ROS parameters into a dictionary #605

ntukenmez3 · 2024-12-06T04:53:44Z

ntukenmez3
Dec 6, 2024

How does the following part work in crazyflie_server.py ?
We assume this automatically makes a dictionary without the definition of self._parameters
My question is can we see all dictionary parameters of self._ros_parameters explicitly?

self._ros_parameters = self._param_to_dict(self._parameters)

.
.
.

def _param_to_dict(self, param_ros):
        """
        Turn ROS 2 parameters from the node into a dict
        """
        tree = {}
        for item in param_ros:
            t = tree
            for part in item.split('.'):
                if part == item.split('.')[-1]:
                    t = t.setdefault(part, param_ros[item].value)
                else:
                    t = t.setdefault(part, {})
        return tree

Answered by knmcguire

Dec 19, 2024

Yeah this is a bit hacky since technically we shouldn't be able to access these (but python doesn't have notion of private variables). Turning it into dictionaries is just an easier way for the cflib backend to work with them, but that is to retrieve all the yaml file values as well like crazyflie parameters and such.

About your questions, You can watch all of these parameters + values in RQT if you'd like? or print it out in this function? or is that not what you mean?

View full answer

knmcguire · 2024-12-19T22:04:01Z

knmcguire
Dec 19, 2024
Maintainer

Yeah this is a bit hacky since technically we shouldn't be able to access these (but python doesn't have notion of private variables). Turning it into dictionaries is just an easier way for the cflib backend to work with them, but that is to retrieve all the yaml file values as well like crazyflie parameters and such.

About your questions, You can watch all of these parameters + values in RQT if you'd like? or print it out in this function? or is that not what you mean?

3 replies

ntukenmez3 Dec 20, 2024
Author

I'll check them all out in rqt, thanks.

ntukenmez3 Dec 24, 2024
Author

I just checked them out, I think self._ros_parameters includes the following parameters for three cfs (doesn't it?):

~/Desktop/ros2_ws$ ros2 param list /crazyflie_server 
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7411: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7415: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7417: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7421: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7423: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7425: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7427: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7429: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7431: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7433: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7435: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.461 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7441: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.462 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7443: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.462 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7445: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.462 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7451: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.462 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7453: open_and_lock_file failed -> Function open_port_internal
2024-12-24 03:05:48.462 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7465: open_and_lock_file failed -> Function open_port_internal
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  cf2.params.kalman.mNBaro
  cf2.params.kalman.mNGyro_rollpitch
  cf2.params.kalman.mNGyro_yaw
  cf2.params.kalman.maxPos
  cf2.params.kalman.maxVel
  cf2.params.kalman.pNAcc_xy
  cf2.params.kalman.pNAcc_z
  cf2.params.kalman.pNAtt
  cf2.params.kalman.pNPos
  cf2.params.kalman.pNVel
  cf2.params.kalman.resetEstimation
  cf2.params.kalman.robustTdoa
  cf2.params.kalman.robustTwr
  cf2.params.led.bitmask
  cf2.params.lighthouse.bsAvailable
  cf2.params.lighthouse.bsCalibReset
  cf2.params.lighthouse.enLhRawStream
  cf2.params.lighthouse.lh2maxRate
  cf2.params.lighthouse.method
  cf2.params.lighthouse.sweepStd
  cf2.params.lighthouse.sweepStd2
  cf2.params.lighthouse.systemType
  cf2.params.locSrv.enLhAngleStream
  cf2.params.locSrv.enRangeStreamFP32
  cf2.params.locSrv.extPosStdDev
  cf2.params.locSrv.extQuatStdDev
  cf2.params.loco.mode
  cf2.params.memTst.resetW
  cf2.params.motion.adaptive
  cf2.params.motion.disable
  cf2.params.motion.flowStdFixed
  cf2.params.motorPowerSet.enable
  cf2.params.motorPowerSet.m1
  cf2.params.motorPowerSet.m2
  cf2.params.motorPowerSet.m3
  cf2.params.motorPowerSet.m4
  cf2.params.multiranger.filterMask
  cf2.params.pid_attitude.attFiltCut
  cf2.params.pid_attitude.attFiltEn
  cf2.params.pid_attitude.pitch_kd
  cf2.params.pid_attitude.pitch_kff
  cf2.params.pid_attitude.pitch_ki
  cf2.params.pid_attitude.pitch_kp
  cf2.params.pid_attitude.roll_kd
  cf2.params.pid_attitude.roll_kff
  cf2.params.pid_attitude.roll_ki
  cf2.params.pid_attitude.roll_kp
  cf2.params.pid_attitude.yawMaxDelta
  cf2.params.pid_attitude.yaw_kd
  cf2.params.pid_attitude.yaw_kff
  cf2.params.pid_attitude.yaw_ki
  cf2.params.pid_attitude.yaw_kp
  cf2.params.pid_rate.omxFiltCut
  cf2.params.pid_rate.omyFiltCut
  cf2.params.pid_rate.omzFiltCut
  cf2.params.pid_rate.pitch_kd
  cf2.params.pid_rate.pitch_kff
  cf2.params.pid_rate.pitch_ki
  cf2.params.pid_rate.pitch_kp
  cf2.params.pid_rate.rateFiltEn
  cf2.params.pid_rate.roll_kd
  cf2.params.pid_rate.roll_kff
  cf2.params.pid_rate.roll_ki
  cf2.params.pid_rate.roll_kp
  cf2.params.pid_rate.yaw_kd
  cf2.params.pid_rate.yaw_kff
  cf2.params.pid_rate.yaw_ki
  cf2.params.pid_rate.yaw_kp
  cf2.params.pm.criticalLowVoltage
  cf2.params.pm.lowVoltage
  cf2.params.posCtlPid.pLimit
  cf2.params.posCtlPid.rLimit
  cf2.params.posCtlPid.thrustBase
  cf2.params.posCtlPid.thrustMin
  cf2.params.posCtlPid.xKd
  cf2.params.posCtlPid.xKff
  cf2.params.posCtlPid.xKi
  cf2.params.posCtlPid.xKp
  cf2.params.posCtlPid.xVelMax
  cf2.params.posCtlPid.yKd
  cf2.params.posCtlPid.yKff
  cf2.params.posCtlPid.yKi
  cf2.params.posCtlPid.yKp
  cf2.params.posCtlPid.yVelMax
  cf2.params.posCtlPid.zKd
  cf2.params.posCtlPid.zKff
  cf2.params.posCtlPid.zKi
  cf2.params.posCtlPid.zKp
  cf2.params.posCtlPid.zVelMax
  cf2.params.posCtrlIndi.K_dxi_x
  cf2.params.posCtrlIndi.K_dxi_y
  cf2.params.posCtrlIndi.K_dxi_z
  cf2.params.posCtrlIndi.K_xi_x
  cf2.params.posCtrlIndi.K_xi_y
  cf2.params.posCtrlIndi.K_xi_z
  cf2.params.posCtrlIndi.pq_clamping
  cf2.params.posEstAlt.estAlphaAsl
  cf2.params.posEstAlt.estAlphaZr
  cf2.params.posEstAlt.vAccDeadband
  cf2.params.posEstAlt.velFactor
  cf2.params.posEstAlt.velZAlpha
  cf2.params.powerDist.idleThrust
  cf2.params.quadSysId.armLength
  cf2.params.quadSysId.pwmToThrustA
  cf2.params.quadSysId.pwmToThrustB
  cf2.params.quadSysId.thrustToTorque
  cf2.params.radiotest.channel
  cf2.params.radiotest.contwave
  cf2.params.radiotest.power
  cf2.params.ring.effect
  cf2.params.ring.emptyCharge
  cf2.params.ring.fadeColor
  cf2.params.ring.fadeTime
  cf2.params.ring.fullCharge
  cf2.params.ring.headlightEnable
  cf2.params.ring.neffect
  cf2.params.ring.solidBlue
  cf2.params.ring.solidGreen
  cf2.params.ring.solidRed
  cf2.params.sensfusion6.baseZacc
  cf2.params.sensfusion6.ki
  cf2.params.sensfusion6.kp
  cf2.params.sound.effect
  cf2.params.sound.freq
  cf2.params.sound.neffect
  cf2.params.stabilizer.controller
  cf2.params.stabilizer.estimator
  cf2.params.stabilizer.stop
  cf2.params.supervisor.infdmp
  cf2.params.supervisor.landedTimeout
  cf2.params.supervisor.tmblChckEn
  cf2.params.syslink.probe
  cf2.params.system.arm
  cf2.params.system.assertInfo
  cf2.params.system.doAssert
  cf2.params.system.highlight
  cf2.params.system.selftestPassed
  cf2.params.system.storageReformat
  cf2.params.system.storageStats
  cf2.params.system.taskDump
  cf2.params.system.testLogParam
  cf2.params.tdoa2.stddev
  cf2.params.tdoa3.stddev
  cf2.params.tdoaEngine.logId
  cf2.params.tdoaEngine.logOthrId
  cf2.params.tdoaEngine.matchAlgo
  cf2.params.usd.canLog
  cf2.params.usd.logging
  cf2.params.usec.reset
  cf2.params.velCtlPid.vxKFF
  cf2.params.velCtlPid.vxKd
  cf2.params.velCtlPid.vxKi
  cf2.params.velCtlPid.vxKp
  cf2.params.velCtlPid.vyKFF
  cf2.params.velCtlPid.vyKd
  cf2.params.velCtlPid.vyKi
  cf2.params.velCtlPid.vyKp
  cf2.params.velCtlPid.vzKFF
  cf2.params.velCtlPid.vzKd
  cf2.params.velCtlPid.vzKi
  cf2.params.velCtlPid.vzKp
  cf3.params.activeMarker.back
  cf3.params.activeMarker.front
  cf3.params.activeMarker.left
  cf3.params.activeMarker.mode
  cf3.params.activeMarker.poll
  cf3.params.activeMarker.right
  cf3.params.colAv.bboxMaxX
  cf3.params.colAv.bboxMaxY
  cf3.params.colAv.bboxMaxZ
  cf3.params.colAv.bboxMinX
  cf3.params.colAv.bboxMinY
  cf3.params.colAv.bboxMinZ
  cf3.params.colAv.ellipsoidX
  cf3.params.colAv.ellipsoidY
  cf3.params.colAv.ellipsoidZ
  cf3.params.colAv.enable
  cf3.params.colAv.horizon
  cf3.params.colAv.maxPeerLocAge
  cf3.params.colAv.maxSpeed
  cf3.params.colAv.sidestepThrsh
  cf3.params.colAv.vorIters
  cf3.params.colAv.vorTol
  cf3.params.commander.enHighLevel
  cf3.params.cppm.angPitch
  cf3.params.cppm.angRoll
  cf3.params.cppm.ratePitch
  cf3.params.cppm.rateRoll
  cf3.params.cppm.rateYaw
  cf3.params.cpu.flash
  cf3.params.cpu.id0
  cf3.params.cpu.id1
  cf3.params.cpu.id2
  cf3.params.crtpsrv.echoDelay
  cf3.params.ctrlAtt.coll_fairness
  cf3.params.ctrlAtt.mixing_factor
  cf3.params.ctrlAtt.tau_rp
  cf3.params.ctrlAtt.tau_xy
  cf3.params.ctrlAtt.tau_z
  cf3.params.ctrlAtt.zeta_xy
  cf3.params.ctrlAtt.zeta_z
  cf3.params.ctrlINDI.act_dyn_p
  cf3.params.ctrlINDI.act_dyn_q
  cf3.params.ctrlINDI.act_dyn_r
  cf3.params.ctrlINDI.bound_ctrl_input
  cf3.params.ctrlINDI.filt_cutoff
  cf3.params.ctrlINDI.filt_cutoff_r
  cf3.params.ctrlINDI.g1_p
  cf3.params.ctrlINDI.g1_q
  cf3.params.ctrlINDI.g1_r
  cf3.params.ctrlINDI.g2
  cf3.params.ctrlINDI.outerLoopActive
  cf3.params.ctrlINDI.ref_err_p
  cf3.params.ctrlINDI.ref_err_q
  cf3.params.ctrlINDI.ref_err_r
  cf3.params.ctrlINDI.ref_rate_p
  cf3.params.ctrlINDI.ref_rate_q
  cf3.params.ctrlINDI.ref_rate_r
  cf3.params.ctrlINDI.thrust_threshold
  cf3.params.ctrlLee.J_x
  cf3.params.ctrlLee.J_y
  cf3.params.ctrlLee.J_z
  cf3.params.ctrlLee.KI_x
  cf3.params.ctrlLee.KI_y
  cf3.params.ctrlLee.KI_z
  cf3.params.ctrlLee.KR_x
  cf3.params.ctrlLee.KR_y
  cf3.params.ctrlLee.KR_z
  cf3.params.ctrlLee.Kpos_D_limit
  cf3.params.ctrlLee.Kpos_Dx
  cf3.params.ctrlLee.Kpos_Dy
  cf3.params.ctrlLee.Kpos_Dz
  cf3.params.ctrlLee.Kpos_I_limit
  cf3.params.ctrlLee.Kpos_Ix
  cf3.params.ctrlLee.Kpos_Iy
  cf3.params.ctrlLee.Kpos_Iz
  cf3.params.ctrlLee.Kpos_P_limit
  cf3.params.ctrlLee.Kpos_Px
  cf3.params.ctrlLee.Kpos_Py
  cf3.params.ctrlLee.Kpos_Pz
  cf3.params.ctrlLee.Kw_x
  cf3.params.ctrlLee.Kw_y
  cf3.params.ctrlLee.Kw_z
  cf3.params.ctrlLee.mass
  cf3.params.ctrlMel.i_range_m_xy
  cf3.params.ctrlMel.i_range_m_z
  cf3.params.ctrlMel.i_range_xy
  cf3.params.ctrlMel.i_range_z
  cf3.params.ctrlMel.kR_xy
  cf3.params.ctrlMel.kR_z
  cf3.params.ctrlMel.kd_omega_rp
  cf3.params.ctrlMel.kd_xy
  cf3.params.ctrlMel.kd_z
  cf3.params.ctrlMel.ki_m_xy
  cf3.params.ctrlMel.ki_m_z
  cf3.params.ctrlMel.ki_xy
  cf3.params.ctrlMel.ki_z
  cf3.params.ctrlMel.kp_xy
  cf3.params.ctrlMel.kp_z
  cf3.params.ctrlMel.kw_xy
  cf3.params.ctrlMel.kw_z
  cf3.params.ctrlMel.mass
  cf3.params.ctrlMel.massThrust
  cf3.params.deck.bcAI
  cf3.params.deck.bcActiveMarker
  cf3.params.deck.bcBuzzer
  cf3.params.deck.bcDWM1000
  cf3.params.deck.bcFlow
  cf3.params.deck.bcFlow2
  cf3.params.deck.bcLedRing
  cf3.params.deck.bcLighthouse4
  cf3.params.deck.bcLoco
  cf3.params.deck.bcMultiranger
  cf3.params.deck.bcOA
  cf3.params.deck.bcUSD
  cf3.params.deck.bcZRanger
  cf3.params.deck.bcZRanger2
  cf3.params.firmware.modified
  cf3.params.firmware.revision0
  cf3.params.firmware.revision1
  cf3.params.flightmode.althold
  cf3.params.flightmode.posSet
  cf3.params.flightmode.poshold
  cf3.params.flightmode.stabModePitch
  cf3.params.flightmode.stabModeRoll
  cf3.params.flightmode.stabModeYaw
  cf3.params.flightmode.yawMode
  cf3.params.health.batTestPWMRatio
  cf3.params.health.propTestPWMRatio
  cf3.params.health.startBatTest
  cf3.params.health.startPropTest
  cf3.params.hlCommander.groupmask
  cf3.params.hlCommander.vland
  cf3.params.hlCommander.vtoff
  cf3.params.imu_sensors.AK8963
  cf3.params.imu_sensors.BMP3XX
  cf3.params.imu_sensors.LPS25H
  cf3.params.imu_sensors.imuPhi
  cf3.params.imu_sensors.imuPsi
  cf3.params.imu_sensors.imuTheta
  cf3.params.imu_tests.AK8963
  cf3.params.imu_tests.LPS25H
  cf3.params.imu_tests.MPU6500
  cf3.params.imu_tests.imuPhi
  cf3.params.imu_tests.imuPsi
  cf3.params.imu_tests.imuTheta
  cf3.params.kalman.initialX
  cf3.params.kalman.initialY
  cf3.params.kalman.initialYaw
  cf3.params.kalman.initialZ
  cf3.params.kalman.mNBaro
  cf3.params.kalman.mNGyro_rollpitch
  cf3.params.kalman.mNGyro_yaw
  cf3.params.kalman.maxPos
  cf3.params.kalman.maxVel
  cf3.params.kalman.pNAcc_xy
  cf3.params.kalman.pNAcc_z
  cf3.params.kalman.pNAtt
  cf3.params.kalman.pNPos
  cf3.params.kalman.pNVel
  cf3.params.kalman.resetEstimation
  cf3.params.kalman.robustTdoa
  cf3.params.kalman.robustTwr
  cf3.params.led.bitmask
  cf3.params.lighthouse.bsAvailable
  cf3.params.lighthouse.bsCalibReset
  cf3.params.lighthouse.enLhRawStream
  cf3.params.lighthouse.lh2maxRate
  cf3.params.lighthouse.method
  cf3.params.lighthouse.sweepStd
  cf3.params.lighthouse.sweepStd2
  cf3.params.lighthouse.systemType
  cf3.params.locSrv.enLhAngleStream
  cf3.params.locSrv.enRangeStreamFP32
  cf3.params.locSrv.extPosStdDev
  cf3.params.locSrv.extQuatStdDev
  cf3.params.loco.mode
  cf3.params.memTst.resetW
  cf3.params.motion.adaptive
  cf3.params.motion.disable
  cf3.params.motion.flowStdFixed
  cf3.params.motorPowerSet.enable
  cf3.params.motorPowerSet.m1
  cf3.params.motorPowerSet.m2
  cf3.params.motorPowerSet.m3
  cf3.params.motorPowerSet.m4
  cf3.params.multiranger.filterMask
  cf3.params.pid_attitude.attFiltCut
  cf3.params.pid_attitude.attFiltEn
  cf3.params.pid_attitude.pitch_kd
  cf3.params.pid_attitude.pitch_kff
  cf3.params.pid_attitude.pitch_ki
  cf3.params.pid_attitude.pitch_kp
  cf3.params.pid_attitude.roll_kd
  cf3.params.pid_attitude.roll_kff
  cf3.params.pid_attitude.roll_ki
  cf3.params.pid_attitude.roll_kp
  cf3.params.pid_attitude.yawMaxDelta
  cf3.params.pid_attitude.yaw_kd
  cf3.params.pid_attitude.yaw_kff
  cf3.params.pid_attitude.yaw_ki
  cf3.params.pid_attitude.yaw_kp
  cf3.params.pid_rate.omxFiltCut
  cf3.params.pid_rate.omyFiltCut
  cf3.params.pid_rate.omzFiltCut
  cf3.params.pid_rate.pitch_kd
  cf3.params.pid_rate.pitch_kff
  cf3.params.pid_rate.pitch_ki
  cf3.params.pid_rate.pitch_kp
  cf3.params.pid_rate.rateFiltEn
  cf3.params.pid_rate.roll_kd
  cf3.params.pid_rate.roll_kff
  cf3.params.pid_rate.roll_ki
  cf3.params.pid_rate.roll_kp
  cf3.params.pid_rate.yaw_kd
  cf3.params.pid_rate.yaw_kff
  cf3.params.pid_rate.yaw_ki
  cf3.params.pid_rate.yaw_kp
  cf3.params.pm.criticalLowVoltage
  cf3.params.pm.lowVoltage
  cf3.params.posCtlPid.pLimit
  cf3.params.posCtlPid.rLimit
  cf3.params.posCtlPid.thrustBase
  cf3.params.posCtlPid.thrustMin
  cf3.params.posCtlPid.xKd
  cf3.params.posCtlPid.xKff
  cf3.params.posCtlPid.xKi
  cf3.params.posCtlPid.xKp
  cf3.params.posCtlPid.xVelMax
  cf3.params.posCtlPid.yKd
  cf3.params.posCtlPid.yKff
  cf3.params.posCtlPid.yKi
  cf3.params.posCtlPid.yKp
  cf3.params.posCtlPid.yVelMax
  cf3.params.posCtlPid.zKd
  cf3.params.posCtlPid.zKff
  cf3.params.posCtlPid.zKi
  cf3.params.posCtlPid.zKp
  cf3.params.posCtlPid.zVelMax
  cf3.params.posCtrlIndi.K_dxi_x
  cf3.params.posCtrlIndi.K_dxi_y
  cf3.params.posCtrlIndi.K_dxi_z
  cf3.params.posCtrlIndi.K_xi_x
  cf3.params.posCtrlIndi.K_xi_y
  cf3.params.posCtrlIndi.K_xi_z
  cf3.params.posCtrlIndi.pq_clamping
  cf3.params.posEstAlt.estAlphaAsl
  cf3.params.posEstAlt.estAlphaZr
  cf3.params.posEstAlt.vAccDeadband
  cf3.params.posEstAlt.velFactor
  cf3.params.posEstAlt.velZAlpha
  cf3.params.powerDist.idleThrust
  cf3.params.quadSysId.armLength
  cf3.params.quadSysId.pwmToThrustA
  cf3.params.quadSysId.pwmToThrustB
  cf3.params.quadSysId.thrustToTorque
  cf3.params.radiotest.channel
  cf3.params.radiotest.contwave
  cf3.params.radiotest.power
  cf3.params.ring.effect
  cf3.params.ring.emptyCharge
  cf3.params.ring.fadeColor
  cf3.params.ring.fadeTime
  cf3.params.ring.fullCharge
  cf3.params.ring.headlightEnable
  cf3.params.ring.neffect
  cf3.params.ring.solidBlue
  cf3.params.ring.solidGreen
  cf3.params.ring.solidRed
  cf3.params.sensfusion6.baseZacc
  cf3.params.sensfusion6.ki
  cf3.params.sensfusion6.kp
  cf3.params.sound.effect
  cf3.params.sound.freq
  cf3.params.sound.neffect
  cf3.params.stabilizer.controller
  cf3.params.stabilizer.estimator
  cf3.params.stabilizer.stop
  cf3.params.supervisor.infdmp
  cf3.params.supervisor.landedTimeout
  cf3.params.supervisor.tmblChckEn
  cf3.params.syslink.probe
  cf3.params.system.arm
  cf3.params.system.assertInfo
  cf3.params.system.doAssert
  cf3.params.system.highlight
  cf3.params.system.selftestPassed
  cf3.params.system.storageReformat
  cf3.params.system.storageStats
  cf3.params.system.taskDump
  cf3.params.system.testLogParam
  cf3.params.tdoa2.stddev
  cf3.params.tdoa3.stddev
  cf3.params.tdoaEngine.logId
  cf3.params.tdoaEngine.logOthrId
  cf3.params.tdoaEngine.matchAlgo
  cf3.params.usd.canLog
  cf3.params.usd.logging
  cf3.params.usec.reset
  cf3.params.velCtlPid.vxKFF
  cf3.params.velCtlPid.vxKd
  cf3.params.velCtlPid.vxKi
  cf3.params.velCtlPid.vxKp
  cf3.params.velCtlPid.vyKFF
  cf3.params.velCtlPid.vyKd
  cf3.params.velCtlPid.vyKi
  cf3.params.velCtlPid.vyKp
  cf3.params.velCtlPid.vzKFF
  cf3.params.velCtlPid.vzKd
  cf3.params.velCtlPid.vzKi
  cf3.params.velCtlPid.vzKp
  cf4.params.activeMarker.back
  cf4.params.activeMarker.front
  cf4.params.activeMarker.left
  cf4.params.activeMarker.mode
  cf4.params.activeMarker.poll
  cf4.params.activeMarker.right
  cf4.params.colAv.bboxMaxX
  cf4.params.colAv.bboxMaxY
  cf4.params.colAv.bboxMaxZ
  cf4.params.colAv.bboxMinX
  cf4.params.colAv.bboxMinY
  cf4.params.colAv.bboxMinZ
  cf4.params.colAv.ellipsoidX
  cf4.params.colAv.ellipsoidY
  cf4.params.colAv.ellipsoidZ
  cf4.params.colAv.enable
  cf4.params.colAv.horizon
  cf4.params.colAv.maxPeerLocAge
  cf4.params.colAv.maxSpeed
  cf4.params.colAv.sidestepThrsh
  cf4.params.colAv.vorIters
  cf4.params.colAv.vorTol
  cf4.params.commander.enHighLevel
  cf4.params.cppm.angPitch
  cf4.params.cppm.angRoll
  cf4.params.cppm.ratePitch
  cf4.params.cppm.rateRoll
  cf4.params.cppm.rateYaw
  cf4.params.cpu.flash
  cf4.params.cpu.id0
  cf4.params.cpu.id1
  cf4.params.cpu.id2
  cf4.params.crtpsrv.echoDelay
  cf4.params.ctrlAtt.coll_fairness
  cf4.params.ctrlAtt.mixing_factor
  cf4.params.ctrlAtt.tau_rp
  cf4.params.ctrlAtt.tau_xy
  cf4.params.ctrlAtt.tau_z
  cf4.params.ctrlAtt.zeta_xy
  cf4.params.ctrlAtt.zeta_z
  cf4.params.ctrlINDI.act_dyn_p
  cf4.params.ctrlINDI.act_dyn_q
  cf4.params.ctrlINDI.act_dyn_r
  cf4.params.ctrlINDI.bound_ctrl_input
  cf4.params.ctrlINDI.filt_cutoff
  cf4.params.ctrlINDI.filt_cutoff_r
  cf4.params.ctrlINDI.g1_p
  cf4.params.ctrlINDI.g1_q
  cf4.params.ctrlINDI.g1_r
  cf4.params.ctrlINDI.g2
  cf4.params.ctrlINDI.outerLoopActive
  cf4.params.ctrlINDI.ref_err_p
  cf4.params.ctrlINDI.ref_err_q
  cf4.params.ctrlINDI.ref_err_r
  cf4.params.ctrlINDI.ref_rate_p
  cf4.params.ctrlINDI.ref_rate_q
  cf4.params.ctrlINDI.ref_rate_r
  cf4.params.ctrlINDI.thrust_threshold
  cf4.params.ctrlMel.i_range_m_xy
  cf4.params.ctrlMel.i_range_m_z
  cf4.params.ctrlMel.i_range_xy
  cf4.params.ctrlMel.i_range_z
  cf4.params.ctrlMel.kR_xy
  cf4.params.ctrlMel.kR_z
  cf4.params.ctrlMel.kd_omega_rp
  cf4.params.ctrlMel.kd_xy
  cf4.params.ctrlMel.kd_z
  cf4.params.ctrlMel.ki_m_xy
  cf4.params.ctrlMel.ki_m_z
  cf4.params.ctrlMel.ki_xy
  cf4.params.ctrlMel.ki_z
  cf4.params.ctrlMel.kp_xy
  cf4.params.ctrlMel.kp_z
  cf4.params.ctrlMel.kw_xy
  cf4.params.ctrlMel.kw_z
  cf4.params.ctrlMel.mass
  cf4.params.ctrlMel.massThrust
  cf4.params.deck.bcAI
  cf4.params.deck.bcActiveMarker
  cf4.params.deck.bcBuzzer
  cf4.params.deck.bcDWM1000
  cf4.params.deck.bcFlow
  cf4.params.deck.bcFlow2
  cf4.params.deck.bcLedRing
  cf4.params.deck.bcLighthouse4
  cf4.params.deck.bcLoco
  cf4.params.deck.bcMultiranger
  cf4.params.deck.bcOA
  cf4.params.deck.bcUSD
  cf4.params.deck.bcZRanger
  cf4.params.deck.bcZRanger2
  cf4.params.firmware.modified
  cf4.params.firmware.revision0
  cf4.params.firmware.revision1
  cf4.params.flightmode.althold
  cf4.params.flightmode.posSet
  cf4.params.flightmode.poshold
  cf4.params.flightmode.stabModePitch
  cf4.params.flightmode.stabModeRoll
  cf4.params.flightmode.stabModeYaw
  cf4.params.flightmode.yawMode
  cf4.params.health.batTestPWMRatio
  cf4.params.health.propTestPWMRatio
  cf4.params.health.startBatTest
  cf4.params.health.startPropTest
  cf4.params.hlCommander.vland
  cf4.params.hlCommander.vtoff
  cf4.params.imu_sensors.AK8963
  cf4.params.imu_sensors.BMP388
  cf4.params.imu_sensors.LPS25H
  cf4.params.imu_sensors.imuPhi
  cf4.params.imu_sensors.imuPsi
  cf4.params.imu_sensors.imuTheta
  cf4.params.imu_tests.AK8963
  cf4.params.imu_tests.LPS25H
  cf4.params.imu_tests.MPU6500
  cf4.params.imu_tests.imuPhi
  cf4.params.imu_tests.imuPsi
  cf4.params.imu_tests.imuTheta
  cf4.params.kalman.initialX
  cf4.params.kalman.initialY
  cf4.params.kalman.initialYaw
  cf4.params.kalman.initialZ
  cf4.params.kalman.mNBaro
  cf4.params.kalman.mNGyro_rollpitch
  cf4.params.kalman.mNGyro_yaw
  cf4.params.kalman.maxPos
  cf4.params.kalman.maxVel
  cf4.params.kalman.pNAcc_xy
  cf4.params.kalman.pNAcc_z
  cf4.params.kalman.pNAtt
  cf4.params.kalman.pNPos
  cf4.params.kalman.pNVel
  cf4.params.kalman.resetEstimation
  cf4.params.kalman.robustTdoa
  cf4.params.kalman.robustTwr
  cf4.params.led.bitmask
  cf4.params.lighthouse.bsAvailable
  cf4.params.lighthouse.bsCalibReset
  cf4.params.lighthouse.enLhRawStream
  cf4.params.lighthouse.lh2maxRate
  cf4.params.lighthouse.method
  cf4.params.lighthouse.sweepStd
  cf4.params.lighthouse.sweepStd2
  cf4.params.lighthouse.systemType
  cf4.params.locSrv.enLhAngleStream
  cf4.params.locSrv.enRangeStreamFP32
  cf4.params.locSrv.extPosStdDev
  cf4.params.locSrv.extQuatStdDev
  cf4.params.loco.mode
  cf4.params.memTst.resetW
  cf4.params.motion.adaptive
  cf4.params.motion.disable
  cf4.params.motion.flowStdFixed
  cf4.params.motorPowerSet.enable
  cf4.params.motorPowerSet.m1
  cf4.params.motorPowerSet.m2
  cf4.params.motorPowerSet.m3
  cf4.params.motorPowerSet.m4
  cf4.params.multiranger.filterMask
  cf4.params.pid_attitude.attFiltCut
  cf4.params.pid_attitude.attFiltEn
  cf4.params.pid_attitude.pitch_kd
  cf4.params.pid_attitude.pitch_kff
  cf4.params.pid_attitude.pitch_ki
  cf4.params.pid_attitude.pitch_kp
  cf4.params.pid_attitude.roll_kd
  cf4.params.pid_attitude.roll_kff
  cf4.params.pid_attitude.roll_ki
  cf4.params.pid_attitude.roll_kp
  cf4.params.pid_attitude.yawMaxDelta
  cf4.params.pid_attitude.yaw_kd
  cf4.params.pid_attitude.yaw_kff
  cf4.params.pid_attitude.yaw_ki
  cf4.params.pid_attitude.yaw_kp
  cf4.params.pid_rate.omxFiltCut
  cf4.params.pid_rate.omyFiltCut
  cf4.params.pid_rate.omzFiltCut
  cf4.params.pid_rate.pitch_kd
  cf4.params.pid_rate.pitch_kff
  cf4.params.pid_rate.pitch_ki
  cf4.params.pid_rate.pitch_kp
  cf4.params.pid_rate.rateFiltEn
  cf4.params.pid_rate.roll_kd
  cf4.params.pid_rate.roll_kff
  cf4.params.pid_rate.roll_ki
  cf4.params.pid_rate.roll_kp
  cf4.params.pid_rate.yaw_kd
  cf4.params.pid_rate.yaw_kff
  cf4.params.pid_rate.yaw_ki
  cf4.params.pid_rate.yaw_kp
  cf4.params.pm.criticalLowVoltage
  cf4.params.pm.lowVoltage
  cf4.params.posCtlPid.pLimit
  cf4.params.posCtlPid.rLimit
  cf4.params.posCtlPid.thrustBase
  cf4.params.posCtlPid.thrustMin
  cf4.params.posCtlPid.xKd
  cf4.params.posCtlPid.xKff
  cf4.params.posCtlPid.xKi
  cf4.params.posCtlPid.xKp
  cf4.params.posCtlPid.xVelMax
  cf4.params.posCtlPid.yKd
  cf4.params.posCtlPid.yKff
  cf4.params.posCtlPid.yKi
  cf4.params.posCtlPid.yKp
  cf4.params.posCtlPid.yVelMax
  cf4.params.posCtlPid.zKd
  cf4.params.posCtlPid.zKff
  cf4.params.posCtlPid.zKi
  cf4.params.posCtlPid.zKp
  cf4.params.posCtlPid.zVelMax
  cf4.params.posCtrlIndi.K_dxi_x
  cf4.params.posCtrlIndi.K_dxi_y
  cf4.params.posCtrlIndi.K_dxi_z
  cf4.params.posCtrlIndi.K_xi_x
  cf4.params.posCtrlIndi.K_xi_y
  cf4.params.posCtrlIndi.K_xi_z
  cf4.params.posCtrlIndi.pq_clamping
  cf4.params.posEstAlt.estAlphaAsl
  cf4.params.posEstAlt.estAlphaZr
  cf4.params.posEstAlt.vAccDeadband
  cf4.params.posEstAlt.velFactor
  cf4.params.posEstAlt.velZAlpha
  cf4.params.powerDist.idleThrust
  cf4.params.quadSysId.armLength
  cf4.params.quadSysId.pwmToThrustA
  cf4.params.quadSysId.pwmToThrustB
  cf4.params.quadSysId.thrustToTorque
  cf4.params.ring.effect
  cf4.params.ring.emptyCharge
  cf4.params.ring.fadeColor
  cf4.params.ring.fadeTime
  cf4.params.ring.fullCharge
  cf4.params.ring.headlightEnable
  cf4.params.ring.neffect
  cf4.params.ring.solidBlue
  cf4.params.ring.solidGreen
  cf4.params.ring.solidRed
  cf4.params.sensfusion6.baseZacc
  cf4.params.sensfusion6.ki
  cf4.params.sensfusion6.kp
  cf4.params.sound.effect
  cf4.params.sound.freq
  cf4.params.sound.neffect
  cf4.params.stabilizer.controller
  cf4.params.stabilizer.estimator
  cf4.params.stabilizer.stop
  cf4.params.supervisor.infdmp
  cf4.params.syslink.probe
  cf4.params.system.arm
  cf4.params.system.assertInfo
  cf4.params.system.doAssert
  cf4.params.system.highlight
  cf4.params.system.selftestPassed
  cf4.params.system.storageReformat
  cf4.params.system.storageStats
  cf4.params.system.taskDump
  cf4.params.system.testLogParam
  cf4.params.tdoa2.stddev
  cf4.params.tdoa3.stddev
  cf4.params.tdoaEngine.logId
  cf4.params.tdoaEngine.logOthrId
  cf4.params.tdoaEngine.matchAlgo
  cf4.params.usd.canLog
  cf4.params.usd.logging
  cf4.params.usec.reset
  cf4.params.velCtlPid.vxKFF
  cf4.params.velCtlPid.vxKd
  cf4.params.velCtlPid.vxKi
  cf4.params.velCtlPid.vxKp
  cf4.params.velCtlPid.vyKFF
  cf4.params.velCtlPid.vyKd
  cf4.params.velCtlPid.vyKi
  cf4.params.velCtlPid.vyKp
  cf4.params.velCtlPid.vzKFF
  cf4.params.velCtlPid.vzKd
  cf4.params.velCtlPid.vzKi
  cf4.params.velCtlPid.vzKp
  firmware_params.query_all_values_on_connect
  poses_qos_deadline
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  qos_overrides./tf.publisher.depth
  qos_overrides./tf.publisher.durability
  qos_overrides./tf.publisher.history
  qos_overrides./tf.publisher.reliability
  robot_description
  robots.cf2.initial_position
  robots.cf2.uri
  robots.cf3.initial_position
  robots.cf3.uri
  robots.cf4.initial_position
  robots.cf4.uri
  use_sim_time
  warnings.communication.max_unicast_latency
  warnings.communication.min_broadcast_receive_rate
  warnings.communication.min_unicast_ack_rate
  warnings.communication.min_unicast_receive_rate
  warnings.communication.publish_stats
  warnings.frequency
  warnings.motion_capture.warning_if_rate_outside

knmcguire Dec 25, 2024
Maintainer

Yes indeed, that seems to be all of them. So there are 2 parts of the parameters:

That the nodes got upon startup (from the .yaml file)
That the ROS2 node initialized itself

So robots.cfx.X come from the crazyflie.yaml, and that's what the server used the URI from to connect with them. I guess that it should also contain all the logging variables that it wants to initialize but I don't see that.
So with all.params.X is where you can set the parameters for all Crazyflies (these are added after receiving the Table of Content (TOC) from the Crazyflies). This comes either from the .yaml file and if it doesn't contain it, it will retrieve it from the TOC.
Same thing goes for the cfx.params.X, but that is per Crazyflie.

It doesn't have to get all the params from the TOC. If you keep this variable on False, it should only set the Crazyflie params that are initialized in the crazyflies.yaml, as it might be a bit much.

crazyswarm2/crazyflie/config/server.yaml

Line 14 in b896e6d

query_all_values_on_connect: False

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ROS parameters into a dictionary #605

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ROS parameters into a dictionary #605

ntukenmez3 Dec 6, 2024

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knmcguire Dec 19, 2024 Maintainer

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