Ardrone Controller

ROS Package (and utilities) to run the ardrone controller with a qualisys system.

Installation

Clone the package into your catkin workspace:

git clone https://github.com/duhoduc/ardrone_controller.git

Additionally, you need to have ardrone_autonomy (https://github.com/AutonomyLab/ardrone_autonomy) and qualisys (https://github.com/KTH-SML/motion_capture_system) in your ROS Path.

Usage

Setup the qualisys system, keep the x axis of qualisys aligns to x of drone (forward), set the name of drone as ARDrone in qualisys

Qualisys publishs frame "ARDrone" if this was set as name of 6D object, mocap is base-frame of the qualisys.

1. Connect the AR.Drone to our network:
2. Launch the ardrone driver roslaunch ardrone_autonomy ardrone.launch
3. Launch the vicon driver roslaunch mocap_qualisys qualisys.launch
4. Launch the rviz file roslaunch rviz rviz -d controller.rviz from the launch directory of ardrone_controller
5. Run the controller rosrun ardrone_controller controller.py
6. Run the ui for the controller rosrun ardrone_controller control_ui.py

Notes

• If the firmware for the drone comes up a 0.0.0 on launch of ardrone_autonomy, you have to restart the drone and often the computer
• If the drone is in emergency mode (red LEDs on), you can reset using rostopic pub /ardrone/reset std_msgs/Empty
• To run the python files (steps 5 and 6), the files need to be executable. Use chmod +x on each of the .py files.