Project: Human in the loop control of Multi Agent Systems

Software in the loop simulation of crazyflie 2.0

Steps to start the launch file of crazyflie 2.0. Start with the script that will launch Gazebo. The launch file maybe crazyflie_sim.launch .

$ cd '/home/shetty/catkin_ws/src/crazyflie_ros/crazyflie_2.0/crazyflie_gazebo/launch'

$ ls

$ roslaunch crazyflie_sim.launch

Next, open the script containing python programs for various tasks:

$ cd '/catkin_ws/src/crazyflie_ros/crazyflie_2.0/crazyflie_gazebo/scripts'

$ ./run_cfs.sh

After running the above script, gyrobias found must be printed on the screen.

Then,run the python programs for several tasks such as testing the vertical trajectory, helix trajectory, waypoint navigation,etc.

$ cd '/catkin_ws/src/crazyflie_ros/crazyflie_2.0/crazyflie_gazebo/scripts'

$ ls

$ python vertical_trajectory.py