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

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

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

Clone the ds-crazyflies (this) repository

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

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
```
Note

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

Now cd into the ds-crazyflies folder and source your ROS installation.

cd ds-crazyflies
source /opt/ros/humble/setup.bash
export WEBOTS_HOME=/usr/local/webots

Build the software stack
```
sh build.sh ALL
```

cd into the ds-crazyflies folder and source your ROS installation.
```
cd ds-crazyflies
source /opt/ros/humble/setup.bash
```
Build the software stack
```
sh build.sh HARDWARE_ONLY
```

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

The webots world is not included in this repository. It needs to be downloaded separately:

Download the crazywebotsworld repository:
git clone https://github.com/DynamicSwarms/crazywebotsworld.git
Open webots with the world:
webots crazywebotsworld/worlds/crazyflie.wbt

Next up follow the Getting Started guide.