Update crazyswarm2 to latest changes (#42)

* Create crazyflies_stablab.yaml * Update crazyflies_stablab.yaml * Update launch.py * Update crazyswarm2-malmö.yml * Update launch.py * Update launch.py * Update launch.py * Update launch.py
bitcraze · Jul 23, 2024 · 90b7f65 · 90b7f65
1 parent 8a31710
commit 90b7f65
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Showing 3 changed files with 120 additions and 9 deletions.
diff --git a/.github/workflows/crazyswarm2-malmö.yml b/.github/workflows/crazyswarm2-malmö.yml
@@ -54,5 +54,5 @@ jobs:
           source /opt/ros/humble/setup.bash
           ls
           source ros2_ws/install/setup.bash
-          ros2 launch swarms/cs2-test-yamls/launch.py server_yaml_file:='swarms/cs2-test-yamls/cs2_server.yaml'
+          ros2 launch swarms/cs2-test-yamls/launch.py
         shell: bash
diff --git a/swarms/cs2-test-yamls/crazyflies_stablab.yaml b/swarms/cs2-test-yamls/crazyflies_stablab.yaml
@@ -0,0 +1,112 @@
+robots:
+  cf1:
+    enabled: true
+    uri: radio://0/50/2M/E7E7E71701
+    initial_position:
+    - 0.0
+    - 0.0
+    - 0.0
+    type: cf21
+  cf2:
+    enabled: true
+    uri: radio://0/50/2M/E7E7E71702
+    initial_position:
+    - 0.0
+    - 0.0
+    - 0.0
+    type: cf21
+  cf3:
+    enabled: true
+    uri: radio://0/50/2M/E7E7E71703
+    initial_position:
+    - 0.0
+    - 0.0
+    - 0.0
+    type: cf21
+  cf4:
+    enabled: true
+    uri: radio://0/50/2M/E7E7E71704
+    initial_position:
+    - 0.0
+    - 0.0
+    - 0.0
+    type: cf21
+  cf5:
+    enabled: true
+    uri: radio://0/50/2M/E7E7E71705
+    initial_position:
+    - 0.0
+    - 0.0
+    - 0.0
+    type: cf21
+  cf6:
+    enabled: true
+    uri: radio://0/50/2M/E7E7E71706
+    initial_position:
+    - 0.0
+    - 0.0
+    - 0.0
+    type: cf21
+  cf7:
+    enabled: true
+    uri: radio://0/50/2M/E7E7E71707
+    initial_position:
+    - 0.0
+    - 0.0
+    - 0.0
+    type: cf21
+#      cf8:
+#        enabled: true
+#        uri: radio://0/50/2M/E7E7E71708
+#        initial_position:
+#        - 0.0
+#        - 0.0
+#        - 0.0
+#        type: cf21
+#      cf9:
+#        enabled: true
+#        uri: radio://0/50/2M/E7E7E71709
+#        initial_position:
+#        - 0.0
+#        - 0.0
+#        - 0.0
+#        type: cf21
+robot_types:
+  cf21:
+    motion_capture:
+      enabled: false
+      marker: default_single_marker
+      dynamics: default
+    big_quad: false
+    battery:
+      voltage_warning: 3.8
+      voltage_critical: 3.7
+  cf21_mocap_deck:
+    motion_capture:
+      enabled: true
+      marker: mocap_deck
+      dynamics: default
+    big_quad: false
+    battery:
+      voltage_warning: 3.8
+      voltage_critical: 3.7
+all:
+  firmware_logging:
+    enabled: true
+    default_topics:
+      pose:
+        frequency: 10
+      status:
+        frequency: 1
+  firmware_params:
+    commander:
+      enHighLevel: 1
+    stabilizer:
+      estimator: 2
+      controller: 2
+    locSrv:
+      extPosStdDev: 1e-3
+      extQuatStdDev: 0.05
+  broadcasts:
+    num_repeats: 15
+    delay_between_repeats_ms: 1
diff --git a/swarms/cs2-test-yamls/launch.py b/swarms/cs2-test-yamls/launch.py
@@ -23,16 +23,15 @@ def generate_launch_description():
         name='set_param',
         )
 
+
+    crazyswarm2_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(get_package_share_directory('crazyflie'), 'launch'), '/launch.py']),
+        launch_arguments={'crazyflies_yaml_file': 'swarms/cs2-test-yamls/crazyflies_stablab.yaml', 'backend': 'cpp', 'mocap': 'False', 'rviz': 'False', 'gui': 'False'}.items()
+    )   
+
 
     return LaunchDescription([
-        DeclareLaunchArgument('server_yaml_file', default_value=''),
-        Node(
-            package='crazyflie',
-            executable='crazyflie_server',
-            name='crazyflie_server',
-            output='screen',
-            parameters= ['swarms/cs2-test-yamls/cs2_server.yaml']
-        ),
+        crazyswarm2_launch,
         example_node,
         RegisterEventHandler(
             OnProcessExit(