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ardrone_brown_ros [2016/11/01 10:55]
dwallace created
ardrone_brown_ros [2016/11/06 02:01] (current)
dwallace
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 ====== Controlling the Ar.Drone with the Brown-ROS Package ====== ====== Controlling the Ar.Drone with the Brown-ROS Package ======
  
-==Introduction==+===== Introduction ​=====
  
-In this tutorial you will learn how to fly the ARDRONE from [http://​ardrone.parrot.com/​parrot-ar-drone/​usa/ ​Parrot] using ROS. +In this tutorial you will learn how to fly the [[http://​ardrone.parrot.com/​parrot-ar-drone/​usa/​|ARDrone]] from Parrot ​using ROS. 
-ROS(Robotics Operating System) is 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.+ROS(Robotics Operating System) is an 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:+Before you take this tutorial, I suggest you to go through the basics of ROS and also to install ROS itself ​[[http://​www.ros.org/​wiki/​|here]]. This tutorial uses **ROS-ELECTRIC and the OS used is Ubuntu 10.10**. After you downloaded ROS go [[http://​code.google.com/​p/​brown-ros-pkg/​source/​checkout|here]] ​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+  ​svn checkout http://​brown-ros-pkg.googlecode.com/​svn/​trunk/​brown-ros-pkg-read-only
  
-==Necessary Packages==+===== Necessary Packages ​=====
  
 Before we go for the test of ARDRONE make sure you have the following packages.In a terminal, type: Before we go for the test of ARDRONE make sure you have the following packages.In a terminal, type:
  
- roscd ardrone_brown+  ​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) 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 drone_teleop 
- roscd image_view+  roscd image_view 
 + 
 +===== Making The Package =====
  
-==Making The Package== 
 Now the packages are at place we are going to make it and create a driver file. Now the packages are at place we are going to make it and create a driver file.
  
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 Step 2: In the terminal enter the following commands(one after the other): Step 2: In the terminal enter the following commands(one after the other):
  
- sh build_sdk.sh  +  ​sh build_sdk.sh  
- cmake . +  cmake . 
- ​rosmake+  rosmake
  
 Make sure you receive 0 failures at the end of rosmake. Make sure you receive 0 failures at the end of rosmake.
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 Step 3: If everything went well right you should be seeing a driver file named "​ardrone_driver"​ in the bin folder. 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==+===== 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 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 : Step 2: Open up a terminal(ctrl+alt+T) ​ and enter :
  
- roscore+  ​roscore
  
 Step 3:Open up an other terminal and enter: Step 3:Open up an other terminal and enter:
  
- rosrun ardrone_brown ardrone_driver+  ​rosrun ardrone_brown ardrone_driver
  
 Step 4: Again in a new terminal enter: Step 4: Again in a new terminal enter:
  
- rosrun drone_teleop drone_teleop.py+  ​rosrun drone_teleop drone_teleop.py
  
 Step 5:Open up a terminal and enter : Step 5:Open up a terminal and enter :
-  + 
-<​syntaxhighlight lang="​c">​ +  ​rosrun image_view image_view image:​=/​ardrone/​image_raw  
- rosrun image_view image_view image:​=/​ardrone/​image_raw  + 
-</​syntaxhighlight> ​   +This should give a video feed from the ardrone
-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 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== +===== Video ===== 
-<​html>​ + 
-<iframe width="​853"​ height="​480"​ src="​http://​www.youtube.com/embed/6M-ejG2kfRk" frameborder="​0"​ allowfullscreen></​iframe>​ +{{youtube>6M-ejG2kfRk?large}}
-</​html>​+
ardrone_brown_ros.txt · Last modified: 2016/11/06 02:01 by dwallace