adding a urdf of crazyflie #74
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Pull Request Overview
This PR adds a comprehensive URDF model for the Crazyflie quadcopter with both RViz visualization and Gazebo Harmonic simulation capabilities.
- Creation of a complete URDF model for the Crazyflie drone with accurate inertial properties and mesh files
- Implementation of launch files for visualization in RViz and spawning in Gazebo Harmonic simulation
- Setup of Gazebo physics simulation with motor control plugins and ROS-Gazebo bridge configuration
Reviewed Changes
Copilot reviewed 9 out of 11 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| crazyflie_body.xacro | Main URDF/xacro file defining Crazyflie structure with body, propellers, joints, and Gazebo plugins |
| view_crazyflie_launch.py | Launch file for RViz visualization with joint state publisher GUI |
| spawn_crazyflie_gz.launch.py | Launch file for spawning Crazyflie in Gazebo Harmonic simulation |
| ros_gz_crazyflie_bridge.yaml | ROS-Gazebo bridge configuration for cmd_vel and clock topics |
| crazyflie_body.rviz | RViz configuration file for robot visualization |
| cw_prop.dae, ccw_prop.dae | 3D mesh files for clockwise and counter-clockwise propellers |
| package.xml, CMakeLists.txt | Package configuration and build files |
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crazyflie_ws/src/crazyflie_description/launch/view_crazyflie_launch.py
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ataffanel
approved these changes
Sep 22, 2025
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Thanks for the contribution! Merging ... |
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I’ve set up a workspace with a package called crazyflie_description, which contains the URDF model of the Crazyflie.
I created two launch files:
One for visualizing the URDF in RViz along with the joint_state_publisher_gui, so I can move the sliders to test whether the joints are working correctly.
Another launch file that spawns the Crazyflie into Gazebo Harmonic.