cf_controller

Node to control a single crazyflie. Each CF has it’s own node.

ROS Features

Subscribed Topics

/cfx/goal (crazyflie_driver/Position)

Goal of crazyflie

/cfx/pose (geometry_msgs/PoseStamped)

Current pose of CF

Published Topics

/cfx/state (std_msgs/String)

Current state of CF

/cfx/cmd_position (crazyflie_drive/Position)

Move CF to absolute position

/cfx/cmd_hovering (crazyflie_driver/Hover)

Hover CF

/cfx/cmd_vel (geometry_msgs/Twist)

Control velocity of CF

/cfx/cmd_stop (std_msgs/Empty)

Stop CF

Services

/take_off(std_srvs/Empty)

Take off CF

/hover(std_srvs/Empty)

Hover CF

/land(std_srvs/Empty)

Land CF

/stop(std_srvs/Empty)

Stop CF

/set_param (swarm_manager/SetParam)

Set a parameter

Services Called

None

Parameters

~cf_name(str, default: cf_default)

~sim(bool, default: False)

~take_off_height(float)

~gnd_height(float)