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.
- 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
- Launch the ardrone driver
roslaunch ardrone_autonomy ardrone.launch
- Launch the vicon driver
roslaunch vicon_bridge vicon.launch
- Launch the rviz file
roslaunch rviz rviz -d controller.rviz
from the launch directory of ardrone_controller - Run the controller
rosrun ardrone_controller controller.py
- 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.