ros-gz-crazyflie

Still work in progress!

The modules for the multiranger, like the simple mapper and wall following are moved to: https://github.com/knmcguire/crazyflie_ros2_multiranger

Made for ROS2 humble and Gazebo Harmonic on Ubuntu 22.04

Usage

Make a workspace and clone this gazebo-ros crazyflie simulation repo

mkdir ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/knmcguire/ros_gz_crazyflie

Clone the crazyflie simulation repo and source the crazyflie model

mkdir ~/simulation_models/
cd ~/simulation_models/
git clone git@github.com:bitcraze/crazyflie-simulation.git
export GZ_SIM_RESOURCE_PATH=~/simulation_models/simulator_files/gazebo/"

Build the ros workspace with

cd  ~/ros2_ws/
colcon build --cmake-args -DBUILD_TESTING=ON

Run with

ros2 launch ros_gz_crazyflie_bringup crazyflie_simulation.launch.py

In a different terminal, open ROS 2 teleop twist keyboard node with

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=crazyflie/cmd_vel

Take off with pressing 't' and then control the crazyflie with the keyboard according to the teleop_twist_keyboard instructions.