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ardrone_interface

=================

Interface based on pygame and ROS to control the AR.Drone

Dependencies:

https://github.com/AutonomyLab/ardrone_autonomy

Install Guide:

  • Install ardrone_autonomy
  • Clone this repository
  • rosmake this module
  • Run it by: roslaunch ardrone_interface interface.launch

Controls:

  • w elevator up
  • s :elevator down
  • a :yaw left
  • d :yaw right
  • up :pitch down --> forward
  • down :pitch up --> backward
  • left :Roll left
  • right :Roll right
  • space :take off / land
  • c :toggle between front camera and bottom camera
  • r :reset/flat trim --> Works in both flight modes
  • t :reset the tracker, only when tracking. This is actually not necessary. Only for debugging.
  • - :decrease sensibility
  • + :increase sensibility
  • m :toggle between manual_flightmode and autonomous_flightmode
  • b :show batterystatus in percent
  • enter :confirms the box you've selected in the videofeed.
  • 1 : small center_box
  • 2 : medium small center_box
  • 3 : medium center_box
  • 4 : medium big center_box
  • 5 : center_box width and height -1
  • 6 : center_box width and height +1
  • 7 : center_box width -1
  • 8 : center_box width +1
  • 9 : center_box height -1
  • 0 : center_box height +1

Tracking an object:

We've implemented an other project (github.com/Ronan0912/ros_opentld). We used the trackernode named tld_tracker for its algorithm, which is OpenTLD. You can select a bounding box with the mouse in the videofeed of the ARdrone. If right it presents a nice green box, when ready you can confirm it with the 'enter' key. It sends the bounding box to the tld_tracker node. For doing this you have to run the tld_tracker node as well of course.

Autonomous_flightmode:

When changed to autonomous flying the interface wil try to steer the ARdrone in a manner that the object, the one you are tracking, will stay in the gray rectangle.

!! Warning !!

This is work in progress and at the moment not all dimensions and steering commands are implemented.