crazyflie_examples.vel_mux module

Velocity multiplexer example using crazyflie_py.

Subscribes to /cmd_vel (Twist) and handles takeoff, hover, and landing automatically, eliminating the need for the separate vel_mux ROS node.

Velocity mapping from the incoming Twist message:

linear.x -> vx (m/s forward) linear.y -> vy (m/s left) angular.z -> yaw_rate (rad/s) linear.z -> < 0 triggers landing; >= 0 continues hovering

Usage:

ros2 run crazyflie_examples vel_mux –ros-args -p hover_height:=0.5

Then send commands with, e.g.:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

crazyflie_examples.vel_mux.main()