Installation

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.

Simulation Only

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.:

$ ./build.sh