teleop keyboard issue

[AlEXANDER9901]

Hello, I didn't find any discussions on teleop_keyboard, so I'm asking here again. I'd really appreciate your help. First, let me explain the issue. We're currently trying to control a Crazyflie using the keyboard. After running ros2 run teleop_twist_keyboard teleop_twist_keyboard and experimenting, we found that besides 't' (up) and 'b' (down), other keys like 'u', 'i', 'o', etc., don't move the Crazyflie, and no error is displayed. I'll describe the categories of the problem I've considered:

1. rqt_graph Connection:
   Looking at the rqt_graph image, it seems that the /vel_mux node is not connected to the Crazyflie. I wondered if this might be the reason.
   

2. Controller Configuration in crazyflie_yaml:
   I changed the controller to 1 (PID) in crazyflie_yaml, but there was no change. Could it be because firmwar_logging is set to false?

3. Topic /cmd_vel Information:
   When checking ros2 topic info /cmd_vel, it looks similar to the image. I'm curious if the Subscription count should be 2.
   

4. ros2 echo /cmd_vel:
   When doing ros2 echo /cmd_vel, values appear when pressing keys like 'u', 'i', etc. I'm thinking it might indicate that the keyboard commands are not properly connected to the Crazyflie since 't' and 'b' work, but the other keys don't.
   

I hope this clarifies the situation. Any insights into why the other keys might not be functioning would be greatly appreciated.

[knmcguire]

Hi! In the teleop launch file there is also an crazyflie name you need to define, like cf1 or cf231. This exact thing hit me yesterday and I even wrote the darn script 😜. Let me know if that works!

[AlEXANDER9901]

I changed the Crazyflie name to ours! However, I noticed that keys other than 't' and 'b' are not working. Any ideas on what the problem might be? Thank you so much for looking into the issue

[knmcguire]

Not sure about that... I did push a fix for some of the issues lately so make sure that you update crazyswarm2 to the latest via these instructions: https://imrclab.github.io/crazyswarm2/installation.html#updating

I was off yesterday so I'll try to test this out again next week.

[Ben-Jarvis]

Did you find a solution to to this @knmcguire? I have the same issue and seems like /crazyflie_server never subscribes to the '/cfxx/cmd_hover' topics. Which is why 't' and 'b' work because they are just handled by the takeoff and landing services, but the other commands don't.

[Ben-Jarvis]

Hi @knmcguire I found that the issue occurs for me if I launch the server with the 'crazyflie_server' executable, but it works fine if I use 'crazyflie_server.py'.

[knmcguire]

Ah sorry that I missed this @Ben-Jarvis, but yes you are right. The cflib backend needs to be used for since the cpp backend doesn't have this functionality.