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https://github.com/jeremyfix/ros2_bebop_driver
A ROS2 package for interacting with parrot bebop2
https://github.com/jeremyfix/ros2_bebop_driver
Last synced: 5 days ago
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A ROS2 package for interacting with parrot bebop2
- Host: GitHub
- URL: https://github.com/jeremyfix/ros2_bebop_driver
- Owner: jeremyfix
- License: bsd-3-clause
- Created: 2023-05-26T12:44:58.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2024-05-21T11:07:00.000Z (6 months ago)
- Last Synced: 2024-05-21T12:37:03.810Z (6 months ago)
- Language: C++
- Homepage:
- Size: 103 KB
- Stars: 0
- Watchers: 2
- Forks: 1
- Open Issues: 8
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ROS2 bebop driver
This is a ROS2 rewrite derived from the original [ROS1 bebop_autonomy package](https://github.com/AutonomyLab/bebop_autonomy).
If you wish, you could be using [ros1 bridge](https://github.com/ros2/ros1_bridge) to use the original bebop_autonomy ROS1 package.
This is clearly alpha release with some basic functionnalities which will hopefully grow from time to time.
This work is based on the [bebop_autonomy](https://github.com/AutonomyLab/bebop_autonomy) work of Mani Monajjemi and the work on [h264_image_transport](https://github.com/clydemcqueen/h264_image_transport) by Clyde McQueen.
## Using it
First you need to install some dependencies :
```
sudo apt install ros-foxy-camera-info-manager libavdevice-dev
```
When building ros2_bebop_driver, we use the google repo tool which is asking a question at initialization. This will prevent colcon building from doing its job (since waiting for an answer to a question in the background). To skip this, you can
```
git config --global color.ui auto
```
Then, you need [ros2_parrot_arsdk](https://github.com/jeremyfix/ros2_parrot_arsdk) in your workspace as well as this package, build it and run.
```
cd ros2_ws
git clone https://github.com/jeremyfix/ros2_bebop_driver.git src/ros2_bebop_driver
colcon build --symlink-install
source install/setup.bash
git clone https://github.com/jeremyfix/ros2_parrot_arsdk.git src/ros2_parrot_arsdk
colcon build --symlink-install
```
And then you should be able to run the launch file
```
source ros2_ws/install/setup.bash
ros2 launch ros2_bebop_driver bebop_node_launch.xml ip:=YOUR.BEBOP.IP.ADDRESS
```
## Features and roadmap
| Feature | Status | Notes |
| --- | --- | --- |
| SDK Version | 3.14.0 | Depends on [ros2_parrot_arsdk](https://github.com/jeremyfix/ros2_parrot_arsdk) |
| Support for Parrot Bebop 2 | Yes | |
| Support for Parrot Bebop 1 | No | Should not be too difficult to implement but I cannot test |
| Core piloting (takeoff, land, move, ..) | Yes | |
| H264 video decoding | Yes | |
| ROS Camera interface | Yes | |
| Publish bebop states as ROS topics | No | |
| TF publisher | Yes | |
| Odometry publisher | Yes | |
The odometry has been not been extensively tested. It is a direct port of the code from [ROS1 bebop_autonomy package](https://github.com/AutonomyLab/bebop_autonomy). However, when I tested it, it seemed to me there was an accumulated error during motion. Not a drift but an offset.
## Debugging
If you need to debug the execution of the node, you can :
```
ros2 run --prefix 'gdb -ex run --args' ros2_bebop_driver bebop_driver --ros-args -p bebop_ip:=192.168.50.62
```
you may need to customize the drone IP.