WARNING: This repository is deprecated. Please use the Crazyswarm instead, even when only operating a single Crazyflie. If you are missing features in the Crazyswarm, feel free to open an open issue.

crazyflie_ros

ROS stack for Bitcraze Crazyflie (http://www.bitcraze.se/), with the following features:

• Support for Crazyflie 1.0 and Crazyflie 2.0 (using stock firmware)
• Publishes on-board sensors in ROS standard message formats
• Supports ROS parameters to reconfigure crazyflie parameters
• Support for using multiple Crazyflies with a single Crazyradio
• Includes external controller for waypoint navigation (if motion capture system is available)
• No dependency to the Bitcraze SDK (Driver and Controller written in C++)

A tutorial (for a slightly older version) is available in W. Hönig and N. Ayanian. “Flying Multiple UAVs Using ROS”, Chapter in Robot Operating System (ROS): The Complete Reference (Volume 2), Springer, 2017. (see http://act.usc.edu/publications.html for a free pre-print).

Citing This Work

This project is published under the very permissive MIT License. However, if you use the package we appreciate if you credit this project accordingly.

For academic publications, you can cite the following book chapter:

@Inbook{crazyflieROS,
  author={Wolfgang H{\"o}nig
          and Nora Ayanian},
  editor={Anis Koubaa},
  title={Flying Multiple UAVs Using ROS},
  bookTitle={Robot Operating System (ROS): The Complete Reference  (Volume 2)},
  year={2017},
  publisher={Springer International Publishing},
  pages={83--118},
  isbn={978-3-319-54927-9},
  doi={10.1007/978-3-319-54927-9_3},
  url={https://doi.org/10.1007/978-3-319-54927-9_3}
}

If your work is related to Mixed Reality, you might cite the paper which introduced the package instead, using the following bibtex entry:

@conference{HoenigMixedReality2015,
  author = {Wolfgang H{\"o}nig and Christina Milanes and Lisa Scaria and Thai Phan and Mark Bolas and Nora Ayanian},
  booktitle = {IEEE/RSJ Intl Conf. Intelligent Robots and Systems},
  pages = {5382 - 5387},
  title = {Mixed Reality for Robotics},
  year = {2015}}

For any other mentioning please include my affiliation (ACTLab at University of Southern California or USC in short; The link to our webpage is http://act.usc.edu) as this work was partially done as part of my research at USC.

Installation

Clone the package into your catkin workspace:

git clone https://github.com/whoenig/crazyflie_ros.git
cd crazyflie_ros
git submodule init
git submodule update

Use catkin_make on your workspace to compile.

Usage

There are six packages included: crazyflie_cpp, crazyflie_driver, crazyflie_tools, crazyflie_description, crazyflie_controller, and crazyflie_demo. Note that the below description might be slightly out-of-date, as we continue merging the Crazyswarm and crazyflie_ros.

Crazyflie_Cpp

This package contains a cpp library for the Crazyradio and Crazyflie. It can be used independently of ROS.

Crazyflie_driver

This package contains the driver. In order to support multiple Crazyflies with a single Crazyradio, there is crazyflie_server (communicating with all Crazyflies) and crazyflie_add to dynamically add Crazyflies. The server does not communicate to any Crazyflie initially, hence crazyflie_add needs to be used.

Crazyflie_tools

This package contains tools which are helpful, but not required for normal operation. So far, it just support one tool for scanning for a Crazyflie.

You can find connected Crazyflies using:

rosrun crazyflie_tools scan

Crazyflie_description

This package contains a 3D model of the Crazyflie (1.0). This is for visualization purposes in rviz.

Crazyflie_controller

This package contains a simple PID controller for hovering or waypoint navigation. It can be used with external motion capture systems, such as VICON.

Crazyflie_demo

This package contains a rich set of examples to get quickly started with the Crazyflie.

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