Written for Kapernikov cvba during my internship.

Drone controller

The brain of the Tello drone.

client

srv_tello_cmd = create_client<tello_msgs::srv::TelloAction>("/solo/tello_action");

srv_tello_cmd is used to send commands to the tello driver.

subscribers

sub_key_input       = create_subscription<std_msgs::msg::Char>            ("/raw_keyboard", ..., ...);
sub_tello_response  = create_subscription<tello_msgs::msg::TelloResponse> ("/solo/tello_response", ..., ...);
sub_demo_position   = create_subscription<geometry_msgs::msg::Point>      ("/solo/demo_position", ..., ...);

sub_key_input is used as input, see state machine below. sub_tello_response is used to receive feedback from tello driver. sub_demo_position is used to updated the point where the drone needs to go to.

Publishers

pub_tello_twist = create_publisher<geometry_msgs::msg::Twist>("/solo/cmd_vel", ...);

pub_tello_twist publisches twist comands to the tello driver to move the drone.

State machine

Image below is the state machine. Press 'q' to either liftoff, land or abort search, and 'w' to search for the Aruco marker. Blue arrows represent a transition duo to input from sub_key_input and red arrows represent a transition done by the controller itself.

Modifying position

Use the following command in the terminal to move the drone to a custom position:

ros2 topic pub /solo/demo_position geometry_msgs/Point "{x: 1.2, y: 0.5, z: 2.5}"