LOCO定位系统入门教程-在ROS下扫描和检测crazyflie

说明：

• 介绍如何在ROS下扫描和检测crazyflie

步骤：

• crazyflie开机

• 扫描和检测crazyflie

rosrun crazyflie_tools scan

• 结果如下

radio://0/80/2M

• 新建一个终端，启动crazyflie

roslaunch crazyflie_demo crazyflie_bringup.launch

• 查看话题

rostopic list

/crazyflie/battery
/crazyflie/cmd_full_state
/crazyflie/cmd_hover
/crazyflie/cmd_position
/crazyflie/cmd_stop
/crazyflie/cmd_vel
/crazyflie/cmd_velocity_world
/crazyflie/external_pose
/crazyflie/external_position
/crazyflie/imu
/crazyflie/joy
/crazyflie/joy/set_feedback
/crazyflie/magnetic_field
/crazyflie/packets
/crazyflie/pressure
/crazyflie/rssi
/crazyflie/temperature
/diagnostics
/rosout
/rosout_agg

• 查看电池的电量

rostopic echo /crazyflie/battery 

data: 3.631671667098999
---
data: 3.6369502544403076
---

• 查看imu数据

rostopic echo /crazyflie/imu
---
header: 
  seq: 17073
  stamp: 
    secs: 1692343505
    nsecs: 830645560
  frame_id: "crazyflie/base_link"
orientation: 
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0
orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: 0.19092607986844295
  y: -0.3503276561233455
  z: -0.2344841101570201
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: -4.1360481646656995
  y: -5.849141725301743
  z: 6.052768086791039
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

• 使用话题，控制crazyflie的螺旋桨叶旋转

rostopic pub -r 50 /crazyflie/cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 40000.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

• 可以看到crazyflie的螺旋桨叶旋转