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Crazyflie入门教程-安装环境-无人机结合光流和测距甲板做建图

说明:

  • 介绍如何安装相关环境,无人机结合光流和测距甲板做建图

  • 使用虚拟机版本环境:

    ROS:Humble
    Ubuntu:Ubuntu 22.04.5 LTS
    虚拟机软件:VirtualBox

相关设备:

步骤:

安装相关环境

mkdir ~/crazyflie_mapping_demo
cd crazyflie_mapping_demo
mkdir simulation_ws
mkdir ros2_ws
cd ros2_ws
mkdir src

cd ~/crazyflie_mapping_demo/simulation_ws
git clone https://github.com/bitcraze/crazyflie-simulation.git

cd ~/crazyflie_mapping_demo/ros2_ws/src
git clone https://github.com/knmcguire/crazyflie_ros2_multiranger.git
git clone https://github.com/knmcguire/ros_gz_crazyflie
git clone https://github.com/IMRCLab/crazyswarm2 --recursive
  • 安装相关依赖
sudo apt-get install libboost-program-options-dev libusb-1.0-0-dev python3-colcon-common-extensions
sudo apt-get install ros-humble-motion-capture-tracking ros-humble-tf-transformations
sudo apt-get install ros-humble-ros-gzharmonic ros-humble-teleop-twist-keyboard
pip3 install cflib transform3D 

pip uninstall numpy
pip install -U numpy==1.23.5
pip install bresenham
pip install setuptools==58.2.0
pip install rowan
pip install nicegui
pip install transform3D
  • 编译包
cd  ~/crazyflie_mapping_demo/ros2_ws/
source /opt/ros/humble/setup.bash
colcon build --cmake-args -DBUILD_TESTING=ON

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