Battery Voltage is being published now

pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py

@@ -88,6 +88,9 @@ class PPSRadioClient:
         bag.write('stabilizerYaw', stabilizerYaw)
         bag.write('stabilizerPitch', stabilizerPitch)
         bag.write('stabilizerRoll', stabilizerRoll)
+
+        #publish battery voltage for GUI
+        status_pub.publish(std_msgs.msg.Float32(batteryVolt))
                
         
     def _logging_error(self, logconf, msg):
@@ -166,6 +169,9 @@ if __name__ == '__main__':
     #use this following two lines to connect without data from CentralManager
     #radio_address = "radio://0/72/2M"
     #rospy.loginfo("manual address loaded")
+    global status_pub
+    status_pub = rospy.Publisher("CrazyflieStatus")
+
     global cf_client
 
     cf_client = PPSRadioClient(radio_address)

pps_ws/src/d_fall_pps/param/Crazyflie.db

-3,cfTwo,0/69/2M,-2,-2,0,2,2,2
-5,cfThree,0/72/2M,-2,-2,0,2,2,2
+1,cfTwo,0/69/2M,-2,-2,0,2,2,2
+
+5,cfOne,0/76/2M,-1,-1,0.05,1,1,1.5
+3,cfFour,0/99/2M,-0.5,-0.5,0.05,1.5,1.5,1.5

pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp

@@ -228,6 +228,7 @@ int main(int argc, char* argv[]) {
             if(!outputTranslation.Occluded) viconData.crazyflies.push_back(cfData);
         }
         viconDataPublisher.publish(viconData);
+        ROS_INFO_STREAM("ViconDataPublisher: " << viconData);
     }
 
     client.DisableSegmentData();