To control flight of the swarm. By using a state machine, this node will determine each crazyflie goal and control it's desired position by publishing to cf-goal.
The goal will change depending of the services called by SwarmAPI.
Note
See /glossary for definition of Swarm and Formation
cf-formation-goal(crazyflie_driver/Position)Position of the CF in formation
trajectory-goal(crazyflie_driver/Position)Position of the CF on the trajectory, at each time step
cf-state(std_msgs/String)Current state of CF
cf-pose(geometry_msgs/PoseStamped)Current pose of CF
joy-swarm-vel(geometry_msgs/Twist)Swarm velocity
cf-goal(crazyflie_driver/Position)Target position of CF
formation-goal-vel(geometry_msgs/Twist)Formation center goal variation
- /take_off_swarm(std_srvs/Empty)
Take off all CFs
- /stop_swarm(std_srvs/Empty)
Stop all CFs
- /swarm_emergency(std_srvs/Empty)
Emgergency stop of all CFs
- /land_swarm(std_srvs/Empty)
Land all CF to their starting position
- /get_positions(swarm_manager/GetPositions)
Get current position of CFs
- /go_to(swarm_manager/SetGoals)
Move CFs or formation to specified positions
- /set_mode(swarm_manger/SetMode)
Set control of swarm_controller
- /set_swarm_formation(formation_manager/SetFormation)
Set swarm to a formation
- /inc_swarm_scale(std_srvs/Empty)
Increase scale of formation
- /dec_swarm_scale(std_srvs/Empty)
Decrease scale of formation
- /next_swarm_formation(std_srvs/Empty)
Go to next formation
- /prev_swarm_formation(std_srvs/Empty)
Go to previous formation
- /traj_found(std_srvs/SetBool)
To call once the trajectory planner is done
- /traj_done(std_srvs/Empty)
To call once the trajectory is done
- /set_formation(formation_manager/SetFormation)
From
/ros_architecture/formation_manager- /get_formations_list(formation_manager/GetFormationList)
From
/ros_architecture/formation_manager- /formation_inc_scale(std_srvs/Empty)
From
/ros_architecture/formation_manager- /formation_dec_scale(std_srvs/Empty)
From
/ros_architecture/formation_manager- /set_planner_positions(trajectory_planner/SetPositions)
From
/ros_architecture/trajectory_planner- /plan_trajectories(std_srvs/Empty)
From
/ros_architecture/trajectory_planner- /pub_trajectories(std_srvs/Empty)
From
/ros_architecture/trajectory_planner
~n_cf(int)
~take_off_height(float)
~gnd_height(float)
~min_dist(float)
~min_goal_dist(float)