Hardware-in-the-Loop (HITL) simulation for Crazyflie in sim_cf #415
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TagirMuslimov
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Hi! I know that @EnricaSo worked on this a while ago, but I'm not sure if that can be an help. We will keep this open and hopefully somebody will be able to help you. Also please an issue on the sim_cf repository. It is not maintained actively but perhaps that will also help. |
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Hi All.
I understand sim_сf was developed by others and hasn't been updated in a long time.
However, it is currently the only simulator that allows you to do HITL simulations directly for Crazyflie.
Also, there are probably Gazebo/ROS experts here and probably people who have had experience with this simulator.
I was able to install the Cfclient on Ubuntu 16.04 and conduct Software-in-the-Loop (SITL) simulation.
I successfully flashed Crazyflie with the HITL simulation version of the firmware:
After that I run the simulation in HITL mode. I use the Crazyflie address as indicated here. The crazyradio lights up yellow, i.e. Crazyflie is connected.
roslaunch crazyflie_gazebo crazyflie_sim.launch uri:=radio://0/80/2M
However, after that, when Gazebo starts, I get an error:
I also tried the commands, but that didn't help and didn't change anything:
killall gzserver and killall gzclient
I have also tried to connect using USB:
So I was able to connect by USB, but no "Gyro Bias Found" after starting Gazebo and scripts don't work.
As a result, I think I can't connect via radio, but I can connect via USB. But when I connect via the USB, there is no "gyro bias found".
Any help with this would be greatly appreciated.
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