Odometry data access with "odom" topic

[ntukenmez3]

We would like to publish Odometry data. To do that, we have enabled 'odom' under default topics, I've added below the related part. However, we couldn't see Odometry data. What do we need to see Odometry data? Could you help us to fix this one? I've also added active nodes after the code.

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: 10 # Hz
      status:
        frequency: 1 # Hz
      odom:
        frequency: 10
    #custom_topics:
    #  topic_name1:
    #    frequency: 10 # Hz
    #    vars: ["stateEstimateZ.x", "stateEstimateZ.y", "stateEstimateZ.z", "pm.vbat"]
    #  topic_name2:
    #    frequency: 1 # Hz
    #    vars: ["stabilizer.roll", "stabilizer.pitch", "stabilizer.yaw"]
  # firmware parameters for all drones (use robot_types/type_name to set per type, or
  # robots/drone_name to set per drone)

[knmcguire]

Are you seeing any errors in the terminal in which you run the ROS2 node in? It seems to me that your .yaml file in on point.

Sorry for the late reply

[ntukenmez3]

I haven't seen any error, however I'll check it out again.

[ntukenmez3]

I guess I need to activate something to see "odom" data. But, I couldn't get the reason why it doesn't show it?

[knmcguire]

Here also the question, are you using the Cpp backend (default) or the Cflib backend? Because the CPP (c++) backend doesn't have Odom actually:

crazyswarm2/crazyflie/src/crazyflie_server.cpp

Lines 99 to 129 in b896e6d

	class CrazyflieROS
	{
	private:
	struct logPose {
	float x;
	float y;
	float z;
	int32_t quatCompressed;
	} __attribute__((packed));
	struct logScan {
	uint16_t front;
	uint16_t left;
	uint16_t back;
	uint16_t right;
	} __attribute__((packed));
	struct logStatus {
	// general status
	uint16_t supervisorInfo; // supervisor.info
	// battery related
	// Note that using BQ-deck/Bolt one can actually have two batteries at the same time.
	// vbat refers to the battery directly connected to the CF board and might not reflect
	// the "external" battery on BQ/Bolt builds
	uint16_t vbatMV; // pm.vbatMV
	uint8_t pmState; // pm.state
	// radio related
	uint8_t rssi; // radio.rssi
	uint16_t numRxBc; // radio.numRxBc
	uint16_t numRxUc; // radio.numRxUc
	} __attribute__((packed));

That's also indicate on the overview page:

https://imrclab.github.io/crazyswarm2/overview.html#support-functionality-with-backends

[ntukenmez3]

I'll check it out with cflib backend, thank you.

[ntukenmez3]

I think if we toggle 'cpp' with 'cflib' in the launch script, our default backend will be cflib, right?

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DeclareLaunchArgument('backend', default_value='cpp'), as 'cflib'
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