How can I fly CF2 using the motion capture system while without the flow deck
Posted: Fri Jan 08, 2021 12:37 pm
Recently I m trying to realize multi-CF flying together by the package "crazyflie_ros".
I have done two experiments:
(1)using motion capture system and flow deck together;
(2)only using motion capture system.
the first has a good performance so I try the second one. However, the cf always drifts....It seems the cf doesn't know its height...
But in the code I have published yet....
The publisher is
m_pubposition = nh.advertise<crazyflie_driver::Position>("cmd_position", 1);
crazyflie_driver::Position msg;
msg.x= m_points(index,0);//cmd_position x
msg.y= m_points(index,1);//cmd_position y
msg.z= m_points(index,2);//cmd_position z
msg.yaw=m_points(index,3);// cmd_position yaw
m_pubposition.publish(msg);
I wonder why the cf drifts,,,, through the rqt_graph it seems like the cf should have known its current position and goal position....I have checked the external_position and cmd_position, both of them are correct...
So I wanna know how to set the cf flying only using Motion capture system ...thanks a lot.
I have done two experiments:
(1)using motion capture system and flow deck together;
(2)only using motion capture system.
the first has a good performance so I try the second one. However, the cf always drifts....It seems the cf doesn't know its height...
But in the code I have published yet....
The publisher is
m_pubposition = nh.advertise<crazyflie_driver::Position>("cmd_position", 1);
crazyflie_driver::Position msg;
msg.x= m_points(index,0);//cmd_position x
msg.y= m_points(index,1);//cmd_position y
msg.z= m_points(index,2);//cmd_position z
msg.yaw=m_points(index,3);// cmd_position yaw
m_pubposition.publish(msg);
I wonder why the cf drifts,,,, through the rqt_graph it seems like the cf should have known its current position and goal position....I have checked the external_position and cmd_position, both of them are correct...
So I wanna know how to set the cf flying only using Motion capture system ...thanks a lot.