Deploying to gh-pages from @ 6961278 🚀

IMRCLab · Nov 28, 2023 · 82113bf · 82113bf
1 parent 73dbdbf
commit 82113bf
Show file tree

Hide file tree

Showing 11 changed files with 126 additions and 37 deletions.
diff --git a/_sources/tutorials.rst.txt b/_sources/tutorials.rst.txt
@@ -89,6 +89,46 @@ Here you can see an example of 5 crazyflies with the Pose default topic enabled,
         <iframe src="https://www.youtube.com/embed/w99hLldcSp4" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
     </div>
 
+Mapping with simple mapper
+--------------------------
+
+If you have a crazyflie with a multiranger and flowdeck, you can try out some simple mapping.
+
+Make sure that the scan and odometry logging is enabled in crazyflies.yaml:
+
+.. code-block:: bash
+
+  firmware_logging:
+    enabled: true
+    default_topics:
+      odom:
+        frequency: 10 # Hz
+      scan:
+        frequency: 10 # Hz
+
+and make sure that the pid controller and kalman filter is enabled:
+
+.. code-block:: bash
+
+  firmware_params:
+    stabilizer:
+      estimator: 2 # 1: complementary, 2: kalman
+      controller: 1 # 1: PID, 2: mellinger
+
+If you are using a different name for your crazyflie, make sure to change the following in the example launch file (multiranger_simple_mapper_launch.py):
+
+.. code-block:: bash
+
+    crazyflie_name = '/cf231'
+
+Then start the simple mapper example launch file:
+
+.. code-block:: bash
+
+    ros2 launch crazyflie_examples multiranger_simple_mapper_launch.py
+
+And watch the mapping happening in rviz2 while controlling the crazyflie with the teleop node (see the sections above).
+
 Mapping with the SLAM toolbox
 -----------------------------
 

diff --git a/faq.html b/faq.html
@@ -1,13 +1,15 @@
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" >
+<html class="writer-html5" lang="en" data-content_root="./">
 <head>
   <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Frequently Asked Questions &mdash; Crazyswarm2 1.0a1 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
+
+
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->

diff --git a/genindex.html b/genindex.html
@@ -1,12 +1,14 @@
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" >
+<html class="writer-html5" lang="en" data-content_root="./">
 <head>
   <meta charset="utf-8" />
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Index &mdash; Crazyswarm2 1.0a1 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
+
+
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->

diff --git a/howto.html b/howto.html
@@ -1,13 +1,15 @@
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" >
+<html class="writer-html5" lang="en" data-content_root="./">
 <head>
   <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>How To &mdash; Crazyswarm2 1.0a1 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
+
+
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->

diff --git a/index.html b/index.html
@@ -1,13 +1,15 @@
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" >
+<html class="writer-html5" lang="en" data-content_root="./">
 <head>
   <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Crazyswarm2: A ROS 2 testbed for Aerial Robot Teams &mdash; Crazyswarm2 1.0a1 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
+
+
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->

diff --git a/installation.html b/installation.html
@@ -1,13 +1,15 @@
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" >
+<html class="writer-html5" lang="en" data-content_root="./">
 <head>
   <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Installation &mdash; Crazyswarm2 1.0a1 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
+
+
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->

diff --git a/overview.html b/overview.html
@@ -1,13 +1,15 @@
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" >
+<html class="writer-html5" lang="en" data-content_root="./">
 <head>
   <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Overview &mdash; Crazyswarm2 1.0a1 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
+
+
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->

diff --git a/search.html b/search.html
@@ -1,12 +1,14 @@
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" >
+<html class="writer-html5" lang="en" data-content_root="./">
 <head>
   <meta charset="utf-8" />
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Search &mdash; Crazyswarm2 1.0a1 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
+
+
 
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>

diff --git a/searchindex.js b/searchindex.js
diff --git a/tutorials.html b/tutorials.html
@@ -1,13 +1,15 @@
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" >
+<html class="writer-html5" lang="en" data-content_root="./">
 <head>
   <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>ROS 2 Tutorials &mdash; Crazyswarm2 1.0a1 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
+
+
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->
@@ -53,6 +55,7 @@
 <li class="toctree-l1 current"><a class="current reference internal" href="#">ROS 2 Tutorials</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="#teleoperation-keyboard">Teleoperation keyboard</a></li>
 <li class="toctree-l2"><a class="reference internal" href="#vizualization-with-rviz2">Vizualization with RVIZ2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#mapping-with-simple-mapper">Mapping with simple mapper</a></li>
 <li class="toctree-l2"><a class="reference internal" href="#mapping-with-the-slam-toolbox">Mapping with the SLAM toolbox</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="#preperation">Preperation</a></li>
 <li class="toctree-l3"><a class="reference internal" href="#connecting-with-the-crazyflie">Connecting with the Crazyflie</a></li>
@@ -155,6 +158,36 @@ <h2>Vizualization with RVIZ2<a class="headerlink" href="#vizualization-with-rviz
 <div style="position: relative; padding-bottom: 56.25%; margin-bottom: 20pt; height: 0; overflow: hidden; max-width: 100%; height: auto;">
     <iframe src="https://www.youtube.com/embed/w99hLldcSp4" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
 </div></section>
+<section id="mapping-with-simple-mapper">
+<h2>Mapping with simple mapper<a class="headerlink" href="#mapping-with-simple-mapper" title="Link to this heading"></a></h2>
+<p>If you have a crazyflie with a multiranger and flowdeck, you can try out some simple mapping.</p>
+<p>Make sure that the scan and odometry logging is enabled in crazyflies.yaml:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>firmware_logging:
+<span class="w">  </span>enabled:<span class="w"> </span><span class="nb">true</span>
+<span class="w">  </span>default_topics:
+<span class="w">    </span>odom:
+<span class="w">      </span>frequency:<span class="w"> </span><span class="m">10</span><span class="w"> </span><span class="c1"># Hz</span>
+<span class="w">    </span>scan:
+<span class="w">      </span>frequency:<span class="w"> </span><span class="m">10</span><span class="w"> </span><span class="c1"># Hz</span>
+</pre></div>
+</div>
+<p>and make sure that the pid controller and kalman filter is enabled:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>firmware_params:
+<span class="w">  </span>stabilizer:
+<span class="w">    </span>estimator:<span class="w"> </span><span class="m">2</span><span class="w"> </span><span class="c1"># 1: complementary, 2: kalman</span>
+<span class="w">    </span>controller:<span class="w"> </span><span class="m">1</span><span class="w"> </span><span class="c1"># 1: PID, 2: mellinger</span>
+</pre></div>
+</div>
+<p>If you are using a different name for your crazyflie, make sure to change the following in the example launch file (multiranger_simple_mapper_launch.py):</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nv">crazyflie_name</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s1">&#39;/cf231&#39;</span>
+</pre></div>
+</div>
+<p>Then start the simple mapper example launch file:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>crazyflie_examples<span class="w"> </span>multiranger_simple_mapper_launch.py
+</pre></div>
+</div>
+<p>And watch the mapping happening in rviz2 while controlling the crazyflie with the teleop node (see the sections above).</p>
+</section>
 <section id="mapping-with-the-slam-toolbox">
 <h2>Mapping with the SLAM toolbox<a class="headerlink" href="#mapping-with-the-slam-toolbox" title="Link to this heading"></a></h2>
 <p>You can connect the Crazyflie through ROS 2 with existing packages like the <a class="reference external" href="https://github.com/SteveMacenski/slam_toolbox/">SLAM toolbox</a>.

diff --git a/usage.html b/usage.html
@@ -1,13 +1,15 @@
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" >
+<html class="writer-html5" lang="en" data-content_root="./">
 <head>
   <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>Usage &mdash; Crazyswarm2 1.0a1 documentation</title>
-      <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-      <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
-      <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
+      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=fa44fd50" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=19f00094" />
+      <link rel="stylesheet" type="text/css" href="_static/tabs.css?v=a5c4661c" />
+
+
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
   <![endif]-->