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ICON Flying Arena Setup

Intelligent CONtrol Labratory for the IRL Flying Arena Setup.

Instructions

This page should bring you up to speed on how experiments are conducted using our crazyflie/crazyswarm setup. While past experiments used Ubuntu 16.04 on ROS 1, crazyswarm2 recently switched to more recent versions of Ubuntu on ROS 2.

  1. Clone this repository:
git clone https://github.com/labicon/crazyswarm2
  1. Go to the Crazyswarm2 Docs and follow the installation instructions. This lab laptop is currently on Ubuntu Jammy (22.04) on ROS2.
  2. Ensure the VICON system is powered on and calibrated including the setting of the masks.
    • Some of the cameras have undesired effects that need to be accounted for. You should be able to see the infrared markers appear in real-time.
    • To validate that VICON is doing its job, do the following: 
      # (from this directory)
cd ../motion_capture_tracking/motion_capture_tracking/deps/libmotioncapture
# Follow the instructions for the C++ section. I wasn't able to get the python to work.
cp build/temp.linux-x86_64-3.10/motioncapture_example ~/.local/bin/_motioncapture_example
cd ~/.local/bin
ln -s ~/Documents/path/to/crazyswarm2/vicondump ~/.local/bin
      If ~/.local/bin/ is on your path, which it should be, you should now be able to use vicondump which has been hardcoded to our system and hostname.`
  3. To automate the setup, it might be worth looking at some of the aliases I've defined in ~/.bash_aliases to skip some of the repetitive steps.