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.

Build the library

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

The packages are built in steps

• The package arsdk3 relies on CMake ExternalProject_Add. This command only downloads the compiled library from ardrone-sdk-native during the cmake install phase
• In ardrone_sdk, the ARSDK library needs to be already downloaded so that CMake GLOB will correctly list and export all the library .so files
• Finally ardrone_sumo can <depend>ardrone_sdk</depend> for importing headers and linking

Jumping Sumo

ROS2 node for Jumping Sumo (and samples including Bebop)

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

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