LOCO定位系统入门教程-在仿真环境下两只crazyflie同时起飞、悬浮

说明：

• 介绍在仿真环境下两只crazyflie同时起飞、悬浮

步骤：

• 进入目录

cd ~/crazyswarm/ros_ws/src/crazyswarm/scripts

• 执行脚本文件

python3 niceHover.py --sim

• 代码如下

#!/usr/bin/env python

import numpy as np
from pycrazyswarm import *

Z = 1.0

if __name__ == "__main__":
    swarm = Crazyswarm()
    timeHelper = swarm.timeHelper
    allcfs = swarm.allcfs

    allcfs.takeoff(targetHeight=Z, duration=1.0+Z)
    timeHelper.sleep(1.5+Z)
    for cf in allcfs.crazyflies:
        pos = np.array(cf.initialPosition) + np.array([0, 0, Z])
        cf.goTo(pos, 0, 1.0)

    print("press button to continue...")
    swarm.input.waitUntilButtonPressed()

    allcfs.land(targetHeight=0.02, duration=1.0+Z)
    timeHelper.sleep(1.0+Z)

• 在仿真环境下，两只crazyflie同时起飞、悬浮