multi waypoint not working

[rs1990]

Hello,

Whenever i try to launch the multi_waypoint_vicon demo, i keep having this issue

Log: 42
[ INFO] [1449255005.156678767]: Ready...
[ INFO] [1449255009.122393262]: Takeoff requested!
terminate called after throwing an instance of 'tf2::InvalidArgumentException'
what(): Quaternion malformed, magnitude: 0 should be 1.0

[crazyflie1/controller-6] process has died [pid 26478, exit code -6, cmd /home/maverick/indigo_ws/devel/lib/crazyflie_controller/crazyflie_controller __name:=controller __log:=/home/maverick/.ros/log/d329d03a-9ab7-11e5-b21a-0025647bb69f/crazyflie1-controller-6.log].
log file: /home/maverick/.ros/log/d329d03a-9ab7-11e5-b21a-0025647bb69f/crazyflie1-controller-6*.log

i changed the launch file to make it run for just one crazyflie. Any help

Thanks

[whoenig]

I just pushed a change which should fix your issue. Please verify and let me know!

[rs1990]

Hello,

I don't get that error and the program runs. But for some reason it just starts to fly and in 2-3 seconds it stops and doesn't continue. The 2 crazyflies are not able to take off more than 1-2 inches above the ground. I don't get any errors. Im not sure whats wrong.

Any idea ? I really am in a bind and would appreciate any help.

Thank you,

[whoenig]

Does it work with a single Crazyflie (i.e. hover_vicon.launch)?

[rs1990]

Hello,

Yes , I can get single and multiple(2) hover working. But run into problems on multi waypoint (single and double).

I tried using a single crazyradio for both as well as a two radios for both. It just jumps for a second nd lands.

[whoenig]

I just pushed another change to the launch file which hopefully fixes the issue you are seeing. Note that I don't have access to a motion capture space right now to try it out though. Please let me know how it goes!

[rs1990]

Sure,

I will check it out tomorrow morning and get back to you. What do you
suspect the issue is ?.

Thank you,
On Dec 14, 2015 9:30 PM, "whoenig" notifications@github.com wrote:

I just pushed another change to the launch file which hopefully fixes the
issue you are seeing. Note that I don't have access to a motion capture
space right now to try it out though. Please let me know how it goes!

—
Reply to this email directly or view it on GitHub
#20 (comment)
.

[whoenig]

This launch file was just not updated in a while. I changed the way on how to use the controller slightly and the launch file was not updated. At the end, it didn't load the PID parameters from the YAML file, causing the sudden drop after the take-off sequence.

[rs1990]

Hello,

The new launch file worked great. Thanks a lot.

There is one small error. With respect to the frame of crazyflie :

<include file="$(find crazyflie_controller)/launch/crazyflie2.launch">
  <arg name="frame" value="$(arg frame)" />
</include>

-> Arg frame should be arg frame1.

Thank you so much for all your help.

Cheers

[whoenig]

Thanks for the feedback. I fixed those arguments!