git clone --recurse-subodules https://github.com/boomer319/verrueckter_schwarm.git

source /opt/ros/humble/setup.bash # can be added at the bottom of your .bashrc

source install/setup.bash # execute in your ros2_ws! can be added at the bottom of your .bashrc

ifconfig # find out the network adapter configuration of your device

ping IP-Address # test wether data transfer to specified IP works as quickly as intended

cfclient # open the crazyflie client

ros2 launch crazyflie launch.py backend:=cflib # starting crazyswarm2's crazyflie server with cflib backend

ros2 launch crazyflie launch.py # starting crazyswarm2's crazyflie server with cpp backend (this one is used in the course of this project)

export PYTHONPATH=~/verrueckter_schwarm/crazyflie-firmware/build:$PYTHONPATH # necessary for starting the crazyflie simulation
ros2 launch crazyflie launch.py backend:=sim # starting simulated server

ros2 run crazyflie_examples hello_world # in separate terminal

ros2 run crazyflie_waypoint_mission goTo # in separate terminal

source ~/environments/cf/bin/activate # enter python environment

deactivate # exit python env

alias cf='source ~/environments/cf/bin/activate'

# ROS
source /opt/ros/humble/setup.bash # source ros
alias cs2='cd ~/verrueckter_schwarm/ros2_ws && source install/local_setup.bash' # source ros workspace
alias chooser='ros2 run crazyflie chooser.py' # makes it easy to read the battery voltage, restart crazyflies, select and deselect them. the alternative to selecting them in chooser.py would be to manually go to crazyflies.yaml and type true and false for each crazyflie.

# MoCap
alias NatNet='~/verrueckter_schwarm/NatNetSDKCrossplatform/build/sampleClient' # launching the sampleClient to see whether your PC receives the MoCap data thats streamed by NatNet.

# Python
alias cf='source ~/environments/cf/bin/activate' # Environment for working with the crazyflie
alias cf_py2='source ~/environments/cf_py2/bin/activate' # Environment for working with the crazyflie but python2
alias cfai='source ~/environments/cfai/bin/activate' # Environment for following the classification example with the ai deck
alias gap='source ~/environments/gap/bin/activate' # Environment for working with the GAP8 chip

# GAP
alias GAP_SDK='gap && source ~/verrueckter_schwarm/gap_sdk/sourceme.sh' # sourcing the chip configuration for working with the GapSDK
alias JTAG='export GAPY_OPENOCD_CABLE=~/verrueckter_schwarm/gap_sdk/utils/gap8-openocd/tcl/interface/ftdi/olimex-arm-usb-tiny-h.cfg' # needed whenever you are working with the JTAG debugger

sudo apt install git python3-pip libxcb-xinerama0
pip3 install --upgrade pip

pip3 install cfclient

sudo groupadd plugdev
sudo usermod -a -G plugdev $USER

cat <<EOF | sudo tee /etc/udev/rules.d/99-bitcraze.rules > /dev/null
# Crazyradio (normal operation)
SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"
# Bootloader
SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="0101", MODE="0664", GROUP="plugdev"
# Crazyflie (over USB)
SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0664", GROUP="plugdev"
EOF

sudo udevadm control --reload-rules
sudo udevadm trigger

cfclient

mkdir -p ros2_ws/src
cd ros2_ws/src
git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git