Sim2Real Benchmarking Connectivity and Battery-aware algorithms with Crazyflies

This work accompanies sim2real framework for benchmarking connectivity and battery aware algorithms with Crazyflie UAVs. It is supporting both simulation using CrazySim + Gazebo and real hardware experiments.

Prerequisites

To start this framework, there are several requirements:

• Docker
• NVIDIA Docker (optional, for GPU acceleration)
• Linux (tested on Ubuntu 24.04)

To be able to start graphical applications in container please run locally:

echo "xhost +local:docker > /dev/null" >> ~/.profile

Simulation Environment

To build simulation environment position yourself into the repo and use building script with sim argument:

./build.sh sim

This will build crazy_sim. To run the container crazy_sim_container use first run scriptwith sim argument:

./first_run.sh sim

If you want to start the container that was already once ran, you can do that with:

docker start -i crazy_sim_container

Real Environment

Requirements for the real setup

Before being able to run everything on the real setup, there are several prerequisites:

Motion Capture tracking - prerequisites:

To obtain data from motion capture system, please install locally NatNetSDK as given in README instructions.

USB permissions - prerequisites:

Copy file: to_copy/99-bitcraze.rules to /etc/udev/rules.d directory. Please check these links on USB permissions: crazyradio. This enables to use the USB Radio and Crazyflie 2 over USB without being root.

Staring the docker

To build environment for the real setup position yourself into the repo and use building script sith real argument:

./build.sh real

This will build crazy_real. To run the container crazy_real_container use first run scriptwith real argument:

./first_run.sh real

If you want to start the container that was already once ran, you can do that with:

docker start -i crazy_real_container