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I can simulate a few crazyflie by Ros.
I also have crazyflie 2.1 and flowdeck sensor v2.
Now how can I include the crazyflie I have in the simulation?

Hi!

So which simulator are you currently using exactly? There are multiple for the crazyflie.

I use https://github.com/MRASL/crazyflie_charles github repository. I can simulate cfs. Now I have a crazyflie 2.1 and want to include it to simulating cfs.

Sorry you need to be more clear about want you want to achieve. Currently we are reading from your, that you are able to already simulate CFs (crazyflies) but you want to add one more? or do you want to do hardware in the loop? or do you need a simulated flowdeck? There are a lot of unknowns in your question.

We haven't developed this ROS package so if there is any question on that, you need to post an question on the repositories issue list about it.

First of all, I apologize for not explaining well.
it can be this repo https://github.com/USC-ACTLab/crazyswarm.
I simulate 5 cf in swarm.
I have 1 pyhsical cf with flow deck v2.
I want to use 1 physical cf flow deck in simulation with 4 cf, total 5 cf.

What you describe is known as Mixed Reality, see https://whoenig.github.io/publications/ ... Hoenig.pdf. There is currently no built-in support for this in the Crazyswarm. You might be able to instantiate real and simulated Crazyflies in the Python layer (at https://github.com/USC-ACTLab/crazyswar ... crazyswarm).