Crazyflie hardware and ROS

By now you are pretty comfortable with controlling the Crazyflie in simulation, but what about the real world?

Our engineers have been hard at work to make the segue from simulation to reality as smooth as possible, bridging what is known as the reality gap in robotics parlance. "Simulation is doomed to succeed" is one way of putting it -- the real world turns out to be chaotic, and nothing ever really works as well as it should.

First of all, you need to update your course packages:

cd ~/dd2419_ws
wstool merge -t src https://raw.githubusercontent.com/KTH-CAS-UAV/dd2419/master/.rosinstall --merge-replace
wstool update -t src
rosdep install -i dd2419_launch
catkin build dd2419_launch
source devel/setup.bash

Now you should be able to connect to your Crazyflie and camera with

roslaunch dd2419_launch base.launch ch:=<your channel number>

Where <your channel number> is the channel number assigned to your Crazyflie. Please take a moment to peruse the launch file contents as well:

rosed dd2419_launch base.launch

Finally, remember: if things suddenly stop working, restart everything! (including your computer, your toaster, and yourself.)

To convince yourself (and us) that everything is working, you should open RViz and try to a) show the current pose of the Crazyflie, and b) show the current camera image.