How to deploy crazychoir to a Real-World

[sadlim]

Hello, your work is really great. Our laboratory has currently completed the installation of Crazychoir, and we would like to deploy it to a real Crazyfly environment. Do you have any reference materials? I see that the API section on your official website is currently being updated and I look forward to its quick completion.

[andrea-testa]

Hi, thank you for your interest! We are going to update the documentation soon, so please keep in touch! Also, notice that in the crazychoir_example package, we have a set of launch file named *_vicon.launch.py. These files can be used to launch real-world simulations. In particular, in each file there is a the 'uris' list in the form

uris = [
    'radio://0/80/2M/E7E7E7E701',
    'radio://1/90/2M/E7E7E7E702',
    'radio://2/100/2M/E7E7E7E703',
    'radio://3/110/2M/E7E7E7E704',
]

You can put the radio address of your crazyflies. It can also handle different radio dongles put on the same laptop (radio://0/, radio://1/...). The launch file automatically connected to the Vicon motion capture system, using this instruction

launch_description.append(Node(
        package='vicon_receiver', 
        executable='vicon_client', 
        output='screen',
        parameters=[{
            'hostname': '192.168.10.1', 
            'buffer_size': 200, 
            'namespace': 'vicon'}]
    ))

You can change the hostname according to your need. Then, just remember to recompile and you can launch everything on your hardware. Thank you again for your interest and let us know if everything went well!