CrazyflyControllers

• Tested with Ubuntu 20.04.
• Uses ros2 galactic

Installation

1. Install ros2 galactic, see galactic_installation_documentation
2. Clone this repository, inclusive recursive submodules

$ git clone git@github.com:AlboAlby00/CrazyflieControllers.git
$ git submodule update --init --recursive

3. Install the dependencies listed in apt_dependencies
4. Install pip requirements

Start commands for controllers

• launch the pid attitude controller: ros2 launch crazyflie_controllers attitude_pid_controller.launch.py
• launch the pid position controller: ros2 launch crazyflie_controllers position_pid_controller.launch.py (it launches both attitude and position controller)
• launch just drone with still-standing proppellers: ros2 launch crazyflie_ros2_driver crazyflie_ros2_driver.launch.py

Start commands for apriltag detection in apartment

• ros2 launch crazyflie_detectors sim_target_publisher.launch.py

Crazyflie 2.1

motor numbers and spinning orientation

m1 - clockwise

Dependencies for Visual Odometry with ORBSLAM3

• build and install the original Orbslam3 and its dependency: https://github.com/UZ-SLAMLab/ORB_SLAM3
• clone the ROS2 Orbslam3 wrapper on your ros2 workspace and follow the instructions on the Readme https://github.com/AlboAlby00/ORB_SLAM3_ROS2

Usage

Build via

$ colcon build

This will create an install folder. Make sure to source the install:

$ source ./install/setup.bash

Launch via

ros2 launch <crazyflie_<package_name>> <launch_script_name>

Visualization with plotjuggler

To start plotjuggler, run

ros2 run plotjuggler plotjuggler

For explanations on how to use plotjuggler, see plotjuggler.io

Control topics with rqt

To start rqt, run

rqt

With rqt, values to topics can be published.

More documentation

• crazyflie_analysis