LOCO定位系统入门教程-安装crazyswarm

说明：

• 介绍如何安装crazyswarm

准备环境：（以下其中一个）

• Ubuntu20.04，Python3.7，ROS Noetic

• Ubuntu18.04，Python2.7，ROS Melodic

步骤：

• 设置环境$CSW_PYTHON变量

export CSW_PYTHON=python3

• 安装依赖项

sudo apt install -y swig lib${CSW_PYTHON}-dev ${CSW_PYTHON}-pip

${CSW_PYTHON} -m pip install pytest numpy PyYAML scipy

• 安装一个或多个可视化工具进行模拟

${CSW_PYTHON} -m pip install vispy

${CSW_PYTHON} -m pip install matplotlib

• 想从模拟器录制高质量视频，请安装 ffmpeg

sudo apt install -y ffmpeg

${CSW_PYTHON} -m pip install ffmpeg-python

• 下载crazyswarm包

git clone https://github.com/USC-ACTLab/crazyswarm.git

• 运行构建脚本

cd crazyswarm

./build.sh

• 运行测试

cd ros_ws/src/crazyswarm/scripts

source ../../../devel/setup.bash

$CSW_PYTHON -m pytest

• 结果如下

======================================== test session starts =========================================
platform linux -- Python 3.8.10, pytest-7.3.1, pluggy-1.0.0
rootdir: /home/ubuntu/crazyswarm/ros_ws/src/crazyswarm/scripts
configfile: pytest.ini
collected 31 items                                                                                   

test_collisionAvoidance.py ............                                                        [ 38%]
test_highLevel.py .........                                                                    [ 67%]
test_lowLevel.py ......                                                                        [ 87%]
test_ros.py .                                                                                  [ 90%]
test_simOnly.py .                                                                              [ 93%]
test_videoOutput.py .                                                                          [ 96%]
test_yamlString.py .                                                                           [100%]

========================================== warnings summary ==========================================
../../../../../../../usr/lib/python3/dist-packages/past/builtins/misc.py:45
  /usr/lib/python3/dist-packages/past/builtins/misc.py:45: DeprecationWarning: the imp module is deprecated in favour of importlib; see the module's documentation for alternative uses
    from imp import reload

-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
=================================== 31 passed, 1 warning in 6.19s ====================================