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,
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.
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 ...