cflib with Crazyflie CRTP sim driver

This fork of the Crazyflie Python library includes the Crazyflie CRTP link driver (sim driver) for the ROS2 Gazebo Crazyflie Flight Simulator sim_cf2 https://github.com/CrazyflieTHI/sim_cf2

Dependencies

Download posix_ipc module for python

pip install posix-ipc

Loading the Driver

The sim driver is always initialized when calling

cflib.crtp.init_drivers()

If no radio dongle is attached to the computer, the sim driver will be loaded and an connection to a simulated Crazyflie can be established.

Forcing the Driver

When initializing the CRTP drivers, set enable_sim_driver to true to exclusively load the sim driver.

cflib.crtp.init_drivers(enable_sim_driver=True)

Scanning for Crazyflies

Addresses and their corresponding link_uri are hard coded in the sim driver. Scanning for address 0xE7E7E7E701 will return the link_uri 'radio://0/80/2M/E7E7E7E701'

linkUris = {
    0xE7E7E7E701:'radio://0/80/2M/E7E7E7E701',
    0xE7E7E7E702:'radio://0/80/2M/E7E7E7E702',
    0xE7E7E7E703:'radio://0/80/2M/E7E7E7E703',
    0xE7E7E7E704:'radio://0/80/2M/E7E7E7E704',
    0xE7E7E7E705:'radio://0/80/2M/E7E7E7E705',
    0xE7E7E7E706:'radio://0/80/2M/E7E7E7E706',
    0xE7E7E7E707:'radio://0/80/2M/E7E7E7E707',
    0xE7E7E7E708:'radio://0/80/2M/E7E7E7E708',
    0xE7E7E7E709:'radio://0/80/2M/E7E7E7E709',
    0xE7E7E7E70A:'radio://0/80/2M/E7E7E7E70A'
}

cflib: Crazyflie python library

cflib is an API written in Python that is used to communicate with the Crazyflie and Crazyflie 2.0 quadcopters. It is intended to be used by client software to communicate with and control a Crazyflie quadcopter. For instance the Crazyflie PC client uses the cflib.

See below for platform specific instruction. For more info see our documentation.

Installation

See the installation instructions in the github docs folder.

Official Documentation

Check out the Bitcraze crazyflie-lib-python documentation on our website.

Contribute

Go to the contribute page on our website to learn more.

Test code for contribution

Run the automated build locally to test your code

python3 tools/build/build

CrazyflieTHI/crazyflie-lib-python