crazyflies_wiki

This wiki serves as a resource for students and researchers at the LARICS Laboratory, providing information about the Crazyflie bundle we use. It includes an overview of student projects involving Crazyflies and detailed instructions on how to use the lab equipment. In addition to hardware-related information, the wiki also provides two Dockerfiles with all the necessary software:

• docker containing CrazySim Software-In-The-Loop (SITL) and the Crazyswarm2 ROS 2 package. It is based on Ubuntu 22.04 and ROS 2 Humble, with an optional ROS 1 bridge.
• docker featuring the latest Crazyflie firmware, cfclient, and the Crazyswarm2 ROS 2 package for communicating with or deploying code to real Crazyflies. It is based on Ubuntu 24.04 and ROS 2 Jazzy.

The Wiki is not meant to replace original sources of information but rather to gather all the issues we've encountered and how they were resolved, and provide easier navigation and redirection to other important sources. If you notice any issues with the information on this page, find any mistakes, or want to suggest a solution, feel free to open an issue or start a discussion. If you’re feeling shy, you can also send an email to [email protected] :)

Good sources of information are:

• bitcraze discussion page on GitHub
• bitcraze documentation page
• crazyswarm 2 ROS 2 package page
• CrazySim and issue page

student projects

• Formation changes (choreography) in different localization systems: loco positioning and optitrack - video
• Consensus based formation control (Multi Robot Systems course - project) - video
• Inspection trajectory for a small UAV - video
• Navigation of the UAV in 3D space using semantics - [video-simulation](link to video), video-experiments
• Crazyflie following the reference point -
• Crazyflie repeating the movement -