cmdVel()

[powehi2020]

hi~ i am sorry, my question is about crazyswarm; can you give me some advice? thank u very much! the cmdvel() can not send the topic to the cf and the topic of /cf2/cmd_vel can not work else, even i give 60000 to linear.z, the cf dose not have any action. the cmdel（）is like send_setpoint() in the crazyflie-python-lib ,but waht can i do in the crazyswarm? can you give me some advice? thank u again!

[knmcguire]

Indeed, cmd_vel seems to be not used anymore as a topic for attitude control as it did for Crazyswarm1. That was because at that time, using cmd_vel was not a logical topic, since the name and the type (Twist) imply velocity commands, not roll pitch yaw thrust commands

I believe that the topic is now called cmd_vel_legacy:

crazyswarm2/crazyflie/src/crazyflie_server.cpp

Line 129 in f65511e

subscription_cmd_vel_legacy_ = node->create_subscription<geometry_msgs::msg::Twist>(name + "/cmd_vel_legacy", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieROS::cmd_vel_legacy_changed, this, _1));

[powehi2020]

thank you for your answer! can i pubulish the topic '/cmd_vel_legacy' to control crazyflie in crazyswarm1?

[knmcguire]

No, I think crazyswarm1 still uses the old /cmd_vel. for crazyswarm2 you'll need to use the one I mentioned