ARDRONE ROS2

Exports ARDRONE ARSDK3 from Parrot as a ROS2 package. A node for the Jumping Sumo is provided, but more nodes are welcome in PR.

Status

Build status:

Release status:

sudo apt install ros-${ROS_DISTRO}-ardrone-sumo

ARDRONE_SDK

Build the ROS SDK

source /opt/ros/humble/setup.bash
rosdep install -i --from-path src --rosdistro humble -y --ignore-src
colcon build --packages-up-to ardrone_sdk --event-handlers console_direct+ --paths src/*

The ardrone_sdk package exports headers and libs for easy integration, as illustrated in the companion package ardrone_sumo

find_package(ardrone_sdk REQUIRED)
add_executable(jumping_sumo src/jumping_sumo.cpp)
target_link_libraries(jumping_sumo PUBLIC
    ardrone_sdk::ardrone_sdk_lib
)

Development

The original ARSDK build involves using repo init/repo sync to clone the source files from github. To avoid cloning as part of the build process in the ROS build farm, we re-commit the files in the src/ardrone_sdk package and take care to preserve the Parrot license. Only a part of the original files is committed, which is controlled by ./scripts/sync_sources.sh. Edit this script and commit the new output to add more ARSDK libraries.

The Bebop Sample is not part of this release, although a compiled version of the original library can be found in the ardrone-sdk-native repository. It includes both native samples.

ARDRONE_SUMO

ROS2 node for Jumping Sumo.

Features

Control the JumpingSumo drone via ROS2 topics

• Subscribe to geometry_msgs/Twist on jumpingsumo/cmd_vel for motion control
• Publish sensor_msgs/Image on jumpingsumo/image_raw for video feed
• Publish sensor_msgs/BatteryState on jumpingsumo/battery for battery status
• WiFi connection handling

The Twist has no unit/dimension ! Send a floating value between -1 and 1 to control for the maximum backward/forward motor values in speed and turn.

Usage

1. Connect to JumpingSumo’s WiFi network
2. Launch the ROS2 node:

ros2 run ardrone_sumo jumping_sumo

To control the drone, use:

# Terminal 1
ros2 run rqt_image_view rqt_image_view /jumpingsumo/image_raw
# Terminal 2
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/jumpingsumo/cmd_vel

The camera distortion is apparent for nearby objects, so calibration is needed for further use

The original sample may still be run

source install/setup.bash
JumpingSumoSample

To enable debug logging for detailed command information:

ros2 run ardrone_sumo jumping_sumo --ros-args --log-level jumping_sumo:=debug

This will show all DEBUG level messages, which include detailed command key information

Missing features

• The Twist command has no unit/dimension (it is not in m/s but rather in motor percentage)
• The IMU sensor is missing (Note Victor: I could not find it in the jumping_sumo messages)