Difference between revisions of "MarioCL-Drone01"

Revision as of 07:26, 18 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">/videos/Ar.drone.ros.flv</wikiflv>

Using URBI to monitor and control AR.Drone

• Video trial:

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

Controlling drone with joystick or joypad using SDK Application

Requirements

• There are some packages required to compile the SDK code.

         sudo apt-get install libgtk2.0-dev
         sudo apt-get install libsdl1.2-dev
         sudo apt-get install libiw-dev

Procedure

• Download the SDK from the ARDrone development Wiki
• Unpack to a folder of your choice (I have mine under my account in /home and renamed to ARDroneAPI)
• First we need to compile the base SDK.

       cd ARDroneAPI/ARDroneLib/Soft/Build
       make

and let it build. Within ARDroneLib there will now be a targets_versions folder with the compiled code.

• Now we will compile the navigation example as it is the most verbose and has support for a PS3 controller o joystick

       cd ARDroneAPI/Examples/Linux/Navigation/Build
       make
       cd ARDroneAPI/ARDroneLib/Version/Release

• Run the example

       ./ardrone_navigation