Chapter 9. Flying a Mission with Crazyflie

Robots are fun and sometimes frustrating to program. Quadrotors are particularly difficult to control due to the number of flight factors and the complexity of flight programs to control these factors. Quadrotors are currently being tested as surveillance cameras and delivery vehicles for packages and fast food. In this chapter, we will explore the subject of programming quadrotors to fly to specific destinations. This application may be handy for delivering coffee and paperwork around the office. We will begin by using a barebones quadrotor and an inexpensive depth camera to sense the quadrotor's location.

This chapter will highlight the use of ROS communication to coordinate the locations of the quadrotor and the target. A Kinect sensor will be used to visualize the environment and the position of the quadrotor in it to coordinate its landing at a marked location. ROS tf transforms and pose messages will be generated to identify the reference frames...