FlyingNimbus

Final project for ENAE788M

Overview

The final project in the ENAE788M course requires us to complete the following course autonomously

This is to be done using the hardware setup provided in the course, the details of which can be found here. Once you setup the hacked bebop quadrotor follow the instructions to run the course

Submission Video

This is the final video submission of our demo for the project.

Required Dependencies

Using this repo

Other useful info for playing around with the parrot bebop

Connecting to bebop shell

• press the power button of bebop 4 times in succession
• connect to bebop wifi and use the following command:

  telnet 192.168.42.1
  

You should be able to login into the shell

Hacking Bebop's internal PID

Before you begin to tune the PID, remount the disk with read and write permissions using:

mount -o remount, rw /

Now you can change parameters in any of the Bebop's internal file.

The .cfg file which contains all the gains for different modes in Bebop are present in /etc/colibry/common/controller.cfg.

• Tune the gains under ctrlGainPosition

Sending Commands to Bebop

1. Connect to Bebop 2 Wifi

2. roscore

3. roslaunch bebop_driver bebop_node.launch

4. Use the following commands to do specific tasks: Takeoff: rostopic pub --once /bebop/takeoff std_msgs/Empty Land: rostopic pub --once /bebop/land std_msgs/Empty Movement:

rostopic pub --once /bebop/cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 

Change values of x,y,z as needed.

5. To enable camera without stabilization

~/bebop_ws/./video_stabil.sh

Other useful links

• Leapord camera drivers
• Bebop Hacking Guide
• Bebop_autonomy documentation
• bebop ros package
• Wifi driver