Nowadays the Crazyflie contains all LPS-related positioning algorithm onboard and the Crazyflie client is used to setup the LPS syste. Hence, this package is not required anymore.
- To setup an LPS system follow the getting started guide using the Crazyflie client.
- For simple flight of up to a couple of Crazyflie you can directly use the Crazyflie_ros package.
- To fly complex trajectories of more Crazyflies, you can use the ros-based Crazyswarm project by selecting motion_capture_type to none
This ROS package contains the Particle filter, launch files and bridges used to estimate the Bitcraze Crazyflie 2.0 position with using the LPS UWB ranging deck and LPS nodes.
More information can be found on the Bitcraze wiki.
To use the particle filter and the visualisation node, the anchor position needs to be set up in the ROS parameter server. The launcher files will load the anchor position from data/anchor_pos.yaml. See data/anchor_pos.yaml.sample.
Go to the contribute page on our website to learn more.