[CPA] Crazyflie 2.x

This repository provides a cyber-physical representation of the Crazyflie 2.x drone, positioning it as an asset within the Industry 4.0 ecosystem.

The resources here enable integration, simulation, and control of Crazyflie 2.x in both physical and virtual environments.

Features

The repository includes the following components:

1. Standalone High-Level Controller:
   • A RESTful HTTP API, written in Python, to interact with Crazyflie 2.x (both physical and simulated instances).
   • See cf.PyControl: A Terminal-based RESTful Controller for the Crazyflie 2.X
2. Simulation Environments:
   • A Gazebo/ROS-based simulation environment to test and validate Crazyflie 2.x in controlled virtual scenarios.
   • Using crazyswarm2 and sim_cf2 for simulation.
   • See Usage Guide for sim_cf2.
3. Virtual Machine:
   • A pre-configured virtual machine to simplify setup the drone across different development environments.
   • This is supplied by the developers of Bitcraze AB.

Software Stack

This CPS asset relies on the following software stack:

• Python 3.7+ for the standalone high-level controller
• ROS Noetic or later for simulation environments
• BaSyx Middleware for implementing the AAS
• A virtualization platform (e.g., VirtualBox) for the provided virtual machine

Most components are provided as Docker containers for a quick start.

Tutorial

For detailed instructions on how to set up and use this CPS asset, please refer to the documentation.

Outlook

Digital Twin

Development of the drone's digital twin is ongoing and will evolve as the relevant standards mature.

• Asset Administration Shell (AAS): A representation of the Crazyflie 2.x using Eclipse BaSyx Industrie 4.0 middleware. Multiple submodels will describe drone properties such as available actions, payload capacity, and physical characteristics.

• Behavioral Runtime Model: An executable Bigraphical Reactive System specification will simulate runtime behavior within cyber-physical environments.

Note

This feature is under development and subject to change based on the finalization of AAS submodel standards:

• Submodel Template: Unmanned aerial vehicle (Drone)
• IDTA Number: 02081

See here for more details.

License

See each component's license file for details.

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