- Install system dependencies
sudo apt-get install libncurses5-dev libncursesw5-dev # ncurses
sudo apt-get install freeglut3 # freeglut
sudo apt install build-essential # build-essential
sudo apt install freeglut3-dev libncurses5-dev zlib1g-dev # Needed by `openhaptics_3.4-0-developer-edition-amd64/install` script
sudo apt install libncurses5-
Install the driver (see 'Driver installation guide' on the webpage below) Webpage: https://support.3dsystems.com/s/article/OpenHaptics-for-Linux-Developer-Edition-v34?language=en_US
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Install library (see 'openhaptics_3.4-0-developer-edition-amd64/README_INSTALL')
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Calibrate device. Run
/home/hamed/Downloads/TouchDriver2022_04_04/bin/Touch_Diagnostic
- Install unity.
Run editor: /home/hermes/UnrealEngine-4.27/Engine/Binaries/Linux/UE4Editor ~/AirSim/Unreal/Environments/Blocks/Blocks.uproject
/home/hermes/UnrealEngine-4.27/GenerateProjectFiles.sh ~/AirSim/Unreal/Environments/Blocks/Blocks.uproject -game
cd ~/AirSim/Unreal/Environments/Blocks/
make BlocksCannot open Blocks.uproject: microsoft/AirSim#4535
The crazyswarm api used to control the drones. Documentation is here: https://crazyswarm.readthedocs.io/en/latest/api.html
Initial crazyflie setup
Run the following to setup a new drone. chooser.py reads from /home/hamed/crazyswarm/ros_ws/src/crazyswarm/launch/allCrazyflies.yaml and let's users choose which of the drones in that file to activate. If there is a timeout error when starting up, it's probably because this file has selected drones that are not in the workspace. A good first step is to make sure you can read the battery from each drone in the chooser menu.
cfclient
python3 /home/hamed/crazyswarm/ros_ws/src/crazyswarm/scripts/chooser.pyNote: You need to run chooser.py after updating the position value in allCrazyflies.yaml. Inside the chooser.py gui, select and unselect the drone that's starting position was changed.
Running the system
roslaunch crazyswarm hover_swarm.launch # terminal 1
python3 crazyflie_interface.py # terminal 2
make && ./main; # terminal 3