jusevitch/crazyflie-lib-python

Python library to communicate with Crazyflie

cflib: Crazyflie python library

cflib is an API written in Python that is used to communicate with the Crazyflie and Crazyflie 2.0 quadcopters. It is intended to be used by client software to communicate with and control a Crazyflie quadcopter. For instance the cfclient Crazyflie PC client uses the cflib.

See below for platform specific instruction. For more info see our wiki.

Development

Developing for the cfclient

• Fork the cflib
• Clone the cflib, git clone [email protected]:YOUR-USERNAME/crazyflie-lib-python.git
• Install the cflib in editable mode, pip install -e path/to/cflib
• Uninstall the cflib, pip uninstall cflib

Note: If you are developing for the cfclient you must use python3.

Linux, OSX, Windows

• Build a virtualenv (local python environment) with package dependencies
  • pip install virtualenv
  • virtualenv venv
  • source venv/bin/activate
• pip install -r requirements.txt
• Activate the environment: source venv/bin/activate
• Connect the crazyflie and run an example: python examples/basiclog
• Deactivate the virtualenv if you activated it deactivate

Note: For systems that support make, the first four steps can be replaced with make venv

Note: The first three steps can be skipped if you don't mind installing cflib dependencies system-wide.

Testing

With docker and the toolbelt

For information and installation of the toolbelt.

• Check to see if you pass tests: tb test
• Check to see if you pass style guidelines: tb verify

Note: Docker and the toolbelt is an optional way of running tests and reduces the work needed to maintain your python environmet.

Native python on Linux, OSX, Windows

• Tox is used for native testing: pip install tox
• Test package in python2.7 TOXENV=py27 tox
• Test package in python3.4 TOXENV=py34 tox

Note: You must have the specific python versions on your machine or tests will fail. (ie. without specifying the TOXENV, tox runs tests for python2.7, 3.3, 3.4 and would require all python versions to be installed on the machine.)

Platform notes

Linux

Setting udev permissions

The following steps make it possible to use the USB Radio without being root.

sudo groupadd plugdev
sudo usermod -a -G plugdev <username>

Create a file named /etc/udev/rules.d/99-crazyradio.rules and add the following:

SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"

To connect Crazyflie 2.0 via usb, create a file name /etc/udev/rules.d/99-crazyflie.rules and add the following:

SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0664", GROUP="plugdev"

Contribute

Everyone is encouraged to contribute to the CrazyFlie library by forking the Github repository and making a pull request or opening an issue.