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ardrone_brown_ros

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Controlling the Ar.Drone with the Brown-ROS Package

Introduction

In this tutorial you will learn how to fly the ARDRONE from [http://ardrone.parrot.com/parrot-ar-drone/usa/ Parrot] using ROS. ROS(Robotics Operating System) is a open source tool for creating robot applications. It saves a lot of development time and in the same time help to create robust real time softwares for ones project.

Before you take this tutorial ,I suggest you to go through the basics of ROS and also to install ROS itself at http://www.ros.org/wiki/. This tutorial uses 'ROS-ELECTRIC and the OS used is Ubuntu 10.10'. After you downloaded ROS go to http://code.google.com/p/brown-ros-pkg/source/checkout and download the Brown-ros stack which could be done by opening up a terminal and enter:

svn checkout http://brown-ros-pkg.googlecode.com/svn/trunk/brown-ros-pkg-read-only

Necessary Packages

Before we go for the test of ARDRONE make sure you have the following packages.In a terminal, type:

roscd ardrone_brown

Make sure you are taken to the respective package's folder if not you have to download the corresponding package.Likewise enter(in the same terminal)

roscd drone_teleop roscd image_view

Making The Package

Now the packages are at place we are going to make it and create a driver file.

Step 1: Go to /brown-ros-pkg-read-only/experimental/ardrone_brown (using the terminal) Step 2: In the terminal enter the following commands(one after the other):

sh build_sdk.sh cmake . rosmake

Make sure you receive 0 failures at the end of rosmake. There are possibilities that you may run into some problems if you are plan to use ROS-Fuerte(latest version of ROS). I personally have not tried that yet.

Step 3: If everything went well right you should be seeing a driver file named “ardrone_driver” in the bin folder.

Interface your computer with the ARDRONE

Step 1: Switch on the ARDRONE and wait for the led lights on the ardrone to turn green Step 2: Open up a terminal(ctrl+alt+T) and enter :

roscore

Step 3:Open up an other terminal and enter:

rosrun ardrone_brown ardrone_driver

Step 4: Again in a new terminal enter:

rosrun drone_teleop drone_teleop.py

Step 5:Open up a terminal and enter :

<syntaxhighlight lang=“c”> rosrun image_view image_view image:=/ardrone/image_raw </syntaxhighlight> his should give a video feed from the ardrone

Step 6: If all of the above steps are successful, you should be able to control the drone using the drone_teleop portal. Here is a video of the ARDRONE being controlled using the Brown ROS package

Video

<html> <iframe width=“853” height=“480” src=“http://www.youtube.com/embed/6M-ejG2kfRk” frameborder=“0” allowfullscreen></iframe> </html>

ardrone_brown_ros.1478022957.txt.gz · Last modified: 2016/11/01 10:55 by dwallace