ROS stack for Bitcraze Crazyflie, with the following features:
- Support for Crazyflie 2.1
- Compatible with ROS Kinetic
- Publishes onboard sensors data in ROS standard message formats
- Includes NMPC controller for regulation and trajectory tracking (if motion capture system is available)
Check the wiki for more information, including the installation instructions for ROS Kinetic which can be found here.
There are seven packages included: acados, crazyflie_cpp, crazyflie_driver, crazyflie_tools, crazyflie_description, crazyflie_controller, and crazyflie_demo.
A submodule with fast and embedded solvers for nonlinear optimal control.
- Documentation can be found on docs.acados.org.
- Forum: in case of any acados-related question discourse.acados.org.
This submodule contains a cpp library for the Crazyradio and Crazyflie. It can be used independently of ROS. It supports the logging framework streaming data in real-time and the parameter framework adjusting parameters, such as PID gains.
It contains a ROS wrapper around crazyflie_cpp. The logging subsystem is mapped to ROS messages and parameters are mapped to ROS parameters as well.
This package has some features such as: find any Crazyflie in range and list the available logging variables and parameters.
This package contains a 3D model of the Crazyflie 1.0. This is for visualization purposes in rviz.
This package contains an efficient and modular implementation of a nonlinear model predictive controller (NMPC) tailored for the Crazyflie's online trajectory generation and tracking problem. The real-time iteration (RTI) scheme, through a sequential quadratic programming (SQP) algorithm, is used in order to solve the nonlinear program (NLP).
The package also contains a PID position controller for hovering or waypoint navigation, which has been developed by Wolfgang Honig.
Both implementations rely on the knownledge of the Crazyflie's position (e.g. though a motion capture system).
Contains sample scripts and launch files for teleoperation, hovering, and waypoint navigation for both single and multi Crazyflie cases.
For more detailed information regarding each individual package, we refere to the crazyflie_ros stack documentation.
The launch file supports the following arguments:
- uri: Specifier for the crazyflie, e.g. radio://0/80/2M
- tf_prefix: tf prefix for the crazyflie frame(s)
- roll_trim: Trim in degrees, e.g. negative if flie drifts to the left
- pitch_trim: Trim in degrees, e.g. negative if flie drifts forward
See how to obtain good trim values here for details on.
The following fields are used:
- linear.y: roll [e.g. -30 to 30 degrees]
- linear.x: pitch [e.g. -30 to 30 degrees]
- angular.z: yawrate [e.g. -200 to 200 degrees/second]
- linear.z: thrust [10000 to 60000 (mapped to PWM output)]
Note See how to tune these parameters for your joystick in
crazyflie_controller/launch/logitech.launch
- geometry_msgs/Vector3Stamped
- contains the euler angles from the onboard stabilizer
- update: 100 ms (time between crazyflie and ROS not synchronized!)
- crazyflie_driver/GenericLogData
- contains the individual motor speeds (PWM value)
- update: 100 ms (time between crazyflie and ROS not synchronized!)
- sensor_msgs/IMU
- contains the sensor readings of gyroscope and accelerometer
- The covariance matrices are set to unknown
- orientation is not set (this could be done by the magnetometer readings in the future.)
- update: 10 ms (time between crazyflie and ROS not synchronized!)
- can be viewed in rviz
- sensor_msgs/Temperature
- From Barometer (10DOF version only) in degree Celcius (Sensor readings might be higher than expected because the PCB warms up; see here)
- update: 100 ms (time between crazyflie and ROS not synchronized!)
- sensor_msgs/MagneticField
- update: 100 ms (time between crazyflie and ROS not synchronized!)
- Float32
- hPa (or mbar)
- update: 100 ms (time between crazyflie and ROS not synchronized!)
- Float32
- Volts
- update: 100 ms (time between crazyflie and ROS not synchronized!)