ardrone_gamepad
Differences
This shows you the differences between two versions of the page.
| ardrone_gamepad [2016/11/01 10:57] – created dwallace | ardrone_gamepad [2016/11/06 02:15] (current) – dwallace | ||
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| ====== Controlling the Ar.Drone with a Gamepad Controller ====== | ====== Controlling the Ar.Drone with a Gamepad Controller ====== | ||
| - | =Introduction= | + | ===== Introduction ===== |
| - | In this tutorial we will learn how to control the ardrone with a game pad controller(''' | + | |
| - | < | + | In this tutorial we will learn how to control the ardrone with a game pad controller (**Logitech dual action**). |
| + | |||
| + | {{dylanw: | ||
| + | |||
| + | ===== Package needed ===== | ||
| - | =Package needed= | ||
| Open up a terminal and enter: | Open up a terminal and enter: | ||
| - | <pre> | + | |
| - | roscd joy | + | roscd joy |
| - | </ | + | |
| if it does not take you to the folder named " | if it does not take you to the folder named " | ||
| - | =Create the necessary file= | + | ===== Create the necessary file ===== |
| Step 1:Open up a terminal and enter : | Step 1:Open up a terminal and enter : | ||
| - | < | + | |
| - | roscd drone_teleop | + | |
| - | </ | + | |
| Step 2: | Step 2: | ||
| Line 26: | Line 27: | ||
| Paste the following code in the file and save the file. | Paste the following code in the file and save the file. | ||
| - | <source lang ="python"> | + | <code python |
| # | # | ||
| import roslib; roslib.load_manifest(' | import roslib; roslib.load_manifest(' | ||
| Line 194: | Line 194: | ||
| - | </source> | + | </code> |
| Step 3: | Step 3: | ||
| Line 200: | Line 201: | ||
| and in the permissions tab click the check box "Allow executing file as a program" | and in the permissions tab click the check box "Allow executing file as a program" | ||
| + | ===== Mapping of the buttons ===== | ||
| - | =Mapping of the buttons= | + | {{dylanw:game.jpg}} |
| - | + | ||
| - | [[image:game.jpg|500px|gamepad layout]] | + | |
| Control information: | Control information: | ||
| - | |||
| gamepad control manual: | gamepad control manual: | ||
| - | <pre> | ||
| - | B1 / B2: takeoff / land | ||
| - | B4: reset (toggle emergency state) | ||
| - | B3: | ||
| - | B6: Hover the drone | ||
| - | B8: | ||
| - | Axis 5: Move forward and pitch (pitch) | ||
| - | Axis 4: | ||
| - | Axis 3: Move up and down(altitude control) | ||
| - | Axis 2: Move towards left and right(roll) | ||
| - | </ | ||
| + | B1/B2: takeoff / land\\ | ||
| + | B4: reset (toggle emergency state)\\ | ||
| + | B3: toggle_cam_view\\ | ||
| + | B6: Hover the drone\\ | ||
| + | B8: Toggle to autonomous mode\\ | ||
| + | Axis 5: Move forward and pitch (pitch)\\ | ||
| + | Axis 4: Rotate left and right (yaw)\\ | ||
| + | Axis 3: Move up and down(altitude control)\\ | ||
| + | Axis 2: Move towards left and right(roll)\\ | ||
| - | =Testing with gamepad= | + | ===== Testing with gamepad |
| Now enter the following commands in a separate terminal : | Now enter the following commands in a separate terminal : | ||
| - | <pre> | ||
| - | | ||
| - | | ||
| - | | ||
| - | | ||
| - | | ||
| - | </ | ||
| - | |||
| + | roscore | ||
| + | rosrun ardrone_brown ardrone_driver | ||
| + | rosrun joy joy_node | ||
| + | rosrun drone_teleop gamepad.py | ||
| + | rosrun image_view image_view image: | ||
| If everything goes well,you should be able to control the ardrone with joystick. | If everything goes well,you should be able to control the ardrone with joystick. | ||
| - | =Use of button 8= | + | ===== Use of button 8 ===== |
| The button 8 of the joystick is used for setting ardrone to autonomous mode. To come back out of the autonomous mode hit button 8 again. I will talk more about this in the tutorial " | The button 8 of the joystick is used for setting ardrone to autonomous mode. To come back out of the autonomous mode hit button 8 again. I will talk more about this in the tutorial " | ||
| - | =ARDRONE controlled through the gamepad controller= | + | ===== ARDRONE controlled through the gamepad controller |
| This program was used in Indoor Aerial Robotics Competition 2012 conducted by Drexel University ,USA. | This program was used in Indoor Aerial Robotics Competition 2012 conducted by Drexel University ,USA. | ||
| Here is a video of that. | Here is a video of that. | ||
| - | < | + | **VIDEO NOT FOUND** |
| - | <iframe width=" | + | |
| - | </ | + | |
ardrone_gamepad.txt · Last modified: 2016/11/06 02:15 by dwallace