ROS
Posted: Thu Aug 03, 2017 11:43 pm
Hello,
I am new to ROS and crazyflie. For the demo given by the ROS readme file. Can someone help me check if my understanding is correct or not?
for hovering at (0,0,1) using VICON.
1. The node crazyflie_server is used to get the position data from VICON or Optitrack; to subscribe to "cmd_vel" to get the 'x,y,z and yaw' data published from controller.cpp. After getting the "x,y,z and yaw", with function cmdVelChanged, the four data is transformed into "roll,pitch, yaw and thrust", which are similar to a joystick. So the crazyflie can be controlled to hover at desired altitude.
2. But the example is run with some python scripts, if I want to control my crazyflie to do similar task, I need to write my own launch file?
3. In the launch file "hover_vicon.launch", it used a node named "joy", where is the source file of this node? I did not find it in either crazyflie_ros or the default ros(lunar) packages.
Thanks for your time
I am new to ROS and crazyflie. For the demo given by the ROS readme file. Can someone help me check if my understanding is correct or not?
for hovering at (0,0,1) using VICON.
1. The node crazyflie_server is used to get the position data from VICON or Optitrack; to subscribe to "cmd_vel" to get the 'x,y,z and yaw' data published from controller.cpp. After getting the "x,y,z and yaw", with function cmdVelChanged, the four data is transformed into "roll,pitch, yaw and thrust", which are similar to a joystick. So the crazyflie can be controlled to hover at desired altitude.
2. But the example is run with some python scripts, if I want to control my crazyflie to do similar task, I need to write my own launch file?
3. In the launch file "hover_vicon.launch", it used a node named "joy", where is the source file of this node? I did not find it in either crazyflie_ros or the default ros(lunar) packages.
Thanks for your time