TelloSwarm+

Updates

• August 2024 | TelloSwarm+:

  A multi-threaded API for formation control and video streaming from multiple Tello EDU drones over a wireless network (WLAN).

• June 2022 | TelloSwarm:

  An API for formation control of multiple standard Tello drones over a wireless network (WLAN).

  See the ICUAS_2022 branch for the code used in Bahrami and Jafarnejadsani, IEEE ICUAS 2022.

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If you find this code useful in your research, please consider citing our paper:

@INPROCEEDINGS{9836208,
  author={Bahrami, Mohammad and Jafarnejadsani, Hamidreza},
  booktitle={2022 International Conference on Unmanned Aircraft Systems (ICUAS)}, 
  title={Detection of Stealthy Adversaries for Networked Unmanned Aerial Vehicles}, 
  year={2022},
  volume={},
  number={},
  pages={1111-1120},
  doi={10.1109/ICUAS54217.2022.9836208}}

For details, check out the PDF, the video, and the following instructions.

Instructions

The code has been tested on Ubuntu 20.04 and ROS Noetic with Python 3.8+.

Installation

• Install TelloSwarm+ with pip

git clone https://github.com/SASLabStevens/TelloSwarm
pip install -r requirements.txt

• Install with ROS (optional for motion capture integration)

  ROS Noetic and catkin tools are required.

# Create a catkin workspace named telloswarm_ws and set the current directory to the source (src) folder: 
mkdir -p ~/telloswarm_ws/src && cd ~/telloswarm_ws/src

# Clone the vicon_bridge and TelloSwarm_plus repositories:
git clone https://github.com/r-bahrami/vicon_bridge && git clone https://github.com/SASLabStevens/TelloSwarm

# Build and source the setup file:
cd ~/telloswarm_ws/ && catkin_make
#
source devel/setup.bash

# install packages
pip install -r requirements.txt

In the vicon.launch file located in cd ~/telloswarm_ws/src/vicon_bridge/launch, you may need to set the "datastream_hostport" parameter to the IP/hostname of your vicon's host PC and the "stream_mode" parameter to either of "ServerPush", "ClientPull", or "ClientPullPreFetch" modes. For details, consult Vicon DataStream SDK Developer's Guide.

Run the vicon.launch file and mocap.py to check if ROS and Python packages work:

In the already-opened terminal run

roslaunch vicon_bridge vicon.launch

which will start streaming motion capture data using ROS.

In another terminal, run mocap.py to access the ground truth pose of a drone defined in the VICON Tracker. When asked to enter the "OBJECT_Name", it is the name of a drone created in the VICON Tracker.

python3 ~/telloswarm_ws/src/TelloSwarm/telloswarm_plus/mocap.py 

How to use

For network configuration and and instructions on how to use this code, please refer to the README file and the sample code test_api.py inside the telloswarm_plus directory.