[crazyswarm_server-2] process has died when run hover_swarm.launch. #379

wangdaxuan · 2021-05-10T09:38:12Z

wangdaxuan
May 10, 2021

Hello！

I am new to crazyswarm.
I have completed the installation and configuration, and then the following error occurred when running hover_swarm.

zixuan@zixuan-Legion-Y7000-2019-PG0:~/crazyswarm/ros_ws/src/crazyswarm/scripts$ roslaunch crazyswarm hover_swarm.launch
... logging to /home/zixuan/.ros/log/ff650a32-b16f-11eb-b714-087190a7c5f1/roslaunch-zixuan-Legion-Y7000-2019-PG0-21749.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://zixuan-Legion-Y7000-2019-PG0:41171/

SUMMARY
========

PARAMETERS
 * /crazyflieTypes/CF21SingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/CF21SingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/CF21SingleMarker/bigQuad: False
 * /crazyflieTypes/CF21SingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_xy: 1.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_z: 2.0
 * /crazyflieTypes/CF21SingleMarker/markerConfiguration: 3
 * /crazyflieTypes/default/batteryVoltageWarning: 3.8
 * /crazyflieTypes/default/batteryVoltateCritical: 3.7
 * /crazyflieTypes/default/bigQuad: False
 * /crazyflieTypes/default/dynamicsConfiguration: 0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/default/markerConfiguration: 0
 * /crazyflieTypes/defaultSingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/defaultSingleMarker/bigQuad: False
 * /crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_xy: 4.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_z: 8.0
 * /crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
 * /crazyflieTypes/large/batteryVoltageWarning: 11.4
 * /crazyflieTypes/large/batteryVoltateCritical: 11.1
 * /crazyflieTypes/large/bigQuad: True
 * /crazyflieTypes/large/dynamicsConfiguration: 0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
 * /crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
 * /crazyflieTypes/large/markerConfiguration: 2
 * /crazyflieTypes/medium/batteryVoltageWarning: 7.6
 * /crazyflieTypes/medium/batteryVoltateCritical: 7.4
 * /crazyflieTypes/medium/bigQuad: True
 * /crazyflieTypes/medium/dynamicsConfiguration: 0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
 * /crazyflieTypes/medium/markerConfiguration: 1
 * /crazyflies: [{'initialPositio...
 * /crazyswarm_server/enable_logging: False
 * /crazyswarm_server/enable_parameters: True
 * /crazyswarm_server/firmwareParams/commander/enHighLevel: 1
 * /crazyswarm_server/firmwareParams/kalman/resetEstimation: 1
 * /crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
 * /crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
 * /crazyswarm_server/firmwareParams/ring/effect: 16
 * /crazyswarm_server/firmwareParams/ring/headlightEnable: 0
 * /crazyswarm_server/firmwareParams/ring/solidBlue: 255
 * /crazyswarm_server/firmwareParams/ring/solidGreen: 0
 * /crazyswarm_server/firmwareParams/ring/solidRed: 0
 * /crazyswarm_server/firmwareParams/stabilizer/controller: 2
 * /crazyswarm_server/firmwareParams/stabilizer/estimator: 2
 * /crazyswarm_server/force_no_cache: False
 * /crazyswarm_server/genericLogTopicFrequencies: [10]
 * /crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x...
 * /crazyswarm_server/genericLogTopics: ['log1']
 * /crazyswarm_server/motion_capture_type: optitrack
 * /crazyswarm_server/object_tracking_type: motionCapture
 * /crazyswarm_server/optitrack_host_name: 222.199.220.42
 * /crazyswarm_server/optitrack_local_ip: 222.199.220.118
 * /crazyswarm_server/optitrack_server_ip: 222.199.220.42
 * /crazyswarm_server/print_latency: False
 * /crazyswarm_server/save_point_clouds: ~/pointCloud.ot
 * /crazyswarm_server/send_position_only: False
 * /crazyswarm_server/world_frame: /world
 * /crazyswarm_server/write_csvs: False
 * /crazyswarm_teleop/csv_file: /home/zixuan/craz...
 * /crazyswarm_teleop/timescale: 0.8
 * /dynamicsConfigurations/0/maxFitnessScore: 0.001
 * /dynamicsConfigurations/0/maxPitch: 1.4
 * /dynamicsConfigurations/0/maxPitchRate: 20.0
 * /dynamicsConfigurations/0/maxRoll: 1.4
 * /dynamicsConfigurations/0/maxRollRate: 20.0
 * /dynamicsConfigurations/0/maxXVelocity: 2.0
 * /dynamicsConfigurations/0/maxYVelocity: 2.0
 * /dynamicsConfigurations/0/maxYawRate: 10.0
 * /dynamicsConfigurations/0/maxZVelocity: 3.0
 * /joy/dev: /dev/input/js0
 * /markerConfigurations/0/numPoints: 4
 * /markerConfigurations/0/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/0/points/0: [0.0177184, 0.013...
 * /markerConfigurations/0/points/1: [-0.0262914, 0.05...
 * /markerConfigurations/0/points/2: [-0.0328889, -0.0...
 * /markerConfigurations/0/points/3: [0.0431307, -0.03...
 * /markerConfigurations/1/numPoints: 4
 * /markerConfigurations/1/offset: [0.0, 0.0, -0.03]
 * /markerConfigurations/1/points/0: [-0.00896228, -0....
 * /markerConfigurations/1/points/1: [-0.0156318, 0.09...
 * /markerConfigurations/1/points/2: [0.0461693, -0.08...
 * /markerConfigurations/1/points/3: [-0.0789959, -0.0...
 * /markerConfigurations/2/numPoints: 4
 * /markerConfigurations/2/offset: [0.0, 0.0, -0.06]
 * /markerConfigurations/2/points/0: [0.0558163, -0.00...
 * /markerConfigurations/2/points/1: [-0.0113941, 0.00...
 * /markerConfigurations/2/points/2: [-0.0306277, 0.05...
 * /markerConfigurations/2/points/3: [0.0535816, -0.04...
 * /markerConfigurations/3/numPoints: 1
 * /markerConfigurations/3/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/3/points/0: [0.0177184, 0.013...
 * /numDynamicsConfigurations: 1
 * /numMarkerConfigurations: 4
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES
  /
    crazyswarm_server (crazyswarm/crazyswarm_server)
    crazyswarm_teleop (crazyswarm/crazyswarm_teleop)
    joy (joy/joy_node)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [21761]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ff650a32-b16f-11eb-b714-087190a7c5f1
process[rosout-1]: started with pid [21776]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [21793]
process[joy-3]: started with pid [21794]
process[crazyswarm_teleop-4]: started with pid [21796]
process[rviz-5]: started with pid [21812]
[ INFO] [1620638015.600526962]: Wait for services...
[ INFO] [1620638015.601394190]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1620638015.622068790]: waitForService: Service [/emergency] is now available.
[ INFO] [1620638015.623100325]: Manager ready.
[ERROR] [1620638015.645974121]: Couldn't open joystick force feedback!
[ INFO] [1620638015.646014381]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
ch: 1
[ INFO] [1620638016.368259835]: Adding CF: cf1 (radio://0/100/2M/E7E7E7E701, cf1)...
[ INFO] [1620638016.393980650]: CF ctor: 0.025629 s
[ INFO] [1620638016.399969106]: [cf1] ESTKALMAN: State out of boundsESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.403149269]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.406316187]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.409554563]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.412843614]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.416034908]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.422716313]: [cf1] ESTKALMAN: State out of boundsESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.431502159]: [cf1] ESTKALMAN: State out of boundsESTKALMAN: State out of boundsESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.434706643]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.438253081]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.441481424]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.444783011]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.447840543]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.451025429]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.454273382]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.457580037]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.460799856]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.463954125]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.467153551]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.470696403]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.473801070]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.476886809]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.479897761]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.483058286]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.486279235]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.489519960]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.492725778]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.495953355]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.499216178]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.502401627]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.508472321]: [cf1] ESTKALMAN: State out of boundsESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.511652021]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.514826710]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.517892622]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.521063439]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.524324940]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1620638016.525967350]: [cf1] Requesting parameters...
[ INFO] [1620638016.600001022]: Found variables in cache.
[ INFO] [1620638016.919005534]: [cf1] reqParamTOC: 0.524956 s (223 params)
[ INFO] [1620638016.919037857]: Requesting memories...
[ INFO] [1620638016.921093645]: Memories: 3
[ INFO] [1620638016.926413175]: [cf1] Ready. Elapsed: 0.532304 s
[ INFO] [1620638016.926485606]: CF run: 0.532539 s
update commander/enHighLevel to 1
update kalman/resetEstimation to 1
update locSrv/extPosStdDev to 0.001
update locSrv/extQuatStdDev to 0.05
update ring/effect to 16
update ring/headlightEnable to 0
update ring/solidBlue to 255
update ring/solidGreen to 0
update ring/solidRed to 0
update stabilizer/controller to 2
update stabilizer/estimator to 2
update ctrlMel/i_range_m_z to 1500
update ctrlMel/i_range_xy to 2
update ctrlMel/i_range_z to 0.4
update ctrlMel/kR_xy to 70000
update ctrlMel/kR_z to 60000
update ctrlMel/kd_omega_rp to 200
update ctrlMel/kd_xy to 0.2
update ctrlMel/kd_z to 0.4
update ctrlMel/ki_m_z to 500
update ctrlMel/ki_xy to 0.05
update ctrlMel/ki_z to 0.05
update ctrlMel/kp_xy to 0.4
update ctrlMel/kp_z to 1.25
update ctrlMel/kw_xy to 20000
update ctrlMel/kw_z to 12000
update ctrlMel/mass to 0.032
update ctrlMel/massThrust to 132000
[ INFO] [1620638016.942502561]: [cf1] Update parameters
[ INFO] [1620638016.987722140]: Update params: 0.061185 s
[ INFO] [1620638016.987934146]: Started 1 threads
[crazyswarm_server-2] process has died [pid 21793, exit code -11, cmd /home/zixuan/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/zixuan/.ros/log/ff650a32-b16f-11eb-b714-087190a7c5f1/crazyswarm_server-2.log].
log file: /home/zixuan/.ros/log/ff650a32-b16f-11eb-b714-087190a7c5f1/crazyswarm_server-2*.log

My crazyflie.yaml is

crazyflies:
- channel: 100
  id: 1
  initialPosition: [-0.84, 0.02, -0.05]
  type: default

My hover_swarm.launch is

<?xml version="1.0"?>
<launch>
  <arg name="joy_dev" default="/dev/input/js0" />

  <rosparam command="load" file="$(find crazyswarm)/launch/crazyflieTypes.yaml" />
  <rosparam command="load" file="$(find crazyswarm)/launch/crazyflies.yaml" />

  <node pkg="crazyswarm" type="crazyswarm_server" name="crazyswarm_server" output="screen" >
    <rosparam>
      world_frame: "/world"
      # Logging configuration (Use enable_logging to actually enable logging)
      genericLogTopics: ["log1"]
      genericLogTopicFrequencies: [10]
      genericLogTopic_log1_Variables: ["stateEstimate.x", "ctrltarget.x"]
      # firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or
      # allCrazyflies.yaml to set per drone)
      firmwareParams:
        commander:
          enHighLevel: 1
        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
          solidGreen: 0 # if set to solid color
          solidRed: 0 # if set to solid color
          headlightEnable: 0
        locSrv:
          extPosStdDev: 1e-3
          extQuatStdDev: 0.5e-1
        kalman:
          resetEstimation: 1
      # tracking
      motion_capture_type: "optitrack" # one of none,vicon,optitrack,qualisys,vrpn
      object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker
      send_position_only: False # set to False to send position+orientation; set to True to send position only
      # vicon_host_name: "vicon"
      optitrack_host_name: "222.199.220.42"
      optitrack_local_ip: "222.199.220.118" # only needed if optitrack is selected
      optitrack_server_ip: "222.199.220.42" # only needed if optitrack is selected
      # qualisys_host_name: "10.0.5.219"
      # qualisys_base_port: 22222
      # vrpn_host_name: "vicon"
      save_point_clouds: ~/pointCloud.ot
      print_latency: False
      write_csvs: False
      force_no_cache: False
      enable_parameters: True
      enable_logging: False
    </rosparam>
  </node>

  <node name="joy" pkg="joy" type="joy_node" output="screen">
    <param name="dev" value="$(arg joy_dev)" />
  </node>

  <node pkg="crazyswarm" type="crazyswarm_teleop" name="crazyswarm_teleop" output="screen">
    <param name="csv_file" value="$(find crazyswarm)/launch/figure8_smooth.csv" />
    <param name="timescale" value="0.8" />
  </node>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find crazyswarm)/launch/test.rviz"/>

  <!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_x" args="/cf2/log1/values[0]"/> -->
  <!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_roll" args="/cf1/log1/values[2] /cf1/log1/values[3]"/> -->

</launch>

Thanks for the help!

whoenig · 2021-05-12T13:43:50Z

whoenig
May 12, 2021
Maintainer

This is likely optitrack related. Perhaps try the tips and code changes introduced in #364.

2 replies

wangdaxuan May 21, 2021
Author

Thank you for your reply.
I have tried hover_swarm.launch on ubuntu 18.04 with ros melodic.
In addition, I have changed optitrack.cpp with reference to USC-ACTLab/libmotioncapture#11.

        for (int i=0; i &lt; nMarkerSets; i++)
            {
              ptr += strlen(ptr) + 1;
              int nMarkers = 0; memcpy(&amp;nMarkers, ptr, 4); ptr += 4;
              for(int j=0; j &lt; nMarkers; j++)
              {
               ptr += 12;
              }

I also have installed NatNetSDKCrossplatform, the results of running natnettest and mcr are as follows

zixuan@zixuan-Legion-Y7000-2019-PG0:~/NatNetSDKCrossplatform/build$ ./natnettest optitrack
1 264
NatNetVersion: 0.0.0.0
ServerVersion: 2.7.0.0

zixuan@zixuan-Legion-Y7000-2019-PG0:~/NatNetSDKCrossplatform/build$ ./mcr optitrack
NatNetVersion: 0.0.0.0
ServerVersion: 2.7.0.0
Begin Packet
-------
Message ID : 7
Byte count : 381
Frame # : 601348
Marker Set Count : 2
Model Name: Rigid Body 1
Marker Count : 4
	Marker 0 : [x=-0.72,y=0.46,z=0.05]
	Marker 1 : [x=-0.68,y=0.48,z=0.01]
	Marker 2 : [x=-0.64,y=0.46,z=-0.03]
	Marker 3 : [x=-0.64,y=0.46,z=0.05]
Model Name: all
Marker Count : 4
	Marker 0 : [x=-0.72,y=0.46,z=0.05]
	Marker 1 : [x=-0.68,y=0.48,z=0.01]
	Marker 2 : [x=-0.64,y=0.46,z=-0.03]
	Marker 3 : [x=-0.64,y=0.46,z=0.05]
Unidentified Marker Count : 0
Rigid Body Count : 1
ID : 1
pos: [-0.67,0.46,0.02]
ori: [-0.01,-0.00,0.00,1.00]
software latency : -75742123363636706739428016521216.000
Timestamp : -4147629989098946560.000
Mid-exposure timestamp : 15931552897882308397
Camera data received timestamp : 8965188165176474630
Transmit timestamp : 17640525975529733866
End Packet

However, the same error still appeared.

[crazyswarm_server-2] process has died [pid 15041, exit code -11, cmd /home/zixuan/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/zixuan/.ros/log/a0c33b24-ba1c-11eb-a6ff-98fa9bd4a327/crazyswarm_server-2.log].
log file: /home/zixuan/.ros/log/a0c33b24-ba1c-11eb-a6ff-98fa9bd4a327/crazyswarm_server-2*.log

At the same time, when I run mocap_helper. launch, the same error occurs.

[mocap_helper-2] process has died [pid 15259, exit code -11, cmd /home/zixuan/crazyswarm/ros_ws/devel/lib/crazyswarm/mocap_helper __name:=mocap_helper __log:=/home/zixuan/.ros/log/d5fd71aa-ba1d-11eb-a6ff-98fa9bd4a327/mocap_helper-2.log].
log file: /home/zixuan/.ros/log/d5fd71aa-ba1d-11eb-a6ff-98fa9bd4a327/mocap_helper-2*.log

Is there any way to solve these problems?
Thanks for your help.

easy98 Mar 19, 2024

I have the same issue, have you solved it?

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[crazyswarm_server-2] process has died when run hover_swarm.launch. #379

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whoenig May 12, 2021 Maintainer

wangdaxuan May 21, 2021 Author

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May 10, 2021

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whoenig
May 12, 2021
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wangdaxuan May 21, 2021
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