June 2016
Intermediate to advanced
428 pages
9h 15m
English
Content preview from ROS Robotics By ExampleBecome an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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How to control Crazyflie
As you have seen throughout this book, the cmd_vel topic (the geometry_msgs/Twist message) is the common control method for ROS robots, whether driving on the ground or flying in the air. For TurtleBot, mobile_base_commands/velocity and cmd_vel_mux/input/navi are used to move around the base. For Crazyflie, the crazyflie/cmd_vel topic is published to control the flight of the quadrotor.
Within the crazyflie_autonomous package, the crazyflie_controller node (control_crazyflie.py) determines the Crazyflie's control state and publishes the crazyflie/cmd_vel topic. To launch the crazyflie_controller node, the control_crazyflie.launch file is used. This launch file also launches the crazyflie_window node that observes the Crazyflie ...
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