Test

You can find all examples here in the “Usage” section: https://github.com/gsilano/CrazyS

Launching the simulation is quite simple, so as customizing it: it is enough to run in a terminal the command. First launch may need a little more time.

There are some basic launch files where you can load the different multicopters with additional sensors. They can all be found in ~/catkin_ws/src/CrazyS/rotors_gazebo/launch.

Hovering example: (A quadcopter will fly into sky slowly and start hovering)

roslaunch rotors_gazebo crazyflie2_hovering_example.launch

Swarm hovering example: (A group of quadcopters will fly into sky slowly and start hovering)

roslaunch rotors_gazebo crazyflie2_swarm_hovering_example.launch

The package also provides a launch file for piloting the Crazyflie using a PC joystick. To run the simulation simple copy and paste the command in the following in a terminal window

roslaunch rotors_gazebo crazyflie2_with_joy.launch