Communication issues for high numbers of Crazyflies
Posted: Thu Oct 15, 2020 11:24 am
Hello Bitcraze forums,
We have been successfully flying 4-6 Crazyflie 2.0's using the crazyflie-ros package (https://github.com/whoenig/crazyflie_ros) for research and demo purposes the last year. Recently I have been trying to increase the number up to 10+ UAVs, but I am having issues with both general decreased flight performance and random communication drops that lead to instant crashes. Does anyone have experience in using the ROS-package for controlling swarms of Crazyflies and could share some info for a successful radio configuration (channels, UAVs per radio, bandwidths, positioning of the radios, launch files etc.)? We are simply setting up the launch file as
and similarly for each agent in the swarm, using one radio per two Crazyflies (one channel per radio) and as such also using external USB hubs for the radios. Note that our set-up is working fine for ~4 Crazyflies, but after that there is a noticeable decrease in performance. Any help is appreciated!
We have been successfully flying 4-6 Crazyflie 2.0's using the crazyflie-ros package (https://github.com/whoenig/crazyflie_ros) for research and demo purposes the last year. Recently I have been trying to increase the number up to 10+ UAVs, but I am having issues with both general decreased flight performance and random communication drops that lead to instant crashes. Does anyone have experience in using the ROS-package for controlling swarms of Crazyflies and could share some info for a successful radio configuration (channels, UAVs per radio, bandwidths, positioning of the radios, launch files etc.)? We are simply setting up the launch file as
Code: Select all
<arg name="uri1" default="radio://2/80/1M/E7E7E7E703" />
<arg name="frame" default="crazyflie3/crazyflie3" />
<arg name="x" default="0" />
<arg name="y" default="4" />
<arg name="z" default="0.5" />
<group ns="crazyflie3">
<include file="$(find crazyflie_driver)/launch/crazyflie_add.launch">
<arg name="uri" value="$(arg uri1)" />
<arg name="tf_prefix" value="crazyflie3" />
<arg name="enable_logging" value="False" />
</include>
</group>