ROS Package (and utilities) to run the ardrone controller with a vicon system.

Clone the package into your catkin workspace:

git clone https://github.com/ewcha/ardrone_controller.git

Additionally, you need to have ardrone_autonomy (https://github.com/AutonomyLab/ardrone_autonomy) and vicon_bridge (https://github.com/ethz-asl/vicon_bridge) in your ROS Path.

1. Connect the AR.Drone to our network:

• Download binaries and scripts from https://github.com/daraosn/ardrone-wpa2.git
• Put the battery into the AR.Drone (make sure it is on a level surface while booting). The Ar.Drone will create its own ad-hoc network.
• Copy over the wpa_supplicant binaries by running the install script script/install
• Connect to the drone's network
• Connect the drone to the ACT Cage network script/connect 'ACT Cage' -p "*********" -a dhcp.
• Log back onto ACT Cage

2. Launch the ardrone driver roslaunch ardrone_autonomy ardrone.launch
3. Launch the vicon driver roslaunch vicon_bridge vicon.launch
4. Launch the rviz file roslaunch rviz rviz -d controller.rviz from the launch directory of ardrone_controller
5. Run the controller rosrun ardrone_controller controller.py
6. Run the ui for the controller rosrun ardrone_controller control_ui.py

• If the firmware for the drone comes up a 0.0.0 on launch of ardrone_autonomy, you have to restart the drone and often the computer
• If the drone is in emergency mode (red LEDs on), you can reset using rostopic pub /ardrone/reset std_msgs/Empty
• To run the python files (steps 5 and 6), the files need to be executable. Use chmod +x on each of the .py files.