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Installation

Crazyswarm2 runs on Ubuntu Linux in one of the following configurations:

Ubuntu Python ROS2
20.04 3.7, 3.8 Galactic

Warning

The Windows Subsystem for Linux (WSL) is experimentally supported but you'll have to use usbipd-win. This program will link the crazyradio directly with WS, but beware of bugs. Check out their WSL connect guide.

Warning

Avoid using a virtual machine if possible: they add additional latency and might cause issues with the visualization tools.

First Installation

  1. If needed, install ROS2 using the instructions at https://docs.ros.org/en/galactic/Installation.html.

  2. Install dependencies

    sudo apt install libboost-program-options-dev libusb-1.0-0-dev

    If you are planning to use the CFlib backend, do:

    pip3 install cflib

  3. Set up your ROS2 workspace

    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

  4. Build your ROS2 workspace

    cd ../
colcon build --symlink-install

    Note

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

  5. Set up software-in-the-loop simulation

    cd crazyflie_py/crazyflie_py/cfsim
CSW_PYTHON=python3 make

Updating

You can update your local copy using the following commands:

cd ros2_ws/src/crazyswarm2
git pull
git submodule sync
git submodule update --init --recursive
cd ../
colcon build --symlink-install