cf_sim

Class to act as the crazyflie in simulation. Publish position of CF based on cmd_x received

ROS Features

Subscribed Topics

/cfx/cmd_position (crazyflie_driver/Position)

Position command

/cfx/cmd_hovering (crazyflie_driver/Hover)

Hovering command

/cfx/cmd_stop (std_msgs/Empty)

Stop CF

/cfx/cmd_vel (geometry_msgs/Twist)

Velocity of CF

Published Topics

/cfx/pose (geometry_msgs/PoseStamped)

Current pose of CF

Services

/cfx/emergency(std_srvs/Empty)

Simulation of emergency service

Services Called

None

Parameters

~cf_name”(str)

/starting_positions”)[cf_name](list of float)

CrazyflieSim class

class crazyflie_sim.CrazyflieSim(cf_id, starting_pos)

To simulate position of CF based on received cmd.

send_pose()

Publish current pose of CF

emergency(_)

Sim emergency service