Tello ROS2 Wrapper

Introduction

This ROS package enables the command of a DJI Tello drone using ROS2 command velocity, building a bridge between ROS and the tellopy Python library.

Note: It's important to install tellopy from source, as the pip version is outdated. The install_tellopy.sh script in this repository can be used for this purpose.

ROS Messages

• FlightStats.msg: Contains flight statistics and data from the drone.
• FlipControl.msg: Used to control flip actions of the drone.

ROS Topics

Subscribed Topics

Topic Name	Message Type	Description
/camera/exposure	std_msgs/msg/Int32	Sets camera exposure. (Valid values: 0, 1, 2)
/cmd_vel	geometry_msgs/msg/Twist	Command velocity for drone movement.
/flip	tello_msgs/msg/FlipControl	Controls flips of the drone.
/land	std_msgs/msg/Empty	Triggers drone landing.
/takeoff	std_msgs/msg/Empty	Triggers drone takeoff.
/palm_land	std_msgs/msg/Empty	Activates palm landing feature.
/set_att_limit	std_msgs/msg/Int32	Sets altitude limit for the drone. (in meters)
/throw_and_go	std_msgs/msg/Empty	Activates throw and go feature.
/toggle_fast_mode	std_msgs/msg/Empty	Toggles the drone's fast mode.

Published Topics

Topic Name	Message Type	Description
/camera/image_raw	sensor_msgs/msg/Image	Camera images from the drone.
/flight_data	tello_msgs/msg/FlightStats	Flight data and statistics.
/imu	sensor_msgs/msg/Imu	IMU data of the drone.
/odom	nav_msgs/msg/Odometry	Odometry information. (It is very inacurate. Should be avoided)
/battery_state	sensor_msgs/BatteryState	Battery State information. (Percentage is from 0-100%)

ROS Parameters

Here are the configurable parameters for the tello_ros_wrapper:

Topics

Parameter Name	Default Value	Description
image_topic_name	'camera/image_raw'	Topic name for camera images.
flight_data_topic_name	'flight_data'	Topic name for flight data.
velocity_command_topic_name	'cmd_vel'	Topic name for velocity commands.
land_topic_name	'land'	Topic name for landing command.
takeoff_topic_name	'takeoff'	Topic name for takeoff command.
flip_control_topic_name	'flip'	Topic name for flip control.
odom_topic_name	'odom'	Topic name for odometry data.
imu_topic_name	'imu'	Topic name for IMU data.
toggle_fast_mode_topic_name	'toggle_fast_mode'	Topic name for toggling fast mode.
camera_exposure_topic_name	'camera/exposure'	Topic name for camera exposure control.

Frame IDs

Parameter Name	Default Value	Description
imu_frame_id	'imu'	Frame ID for IMU data.
odom_frame_id	'odom'	Frame ID for odometry data.
drone_frame_id	'tello'	Frame ID for the drone.

Wifi Setup

Parameter Name	Default Value	Description
auto_wifi_connection	false	Automatically connect to Tello WiFi.
tello_ssid		SSID for Tello WiFi connection.
tello_pw		Password for Tello WiFi.

Settings

Parameter Name	Default Value	Description
alt_limit	30	Altitude limit in meters.
fast_mode	false	Enables fast mode for the drone.
video_mode	'4:3'	Sets video mode (options: '4:3', '16:9').
camera_exposure	0	Camera exposure level (0, 1, 2).