Code Repo for Python code and ROS setup for our demos
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Type Name Latest commit message Commit time
Failed to load latest commit information.

Code for the Pygmalion Festival

First download and install ROS Indigo:

See the following repository for instructions on how to compile ROS for Mac OS X:

In order for the Vicon bridge to work you need to place the dylibs in /usr/lib and mark them as executable:

sudo cp libViconDataStreamSDK_CPP.dylib /usr/lib
sudo cp libDebugServices.dylib /usr/lib
sudo chmod 755 /usr/lib/libViconDataStreamSDK_CPP.dylib sudo chmod 755 /usr/lib/ libDebugServices.dylib

Then build this ROS packages:



Run the following commands in two separate terminals in order run the drone draw demo:

source devel/setup.bash && roslaunch crazyflie_driver crazyflie_percy.launch vicon_ip:=
./ percy

Where vicon_ip:= is IP adress of the computer running Vicon.

The source for the Android app is located here: The Android app will upload the path to your Dropbox in the ~/Dropbox/Apps/DroneDraw directory.

To generate a new trajectory based on the path generated from the Android app:

./ -i ~/Dropbox/Apps/DroneDraw/path.csv -o ~/Dropbox/Apps/DroneDraw/IRL_path.csv

This will generate a trajectory using Bezier curves and generate timestamps based on constant velocity. Currently the demo expect the generated path to be located in that particular folder.

Add the argument -p in order to plot the generated path. The argument -w makes the script wait until the path has changed. This is useful when using it in a live demo, as it will automatically detect when a new path is uploaded to Dropbox and then calculate a trajectory automatically.

Video demonstraion

Painting with drones

Crane demo

Start crazyflie in center of the room.

  1. Setup
  • Connect to Cisco11477 wifi or Ethernet
  • Plug in xbox controller. Press center button of controller to turn on
  • Plug in Crazyradio PA dongle
  • Point front (red/green lights) of vehicle towards door
  • Power vehicle
  1. Edit Config Files
  • Drone Name [repo_location]/src/crazyflie_ros/crazyflie_demo/scripts/ In the main function you must choose which version of veh1. So far we have either percy or q2. One option will be enabled and the other will be commented.

  • Set Vicon Computer IP (if not already correct)

  1. Start ROS
  • Open terminal and run:
  1. Enable Joystick
  • Open terminal and run:
rosrun joy joy_node
  1. Source bash script for and run roslaunch
  • Open terminal and run:
cd [repo_location]
source devel/setup.bash
roslaunch crazyflie_driver crazyflie_DRONENAME.launch

vicon data should be streaming

  1. Launch Crazyflie
  • Open Terminal
cd [repo_location]
  1. Ctrl + C to stop