ROS Topics¶
Description of the ros topics used.
| Topic | Msg type | Description |
|---|---|---|
| /cfx/pose | (geometry_msgs/PoseStamped) | Pose of a CF |
| /cfx/state | (std_msgs/String) | State of a CF |
| /cfx/cmd_position | (crazyflie_drive/Position) | Position command |
| /cfx/cmd_hovering | (crazyflie_driver/Hover) | Hovering command |
| /cfx/cmd_vel | (geometry_msgs/Twist) | Velocity of CF |
| /cfx/cmd_stop | (std_msgs/Empty) | Stop CF |
| /cfx/trajectory_goal | (crazyflie_driver/Position) | Trajectory goal of a CF |
| /cfx/formation_goal | (crazyflie_driver/Position) | Formation goal of a CF |
| /formation_goal | (crazyflie_drive/Position) | Goal of formation |
| /formation_pose | (geometry_msgs/Pose) | Position of formation |
| /formation_goal_vel | (geometry_msgs/Twist) | Formation goal velocity |
| /joy_swarm_vel | (geometry_msgs/Twist) | Joystick swarm command |
Crazyflie¶
/cfx/pose¶
(geometry_msgs/PoseStamped)
Current pose of CF
/cfx/state¶
(std_msgs/String)
Current state of CF
/cfx/goal¶
(crazyflie_driver/Position)
Target position of CF
/cfx/cmd_position¶
(crazyflie_drive/Position)
Position command
/cfx/cmd_hovering¶
(crazyflie_driver/Hover)
Hovering command
/cfx/cmd_vel¶
(geometry_msgs/Twist)
Velocity of CF
/cfx/cmd_stop¶
(std_msgs/Empty)
Stop CF
Swarm¶
/cfx/trajectory_goal¶
(crazyflie_driver/Position)
Position of the CF on the trajectory, at each time step
/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
/formation_goal_vel¶
(geometry_msgs/Twist)
Formation center goal variation
/joy_swarm_vel¶
(geometry_msgs/Twist)
Swarm velocity, from joystick