ardrone_autonomy

ardrone_autonomy is a ROS driver for Parrot AR-Drone 1.0 & 2.0 quadrocopter. This driver is based on official AR-Drone SDK version 2.0.1. ardrone_autonomy is a fork of AR-Drone Brown driver. This package is developed in Autonomy Lab of Simon Fraser University by Mani Monajjemi and other Contributors .

External Links: Source code and issue tracker | ROS wiki page | Code API

Updates

• April 2014: 1.4
  • Publish Odometry (#123)
  • Support for multiple instances of the driver on a single machine (#98 and ardronelib/#2)
  • Use reception time for video streams (#89)
  • Refactoring of source code and build system
  • Deprecated setting TF root frame (6afa19)
  • Deprecated auto IMU calibration (6afa19)
• September 3 2014 : 1.3.5: Bug Fixes & Minor Improvements
• March 14 2014: The binary packages of the driver are now built on ROS build farm. You can install the driver for ROS Indigo, Hydro and Groovy using apt-get on Ubuntu.
• January 17 2014:
  • Fully catkinized package (#75 & #79).
  • ARDroneLib has been configured to be built as an external project. ARDroneLib is replaced by the vanilla SDK’s stripped tarball. (More info).
• October 22 2013: Update to Parrot SDK 2.0.1 (Fixes crashes on 2.4.x firmwares, no support for flight recorder (yet).
• February 13 2013: Support for USB key recording (More info). Motor PWM added to legacy Navdata.
• January 9 2013:
  • ROS Groovy support.
  • Support for zero-command without hovering (More info).
  • Fully configurable Navdata support (More info).
  • Support for Flight Animations.
  • Support for Real-time navdata and video publishing (More info).
  • Support for configurable data publishing rate.
• November 9 2012: Critical Bug in sending configurations to drone fixed and more parameters are supported (More info). Separate topic for magnetometer data added (More info).
• September 5 2012: Experimental automatic IMU bias removal.
• August 27 2012: Thread-safe SDK data access. Synchronized navdata and camera topics.
• August 20 2012: The driver is now provides ROS standard camera interface.
• August 17 2012: Experimental tf support added. New published topic imu.
• August 1 2012: Enhanced Navdata message. Navdata now includes magnetometer data, barometer data, temperature and wind information for AR-Drone 2. (Issue #2)
• July 27 2012: LED Animations Support added to the driver as a service
• July 19 2012: Initial Public Release

Table of Contents

• Installation
  • Binary install
  • Compile from source
• Usage
• Reading from AR-Drone
  • Update frequencies
  • Legacy navigation data
  • IMU data
  • Magnetometer data
  • Odometry data
  • Selective Navdata (advanced)
  • Cameras
  • Tag detection
• Coordinate frames
• Sending Commands to AR-Drone
  • Hover Modes
• Services
  • Toggle Camera
  • LED Animations
  • Flight Animations
  • Flat Trim
  • Record to USB Stick
• Parameters
  • AR-Drone Specific Parameters
  • Other Parameters
• License
• Contributors
• FAQ
  • Where should I go next? Is there any ROS package or stack that can be used as a tutorial/sample to use ardrone_autonomy?
  • How can I report a bug, submit patches or ask for a feature?
  • Why the ARDroneLib has been patched?
  • Why the wifi bandwidth usage is too much?
  • What is the default configuration for the front camera video stream?
  • How can I extract camera information and tag type from tags_type[]?
  • How can I calibrate the ardrone front/bottom camera?
  • Can I control multiple drones using a single PC? or can I make my drone connect to a wireless router?
  • Is there any support for GPS (Parrot Flight Recorder)