + # end_time = settings["end_time"] + + # t = data[event]["timestamp"] + # if start_time is not None: + # for key, value in data[event].items(): + # data[event][key] = value[t >= start_time] + + # t = data[event]["timestamp"] + # if end_time is not None: + # for key, value in data[event].items(): + # data[event][key] = value[t <= end_time] + + # add additional data to the data dictionary + # add_data(data, settings) + + # print(data[event].keys()) + # print(data[event].items()) + + return data + + +def add_data(data, settings): + event = settings["event_name"] + print("...adding data") + + for info in settings["additional_data"]: + # print(f"found target: {info['target']}") + dict_new = data_helper.DataHelper.generate_data(data, event, info) + data[event].update(dict_new) + print(f">>> added data: {info['type']} -> {list(dict_new.keys())}") + # print(f">>> data shape: {data_new.shape}") + + print("...done adding data") + + +def create_figures(data_usd, settings): + debug_all = False + debug = False + debug_figure_number = 20 # Residual Torques + # debug_figure_number = 4 # UAV angles + # debug_figure_number = 13 # payload position error + # debug_figure_number = 6 # payload positions + # debug_figure_number = 7 # payload velocities + + + log_path = os.path.join(settings["data_dir"], settings['data_file']) + print("log file: {}".format(log_path)) + + data_processed = process_data(data_usd, settings) + + # create a PDF to save the figures + pdf_path = os.path.join(settings["output_dir"], settings['data_file']) + ".pdf" + print("output path: {}".format(pdf_path)) + + # check if user wants to overwrite the report file + file_guard(pdf_path) + + pdf_pages = PdfPages(pdf_path) + + # create the title page + title_text_settings = f"Settings:\n" + for setting in settings["title_settings"]: + title_text_settings += f" {setting}: {settings[setting]}\n" + + # read the parameters from the info file + info_path = os.path.join(settings['info_dir'], settings["info_file"]) + print("... reading info file: {}".format(info_path)) + + try: + with open(info_path, "r") as f: + info = yaml.safe_load(f) + except FileNotFoundError: + print(f"File not found: {info_path}") + exit(1) + + title_text_parameters = f"Parameters:\n" + for key, value in info.items(): + title_text_parameters += f" {key}: {value}\n" + + text = f"%% Report %%\n" + title_text = text + "\n" + title_text_settings + "\n" + title_text_parameters + "\n" # + title_text_results + fig = plt.figure(figsize=(5, 8)) + fig.text(0.1, 0.1, title_text, size=11) + pdf_pages.savefig(fig) + + # create data plots for each event + figures_max = settings.get("figures_max", None) # set to None to plot all figures + figure_count = 0 + for k, (event, data) in enumerate(data_processed.items()): + if event in settings["event_name"]: + print("processing event: {} ({})".format(event, k)) + + # create a title text for each event + t = f"%% Event {k}: {event} %%\n" + fig = plt.figure(figsize=(5, 5)) + fig.text(0.1, 0.1, title_text, size=11) + pdf_pages.savefig(fig) + + # create a new figure for each value in the data dictionary + figures_key = f"figures_{event}" + for figure_info in settings[figures_key]: + if figures_max is not None and figure_count >= figures_max: + break + + title = figure_info["title"] + figure_type = figure_info["type"] + x_label = figure_info.get("x_label", None) + y_label = figure_info.get("y_label", None) + z_label = figure_info.get("z_label", None) + structure = figure_info["structure"] + structure_length = len(structure) + + if figure_type == "2d subplots": + fig, ax = plt.subplots(structure_length, 1) + + if structure_length == 1: + ax = [ax] + + # iterate over every subplot in the figure + for i, obj in enumerate(structure): + n_x = len(obj["x_axis"]) + n_y = len(obj["y_axis"]) + n_leg = len(obj["legend"]) + + if n_x != n_y != n_leg: + raise ValueError("Please specify the same number of x and y signals and legends") + + # iterate over every plot in the respective subplot + for j in range(n_x): + x = obj["x_axis"][j] + y = obj["y_axis"][j] + + # print(obj["legend"][j], bool(obj["legend"][j])) + if figure_info["marker"] == "line": + ax[i].plot(data[x], data[y], label=obj["legend"][j], **figure_info["marker_kwargs"]) + elif figure_info["marker"] == "scatter": + ax[i].scatter(data[x], data[y], label=obj["legend"][j], **figure_info["marker_kwargs"]) + else: + raise ValueError("Invalid marker") + + ax[i].set_xlabel(obj["x_label"]) + ax[i].set_ylabel(obj["y_label"]) + if obj["legend"][j]: + ax[i].legend(loc="lower left", fontsize=5) + ax[i].grid(True) + + # DEPRECATED + # if figure_type == "2d single": + # fig, ax = plt.subplots() + + # # iterate over every subplot + # for obj in structure: + # ax.plot(data[obj["x_axis"]], + # data[obj["y_axis"]], + # label=obj["legend"], + # linewidth=0.5) + # ax.set_xlabel(obj["x_label"]) + # ax.set_ylabel(obj["y_label"]) + # ax.legend(loc="lower left", fontsize=5) + # ax.grid(True) + + if figure_type == "3d": + fig = plt.figure() + ax = fig.add_subplot(projection='3d') + + y_label = figure_info["y_label"] + + # iterate over every subplot + for i, obj in enumerate(structure): + ax.plot(data[obj[0]], + data[obj[1]], + data[obj[2]], + label=obj[3], + linewidth=0.5) + + ax.set_xlim(min(data[obj[0]])-0.1*min(data[obj[0]]), + max(data[obj[0]])+0.1*max(data[obj[0]])) + ax.set_ylim(min(data[obj[1]])-0.1*min(data[obj[1]]), + max(data[obj[1]])+0.1*max(data[obj[1]])) + ax.set_zlim(min(data[obj[2]])-0.1*min(data[obj[2]]), + max(data[obj[2]])+0.1*max(data[obj[2]])) + + ax.set_xlabel(x_label) + ax.set_ylabel(y_label) + ax.set_zlabel(z_label) + ax.legend(loc="lower left", fontsize=5) + ax.grid(True) + + # show plot for debugging + if debug and figure_count == debug_figure_number-1 or debug_all: + plt.show() + + fig.suptitle(title, fontsize=16) + plt.tight_layout() + + # save the figure as a page in the PDF + pdf_pages.savefig(fig) + plt.close(fig) + + figure_count += 1 + status_text = ">>> created figure {}: {}".format(figure_count, title) + print(status_text) + + pdf_pages.close() + + +if __name__ == "__main__": + # change the current working directory to the directory of this file + os.chdir(os.path.dirname(os.path.abspath(__file__))) + + # load the plot settings + settings_file = "settings.yaml" + with open(settings_file, 'r') as f: + settings = yaml.load(f, Loader=yaml.FullLoader) + + # decode binary log data + path = os.path.join(settings["data_dir"], settings['data_file']) + print(f"Processing {path}...") + data_usd = cfusdlog.decode(path) + + # create the figures + print("...creating figures") + create_figures(data_usd, settings) + print("...done creating figures") \ No newline at end of file diff --git a/systemtests/reports/cf231_.pdf b/systemtests/reports/cf231_.pdf new file mode 100644 index 0000000000000000000000000000000000000000..51e26ea486127d7efafd6a949e540aebca00cdb3 GIT binary patch literal 58244 zcmeFZW0YmfvNqh+)zxL&wyjmRZQHhO+qP}nHoI)A%l-A<`|NwpckdZ@-0|Yy`(ur{ zW{%9r%oy=xto39>5X%Y*Q`6HhK@eAN;#IUm(BskJ+31@?004NjvU(;)4tNZ|TjcR* z72Rx&@Ms0}9Q7=1Oz^n5A&jgI|LDl}F9U>J9Yquz^&E}xnEo0hY-8<+$N1NGSv^Nb zBYSH+=09E`Xl3nf3>1tU@iczVBPje^zLBdV9<7+w?>YJZ@f7&SQw&cFk5<7{&(O@; z1drvf;i@wF=0*mNc&vX4|L1b(|8)a=*48$T4tVr*f2}~^_iBu+e>brI^)6*(Xr{++ z8D!EassvDyF7#UJYV7e)Lb^l!}x zn_2$eD;}+|P>|Obz$#jn@=d5zv6Ujt@i{Pu8zrd4!wrgBQIxm z;!XQsqrlk1Ud-m9{L~V4J}`!kAO;@R&B}T{PXzeWXY_S}N6)h>mqGvwFga1`u`uqU zFZYbjFu&XjXg%bJM_yP{Bc!*}dbQ3NhPjk}ue3T=NNXx*PMg7!7LpyB)TMfR!kAXXGs-~c zQhv7v992<{o7sePU)kC)FY}?JI`I23NI=^|8fp2%FVkw)STX_r5Cxvu*Q;t5hC%A9 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literal 0 HcmV?d00001 diff --git a/systemtests/save.py b/systemtests/save.py new file mode 100644 index 000000000..49d1f7c39 --- /dev/null +++ b/systemtests/save.py @@ -0,0 +1,57 @@ +# -*- coding: utf-8 -*- +""" +Tool for saving parameters from the crazyflie.yaml before every experiment. +""" +import os +import yaml + +# Dictionary to store extracted information +info = {} + +# Prompt the user for the experiment number +# experiment_number = int(input("Enter the experiment number: ")) + +# File paths +crazyflies_config_path = "../crazyflie/config/crazyflies.yaml" + +# Read information from crazyflies.yaml +try: + with open(crazyflies_config_path, "r") as config_file: + config_data = yaml.safe_load(config_file) + # extract the trajectory and timescale + obj = config_data["all"]["firmware_params"] + if "ctrlLeeInfo" in obj: + for key, value in obj["ctrlLeeInfo"].items(): + info[key] = value + # extract the ctrlLee parameters + if "ctrlLee" in obj: + for key, value in obj["ctrlLee"].items(): + info[key] = value +except FileNotFoundError: + print(f"File not found: {crazyflies_config_path}") + exit(1) + +experiment_number = int(info["experiment"]) +info_file_path = f"info/info{experiment_number}.yaml" + +# file guard +if os.path.exists(info_file_path): + print(f"File already exists: {info_file_path}") + ans = input("Overwrite? [y/n]: ") + if ans == "n": + print("Exiting...") + exit(1) + +print("========================================") + +try: + with open(info_file_path, "w") as info_file: + print(f"Writing experiment info to {info_file_path}") + for key in info: + print(f">>> {key}: {info[key]}") + yaml.dump({key: info[key]}, info_file, default_flow_style=False, sort_keys=False) + print(f"Experiment info written to {info_file_path}") +except Exception as e: + print(f"Error writing to {info_file_path}: {str(e)}") + +print("========================================") \ No newline at end of file diff --git a/systemtests/settings.yaml b/systemtests/settings.yaml new file mode 100644 index 000000000..99e19a593 --- /dev/null +++ b/systemtests/settings.yaml @@ -0,0 +1,447 @@ +--- +# general settings +data_dir: logs +data_file: cf231_ +# data_file: log129 +info_dir: info +info_file: info_cf231_.yaml +event_name: +- fixedFrequency +- estPosition +start_time: # s (w.r.t log start time) +end_time: # s (w.r.t log start time) +output_dir: reports +figures_max: +skip_data: +- timestamp + +# title settings +title_settings: +- data_dir +- data_file +- info_dir +- info_file +- event_name +- output_dir +- start_time +- end_time + +# figure settings for event fixedFrequency +figures_fixedFrequency: +- title: UAV Positions + type: 2d subplots + marker: line + marker_kwargs: + linewidth: 0.5 + structure: + - x_axis: [timestamp] + y_axis: [stateEstimate.x] + legend: [ekf] + x_label: "$t [s]$" + y_label: "$x [m]$" + - x_axis: [timestamp] + y_axis: [stateEstimate.y] + legend: [ekf] + x_label: "$t [s]$" + y_label: "$y [m]$" + - x_axis: [timestamp] + y_axis: [stateEstimate.z] + legend: [ekf] + x_label: "$t [s]$" + y_label: "$z [m]$" +- title: 3D Trajectory + type: 3d + marker: line + marker_kwargs: + linewidth: 0.5 + x_label: $x [m]$ + y_label: $y [m]$ + z_label: $z [m]$ + structure: + - - stateEstimate.x + - stateEstimate.y + - stateEstimate.z + - ekf +- title: 2D Trajectory + type: 2d subplots + marker: line + marker_kwargs: + linewidth: 0.5 + structure: + - x_axis: [stateEstimate.x] + y_axis: [stateEstimate.y] + legend: [ekf] + x_label: "$x [m]$" + y_label: "$y [m]$" + +# figure settings for event estPosition +figures_estPosition: +- title: UAV Positions + type: 2d subplots + marker: line + marker_kwargs: + linewidth: 0.5 + structure: + - x_axis: [timestamp] + y_axis: [locSrv.x] + legend: [mocap] + x_label: "$t [s]$" + y_label: "$x [m]$" + - x_axis: [timestamp] + y_axis: [locSrv.y] + legend: [mocap] + x_label: "$t [s]$" + y_label: "$y [m]$" + - x_axis: [timestamp] + y_axis: [locSrv.z] + legend: [mocap] + x_label: "$t [s]$" + y_label: "$z [m]$" +- title: 3D Trajectory + type: 3d + marker: line + marker_kwargs: + linewidth: 0.5 + x_label: $x [m]$ + y_label: $y [m]$ + z_label: $z [m]$ + structure: + - - locSrv.x + - locSrv.y + - locSrv.z + - mocap +- title: 2D Trajectory + type: 2d subplots + marker: line + marker_kwargs: + linewidth: 0.5 + structure: + - x_axis: [locSrv.x] + y_axis: [locSrv.y] + legend: [mocap] + x_label: "$x [m]$" + y_label: "$y [m]$" + + +# unit settings +convert_units: + timestamp: 0.001 + stateEstimate.x: 0.001 + stateEstimate.y: 0.001 + stateEstimate.z: 0.001 + # stateEstimateZ.x: 0.001 + # stateEstimateZ.y: 0.001 + # stateEstimateZ.z: 0.001 + # stateEstimateZ.vx: 0.001 + # stateEstimateZ.vy: 0.001 + # stateEstimateZ.vz: 0.001 + # ctrltargetZ.x: 0.001 + # ctrltargetZ.y: 0.001 + # ctrltargetZ.z: 0.001 + # ctrltargetZ.vx: 0.001 + # ctrltargetZ.vy: 0.001 + # ctrltargetZ.vz: 0.001 + # ctrlLee.rpyx: 57.2957795131 + # ctrlLee.rpydx: 57.2957795131 + # ctrlLee.rpyy: 57.2957795131 + # ctrlLee.rpydy: 57.2957795131 + # ctrlLee.rpyz: 57.2957795131 + # ctrlLee.rpydz: 57.2957795131 + # ctrlLee.omegax: 57.2957795131 + # ctrlLee.omegarx: 57.2957795131 + # ctrlLee.omegay: 57.2957795131 + # ctrlLee.omegary: 57.2957795131 + # ctrlLee.omegaz: 57.2957795131 + # ctrlLee.omegarz: 57.2957795131 + # acc.x: 1.0 + # acc.y: 1.0 + # acc.z: 1.0 + # stateEstimateZ.px: 0.001 + # stateEstimateZ.py: 0.001 + # stateEstimateZ.pz: 0.001 + # stateEstimateZ.pvx: 0.001 + # stateEstimateZ.pvy: 0.001 + # stateEstimateZ.pvz: 0.001 + locSrv.x: 1.0 + locSrv.y: 1.0 + locSrv.z: 1.0 + # locSrv.qx: 1.0 + # locSrv.qy: 1.0 + # locSrv.qz: 1.0 + # locSrv.qw: 1.0 + +# units for the report: +# timestamp: s +# stateEstimateZ.x: m +# stateEstimateZ.y: m +# stateEstimateZ.z: m +# stateEstimateZ.vx: m/s +# stateEstimateZ.vy: m/s +# stateEstimateZ.vz: m/s +# ctrltargetZ.x: m +# ctrltargetZ.y: m +# ctrltargetZ.z: m +# ctrltargetZ.vx: m/s +# ctrltargetZ.vy: m/s +# ctrltargetZ.vz: m/s +# ctrlLee.rpyx: ° +# ctrlLee.rpyy: ° +# ctrlLee.rpyz: ° +# ctrlLee.rpydx: ° +# ctrlLee.rpydy: ° +# ctrlLee.rpydz: ° +# ctrlLee.omegax: °/s +# ctrlLee.omegay: °/s +# ctrlLee.omegaz: °/s +# ctrlLee.omegarx: °/s +# ctrlLee.omegary: °/s +# ctrlLee.omegarz: °/s +# ctrlLee.thrustSI: N +# ctrlLee.torquex: Nm +# ctrlLee.torquey: Nm +# ctrlLee.torquez: Nm +# acc.x: m/s^2 +# acc.y: m/s^2 +# acc.z: m/s^2 +# stateEstimate.px: m +# stateEstimate.py: m +# stateEstimate.pz: m +# stateEstimate.pvx: m/s +# stateEstimate.pvy: m/s +# stateEstimate.pvz: m/s +# locSrv.x: m +# locSrv.y: m +# locSrv.z: m +# locSrv.qw: +# locSrv.qx: +# locSrv.qy: +# locSrv.qz: + +# info for adding additional data (fmi: data_helper.py) +# (1) type: linspace -> takes data and returns data with more points in between (needs step) +# (2) type: poly -> takes data and returns data of a fitted polynomial, or its derivative (needs derivative, degree) +# (3) type: cs -> takes data and returns data of a cubic spline, or its derivative (needs derivative) +# (4) type: bs -> takes data and returns data of a b-spline, or its derivative (needs derivative, smoothing) +# (5) type: custom -> processes data to compute and return new custom data vectors (based on target string list) +# additional_data: +# # ================================================== +# # fitting: new time vector +# # ================================================== +# - source: timestamp +# target: fitTimestamp +# type: linspace +# step: 0.0001 +# # ================================================== +# # fitting with new length +# # ================================================== +# - source: stateEstimateZ.px +# target: fitZ.px +# type: bs +# smoothing: 1 +# # degree: +# derivative: 0 +# - source: stateEstimateZ.py +# target: fitZ.py +# type: bs +# smoothing: 1 +# # degree: +# derivative: 0 +# - source: stateEstimateZ.pz +# target: fitZ.pz +# type: bs +# smoothing: 1 +# # degree: +# derivative: 0 +# - source: stateEstimateZ.px +# target: fitZ.pvx +# type: bs +# smoothing: 1 +# # degree: +# derivative: 1 +# - source: stateEstimateZ.py +# target: fitZ.pvy +# type: bs +# smoothing: 1 +# # degree: +# derivative: 1 +# - source: stateEstimateZ.pz +# target: fitZ.pvz +# type: bs +# smoothing: 1 +# # degree: +# derivative: 1 +# - source: stateEstimateZ.px +# target: fitZ.pax +# type: bs +# smoothing: 1 +# # degree: +# derivative: 2 +# - source: stateEstimateZ.py +# target: fitZ.pay +# type: bs +# smoothing: 1 +# # degree: +# derivative: 2 +# - source: stateEstimateZ.pz +# target: fitZ.paz +# type: bs +# smoothing: 1 +# # degree: +# derivative: 2 +# # ================================================== +# # fitting with original length +# # ================================================== +# - source: ctrlLee.rpyx +# target: fitZOriginalLength.rpyx +# type: bs +# smoothing: 10 +# # degree: +# derivative: 0 +# original_length: True +# - source: ctrlLee.rpyy +# target: fitZOriginalLength.rpyy +# type: bs +# smoothing: 10 +# # degree: +# derivative: 0 +# original_length: True +# - source: ctrlLee.rpyz +# target: fitZOriginalLength.rpyz +# type: bs +# smoothing: 1 +# # degree: +# derivative: 0 +# original_length: True +# - source: ctrlLee.rpyx +# target: fitZOriginalLength.omegax +# type: bs +# smoothing: 10 +# # degree: +# derivative: 1 +# original_length: True +# - source: ctrlLee.rpyy +# target: fitZOriginalLength.omegay +# type: bs +# smoothing: 10 +# # degree: +# derivative: 1 +# original_length: True +# - source: ctrlLee.rpyz +# target: fitZOriginalLength.omegaz +# type: bs +# smoothing: 1 +# # degree: +# derivative: 1 +# original_length: True +# - source: ctrlLee.rpyx +# target: fitZOriginalLength.alphax +# type: bs +# smoothing: 10 +# # degree: +# derivative: 2 +# original_length: True +# - source: ctrlLee.rpyy +# target: fitZOriginalLength.alphay +# type: bs +# smoothing: 10 +# # degree: +# derivative: 2 +# original_length: True +# - source: ctrlLee.rpyz +# target: fitZOriginalLength.alphaz +# type: bs +# smoothing: 1 +# # degree: +# derivative: 2 +# original_length: True +# - source: stateEstimateZ.px +# target: fitZOriginalLength.px +# type: bs +# smoothing: 1 +# # degree: +# derivative: 0 +# original_length: True +# - source: stateEstimateZ.py +# target: fitZOriginalLength.py +# type: bs +# smoothing: 1 +# # degree: +# derivative: 0 +# original_length: True +# - source: stateEstimateZ.pz +# target: fitZOriginalLength.pz +# type: bs +# smoothing: 1 +# # degree: +# derivative: 0 +# original_length: True +# - source: stateEstimateZ.px +# target: fitZOriginalLength.pvx +# type: bs +# smoothing: 1 +# # degree: +# derivative: 1 +# original_length: True +# - source: stateEstimateZ.py +# target: fitZOriginalLength.pvy +# type: bs +# smoothing: 1 +# # degree: +# derivative: 1 +# original_length: True +# - source: stateEstimateZ.pz +# target: fitZOriginalLength.pvz +# type: bs +# smoothing: 1 +# # degree: +# derivative: 1 +# original_length: True +# - source: stateEstimateZ.px +# target: fitZOriginalLength.pax +# type: bs +# smoothing: 1 +# # degree: +# derivative: 2 +# original_length: True +# - source: stateEstimateZ.py +# target: fitZOriginalLength.pay +# type: bs +# smoothing: 1 +# # degree: +# derivative: 2 +# original_length: True +# - source: stateEstimateZ.pz +# target: fitZOriginalLength.paz +# type: bs +# smoothing: 1 +# # degree: +# derivative: 2 +# original_length: True +# # ================================================== +# # custom data with original length respectively +# # ================================================== +# - type: custom +# target: +# - error.px +# - error.py +# - error.pz +# - error.pvx +# - error.pvy +# - error.pvz +# - error.cpx +# - error.cpy +# - error.cpz +# - error.pwx +# - error.pwy +# - error.pwz +# - error.rpyx +# - error.rpyy +# - error.rpyz +# - error.wx +# - error.wy +# - error.wz +# - residual.f +# - residual.tx +# - residual.ty +# - residual.tz +# # ================================================== \ No newline at end of file From 63836f03e9428d2e8d1bfbbae3ed3ca4ad501c90 Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Wed, 27 Mar 2024 12:24:49 +0100 Subject: [PATCH 108/162] also the config file --- crazyflie/config/crazyflies.yaml | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index 1c13f9ebd..0372349b6 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -8,8 +8,8 @@ robots: # firmware_params: # kalman: # pNAcc_xy: 1.0 # default 0.5 - # firmware_logging: - # enabled: true + firmware_logging: + enabled: true # custom_topics: # topic_name3: # frequency: 1 @@ -94,6 +94,13 @@ all: stabilizer: estimator: 2 # 1: complementary, 2: kalman controller: 2 # 1: PID, 2: mellinger + ctrlLeeInfo: + experiment: cf231_ + trajectory: figure8.csv #translation_y.csv # yaw0.csv # # # + timescale: 3.0 # 0.75 # #0.34 + motors: standard motors (CF) + propellers: standard propellers (CF) + # ring: # effect: 16 # 6: double spinner, 7: solid color, 16: packetRate # solidBlue: 255 # if set to solid color From 425e75762ed03805a3684da87a85b619597fca6d Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Wed, 27 Mar 2024 13:46:43 +0100 Subject: [PATCH 109/162] changed cf231_ name to figure8 --- crazyflie/config/crazyflies.yaml | 2 +- systemtests/{ => SDplotting}/cfusdlog.py | 0 systemtests/{ => SDplotting}/data_helper.py | 0 systemtests/SDplotting/info/infofigure8.yaml | 5 +++++ .../info/old}/info_cf231_.yaml | 0 systemtests/{ => SDplotting}/logs/cf231_ | Bin systemtests/SDplotting/logs/figure8 | Bin 0 -> 85439 bytes systemtests/{ => SDplotting}/plot.py | 0 systemtests/{ => SDplotting}/reports/cf231_.pdf | Bin systemtests/SDplotting/reports/figure8.pdf | Bin 0 -> 58225 bytes systemtests/{ => SDplotting}/save.py | 4 ++-- systemtests/{ => SDplotting}/settings.yaml | 4 ++-- 12 files changed, 10 insertions(+), 5 deletions(-) rename systemtests/{ => SDplotting}/cfusdlog.py (100%) rename systemtests/{ => SDplotting}/data_helper.py (100%) create mode 100644 systemtests/SDplotting/info/infofigure8.yaml rename systemtests/{info => SDplotting/info/old}/info_cf231_.yaml (100%) rename systemtests/{ => SDplotting}/logs/cf231_ (100%) create mode 100644 systemtests/SDplotting/logs/figure8 rename systemtests/{ => SDplotting}/plot.py (100%) rename systemtests/{ => SDplotting}/reports/cf231_.pdf (100%) create mode 100644 systemtests/SDplotting/reports/figure8.pdf rename systemtests/{ => SDplotting}/save.py (94%) rename systemtests/{ => SDplotting}/settings.yaml (99%) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index 0372349b6..6966f2819 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -95,7 +95,7 @@ all: estimator: 2 # 1: complementary, 2: kalman controller: 2 # 1: PID, 2: mellinger ctrlLeeInfo: - experiment: cf231_ + experiment: figure8 trajectory: figure8.csv #translation_y.csv # yaw0.csv # # # timescale: 3.0 # 0.75 # #0.34 motors: standard motors (CF) diff --git a/systemtests/cfusdlog.py b/systemtests/SDplotting/cfusdlog.py similarity index 100% rename from systemtests/cfusdlog.py rename to systemtests/SDplotting/cfusdlog.py diff --git a/systemtests/data_helper.py b/systemtests/SDplotting/data_helper.py similarity index 100% rename from systemtests/data_helper.py rename to systemtests/SDplotting/data_helper.py diff --git a/systemtests/SDplotting/info/infofigure8.yaml b/systemtests/SDplotting/info/infofigure8.yaml new file mode 100644 index 000000000..faac515d4 --- /dev/null +++ b/systemtests/SDplotting/info/infofigure8.yaml @@ -0,0 +1,5 @@ +experiment: figure8 +trajectory: figure8.csv +timescale: 3.0 +motors: standard motors (CF) +propellers: standard propellers (CF) diff --git a/systemtests/info/info_cf231_.yaml b/systemtests/SDplotting/info/old/info_cf231_.yaml similarity index 100% rename from systemtests/info/info_cf231_.yaml rename to systemtests/SDplotting/info/old/info_cf231_.yaml diff --git a/systemtests/logs/cf231_ b/systemtests/SDplotting/logs/cf231_ similarity index 100% rename from systemtests/logs/cf231_ rename to systemtests/SDplotting/logs/cf231_ diff --git a/systemtests/SDplotting/logs/figure8 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guard if os.path.exists(info_file_path): diff --git a/systemtests/settings.yaml b/systemtests/SDplotting/settings.yaml similarity index 99% rename from systemtests/settings.yaml rename to systemtests/SDplotting/settings.yaml index 99e19a593..fbaba1536 100644 --- a/systemtests/settings.yaml +++ b/systemtests/SDplotting/settings.yaml @@ -1,10 +1,10 @@ --- # general settings data_dir: logs -data_file: cf231_ +data_file: figure8 # data_file: log129 info_dir: info -info_file: info_cf231_.yaml +info_file: infofigure8.yaml event_name: - fixedFrequency - estPosition From 1a21101023ea0f98e085d1b86c8be4186c860600 Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Wed, 27 Mar 2024 14:56:32 +0100 Subject: [PATCH 110/162] last work in date --- .../crazyflie_examples/figure8.py | 6 ++ systemtests/test_flights.py | 69 +++++++++++++------ 2 files changed, 55 insertions(+), 20 deletions(-) diff --git a/crazyflie_examples/crazyflie_examples/figure8.py b/crazyflie_examples/crazyflie_examples/figure8.py index af75d2998..72e0f1aa9 100644 --- a/crazyflie_examples/crazyflie_examples/figure8.py +++ b/crazyflie_examples/crazyflie_examples/figure8.py @@ -14,6 +14,9 @@ def main(): traj1 = Trajectory() traj1.loadcsv(Path(__file__).parent / 'data/figure8.csv') + + #enable logging + allcfs.setParam("usd.logging", 1) TRIALS = 1 TIMESCALE = 1.0 @@ -35,6 +38,9 @@ def main(): allcfs.land(targetHeight=0.06, duration=2.0) timeHelper.sleep(3.0) + + #disable logging + allcfs.setParam("usd.logging", 0) if __name__ == '__main__': diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index 8f7c20d10..72df164a8 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -66,6 +66,7 @@ def __init__(self, methodName: str = "runTest") -> None: self.test_file = None self.launch_crazyswarm : Popen = None self.ros2_ws = Path(__file__).parents[3] #/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws + self.src = f"source {str(self.ros2_ws)}/install/setup.bash" def idFolderName(self): return self.id().split(".")[-1] #returns the name of the test_function currently being run, for example "test_figure8" @@ -79,8 +80,8 @@ def setUp(self): # launch server current_env = None - src = "source " + str(Path(__file__).parents[3] / "install/setup.bash") # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" - command = f"{src} && ros2 launch crazyflie launch.py" + # src = "source " + str(Path(__file__).parents[3] / "install/setup.bash") # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" + command = f"{self.src} && ros2 launch crazyflie launch.py" if TestFlights.SIM : command += " backend:=sim" #launch crazyswarm from simulation backend current_env = os.environ.copy() @@ -98,8 +99,36 @@ def tearDown(self) -> None: if Path(Path.home() / ".ros/log").exists(): shutil.copytree(Path.home() / ".ros/log", Path(__file__).parents[3] / f"results/{self.idFolderName()}/roslogs") + command = f"{self.src} && ros2 run crazyflie downloadUSDLogfile --output SDlogfile" #if CF doesn't use default URI, add --uri custom_uri (e.g --uri radio://0/80/2M/E7E7E7E70B) + try: + downloadSD= Popen(command, shell=True, stderr=PIPE, stdout=PIPE, text=True, #download the log file in ....../ros2_ws/results/test_xxxxxxx/ + cwd= self.ros2_ws / f"results/{self.idFolderName()}" ,start_new_session=True, executable="/bin/bash") + atexit.register(clean_process, downloadSD) + ####testing purposes + print("waiting") + time_start = time.time() + ####### + downloadSD.wait(timeout=300) #wait 5min for download to finish and raise TimeoutExpired if not finished + print(f"download lasted {time.time()-time_start}s") + except TimeoutExpired: + clean_process(downloadSD) + print("Downloading SD card data was killed for taking too long") + return super().tearDown() + + ####try to plot the SD log + SDlogfile_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDlogfile") + pdf_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDreport.pdf") + print(f"SD logfile path {SDlogfile_path} and pdf path {pdf_path} and self id folder name {self.idFolderName()}") + + command = f"python3 save.py" + savepy= Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, + cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") + shutil.copy(SDlogfile_path, str(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/logs/figure8")) + command = f"python3 plot.py" + plotpy = Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, + cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") + return super().tearDown() - def record_start_and_clean(self, testname:str, max_wait:int): @@ -107,14 +136,14 @@ def record_start_and_clean(self, testname:str, max_wait:int): before forcefully terminating the test flight script (in case it never finishes correctly). NB the testname must be the name of the crayzflie_examples executable (ie the CLI grammar "ros2 run crazyflie_examples testname" must be valid)''' - src = f"source {str(self.ros2_ws)}/install/setup.bash" + # src = f"source {str(self.ros2_ws)}/install/setup.bash" try: - command = f"{src} && ros2 bag record -s mcap -o test_{testname} /tf" + command = f"{self.src} && ros2 bag record -s mcap -o test_{testname} /tf" record_bag = Popen(command, shell=True, stderr=PIPE, stdout=True, text=True, cwd= self.ros2_ws / "results/", start_new_session=True, executable="/bin/bash") atexit.register(clean_process, record_bag) - command = f"{src} && ros2 run crazyflie_examples {testname}" + command = f"{self.src} && ros2 run crazyflie_examples {testname}" if TestFlights.SIM: command += " --ros-args -p use_sim_time:=True" #necessary args to start the test in simulation start_flight_test = Popen(command, shell=True, stderr=True, stdout=True, @@ -148,17 +177,17 @@ def translate_plot_and_check(self, testname:str) -> bool : successfully followed its given trajectory. Returns True if deviation < epsilon(defined in plotter_class.py) at every timestep, false if not. ''' # NB : the mcap filename is almost the same as the folder name but has _0 at the end - inputbag = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.mcap" - output_csv = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.csv" + # inputbag = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.mcap" + # output_csv = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.csv" - writer = McapHandler() - writer.write_mcap_to_csv(inputbag, output_csv) #translate bag from mcap to csv - output_pdf = f"{str(self.ros2_ws)}/results/test_{testname}/results_{testname}.pdf" - rosbag_csv = output_csv + # writer = McapHandler() + # writer.write_mcap_to_csv(inputbag, output_csv) #translate bag from mcap to csv + # output_pdf = f"{str(self.ros2_ws)}/results/test_{testname}/results_{testname}.pdf" + # rosbag_csv = output_csv - plotter = Plotter(sim_backend=TestFlights.SIM) - plotter.create_figures(self.test_file, rosbag_csv, output_pdf) #plot the data - return plotter.test_passed() + # plotter = Plotter(sim_backend=TestFlights.SIM) + # plotter.create_figures(self.test_file, rosbag_csv, output_pdf) #plot the data + # return plotter.test_passed() @@ -170,11 +199,11 @@ def test_figure8(self): test_passed = self.translate_plot_and_check("figure8") assert test_passed, "figure8 test failed : deviation larger than epsilon" - def test_multi_trajectory(self): - self.test_file = "multi_trajectory_traj0_ideal.csv" - self.record_start_and_clean("multi_trajectory", 80) - test_passed = self.translate_plot_and_check("multi_trajectory") - assert test_passed, "multitrajectory test failed : deviation larger than epsilon" + # def test_multi_trajectory(self): + # self.test_file = "multi_trajectory_traj0_ideal.csv" + # self.record_start_and_clean("multi_trajectory", 80) + # test_passed = self.translate_plot_and_check("multi_trajectory") + # assert test_passed, "multitrajectory test failed : deviation larger than epsilon" From 4696275bcbe82d54e8c97bd0912df3e4725dc8d3 Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Thu, 28 Mar 2024 13:45:18 +0100 Subject: [PATCH 111/162] basic working state for figure8 --- crazyflie/config/crazyflies.yaml | 10 ++--- .../crazyflie_examples/figure8.py | 4 +- systemtests/SDplotting/plot.py | 2 +- systemtests/SDplotting/save.py | 12 +++--- systemtests/test_flights.py | 38 ++++++++++++------- 5 files changed, 38 insertions(+), 28 deletions(-) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index 6966f2819..889e66612 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -95,11 +95,11 @@ all: estimator: 2 # 1: complementary, 2: kalman controller: 2 # 1: PID, 2: mellinger ctrlLeeInfo: - experiment: figure8 - trajectory: figure8.csv #translation_y.csv # yaw0.csv # # # - timescale: 3.0 # 0.75 # #0.34 - motors: standard motors (CF) - propellers: standard propellers (CF) + experiment: figure8 + trajectory: figure8.csv #translation_y.csv # yaw0.csv # # # + timescale: 3.0 # 0.75 # #0.34 + motors: standard motors (CF) + propellers: standard propellers (CF) # ring: # effect: 16 # 6: double spinner, 7: solid color, 16: packetRate diff --git a/crazyflie_examples/crazyflie_examples/figure8.py b/crazyflie_examples/crazyflie_examples/figure8.py index 72e0f1aa9..1e7199826 100644 --- a/crazyflie_examples/crazyflie_examples/figure8.py +++ b/crazyflie_examples/crazyflie_examples/figure8.py @@ -39,8 +39,8 @@ def main(): allcfs.land(targetHeight=0.06, duration=2.0) timeHelper.sleep(3.0) - #disable logging - allcfs.setParam("usd.logging", 0) + #disable logging + allcfs.setParam("usd.logging", 0) if __name__ == '__main__': diff --git a/systemtests/SDplotting/plot.py b/systemtests/SDplotting/plot.py index e07ffe7a2..abcd52942 100644 --- a/systemtests/SDplotting/plot.py +++ b/systemtests/SDplotting/plot.py @@ -165,7 +165,7 @@ def create_figures(data_usd, settings): with open(info_path, "r") as f: info = yaml.safe_load(f) except FileNotFoundError: - print(f"File not found: {info_path}") + print(f"(plot.py) File not found: {info_path}") exit(1) title_text_parameters = f"Parameters:\n" diff --git a/systemtests/SDplotting/save.py b/systemtests/SDplotting/save.py index fe6213d6a..046459da4 100644 --- a/systemtests/SDplotting/save.py +++ b/systemtests/SDplotting/save.py @@ -12,7 +12,7 @@ # experiment_number = int(input("Enter the experiment number: ")) # File paths -crazyflies_config_path = "../crazyflie/config/crazyflies.yaml" +crazyflies_config_path = "../../crazyflie/config/crazyflies.yaml" # Read information from crazyflies.yaml try: @@ -28,7 +28,7 @@ for key, value in obj["ctrlLee"].items(): info[key] = value except FileNotFoundError: - print(f"File not found: {crazyflies_config_path}") + print(f"(save.py) File not found: {crazyflies_config_path}") exit(1) experiment_name = info["experiment"] @@ -37,10 +37,10 @@ # file guard if os.path.exists(info_file_path): print(f"File already exists: {info_file_path}") - ans = input("Overwrite? [y/n]: ") - if ans == "n": - print("Exiting...") - exit(1) + # ans = input("Overwrite? [y/n]: ") + # if ans == "n": + # print("Exiting...") + # exit(1) print("========================================") diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index 72df164a8..a686654d9 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -93,7 +93,7 @@ def setUp(self): # runs once per test_ function def tearDown(self) -> None: clean_process(self.launch_crazyswarm) #kill crazyswarm_server and all of its child processes - print_PIPE(self.launch_crazyswarm, "launch_crazyswarm") + # print_PIPE(self.launch_crazyswarm, "launch_crazyswarm") #this will always print all of the STDOUT and STDERR since we killed it beforehand. Not smart ? # copy .ros/log files to results folder if Path(Path.home() / ".ros/log").exists(): @@ -101,7 +101,7 @@ def tearDown(self) -> None: command = f"{self.src} && ros2 run crazyflie downloadUSDLogfile --output SDlogfile" #if CF doesn't use default URI, add --uri custom_uri (e.g --uri radio://0/80/2M/E7E7E7E70B) try: - downloadSD= Popen(command, shell=True, stderr=PIPE, stdout=PIPE, text=True, #download the log file in ....../ros2_ws/results/test_xxxxxxx/ + downloadSD= Popen(command, shell=True, stderr=False, stdout=False, text=True, #download the log file in ....../ros2_ws/results/test_xxxxxxx/ cwd= self.ros2_ws / f"results/{self.idFolderName()}" ,start_new_session=True, executable="/bin/bash") atexit.register(clean_process, downloadSD) ####testing purposes @@ -123,11 +123,21 @@ def tearDown(self) -> None: command = f"python3 save.py" savepy= Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") + atexit.register(clean_process, savepy) + savepy.wait(timeout=5) + print("savepy finished") shutil.copy(SDlogfile_path, str(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/logs/figure8")) command = f"python3 plot.py" plotpy = Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") - + atexit.register(clean_process, plotpy) + plotpy.wait(timeout=5) + print("plotpy finished") + if(Path(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/reports/figure8.pdf").exists()): + shutil.copy(str(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/reports/figure8.pdf"), + str(self.ros2_ws / "results/test_figure8/SDreport.pdf")) + else: + print("ERROR couldn't copy figure8.pdf to results because wasn't there") return super().tearDown() @@ -146,7 +156,7 @@ def record_start_and_clean(self, testname:str, max_wait:int): command = f"{self.src} && ros2 run crazyflie_examples {testname}" if TestFlights.SIM: command += " --ros-args -p use_sim_time:=True" #necessary args to start the test in simulation - start_flight_test = Popen(command, shell=True, stderr=True, stdout=True, + start_flight_test = Popen(command, shell=True, stderr=False, stdout=False, start_new_session=True, text=True, executable="/bin/bash") atexit.register(clean_process, start_flight_test) @@ -177,17 +187,17 @@ def translate_plot_and_check(self, testname:str) -> bool : successfully followed its given trajectory. Returns True if deviation < epsilon(defined in plotter_class.py) at every timestep, false if not. ''' # NB : the mcap filename is almost the same as the folder name but has _0 at the end - # inputbag = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.mcap" - # output_csv = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.csv" + inputbag = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.mcap" + output_csv = f"{str(self.ros2_ws)}/results/test_{testname}/test_{testname}_0.csv" - # writer = McapHandler() - # writer.write_mcap_to_csv(inputbag, output_csv) #translate bag from mcap to csv - # output_pdf = f"{str(self.ros2_ws)}/results/test_{testname}/results_{testname}.pdf" - # rosbag_csv = output_csv + writer = McapHandler() + writer.write_mcap_to_csv(inputbag, output_csv) #translate bag from mcap to csv + output_pdf = f"{str(self.ros2_ws)}/results/test_{testname}/results_{testname}.pdf" + rosbag_csv = output_csv - # plotter = Plotter(sim_backend=TestFlights.SIM) - # plotter.create_figures(self.test_file, rosbag_csv, output_pdf) #plot the data - # return plotter.test_passed() + plotter = Plotter(sim_backend=TestFlights.SIM) + plotter.create_figures(self.test_file, rosbag_csv, output_pdf) #plot the data + return plotter.test_passed() @@ -197,7 +207,7 @@ def test_figure8(self): self.record_start_and_clean("figure8", 20) #create the plot etc test_passed = self.translate_plot_and_check("figure8") - assert test_passed, "figure8 test failed : deviation larger than epsilon" + # assert test_passed, "figure8 test failed : deviation larger than epsilon" # def test_multi_trajectory(self): # self.test_file = "multi_trajectory_traj0_ideal.csv" From 262352319703edeea4cf608e39f0f681979a3834 Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Thu, 28 Mar 2024 15:51:24 +0100 Subject: [PATCH 112/162] got rid of Popen for plotpy and savepy and simplified a little bit --- systemtests/SDplotting/plot.py | 36 +++++++---- systemtests/SDplotting/save.py | 105 +++++++++++++++++---------------- systemtests/test_flights.py | 42 ++++++++----- 3 files changed, 106 insertions(+), 77 deletions(-) diff --git a/systemtests/SDplotting/plot.py b/systemtests/SDplotting/plot.py index abcd52942..fa5b9ac5b 100644 --- a/systemtests/SDplotting/plot.py +++ b/systemtests/SDplotting/plot.py @@ -5,7 +5,7 @@ # attidtue best: 22 -import cfusdlog +import SDplotting.cfusdlog import matplotlib.pyplot as plt import os import sys @@ -14,7 +14,7 @@ import numpy as np -import data_helper +import SDplotting.data_helper def file_guard(pdf_path): @@ -128,7 +128,7 @@ def add_data(data, settings): print("...done adding data") -def create_figures(data_usd, settings): +def create_figures(data_usd, settings, logfile=None, out=None): debug_all = False debug = False debug_figure_number = 20 # Residual Torques @@ -137,14 +137,20 @@ def create_figures(data_usd, settings): # debug_figure_number = 6 # payload positions # debug_figure_number = 7 # payload velocities - - log_path = os.path.join(settings["data_dir"], settings['data_file']) + if logfile != None : + log_path = logfile + else: #choose default log file path given in settings.yaml if no specific path given + log_path = os.path.join(settings["data_dir"], settings['data_file']) + print("log file: {}".format(log_path)) data_processed = process_data(data_usd, settings) # create a PDF to save the figures - pdf_path = os.path.join(settings["output_dir"], settings['data_file']) + ".pdf" + if out!= None: + pdf_path = out + else: #choose default pdf path in settings.yaml if no specifif one given + pdf_path = os.path.join(settings["output_dir"], settings['data_file']) + ".pdf" print("output path: {}".format(pdf_path)) # check if user wants to overwrite the report file @@ -299,7 +305,8 @@ def create_figures(data_usd, settings): pdf_pages.close() -if __name__ == "__main__": +def plot_SD_data(logfile=None, output = None): + # change the current working directory to the directory of this file os.chdir(os.path.dirname(os.path.abspath(__file__))) @@ -309,11 +316,18 @@ def create_figures(data_usd, settings): settings = yaml.load(f, Loader=yaml.FullLoader) # decode binary log data - path = os.path.join(settings["data_dir"], settings['data_file']) + if logfile != None : + path = logfile + else: #choose default path given in settings.yaml + path = os.path.join(settings["data_dir"], settings['data_file']) print(f"Processing {path}...") - data_usd = cfusdlog.decode(path) + data_usd = SDplotting.cfusdlog.decode(path) # create the figures print("...creating figures") - create_figures(data_usd, settings) - print("...done creating figures") \ No newline at end of file + create_figures(data_usd, settings, out=output) + print("...done creating figures") + + +if __name__ == "__main__": + plot_SD_data() \ No newline at end of file diff --git a/systemtests/SDplotting/save.py b/systemtests/SDplotting/save.py index 046459da4..72365ea58 100644 --- a/systemtests/SDplotting/save.py +++ b/systemtests/SDplotting/save.py @@ -5,53 +5,58 @@ import os import yaml -# Dictionary to store extracted information -info = {} - -# Prompt the user for the experiment number -# experiment_number = int(input("Enter the experiment number: ")) - -# File paths -crazyflies_config_path = "../../crazyflie/config/crazyflies.yaml" - -# Read information from crazyflies.yaml -try: - with open(crazyflies_config_path, "r") as config_file: - config_data = yaml.safe_load(config_file) - # extract the trajectory and timescale - obj = config_data["all"]["firmware_params"] - if "ctrlLeeInfo" in obj: - for key, value in obj["ctrlLeeInfo"].items(): - info[key] = value - # extract the ctrlLee parameters - if "ctrlLee" in obj: - for key, value in obj["ctrlLee"].items(): - info[key] = value -except FileNotFoundError: - print(f"(save.py) File not found: {crazyflies_config_path}") - exit(1) - -experiment_name = info["experiment"] -info_file_path = f"info/info{experiment_name}.yaml" - -# file guard -if os.path.exists(info_file_path): - print(f"File already exists: {info_file_path}") - # ans = input("Overwrite? [y/n]: ") - # if ans == "n": - # print("Exiting...") - # exit(1) - -print("========================================") - -try: - with open(info_file_path, "w") as info_file: - print(f"Writing experiment info to {info_file_path}") - for key in info: - print(f">>> {key}: {info[key]}") - yaml.dump({key: info[key]}, info_file, default_flow_style=False, sort_keys=False) - print(f"Experiment info written to {info_file_path}") -except Exception as e: - print(f"Error writing to {info_file_path}: {str(e)}") - -print("========================================") \ No newline at end of file + +def write_info(): + # Dictionary to store extracted information + info = {} + + # Prompt the user for the experiment number + # experiment_number = int(input("Enter the experiment number: ")) + + # File paths + crazyflies_config_path = "crazyflie/config/crazyflies.yaml" + + # Read information from crazyflies.yaml + try: + with open(crazyflies_config_path, "r") as config_file: + config_data = yaml.safe_load(config_file) + # extract the trajectory and timescale + obj = config_data["all"]["firmware_params"] + if "ctrlLeeInfo" in obj: + for key, value in obj["ctrlLeeInfo"].items(): + info[key] = value + # extract the ctrlLee parameters + if "ctrlLee" in obj: + for key, value in obj["ctrlLee"].items(): + info[key] = value + except FileNotFoundError: + print(f"(save.py) File not found: {crazyflies_config_path}") + exit(1) + + experiment_name = info["experiment"] + info_file_path = f"systemtests/SDplotting/info/info{experiment_name}.yaml" + + # file guard + if os.path.exists(info_file_path): + print(f"File already exists: {info_file_path}") + # ans = input("Overwrite? [y/n]: ") + # if ans == "n": + # print("Exiting...") + # exit(1) + + print("========================================") + + try: + with open(info_file_path, "w") as info_file: + print(f"Writing experiment info to {info_file_path}") + for key in info: + print(f">>> {key}: {info[key]}") + yaml.dump({key: info[key]}, info_file, default_flow_style=False, sort_keys=False) + print(f"Experiment info written to {info_file_path}") + except Exception as e: + print(f"Error writing to {info_file_path}: {str(e)}") + + print("========================================") + +if __name__ == "__main__": + write_info() \ No newline at end of file diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index a686654d9..4bb4eec1f 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -10,6 +10,7 @@ import signal import atexit from argparse import ArgumentParser, Namespace +from SDplotting import save, plot ############################# @@ -120,24 +121,33 @@ def tearDown(self) -> None: pdf_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDreport.pdf") print(f"SD logfile path {SDlogfile_path} and pdf path {pdf_path} and self id folder name {self.idFolderName()}") - command = f"python3 save.py" - savepy= Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, - cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") - atexit.register(clean_process, savepy) - savepy.wait(timeout=5) + # write_info() + # # command = f"python3 save.py" + # # savepy= Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, + # # cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") + # # atexit.register(clean_process, savepy) + # # savepy.wait(timeout=5) + # print("savepy finished") + # shutil.copy(SDlogfile_path, str(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/logs/figure8")) + # # command = f"python3 plot.py" + # # plotpy = Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, + # # cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") + # # atexit.register(clean_process, plotpy) + # # plotpy.wait(timeout=5) + # plot_SD_data() + # print("plotpy finished") + # if(Path(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/reports/figure8.pdf").exists()): + # shutil.copy(str(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/reports/figure8.pdf"), + # str(self.ros2_ws / "results/test_figure8/SDreport.pdf")) + # else: + # print("ERROR couldn't copy figure8.pdf to results because wasn't there") + + + save.write_info() print("savepy finished") - shutil.copy(SDlogfile_path, str(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/logs/figure8")) - command = f"python3 plot.py" - plotpy = Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, - cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") - atexit.register(clean_process, plotpy) - plotpy.wait(timeout=5) + plot.plot_SD_data(logfile = SDlogfile_path, output = str(self.ros2_ws / "results/test_figure8/SDreport.pdf")) print("plotpy finished") - if(Path(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/reports/figure8.pdf").exists()): - shutil.copy(str(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/reports/figure8.pdf"), - str(self.ros2_ws / "results/test_figure8/SDreport.pdf")) - else: - print("ERROR couldn't copy figure8.pdf to results because wasn't there") + return super().tearDown() From 83c085294109aad5623bba1f9e00833a6b14b8a5 Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Thu, 28 Mar 2024 16:08:14 +0100 Subject: [PATCH 113/162] SD download and plot working for figure8 but now rosbag plotting seems to be broken --- systemtests/SDplotting/save.py | 2 +- systemtests/test_flights.py | 27 +-------------------------- 2 files changed, 2 insertions(+), 27 deletions(-) diff --git a/systemtests/SDplotting/save.py b/systemtests/SDplotting/save.py index 72365ea58..834bc70d0 100644 --- a/systemtests/SDplotting/save.py +++ b/systemtests/SDplotting/save.py @@ -14,7 +14,7 @@ def write_info(): # experiment_number = int(input("Enter the experiment number: ")) # File paths - crazyflies_config_path = "crazyflie/config/crazyflies.yaml" + crazyflies_config_path = "../crazyflie/config/crazyflies.yaml" # Read information from crazyflies.yaml try: diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index 4bb4eec1f..c7937e195 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -89,7 +89,7 @@ def setUp(self): self.launch_crazyswarm = Popen(command, shell=True, stderr=PIPE, stdout=PIPE, text=True, start_new_session=True, executable="/bin/bash", env=current_env) atexit.register(clean_process, self.launch_crazyswarm) #atexit helps us to make sure processes are cleaned even if script exits unexpectedly - time.sleep(1) + time.sleep(3) # runs once per test_ function def tearDown(self) -> None: @@ -120,33 +120,8 @@ def tearDown(self) -> None: SDlogfile_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDlogfile") pdf_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDreport.pdf") print(f"SD logfile path {SDlogfile_path} and pdf path {pdf_path} and self id folder name {self.idFolderName()}") - - # write_info() - # # command = f"python3 save.py" - # # savepy= Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, - # # cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") - # # atexit.register(clean_process, savepy) - # # savepy.wait(timeout=5) - # print("savepy finished") - # shutil.copy(SDlogfile_path, str(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/logs/figure8")) - # # command = f"python3 plot.py" - # # plotpy = Popen(command, shell=True, stderr=False, stdout=False, text=True,start_new_session=True, - # # cwd= self.ros2_ws/ "src/crazyswarm2/systemtests/SDplotting", executable="/bin/bash") - # # atexit.register(clean_process, plotpy) - # # plotpy.wait(timeout=5) - # plot_SD_data() - # print("plotpy finished") - # if(Path(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/reports/figure8.pdf").exists()): - # shutil.copy(str(self.ros2_ws / "src/crazyswarm2/systemtests/SDplotting/reports/figure8.pdf"), - # str(self.ros2_ws / "results/test_figure8/SDreport.pdf")) - # else: - # print("ERROR couldn't copy figure8.pdf to results because wasn't there") - - save.write_info() - print("savepy finished") plot.plot_SD_data(logfile = SDlogfile_path, output = str(self.ros2_ws / "results/test_figure8/SDreport.pdf")) - print("plotpy finished") return super().tearDown() From c2ac0ec74393ec05f8eef1d9d07f4fca5af42e76 Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Thu, 28 Mar 2024 17:06:46 +0100 Subject: [PATCH 114/162] changed mcap handler --- systemtests/test_flights.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index c7937e195..65adf75ee 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -141,7 +141,7 @@ def record_start_and_clean(self, testname:str, max_wait:int): command = f"{self.src} && ros2 run crazyflie_examples {testname}" if TestFlights.SIM: command += " --ros-args -p use_sim_time:=True" #necessary args to start the test in simulation - start_flight_test = Popen(command, shell=True, stderr=False, stdout=False, + start_flight_test = Popen(command, shell=True, stderr=PIPE, stdout=PIPE, start_new_session=True, text=True, executable="/bin/bash") atexit.register(clean_process, start_flight_test) From 812b29d6ab41865d2d4c0c5e999cff02c2aee003 Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Tue, 2 Apr 2024 13:33:34 +0200 Subject: [PATCH 115/162] working for figure8 --- systemtests/plotter_class.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systemtests/plotter_class.py b/systemtests/plotter_class.py index af35a0cf4..5833de3b9 100644 --- a/systemtests/plotter_class.py +++ b/systemtests/plotter_class.py @@ -25,7 +25,7 @@ def __init__(self, sim_backend = False): self.SIM = sim_backend #indicates if we are plotting data from real life test or from a simulated test. Default is false (real life test) self.EPSILON = 0.15 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test (NB : epsilon is doubled for multi_trajectory test) self.ALLOWED_DEV_POINTS = 0.05 #allowed percentage of datapoints whose deviation > EPSILON while still passing test (currently % for fig8 and 10% for mt) - self.DELAY_CONST_FIG8 = 1.3 #4.75 #this is the delay constant which I found by adding up all the time.sleep() etc in the figure8.py file. + self.DELAY_CONST_FIG8 = 1.3 #delay const used to temporally align the ideal traj with the real traj self.DELAY_CONST_MT = 5.5 if self.SIM : #It allows to temporally adjust the ideal and real trajectories on the graph. Could this be implemented in a better (not hardcoded) way ? self.DELAY_CONST_FIG8 = -0.45 #for an unknown reason, the delay constants with the sim_backend is different From ebaddd93262e209180c9bbf3363571aab1ad61a4 Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Tue, 2 Apr 2024 16:41:21 +0200 Subject: [PATCH 116/162] working test_flights for figure8 --- systemtests/SDplotting/info/infofigure8.yaml | 5 ---- .../SDplotting/info/old/info_cf231_.yaml | 5 ---- systemtests/SDplotting/logs/cf231_ | Bin 85439 -> 0 bytes systemtests/SDplotting/logs/figure8 | Bin 85439 -> 0 bytes systemtests/SDplotting/plot.py | 12 +++++++--- systemtests/SDplotting/reports/cf231_.pdf | Bin 58244 -> 0 bytes systemtests/SDplotting/reports/figure8.pdf | Bin 58225 -> 0 bytes systemtests/SDplotting/save.py | 22 ++++++++++++++---- ...l.csv => multi_trajectory_ideal_traj0.csv} | 0 systemtests/test_flights.py | 10 ++++---- 10 files changed, 32 insertions(+), 22 deletions(-) delete mode 100644 systemtests/SDplotting/info/infofigure8.yaml delete mode 100644 systemtests/SDplotting/info/old/info_cf231_.yaml delete mode 100644 systemtests/SDplotting/logs/cf231_ delete mode 100644 systemtests/SDplotting/logs/figure8 delete mode 100644 systemtests/SDplotting/reports/cf231_.pdf delete mode 100644 systemtests/SDplotting/reports/figure8.pdf rename systemtests/{multi_trajectory_traj0_ideal.csv => multi_trajectory_ideal_traj0.csv} (100%) diff --git a/systemtests/SDplotting/info/infofigure8.yaml b/systemtests/SDplotting/info/infofigure8.yaml deleted file mode 100644 index faac515d4..000000000 --- a/systemtests/SDplotting/info/infofigure8.yaml +++ /dev/null @@ -1,5 +0,0 @@ -experiment: figure8 -trajectory: figure8.csv -timescale: 3.0 -motors: standard motors (CF) -propellers: standard propellers (CF) diff --git a/systemtests/SDplotting/info/old/info_cf231_.yaml b/systemtests/SDplotting/info/old/info_cf231_.yaml deleted file mode 100644 index 0c3730bb0..000000000 --- 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ros2_ws_path=None): # Dictionary to store extracted information info = {} @@ -15,6 +15,11 @@ def write_info(): # File paths crazyflies_config_path = "../crazyflie/config/crazyflies.yaml" + print("cwd : ", os.path.abspath(os.getcwd())) + if ros2_ws_path != None: + crazyflies_config_path = str(ros2_ws_path) + "/src/crazyswarm2/crazyflie/config/crazyflies.yaml" + info_file_prepath = str(ros2_ws_path) + "/src/crazyswarm2/systemtests" + # Read information from crazyflies.yaml try: @@ -33,12 +38,19 @@ def write_info(): print(f"(save.py) File not found: {crazyflies_config_path}") exit(1) - experiment_name = info["experiment"] - info_file_path = f"systemtests/SDplotting/info/info{experiment_name}.yaml" + print("info", info) + if experiment != None: + info["experiment"] = experiment + info["trajectory"] = str(experiment) + ".csv" + + experiment_name = info["experiment"] + info_file_path = info_file_prepath + f"/SDplotting/info/info_{experiment_name}.yaml" + # info_file_path = str(ros2_ws_path) + f"systemtests/SDplotting/info/info{experiment_name}.yaml" + # file guard if os.path.exists(info_file_path): - print(f"File already exists: {info_file_path}") + print(f"File already exists: {info_file_path} It will be replaced") # ans = input("Overwrite? [y/n]: ") # if ans == "n": # print("Exiting...") @@ -59,4 +71,4 @@ def write_info(): print("========================================") if __name__ == "__main__": - write_info() \ No newline at end of file + write_info("multi_trajectory", "/home/jthevenoz/ros2_ws") \ No newline at end of file diff --git a/systemtests/multi_trajectory_traj0_ideal.csv b/systemtests/multi_trajectory_ideal_traj0.csv similarity index 100% rename from systemtests/multi_trajectory_traj0_ideal.csv rename to systemtests/multi_trajectory_ideal_traj0.csv diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index 65adf75ee..49e0e6c2c 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -89,7 +89,7 @@ def setUp(self): self.launch_crazyswarm = Popen(command, shell=True, stderr=PIPE, stdout=PIPE, text=True, start_new_session=True, executable="/bin/bash", env=current_env) atexit.register(clean_process, self.launch_crazyswarm) #atexit helps us to make sure processes are cleaned even if script exits unexpectedly - time.sleep(3) + time.sleep(5) # runs once per test_ function def tearDown(self) -> None: @@ -120,8 +120,10 @@ def tearDown(self) -> None: SDlogfile_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDlogfile") pdf_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDreport.pdf") print(f"SD logfile path {SDlogfile_path} and pdf path {pdf_path} and self id folder name {self.idFolderName()}") - save.write_info() - plot.plot_SD_data(logfile = SDlogfile_path, output = str(self.ros2_ws / "results/test_figure8/SDreport.pdf")) + test_name = self.test_file[:self.test_file.rfind("_ideal_traj")] #strip the end of the test_file string to just keep the name + save.write_info(experiment=test_name, ros2_ws_path=str(self.ros2_ws)) + plot.plot_SD_data(output = str(self.ros2_ws / f"results/{self.idFolderName()}/SDreport.pdf"), + logfile = SDlogfile_path, experiment = test_name, ros2_ws = self.ros2_ws) return super().tearDown() @@ -195,7 +197,7 @@ def test_figure8(self): # assert test_passed, "figure8 test failed : deviation larger than epsilon" # def test_multi_trajectory(self): - # self.test_file = "multi_trajectory_traj0_ideal.csv" + # self.test_file = "multi_trajectory_ideal_traj0.csv" # self.record_start_and_clean("multi_trajectory", 80) # test_passed = self.translate_plot_and_check("multi_trajectory") # assert test_passed, "multitrajectory test failed : deviation larger than epsilon" From 5cb175870fb6b47284bb68d784f0e48c80ad98ea Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Wed, 3 Apr 2024 17:18:35 +0200 Subject: [PATCH 117/162] changed cf.yaml, added logging to infiflight and m_t ; still experimental because CF never flies --- crazyflie/config/crazyflies.yaml | 12 ++++++------ .../crazyflie_examples/infinite_flight.py | 3 +++ .../crazyflie_examples/multi_trajectory.py | 7 +++++++ systemtests/test_flights.py | 2 +- 4 files changed, 17 insertions(+), 7 deletions(-) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index 889e66612..2d91ffb89 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -94,12 +94,12 @@ all: stabilizer: estimator: 2 # 1: complementary, 2: kalman controller: 2 # 1: PID, 2: mellinger - ctrlLeeInfo: - experiment: figure8 - trajectory: figure8.csv #translation_y.csv # yaw0.csv # # # - timescale: 3.0 # 0.75 # #0.34 - motors: standard motors (CF) - propellers: standard propellers (CF) + # ctrlLeeInfo: + # experiment: figure8 + # trajectory: figure8.csv #translation_y.csv # yaw0.csv # # # + # timescale: 3.0 # 0.75 # #0.34 + # motors: standard motors (CF) + # propellers: standard propellers (CF) # ring: # effect: 16 # 6: double spinner, 7: solid color, 16: packetRate diff --git a/crazyflie_examples/crazyflie_examples/infinite_flight.py b/crazyflie_examples/crazyflie_examples/infinite_flight.py index 6aa94c6fb..29239f053 100644 --- a/crazyflie_examples/crazyflie_examples/infinite_flight.py +++ b/crazyflie_examples/crazyflie_examples/infinite_flight.py @@ -22,6 +22,9 @@ def main(): # pm_state : 0 = on battery 1 = charging 2 = charged 3 = low power 4 = shutdown flight_counter = 1 + + #enable logging + allcfs.setParam("usd.logging", 1) while True: print('takeoff') diff --git a/crazyflie_examples/crazyflie_examples/multi_trajectory.py b/crazyflie_examples/crazyflie_examples/multi_trajectory.py index 57b5caa7d..ba41ad3f9 100644 --- a/crazyflie_examples/crazyflie_examples/multi_trajectory.py +++ b/crazyflie_examples/crazyflie_examples/multi_trajectory.py @@ -13,6 +13,9 @@ def main(): allcfs = swarm.allcfs trajs = [] n = 2 # number of distinct trajectories + + #enable logging + allcfs.setParam("usd.logging", 1) for i in range(n): traj = Trajectory() @@ -37,6 +40,10 @@ def main(): allcfs.land(targetHeight=0.06, duration=2.0) timeHelper.sleep(3.0) + + + #disable logging + allcfs.setParam("usd.logging", 0) if __name__ == '__main__': diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index 49e0e6c2c..3d972deee 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -95,7 +95,7 @@ def setUp(self): def tearDown(self) -> None: clean_process(self.launch_crazyswarm) #kill crazyswarm_server and all of its child processes # print_PIPE(self.launch_crazyswarm, "launch_crazyswarm") #this will always print all of the STDOUT and STDERR since we killed it beforehand. Not smart ? - + time.sleep(3) #give some time for crazyflie_server to shut down completely before starting the USD download # copy .ros/log files to results folder if Path(Path.home() / ".ros/log").exists(): shutil.copytree(Path.home() / ".ros/log", Path(__file__).parents[3] / f"results/{self.idFolderName()}/roslogs") From 00684bb995c292be25712c6cefecd4708bf459e9 Mon Sep 17 00:00:00 2001 From: JulienThevenozIMRC Date: Wed, 10 Apr 2024 12:06:25 +0200 Subject: [PATCH 118/162] changed takeoff/landing detection in test_flights.py ; other small cleanups --- systemtests/SDplotting/save.py | 2 -- systemtests/plotter_class.py | 4 ++-- systemtests/test_flights.py | 29 +++++++++++++++++------------ 3 files changed, 19 insertions(+), 16 deletions(-) diff --git a/systemtests/SDplotting/save.py b/systemtests/SDplotting/save.py index c432d69be..e20a32b44 100644 --- a/systemtests/SDplotting/save.py +++ b/systemtests/SDplotting/save.py @@ -15,7 +15,6 @@ def write_info(experiment=None, ros2_ws_path=None): # File paths crazyflies_config_path = "../crazyflie/config/crazyflies.yaml" - print("cwd : ", os.path.abspath(os.getcwd())) if ros2_ws_path != None: crazyflies_config_path = str(ros2_ws_path) + "/src/crazyswarm2/crazyflie/config/crazyflies.yaml" info_file_prepath = str(ros2_ws_path) + "/src/crazyswarm2/systemtests" @@ -39,7 +38,6 @@ def write_info(experiment=None, ros2_ws_path=None): exit(1) - print("info", info) if experiment != None: info["experiment"] = experiment info["trajectory"] = str(experiment) + ".csv" diff --git a/systemtests/plotter_class.py b/systemtests/plotter_class.py index 5833de3b9..42a8307df 100644 --- a/systemtests/plotter_class.py +++ b/systemtests/plotter_class.py @@ -146,11 +146,11 @@ def adjust_arrays(self): landing_index = None i=0 for z_coord in self.bag_z: - if not(airborne) and z_coord > ground_level + ground_level*(0.1): #when altitude of the drone is 10% higher than the ground level, it started takeoff + if not(airborne) and z_coord > ground_level + 0.05: #when altitude of the drone is 5cm above ground level, it started takeoff takeoff_index = i airborne = True print(f"takeoff time is {self.bag_times[takeoff_index]}s") - if airborne and z_coord <= ground_level + ground_level*(0.1): #find when it lands again + if airborne and z_coord < ground_level + 0.05: #find when it lands again landing_index = i print(f"landing time is {self.bag_times[landing_index]}s") break diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index 3d972deee..338b0e480 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -115,15 +115,20 @@ def tearDown(self) -> None: clean_process(downloadSD) print("Downloading SD card data was killed for taking too long") return super().tearDown() - - ####try to plot the SD log + + + ####try to plot the SD log SDlogfile_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDlogfile") - pdf_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDreport.pdf") - print(f"SD logfile path {SDlogfile_path} and pdf path {pdf_path} and self id folder name {self.idFolderName()}") + # pdf_path = str(self.ros2_ws / f"results/{self.idFolderName()}/SDreport.pdf") test_name = self.test_file[:self.test_file.rfind("_ideal_traj")] #strip the end of the test_file string to just keep the name save.write_info(experiment=test_name, ros2_ws_path=str(self.ros2_ws)) + + if Path(SDlogfile_path).stat().st_size == 0: + print("SDlogfile has size 0. Maybe the CF failed at writing the log on its SD card, or the downloading through radio failed. SDreport PDF cannot be generated") + return super().tearDown() + plot.plot_SD_data(output = str(self.ros2_ws / f"results/{self.idFolderName()}/SDreport.pdf"), - logfile = SDlogfile_path, experiment = test_name, ros2_ws = self.ros2_ws) + logfile = SDlogfile_path, experiment = test_name, ros2_ws = self.ros2_ws) return super().tearDown() @@ -194,14 +199,14 @@ def test_figure8(self): self.record_start_and_clean("figure8", 20) #create the plot etc test_passed = self.translate_plot_and_check("figure8") - # assert test_passed, "figure8 test failed : deviation larger than epsilon" + assert test_passed, "figure8 test failed : deviation larger than epsilon" - # def test_multi_trajectory(self): - # self.test_file = "multi_trajectory_ideal_traj0.csv" - # self.record_start_and_clean("multi_trajectory", 80) - # test_passed = self.translate_plot_and_check("multi_trajectory") - # assert test_passed, "multitrajectory test failed : deviation larger than epsilon" - + + def test_multi_trajectory(self): + self.test_file = "multi_trajectory_ideal_traj0.csv" + self.record_start_and_clean("multi_trajectory", 80) + test_passed = self.translate_plot_and_check("multi_trajectory") + assert test_passed, "multitrajectory test failed : deviation larger than epsilon" From 55e4bf82c24279db8aa7d14d62e413481d9d2433 Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Wed, 10 Apr 2024 15:35:29 +0200 Subject: [PATCH 119/162] small cleanup --- systemtests/SDplotting/plot.py | 11 ----------- systemtests/SDplotting_save.zip | Bin 10078 -> 0 bytes 2 files changed, 11 deletions(-) delete mode 100644 systemtests/SDplotting_save.zip diff --git a/systemtests/SDplotting/plot.py b/systemtests/SDplotting/plot.py index e774b4bfd..9c1c89f57 100644 --- a/systemtests/SDplotting/plot.py +++ b/systemtests/SDplotting/plot.py @@ -36,20 +36,9 @@ def file_guard(pdf_path): def process_data(data, settings): print("...processing data") - # print(data) # convert units event = settings["event_name"] - # data_fixedFreq = 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zQ}$UY{%%cwS9KxH$TT=K)$n93DY|-k5!pWYYw8|-P!!Y1@V9Pl;mT(zA?nrw+q?~I zPt{rY{G4|?({xV)OFW*mM_~GJ-G>XiSNc(ojv968Rd}fq14wI1(kTiu2CP!9NcfrqQp`W7UQ4o4rf?knEFR_%^iOlWQ8C|*VvB%={v26zE zS*L!NJ#$pOgM3>~Q&rNiPpcUz4ozI-_60jdzFj7|iGa#NZl>mJvB3tiR^*3}PR-d{ z-i(~3sI4O^HOz~4Vw$QYgRlFy)Wn)(b=mLgl46WFPmY%fwFWxO(!*Zgv9uI+5@{Qw z+sbY!r~1FFqxchhXPP|OM4{|(tX)nM9Wq=@H`ytCfc9@09stzBq0e1yPJ}0_&d@`N zCZ4V#8iUX1{BrL^FlZ%7T>bF8k+Okw3gBRG{DBYdjC{k^gjriM3bzVYm0z1SYV4!5 zQL=mm0~3hqxqSj7U0SOMaJDmToT}m47&q|?wpz2i2!i6>^V6U zJ@FN{NWdBj$Jt)T^u=?WB8dl99lBpZcG}2dr$0J*h>p(=4!~dC_eyOu6;S7%3gW*r zg+FLq@5|#l1XKx8-y!pbA_&5kkrgq$r!0@JG|s@FCw;)*eOc0Joln5JUPyW!Gpk5m zbm!LcszwdDu_GO-6Xx(hpdZ9R;dxAYNP37O0M3~V-PoyDvb=44!2B^y-Y=p@L8t)0 zA8SNW1`He%;-5oNe}|;rg#PUQt%%hB1^(AO(;t{WA*sLXO-Smm?Y{v3dy%RCB>B5V z_OH#eKcT6=t05r!pGp3oB2<6>x4)VH)rk7jocp^P0&3v@@$>#)TXp}P{9h0BkJt5g hH3Y0<{3H4Qhx4T<0|otu1M07f9UK6_p!{?9zW`Du*3JL` From be2b630ad9820750f4384819026bce45a02c475f Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Wed, 10 Apr 2024 15:44:18 +0200 Subject: [PATCH 120/162] more cleanup --- crazyflie/config/crazyflies.yaml | 6 ------ crazyflie_examples/crazyflie_examples/infinite_flight.py | 3 --- crazyflie_examples/crazyflie_examples/multi_trajectory.py | 3 +-- 3 files changed, 1 insertion(+), 11 deletions(-) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index 2d91ffb89..4040d9a87 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -94,12 +94,6 @@ all: stabilizer: estimator: 2 # 1: complementary, 2: kalman controller: 2 # 1: PID, 2: mellinger - # ctrlLeeInfo: - # experiment: figure8 - # trajectory: figure8.csv #translation_y.csv # yaw0.csv # # # - # timescale: 3.0 # 0.75 # #0.34 - # motors: standard motors (CF) - # propellers: standard propellers (CF) # ring: # effect: 16 # 6: double spinner, 7: solid color, 16: packetRate diff --git a/crazyflie_examples/crazyflie_examples/infinite_flight.py b/crazyflie_examples/crazyflie_examples/infinite_flight.py index 29239f053..1fcdb76cc 100644 --- a/crazyflie_examples/crazyflie_examples/infinite_flight.py +++ b/crazyflie_examples/crazyflie_examples/infinite_flight.py @@ -23,9 +23,6 @@ def main(): # pm_state : 0 = on battery 1 = charging 2 = charged 3 = low power 4 = shutdown flight_counter = 1 - #enable logging - allcfs.setParam("usd.logging", 1) - while True: print('takeoff') allcfs.takeoff(targetHeight=1.0, duration=2.0) diff --git a/crazyflie_examples/crazyflie_examples/multi_trajectory.py b/crazyflie_examples/crazyflie_examples/multi_trajectory.py index ba41ad3f9..f0109e12d 100644 --- a/crazyflie_examples/crazyflie_examples/multi_trajectory.py +++ b/crazyflie_examples/crazyflie_examples/multi_trajectory.py @@ -40,8 +40,7 @@ def main(): allcfs.land(targetHeight=0.06, duration=2.0) timeHelper.sleep(3.0) - - + #disable logging allcfs.setParam("usd.logging", 0) From 44db5a3fff1ce01c8c3b6d0d6b50689bab8e0b27 Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Thu, 11 Apr 2024 23:39:37 +0200 Subject: [PATCH 121/162] cleanup --- crazyflie/config/crazyflies.yaml | 1 - crazyflie_examples/crazyflie_examples/infinite_flight.py | 2 +- systemtests/test_flights.py | 4 +--- 3 files changed, 2 insertions(+), 5 deletions(-) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index 4040d9a87..dd120fcbf 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -94,7 +94,6 @@ all: 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 diff --git a/crazyflie_examples/crazyflie_examples/infinite_flight.py b/crazyflie_examples/crazyflie_examples/infinite_flight.py index 1fcdb76cc..6aa94c6fb 100644 --- a/crazyflie_examples/crazyflie_examples/infinite_flight.py +++ b/crazyflie_examples/crazyflie_examples/infinite_flight.py @@ -22,7 +22,7 @@ def main(): # pm_state : 0 = on battery 1 = charging 2 = charged 3 = low power 4 = shutdown flight_counter = 1 - + while True: print('takeoff') allcfs.takeoff(targetHeight=1.0, duration=2.0) diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index 338b0e480..a5de01f00 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -80,14 +80,12 @@ def setUp(self): self.test_file = None # launch server - current_env = None - # src = "source " + str(Path(__file__).parents[3] / "install/setup.bash") # -> "source /home/github/actions-runner/_work/crazyswarm2/crazyswarm2/ros2_ws/install/setup.bash" command = f"{self.src} && ros2 launch crazyflie launch.py" if TestFlights.SIM : command += " backend:=sim" #launch crazyswarm from simulation backend current_env = os.environ.copy() self.launch_crazyswarm = Popen(command, shell=True, stderr=PIPE, stdout=PIPE, text=True, - start_new_session=True, executable="/bin/bash", env=current_env) + start_new_session=True, executable="/bin/bash") atexit.register(clean_process, self.launch_crazyswarm) #atexit helps us to make sure processes are cleaned even if script exits unexpectedly time.sleep(5) From 40d5e4aadab7f5d0fcac6e6c4f4d95d462c82e1f Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Mon, 15 Apr 2024 12:06:39 +0200 Subject: [PATCH 122/162] flake8 formatting --- crazyflie_examples/crazyflie_examples/figure8.py | 8 ++++---- crazyflie_examples/crazyflie_examples/multi_trajectory.py | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/crazyflie_examples/crazyflie_examples/figure8.py b/crazyflie_examples/crazyflie_examples/figure8.py index 1e7199826..4a2e5c300 100644 --- a/crazyflie_examples/crazyflie_examples/figure8.py +++ b/crazyflie_examples/crazyflie_examples/figure8.py @@ -14,8 +14,8 @@ def main(): traj1 = Trajectory() traj1.loadcsv(Path(__file__).parent / 'data/figure8.csv') - - #enable logging + + # enable logging allcfs.setParam("usd.logging", 1) TRIALS = 1 @@ -38,8 +38,8 @@ def main(): allcfs.land(targetHeight=0.06, duration=2.0) timeHelper.sleep(3.0) - - #disable logging + + # disable logging allcfs.setParam("usd.logging", 0) diff --git a/crazyflie_examples/crazyflie_examples/multi_trajectory.py b/crazyflie_examples/crazyflie_examples/multi_trajectory.py index f0109e12d..76d10de1d 100644 --- a/crazyflie_examples/crazyflie_examples/multi_trajectory.py +++ b/crazyflie_examples/crazyflie_examples/multi_trajectory.py @@ -13,8 +13,8 @@ def main(): allcfs = swarm.allcfs trajs = [] n = 2 # number of distinct trajectories - - #enable logging + + # enable logging allcfs.setParam("usd.logging", 1) for i in range(n): @@ -40,8 +40,8 @@ def main(): allcfs.land(targetHeight=0.06, duration=2.0) timeHelper.sleep(3.0) - - #disable logging + + # disable logging allcfs.setParam("usd.logging", 0) From 76638d23b9f2392cae7903208d48270d23d1cac3 Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Mon, 15 Apr 2024 12:16:34 +0200 Subject: [PATCH 123/162] flake8 --- crazyflie_examples/crazyflie_examples/figure8.py | 4 ++-- crazyflie_examples/crazyflie_examples/multi_trajectory.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/crazyflie_examples/crazyflie_examples/figure8.py b/crazyflie_examples/crazyflie_examples/figure8.py index 4a2e5c300..98e3611c4 100644 --- a/crazyflie_examples/crazyflie_examples/figure8.py +++ b/crazyflie_examples/crazyflie_examples/figure8.py @@ -16,7 +16,7 @@ def main(): traj1.loadcsv(Path(__file__).parent / 'data/figure8.csv') # enable logging - allcfs.setParam("usd.logging", 1) + allcfs.setParam('usd.logging', 1) TRIALS = 1 TIMESCALE = 1.0 @@ -40,7 +40,7 @@ def main(): timeHelper.sleep(3.0) # disable logging - allcfs.setParam("usd.logging", 0) + allcfs.setParam('usd.logging', 0) if __name__ == '__main__': diff --git a/crazyflie_examples/crazyflie_examples/multi_trajectory.py b/crazyflie_examples/crazyflie_examples/multi_trajectory.py index 76d10de1d..b6c81457e 100644 --- a/crazyflie_examples/crazyflie_examples/multi_trajectory.py +++ b/crazyflie_examples/crazyflie_examples/multi_trajectory.py @@ -15,7 +15,7 @@ def main(): n = 2 # number of distinct trajectories # enable logging - allcfs.setParam("usd.logging", 1) + allcfs.setParam('usd.logging', 1) for i in range(n): traj = Trajectory() @@ -42,7 +42,7 @@ def main(): timeHelper.sleep(3.0) # disable logging - allcfs.setParam("usd.logging", 0) + allcfs.setParam('usd.logging', 0) if __name__ == '__main__': From a6ca61fcaae8cb03643bddc7072b5072a2457589 Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Tue, 16 Apr 2024 11:37:08 +0200 Subject: [PATCH 124/162] don't try to download SD data when in simulation + addressed feedback --- crazyflie/config/crazyflies.yaml | 4 ++-- systemtests/test_flights.py | 6 ++++-- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/crazyflie/config/crazyflies.yaml b/crazyflie/config/crazyflies.yaml index dd120fcbf..1c13f9ebd 100644 --- a/crazyflie/config/crazyflies.yaml +++ b/crazyflie/config/crazyflies.yaml @@ -8,8 +8,8 @@ robots: # firmware_params: # kalman: # pNAcc_xy: 1.0 # default 0.5 - firmware_logging: - enabled: true + # firmware_logging: + # enabled: true # custom_topics: # topic_name3: # frequency: 1 diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index a5de01f00..9e59083bb 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -12,7 +12,6 @@ from argparse import ArgumentParser, Namespace from SDplotting import save, plot -############################# def setUpModule(): @@ -98,6 +97,9 @@ def tearDown(self) -> None: if Path(Path.home() / ".ros/log").exists(): shutil.copytree(Path.home() / ".ros/log", Path(__file__).parents[3] / f"results/{self.idFolderName()}/roslogs") + if self.SIM: #if in simulation, we skip the downloading SD data part + return super().tearDown() + command = f"{self.src} && ros2 run crazyflie downloadUSDLogfile --output SDlogfile" #if CF doesn't use default URI, add --uri custom_uri (e.g --uri radio://0/80/2M/E7E7E7E70B) try: downloadSD= Popen(command, shell=True, stderr=False, stdout=False, text=True, #download the log file in ....../ros2_ws/results/test_xxxxxxx/ @@ -169,7 +171,7 @@ def record_start_and_clean(self, testname:str, max_wait:int): #if something went wrong with the bash command lines in Popen, print the error print_PIPE(record_bag, f"record_bag for {self.idFolderName()}") - print_PIPE(start_flight_test, f"start_flight_test for {self.idFolderName()}") + print_PIPE(start_flight_test, f"start_flight_test for {self.idFolderName()}", always=True) def translate_plot_and_check(self, testname:str) -> bool : From 6c79682d61cbcb1ebd09ce5be43baeaad79ace90 Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Tue, 16 Apr 2024 11:37:40 +0200 Subject: [PATCH 125/162] fixed crashing when trying to set non existent param --- crazyflie_py/crazyflie_py/crazyflie.py | 24 +++++++++++++++--------- 1 file changed, 15 insertions(+), 9 deletions(-) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index a1e39466d..0e252a7e0 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -955,15 +955,21 @@ def startTrajectory(self, trajectoryId, def setParam(self, name, value): """Set parameter via broadcasts. See Crazyflie.setParam for details.""" - param_name = 'all.params.' + name - param_type = self.paramTypeDict[name] - if param_type == ParameterType.PARAMETER_INTEGER: - param_value = ParameterValue(type=param_type, integer_value=int(value)) - elif param_type == ParameterType.PARAMETER_DOUBLE: - param_value = ParameterValue(type=param_type, double_value=float(value)) - req = SetParameters.Request() - req.parameters = [Parameter(name=param_name, value=param_value)] - self.setParamsService.call_async(req) + try: + param_name = 'all.params.' + name + param_type = self.paramTypeDict[name] + if param_type == ParameterType.PARAMETER_INTEGER: + param_value = ParameterValue(type=param_type, integer_value=int(value)) + elif param_type == ParameterType.PARAMETER_DOUBLE: + param_value = ParameterValue(type=param_type, double_value=float(value)) + req = SetParameters.Request() + req.parameters = [Parameter(name=param_name, value=param_value)] + self.setParamsService.call_async(req) + except KeyError as e: + self.get_logger().error(f'(crazyflie.py)setParam : keyError raised {e}') + except Exception as e: + self.get_logger().error(f'(crazyflie.py)setParam : exception raised {e}') + def cmdFullState(self, pos, vel, acc, yaw, omega): """ From 081d782acdda1aeaf8c829c4788018a0bab05ac8 Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Tue, 16 Apr 2024 11:47:18 +0200 Subject: [PATCH 126/162] changed setParam exception logging from error to warning --- crazyflie_py/crazyflie_py/crazyflie.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 0e252a7e0..27e9d859f 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -966,9 +966,9 @@ def setParam(self, name, value): req.parameters = [Parameter(name=param_name, value=param_value)] self.setParamsService.call_async(req) except KeyError as e: - self.get_logger().error(f'(crazyflie.py)setParam : keyError raised {e}') + self.get_logger().warn(f'(crazyflie.py)setParam : keyError raised {e}') except Exception as e: - self.get_logger().error(f'(crazyflie.py)setParam : exception raised {e}') + self.get_logger().warn(f'(crazyflie.py)setParam : exception raised {e}') def cmdFullState(self, pos, vel, acc, yaw, omega): From 51d4b9c0ada1aa22c003219639bfdf825d5cfbe1 Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Tue, 16 Apr 2024 11:48:16 +0200 Subject: [PATCH 127/162] added end-lines in print PIPE for readability --- systemtests/test_flights.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index 9e59083bb..eb307cb49 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -51,8 +51,9 @@ def print_PIPE(process : Popen, process_name, always=False): if process.returncode != 0 or always: out, err = process.communicate() print(f"{process_name} returncode = {process.returncode}") - print(f"{process_name} stderr : {err}") - print(f"{process_name} stdout : {out}") + print(f"{process_name} stderr : {err} \n") + print(f"{process_name} stdout : {out} \n") + print("\n") else: print(f"{process_name} completed sucessfully") From 639eb88e7e4105507e22abaf93d1f7d268005fc6 Mon Sep 17 00:00:00 2001 From: JulienThevenoz Date: Tue, 16 Apr 2024 11:50:16 +0200 Subject: [PATCH 128/162] flake8 formatting --- crazyflie_py/crazyflie_py/crazyflie.py | 1 - 1 file changed, 1 deletion(-) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 27e9d859f..006dcb1bb 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -970,7 +970,6 @@ def setParam(self, name, value): except Exception as e: self.get_logger().warn(f'(crazyflie.py)setParam : exception raised {e}') - def cmdFullState(self, pos, vel, acc, yaw, omega): """ Send a streaming full-state controller setpoint command. From 48803e1658b4e61559af03aa34b84f3c9a2f0ecd Mon Sep 17 00:00:00 2001 From: knmcguire Date: Fri, 19 Apr 2024 15:46:46 +0200 Subject: [PATCH 129/162] fix yaml handling --- .../multiranger_simple_mapper_launch.py | 36 +++++++++++++++++-- 1 file changed, 33 insertions(+), 3 deletions(-) diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py index d8e4b4952..990ed7a9c 100644 --- a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py +++ b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py @@ -4,9 +4,11 @@ from launch import LaunchDescription from launch_ros.actions import Node import yaml - +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, PythonExpression def generate_launch_description(): + # load crazyflies crazyflies_yaml = os.path.join( get_package_share_directory('crazyflie'), @@ -16,17 +18,45 @@ def generate_launch_description(): with open(crazyflies_yaml, 'r') as ymlfile: crazyflies = yaml.safe_load(ymlfile) - server_params = crazyflies + # server params + server_yaml = os.path.join( + get_package_share_directory('crazyflie'), + 'config', + 'server.yaml') + + with open(server_yaml, 'r') as ymlfile: + server_yaml_content = yaml.safe_load(ymlfile) + + server_yaml_content["/crazyflie_server"]["ros__parameters"]['robots'] = crazyflies['robots'] + server_yaml_content["/crazyflie_server"]["ros__parameters"]['robot_types'] = crazyflies['robot_types'] + server_yaml_content["/crazyflie_server"]["ros__parameters"]['all'] = crazyflies['all'] + + # robot description + urdf = os.path.join( + get_package_share_directory('crazyflie'), + 'urdf', + 'crazyflie_description.urdf') + with open(urdf, 'r') as f: + + robot_desc = f.read() + server_yaml_content["/crazyflie_server"]["ros__parameters"]["robot_description"] = robot_desc + + # Save server and mocap in temp file such that nodes can read it out later + with open('tmp_server.yaml', 'w') as outfile: + yaml.dump(server_yaml_content, outfile, default_flow_style=False, sort_keys=False) + crazyflie_name = '/cf231' + return LaunchDescription([ + DeclareLaunchArgument('server_yaml_file', default_value=''), Node( package='crazyflie', executable='crazyflie_server.py', name='crazyflie_server', output='screen', - parameters=[server_params], + parameters= [PythonExpression(["'tmp_server.yaml' if '", LaunchConfiguration('server_yaml_file'), "' == '' else '", LaunchConfiguration('server_yaml_file'), "'"])], ), Node( package='crazyflie', From 9ea5373a0de400a870e8e38ba2a0ea67bfea924c Mon Sep 17 00:00:00 2001 From: knmcguire Date: Fri, 19 Apr 2024 16:02:33 +0200 Subject: [PATCH 130/162] simpler solution to fix it --- .../launch/keyboard_velmux_launch.py | 10 ++++++++ .../launch/multiranger_mapping_launch.py | 10 ++++++++ .../launch/multiranger_nav2_launch.py | 11 ++++++++ .../multiranger_simple_mapper_launch.py | 25 +++---------------- 4 files changed, 34 insertions(+), 22 deletions(-) diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py index 8fee2f797..76b7dc8af 100644 --- a/crazyflie_examples/launch/keyboard_velmux_launch.py +++ b/crazyflie_examples/launch/keyboard_velmux_launch.py @@ -18,6 +18,16 @@ def generate_launch_description(): server_params = crazyflies + # robot description + urdf = os.path.join( + get_package_share_directory('crazyflie'), + 'urdf', + 'crazyflie_description.urdf') + with open(urdf, 'r') as f: + robot_desc = f.read() + server_params["robot_description"] = robot_desc + + return LaunchDescription([ Node( package='crazyflie', diff --git a/crazyflie_examples/launch/multiranger_mapping_launch.py b/crazyflie_examples/launch/multiranger_mapping_launch.py index 7ff246f83..798fc3c08 100644 --- a/crazyflie_examples/launch/multiranger_mapping_launch.py +++ b/crazyflie_examples/launch/multiranger_mapping_launch.py @@ -18,6 +18,16 @@ def generate_launch_description(): server_params = crazyflies + # robot description + urdf = os.path.join( + get_package_share_directory('crazyflie'), + 'urdf', + 'crazyflie_description.urdf') + with open(urdf, 'r') as f: + robot_desc = f.read() + server_params["robot_description"] = robot_desc + + return LaunchDescription([ Node( package='crazyflie', diff --git a/crazyflie_examples/launch/multiranger_nav2_launch.py b/crazyflie_examples/launch/multiranger_nav2_launch.py index 33d834242..3e45897ad 100644 --- a/crazyflie_examples/launch/multiranger_nav2_launch.py +++ b/crazyflie_examples/launch/multiranger_nav2_launch.py @@ -20,6 +20,17 @@ def generate_launch_description(): server_params = crazyflies + + # robot description + urdf = os.path.join( + get_package_share_directory('crazyflie'), + 'urdf', + 'crazyflie_description.urdf') + with open(urdf, 'r') as f: + robot_desc = f.read() + server_params["robot_description"] = robot_desc + + cf_examples_dir = get_package_share_directory('crazyflie_examples') bringup_dir = get_package_share_directory('nav2_bringup') bringup_launch_dir = os.path.join(bringup_dir, 'launch') diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py index 990ed7a9c..a5dfeea84 100644 --- a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py +++ b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py @@ -4,8 +4,6 @@ from launch import LaunchDescription from launch_ros.actions import Node import yaml -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration, PythonExpression def generate_launch_description(): @@ -18,18 +16,8 @@ def generate_launch_description(): with open(crazyflies_yaml, 'r') as ymlfile: crazyflies = yaml.safe_load(ymlfile) - # server params - server_yaml = os.path.join( - get_package_share_directory('crazyflie'), - 'config', - 'server.yaml') - - with open(server_yaml, 'r') as ymlfile: - server_yaml_content = yaml.safe_load(ymlfile) + server_params = crazyflies - server_yaml_content["/crazyflie_server"]["ros__parameters"]['robots'] = crazyflies['robots'] - server_yaml_content["/crazyflie_server"]["ros__parameters"]['robot_types'] = crazyflies['robot_types'] - server_yaml_content["/crazyflie_server"]["ros__parameters"]['all'] = crazyflies['all'] # robot description urdf = os.path.join( @@ -37,26 +25,19 @@ def generate_launch_description(): 'urdf', 'crazyflie_description.urdf') with open(urdf, 'r') as f: - robot_desc = f.read() - server_yaml_content["/crazyflie_server"]["ros__parameters"]["robot_description"] = robot_desc - - # Save server and mocap in temp file such that nodes can read it out later - with open('tmp_server.yaml', 'w') as outfile: - yaml.dump(server_yaml_content, outfile, default_flow_style=False, sort_keys=False) - + server_params["robot_description"] = robot_desc crazyflie_name = '/cf231' return LaunchDescription([ - DeclareLaunchArgument('server_yaml_file', default_value=''), Node( package='crazyflie', executable='crazyflie_server.py', name='crazyflie_server', output='screen', - parameters= [PythonExpression(["'tmp_server.yaml' if '", LaunchConfiguration('server_yaml_file'), "' == '' else '", LaunchConfiguration('server_yaml_file'), "'"])], + parameters=[server_params] ), Node( package='crazyflie', From 1e93249a3c4c9a1f8992b0ebf72346c4b750f8c9 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Wed, 24 Apr 2024 09:37:00 +0200 Subject: [PATCH 131/162] autopep8 --- crazyflie_examples/launch/keyboard_velmux_launch.py | 1 - crazyflie_examples/launch/multiranger_mapping_launch.py | 1 - crazyflie_examples/launch/multiranger_nav2_launch.py | 4 +--- .../launch/multiranger_simple_mapper_launch.py | 5 ++--- 4 files changed, 3 insertions(+), 8 deletions(-) diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py index 76b7dc8af..dd4105c1e 100644 --- a/crazyflie_examples/launch/keyboard_velmux_launch.py +++ b/crazyflie_examples/launch/keyboard_velmux_launch.py @@ -27,7 +27,6 @@ def generate_launch_description(): robot_desc = f.read() server_params["robot_description"] = robot_desc - return LaunchDescription([ Node( package='crazyflie', diff --git a/crazyflie_examples/launch/multiranger_mapping_launch.py b/crazyflie_examples/launch/multiranger_mapping_launch.py index 798fc3c08..18f0597bd 100644 --- a/crazyflie_examples/launch/multiranger_mapping_launch.py +++ b/crazyflie_examples/launch/multiranger_mapping_launch.py @@ -27,7 +27,6 @@ def generate_launch_description(): robot_desc = f.read() server_params["robot_description"] = robot_desc - return LaunchDescription([ Node( package='crazyflie', diff --git a/crazyflie_examples/launch/multiranger_nav2_launch.py b/crazyflie_examples/launch/multiranger_nav2_launch.py index 3e45897ad..a5944a117 100644 --- a/crazyflie_examples/launch/multiranger_nav2_launch.py +++ b/crazyflie_examples/launch/multiranger_nav2_launch.py @@ -20,7 +20,6 @@ def generate_launch_description(): server_params = crazyflies - # robot description urdf = os.path.join( get_package_share_directory('crazyflie'), @@ -30,7 +29,6 @@ def generate_launch_description(): robot_desc = f.read() server_params["robot_description"] = robot_desc - cf_examples_dir = get_package_share_directory('crazyflie_examples') bringup_dir = get_package_share_directory('nav2_bringup') bringup_launch_dir = os.path.join(bringup_dir, 'launch') @@ -84,7 +82,7 @@ def generate_launch_description(): 'autostart': 'True', 'use_composition': 'True', 'transform_publish_period': '0.02' - }.items() + }.items() ), IncludeLaunchDescription( PythonLaunchDescriptionSource( diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py index a5dfeea84..e0fa94521 100644 --- a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py +++ b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py @@ -5,6 +5,7 @@ from launch_ros.actions import Node import yaml + def generate_launch_description(): # load crazyflies @@ -18,7 +19,6 @@ def generate_launch_description(): server_params = crazyflies - # robot description urdf = os.path.join( get_package_share_directory('crazyflie'), @@ -30,7 +30,6 @@ def generate_launch_description(): crazyflie_name = '/cf231' - return LaunchDescription([ Node( package='crazyflie', @@ -54,6 +53,6 @@ def generate_launch_description(): name='simple_mapper_multiranger', output='screen', parameters=[ - {'robot_prefix': crazyflie_name}] + {'robot_prefix': crazyflie_name}] ), ]) From d5daef3145fe5f9bfb06253f50779bb416ddeeda Mon Sep 17 00:00:00 2001 From: knmcguire Date: Wed, 24 Apr 2024 10:03:08 +0200 Subject: [PATCH 132/162] single quotes --- crazyflie_examples/launch/keyboard_velmux_launch.py | 2 +- crazyflie_examples/launch/multiranger_mapping_launch.py | 2 +- crazyflie_examples/launch/multiranger_nav2_launch.py | 2 +- crazyflie_examples/launch/multiranger_simple_mapper_launch.py | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/crazyflie_examples/launch/keyboard_velmux_launch.py b/crazyflie_examples/launch/keyboard_velmux_launch.py index dd4105c1e..bd909f750 100644 --- a/crazyflie_examples/launch/keyboard_velmux_launch.py +++ b/crazyflie_examples/launch/keyboard_velmux_launch.py @@ -25,7 +25,7 @@ def generate_launch_description(): 'crazyflie_description.urdf') with open(urdf, 'r') as f: robot_desc = f.read() - server_params["robot_description"] = robot_desc + server_params['robot_description'] = robot_desc return LaunchDescription([ Node( diff --git a/crazyflie_examples/launch/multiranger_mapping_launch.py b/crazyflie_examples/launch/multiranger_mapping_launch.py index 18f0597bd..67e0dde9f 100644 --- a/crazyflie_examples/launch/multiranger_mapping_launch.py +++ b/crazyflie_examples/launch/multiranger_mapping_launch.py @@ -25,7 +25,7 @@ def generate_launch_description(): 'crazyflie_description.urdf') with open(urdf, 'r') as f: robot_desc = f.read() - server_params["robot_description"] = robot_desc + server_params['robot_description'] = robot_desc return LaunchDescription([ Node( diff --git a/crazyflie_examples/launch/multiranger_nav2_launch.py b/crazyflie_examples/launch/multiranger_nav2_launch.py index a5944a117..17e5e5424 100644 --- a/crazyflie_examples/launch/multiranger_nav2_launch.py +++ b/crazyflie_examples/launch/multiranger_nav2_launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): 'crazyflie_description.urdf') with open(urdf, 'r') as f: robot_desc = f.read() - server_params["robot_description"] = robot_desc + server_params['robot_description'] = robot_desc cf_examples_dir = get_package_share_directory('crazyflie_examples') bringup_dir = get_package_share_directory('nav2_bringup') diff --git a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py index e0fa94521..e56df311f 100644 --- a/crazyflie_examples/launch/multiranger_simple_mapper_launch.py +++ b/crazyflie_examples/launch/multiranger_simple_mapper_launch.py @@ -26,7 +26,7 @@ def generate_launch_description(): 'crazyflie_description.urdf') with open(urdf, 'r') as f: robot_desc = f.read() - server_params["robot_description"] = robot_desc + server_params['robot_description'] = robot_desc crazyflie_name = '/cf231' From 0ea80748c6072ba8c46d7a8fe67e3b8c5499ee6d Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Wed, 24 Apr 2024 10:46:16 +0200 Subject: [PATCH 133/162] Update installation.rst --- docs2/installation.rst | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/docs2/installation.rst b/docs2/installation.rst index d9cf15381..aac92d566 100644 --- a/docs2/installation.rst +++ b/docs2/installation.rst @@ -28,7 +28,13 @@ First Installation .. code-block:: bash sudo apt install libboost-program-options-dev libusb-1.0-0-dev - pip3 install rowan + pip3 install rowan nicegui + + Then install the motion capture ROS 2 package for your ROS distro + + .. code-block:: bash + + sudo apt-get ros-*DISTRO*-motion-capture-tracking If you are planning to use the CFlib backend, do: @@ -44,7 +50,6 @@ First Installation mkdir -p ros2_ws/src cd ros2_ws/src git clone https://github.com/IMRCLab/crazyswarm2 --recursive - git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git 4. Build your ROS 2 workspace From 993c674830bc01a006d64b81ae637f9a98f0e063 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 16 May 2024 16:49:03 +0200 Subject: [PATCH 134/162] [server_cpp] add arming support --- crazyflie/deps/crazyflie_tools | 2 +- crazyflie/src/crazyflie_server.cpp | 31 +++++++++++++++++ .../crazyflie_examples/arming.py | 24 ++++++++++++++ crazyflie_examples/setup.cfg | 1 + crazyflie_interfaces/CMakeLists.txt | 1 + crazyflie_interfaces/srv/Arm.srv | 2 ++ crazyflie_py/crazyflie_py/crazyflie.py | 33 ++++++++++++++++++- docs2/overview.rst | 4 +++ 8 files changed, 96 insertions(+), 2 deletions(-) create mode 100644 crazyflie_examples/crazyflie_examples/arming.py create mode 100644 crazyflie_interfaces/srv/Arm.srv diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index 32218e742..a64ff9363 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit 32218e7429651a681edf573d2ec24006fb07591e +Subproject commit a64ff93637f9c8ef7a909cada68c5dcb95b60e63 diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp index a31a5e5e1..689cc542f 100644 --- a/crazyflie/src/crazyflie_server.cpp +++ b/crazyflie/src/crazyflie_server.cpp @@ -12,6 +12,7 @@ #include "crazyflie_interfaces/srv/land.hpp" #include "crazyflie_interfaces/srv/go_to.hpp" #include "crazyflie_interfaces/srv/notify_setpoints_stop.hpp" +#include "crazyflie_interfaces/srv/arm.hpp" #include "std_msgs/msg/string.hpp" #include "geometry_msgs/msg/twist.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" @@ -34,6 +35,7 @@ using crazyflie_interfaces::srv::Land; using crazyflie_interfaces::srv::GoTo; using crazyflie_interfaces::srv::UploadTrajectory; using crazyflie_interfaces::srv::NotifySetpointsStop; +using crazyflie_interfaces::srv::Arm; using std_srvs::srv::Empty; using motion_capture_tracking_interfaces::msg::NamedPoseArray; @@ -161,6 +163,7 @@ class CrazyflieROS service_go_to_ = node->create_service(name + "/go_to", std::bind(&CrazyflieROS::go_to, this, _1, _2), service_qos, callback_group_cf_srv); service_upload_trajectory_ = node->create_service(name + "/upload_trajectory", std::bind(&CrazyflieROS::upload_trajectory, this, _1, _2), service_qos, callback_group_cf_srv); service_notify_setpoints_stop_ = node->create_service(name + "/notify_setpoints_stop", std::bind(&CrazyflieROS::notify_setpoints_stop, this, _1, _2), service_qos, callback_group_cf_srv); + service_arm_ = node->create_service(name + "/arm", std::bind(&CrazyflieROS::arm, this, _1, _2), service_qos, callback_group_cf_srv); // Topics @@ -711,6 +714,16 @@ class CrazyflieROS cf_.notifySetpointsStop(request->remain_valid_millisecs); } + void arm(const std::shared_ptr request, + std::shared_ptr response) + { + RCLCPP_INFO(logger_, "[%s] arm(%d)", + name_.c_str(), + request->arm); + + cf_.sendArmingRequest(request->arm); + } + void on_logging_pose(uint32_t time_in_ms, const logPose* data) { if (publisher_pose_) { geometry_msgs::msg::PoseStamped msg; @@ -919,6 +932,7 @@ class CrazyflieROS rclcpp::Service::SharedPtr service_go_to_; rclcpp::Service::SharedPtr service_upload_trajectory_; rclcpp::Service::SharedPtr service_notify_setpoints_stop_; + rclcpp::Service::SharedPtr service_arm_; rclcpp::Subscription::SharedPtr subscription_cmd_vel_legacy_; rclcpp::Subscription::SharedPtr subscription_cmd_full_state_; @@ -1102,6 +1116,7 @@ class CrazyflieServer : public rclcpp::Node service_land_ = this->create_service("all/land", std::bind(&CrazyflieServer::land, this, _1, _2), service_qos, callback_group_all_srv_); service_go_to_ = this->create_service("all/go_to", std::bind(&CrazyflieServer::go_to, this, _1, _2), service_qos, callback_group_all_srv_); service_notify_setpoints_stop_ = this->create_service("all/notify_setpoints_stop", std::bind(&CrazyflieServer::notify_setpoints_stop, this, _1, _2), service_qos, callback_group_all_srv_); + service_arm_ = this->create_service("all/arm", std::bind(&CrazyflieServer::arm, this, _1, _2), service_qos, callback_group_all_srv_); // This is the last service to announce and can be used to check if the server is fully available service_emergency_ = this->create_service("all/emergency", std::bind(&CrazyflieServer::emergency, this, _1, _2), service_qos, callback_group_all_srv_); @@ -1209,6 +1224,21 @@ class CrazyflieServer : public rclcpp::Node } } + void arm(const std::shared_ptr request, + std::shared_ptr response) + { + RCLCPP_INFO(logger_, "[all] arm(%d)", + request->arm); + + for (int i = 0; i < broadcasts_num_repeats_; ++i) { + for (auto &bc : broadcaster_) { + auto &cfbc = bc.second; + cfbc->sendArmingRequest(request->arm); + } + std::this_thread::sleep_for(std::chrono::milliseconds(broadcasts_delay_between_repeats_ms_)); + } + } + void cmd_full_state_changed(const crazyflie_interfaces::msg::FullState::SharedPtr msg) { float x = msg->pose.position.x; @@ -1450,6 +1480,7 @@ class CrazyflieServer : public rclcpp::Node rclcpp::Service::SharedPtr service_land_; rclcpp::Service::SharedPtr service_go_to_; rclcpp::Service::SharedPtr service_notify_setpoints_stop_; + rclcpp::Service::SharedPtr service_arm_; std::map> crazyflies_; diff --git a/crazyflie_examples/crazyflie_examples/arming.py b/crazyflie_examples/crazyflie_examples/arming.py new file mode 100644 index 000000000..5eb12a985 --- /dev/null +++ b/crazyflie_examples/crazyflie_examples/arming.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python + +from crazyflie_py import Crazyswarm + + +def main(): + swarm = Crazyswarm() + timeHelper = swarm.timeHelper + allcfs = swarm.allcfs + + # arm (one by one) + for cf in allcfs.crazyflies: + cf.arm(True) + timeHelper.sleep(1.0) + + timeHelper.sleep(2.0) + + # disarm (broadcast) + allcfs.arm(False) + timeHelper.sleep(5.0) + + +if __name__ == '__main__': + main() diff --git a/crazyflie_examples/setup.cfg b/crazyflie_examples/setup.cfg index f387d09cf..5a796d668 100644 --- a/crazyflie_examples/setup.cfg +++ b/crazyflie_examples/setup.cfg @@ -9,3 +9,4 @@ console_scripts = set_param = crazyflie_examples.set_param:main swap = crazyflie_examples.swap:main infinite_flight = crazyflie_examples.infinite_flight:main + arming = crazyflie_examples.arming:main diff --git a/crazyflie_interfaces/CMakeLists.txt b/crazyflie_interfaces/CMakeLists.txt index 0e92f4d09..1fb150d8a 100644 --- a/crazyflie_interfaces/CMakeLists.txt +++ b/crazyflie_interfaces/CMakeLists.txt @@ -39,6 +39,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "srv/UploadTrajectory.srv" "srv/RemoveLogging.srv" "srv/AddLogging.srv" + "srv/Arm.srv" DEPENDENCIES builtin_interfaces geometry_msgs std_msgs ADD_LINTER_TESTS ) diff --git a/crazyflie_interfaces/srv/Arm.srv b/crazyflie_interfaces/srv/Arm.srv new file mode 100644 index 000000000..e659ce1ff --- /dev/null +++ b/crazyflie_interfaces/srv/Arm.srv @@ -0,0 +1,2 @@ +bool arm +--- diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 006dcb1bb..4c9a8fec3 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -15,7 +15,7 @@ from crazyflie_interfaces.msg import FullState, Position, Status, TrajectoryPolynomialPiece -from crazyflie_interfaces.srv import GoTo, Land,\ +from crazyflie_interfaces.srv import Arm, GoTo, Land,\ NotifySetpointsStop, StartTrajectory, Takeoff, UploadTrajectory from geometry_msgs.msg import Point import numpy as np @@ -133,6 +133,9 @@ def __init__(self, node, cfname, paramTypeDict): self.notifySetpointsStopService = node.create_client( NotifySetpointsStop, prefix + '/notify_setpoints_stop') self.notifySetpointsStopService.wait_for_service() + self.armService = node.create_client( + Arm, prefix + '/arm') + # self.armService.wait_for_service() self.setParamsService = node.create_client( SetParameters, '/crazyflie_server/set_parameters') self.setParamsService.wait_for_service() @@ -466,6 +469,19 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): req.group_mask = groupMask self.notifySetpointsStopService.call_async(req) + def arm(self, arm=True): + """ + Arms the quadrotor, i.e. for a brushless or Bolt-based drone the + motors start spinning and flight is enabled. + + Args: + arm (boolean): True if the motors should be armed, False otherwise. + + """ + req = Arm.Request() + req.arm = arm + self.armService.call_async(req) + # def position(self): # """Returns the last true position measurement from motion capture. @@ -763,6 +779,8 @@ def __init__(self): self.goToService.wait_for_service() self.startTrajectoryService = self.create_client(StartTrajectory, 'all/start_trajectory') self.startTrajectoryService.wait_for_service() + self.armService = self.create_client(Arm, 'all/arm') + # self.armService.wait_for_service() self.setParamsService = self.create_client( SetParameters, '/crazyflie_server/set_parameters') self.setParamsService.wait_for_service() @@ -953,6 +971,19 @@ def startTrajectory(self, trajectoryId, req.relative = relative self.startTrajectoryService.call_async(req) + def arm(self, arm=True): + """ + Broadcasted arming of the quadrotors, i.e. for a brushless or Bolt-based drone the + motors start spinning and flight is enabled. + + Args: + arm (boolean): True if the motors should be armed, False otherwise. + + """ + req = Arm.Request() + req.arm = arm + self.armService.call_async(req) + def setParam(self, name, value): """Set parameter via broadcasts. See Crazyflie.setParam for details.""" try: diff --git a/docs2/overview.rst b/docs2/overview.rst index cc413fe1f..b504d7bfd 100644 --- a/docs2/overview.rst +++ b/docs2/overview.rst @@ -101,3 +101,7 @@ Support functionality with backends +---------------------+---------+-----------+---------+ | - LPS | Yes | Yes | No | +---------------------+---------+-----------+---------+ +| Misc | ++---------------------+---------+-----------+---------+ +| - Arming | Yes | No | n/a | ++---------------------+---------+-----------+---------+ \ No newline at end of file From 67491378446113b4316de926d60eb8fab21378c9 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Thu, 16 May 2024 17:01:03 +0200 Subject: [PATCH 135/162] fix flake8 --- crazyflie_py/crazyflie_py/crazyflie.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 4c9a8fec3..02f391f1b 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -471,8 +471,10 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): def arm(self, arm=True): """ - Arms the quadrotor, i.e. for a brushless or Bolt-based drone the - motors start spinning and flight is enabled. + Arms the quadrotor. + + For a brushless or Bolt-based drone the motors start spinning and flight + is enabled. Args: arm (boolean): True if the motors should be armed, False otherwise. @@ -973,8 +975,10 @@ def startTrajectory(self, trajectoryId, def arm(self, arm=True): """ - Broadcasted arming of the quadrotors, i.e. for a brushless or Bolt-based drone the - motors start spinning and flight is enabled. + Broadcasted arming. + + For a brushless or Bolt-based drone the motors start spinning and flight + is enabled. Args: arm (boolean): True if the motors should be armed, False otherwise. From 67d4b8fe3fed454edbe743b79193e9476c279ea0 Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Tue, 21 May 2024 23:15:34 +0200 Subject: [PATCH 136/162] Update crazyflie-link-cpp * Avoid compiler warnings related to uninitialized memory * Improved handling of broadcasts --- crazyflie/deps/crazyflie_tools | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index a64ff9363..5f6b39cc5 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit a64ff93637f9c8ef7a909cada68c5dcb95b60e63 +Subproject commit 5f6b39cc50a7e6432435e0a807b7c07dbe5f5da6 From 97ed0a9579a4921ad62d19549bf058f83b279b5c Mon Sep 17 00:00:00 2001 From: julienthevenoz <125280576+julienthevenoz@users.noreply.github.com> Date: Thu, 23 May 2024 23:30:03 +0200 Subject: [PATCH 137/162] systemtests: add support for automatically querying timestamps --- systemtests/mcap_handler.py | 29 +++++-- systemtests/plotter_class.py | 163 +++++++++++++++-------------------- systemtests/test_flights.py | 13 ++- 3 files changed, 98 insertions(+), 107 deletions(-) diff --git a/systemtests/mcap_handler.py b/systemtests/mcap_handler.py index b5945a214..ed68d720c 100644 --- a/systemtests/mcap_handler.py +++ b/systemtests/mcap_handler.py @@ -7,7 +7,7 @@ class McapHandler: def __init__(self): - pass + self.takeoff_time = None def read_messages(self, input_bag: str): reader = rosbag2_py.SequentialReader() @@ -36,18 +36,32 @@ def write_mcap_to_csv(self, inputbag:str, outputfile:str): '''A method which translates an .mcap rosbag file format to a .csv file. Also modifies the timestamp to start at 0.0 instead of the wall time. Only written to translate the /tf topic but could easily be extended to other topics''' - - t_start = None + t_start_bag = None #this is the timestamp of the first message we read in the bag (doesn't mean it's exactly the start time of the bag but close enough ?) try: print("Translating .mcap to .csv") f = open(outputfile, 'w+') writer = csv.writer(f) + writer.writerow(["# t"," x"," y"," z"]) for topic, msg, timestamp in self.read_messages(inputbag): if topic =="/tf": - if t_start == None: - t_start = msg.transforms[0].header.stamp.sec + msg.transforms[0].header.stamp.nanosec *10**(-9) - t = msg.transforms[0].header.stamp.sec + msg.transforms[0].header.stamp.nanosec *10**(-9) - t_start + if t_start_bag == None: + t_start_bag = msg.transforms[0].header.stamp.sec + msg.transforms[0].header.stamp.nanosec *10**(-9) + t = msg.transforms[0].header.stamp.sec + msg.transforms[0].header.stamp.nanosec *10**(-9) -t_start_bag writer.writerow([t, msg.transforms[0].transform.translation.x, msg.transforms[0].transform.translation.y, msg.transforms[0].transform.translation.z]) + if topic == "/rosout": #and t_start_bag != None : + if msg.name == "crazyflie_server" and msg.function == "takeoff": + t = msg.stamp.sec + msg.stamp.nanosec *10**(-9) - t_start_bag + self.takeoff_time = t + #the takeoff message in simulation has a sligthly different name than IRL, so we need this to record the sim takeoff time + #BUT for some unknown reason the sim tests seem to work perfectly without even recording takeoff and adjusting the offset + #so I will leave this commented here just in case the sim tests have to be worked on + # if msg.name == "crazyflie_server" and msg.function == "_takeoff_callback": + # t = msg.stamp.sec + msg.stamp.nanosec *10**(-9) + # self.takeoff_time = t + # print(f"takeoff at {self.takeoff_time}") + + #write the "takeoff command" time as a comment on the last line + writer.writerow([f"### takeoff time : {self.takeoff_time}"]) f.close() except FileNotFoundError: print(f"McapHandler : file {outputfile} not found") @@ -67,5 +81,4 @@ def write_mcap_to_csv(self, inputbag:str, outputfile:str): args:Namespace = parser.parse_args() translator = McapHandler() - translator.write_mcap_to_csv(args.inputbag,args.outputfile) - + translator.write_mcap_to_csv(args.inputbag,args.outputfile) \ No newline at end of file diff --git a/systemtests/plotter_class.py b/systemtests/plotter_class.py index 42a8307df..96c632eda 100644 --- a/systemtests/plotter_class.py +++ b/systemtests/plotter_class.py @@ -2,6 +2,7 @@ import os import sys from matplotlib.backends.backend_pdf import PdfPages +from matplotlib.patches import Rectangle import numpy as np from crazyflie_py.uav_trajectory import Trajectory from pathlib import Path @@ -24,12 +25,12 @@ def __init__(self, sim_backend = False): self.SIM = sim_backend #indicates if we are plotting data from real life test or from a simulated test. Default is false (real life test) self.EPSILON = 0.15 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test (NB : epsilon is doubled for multi_trajectory test) + self.ideal_takeoff = 0.6 + self.ideal_traj_start = 5.6 self.ALLOWED_DEV_POINTS = 0.05 #allowed percentage of datapoints whose deviation > EPSILON while still passing test (currently % for fig8 and 10% for mt) - self.DELAY_CONST_FIG8 = 1.3 #delay const used to temporally align the ideal traj with the real traj - self.DELAY_CONST_MT = 5.5 - if self.SIM : #It allows to temporally adjust the ideal and real trajectories on the graph. Could this be implemented in a better (not hardcoded) way ? - self.DELAY_CONST_FIG8 = -0.45 #for an unknown reason, the delay constants with the sim_backend is different - self.DELAY_CONST_MT = -0.3 + # if self.SIM : #It allows to temporally adjust the ideal and real trajectories on the graph. Could this be implemented in a better (not hardcoded) way ? + # self.DELAY_CONST_FIG8 = 0#-0.45 #for an unknown reason, the delay constants with the sim_backend is different + # self.DELAY_CONST_MT = 0#-0.3 self.ALTITUDE_CONST_FIG8 = 1 #this is the altitude given for the takeoff in figure8.py. I should find a better solution than a symbolic constant ? def file_guard(self, pdf_path): @@ -74,6 +75,21 @@ def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile): self.adjust_arrays() bag_arrays_size = len(self.bag_times) print("number of datapoints in self.bag_*: ",bag_arrays_size) + + + #since the rosbag doesn't start at a reliable time, we need to adjust the ideal time array and the real one so that they aren't offset. For this we compare the time where the "takeoff" command was + # given to the crazyflie with the time of takeoff in the desired trajectory. With this we have the time-delay which we need to correct the offset (NB : empirically modified by 0.15 seconds this + #time-delay because that seems to be the delay between receiving the takeoff command and actually flying off) + with open(rosbag_csvfile) as f: + lines = f.readlines() + lastline = lines[-1] #get last line of csv file, where the takeoff time is written as comment + try: + self.takeoff_time = float(lastline[lastline.find(":") + 1 :]) #get the "takeoff" time from last line of csv + except ValueError: #if no takeoff was issued, there will be a "None" in the lastline which will produce value error when converting to float + print("Warning : No takeoff written in the lastline of the rosbag csv file : offset cannot be corrected.") + self.takeoff_time = 0 + offset1 = (self.ideal_takeoff - self.takeoff_time) - 0.15 + #####calculate ideal trajectory points corresponding to the times of recorded points @@ -81,23 +97,21 @@ def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile): self.ideal_traj_y = np.empty([bag_arrays_size]) self.ideal_traj_z = np.empty([bag_arrays_size]) self.euclidian_dist = np.empty([bag_arrays_size]) - no_match_in_idealcsv=[] - delay = 0 - if self.test_name == "fig8": - delay = self.DELAY_CONST_FIG8 - elif self.test_name == "mt": - delay = self.DELAY_CONST_MT - + delay = offset1 + # if self.test_name == "fig8" and self.SIM: + # delay = self.DELAY_CONST_FIG8 + # elif self.test_name == "mt" and self.SIM: + # delay = self.DELAY_CONST_MT + for i in range(bag_arrays_size): try: - pos = self.ideal_traj_csv.eval(self.bag_times[i] - delay).pos + pos = self.ideal_traj_csv.eval(self.bag_times[i] + delay).pos except AssertionError: no_match_in_idealcsv.append(i) pos = [0,0,0] #for all recorded datapoints who cannot be matched to a corresponding ideal position we assume the drone is on its ground start position (ie those datapoints are before takeoff or after landing) - self.ideal_traj_x[i], self.ideal_traj_y[i], self.ideal_traj_z[i]= pos[0], pos[1], pos[2] @@ -136,44 +150,33 @@ def no_match_warning(self, unmatched_values:list): def adjust_arrays(self): - ''' Method that trims the self.bag_* attributes to get rid of the datapoints where the drone is immobile on the ground and makes self.bag_times start at 0 [s]''' + ''' Method that adjusts the self.bag_* attributes to get rid of the datapoints whose timestamp don't make sense''' print(f"rosbag initial length {(self.bag_times[-1]-self.bag_times[0]) }s") - #find the takeoff time and landing times - ground_level = self.bag_z[0] - airborne = False - takeoff_index = None - landing_index = None - i=0 - for z_coord in self.bag_z: - if not(airborne) and z_coord > ground_level + 0.05: #when altitude of the drone is 5cm above ground level, it started takeoff - takeoff_index = i - airborne = True - print(f"takeoff time is {self.bag_times[takeoff_index]}s") - if airborne and z_coord < ground_level + 0.05: #find when it lands again - landing_index = i - print(f"landing time is {self.bag_times[landing_index]}s") - break - i+=1 - - - assert (takeoff_index != None) and (landing_index != None), "Plotter : couldn't find drone takeoff or landing" + #recurring problem : some messages recorded from /tf arrive way later (2-4 seconds) than when they were emitted, which makes a mess in the timestamps + #zB we have timestamps (in s) : 5.1, 5.2, 5.3, !!!3.7, 3.9, 4.5, 4.9!!!, 5.4, 5.5, 5.6, 5.7 etc. This bug almost always occurs in the first seconds of the recording & generally only happens once per recording + #and only concerns a very small percentage of datapoints (10-40 over about 1800 total), so it is not a big deal. We do not know if this bug stems from the Rosbag recording, from how /tf behaves or from the radio - ####get rid of datapoints before takeoff and after landing in bag_times, bag_x, bag_y, bag_y + #Since we use a lineplot, we need to get rid of these datapoints that are in an order that doesn't make sense so that the plot can be readable + self.nonsensical = [] #list of indexes of datapoints who arrived too late, meaning their timestamp doesn't follow the ones before + time = -1 + for index,t in enumerate(self.bag_times): + if t > time: + time = t + else: + self.nonsensical.append(index) - assert len(self.bag_times) == len(self.bag_x) == len(self.bag_y) == len(self.bag_z), "Plotter : self.bag_* aren't the same size before trimming" - index_arr = np.arange(len(self.bag_times)) - slicing_arr = np.delete(index_arr, index_arr[takeoff_index:landing_index+1]) #in our slicing array we take out all the indexes of when the drone is in flight so that it only contains the indexes of when the drone is on the ground - # #delete the datapoints where drone is on the ground - # self.bag_times = np.delete(self.bag_times, slicing_arr) - # self.bag_x = np.delete(self.bag_x, slicing_arr) - # self.bag_y = np.delete(self.bag_y, slicing_arr) - # self.bag_z = np.delete(self.bag_z, slicing_arr) + if self.nonsensical: #if self.nonsensical is not empty + self.bag_times = np.delete(self.bag_times, self.nonsensical) + self.bag_x = np.delete(self.bag_x, self.nonsensical) + self.bag_y = np.delete(self.bag_y, self.nonsensical) + self.bag_z = np.delete(self.bag_z, self.nonsensical) + print(f"{len(self.nonsensical)} datapoints were ignored because because their timestamp wasn't in the good order (delayed message problem). They go from index {self.nonsensical[0]} to {self.nonsensical[-1]}") - assert len(self.bag_times) == len(self.bag_x) == len(self.bag_y) == len(self.bag_z), "Plotter : self.bag_* aren't the same size after trimming" + assert len(self.bag_times) == len(self.bag_x) == len(self.bag_y) == len(self.bag_z), "Plotter : self.bag_* aren't the same size after adjusting arrays" print(f"trimmed bag_times starts: {self.bag_times[0]}s and ends: {self.bag_times[-1]}, size: {len(self.bag_times)}") @@ -200,15 +203,11 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str, ove self.read_csv_and_set_arrays(ideal_csvfile,rosbag_csvfile) - offset_list = self.find_temporal_offset() - if len(offset_list) == 1: - offset_string = f"temporal offset : {offset_list[0]}s \n" - elif len(offset_list) ==2: - offset_string = f"averaged temporal offset : {(offset_list[0]+offset_list[1])/2}s \n" - passed="failed" - if self.test_passed(): - passed = "passed" + test_result="failed" + passed, percentage = self.test_passed() + if passed: + test_result = "passed" #create PDF to save figures if(pdfname[-4:] != ".pdf"): @@ -228,14 +227,19 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str, ove name = "Unnamed test" print("Plotter : test name not defined") - text = f'{name} trajectory test' + title = f'{name} trajectory test' + if self.SIM: + title += "(SIMULATION)" title_text_settings = f'Settings:\n' title_text_parameters = f'Parameters:\n' for key, value in self.params.items(): title_text_parameters += f" {key}: {value}\n" - title_text_results = f'Results: test {passed}\n' + offset_string + f'max error : ' + title_text_results = f'Results: test {test_result}\n' + f"acceptable deviation EPSILON: {self.EPSILON}[m]\n" + title_text_results += f"percentage of points > EPSILON : {percentage:.4f}%\n" + f"average error : {np.mean(self.euclidian_dist):.6f} [m]\n" + title_text_results += f"median error : {np.median(self.euclidian_dist):.6f} [m]\n" + f"max error : {np.max(self.euclidian_dist):.6f} [m]\n" + - title_text = text + "\n" + title_text_settings + "\n" + title_text_parameters + "\n" + title_text_results + title_text = title + "\n" + title_text_settings + "\n" + title_text_parameters + "\n" + title_text_results fig = plt.figure(figsize=(5,8)) fig.text(0.1, 0.1, title_text, size=11) @@ -249,14 +253,12 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str, ove ax.plot(self.bag_times, self.bag_x, label='Recorded trajectory') ax.set_xlabel('time [s]') ax.set_ylabel('x position [m]') - ax.set_title("Trajectory x") - + ax.set_title("Trajectory x") ax.grid(which='major', color='#DDDDDD', linewidth=0.8) ax.grid(which='minor', color='#EEEEEE', linestyle=':', linewidth=0.5) ax.minorticks_on() fig.tight_layout(pad = 4) - fig.legend() - + fig.legend() pdf_pages.savefig(fig) fig2, ax2 = plt.subplots() @@ -264,7 +266,7 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str, ove ax2.plot(self.bag_times, self.bag_y, label='Recorded trajectory') ax2.set_xlabel('time [s]') ax2.set_ylabel('y position [m]') - ax2.set_title("Trajectory y") + ax2.set_title("trajectory y") ax2.grid(which='major', color='#DDDDDD', linewidth=0.8) ax2.grid(which='minor', color='#EEEEEE', linestyle=':', linewidth=0.5) ax2.minorticks_on() @@ -324,52 +326,31 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str, ove plt.tight_layout(pad=4) pdf_pages.savefig(fig6) - - pdf_pages.close() print("Results saved in " + pdfname) - def test_passed(self) -> bool : - '''Returns True if the deviation between recorded and ideal trajectories of the drone didn't exceed EPSILON for more than ALLOWED_DEV_POINTS % of datapoints. - Returns False otherwise ''' + def test_passed(self) -> tuple : + '''Returns a tuple containing (bool:passed, float:percentage). If the deviation between recorded and ideal trajectories of the drone didn't exceed + EPSILON for more than ALLOWED_DEV_POINTS % of datapoints, the boolean passed is True. Otherwise it is false. float:percentage is the percentage + of points which whose deviation is less than EPSILON''' nb_dev_points = len(self.deviation) threshold = self.ALLOWED_DEV_POINTS * len(self.bag_times) percentage = (len(self.deviation) / len(self.bag_times)) * 100 if nb_dev_points < threshold: - print(f"Test {self.test_name} passed : {percentage:8.4f}% of datapoints had deviation larger than {self.EPSILON}m ({self.ALLOWED_DEV_POINTS * 100}% max for pass)") - return True + print(f"Test {self.test_name} passed : {percentage:.4f}% of datapoints had deviation larger than {self.EPSILON}m ({self.ALLOWED_DEV_POINTS * 100}% max for pass)") + return (True, percentage) else: print(f"Test {self.test_name} failed : The deviation between ideal and recorded trajectories is greater than {self.EPSILON}m for {percentage:8.4f}% of datapoints") - return False + return (False, percentage) - def find_temporal_offset(self) -> list : - ''' Returns a list containing the on-graph temporal offset between real and ideal trajectory. If offset is different for x and y axis, returns both in the same list''' - peak_x = self.bag_x.argmax() #find index of extremum value of real trajectory along x axis - peak_time_x = self.bag_times[peak_x] #find corresponding time - peak_x_ideal = self.ideal_traj_x.argmax() #find index of extremum value of ideal traj along x axis - peak_time_x_ideal = self.bag_times[peak_x_ideal] #find corresponding time - offset_x = peak_time_x_ideal - peak_time_x - - peak_y = self.bag_y.argmax() #find index of extremum value of real trajectory along y ayis - peak_time_y = self.bag_times[peak_y] #find corresponding time - peak_y_ideal = self.ideal_traj_y.argmax() #find index of extremum value of ideal traj along y ayis - peak_time_y_ideal = self.bag_times[peak_y_ideal] #find corresponding time - offset_y = peak_time_y_ideal - peak_time_y - - if offset_x == offset_y: - print(f"On-graph temporal offset is {offset_x}s, delay const is {self.DELAY_CONST_FIG8} so uncorrected/absolute offset is {offset_x-self.DELAY_CONST_FIG8}") - return [offset_x] - else : - print(f"On-graph temporal offsets are {offset_x} & {offset_y} secs, delay const is {self.DELAY_CONST_FIG8}") - return [offset_x, offset_y] if __name__=="__main__": - #command line utility + # command line utility from argparse import ArgumentParser, Namespace parser = ArgumentParser(description="Creates a pdf plotting the recorded trajectory of a drone against its desired trajectory") @@ -384,6 +365,4 @@ def find_temporal_offset(self) -> list : plotter.create_figures(args.desired_trajectory, args.recorded_trajectory, args.pdf, overwrite=args.overwrite) if args.open: import subprocess - subprocess.call(["xdg-open", args.pdf]) - - + subprocess.call(["xdg-open", args.pdf]) \ No newline at end of file diff --git a/systemtests/test_flights.py b/systemtests/test_flights.py index eb307cb49..619153df7 100644 --- a/systemtests/test_flights.py +++ b/systemtests/test_flights.py @@ -141,7 +141,7 @@ def record_start_and_clean(self, testname:str, max_wait:int): # src = f"source {str(self.ros2_ws)}/install/setup.bash" try: - command = f"{self.src} && ros2 bag record -s mcap -o test_{testname} /tf" + command = f"{self.src} && ros2 bag record -s mcap -o test_{testname} /tf /rosout" record_bag = Popen(command, shell=True, stderr=PIPE, stdout=True, text=True, cwd= self.ros2_ws / "results/", start_new_session=True, executable="/bin/bash") atexit.register(clean_process, record_bag) @@ -202,12 +202,11 @@ def test_figure8(self): test_passed = self.translate_plot_and_check("figure8") assert test_passed, "figure8 test failed : deviation larger than epsilon" - - def test_multi_trajectory(self): - self.test_file = "multi_trajectory_ideal_traj0.csv" - self.record_start_and_clean("multi_trajectory", 80) - test_passed = self.translate_plot_and_check("multi_trajectory") - assert test_passed, "multitrajectory test failed : deviation larger than epsilon" + # def test_multi_trajectory(self): + # self.test_file = "multi_trajectory_traj0_ideal.csv" + # self.record_start_and_clean("multi_trajectory", 80) + # test_passed = self.translate_plot_and_check("multi_trajectory") + # assert test_passed, "multitrajectory test failed : deviation larger than epsilon" From 1a3a98104dbb6c6bebbc025b2332abbce4610b4b Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Fri, 24 May 2024 12:21:22 +0200 Subject: [PATCH 138/162] Fix regression where teleop node would crash due to missing configuration file --- crazyflie/config/teleop.yaml | 2 +- crazyflie/launch/launch.py | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/crazyflie/config/teleop.yaml b/crazyflie/config/teleop.yaml index 218efb498..a9523e2a5 100644 --- a/crazyflie/config/teleop.yaml +++ b/crazyflie/config/teleop.yaml @@ -1,7 +1,7 @@ /teleop: ros__parameters: frequency: 100 # set to 0, to disable manual flight modes - mode: "cmd_vel_world" # one of cmd_rpy, cmd_vel_world + mode: "none" # one of none, cmd_rpy, cmd_vel_world cmd_rpy: roll: axis: 5 diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index d5df4b37d..be2ed1339 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -73,6 +73,11 @@ def generate_launch_description(): with open('tmp_motion_capture.yaml', 'w') as outfile: yaml.dump(motion_capture_content, outfile, default_flow_style=False, sort_keys=False) + telop_yaml_path = os.path.join( + get_package_share_directory('crazyflie'), + 'config', + 'teleop.yaml') + return LaunchDescription([ DeclareLaunchArgument('backend', default_value='cpp'), DeclareLaunchArgument('debug', default_value='False'), @@ -102,7 +107,7 @@ def generate_launch_description(): # ('cmd_full_state', 'cf6/cmd_full_state'), # ('notify_setpoints_stop', 'cf6/notify_setpoints_stop'), ], - parameters= [PythonExpression(["'teleop.yaml' if '", LaunchConfiguration('teleop_yaml_file'), "' == '' else '", LaunchConfiguration('teleop_yaml_file'), "'"])], + parameters= [PythonExpression(["'" + telop_yaml_path +"' if '", LaunchConfiguration('teleop_yaml_file'), "' == '' else '", LaunchConfiguration('teleop_yaml_file'), "'"])], ), Node( package='joy', From 314f089f080f9f764e15c3bacf8b2af899fc983c Mon Sep 17 00:00:00 2001 From: Wolfgang Hoenig Date: Mon, 27 May 2024 22:23:17 +0200 Subject: [PATCH 139/162] teleop: add support for arming --- crazyflie/config/teleop.yaml | 2 ++ crazyflie/launch/launch.py | 1 + crazyflie/scripts/gui.py | 2 ++ crazyflie/src/teleop.cpp | 68 +++++++++++++++++++++--------------- 4 files changed, 45 insertions(+), 28 deletions(-) diff --git a/crazyflie/config/teleop.yaml b/crazyflie/config/teleop.yaml index a9523e2a5..4b072aa36 100644 --- a/crazyflie/config/teleop.yaml +++ b/crazyflie/config/teleop.yaml @@ -53,4 +53,6 @@ button: 6 # 6 back emergency: button: 1 # 1 red + arm: + button: 3 # yellow diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index be2ed1339..9761c5535 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -100,6 +100,7 @@ def generate_launch_description(): name='teleop', remappings=[ ('emergency', 'all/emergency'), + ('arm', 'all/arm'), ('takeoff', 'all/takeoff'), ('land', 'all/land'), # uncomment to manually control (and update teleop.yaml) diff --git a/crazyflie/scripts/gui.py b/crazyflie/scripts/gui.py index a0f221b71..54304520c 100755 --- a/crazyflie/scripts/gui.py +++ b/crazyflie/scripts/gui.py @@ -194,6 +194,8 @@ def on_status(self, msg, name) -> None: supervisor_text += "auto-arm; " if msg.supervisor_info & Status.SUPERVISOR_INFO_CAN_FLY: supervisor_text += "can fly; " + else: + status_ok = False if msg.supervisor_info & Status.SUPERVISOR_INFO_IS_FLYING: supervisor_text += "is flying; " is_flying = True diff --git a/crazyflie/src/teleop.cpp b/crazyflie/src/teleop.cpp index 59ce47538..e07d01e99 100755 --- a/crazyflie/src/teleop.cpp +++ b/crazyflie/src/teleop.cpp @@ -7,6 +7,7 @@ #include "std_srvs/srv/empty.hpp" #include "crazyflie_interfaces/srv/takeoff.hpp" #include "crazyflie_interfaces/srv/land.hpp" +#include "crazyflie_interfaces/srv/arm.hpp" #include #include "geometry_msgs/msg/twist.hpp" #include "crazyflie_interfaces/msg/full_state.hpp" @@ -19,26 +20,13 @@ using std::placeholders::_1; using std_srvs::srv::Empty; using crazyflie_interfaces::srv::Takeoff; using crazyflie_interfaces::srv::Land; +using crazyflie_interfaces::srv::Arm; using crazyflie_interfaces::srv::NotifySetpointsStop; using crazyflie_interfaces::msg::FullState; using namespace std::chrono_literals; using namespace Eigen; -namespace Xbox360Buttons { - - enum { Green = 0, - Red = 1, - Blue = 2, - Yellow = 3, - LB = 4, - RB = 5, - Back = 6, - Start = 7, - COUNT = 8, - }; -} - class TeleopNode : public rclcpp::Node { public: @@ -93,6 +81,10 @@ class TeleopNode : public rclcpp::Node this->declare_parameter("emergency.button"); this->get_parameter("emergency.button", emergency_button); + this->declare_parameter("arm.button"); + this->get_parameter("arm.button", arm_button); + is_armed_ = false; + on_mode_switched(); dt_ = 1.0f/frequency_; @@ -107,6 +99,7 @@ class TeleopNode : public rclcpp::Node } client_emergency_ = this->create_client("emergency"); + client_arm_ = this->create_client("arm"); client_takeoff_ = this->create_client("takeoff"); client_land_ = this->create_client("land"); client_notify_setpoints_stop_ = this->create_client("notify_setpoints_stop"); @@ -153,6 +146,7 @@ class TeleopNode : public rclcpp::Node int land_button; int emergency_button; + int arm_button; void on_parameter_event(const rcl_interfaces::msg::ParameterEvent &event) { @@ -215,21 +209,26 @@ class TeleopNode : public rclcpp::Node void joyChanged(const sensor_msgs::msg::Joy::SharedPtr msg) { + static std::vector lastButtonState; - static std::vector lastButtonState(Xbox360Buttons::COUNT); - - std::cout << "takeoff_paras_.button: " << takeoff_paras_.button << std::endl; - if (msg->buttons.size() >= Xbox360Buttons::COUNT && lastButtonState.size() >= Xbox360Buttons::COUNT) { - if (msg->buttons[emergency_button] == 1 && lastButtonState[emergency_button] == 0) { - emergency(); - } + auto checkButton = [&](int button) { + return msg->buttons.size() > button && + msg->buttons[button] == 1 && + lastButtonState.size() > button && + lastButtonState[button] == 0; + }; - if (msg->buttons[takeoff_paras_.button] == 1 && lastButtonState[takeoff_paras_.button] == 0) { - takeoff(); - } - if (msg->buttons[land_button] == 1 && lastButtonState[land_button] == 0) { - land(); - } + if (checkButton(emergency_button)) { + emergency(); + } + if (checkButton(arm_button)) { + arm(); + } + if (checkButton(takeoff_paras_.button)) { + takeoff(); + } + if (checkButton(land_button)) { + land(); } lastButtonState = msg->buttons; @@ -243,7 +242,6 @@ class TeleopNode : public rclcpp::Node else { twist_.angular.z = auto_yaw_rate_; } - } sensor_msgs::msg::Joy::_axes_type::value_type getAxis(const sensor_msgs::msg::Joy::SharedPtr &msg, Axis a) @@ -278,6 +276,18 @@ class TeleopNode : public rclcpp::Node client_emergency_->async_send_request(request); } + void arm() + { + if (!client_arm_->service_is_ready()) { + RCLCPP_ERROR(get_logger(), "Arm service not ready!"); + return; + } + auto request = std::make_shared(); + request->arm = !is_armed_; + client_arm_->async_send_request(request); + is_armed_ = !is_armed_; + } + void takeoff() { if (!client_takeoff_->service_is_ready()) { @@ -373,6 +383,7 @@ class TeleopNode : public rclcpp::Node rclcpp::Subscription::SharedPtr subscription_; rclcpp::Client::SharedPtr client_emergency_; + rclcpp::Client::SharedPtr client_arm_; rclcpp::Client::SharedPtr client_takeoff_; rclcpp::Client::SharedPtr client_land_; rclcpp::Client::SharedPtr client_notify_setpoints_stop_; @@ -393,6 +404,7 @@ class TeleopNode : public rclcpp::Node float dt_; bool is_low_level_flight_active_; double auto_yaw_rate_; + bool is_armed_; }; int main(int argc, char *argv[]) From 832ad006508bcd55e95d057133de549181997aaf Mon Sep 17 00:00:00 2001 From: knmcguire Date: Tue, 28 May 2024 12:46:37 +0200 Subject: [PATCH 140/162] readd get_param --- crazyflie_py/crazyflie_py/crazyflie.py | 43 ++++++++++++++++---------- 1 file changed, 27 insertions(+), 16 deletions(-) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 006dcb1bb..aff4379a5 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -484,26 +484,37 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0): # '/world', '/cf' + str(self.id), rospy.Time(0)) # return np.array(position) - # def getParam(self, name): - # """Returns the current value of the onboard named parameter. + def getParam(self, name): + """ + Get the current value of the onboard named parameter. - # Parameters are named values of various primitive C types that control - # the firmware's behavior. For more information, see - # https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/logparam/. + Parameters are named values of various primitive C types that control + the firmware's behavior. For more information, see + https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/logparam/. - # Parameters are read at system startup over the radio and cached. - # The ROS launch file can also be used to set parameter values at startup. - # Subsequent calls to :meth:`setParam()` will update the cached value. - # However, if the parameter changes for any other reason, the cached value - # might become stale. This situation is not common. + Parameters are read at system startup over the radio and cached. + The ROS launch file can also be used to set parameter values at startup. + Subsequent calls to :meth:`setParam()` will update the cached value. + However, if the parameter changes for any other reason, the cached value + might become stale. This situation is not common. - # Args: - # name (str): The parameter's name. + Args: + name (str): The parameter's name. - # Returns: - # value (Any): The parameter's value. - # """ - # return rospy.get_param(self.prefix + '/' + name) + Returns: + value (Any): The parameter's value. + """ + param_name = self.prefix[1:] + '.params.' + name + req = GetParameters.Request() + req.names = [param_name] + future = self.getParamsService.call_async(req) + rclpy.spin_until_future_complete(self.node, future) + param_type = self.paramTypeDict[name] + if param_type == ParameterType.PARAMETER_INTEGER: + param_value = future.result().values[0].integer_value + elif param_type == ParameterType.PARAMETER_DOUBLE: + param_value = future.result().values[0].double_value + return param_value def setParam(self, name, value): """ From 92906489b2312b5aad0440e4910b161d4fe4aabf Mon Sep 17 00:00:00 2001 From: knmcguire Date: Tue, 28 May 2024 12:59:11 +0200 Subject: [PATCH 141/162] add blank line --- crazyflie_py/crazyflie_py/crazyflie.py | 1 + 1 file changed, 1 insertion(+) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index aff4379a5..d0e733bd0 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -503,6 +503,7 @@ def getParam(self, name): Returns: value (Any): The parameter's value. + """ param_name = self.prefix[1:] + '.params.' + name req = GetParameters.Request() From dddf703ca798a3e09c832dd5d47d327df51f3d7e Mon Sep 17 00:00:00 2001 From: knmcguire Date: Tue, 28 May 2024 13:11:10 +0200 Subject: [PATCH 142/162] check param in setparam script --- crazyflie_examples/crazyflie_examples/set_param.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/crazyflie_examples/crazyflie_examples/set_param.py b/crazyflie_examples/crazyflie_examples/set_param.py index 69c49daf0..db5ca347b 100644 --- a/crazyflie_examples/crazyflie_examples/set_param.py +++ b/crazyflie_examples/crazyflie_examples/set_param.py @@ -12,6 +12,8 @@ def main(): for cf in allcfs.crazyflies: cf.setParam('led.bitmask', 128) timeHelper.sleep(1.0) + if cf.getParam('led.bitmask') != 128: + print('LED of cf', cf.id, 'is not disabled!') timeHelper.sleep(2.0) From 7720abb183f89b3a854be645a8853d965663bb3f Mon Sep 17 00:00:00 2001 From: knmcguire Date: Tue, 28 May 2024 16:10:50 +0200 Subject: [PATCH 143/162] fix issue with not finding parameter service --- crazyflie_py/crazyflie_py/crazyflie.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index d0e733bd0..5402bd21b 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -141,11 +141,11 @@ def __init__(self, node, cfname, paramTypeDict): self.status = {} # Query some settings - getParamsService = node.create_client(GetParameters, '/crazyflie_server/get_parameters') - getParamsService.wait_for_service() + self.getParamsService = node.create_client(GetParameters, '/crazyflie_server/get_parameters') + self.getParamsService.wait_for_service() req = GetParameters.Request() req.names = ['robots.{}.initial_position'.format(cfname), 'robots.{}.uri'.format(cfname)] - future = getParamsService.call_async(req) + future = self.getParamsService.call_async(req) while rclpy.ok(): rclpy.spin_once(node) if future.done(): From c235e25f13f473ed247c3ebef1d4f0d5f63ab87d Mon Sep 17 00:00:00 2001 From: knmcguire Date: Wed, 29 May 2024 09:45:10 +0200 Subject: [PATCH 144/162] add try except for getparam --- crazyflie_py/crazyflie_py/crazyflie.py | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 5402bd21b..7471028d2 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -511,10 +511,16 @@ def getParam(self, name): future = self.getParamsService.call_async(req) rclpy.spin_until_future_complete(self.node, future) param_type = self.paramTypeDict[name] - if param_type == ParameterType.PARAMETER_INTEGER: - param_value = future.result().values[0].integer_value - elif param_type == ParameterType.PARAMETER_DOUBLE: - param_value = future.result().values[0].double_value + try: + if param_type == ParameterType.PARAMETER_INTEGER: + param_value = future.result().values[0].integer_value + elif param_type == ParameterType.PARAMETER_DOUBLE: + param_value = future.result().values[0].double_value + except KeyError as e: + self.get_logger().warn(f'(crazyflie.py)getParam : keyError raised {e}') + except Exception as e: + self.get_logger().warn(f'(crazyflie.py)getParam : exception raised {e}') + return param_value def setParam(self, name, value): From 1118919d03b7fd5c302e440665cbabe86e41b203 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Wed, 29 May 2024 09:46:35 +0200 Subject: [PATCH 145/162] fix too long line --- crazyflie_py/crazyflie_py/crazyflie.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 7471028d2..2e653dee3 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -141,7 +141,8 @@ def __init__(self, node, cfname, paramTypeDict): self.status = {} # Query some settings - self.getParamsService = node.create_client(GetParameters, '/crazyflie_server/get_parameters') + self.getParamsService = node.create_client( + GetParameters, '/crazyflie_server/get_parameters') self.getParamsService.wait_for_service() req = GetParameters.Request() req.names = ['robots.{}.initial_position'.format(cfname), 'robots.{}.uri'.format(cfname)] From 331a4ece9643407e6dc3cc03c1b2c72de3e633bf Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 30 May 2024 10:58:23 +0200 Subject: [PATCH 146/162] add text about motion capture --- crazyflie/config/motion_capture.yaml | 4 ++-- docs2/usage.rst | 36 +++++++++++++++++++++------- 2 files changed, 30 insertions(+), 10 deletions(-) diff --git a/crazyflie/config/motion_capture.yaml b/crazyflie/config/motion_capture.yaml index c9324ea41..ea20e4b44 100644 --- a/crazyflie/config/motion_capture.yaml +++ b/crazyflie/config/motion_capture.yaml @@ -1,10 +1,10 @@ /motion_capture_tracking: ros__parameters: + # one of "optitrack", "optitrack_closed_source", "vicon", "qualisys", "nokov", "vrpn", "motionanalysis" type: "optitrack" + # Specify the hostname or IP of the computer running the motion capture software hostname: "141.23.110.143" - mode: "libobjecttracker" # one of motionCapture,libRigidBodyTracker - topics: poses: qos: diff --git a/docs2/usage.rst b/docs2/usage.rst index 74caf33d9..e48acd263 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -12,8 +12,8 @@ Usage .. warning:: - If you work in a shared network (lab, classroom) or similar, you might want to avoid - controlling other robots. This is in particular true for simulation. In this case, + If you work in a shared network (lab, classroom) or similar, you might want to avoid + controlling other robots. This is in particular true for simulation. In this case, you can use .. code-block:: bash @@ -29,7 +29,7 @@ Usage Configuration ------------- -All configuration files are in crazyflie/config. +All configuration files are in crazyflie/config. * crazyflies.yaml : setting up everything related to the robots. * server.yaml : setting up everything related to the server. @@ -40,7 +40,7 @@ crazyflies.yaml ~~~~~~~~~~~~~~~ Each crazyflie should have an unique URI which can `be changed in Bitcraze's CFclient `_. -They can also be enabled in case you don't want the server to connect with it. +They can also be enabled in case you don't want the server to connect with it. .. code-block:: yaml @@ -109,13 +109,33 @@ The yaml file also contain an 'all' field, in case you have parameters or loggin estimator: 2 # 1: complementary, 2: kalman controller: 2 # 1: PID, 2: mellinger -The above also contains an example of the firmware_logging field, where default topics can be enabled or custom topics based on the `existing log toc of the crazyflie `_. -Moreover, it also contains the firmware_params field, where parameters can be set at startup. -Also see the `parameter list of the crazyflie `_ for that. +The above also contains an example of the firmware_logging field, where default topics can be enabled or custom topics based on the `existing log toc of the crazyflie `_. +Moreover, it also contains the firmware_params field, where parameters can be set at startup. +Also see the `parameter list of the crazyflie `_ for that. Mind that you can also place the firmware_params and firmware_logging fields per crazyflie in 'robots' or the 'robot_types' field. -The server node will upon initialization, first look at the params/logs from the individual crazyflie's settings, then the robot_types, and then anything in 'all' which has lowest priority. +The server node will upon initialization, first look at the params/logs from the individual crazyflie's settings, then the robot_types, and then anything in 'all' which has lowest priority. + +Positioning +----------- + +Motion capture +~~~~~~~~~~~~~~ + +If you have a motion capture system, you can input the specifics in the motion_capture.yaml file. + +.. code-block:: yaml + /motion_capture_tracking: + ros__parameters: + type: "optitrack" + hostname: "optitrackPC" + +'Type' can replaced by "optitrack", "vicon", "qualisys" or any of the other supported motion capture systems of the `motion capture tracking package `_. +'hostname' is the hostname of the computer running the motion capture software which can either be the PC name or the IP. + + + Simulation From 76248e96866eb4212572e22ed3fd2f4381d04e24 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 30 May 2024 17:10:58 +0200 Subject: [PATCH 147/162] add text about other positoing systems --- docs2/usage.rst | 44 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 44 insertions(+) diff --git a/docs2/usage.rst b/docs2/usage.rst index e48acd263..edc065909 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -120,6 +120,10 @@ The server node will upon initialization, first look at the params/logs from the Positioning ----------- +The Crazyflie can be positioned in different ways, including motion capture and onboard positioning. +This blogpost provides a good overview of the different positioning systems if you are unsure about which one you are using: `Positioning System Overview + `_. + Motion capture ~~~~~~~~~~~~~~ @@ -134,8 +138,48 @@ If you have a motion capture system, you can input the specifics in the motion_c 'Type' can replaced by "optitrack", "vicon", "qualisys" or any of the other supported motion capture systems of the `motion capture tracking package `_. 'hostname' is the hostname of the computer running the motion capture software which can either be the PC name or the IP. +Also make sure that in crazyflies.yaml, the motion_capture field is enabled for the specific robot type, or that the crazyflie is of a type that supports motion capture. + +.. code-block:: yaml + robot_types: + cf21: + motion_capture: + enabled: true + +For more indepth information about the motion capture tracking package, see the `documentation `_. + +Onboard positioning +~~~~~~~~~~~~~~~~~~~ + +The Crazyflie also supports several alternative positioning systems that provide direct onboard position or pose estimation. +In this case you do not need to receive positioning from an external system like with MoCap. + +Instructions per positioing system.: +* The `Loco positioning system `_ - Follow Bitcraze's tutorial `here `. +* The `Lighthouse positioning system `_ - Follow Bitcraze's tutorial `here `. + * Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie. +* The `Flow deck `_ - Follow Bitcraze's tutorial `here `. + * Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones. +Also in this case, make sure that motion_capture is disabled in the crazyflies.yaml file: + +.. code-block:: yaml + robot_types: + cf21: + motion_capture: + enabled: false + +Also it is a good idea to turn on pose estimation logging such that you are able to see the poses and transforms of the Crazyflie updated in real life in rviz or the Swarm management gui. + +.. code-block:: yaml + all: + firmware_logging: + enabled: true + default_topics: + # remove to disable default topic + pose: + frequency: 10 # Hz Simulation From feefb6030693402dceb6699d226fc7024a730921 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 30 May 2024 17:19:22 +0200 Subject: [PATCH 148/162] fix issue --- docs2/usage.rst | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/docs2/usage.rst b/docs2/usage.rst index edc065909..5fdb08ec7 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -121,8 +121,7 @@ Positioning ----------- The Crazyflie can be positioned in different ways, including motion capture and onboard positioning. -This blogpost provides a good overview of the different positioning systems if you are unsure about which one you are using: `Positioning System Overview - `_. +This blogpost provides a good overview of the different positioning systems if you are unsure about which one you are using: `Positioning System Overview `_. Motion capture ~~~~~~~~~~~~~~ From 497a3535fa5fb0bd0faff959418b6046a9a7a948 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 30 May 2024 17:23:46 +0200 Subject: [PATCH 149/162] fix block issue --- docs2/usage.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docs2/usage.rst b/docs2/usage.rst index 5fdb08ec7..744998229 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -129,6 +129,7 @@ Motion capture If you have a motion capture system, you can input the specifics in the motion_capture.yaml file. .. code-block:: yaml + /motion_capture_tracking: ros__parameters: type: "optitrack" @@ -140,6 +141,7 @@ If you have a motion capture system, you can input the specifics in the motion_c Also make sure that in crazyflies.yaml, the motion_capture field is enabled for the specific robot type, or that the crazyflie is of a type that supports motion capture. .. code-block:: yaml + robot_types: cf21: motion_capture: @@ -163,6 +165,7 @@ Instructions per positioing system.: Also in this case, make sure that motion_capture is disabled in the crazyflies.yaml file: .. code-block:: yaml + robot_types: cf21: motion_capture: @@ -171,6 +174,7 @@ Also in this case, make sure that motion_capture is disabled in the crazyflies.y Also it is a good idea to turn on pose estimation logging such that you are able to see the poses and transforms of the Crazyflie updated in real life in rviz or the Swarm management gui. .. code-block:: yaml + all: firmware_logging: From 100976a100b7aeaaea918e52c2fb104e9a1c5ad7 Mon Sep 17 00:00:00 2001 From: knmcguire Date: Thu, 30 May 2024 17:28:39 +0200 Subject: [PATCH 150/162] indentation issue --- docs2/usage.rst | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/docs2/usage.rst b/docs2/usage.rst index 744998229..af242c8a0 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -157,10 +157,8 @@ In this case you do not need to receive positioning from an external system like Instructions per positioing system.: * The `Loco positioning system `_ - Follow Bitcraze's tutorial `here `. -* The `Lighthouse positioning system `_ - Follow Bitcraze's tutorial `here `. - * Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie. -* The `Flow deck `_ - Follow Bitcraze's tutorial `here `. - * Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones. +* The `Lighthouse positioning system `_ - Follow Bitcraze's tutorial `here `. Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie. +* The `Flow deck `_ - Follow Bitcraze's tutorial `here `. Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones. Also in this case, make sure that motion_capture is disabled in the crazyflies.yaml file: From 21cc171c244aefeca567128f3aafdd4700785ee5 Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Fri, 31 May 2024 08:58:44 +0200 Subject: [PATCH 151/162] Update docs2/usage.rst --- docs2/usage.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs2/usage.rst b/docs2/usage.rst index af242c8a0..6321485f0 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -155,7 +155,7 @@ Onboard positioning The Crazyflie also supports several alternative positioning systems that provide direct onboard position or pose estimation. In this case you do not need to receive positioning from an external system like with MoCap. -Instructions per positioing system.: +Instructions per positioning system.: * The `Loco positioning system `_ - Follow Bitcraze's tutorial `here `. * The `Lighthouse positioning system `_ - Follow Bitcraze's tutorial `here `. Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie. * The `Flow deck `_ - Follow Bitcraze's tutorial `here `. Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones. From 33fae442ad0b6490ef6eb25dcaad23aab44706ec Mon Sep 17 00:00:00 2001 From: knmcguire Date: Fri, 31 May 2024 09:03:46 +0200 Subject: [PATCH 152/162] fix indention --- docs2/usage.rst | 18 +++++++----------- 1 file changed, 7 insertions(+), 11 deletions(-) diff --git a/docs2/usage.rst b/docs2/usage.rst index 6321485f0..fd54ef49a 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -143,9 +143,9 @@ Also make sure that in crazyflies.yaml, the motion_capture field is enabled for .. code-block:: yaml robot_types: - cf21: - motion_capture: - enabled: true + cf21: + motion_capture: + enabled: true For more indepth information about the motion capture tracking package, see the `documentation `_. @@ -165,24 +165,20 @@ Also in this case, make sure that motion_capture is disabled in the crazyflies.y .. code-block:: yaml robot_types: - cf21: - motion_capture: - enabled: false + cf21: + motion_capture: + enabled: false Also it is a good idea to turn on pose estimation logging such that you are able to see the poses and transforms of the Crazyflie updated in real life in rviz or the Swarm management gui. .. code-block:: yaml - all: - firmware_logging: enabled: true default_topics: - # remove to disable default topic - pose: + pose: frequency: 10 # Hz - Simulation ---------- From 796c5b55acc45eecdbbb8253dc857a54df49c92b Mon Sep 17 00:00:00 2001 From: knmcguire Date: Fri, 31 May 2024 09:16:54 +0200 Subject: [PATCH 153/162] add mocap launch variable --- crazyflie/launch/launch.py | 5 +++-- docs2/usage.rst | 3 +++ 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index be2ed1339..734824b3c 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -5,7 +5,7 @@ from launch.actions import DeclareLaunchArgument from launch_ros.actions import Node from launch.conditions import LaunchConfigurationEquals -from launch.conditions import LaunchConfigurationNotEquals +from launch.conditions import IfCondition from launch.substitutions import LaunchConfiguration, PythonExpression @@ -83,13 +83,14 @@ def generate_launch_description(): DeclareLaunchArgument('debug', default_value='False'), DeclareLaunchArgument('rviz', default_value='False'), DeclareLaunchArgument('gui', default_value='True'), + DeclareLaunchArgument('mocap', default_value='True'), DeclareLaunchArgument('server_yaml_file', default_value=''), DeclareLaunchArgument('teleop_yaml_file', default_value=''), DeclareLaunchArgument('mocap_yaml_file', default_value=''), Node( package='motion_capture_tracking', executable='motion_capture_tracking_node', - condition=LaunchConfigurationNotEquals('backend','sim'), + condition=IfCondition(PythonExpression(["'", LaunchConfiguration('backend'), "' != 'sim' and '", LaunchConfiguration('mocap'), "' == 'True'"])), name='motion_capture_tracking', output='screen', parameters= [PythonExpression(["'tmp_motion_capture.yaml' if '", LaunchConfiguration('mocap_yaml_file'), "' == '' else '", LaunchConfiguration('mocap_yaml_file'), "'"])], diff --git a/docs2/usage.rst b/docs2/usage.rst index fd54ef49a..9f8270b32 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -179,6 +179,9 @@ Also it is a good idea to turn on pose estimation logging such that you are able pose: frequency: 10 # Hz + +Moreover, be aware that the motion capture node is enabled in the launch file by default, which can be turned off by adding 'mocap:=False' to the launch command. + Simulation ---------- From 59ff36d92c8e5a077138e157fd9a5fe01c4b1c29 Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Sun, 2 Jun 2024 16:59:14 +0200 Subject: [PATCH 154/162] Update usage.rst --- docs2/usage.rst | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/docs2/usage.rst b/docs2/usage.rst index 9f8270b32..64a96bcb6 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -155,10 +155,11 @@ Onboard positioning The Crazyflie also supports several alternative positioning systems that provide direct onboard position or pose estimation. In this case you do not need to receive positioning from an external system like with MoCap. -Instructions per positioning system.: -* The `Loco positioning system `_ - Follow Bitcraze's tutorial `here `. -* The `Lighthouse positioning system `_ - Follow Bitcraze's tutorial `here `. Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie. -* The `Flow deck `_ - Follow Bitcraze's tutorial `here `. Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones. +Instructions per positioning system: + +* The `Loco positioning system `_ - Follow Bitcraze's tutorial `here `_. +* The `Lighthouse positioning system `_ - Follow Bitcraze's tutorial `here `_. Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie. +* The `Flow deck `_ - Follow Bitcraze's tutorial `here `_. Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones. Also in this case, make sure that motion_capture is disabled in the crazyflies.yaml file: @@ -238,4 +239,4 @@ Swarm Management The launch file will also start a swarm management tool that is a ROS node and web-based GUI. In the upper pane is the location of the drone visualized in a 3D window, similar to rviz. In the lower pane, the status as well as log messages are visible (tabbed per drone). -In the future, we are planning to add support for rebooting and other actions. \ No newline at end of file +In the future, we are planning to add support for rebooting and other actions. From ca4fac360c340b9957abceb26240f7cd45f8ab67 Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Tue, 11 Jun 2024 11:21:30 +0200 Subject: [PATCH 155/162] Update usage.rst --- docs2/usage.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs2/usage.rst b/docs2/usage.rst index 64a96bcb6..215f9c56b 100644 --- a/docs2/usage.rst +++ b/docs2/usage.rst @@ -157,9 +157,9 @@ In this case you do not need to receive positioning from an external system like Instructions per positioning system: -* The `Loco positioning system `_ - Follow Bitcraze's tutorial `here `_. -* The `Lighthouse positioning system `_ - Follow Bitcraze's tutorial `here `_. Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie. -* The `Flow deck `_ - Follow Bitcraze's tutorial `here `_. Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones. +* The `Loco positioning system `_ - `Follow Bitcraze's tutorial on LPS here `_. +* The `Lighthouse positioning system `_ - `Follow Bitcraze's tutorial on Lighthouse here `_. Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie. +* The `Flow deck `_ - `Follow Bitcraze's tutorial on the flowdeck here `_. Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones. Also in this case, make sure that motion_capture is disabled in the crazyflies.yaml file: From 063e62343b306cda53389c83d9841f84b9a97c4f Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Sat, 22 Jun 2024 21:46:07 +0200 Subject: [PATCH 156/162] Explain more clearly that distro needs to be replaced on install (#527) --- docs2/installation.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs2/installation.rst b/docs2/installation.rst index aac92d566..eca21418b 100644 --- a/docs2/installation.rst +++ b/docs2/installation.rst @@ -30,18 +30,18 @@ First Installation sudo apt install libboost-program-options-dev libusb-1.0-0-dev pip3 install rowan nicegui - Then install the motion capture ROS 2 package for your ROS distro + Then install the motion capture ROS 2 package (replace DISTRO with your version of ROS, namely humble or iron): .. code-block:: bash - sudo apt-get ros-*DISTRO*-motion-capture-tracking + sudo apt-get ros-DISTRO-motion-capture-tracking If you are planning to use the CFlib backend, do: .. code-block:: bash pip3 install cflib transforms3d - sudo apt-get install ros-*DISTRO*-tf-transformations + sudo apt-get install ros-DISTRO-tf-transformations 3. Set up your ROS 2 workspace From 9397af5579269f885339f1deea23a7df34045994 Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Mon, 24 Jun 2024 14:16:22 +0200 Subject: [PATCH 157/162] Update tutorials.rst --- docs2/tutorials.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs2/tutorials.rst b/docs2/tutorials.rst index 3a3894123..ba082ec36 100644 --- a/docs2/tutorials.rst +++ b/docs2/tutorials.rst @@ -37,7 +37,7 @@ in another terminal run: .. code-block:: bash - ros2 run teleop_twist_keyboard telop_twist_keyboard + ros2 run teleop_twist_keyboard teleop_twist_keyboard Use 't' to take off, and 'b' to land. For the rest, use the instructions of the telop package. From e89395e56f3555ce1781b6bc5e8226856ef7af34 Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Mon, 24 Jun 2024 14:27:35 +0200 Subject: [PATCH 158/162] Update installation.rst --- docs2/installation.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs2/installation.rst b/docs2/installation.rst index eca21418b..8071fb117 100644 --- a/docs2/installation.rst +++ b/docs2/installation.rst @@ -34,7 +34,7 @@ First Installation .. code-block:: bash - sudo apt-get ros-DISTRO-motion-capture-tracking + sudo apt-get install ros-DISTRO-motion-capture-tracking If you are planning to use the CFlib backend, do: From d1537eb40e5e09b17e4b29ac7c273ccdb0db25c7 Mon Sep 17 00:00:00 2001 From: Christian Llanes Date: Tue, 25 Jun 2024 12:31:25 -0400 Subject: [PATCH 159/162] Use OpaqueFunction to load string path of custom user-defined crazyflies yaml file --- crazyflie/launch/launch.py | 34 +++++++++++++++++++--------------- 1 file changed, 19 insertions(+), 15 deletions(-) diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py index 770c805ab..8c4264c1c 100644 --- a/crazyflie/launch/launch.py +++ b/crazyflie/launch/launch.py @@ -2,23 +2,17 @@ import yaml from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument +from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch_ros.actions import Node from launch.conditions import LaunchConfigurationEquals from launch.conditions import IfCondition from launch.substitutions import LaunchConfiguration, PythonExpression - -def generate_launch_description(): - - # load crazyflies - crazyflies_yaml = os.path.join( - get_package_share_directory('crazyflie'), - 'config', - 'crazyflies.yaml') - - with open(crazyflies_yaml, 'r') as ymlfile: - crazyflies = yaml.safe_load(ymlfile) +def parse_yaml(context): + # Load the crazyflies YAML file + crazyflies_yaml_file = LaunchConfiguration('crazyflies_yaml_file').perform(context) + with open(crazyflies_yaml_file, 'r') as file: + crazyflies = yaml.safe_load(file) # server params server_yaml = os.path.join( @@ -38,9 +32,10 @@ def generate_launch_description(): get_package_share_directory('crazyflie'), 'urdf', 'crazyflie_description.urdf') + with open(urdf, 'r') as f: - robot_desc = f.read() + server_yaml_content["/crazyflie_server"]["ros__parameters"]["robot_description"] = robot_desc # construct motion_capture_configuration @@ -48,7 +43,6 @@ def generate_launch_description(): get_package_share_directory('crazyflie'), 'config', 'motion_capture.yaml') - with open(motion_capture_yaml, 'r') as ymlfile: motion_capture_content = yaml.safe_load(ymlfile) @@ -73,12 +67,22 @@ def generate_launch_description(): with open('tmp_motion_capture.yaml', 'w') as outfile: yaml.dump(motion_capture_content, outfile, default_flow_style=False, sort_keys=False) + +def generate_launch_description(): + default_crazyflies_yaml_path = os.path.join( + get_package_share_directory('crazyflie'), + 'config', + 'crazyflies.yaml') + telop_yaml_path = os.path.join( get_package_share_directory('crazyflie'), 'config', 'teleop.yaml') - + return LaunchDescription([ + DeclareLaunchArgument('crazyflies_yaml_file', + default_value=default_crazyflies_yaml_path), + OpaqueFunction(function=parse_yaml), DeclareLaunchArgument('backend', default_value='cpp'), DeclareLaunchArgument('debug', default_value='False'), DeclareLaunchArgument('rviz', default_value='False'), From 6bbe811aa8ebae8351cc2584da466f26f848f10d Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Wed, 26 Jun 2024 11:24:17 +0200 Subject: [PATCH 160/162] Update multiranger_mapping_launch.py --- crazyflie_examples/launch/multiranger_mapping_launch.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/crazyflie_examples/launch/multiranger_mapping_launch.py b/crazyflie_examples/launch/multiranger_mapping_launch.py index 67e0dde9f..5dedb0d04 100644 --- a/crazyflie_examples/launch/multiranger_mapping_launch.py +++ b/crazyflie_examples/launch/multiranger_mapping_launch.py @@ -42,14 +42,14 @@ def generate_launch_description(): output='screen', parameters=[{'hover_height': 0.3}, {'incoming_twist_topic': '/cmd_vel'}, - {'robot_prefix': '/cf1'}] + {'robot_prefix': '/cf231'}] ), Node( parameters=[ {'odom_frame': 'odom'}, - {'map_frame': 'world'}, - {'base_frame': 'cf1'}, - {'scan_topic': '/cf1/scan'}, + {'map_frame': 'map'}, + {'base_frame': 'cf231'}, + {'scan_topic': '/cf231/scan'}, {'use_scan_matching': False}, {'max_laser_range': 3.5}, {'resolution': 0.1}, From 6f39cbd319ca491a7c8df2a35a1e292f0784e551 Mon Sep 17 00:00:00 2001 From: Kimberly McGuire Date: Wed, 26 Jun 2024 11:27:22 +0200 Subject: [PATCH 161/162] Update tutorials.rst --- docs2/tutorials.rst | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/docs2/tutorials.rst b/docs2/tutorials.rst index ba082ec36..48abc34ec 100644 --- a/docs2/tutorials.rst +++ b/docs2/tutorials.rst @@ -201,14 +201,14 @@ Let's first look at the launch file real quick (multiranger_mapping_launch.py): output='screen', parameters=[{"hover_height": 0.3}, {"incoming_twist_topic": "/cmd_vel"}, - {"robot_prefix": "/cf1"}] + {"robot_prefix": "/cf231"}] ), Node( parameters=[ {'odom_frame': 'odom'}, - {'map_frame': 'world'}, - {'base_frame': 'cf1'}, - {'scan_topic': '/cf1/scan'}, + {'map_frame': 'map'}, + {'base_frame': 'cf231'}, + {'scan_topic': '/cf231/scan'}, {'use_scan_matching': False}, {'max_laser_range': 3.5}, {'resolution': 0.1}, @@ -224,7 +224,7 @@ Let's first look at the launch file real quick (multiranger_mapping_launch.py): Here is an explanation of the nodes: -* The first node enables the crazyflie server, namely the python version (cflib) as that currently has logging enabled. This takes the crazyflies.yaml file you just edited and uses those values to set up the crazyflie. +* The first node enables the crazyflie server, namely the python version (cflib) as that currently has logging enabled. This takes the crazyflies.yaml file you just edited and uses those values to set up the crazyflie. You might need to change some topic strings based on your Crazyflie name (`/cf231` to something else) * The second node is a velocity command handler, which takes an incoming twist message, makes the Crazyflie take off to a fixed height and enables velocity control of external packages (you'll see why soon enough). * The third node is the slam toolbox node. You noted that we gave it some different parameters, where we upped the speed of the map generation, decreased the resolution and turn of ray matching as mentioned in the warning above. @@ -274,7 +274,7 @@ Now, open up a rviv2 window in a seperate terminal with : Add the following displays and panels to RVIZ: -* Changed the 'Fixed frame' to 'world +* Changed the 'Fixed frame' to 'map' * 'Add' button under displays and 'by topic' tab, select the '/map' topic. * 'Add' button under displays and 'by display type' add a transform. * 'Panels' on the top menu, select 'add new panel' and select the SLAMToolBoxPlugin From 7db011da7eb579a4b128ef4198eb838a54be4c5d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Wolfgang=20H=C3=B6nig?= Date: Sun, 7 Jul 2024 21:33:36 +0200 Subject: [PATCH 162/162] enable CI for jazzy (#542) * Support for ROS Jazzy --- .github/workflows/ci-ros2.yml | 12 +++++++++++- crazyflie/deps/crazyflie_tools | 2 +- crazyflie_py/crazyflie_py/crazyflie.py | 4 ++-- docs2/installation.rst | 6 ++++-- docs2/tutorials.rst | 2 +- 5 files changed, 19 insertions(+), 7 deletions(-) diff --git a/.github/workflows/ci-ros2.yml b/.github/workflows/ci-ros2.yml index 315d94ba1..713b75dd9 100644 --- a/.github/workflows/ci-ros2.yml +++ b/.github/workflows/ci-ros2.yml @@ -16,6 +16,7 @@ jobs: ros_distribution: - humble - iron + - jazzy # Define the Docker image(s) associated with each ROS distribution. include: @@ -29,6 +30,11 @@ jobs: ros_distribution: iron ros_version: 2 + # Jazzy Jalisco (May 2024 - May 2029) + - docker_image: ubuntu:noble + ros_distribution: jazzy + ros_version: 2 + container: image: ${{ matrix.docker_image }} steps: @@ -40,12 +46,16 @@ jobs: - name: install dependencies run: | sudo apt update - sudo apt install -y libusb-1.0-0-dev + sudo apt install -y libboost-program-options-dev libusb-1.0-0-dev - name: install pip dependencies # TODO: would be better to follow https://answers.ros.org/question/370666/how-to-declare-an-external-python-dependency-in-ros2/ # but this requires some upstream changes + + # colcon still does not seem to properly support venv, so we use a workaround to install + # a python package globally by disabling the externally managed flag that is default on Ubuntu 24.04 run: | + sudo rm -f /usr/lib/python3.12/EXTERNALLY-MANAGED pip install rowan - uses: actions/checkout@v2 diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools index 5f6b39cc5..a2d74b41f 160000 --- a/crazyflie/deps/crazyflie_tools +++ b/crazyflie/deps/crazyflie_tools @@ -1 +1 @@ -Subproject commit 5f6b39cc50a7e6432435e0a807b7c07dbe5f5da6 +Subproject commit a2d74b41f9a3675851697b9d4999d1cfe033d30b diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py index 30cf4028e..44583123c 100644 --- a/crazyflie_py/crazyflie_py/crazyflie.py +++ b/crazyflie_py/crazyflie_py/crazyflie.py @@ -15,7 +15,7 @@ from crazyflie_interfaces.msg import FullState, Position, Status, TrajectoryPolynomialPiece -from crazyflie_interfaces.srv import Arm, GoTo, Land,\ +from crazyflie_interfaces.srv import Arm, GoTo, Land, \ NotifySetpointsStop, StartTrajectory, Takeoff, UploadTrajectory from geometry_msgs.msg import Point import numpy as np @@ -160,7 +160,7 @@ def __init__(self, node, cfname, paramTypeDict): elif response.values[0].type == ParameterType.PARAMETER_DOUBLE_ARRAY: self.initialPosition = np.array(response.values[0].double_array_value) else: - assert(False) + assert False # extract uri self.uri = response.values[1].string_value diff --git a/docs2/installation.rst b/docs2/installation.rst index 8071fb117..aa18e7020 100644 --- a/docs2/installation.rst +++ b/docs2/installation.rst @@ -9,6 +9,8 @@ Crazyswarm2 runs on **Ubuntu Linux** in one of the following configurations: Ubuntu Python ROS 2 ------ -------- ------------ 22.04 3.10 Humble, Iron +------ -------- ------------ +24.04 3.12 Jazzy ====== ======== ============ .. warning:: @@ -21,7 +23,7 @@ Ubuntu Python ROS 2 First Installation ------------------ -1. If needed, install ROS 2 using the instructions at https://docs.ros.org/en/galactic/Installation.html or https://docs.ros.org/en/humble/Installation.html. +1. If needed, install ROS 2 using the instructions at https://docs.ros.org/en/jazzy/Installation.html. 2. Install dependencies @@ -30,7 +32,7 @@ First Installation sudo apt install libboost-program-options-dev libusb-1.0-0-dev pip3 install rowan nicegui - Then install the motion capture ROS 2 package (replace DISTRO with your version of ROS, namely humble or iron): + Then install the motion capture ROS 2 package (replace DISTRO with your version of ROS, namely humble, iron, or jazzy): .. code-block:: bash diff --git a/docs2/tutorials.rst b/docs2/tutorials.rst index 48abc34ec..b09cf7586 100644 --- a/docs2/tutorials.rst +++ b/docs2/tutorials.rst @@ -19,7 +19,7 @@ We have an example of the telop_twist_keyboard package working together with the First, make sure that the crazyflies.yaml has the right URI and if you are using the `Flow deck `_ or `any other position system available `_ to the crazyflie. set the controller to 1 (PID). -And if you have not already, install the teleop package for the keyboard. (replace DISTRO with humble or iron): +And if you have not already, install the teleop package for the keyboard. (replace DISTRO with humble, iron, or jazzy): .. code-block:: bash