Formation Manager

To manage the formation of the swarm

In charge of computing the positions of all the crazyflies.

Avalaible formations

• Square
• Pyramid
• Circle
• V
• Ligne

ROS Features

Subscribed Topics

/formation_goal_vel (geometry_msgs/Twist)

Formation center goal variation

Published Topics

/cfx/formation_goal (crazyflie_driver/Position)

Goal of a single CF in the formation

/formation_goal (crazyflie_driver/Position)

Goal of formation

/formation_pose (geometry_msgs/Pose)

Position of the formation

Services

/set_formation(formation_manager/SetFormation)

Set swarm to a formation

/formation_inc_scale(std_srvs/Empty)

Increase scale of formation

/formation_dec_scale(std_srvs/Empty)

Decrease scale of formation

/toggle_ctrl_mode(std_srvs/Empty)

To change between absolute and relative control mode

/get_formations_list(formation_manager/GetFormationList)

Return a list with all possible formations

Services Called

None

Parameters

~n_cf(int)