pre-defined topics, default topics (default logs), custom topics (custom logs)

[ntukenmez3]

We'd like to genuinely see how crazyfie_server.py works during our experiments. So, I've added the code related to our question below.
Firstly, We can look at the pre-defined topics in crazyflies.yaml. We assume all topics defined in crazyflies.yaml are called as pre-defined topics. Here, we can see three different pre-defined topics (pose, status, odom) under default_topics, right? Then, under custom_topic parts we can add more topics whichever we would like to use. At this point, we wonder how many default topics can be defined at most under default_topics? Second question we have is also how many custom topics can be defined at most under custom_topics?Btw, thus far, we have added a bunch of topics under custom_topics and they have worked pretty well.

all:
  # firmware logging for all drones (use robot_types/type_name to set per type, or
  # robots/drone_name to set per drone)
  firmware_logging:
    enabled: true
    default_topics:
     # remove to disable default topic
      pose:
        frequency: 100 # Hz
      status:
        frequency: 1 # Hz
      odom:
        frequency: 10
    custom_topics:
      stateEstimate:
        frequency: ...
        vars: ...

The questions we ask above is related to the pre-defined topics in crazyflies.yaml. So, we would like to ask a few questions default topics and custom topics in crazyfie_server.py. Once we take a look at crazyflies.yaml, we can clearly see that there are four default topics as can be seen below. I guess this part is for pre-defined topics in crazyflies.yaml. So, at this point, our question is can we rearrange and modify default topics as opposed to use custom topics? (or at most only four default topics should be defined?)

# Assign default topic types, variables and callbacks
        self.default_log_type = {"pose": PoseStamped,
                                 "scan": LaserScan,
                                 "odom": Odometry,
                                 "status": Status}
        self.default_log_vars = {"pose": ['stateEstimate.x', 'stateEstimate.y', 'stateEstimate.z',
                                          'stabilizer.roll', 'stabilizer.pitch', 'stabilizer.yaw'],
                                 "scan": ['range.front', 'range.left', 'range.back', 'range.right'],
                                 "odom": ['stateEstimate.x', 'stateEstimate.y', 'stateEstimate.z',
                                          'stabilizer.yaw', 'stabilizer.roll', 'stabilizer.pitch',
                                          'kalman.statePX', 'kalman.statePY', 'kalman.statePZ',
                                          'gyro.z', 'gyro.x', 'gyro.y'],
                                 "status": ['supervisor.info', 'pm.vbatMV', 'pm.state',
                                          'radio.rssi']}
        self.default_log_fnc = {"pose": self._log_pose_data_callback,
                                "scan": self._log_scan_data_callback,
                                "odom": self._log_odom_data_callback,
                                "status": self._log_status_data_callback}

[knmcguire]

Hi!

Questions 1: The maximum of default topics is four, as you can see that is related to the part that you have already found in the server scriptalready (and your hunch is right on that one, it is hardcoded defined in the server). If you add more here in the code here, you can add more in the yaml file, given that you select the cflib backend server (the C++ backend is default by the way, that went wrong with on of your previous discussions I think)
Question 2: The total maximum of custom log blocks... is a lot I reckon and that is related to capabilities of the Crazyflie python library itself and the firmware. This is a question that you can ask Bitcraze directly (https://discussions.bitcraze.io/). But no one we know has actually hit that limit. The limit per packet is 26 bytes though (6.5 floats) (see documentation here)

Just mind it It is the Christmas holidays now so response is slower (hence the delayed answer on your other discussions).

[ntukenmez3]

I think this literally answers my point in crazyflie_server.py. Thank you. Merry Christmas :)