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pyCrazyflie

Building Instructions

git clone --recursive [email protected]:IMRCLab/pyCrazyflie.git
cd crazyflie-firmware
make bindings_python

Add cffirmware-firmware/ to your PYTHONPATH. Open a terminal in the pyCrazyflie/ directory and type

 export PYTHONPATH=crazyflie-firmware/

Simulation Structure

  • The controller.py is the main file of this repository. The dynamics of the UAV is encoded within uavDy/uav.py.
  • In order to execute a desired trajectory, add a .csv file in trajectoriescsv/ folder in the following format:
    • each row must contain: time, desired position, desired velocity, desired acceleration. Such that, the desired position = [x, y, z], similarly for velocity and acceleration. 
        *.csv file format
    rows: time, xd, yd, zd, vxd, vyd, vzd, axd, ayd, azd, jxd, jyd, jzd, sxd, syd, szd

Initialization

  • The config/initialize.yaml sets the all the required initialization for each robot (e.g., path for the trajectory of each robot, initial conditions, dynamic parameters, etc...)
  • There are two modes.
    • The first mode is initialized through Robots. This section is responsible for configuring the initialization of each individual robot in order to simulate it. A submode is defined, where it is possible to choose whether to attach a payload to each robot by changing the [payload][mode] between enabled and disabled.
    • The second mode is for multi-UAVs transporting and sharing a payload. This is encrypted in [RobotswithPayload][payload][mode], whether it is shared or otherwise. Then it is possible to choose the controller for the full system by proving a reference trajectory to the payload, or defining the reference trajectory for each UAV.
      • Note that: if [RobotswithPayload][payload][mode] is set to otherwise. Then the configuration now assumes a single UAV (the other mode in the first point).
  • For each mode, it is possible to choose the type of controller to use, whether it is the same controller used on the firmware through the python bindings, or a python-based controller saved in controlllers/ directory.
  • Please follow the comments in the config file to know the available options.

Main File: controller.py

  • To run the simulator, open the terminal in pyCrazyflie/ directory and type the following command, providing an argument as the name of the pdf and video file that will be created after he simulation finishes running (i.e., choose a name for the file instead name_of_the_file ) 
      python3 controller.py name_of_the_file
  • In order to animate the simulation in a .gif format or save the generated plots in a pdf type this command 
    python3 controller.py name_of_the_file --animate --plot
  • --animate and --plot are flags. Their defaults are both False.
  • The animation will be saved in the Videos Directory, while the pdf will be saved in the main pyCrazyflie directory.

Expected Output in Vidoes Directory

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TODOS:

  • Add tests (with pytest) for different configuration of the config.yaml and examples folders.
  • Use vispy.