==========
This is a repository of a ROS package that controls the parrot AR.DRONE.
This package depends on:
- ROS Hydro Distribution ( http://wiki.ros.org/hydro/Installation/Ubuntu )
- Ardrone Autonomy Package ( https://github.com/AutonomyLab/ardrone_autonomy )
- Dynamic Reconfigure ( http://wiki.ros.org/dynamic_reconfigure )
- Joy ( http://wiki.ros.org/joy )
- Numpy ( http://www.numpy.org/ )
- Scipy ( http://scipy.org/ )
- PyQt4 ( http://pyqt.sourceforge.net/Docs/PyQt4/installation.html )
- UTM Converter ( https://pypi.python.org/pypi/utm )
This module estimates quadrotor state using:
- Digital Low-Pass (Butterworth) Filtering of Sensors,
- Kalman Filtering to fusion sensors and Odometry to predict positions.
- Quaternion Non-Linear filters to fusion Gyroscopes, Accelerometers and Magnetometers
Publishes results in message topic 'ardrone/sensorfusion/navdata' with type Odometry
This module controlls the position of the quadrotor. A PID or Digital Transfer Function controller can be applied
Commands Drone using message topic 'cmd_vel' with type Twist
There is a User Interface to Control the Drone.
When executed this module A GUI window will open, while active:
- Press J (L) key to increase (decrease) Y-coordinate goal or velocity according to the controller state
- Press I (K) key to increase (decrease) X-coordinate goal or velocity according to the controller state
- Press W (S) key to increase (decrease) Z-coordinate goal or velocity according to the controller state
- Press A (D) key to increase (decrease) Yaw-coordinate goal or velocity according to the controller state
- Press C (F) arrow to turn controller on (off)
When executed this module the joy_node will be running:
- Press 'X' for Drone to take-off
- Press 'Circle' for Drone to land
- Press 'Triangle' for Drone to Reset
- Move Right Analog towards Right (Left) to increase (decrease) Y-coordinate goal or velocity according to the controller state
- Move Right Analog towards Up (Down) to increase (decrease) X-coordinate goal or velocity according to the controller state
- Move Left Analog towards Right (Left) to increase (decrease) Yaw-coordinate goal or velocity according to the controller state
- Move Left Analog towards Up (Down) to increase (decrease) Z-coordinate goal or velocity according to the controller state
- Press 'Square' ('Select') arrow to turn controller on (off)
To run the GUI with the complete nodal structure run:
$ roslaunch ardrone_control ardrone_gui.launch- Add Camera Processing Capabilities
- Add a ZPK controller user interface
- Add a SOS controller subdivision