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Python Scripting API

The module pycrazyswarm, contained in /ros_ws/src/crazyswarm/scripts, is the main high-level interface to the Crazyswarm platform.

The goal of the Crazyswarm project is to reach a state where many diverse multi-quadrotor research projects can be implemented without going any "deeper" than writing a pycrazyswarm script and modifying configuration files. New projects should try this approach first. If it becomes necessary to modify Crazyswarm or its submodules, we encourage users to contribute those changes back via Github pull request.

All classes in pycrazyswarm.crazyflie are mirrored by an identically named class in pycrazyswarm.crazyflieSim. The Sim version allows testing pycrazyswarm scripts in simulation with a 3D visualization before running anything on real hardware. Since the APIs are identical, the documentation only refers to the non-Sim versions.

Crazyflie class

.. autoclass:: pycrazyswarm.crazyflie.Crazyflie
   :members:

CrazyflieServer class

.. autoclass:: pycrazyswarm.crazyflie.CrazyflieServer
   :members:

TimeHelper class

.. autoclass:: pycrazyswarm.crazyflie.TimeHelper
   :members:

Switching between simulation and real hardware

Correct pycrazyswarm scripts should be able to run in both simulation and on real hardware without modification. Enable simulation and control the simulation parameters with the command-line flags listed below.

.. argparse::
   :module: pycrazyswarm.crazyswarm
   :func: build_argparser
   :prog: python2 <my_crazyswarm_script.py>

Examples

Nice Hover

niceHover.py:

import numpy as np
from pycrazyswarm import *

swarm = Crazyswarm()
timeHelper = swarm.timeHelper
allcfs = swarm.allcfs

# takeoff
allcfs.takeoff(targetHeight=1.0, duration=2.0)

# move to the initially assigned positions facing forward
timeHelper.sleep(2.0)
for cf in allcfs.crazyflies:
    pos = np.array(cf.initialPosition) + np.array([0, 0, 1.0])
    cf.goTo(pos, 0, 1.0)

# Wait 5 seconds
timeHelper.sleep(5)

# Land
allcfs.land(targetHeight=0.02, duration=2.0)
timeHelper.sleep(2.0)