Crazyswarm

A Large Nano-Quadcopter Swarm.

Warning This repository is not actively maintained anymore. For new projects, please consider Crazyswarm2.

The documentation is available here: http://crazyswarm.readthedocs.io/en/latest/.

Troubleshooting

Please start a Discussion for...

• Getting Crazyswarm to work with your hardware setup.
• Advice on how to use the Crazyswarm Python API to achieve your goals.
• Rough ideas for a new feature.

Please open an Issue if you believe that fixing your problem will involve a change in the Crazyswarm source code, rather than your own configuration files. For example...

• Bug reports.
• New feature proposals with details.

Added Features

• crazyswarm_controller.launch Conversion from standard ROS messages to custom crazyswarm messages. Allows both position and velocity drones control.

• crazyswarm_supervisor.launch VIsion-based relative localization emulation using OptiTrack. A topic is published for each robot, containing relative position of detected neighbors (undetected neighbors have a fake position of (x,y) = (100.0, 100.0) ). It requires parameters indicating drone's field of view range and angle.