LOCO定位系统入门教程-在仿真环境下crazyflie飞行设置的航点

说明：

• 介绍在仿真环境下crazyflie飞行设置的航点

步骤：

• 进入目录

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

• 执行脚本文件

python3 waypoints_simple.py --sim

• 代码如下

"""Single CF: takeoff, follow absolute-coords waypoints, land."""

import numpy as np

from pycrazyswarm import Crazyswarm


Z = 1.0
TAKEOFF_DURATION = 2.5
GOTO_DURATION = 3.0
WAYPOINTS = np.array([
    (1.0, 0.0, Z),
    (1.0, 1.0, Z),
    (0.0, 1.0, Z),
    (0.0, 0.0, Z),
])


def main():
    swarm = Crazyswarm()
    timeHelper = swarm.timeHelper
    cf = swarm.allcfs.crazyflies[0]

    cf.takeoff(targetHeight=Z, duration=TAKEOFF_DURATION)
    timeHelper.sleep(TAKEOFF_DURATION + 1.0)

    for p in WAYPOINTS:
        cf.goTo(cf.initialPosition + p, yaw=0.0, duration=GOTO_DURATION)
        timeHelper.sleep(GOTO_DURATION + 1.0)

    cf.land(targetHeight=0.05, duration=TAKEOFF_DURATION)
    timeHelper.sleep(TAKEOFF_DURATION + 1.0)


if __name__ == "__main__":
    main()

• 一只crazyflie起飞后，飞去不同的航点，然后着陆