Problem when implementing robot swarm about bebops HOT 6 CLOSED

Hi @sheldonjinqi! Have you tried to make a launch file as the one at this link?

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Hi @gsilano, I used crazyflie2_swarm_hovering_example.launch as a reference when I wrote my launch file. I used the group tag for each robot with a specific namespace. I believe i have found the problem. Without the group tag, there are two topics when running the launch file, /motor_speed and /bebop1/motor_speed. After putting everything in the group tag with namespace bebop_1, the first topic would also have a name /bebop_1/motor_speed and leads to the name conflict.

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Ok, awesome. If you have discovered the issue and now everything works. Could you provide the swarm's example through a PR?

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Definitely, I would do it later. Another general question regarding the controller. With the provided position controller, when running task2_world, the robot moves slowly and stops at each waypoint. Any suggestion for designing a smoother trajectory such that the robot flies continuously without stopping at each waypoint. I am pretty new to this field, so any suggestion would be great.
Thanks in advance for your help :)

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A possibility could be to replace the waypoint filter (for more details see the reference paper) with a spline trajectory generator. I've already started developing it, but I don't have time to finalize the code. You could start with this.

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thanks! i will take a look at the paper and try it myself.

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