Installation¶

Requirements¶

Python 3.11 or later. The dynamics models of the UKF come from crazyflow, which is installed as a dependency. The ROS 2 node additionally needs a ROS 2 installation, see Developer install with pixi.

Install from PyPI¶

pip install drone-estimators

Developer install with pixi¶

For development and for running the ROS 2 node, we use pixi. Pixi locks the full dependency tree, including ROS 2 Kilted from RoboStack, into reproducible environments.

git clone https://github.com/learnsyslab/drone-estimators.git
cd drone-estimators
pixi install

The available environments are:

Environment	Activate with	Includes
`default`	`pixi shell`	Package (editable) + ROS 2 Kilted
`tests`	`pixi shell -e tests`	Default + pytest
`docs`	`pixi shell -e docs`	Package (editable) + ProperDocs for building the documentation
`dist`	`pixi shell -e dist`	Default + build tools for releasing the package

The ROS 2 environments clone and build motion_capture_tracking into ros_ws on activation.

Each environment has pixi tasks associated with it:

# Run the test suite
pixi run -e tests tests

# Serve the documentation locally (live reload)
pixi run -e docs docs-serve

# Build the documentation
pixi run -e docs docs-build

If you want to have crazyflow in editable mode as well, install it into the environment from a local clone:

pixi shell
cd ../crazyflow
uv pip install -e .