Crazyflie入门教程-真机-无人机结合光流和测距甲板做建图

介绍：

• 介绍如何在真机环境下，无人机结合光流和测距甲板做建图

• 介绍如何在真机环境下，无人机结合光流和测距甲板做沿墙建图

相关设备：

• crazyflie套件：采购地址

在真机环境下，无人机结合光流和测距甲板做建图

• 修改飞行高度，crazyflie_ros2_multiranger/crazyflie_ros2_multiranger_bringup/launch
  /wall_follower_mapper_real.launch.py

parameters=[{'hover_height': 0.3},

• 修改Crazyflie的URI

gedit ~/crazyflie_mapping_demo/ros2_ws/src/crazyflie_ros2_multiranger/crazyflie_ros2_multiranger_bringup/config/crazyflie_real_crazyswarm2.yaml


uri: radio://0/80/2M/E7E7E7E7E7

• 打开一个终端，启动crazyflie

source ~/crazyflie_mapping_demo/ros2_ws/install/setup.bash
ros2 launch crazyflie_ros2_multiranger_bringup simple_mapper_real.launch.py

• 打开另一个终端，启动teleop键盘控制

source /opt/ros/humble/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

在真机环境下，无人机结合光流和测距甲板做沿墙建图

• 修改无人机与墙面的距离，crazyflie_ros2_multiranger/crazyflie_ros2_multiranger_wall_following/crazyflie_ros2_multiranger_wall_following
  /wall_following/wall_following.py，参数：reference_distance_from_wall

def __init__(self, reference_distance_from_wall=0.3,

• 修改无人机前进速度和转向速度，crazyflie_ros2_multiranger/crazyflie_ros2_multiranger_bringup/launch
  /wall_follower_mapper_real.launch.py，参数max_turn_rate 和 max_forward_speed

{'max_turn_rate': 0.3},
{'max_forward_speed': 0.1},

• 运行，沿墙建图

ros2 launch crazyflie_ros2_multiranger_bringup wall_follower_mapper_real.launch.py

• Crazyflie停止飞行，降落

ros2 service call /crazyflie_real/stop_wall_following std_srvs/srv/Trigger