ROS Driver for Bitcraze Crazyflie (http://www.bitcraze.se/), with the following features:
- Uses the official python SDK (which needs to be installed/copied separately)
- Publishes on-board sensors in ROS standard message formats
- Supports ROS parameters to reconfigure crazyflie parameters
Clone the package into your catkin workspace:
git clone https://github.com/whoenig/crazyflie_ros.git
Additionally, you should have the bitcraze SDK on your file system. See https://github.com/bitcraze/crazyflie-clients-python for details.
If you want to use joystick teleoperation, you should setup the hector_quadrotor package (http://wiki.ros.org/hector_quadrotor).
There are two packages included: crazyflie and crazyflie_demo. Crazyflie contains the driver and a launch file which can be used in your own projects.
Crazyflie_demo contains a small demo for teleoperating the crazyflie with a joystick and visualizing the sensor data in rviz.
You can use
roslaunch crazyflie_demo teleop_xbox360.launch
to teleoperate the crazyflie.
Please note that there are (optional) arguments to change the device uri and path to the sdk.
See crazyflie_demo/launch/teleop_xbox360.launch for details.
The launch file supports the following arguments:
- crazyflieSDK: Path to the official SDK from Bitcraze, e.g. ~/crazyflie/crazyflie-clients-python/lib
- 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 http://wiki.bitcraze.se/projects:crazyflie:userguide:tips_and_tricks for details on how to obtain good trim values.
Similar to the hector_quadrotor, package the fields are used as following:
- 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)]
- 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: 10ms (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 http://www.bitcraze.se/2014/02/logging-and-parameter-frameworks-turtorial/)
- update: 100ms (time between crazyflie and ROS not synchronized!)
- sensor_msgs/MagneticField
- update: 100ms (time between crazyflie and ROS not synchronized!)
- Float32
- hPa (or mbar)
- update: 100ms (time between crazyflie and ROS not synchronized!)
- Float32
- Volts
- update: 100ms (time between crazyflie and ROS not synchronized!)
- https://github.com/gtagency/crazyflie-ros
- no documentation
- no teleop
- https://github.com/omwdunkley/crazyflieROS
- coupled with GUI
- based on custom firmware
- https://github.com/mbeards/crazyflie-ros
- incomplete
- https://github.com/utexas-air-fri/crazyflie_fly
- not based on official SDK
- no support for logging
- https://github.com/mchenryc/crazyflie
- no documentation
- The dynamic_reconfigure package (http://wiki.ros.org/dynamic_reconfigure/) seems like a good fit to map the parameters, however it has severe limitations:
- Changed-Callback does not include which parameter(s) were changed. There is only a notion of a level which is a simple bitmask. This would cause that on any parameter change we would need to update all parameters on the Crazyflie.
- Parameters are statically generated. There are hacks to add parameters at runtime, however those might not work with future versions of dynamic_reconfigure.
- Groups not fully supported (ros-visualization/rqt_common_plugins#162; This seems to be closed now, however the Indigo binary packages did not pick up the fixes yet).