Tello ROS driver

ROS driver used in the course DTEK0081 Perception and Navigation in Robotics

Installation

We will use by default the same workspace as for the drone-racing repo: https://github.com/TIERS/drone-racing.

If you don't have it, create the workspace and clone this repo

mkdir -p  ~/drone_racing_ws/src && cd ~/drone_racing_ws/src
git clone --recursive https://github.com/TIERS/tello-driver-ros.git

Install dependencies

sudo apt install ros-melodic-camera-info-manager-py ros-melodic-codec-image-transport python-catkin-tools python3-dev python3-pip python-dev python-pip
sudo -H pip3 install --upgrade pip
sudo -H pip3 install https://github.com/damiafuentes/DJITelloPy/archive/master.zip

And build it

cd ~/drone_racing_ws
catkin init
catkin build

Launch for Tello with its own Wi-Fi AP

• Turn on Tello drone
• Connect to drone's WiFi access point (TELLO_XXXXXX)

Then launch the driver

source ~/drone_racing_ws/devel/setup.bash
roslaunch tello_driver tello_node.launch tello_ip:="192.168.10.1"

You can control it with the teleop_twist_keyboard node. Install it with

sudo apt install ros-melodic-teleop-twist-keyboard

and run it

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/tello/cmd_vel

Launch for Tello Edo connected to same Wi-Fi network

• Turn on Tello EDU drone
• Check IP (for the course, they are written on top of the drone)

Then launch the driver modifying the IP

source ~/drone_racing_ws/devel/setup.bash
roslaunch tello_driver tello_node.launch tello_ip:="192.168.XXX.XXX"

ROS Nodes

Subscribed topics

• /tello/cmd_vel geometry_msgs/Twist
• /tello/emergency std_msgs/Empty
• /tello/fast_mode std_msgs/Empty
• /tello/flattrim std_msgs/Empty
• /tello/flip std_msgs/Uint8
• /tello/land std_msgs/Empty
• /tello/palm_land std_msgs/Empty
• /tello/takeoff std_msgs/Empty
• /tello/manual_takeoff std_msgs/Empty
• /tello/throw_takeoff std_msgs/Empty

Published topics

• /tello/camera/camera_info sensor_msgs/CameraInfo
• /tello/image_raw sensor_msgs/Image
• /tello/imag/raw/h264 h264_image_transport/H264Packet
• /tello/odom nav_msgs/Odometry
• /tello/imu sensor_msgs/Imu
• /tello/status tello_driver/TelloStatus

Parameters

• ~/tello_driver_node/connect_timeout_sec
• ~/tello_driver_node/fixed_video_rate
• ~/tello_driver_node/local_cmd_client_port
• ~/tello_driver_node/local_vid_server_port
• ~/tello_driver_node/stream_h264_video
• ~/tello_driver_node/tello_cmd_server_port
• ~/tello_driver_node/tello_ip
• ~/tello_driver_node/vel_cmd_scale
• ~/tello_driver_node/video_req_sps_hz
• ~/tello_driver_node/altitude_limit
• ~/tello_driver_node/attitude_limit
• ~/tello_driver_node/low_bat_threshold

Contact

For any questions, write to jopequ@utu.fi.

Visit us at https://tiers.utu.fi