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Crazyflie with NatNet (Motive) in CXX

This repo is meant to provide necessary tools to operate Crazyflie drones in environments with Motive Motion Capture systems. This work is based on Crazyflie Toolbox and it combined with NatNet SDK provided to stream data to a Linux host.

How to build

I believe this is the way to run build the project :)

cd <repo_foldename>
mkdir build
cd build
cmake ..
make

Before you use

Single Copter Trajectory Tracking Flight

  1. You have to define the trajectory. I should modify the code and make it more user friendly :) but I usually define it all by defining Trajectory_Planner::setPointCoordinates in Trajectory_PLanner header file.
  2. Define the address to the crazyflie in Main File where there is a list push it to the vector by
uri_list.emplace_back("radio://0/80/2M/E7E7E7E7E0");
  1. Configure the Rigid Bodies on Motive software. Make sure you can stream rigid bodies (stream rigid bodies --> True).
  2. build the project.
  3. run build/Main

Plotting the trajectories and errors and etc..

  1. Go to the build directory: cd build
  2. Make sure you have the requirements in this file.

or

Create a virtual environment

python3 -m venv env
source env/bin/activate
pip3 install -r requirements.txt
  1. python3 generatingPlotsFromCSV.py