CRTP_micro-ros-agent (Work in progress!)

Custom transport micro-ROS agent for Bitcraze's Crazyflie 2.1 MAVs

Only works with a CF for now but will work (hopefully!) with multiple in the near future

Under heavy development

Building and installation

This guide assumes that you have a working ROS2 foxy installation, if not please refer to the official guide.

Start by cloning this repo and all its submodules:

git clone --recurse-submodules https://github.com/ruimscarvalho98/CRTP_micro-ros-agent.git

Afterwards to install the cpp crazyflie drive first install the libusb dependency:

sudo apt install -y libusb-1.0-0-dev

then compile the library:

cd crazyflie-link-cpp
git submodule init 
git submodule update
mkdir build
cd build
cmake ..
make

Next up, compile the custom CRTP micro-xrce-dds agent:

cd Micro-XRCE-DDS-Agent
mkdir build && cd build
cmake ..
make

And run it from the build folder:

cd Micro-XRCE-DDS-Agent/build
./examples/SingleCRTPAgent/SingleCRTPAgent  <uri>

Where the uri is specific to your crazyflie, in my case it is "radio://0/80/2M/E7E7E7E7E7" but this can be changed using the cfclient or in the config.h file of the crazyflie firmware. Please note that this only works with radio, to use USB the client-side uROS custom transport in the firmware must be modified.

Run an example

An example micro-ros application which is based on this but with a lower publishing frequency and using channel 80 is availble in the test folder. To compile and flash the app to the crazyflie please refer to this repo

Next, start the crazyflie and open two terminals.

In the first one run the custom agent:

cd Micro-XRCE-DDS-Agent/build
./examples/SingleCRTPAgent/SingleCRTPAgent  <uri>

In the second, echo one of the published topics:

ros2 topic echo /drone/odometry

You should achieve something like this:

Then move the crazyflie around and watch the values of odometry change in real-time!