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Fix interface parameter use & yaml API for Ubuntu 20.04 upwards. #802

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Fix interface parameter use & yaml API for Ubuntu 20.04 upwards. #802

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7cec35e
support PyYAML 5.1
v4hn Sep 10, 2025
f5e05a2
fix motion_capture_interface_ip parameter
v4hn Sep 10, 2025
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4 changes: 2 additions & 2 deletions ros_ws/src/crazyswarm/scripts/chooser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@
def read_by_id(path):
by_id = {}
with open(path, 'r') as ymlfile:
root = yaml.load(ymlfile)
root = yaml.load(ymlfile, Loader=yaml.FullLoader)
for node in root["crazyflies"]:
id = int(node["id"])
by_id[id] = node
Expand All @@ -63,7 +63,7 @@ def save():
allCrazyflies = read_by_id(os.path.join(args.configpath, "allCrazyflies.yaml"))
enabled = read_by_id(os.path.join(args.configpath, "crazyflies.yaml")).keys()
with open(os.path.join(args.configpath, "crazyflieTypes.yaml"), 'r') as ymlfile:
data = yaml.load(ymlfile)
data = yaml.load(ymlfile, Loader=yaml.FullLoader)
cfTypes = data["crazyflieTypes"]

# compute absolute pixel coordinates from the initial positions
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4 changes: 2 additions & 2 deletions ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyflie.py
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Expand Up @@ -585,9 +585,9 @@ def __init__(self, crazyflies_yaml="../launch/crazyflies.yaml"):

if crazyflies_yaml.endswith(".yaml"):
with open(crazyflies_yaml, 'r') as ymlfile:
cfg = yaml.load(ymlfile)
cfg = yaml.load(ymlfile, Loader=yaml.FullLoader)
else:
cfg = yaml.load(crazyflies_yaml)
cfg = yaml.load(crazyflies_yaml, Loader=yaml.FullLoader)

self.tf = TransformListener()

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2 changes: 1 addition & 1 deletion ros_ws/src/crazyswarm/src/crazyswarm_server.cpp
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Expand Up @@ -1456,7 +1456,7 @@ class CrazyflieServer
cfg["hostname"] = hostname;
if (nl.hasParam("motion_capture_interface_ip")) {
std::string interface_ip;
nl.param<std::string>("motion_capture_interface_ip", interface_ip);
nl.getParam("motion_capture_interface_ip", interface_ip);
cfg["interface_ip"] = interface_ip;
}

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