About CrazyS Simulation and ROS
Posted: Sun Apr 03, 2022 8:00 pm
Hey everyone! I'm with a team and we are working on a project about Swarm Drones.
Before we apply our algorithms in real Crazyflie drones we would like to test them in a simulation. We are thinking about using CrazyS with Gazebo. We have some question that we couldn't find answer anywhere. If you can answer some of them we would be forever in your debt.
1-) How should we 'connect' to the simulated drones. Do we use ROS or libraries like ' libcflie'?
2-) Does the CrazyS project runs the Crazyflies in SITL or are they just generic drones that have 3D Crazyflie models?
3-) If they are just some generic drones, is the ROS the only method to control them?
4-) When we want to test our algorithms in real Crazyflie drones, can we still use ROS without modifying the Firmware?
I know that these questions might be absurd. Pardon our explanations. We have experience with Linux, ROS, PX4-Autopilot and AirSim but not with Crazyflie and Gazebo. Also to make things clear, we want to test our algorithms in a simulation and deploy them in real Crazyflies without changing the code too much. We want to use C++ to design our algorithms and control the Crazyflie drones. We cannot use the wrapper functions like 'take_off()' in libraries such as 'cflib'. So, we need to understand how the simulation and the Crazyflie works under the hood. This is why we are asking you these questions.
We are looking forward to your answers. Thank you all in advance <3
Before we apply our algorithms in real Crazyflie drones we would like to test them in a simulation. We are thinking about using CrazyS with Gazebo. We have some question that we couldn't find answer anywhere. If you can answer some of them we would be forever in your debt.
1-) How should we 'connect' to the simulated drones. Do we use ROS or libraries like ' libcflie'?
2-) Does the CrazyS project runs the Crazyflies in SITL or are they just generic drones that have 3D Crazyflie models?
3-) If they are just some generic drones, is the ROS the only method to control them?
4-) When we want to test our algorithms in real Crazyflie drones, can we still use ROS without modifying the Firmware?
I know that these questions might be absurd. Pardon our explanations. We have experience with Linux, ROS, PX4-Autopilot and AirSim but not with Crazyflie and Gazebo. Also to make things clear, we want to test our algorithms in a simulation and deploy them in real Crazyflies without changing the code too much. We want to use C++ to design our algorithms and control the Crazyflie drones. We cannot use the wrapper functions like 'take_off()' in libraries such as 'cflib'. So, we need to understand how the simulation and the Crazyflie works under the hood. This is why we are asking you these questions.
We are looking forward to your answers. Thank you all in advance <3