We assume that you have Ubuntu 16.04. Avoid using a virtual machine because this adds additional latency and might cause issues with the visualization tools.
You can install just the components required for the simulation by doing the following:
$ sudo apt install git swig libpython-dev python-numpy python-yaml python-matplotlib $ git clone https://github.com/USC-ACTLab/crazyswarm.git $ cd crazyswarm $ ./buildSimOnly.sh
To test the installation, run one of the examples:
$ cd ros_ws/src/crazyswarm/scripts $ python figure8_canned.py --sim
More details on the usage can be found in the usage section.
Simulation and Physical Robots¶
We assume that you have ROS Kinetic (desktop or desktop-full) installed (instructions).
Install the dependencies and clone the repository:
$ sudo apt install git swig libpython-dev python-numpy python-yaml python-matplotlib gcc-arm-none-eabi libpcl-dev libusb-1.0-0-dev sdcc $ git clone https://github.com/USC-ACTLab/crazyswarm.git $ cd crazyswarm
For legal reasons we are not allowed to include the VICON DataStream SDK in this repository, which is used to capture data from a VICON motion capture system. Please download the SDK (version 1.7.1) from http://www.vicon.com and place the following files in ros_ws/src/externalDependencies/libmotioncapture/externalDependencies/vicon_sdk (that is, from the Linux64-boost-1.58.0 folder):
├── include │ └── vicon_sdk │ └── DataStreamClient.h └── lib64 ├── libboost_system-mt.so.1.58.0 ├── libboost_thread-mt.so.1.58.0 └── libViconDataStreamSDK_CPP.so
You can now build everything by running our build script.: