Installation

This project has been developed and tested for ROS2 Humble on following system configurations. It is recommended to also use a similar configuration.

Ubuntu	ROS
22.04	Humble

Step by Step Instructions

1. If you have not already done so install ROS 2 Humble on your system.

2. These dependencies are required:

   sudo apt-get install ros-humble-tf-transformations ros-humble-ros2-control ros-humble-vision-msgs
   sudo apt install python3-colcon-common-extensions
   

3. Clone the ds-crazyflies (this) repository

   git clone --recurse https://github.com/DynamicSwarms/ds-crazyflies.git
   

4. Now cd into the ds-crazyflies folder and: Source your ROS installation and the webots package

   cd ds-crazyflies
   source /opt/ros/humble/setup.bash
   

5. Build the software stack

   There are 3 options to build the project: You can select between a full build, build for only the webots simulation or build for real hardware only. Set mode to one of the following options: ALL, WEBOTS, HARDWARE.

   sh build.sh ALL
   

Warning

If the webots packages are build webots needs to be installed first (see below). Also the WEBOTS_HOME environment variable needs to be set before building.

export WEBOTS_HOME=/usr/local/webots

Note

Because of the dependency structure, colcon build can not be executed directly. If you only want to build the crazyflies package, use:

colcon build --packages-select crazyflies

Webots Simulation

If you want to use the Webots simulation you will also need to:

1. Install the Webots Simulator (We are currently supporting Webots2025a):

   For this you can follow the instructions from Cyberbotics: https://cyberbotics.com/doc/guide/installation-procedure#installing-the-debian-package-with-the-advanced-packaging-tool-apt

   sudo mkdir -p /etc/apt/keyrings
   cd /etc/apt/keyrings
   sudo wget -q https://cyberbotics.com/Cyberbotics.asc
   

   echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/Cyberbotics.asc] https://cyberbotics.com/debian binary-amd64/" | sudo tee /etc/apt/sources.list.d/Cyberbotics.list
   sudo apt update
   

   sudo apt install webots
   

2. Download the crazywebotsworld repository:

   git clone https://github.com/DynamicSwarms/crazywebotsworld.git
   

3. Open webots with the world:

   webots crazywebotsworld/worlds/crazyflie.wbt
   

Note

Avoid installing Webots via snap as this causes issues with the ROS2 integration.

Next up follow the Getting Started guide.