Difference between revisions of "MarioCL-Drone01"
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WikiSheriff (talk | contribs) (Página nueva: '''Controlling the ar-drone using the Wii-mote''' *Install http://www.ros.org ROS *Launching ROS: :~$ roscore *Loading drone driver: :~$ rosrun ardrone_driver ar...) |
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| − | + | == Overview == | |
| − | + | The current work with AR.Drone from Parrot consists of evaluate different ways to interface a PC with AR.Drone. | |
| − | *Launching ROS: | + | |
| + | == Interfacing with AR.Drone == | ||
| + | |||
| + | |||
| + | === Controlling the AR.Drone using the Wii-mote on '''ROS''' === | ||
| + | |||
| + | '''Requirements''' | ||
| + | *Install [[http://www.ros.org/wiki/ROS/Installation ROS]] | ||
| + | |||
| + | *Download the ''Mobile Robotics Lab at SIUE'' repository [[http://github.com/siue-cs/siue-ros-pkg siue-ros-pkg]]. This repository contains two packages ardrone_driver and ardrone_teleop which must to be installed in the stacks directory. | ||
| + | |||
| + | |||
| + | '''Procedure''' | ||
| + | *Verify AR.Drone boot sequence is completed and we can observe green leds on the bottom. | ||
| + | |||
| + | *Enable the WIFI connection with the AR.Drone. | ||
| + | |||
| + | *Launching ROS kernel: | ||
:~$ roscore | :~$ roscore | ||
*Loading drone driver: | *Loading drone driver: | ||
| + | |||
:~$ rosrun ardrone_driver ardrone_driver | :~$ rosrun ardrone_driver ardrone_driver | ||
| − | + | This command connects drone at localhost address. | |
| − | |||
| − | * | + | *Running the node to operate the drone |
| − | :~$ | + | |
| + | :~$ rosrun ardrone_teleop ardrone_teleop. | ||
| + | |||
| + | In ardrone_driver directory we can find a script to launch both nodes, the driver and remote operating. To launch this script use: | ||
| + | |||
| + | :~$ roslaunch <$ROS_ARDRONE_DRIVER_PATH>/ardrone_wiimote_teleop.launch | ||
| − | * | + | *To use the wiimote, run the python script into the wiimote packages |
| + | :~$ rosrun wiimote wiimote_node.py | ||
| + | *Wiimote application is waiting to press buttons 1 and 2 during at least 6 seconds. Next image describes the control layout | ||
[[Image:Control_layout.jpeg|center|300px]] | [[Image:Control_layout.jpeg|center|300px]] | ||
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<wikiflv width="300" height="250" logo="true">/videos/videoSumo20100312.flv</wikiflv> | <wikiflv width="300" height="250" logo="true">/videos/videoSumo20100312.flv</wikiflv> | ||
| + | |||
| + | |||
| + | === Using URBI to monitor and control AR.Drone === | ||
| + | |||
| + | |||
| + | === Controlling drone with joystick or joypad using SDK Application === | ||
Revision as of 23:34, 8 November 2010
Contents
Overview
The current work with AR.Drone from Parrot consists of evaluate different ways to interface a PC with AR.Drone.
Interfacing with AR.Drone
Controlling the AR.Drone using the Wii-mote on ROS
Requirements
- Install [ROS]
- Download the Mobile Robotics Lab at SIUE repository [siue-ros-pkg]. This repository contains two packages ardrone_driver and ardrone_teleop which must to be installed in the stacks directory.
Procedure
- Verify AR.Drone boot sequence is completed and we can observe green leds on the bottom.
- Enable the WIFI connection with the AR.Drone.
- Launching ROS kernel:
:~$ roscore
- Loading drone driver:
:~$ rosrun ardrone_driver ardrone_driver
This command connects drone at localhost address.
- Running the node to operate the drone
:~$ rosrun ardrone_teleop ardrone_teleop.
In ardrone_driver directory we can find a script to launch both nodes, the driver and remote operating. To launch this script use:
:~$ roslaunch <$ROS_ARDRONE_DRIVER_PATH>/ardrone_wiimote_teleop.launch
- To use the wiimote, run the python script into the wiimote packages
:~$ rosrun wiimote wiimote_node.py
- Wiimote application is waiting to press buttons 1 and 2 during at least 6 seconds. Next image describes the control layout
- Finally the drone flying:
<wikiflv width="300" height="250" logo="true">/videos/videoSumo20100312.flv</wikiflv>
