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)