bebop_driver

ROS Driver for Parrot Bebop drone.

Changelog for package bebop_driver

0.7.1 (2018-05-31)

• Fixed the bug appearing when you run the catkin build command
• Contributors: Giuseppe Silano

0.7.0 (2017-07-29)

• SDK 3.12.6 support (except 64bit Ubuntu Xenial, working on fix) - ROS API change: states/common/MavlinkState/MissonItemExecuted topic renamed to states/common/MavlinkState/MissionItemExecuted

• Contributors: Thomas Bamford, Mani Monajjemi

0.6.0 (2016-11-02)

• Use Parrot ARSDK as a thirdparty dependency - Instead of building the SDK inline, bebop_driver now utilizes the catkin version of Parrot ARSDK available at https://github.com/AutonomyLab/parrot_arsdk and in a binary form via the ROS buildfarm: ros-<DISTRO>-parrot-arsdk

• Rename liblibbebop to libbebop
• Full SDK 3.10.x support
  • ROS API change: states/ARDrone3/.. topics renamed to states/ardrone3/..

* Disabling video stabilization works with Firmware 3.9 (tested on Bebop

2)

• Camera control API fix for SDK 3.10.x
• Refactor H264 decode class to support dynamic picture size
  • Add support for determining picture size from the stream
  • Add dynamic buffer re-allocation on picture size change
• Use av_frame_alloc() instead of the depr. avcodec_alloc_frame()
• Fix inconsistent SDK 3.10.1 key values
• Update autogenerated msgs/headers/docs to SDK 3.10.1
• CMake: fix dynamic reconfigure dependency bug
• Rename topic 'navigate_home' to 'autoflight/navigate_home'
• Add autonomous flight plans
• Contributors: Jacob Perron, Mani Monajjemi

0.5.1 (2016-05-04)

• Add bebop_description as a build dep to bebop_driver (fixes #45)

• Fix inline build of arsdk to use the frozen manifest (fixes #46) - Prior to this release, the build script would always compile the development branch of ARSDK. This fix ensures that instead of [default.xml]{.title-ref} manifest file - which represents the dev version of ARSDK package - [release.xml]{.title-ref} is used by [repo]{.title-ref}. This manifest file includes a certain hash for each ARSDK package that enforces a consistent build for ARSDK.

• Contributors: Mani Monajjemi

0.5.0 (2016-04-01)

• Based on Parrot ARSDK 3.8.3. Tested with Bebop 1.0 (2.0.57) and Bebop 2.0 (3.1.0)
• Update to SDK 3.8.3 - SDK 3.8.3 from https://github.com/Parrot-Developers/arsdk_manifests.git
  • SDK 3.8.3 git hash: 2930cc7f7a79173d51c1fc167475fa9fa6650def
• Add support for VideoStream v2.0
• Publish TF
• Experimental implementation of odometery (pose, velocity)
• Publish the GPS fix as a ROS standard message (closes #39)
  • Message type: sensor_msgs/NavSatFix
  • Topic: fix
• Add joint state publisher for camera's pan/tilt
  • Add a new param to enable/disable the TF publisher for odom
  • Add a new param to set the odom frame id
• Include bebop_description and robot_state_publisher in driver's launch files
• Add proper limitations for camera's pan/tilt joints
• Add explicit linkage to libav (fixes #32)
• Fix libav API inconsistency issues #30 #35 #36

• Improve H264 parameter update method - Implement a better way to pass SPS/PPS params to H264 decoder (SDK 3.8.x)

• Add a new CMake option "RUN_HARDWARE_TESTS" to explicitly enable hardware in the loop testing (disabled by default)
• Contributors: Mani Monajjemi, chartoin, Jake Bruce

0.4.1 (2016-02-17)

• Add ROS API for recording on-board picture/video (closes #5)
• Add a new ROS topic for taking on-board snapshot: [snapshot]{.title-ref}
• Add a new ROS topic for toggling on-board video recording: [record]{.title-ref}
• Update the docs
• Add curl as a rosdep build dep (fixes #33)
• Fix a bug in bebop_driver's nodelet destructor
• Fix a bug in ASyncSub class
• Contributors: Mani Monajjemi

0.4.0 (2016-01-17)

• Update Parrot SDK to 3.7.5 (from 3.6)
  • Remove upstream XML hash from .msg files to minmize msg type changes from now on
  • New Topic and Message type for [DefaultCameraOrientation]{.title-ref}

• Add cmd_vel timeout for safety - The driver now sends stop command if no new cmd_vel is received within a pre-defined timeout period. This timeout is set to 0.1s by default and can be changed via [cmd_vel_timeout]{.title-ref} parameter.

• Fix right-jand rule bug of angular.z \@jacobperron (fixes #26)

• Patch ARSDK to fix Sanselan's old URL - This is temporary and must be reverted when this is fixed upstream. Issue reported here: Parrot-Developers/ARSDKBuildUtils#61

• Add bebop ip address as ROS parameter (fixes #19) - (Param name: [bebop_ip]{.title-ref}, default value: 192.168.42.1)
• Fix CameraInfo issues (closes #10)
  • Fix bugs in loading camera calibration data and update the tests
  • Add a sample calibration file for bebop camera: bebop_camera_calib.yaml

  - Load camera calibration file by default in both node/nodelet launch files

• Remove redundant bebop.launch file (closes #11)
• Fix coordinate system inconsistencies (fixes #13)
  • Fix cmd_vel.linear.y sign error
  • Use attitude values in tests instead of velocities
• Contributors: Anup, Mani Monajjemi, Jacob Perron

0.3.0 (2015-09-17)

• Renamed package to bebop_driver
• Built against ARSDK3_version_3_6
• bebop_autonomy is now a metapackage
  • bebop_autonomy is the ROS metapackage name
  • Rename bebop_autonomy package to bebop_driver
  • Rename bebop_autonomy_msgs to bebop_msgs
• Contributors: Mani Monajjemi

0.2.0 (2015-09-10)

• Finalized documentation
• Remove bebop_autonomy's dependency to image_view
• Imrovements to code autogeneration scripts.
• CLAMP values for cmd_vels and anim_id
• Added contents to almost all doc pages
• Bebop In The Loop tests (first revision)
• Fixed more style (lint) issues
• Finalized the first revision of tests
• Add autogenerated docs for Settings, Topics and Params
• Contributors: Mani Monajjemi

0.1.2 (2015-09-05)

• Move 'state' params to their own param namespace
• Add missing unzip dep to package.xml
• Contributors: Mani Monajjemi

0.1.1 (2015-09-04)

• Add support for downloading and building ARDroneSDK3 during the build process
• Add flattrim, flip and navigatehome interfaces
• Add forward declaration to classes where it is possible
• Major bug fixes and improvements
  • Dynamic Reconfigure: Convert all two state int_t values to enum
  • Fix the private nodehandle bugs in State and Settings handlers

  - Fix the data flow of Settings between rosparam and dynamic reconfigure and bebop

  • Fix SDK enum types in C (I32 instead of U8)
  • Add Start/Stop streaming to Bebop interface class
• Add bebop_nodelet launch with image_view
• Organized DynR configs into groups
  • Moved the autogeneration report to a seperated file
  • build speed improvements
• Dynamically reconfigurable Bebop settings
• Add support to enable publishing of a specific State
• Add support to propogate states from bebop to ROS
• Auto-generated .msg and .h files based on libARCommands XML files
• New threading model for data retreival and publishing
  • Nodelet now manages its own thread to receive frames from Bebop
  • GetFrame() function abstracts all sync to access the rgb frame
  • All subscribers send commands to the Bebop in their callbacks
• Integreate ARSAL logs into ROS_LOG
  • Fix sync issues between frame grabber and publisher
• Improve video decode/publish pipeline
  • Adopt frame decoding from official examples
  • Thread safe access to raw frame ptr
  • Synchronised frame decoding and publishing
• Proof of concept ROS driver for bebop drone
• Contributors: Mani Monajjemi