IMRCLab/crazyswarm2

Ground Truth for Sim Backend

Open

#296 opened on Oct 5, 2023

View on GitHub
 (3 comments) (0 reactions) (0 assignees)Python (126 forks)auto 404
enhancementgood first issue

Repository metrics

Stars
 (244 stars)
PR merge metrics
 (PR metrics pending)

Description

Hey all, for the simulation backend, I am wondering if there is a mechanism for getting the state of the UAV? For example, after stepping one could publish an Odometry message. Perhaps at a lower rate.

https://github.com/IMRCLab/crazyswarm2/blob/379601ea4c5f98f82c96749bfbe8e82a458ea9f9/crazyflie_sim/crazyflie_sim/backend/np.py#L37

If this does not exist and might be useful, I would be happy to create something simple and make a PR 😄

Contributor guide

Research direction
Investigate the simulation backend code, specifically the step function, and determine how UAV state is tracked internally. Look for existing ROS2 publishers or message types in the repository to see if an Odometry publisher already exists or can be easily added.
Tech stack
python
Domain
backend
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
Python
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
75