#Crazyflie Fly A ROS-based suite for controlling the Crazyflie nano quadcopter. This suite has been developed in the Building Wide Intelligence lab of the University of Texas at Austin Computer Science department by Robert Lynch and Matt Broussard.

##Installation

###Dependencies This package downloads and compiles libcflie on make, which depends on GLFW. This is available in the apt repositories.

  sudo apt-get install libglfw-dev libglfw2 cmake

It is also dependent on the standard ROS packages roscpp and geometry_msgs.

###Installation Steps Download the source code from the repository using git clone or another method to the src directory of a catkin workspace (e.g. catkin_ws) and compile using catkin_make.

$ cd ~/catkin_ws/src
$ git clone https://github.com/utexas-air-fri/crazyflie_fly.git
$ cd ~/catkin_ws
$ catkin_make

##crazyflie_driver A C++ based driver for mediating traffic between ROS and the crazyflie API. This driver is based on the unofficial crazyflie C++ library libcflie.

###Usage To start the driver, run rosrun crazyflie_fly crazyflie_driver, or put it in a custom launch file

###Sending Commands Once the node has started, the designated quadcopter will takeoff immediatly, since there is no automated takeoff/ landing code written into the firmware. This may be changed later.

Once taken off, commands may be published to the cmd_vel topic with messages of geometry_msgs/Twist to control the pitch, roll, yaw, and altitude.

linear.x: move forward/backward
linear.y: move left/right
linear.z: move up/down
angular.z: turn left/right