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:
- crazyflie套件:采购地址
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
https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-1-0/
https://github.com/bitcraze/bitcraze-vm/releases/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/
https://www.bitcraze.io/documentation/tutorials/getting-started-with-expansion-decks/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
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