* Make sure you are connected to the network (cable inserted andcheck if connected in the settings)
* Make sure you are connected to the network (cable inserted andcheck if connected to Vicon in the settings)
* Insert a CrazyRadio into one of your USB-ports on your Laptop
* The Crazyflie atennas had to face the right direction upon defining the object in ViconTracker!! (antenna in positive x direction?)
* The Crazyflie atennas had to face the right direction (antenna facing positive x-axis) upon defining the object in ViconTracker!!
---
REMINDER: NEED to CHANGE THE PARAM FILE THAT INCLUDES THE CUSTOM CUNTROLLER!!!!!!
--> Templates
<br><br><br>
### Files of interest:
Their role in the workflow is described below under Workflow.
##### -- Changeable files:
in `pps_ws/src/d_fall_pps/src`
* CustomControllerService.cpp
* dsfdsf
* sdfdsf
* _CustomControllerService.cpp_ <br>
The file where students can implement their own controller. It provides already the ros service with the teacher. It can be used as a template.
in `pps_ws/src/d_fall_pps/param`
* _ClientConfig.yaml_ <br>
This file needs to be changed to define names for the custom controller. **The safeController property shouldn't be changed!**<br>
Usage: <br>
`customController: "SERVICENAME/TOPICNAME"`<br>
where SERVICENAME is the name of the cpp-file that contains the custom controller (e.g. the provided template CustomControllerService) and <br>
where TOPICNAME is the defined name for the topic which is defined insided the controller's code.
##### -- Useful files:
in `pps_ws/src/d_fall_pps/scripts`
--> call scripts in terminal by going to the above path and then typing ./SCRIPTNAME, e.g.: `./enable_crazyflie`
* disable_crazyflie
* enable_crazyflie
* load_custom_controller
* load_safe_controller
* safe_controller_setpoint
**disable_crazyflie*
**enable_crazyflie*
**load_custom_controller*
**load_safe_controller*
**safe_controller_setpoint*
##### -- Files to look at:
in `pps_ws/src/d_fall_pps/param`
* SafeController.yaml
in
*
*
* _SafeController.yaml_ <br>
This file contains the control parameters that the SafeControllerService uses. The SafeControllerService loads this file when it starts. You might want to use a similar approach and can try to copy some functionality from SafeControllerService.cpp.
---
<br><br><br>
## Workflow:
**Setup**
1. Teacher must run his part, that publishes ViconData for students
1. Teacher must run his part, that publishes ViconData for students and hosts the roscore.
2. Each student/group has a CrazyFlie
3.
...
...
@@ -50,11 +51,11 @@ in
1. Adjust your custom controller
2. Use `make CustomController.cpp` to compile your controller implementation
3. Start your crazyflie
4.dsfdsfds
4.Go to
<br><br>
**Troubleshooting**
- SafeController is not working <br>
-_SafeController is not working_<br>
Was the antenna of the crazyflie facing in the *opposite* direction of the defined Vicon x-axis? --> Define it again! <br>
The crazyflie has to lie on the table when you turn it on because the gyro sensor is initialized upon start-up. <br>
Is the crazyflie still properly showing in the ViconTracker software? --> Define it again and check that the markers don't move!
