Installation

OS Requirement

This package was made and tested for Ubuntu 18.04 with ROS Melodic.

The following links might be useful:

• Dual boot windows 10 and linux
• Ubuntu 18.04
• ROS Melodic installation

Note

It might be possible to use this package with a VM. Please let me know if you try it and it works. Note that a VM will add latency.

Package installation

1 - Verify Python version. Only Python 2.7.17 was tested

$ python --version

2 - Clone package

$ git clone https://github.com/MRASL/crazyflie_charles.git

3 - Install and build package using build script

$ cd crazyflie_charles
$ ./build.sh

4 - Install python dependencies

$ sudo apt install python-pip
$ pip install -U pip
$ pip install git+https://github.com/rmcgibbo/quadprog.git#egg=quadprog
$ pip install -r requirements.txt

5 - Install ros joystick driver

$ sudo apt-get install ros-melodic-joy

6 - Test installation

6.1 - Launch server

$ source ros_ws/devel/setup.sh
$ roslaunch swarm_manager launch_swarm.launch sim:=True

6.2 - In another terminal, start demo

$ source ros_ws/devel/setup.sh
$ python demos/trade_spots.py

Warning

Make sure your ros environment has been source and roscore is running before testing this exemple. See section 1.5.

7 - (optional) Automaticaly source ros workspace by adding it to .bashrc

$ echo "source <path_to_crazyflie_charles>/ros_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Note

Replace <path_to_crazyflie_charles> with your installation path.

i.e: ~/projects/crazyflie_charles

8 - Modify PC permissions

$ ./pc_permissions.sh