Crazyswarm2: A ROS 2 testbed for Aerial Robot Teams

Crazyswarm2 is a ROS 2 stack to use aerial robots that use flight computers from Bitcraze AB, including the Crazyflie 2.1(+), Crazyflie 2.1 Brushless, Flapper Nimble+, and custom drones built using Crazyflie Bolt.

On the technical side Crazyswarm2 is a port of the original Crazyswarm to ROS 2. It is fully open-source (MIT) and available on github.

A good starting point is the Aerial Swarm Tools and Applications Tutorial/Workshop. If you use our work in academic research, please cite the original paper (we are actively working on a dedicated publication for Crazyswarm2):

@inproceedings{crazyswarm,
  author    = {James A. Preiss* and
               Wolfgang  H\"onig* and
               Gaurav S. Sukhatme and
               Nora Ayanian},
  title     = {Crazyswarm: {A} large nano-quadcopter swarm},
  booktitle = {{IEEE} International Conference on Robotics and Automation ({ICRA})},
  pages     = {3299--3304},
  publisher = {{IEEE}},
  year      = {2017},
  url       = {https://doi.org/10.1109/ICRA.2017.7989376},
  doi       = {10.1109/ICRA.2017.7989376},
  note      = {Software available at \url{https://github.com/USC-ACTLab/crazyswarm}},
}

Related Packages:

Warning

Crazyswarm2 is being actively used and developed. There are currently the following major limitations:

Crazyradio2 does not perform well when using broadcasts. We recommend using Crazyradio PA instead.
Sometimes unicast packets get lost, which is a known firmware bug.

Crazyswarm2: A ROS 2 testbed for Aerial Robot Teams

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