diff --git a/_sources/tutorials.rst.txt b/_sources/tutorials.rst.txt index c007409bd..3a3894123 100644 --- 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, +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 index 60e403f1f..301771013 100644 --- a/faq.html +++ b/faq.html @@ -1,13 +1,15 @@ - + Frequently Asked Questions — Crazyswarm2 1.0a1 documentation - - - + + + + + diff --git a/genindex.html b/genindex.html index d49f569f0..d62c18214 100644 --- a/genindex.html +++ b/genindex.html @@ -1,12 +1,14 @@ - + Index — Crazyswarm2 1.0a1 documentation - - - + + + + + diff --git a/howto.html b/howto.html index 0a5a9b8a2..6c5026acc 100644 --- a/howto.html +++ b/howto.html @@ -1,13 +1,15 @@ - + How To — Crazyswarm2 1.0a1 documentation - - - + + + + + diff --git a/index.html b/index.html index 6f7376cfd..cb34f96e2 100644 --- a/index.html +++ b/index.html @@ -1,13 +1,15 @@ - + Crazyswarm2: A ROS 2 testbed for Aerial Robot Teams — Crazyswarm2 1.0a1 documentation - - - + + + + + diff --git a/installation.html b/installation.html index 93e709ba6..00ee9f6e4 100644 --- a/installation.html +++ b/installation.html @@ -1,13 +1,15 @@ - + Installation — Crazyswarm2 1.0a1 documentation - - - + + + + + diff --git a/overview.html b/overview.html index 82f32b845..2151d8476 100644 --- a/overview.html +++ b/overview.html @@ -1,13 +1,15 @@ - + Overview — Crazyswarm2 1.0a1 documentation - - - + + + + + diff --git a/search.html b/search.html index be47864a5..3f15bd731 100644 --- a/search.html +++ b/search.html @@ -1,12 +1,14 @@ - + Search — Crazyswarm2 1.0a1 documentation - - - + + + + + @@ -53,6 +55,7 @@
  • ROS 2 Tutorials