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Is the example in https://github.com/IMRCLab/crazyswarm2/blob/main/crazyflie_examples/crazyflie_examples/cmd_full_state.py working for you? If yes, could you share a working minimal example that demonstrates the issue you are facing? |
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No, the example also can not work. I try to use "ros2 topic echo /cf_1/cmd_full_state" and find that the Msg has been correctly publishered to the topic, but the drones can not move at all. |
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Hi,
I am currently on a project with Crazyflie using CrazySwarm2 and I thought that I could achieve a low-level attitude by publishing on the topics of my drones.
Currently I am using Crazysim (https://github.com/gtfactslab/CrazySim) to test various behavior of Crazyflies with Crazyswarm2. I managed to fly my drones using API cmdFullState() but nothing happens. After debugging, I confirmed that cmdFullStateMsg is indeed continuously updating position, speed, and other information, but when executing self.cmdFullStatePublisher.publish(self.cmdFullStateMsg), which means when I send message to the cmd_full_states topic with publisher, the drones does not move. Is there something that I have misunderstood about this topic? Why is this issue occurring here and how can I resolve it?
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