Crazyswarm2

A ROS2-based stack for swarms of Bitcraze Crazyflie multirotor robots.

Current Status

• CI for Galactic (Ubuntu only)

• crazyswarm2 package

  • Former crazyflie_tools, e.g., ros2 run crazyswarm2 console
  • Former crazyswarm_teleop
  • Former chooser.py
  • crazyswarm_server
    • Firmware parameters (mapping to parameter server with callback on updates)
    • High-level Takeoff/Landing/GoTo/StartTrajectory (per CF, and broadcasts)
    • Broadcasting motion capture information (position only)

• crazyswarm2_interfaces package

  • All msg/srv files similar to before (updated to follow the new style guide)

• py_crazyswarm2

  • Former Python API (not all functions are ported)

• crazyswarm2_examples

  • Former example scripts (currently: only hello_world, nice_hover, figure8)

• Standalone tracking package, see https://github.com/IMRCLab/motion_capture_tracking/tree/ros2

Missing

• Former crazyswarm_server
  • Data logging
  • broadcast motion capture full pose information
• Scripting layer
  • limited feature set
• Chooser.py
  • No support for flashing firmware
  • Might only work with --symlink-install
  • TODO: should be replaced by a tool that connects to the server instead

Building and Running

mkdir -p ros2_ws/src
cd ros2_ws/src
git clone https://github.com/IMRCLab/crazyswarm2 --recursive
git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git
cd ../
colcon build --symlink-install

Note: symlink-install allows you to edit Python and config files without running colcon build every time.

In a separate terminal:

. install/local_setup.zsh (OR . install/local_setup.bash)
ros2 run crazyswarm2 console

Simulator with Software In The Loop

cd py_crazyswarm2/py_crazyswarm2/cfsim
make

To run, use the --sim flag, e.g.,

ros2 run crazyswarm2_examples hello_world

Notes

Basic High-Level Flight

ros2 param set crazyswarm2_server cf1/params/commander/enHighLevel 1
ros2 param set crazyswarm2_server cf3/params/stabilizer/estimator 2
ros2 service call cf1/takeoff crazyswarm2_interfaces/srv/Takeoff "{height: 0.5, duration: {sec: 2}}"
ros2 service call cf1/land crazyswarm2_interfaces/srv/Land "{height: 0.0, duration: {sec: 2}}"

Chooser.py

ros2 run crazyswarm2 chooser.py

crazyswarm2_examples

ros2 run crazyswarm2_examples hello_world

OLD - TO BE UPDATED

The documentation is available here: http://crazyswarm.readthedocs.io/en/latest/.

Troubleshooting

Please start a Discussion for...

• Getting Crazyswarm to work with your hardware setup.
• Advice on how to use the Crazyswarm Python API to achieve your goals.
• Rough ideas for a new feature.

Please open an Issue if you believe that fixing your problem will involve a change in the Crazyswarm source code, rather than your own configuration files. For example...

• Bug reports.
• New feature proposals with details.