Difference between revisions of "MarioCL-Drone01"

Revision as of 21:26, 11 November 2010

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">Ar.drone.ros.flv</wikiflv>

Using URBI to monitor and control AR.Drone

• Video trial:

<wikiflv width="300" height="250" logo="true">Ar.drone.urbi.flv</wikiflv>

Controlling drone with joystick or joypad using SDK Application