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IMRCLab / crazyswarm2

A Large Quadcopter Swarm
MIT License
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rewrite cflib backend without swarm class #467

Open knmcguire opened 7 months ago

knmcguire commented 7 months ago

The crazyflie_server.py now uses the Crazyflie swarm class to initialize and communicate with all the crazyflies.

https://github.com/IMRCLab/crazyswarm2/blob/ff3f67307505205e57c8b6c1857167944c902b60/crazyflie/scripts/crazyflie_server.py#L122

This is okay for now since we communicate with the Crazyflies from the start of the server but it is not necessary. Also it makes the code a bit stiff and I also think this is the reason why the initialization takes so long at the beginning.

I've already done a bit with the zenoh bridge, I think it will be cleaner if we initialize each crazyflie seperately

knmcguire commented 6 months ago

Also another good reason to do this, less python thread to clog up the processors! See this discussion here https://github.com/IMRCLab/crazyswarm2/discussions/498#discussioncomment-9353858