Intelligent CONtrol Labratory for the IRL Flying Arena Setup.
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.
- Clone this repository:
git clone https://github.com/labicon/crazyswarm2
- Go to the
Crazyswarm2 Docs
and follow the installation instructions. This lab laptop is currently on Ubuntu Jammy (22.04) on ROS2. - 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:
If
# (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
~/.local/bin/
is on your path, which it should be, you should now be able to usevicondump
which has been hardcoded to our system and hostname.`
- 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.