• Connect crazy Radio PA to laptop
    • 2 for 8 quads
  • crazyswarm/ros_ws/src/crazyswarm/launch/allCrazyflies.yaml
    • provide all info for each crazyflie
    • channel for number (id) of the radio attached
  • crazyswarm/ros_ws/src/crazyswarm/scripts:
    • python3 chooser.py

    • select/deslect quads

    • crazyswarm/ros_ws/src/crazyswarm/launch/hover_swarm.launch
    • motion capture hostname: 192.168.0.149 (IP address of mocap PC)4

Test vicon only

  • Set mocap IP address in crazyswarm/ros_ws/src/crazyswarm/launch/mocap_helper.launch

Kill chooser

For experiment:

  • roslaunch crazyswarm hover_swarm.launch
  • python3 src/crazyswarm/scripts/hellow_world.py (M shape)
  • python3 src/crazyswarm/scripts/land_all.py

Control LED lights

Robot_Mode.py scripts/pycrazyswarm/crazyflie.py

For position: PID For velocity control: mellinger. see strongly_r_sim.py

For sim

  • python3 led_colors.py –sim