crazyswarm+crazyflie＋NOKOV动捕飞控方案操作说明（1）Crazyswarm安装

1.设置环境变量 

$ export CSW_PYTHON=[python2 or python3]

2.安装依赖（ROS version为你安装的ros发行版，如noetic，melodic）

sudo apt install -y ros-[ROS version]-tf ros-[ROS version]-tf-conversions ros-[ROS version]-joy

sudo apt install -y libpcl-dev libusb-1.0-0-dev

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

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

3.安装模拟可视化工具

$ ${CSW_PYTHON} -m pip install vispy

4.下载crazyswarm并安装

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

$ cd crazyswarm

$ ./build.sh

5.测试

$ cd ros_ws/src/crazyswarm/scripts

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

$ $CSW_PYTHON -m pytest