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 7.0

相关设备：

• crazyflie套件：采购地址

组装光流甲板 和 测距甲板：

步骤：

安装相关环境

• 下载官方提供的虚拟机，本教程使用虚拟机版本：BitcrazeVM_2023.10.ova，用户名: bitcraze，密码: crazyflie

[https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-1-0/][8]
[https://github.com/bitcraze/bitcraze-vm/releases/][9]

• 安装光流甲板Flow V2 deck 和 测距甲板Multi-ranger deck

[https://www.bitcraze.io/documentation/tutorials/getting-started-with-stem-ranging-bundle/][10]
[https://www.bitcraze.io/documentation/tutorials/getting-started-with-expansion-decks/][11]

• 安装 4 个包：

crazyflie_simulation：包含 Crazyflie 的 Gazebo 模型，其中配有激光雷达作为多测距仪
crazyswarm2：提供与Crazyflie的通信链接和ROS2集成
ros_gz_crazyflie：处理Gazebo和ROS 2之间的桥接
crazyflie_ros2_multiranger：处理简单映射和墙壁跟随自主节点


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