How to fly a large swarm of Crazyflies
This repository should be all you need to set up a development environment for the USC Crazyflie swarm. It mostly consists of links to other submodules, tied together with a build script. The submodules are:
| repo | description |
|---|---|
| crazyflie-clients-python | The official Crazyflie GUI client. Not customized. Useful for manual flight and sanity checks. |
| crazyflie-firmware | Our fork of the software that runs onboard the Crazyflie on the main CPU. Extensively modified with new controller, EKF, spline trajectories, etc. |
| crazyflie-lib-python | A dependency of crazyflie-clients-python. |
| crazyflie2-nrf-firmware | Our fork of the onboard software that controls the Crazyflie's radio. Modified to support broadcast communication to swarms. |
| crazyradio-firmware | (Public) fork of the Crazyradio firmware. Modified to support broadcasts. |
| ros_ws/src/crazyflie_ros | The main ROS stack dealing with sending commands and receiving telemetry from the Crazyflie in ROS. |
| ros_ws/src/object_tracker | Our custom object tracker that, unlike Vicon's object tracker, doesn't require unique marker configurations per vehicle. |
| ros_ws/src/vicon_ros | A ROS interface to the normal Vicon object tracking (that requires unique marker configurations). |
Git submodules behave in a somewhat counterintuitive way.
They point to a specific commit in the submodule's commit tree.
They don't point to a named branch head like you might expect.
Therefore, if you modify one of the submodules listed above, you must also modify this repository
via git submodule update so it points to your new commit.
- Install ROS
- Install GNU ARM toolchain following these instructions
- ??? (create an issue/PR if there are some we missed)
git clone https://github.com/USC-ACTLab/crazyswarm2.git
./build.sh
cd crazyflie2-nrf-firmware
tools/build/download_deps
make
make cload
cd crazyradio-firmware/firmware
make CRPA=1
python ../usbtools/launchBootloader.py
python ../usbtools/nrfbootload.py flash bin/cradio.bin
Unplug and replug radio.
Use SEGGER Real-Time Transfers (RRT):
./JLinkExe -if swd -device STM32F405RG -speed 4000
and type connect. In a second terminal:
./JLinkRTTClient