[CPA] Crazyflie 2.x

This repository provides a cyber-physical representation of the Crazyflie 2.x drone, positioning it exemplary 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 Terminal-based Controller for the Crazyflie 2.X as a WebService (both physical and simulated instances).
   • See cf.PyControl
2. Simulation Environments:
   • Support: ds-crazyflie, sim_cf2 and crazyswarm2

Software Stack

This CPS asset relies on the following software stack:

• Python 3.10.12+ for the standalone high-level controller
• ROS Humble/Jazzy or later for simulation environments
• BaSyx Middleware for implementing the AAS (WIP)

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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