Using the LPS with ROS

All discussions related to the Loco Positioning system
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Posts: 6
Joined: Mon Dec 10, 2018 12:59 pm

Using the LPS with ROS

Post by al_cf_uom »


We are using a crazyflie 2.0 (latest firmware) and wish to integrate it with ROS.

The system works fine with cfclient but we are having some issues with the ROS.

We have managed to connect to the crazyflie via ROS (latest release of the crazyflie ROS packages), and can access data such as pressure, imu readings, that is, data found on the standard crazyflie with no extra decks added.

We can't seem to access the LPS data though.

We do have some LPS specific ROS code however reading indicates that in newer builds this is all included in the standard crazyflie ROS package.

What messages should we look for?

What commands should we use to read the LPS postion (x,y,z).
Posts: 16
Joined: Fri Aug 31, 2018 11:12 am

Re: Using the LPS with ROS

Post by toni »


Have you taken a look to lps-ros ( ). In the launch files if you modify this file ( ... ver.launch) and you launch it directly with your Crazyflie's adress you should see your rangings (in TWR mode) in /crazyflie/log_ranges topic.

Hope that this helps.

Kind regards
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