├── .github └── workflows │ ├── ci-docs2.yml │ ├── ci-ros2-mac.yml │ ├── ci-ros2-win.yml │ ├── ci-ros2.yml │ ├── systemtests.yml │ └── systemtests_sim.yml ├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── crazyflie ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── aideck_streamer.yaml │ ├── config.rviz │ ├── crazyflies.yaml │ ├── motion_capture.yaml │ ├── server.yaml │ └── teleop.yaml ├── launch │ ├── launch.py │ ├── launch_teleop2.py │ └── teleop_launch.py ├── package.xml ├── scripts │ ├── aideck_streamer.py │ ├── cfmult.py │ ├── chooser.py │ ├── crazyflie_server.py │ ├── flash.py │ ├── gui.py │ ├── simple_mapper_multiranger.py │ └── vel_mux.py ├── src │ ├── crazyflie_server.cpp │ └── teleop.cpp └── urdf │ ├── cf2_assembly.stl │ ├── cf2_assembly_with_props.dae │ └── crazyflie_description.urdf ├── crazyflie_examples ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── nav2_params.yaml │ ├── nav2_view.rviz │ └── slam_params.yaml ├── crazyflie_examples │ ├── __init__.py │ ├── arming.py │ ├── cmd_full_state.py │ ├── data │ │ ├── figure8.csv │ │ └── multi_trajectory │ │ │ ├── traj0.csv │ │ │ └── traj1.csv │ ├── figure8.py │ ├── goto_unicast.py │ ├── group_mask.py │ ├── hello_world.py │ ├── infinite_flight.py │ ├── multi_trajectory.py │ ├── nice_hover.py │ ├── set_param.py │ └── swap.py ├── data │ ├── map.data │ ├── map.pgm │ ├── map.posegraph │ └── map.yaml ├── launch │ ├── keyboard_velmux_launch.py │ ├── launch.py │ ├── multiranger_mapping_launch.py │ ├── multiranger_nav2_launch.py │ └── multiranger_simple_mapper_launch.py ├── package.xml ├── resource │ └── crazyflie_examples ├── setup.cfg └── test │ ├── test_flake8.py │ └── test_pep257.py ├── crazyflie_interfaces ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── ConnectionStatistics.msg │ ├── ConnectionStatisticsArray.msg │ ├── FullState.msg │ ├── Hover.msg │ ├── LogBlock.msg │ ├── LogDataGeneric.msg │ ├── Position.msg │ ├── Status.msg │ ├── TrajectoryPolynomialPiece.msg │ └── VelocityWorld.msg ├── package.xml └── srv │ ├── AddLogging.srv │ ├── Arm.srv │ ├── GoTo.srv │ ├── Land.srv │ ├── NotifySetpointsStop.srv │ ├── RemoveLogging.srv │ ├── SetGroupMask.srv │ ├── StartTrajectory.srv │ ├── Stop.srv │ ├── Takeoff.srv │ ├── UpdateParams.srv │ └── UploadTrajectory.srv ├── crazyflie_py ├── CHANGELOG.rst ├── crazyflie_py │ ├── __init__.py │ ├── crazyflie.py │ ├── crazyswarm_py.py │ ├── genericJoystick.py │ ├── joystick.py │ ├── keyboard.py │ ├── linuxjsdev.py │ ├── uav_trajectory.py │ └── util.py ├── package.xml ├── resource │ └── crazyflie_py ├── setup.cfg ├── setup.py └── test │ ├── test_flake8.py │ └── test_pep257.py ├── crazyflie_sim ├── CHANGELOG.rst ├── CMakeLists.txt ├── crazyflie_sim │ ├── __init__.py │ ├── backend │ │ ├── data │ │ │ ├── dynobench │ │ │ │ └── crazyflie2.yaml │ │ │ ├── neuralswarm2 │ │ │ │ ├── phi_G.pth │ │ │ │ ├── phi_L.pth │ │ │ │ ├── phi_S.pth │ │ │ │ ├── rho_L.pth │ │ │ │ └── rho_S.pth │ │ │ └── pinocchio │ │ │ │ └── crazyflie2.urdf │ │ ├── dynobench.py │ │ ├── neuralswarm.py │ │ ├── none.py │ │ ├── np.py │ │ └── pinocchio.py │ ├── crazyflie_server.py │ ├── crazyflie_sil.py │ ├── sim_data_types.py │ └── visualization │ │ ├── README.md │ │ ├── blender.py │ │ ├── data │ │ ├── README.md │ │ ├── env │ │ │ ├── abandoned_greenhouse.jpg │ │ │ ├── aerodynamics_workshop.jpg │ │ │ ├── aviation_museum.jpg │ │ │ ├── crosswalk.jpg │ │ │ ├── derelict_overpass.jpg │ │ │ ├── env.jpg │ │ │ ├── lago_disola.jpg │ │ │ ├── lake_pier.jpg │ │ │ ├── machine_shop.jpg │ │ │ ├── museumplein.jpg │ │ │ ├── peppermint_powerplant.jpg │ │ │ └── studio_garden.jpg │ │ └── model │ │ │ ├── cf.mtl │ │ │ └── cf.obj │ │ ├── pdf.py │ │ ├── record_states.py │ │ └── rviz.py ├── package.xml ├── resource │ └── crazyflie_sim ├── setup.cfg └── test │ ├── test_flake8.py │ └── test_pep257.py ├── docs ├── .gitignore ├── Makefile ├── api.rst ├── changelog.rst ├── conf.py ├── configuration.rst ├── generate_install_deps_code.py ├── generated │ └── .gitignore ├── gettingstarted.rst ├── glossary.rst ├── hardware.rst ├── howto │ ├── git_integration.rstinclude │ ├── howto.rst │ └── streaming_setpoint.rstinclude ├── images │ ├── CrazyflieWithSingleMarker.jpg │ ├── chooser.png │ ├── crazyswarm_diagram.svg │ ├── large.jpg │ ├── markerConfigurationExample.jpg │ ├── medium.jpg │ └── piecewise_poly.png ├── index.rst ├── installation.rst ├── internals.rst ├── requirements.txt └── tutorials │ ├── hover.rstinclude │ └── tutorials.rst ├── docs2 ├── .gitignore ├── Makefile ├── conf.py ├── faq.rst ├── howto.rst ├── images │ ├── architecture.png │ ├── overview_nodes.jpg │ └── slam_rviz2.jpg ├── index.rst ├── installation.rst ├── overview.rst ├── requirements.txt ├── tutorials.rst └── usage.rst ├── prebuilt └── cradio.bin ├── ros_ws └── src │ └── crazyswarm │ ├── launch │ ├── USC.yaml │ ├── allCrazyflies.yaml │ ├── figure8_smooth.csv │ ├── hover_swarm.launch │ ├── mocap_helper.launch │ ├── object_tracker.yaml │ ├── rqt.perspective │ └── test.rviz │ └── scripts │ ├── backgroundComputation.py │ ├── cmdVelocityCircle.py │ ├── collisionAvoidance.py │ ├── collisionAvoidanceHighConflict.py │ ├── conftest.py │ ├── crossing2_pps │ ├── pp1.csv │ └── pp2.csv │ ├── crossing4_pps │ ├── pp1.csv │ ├── pp2.csv │ ├── pp3.csv │ └── pp4.csv │ ├── csv_sequence.py │ ├── example_cmd_pos.py │ ├── graphVisualization.py │ ├── individual_hover.py │ ├── led_colors.py │ ├── pytest.ini │ ├── sequence_trajectories │ ├── 1 │ │ ├── 1.csv │ │ ├── 10.csv │ │ ├── 11.csv │ │ ├── 12.csv │ │ ├── 13.csv │ │ ├── 14.csv │ │ ├── 15.csv │ │ ├── 16.csv │ │ ├── 17.csv │ │ ├── 18.csv │ │ ├── 19.csv │ │ ├── 2.csv │ │ ├── 3.csv │ │ ├── 4.csv │ │ ├── 5.csv │ │ ├── 6.csv │ │ ├── 7.csv │ │ ├── 8.csv │ │ └── 9.csv │ ├── 2 │ │ ├── 1.csv │ │ ├── 10.csv │ │ ├── 11.csv │ │ ├── 12.csv │ │ ├── 13.csv │ │ ├── 14.csv │ │ ├── 15.csv │ │ ├── 16.csv │ │ ├── 17.csv │ │ ├── 18.csv │ │ ├── 19.csv │ │ ├── 2.csv │ │ ├── 3.csv │ │ ├── 4.csv │ │ ├── 5.csv │ │ ├── 6.csv │ │ ├── 7.csv │ │ ├── 8.csv │ │ └── 9.csv │ ├── 3 │ │ ├── 1.csv │ │ ├── 10.csv │ │ ├── 11.csv │ │ ├── 12.csv │ │ ├── 13.csv │ │ ├── 14.csv │ │ ├── 15.csv │ │ ├── 16.csv │ │ ├── 17.csv │ │ ├── 18.csv │ │ ├── 19.csv │ │ ├── 2.csv │ │ ├── 3.csv │ │ ├── 4.csv │ │ ├── 5.csv │ │ ├── 6.csv │ │ ├── 7.csv │ │ ├── 8.csv │ │ └── 9.csv │ ├── 4 │ │ ├── 1.csv │ │ ├── 10.csv │ │ ├── 11.csv │ │ ├── 12.csv │ │ ├── 13.csv │ │ ├── 14.csv │ │ ├── 15.csv │ │ ├── 16.csv │ │ ├── 17.csv │ │ ├── 18.csv │ │ ├── 19.csv │ │ ├── 2.csv │ │ ├── 3.csv │ │ ├── 4.csv │ │ ├── 5.csv │ │ ├── 6.csv │ │ ├── 7.csv │ │ ├── 8.csv │ │ └── 9.csv │ ├── 5 │ │ ├── 1.csv │ │ ├── 10.csv │ │ ├── 11.csv │ │ ├── 12.csv │ │ ├── 13.csv │ │ ├── 14.csv │ │ ├── 15.csv │ │ ├── 16.csv │ │ ├── 17.csv │ │ ├── 18.csv │ │ ├── 19.csv │ │ ├── 2.csv │ │ ├── 3.csv │ │ ├── 4.csv │ │ ├── 5.csv │ │ ├── 6.csv │ │ ├── 7.csv │ │ ├── 8.csv │ │ └── 9.csv │ ├── 6 │ │ ├── 1.csv │ │ ├── 10.csv │ │ ├── 11.csv │ │ ├── 12.csv │ │ ├── 13.csv │ │ ├── 14.csv │ │ ├── 15.csv │ │ ├── 16.csv │ │ ├── 17.csv │ │ ├── 18.csv │ │ ├── 19.csv │ │ ├── 2.csv │ │ ├── 3.csv │ │ ├── 4.csv │ │ ├── 5.csv │ │ ├── 6.csv │ │ ├── 7.csv │ │ ├── 8.csv │ │ └── 9.csv │ └── 7 │ │ ├── 1.csv │ │ ├── 10.csv │ │ ├── 11.csv │ │ ├── 12.csv │ │ ├── 13.csv │ │ ├── 14.csv │ │ ├── 15.csv │ │ ├── 16.csv │ │ ├── 17.csv │ │ ├── 18.csv │ │ ├── 19.csv │ │ ├── 2.csv │ │ ├── 3.csv │ │ ├── 4.csv │ │ ├── 5.csv │ │ ├── 6.csv │ │ ├── 7.csv │ │ ├── 8.csv │ │ └── 9.csv │ ├── swap6v.py │ ├── swap6v_pps │ ├── pp1.csv │ ├── pp2.csv │ ├── pp3.csv │ ├── pp4.csv │ ├── pp5.csv │ └── pp6.csv │ ├── takeoff.csv │ ├── test_collisionAvoidance.py │ ├── test_highLevel.py │ ├── test_lowLevel.py │ ├── test_ros.py │ ├── test_simOnly.py │ ├── test_videoOutput.py │ ├── test_yamlString.py │ ├── udp_multicast.py │ ├── waypoints.csv │ ├── waypoints.py │ └── waypoints_simple.py ├── rosinstall └── systemtests ├── SDplotting ├── cfusdlog.py ├── data_helper.py ├── plot.py ├── save.py └── settings.yaml ├── figure8_ideal_traj.csv ├── mcap_handler.py ├── 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