Improvements crazyflie

[knmcguire]

Description
This is an improvement of the Bitcraze Crazyflie robot. The model has now a fasthelix, altitude control to keyboard controller. Also there is an python controller which features an autonomous mode, which is able to do wall following in a more complicated environment (the apartment) which is added as a second world.

Related Issues
This pull-request fixes issue #4711 partly (point 1-3 and 5) but the other issues are not mandatory and mostly improvements, so perhaps we can leave it at that and make the issue once we are ready to make a new PR

Tasks
These are the things done in this request

• Implemented fast helix
• Altitude control to keyboard
• More complex world called crazyflie_apartment
• New controller with autonomy

Documentation
No changes to documentation necessary.

Screenshots
This is a screenshot of the more complex behavior

[knmcguire]

ahh a failed test. I have indeed reused the fast helix of the dji example and I would have gotten away with it too if it weren't for you meddling checks! 👿

Just kidding! Sorry couldn't help myself with the scoobydoo reference

Anyway, I can make another one, no problem. I was just a bit lazy! 😄

[omichel]

You don't need to make another one, simply reusing the one of the dji is fine, but you should not copy the file.

[knmcguire]

alright let's go for that then. I might make a mental note to fix this in the future as it would be nicer to have the meshes and textures separated from the proto without external dependencies, but it won't be urgent.

Or perhaps it can be a standard texture of some kind? Anyway, just a thought!

[omichel]

Or perhaps it can be a standard texture of some kind? Anyway, just a thought!

Yes, we could place a default/generic helix texture somewhere, like in webots://projects/default/protos/textures/fast_helix.png which could be used by both the Mavic and the Crazyflie.

[knmcguire]

I've also moved the fast helix proto to a more generic location now. Let's hope the CI now passes

[knmcguire]

I'll fix the pep8 issues soon

[knmcguire]

Alright, I've tested out if the changes didn't affect the simulation and the demo. I've marked it ready for review

[omichel]

Thank you. It looks pretty good.
I suggest a few minor edits to make the code more readable and compliant with our standards.

[omichel]

In general we try to avoid abbreviations as much as possible to make the code easier to maintain.

[knmcguire]

@omichel I've addressed the changes, and I've also updated the wall following file as I was right in the middle of improving the code quality of the wallfollowing of the 'real' crazyflie python library itself. This also makes the state machine a lot easier the follow. You can see that more clearly in this commit: dd26625

[knmcguire]

ah wait I've missed a couple of comments in the code. Let me address those first

[knmcguire]

alright, now all comments are addressed and resolved.

[knmcguire]

So, the tests have passed, and I've just merged the latest. If that all goes well, then perhaps ready to merge?

[omichel]

Thank you.,
We are almost there.

[knmcguire]

thanks for fixing the typos! I'll merge it after the tests has passed