ARGoS-Crazyflie Python Wrapper

About

This repository provides a Python wrapper for the Crazyflie nano-quadcopter from Bitcraze, designed for use with the ARGoS Multi-robot Simulator.

Author: Marck Herzon C. Barrion (2024)

To cite, use the paper details:

• Author: Marck Herzon C. Barrion
• Title: [Blockchain-Enabled Consensus in Swarm Robotics: Integration with Crazyflie Drones and ARGoS]
• doi:

Description:

• This wrapper allows for the control of the Crazyflie simulator model using Python scripts and controllers.
• This project extends the functionalities of the Crazyflie model developed by Stolfi and Danoy (see details below), adding the following features:
  • Multi-ranger Deck (Proximity Sensor)
  • Ground Sensor (IR-based Sensor)
  • Range and Bearing Sensor and Actuator
  • Entity Distribution - XML

This work is based on the following resources:

• ARGoS-Python Wrapper

  • Author: Ken Hasselmann
  • Repository: https://github.com/KenN7/argos-python

• ARGoS-Crazyflie Model

  • Authors: Daniel H. Stolfi and Gregoire Danoy
  • Paper: "An ARGoS plug-in for the Crazyflie drone"
  • Repository: https://gitlab.uni.lu/adars/crazyflie

• ARGoS Simulator

  • Author: Carlo Pinciroli
  • Paper: "ARGoS: a Modular, Parallel, Multi-Engine Simulator for Multi-Robot Systems"
  • Repository: https://github.com/ilpincy/argos3

Pre-requisites

See ENVSETUP.md for a complete guide on system and library requirements and dependencies.

Instructions

1. To use the code, install the ARGoS-Crazyflie baseline model.

• The extended version is used in this project:

  • Link: https://github.com/marckbarrion/argos-crazyflie_python-baseline

• To view the original work, use Stolfi and Danoy's project.

  • Link: https://gitlab.uni.lu/adars/crazyflie

2. Once installed, clone this repository

git clone https://github.com/MarckBarrion/argos-crazyflie_python-wrapper

2. Go to the installation root directory

cd argos-crazyflie_python-wrapper

3. Build and compile using CMake

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make

Running Examples

Run examples using the following codes:

1. Speed Actuator and Positioning Sensor

argos3 -c examples/1/crazyflie_speed.argos

2. Position Actuator and Positioning Sensor

argos3 -c examples/2/crazyflie_position.argos

3. Led Actuator

argos3 -c examples/3/crazyflie_led.argos

4. Battery Level Sensor

argos3 -c examples/4/crazyflie_battery.argos

5. Battery Level Sensor

argos3 -c examples/5/crazyflie_battery.argos

To test all the functionalities in one experiment, run the "crazyflie_general.argos" example.

argos3 -c examples/crazyflie_general.argos