Hello everyone. I followed the instructions at https://github.com/AutonomyLab/ardrone_autonomy/wiki/Multiple-AR-Drones for using multiple parrots. With 2 robots, the network works fine. However, when I add the third, after a while, I get the following error:
Timeout when reading navdatas - resending a navdata request on port 5554
and the network is not able to recover.
This happens also if I set the "codec_fps" parameter to 1. Does anyone know if it is possible to solve this issue?
Thank you.
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Not more than 2 parrot ardrone simultaneously?
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Publisher for ardrone
Hi there,
i have a problem with publishing sth. to the ardrone. I am using ROS Hydro and this is a part of my code for one of the publishers i am using:
(in the header-file)
ros::Publisher land_pub;
(in cpp-file)
ros::NodeHandle nh;
land_pub = nh.advertise("ardrone/land", 1);
(with a button-klick of my joypad i want to publish this message:)
std_msgs::Empty emptymsg;
land_pub.publish(emptymsg);
But when i am using "rostopic echo ardrone/land" (or takeoff) nothing is published and my ardrone does nothing... but if i am publishing under this topic via terminal it works... could anybody help me solving this, please?
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↧
Use ardrone_autonomy library in qtcreator
Hi there,
i have a problem with subscribing to ardrone/navdata, because the library ardrone_autonomy/Navdata.h can not be found. I tried to include it with this line:
#include "ardrone_autonomy/Navdata.h"
and I also tried to include it in my project- file as a file, but it did not work.
How do i include this correctly to my project?
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multiple ar.drones on tum_simulator
Hello everyone. I've been trying to make the ros-gazebo simulator working with 2 or more drones, with no result. Using rostopic list, the topics appear with the right name (/ardrone/takeoff and /ardrone_2/takeoff etc.) but when I send a command, only one drones is receiving them, often with unexpected outcomes (it flies away =( ))
Here is my launch file,
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Anybody use FalkonSystem arDrone?
Hi!
i found a roslaunch called "FalkorSystems" https://github.com/FalkorSystems/falkor_ardrone for navigation on vision.
i dont know how install, 'cause don't find any tutorial about.
Anybody has used this "launch"? How did you installed?
greetings
P.s. i have installed Ardrone_autonomy, i use Ubuntu 12.04 and have ArDrone 2.0
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↧
Problem with ardrone_driver
I'm trying to roslaunch ardrone_driver. I have installed the ardrone_autonomy and tum_ardrone packages. when i try to roslaunch ardrone_driver i get this message:> [ardrone_driver-1] process has died> [pid 19905, exit code -11, cmd> /opt/ros/hydro/ardrone_autonomy/bin/ardrone_driver> __name:=ardrone_driver __log:=/home/michael/.ros/log/1b4dd950-f22c-11e3-a388-d0df9a5bc38d/ardrone_driver-1.log].> log file:> /home/michael/.ros/log/1b4dd950-f22c-11e3-a388-d0df9a5bc38d/ardrone_driver-1*.log> all processes on machine have died,> roslaunch will exit shutting down> processing monitor... ... shutting> down processing monitor complete done
And if i leave it long enough it says:
> Timeout when reading navdatas -> resending a navdata request on port> 5554
If someone knows any solution to this problem i would appreciate the help.
I'm using ROS Hydro on Ubuntu 12.04. The ardrone is an AR Drone 2.0 firmware 2.3.3
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ardrone_autonomy segmentation fault
Hi
I want to run AR.Drone's driver by ardrone_autonomy package.I'm working on ROS fuerte and Ubuntu 12.04. I get Segmentation fault (core dumped) error for following command:
rosrun ardrone_autonomy ardrone_driver
How can I fix this problem?
I get a backtrace of the segfault by GDB:
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
http://bugs.launchpad.net/gdb-linaro/...
Reading symbols from /opt/ros/fuerte/stacks/ardrone_autonomy/bin/ardrone_driver...done.
(gdb) run
Starting program: /opt/ros/fuerte/stacks/ardrone_autonomy/bin/ardrone_driver __name:=ardrone_driver __log:=/home
/soltani/.ros/log/c79b0a0a-0412-11e4-a995-bcf68504b943/ardrone_driver-2.log
warning: no loadable sections found in added symbol-file system-supplied DSO at 0x7ffff7ffa000
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Setting locale to en_GB.UTF-8
Program received signal SIGSEGV, Segmentation fault.
0x0000000000469944 in wifi_config ()
(gdb) bt
0 0x0000000000469944 in wifi_config ()
1 0x0000000000469024 in ardrone_tool_main ()
2 0x000000000043333a in main (argc=1, argv=0x7fffffffde08)
at /opt/ros/fuerte/stacks/ardrone_autonomy/src/ardrone_driver.cpp:702
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a few wierd problems with the ardrone_autonomy
Hi, guys, I have installed the ardrone dirver on my laptop and I am having a few problems when when using it with Ardrone 2.0.
1) After running the driver, I used this command **rostopic echo /ardrone/navdata**, what I find is that the **altd** and **vz** are always 0 while vz, vy are updating.
2) It is found that the **video_channel** parameter either being 1 or 0, the image is always published to the **/ardrone/front/image_raw** and **/ardrone/image_raw**. The **/ardrone/bottom/image_raw** topic always has nothing.
3) I have a node subscribing to the **/ardrone/image_raw (callback1)** and **/ardrone/imu (callback2)** topic. I set up a counter that is incremented by 1 in the callback2 function. In the callback1 function, I first print the counter and then set it to 0. What I notice is that the counter value varies a lot. I mean the IMU data is published at 200Hz and the image at 20 Hz. the counter should be around 10, right ?
I really appreciate it if anyone can help with these issues.
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error while building after adding a Subscriber node
I created a subscriber node "Listener.cpp" in the **src** folder of the package **ardrone_autonomy**.
I also modified the CMakeLists.txt file by adding dependency, executable link
However, when I go to my catkin workspace and type in "catkin_make",
It builds fine except for something wrong with my new file. What am I missing/ doing wrong?
ERROR shown below:
...
...
[100%] Building CXX object ardrone_autonomy/CMakeFiles/ardrone_driver.dir/src/listener.cpp.o
Linking CXX executable /home/voladoddi/catkin_ws/devel/lib/ardrone_autonomy/ardrone_driver
CMakeFiles/ardrone_driver.dir/src/listener.cpp.o: In function `main':
listener.cpp:(.text+0x152): multiple definition of `main'
CMakeFiles/ardrone_driver.dir/src/ardrone_driver.cpp.o:ardrone_driver.cpp:(.text+0x16a61): first defined here
/usr/bin/ld: cannot find -llistener
collect2: ld returned 1 exit status
make[2]: *** [/home/voladoddi/catkin_ws/devel/lib/ardrone_autonomy/ardrone_driver] Error 1
make[1]: *** [ardrone_autonomy/CMakeFiles/ardrone_driver.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
I checked the .cpp file I wrote. I cannot see any multiple definitions of main in the file. There's no other subscriber node named the same way either.
**EDIT** - As William pointed out, I was trying add the node to the executable of the existing package. However, I added two lines to the end of my Subscriber.cpp file like below:
#adding subscriber's node executable to the end of CMakeLists.txt file - POOJA
add_executable(subscriber src/subscriber.cpp)
target_link_libraries(subscriber ${catkin_LIBRARIES})
And now I'm getting the following errors:
Build done.
Checking required Ubuntu packages ...
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp: In function ‘void ReceiveData(const ConstPtr&)’:
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp:8:2: error: ‘const struct ardrone_autonomy::Navdata_>’ has no member named ‘data’
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp: In function ‘int main(int, char**)’:
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp:17:54: error: ‘Navdata’ was not declared in this scope
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp:17:54: note: suggested alternative:
/home/voladoddi/catkin_ws/devel/include/ardrone_autonomy/Navdata.h:246:61: note: ‘ardrone_autonomy::Navdata’
ok.
Building ARDroneTool/Lib
make[2]: *** [ardrone_autonomy/CMakeFiles/subscriber.dir/src/subscriber.cpp.o] Error 1
make[1]: *** [ardrone_autonomy/CMakeFiles/subscriber.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Building ARDroneTool/Lib
[ 4%] Performing install step for 'ardronelib'
make[3]: warning: jobserver unavailable: using -j1. Add `+' to parent make rule.
[ 5%] Completed 'ardronelib'
[ 7%] Built target ardronelib
make: *** [all] Error 2
Here is my subscriber code:
#include "ros/ros.h"
#include "ardrone_autonomy/Navdata.h"
//The topics subscribed to : Time (from the header), Pitch angle(rotY)
// where the MESSAGE= ardrone_autonomy
void ReceiveData(const ardrone_autonomy::Navdata::ConstPtr& rot)
{
ROS_INFO("Time: %d, Pitch angle: %d",rot->data.header.stamp.to_sec(),rot->rotY);
}
//instantiating subscriber
int main(int argc, char **argv)
{
ros::init(argc,argv,"subscriber");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("ardrone/navdata",Navdata,ReceiveData);
ros::spin();
return 0;
}
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↧
Path planning for quadrocopter using GPS
Is there any path planning node or implementation where I can set start's latitude and longitude and goal's latitude and longitude in ROS that I can reuse for use with quadrocopter? I am using tum_simulator as the simulator.
I read somewhere from ardrone_autonomy package which is one of tum_simulator dependencies has "SetGPSTarget.srv" service definition but then, the commit message is "GPS based navigation services added. not tested. not meant to be pushed." Is this functionality working by the way?
Thanks in advance.
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streaming AR.Drone 2.0 images to OpenCV
I'm following these tutorials to stream images to OpenCV format from the `/ardrone/image_raw` topic.
http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages
However, even though I've been able to successfully compile the driver, when i run it, I don't see any images on screen.
My code is this -
#include "ros/ros.h"
#include
#include
#include
#include
#include
#include "ardrone_autonomy/Navdata.h"
static const std::string OPENCV_WINDOW = "Image window";
class ImageConverter
{
ros::NodeHandle nh_;
image_transport::ImageTransport it_; //ImageTransport object "it_" under the namespace 'image_transport'
image_transport::Subscriber image_sub_; //Subscriber object "image_sub_"
image_transport::Publisher image_pub_; // Publisher object "image_pub_"
public:
ImageConverter(): it_(nh_)
{
// Subscribe to input video feed and publish output video feed
image_sub_ = it_.subscribe("/ardrone/image_raw", 1,&ImageConverter::imageCb, this);
image_pub_ = it_.advertise("/image_converter/output_video", 1);
cv::namedWindow(OPENCV_WINDOW);
}
~ImageConverter()
{
cv::destroyWindow(OPENCV_WINDOW);
}
void imageCb(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
// Draw an example circle on the video stream
if (cv_ptr->image.rows > 60 && cv_ptr->image.cols > 60)
cv::circle(cv_ptr->image, cv::Point(50, 50), 10, CV_RGB(255,0,0));
// Update GUI Window
cv::imshow(OPENCV_WINDOW, cv_ptr->image);
cv::waitKey(3);
// Output modified video stream
image_pub_.publish(cv_ptr->toImageMsg());
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "see_image");
ImageConverter ic;
ros::spin();
return 0;
}
After executing this, `rosrun [package_name] [driver_node]` along with a recorded `.bag `file, it is supposed to produce image stream with a circle on it.
I can see when I run `rqt_graph` both the bag file and the driver node. However, I don't see any image. What am I missing? I've lost about a week in looking at this.
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Bottom camera problem
Hi,
I use gazebo 2.2 with ROS package tum_simulator. This is a package with simulator of quadrotor AR Parrot Drone.
I had thought that bottom camera is not working and only front camera is OK, but I noticed that image from bottom camera don't display ground but sky. (strange)
Please check this screen: http://snag.gy/L5Riw.jpg
This is a world from Gazebo and two windows from rviz. Left image is a view from bottom camera :( and right image is a view from front camera. Black shape near window of the house is quadrotors' model.
Have you ever heard abut this problem? Any ideas?
I notice that when I run this node I got some errors, I hope that this is a reason of problems with camera.
Error [SDF.cc:788] Missing element description for [offset]
Error [SDF.cc:788] Missing element description for [drift]
Error [SDF.cc:788] Missing element description for [driftFrequency]
[ INFO] [1415319050.065958118, 659.736000000]: Camera Plugin (ns = /) , set to ""
[ INFO] [1415319050.244706409, 659.736000000]: Camera Plugin (ns = /) , set to ""
Error [SDF.cc:788] Missing element description for [accelOffset]
Error [SDF.cc:788] Missing element description for [accelDriftFrequency]
Error [SDF.cc:788] Missing element description for [rateOffset]
Error [SDF.cc:788] Missing element description for [rateDriftFrequency]
Error [SDF.cc:788] Missing element description for [headingOffset]
Error [SDF.cc:788] Missing element description for [headingDriftFrequency]
Error [SDF.cc:788] Missing element description for [driftFrequency]
Error [SDF.cc:788] Missing element description for [driftFrequency]
Error [SDF.cc:788] Missing element description for [offset]
Error [SDF.cc:788] Missing element description for [driftFrequency]
Error [SDF.cc:788] Missing element description for [velocityOffset]
Error [SDF.cc:788] Missing element description for [velocityDriftFrequency]
[ INFO] [1415319050.590175130, 659.736000000]: Using imu information on topic ardrone/imu as source of orientation and angular velocity.
Please help.
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Is it possible to use packages dedicated to other ROS distribution?
Hi,
actually I am working with tum_simulator and ardrone_autonomy. I find some interesting materials and tutorials like:
http://dasl.mem.drexel.edu/wiki/index.php/Tag_recognition_using_webcam
http://robohub.org/up-and-flying-with-the-ar-drone-and-ros-handling-feedback/
but packages which are used in this links are a little bit old and are dedicated from older distributions.
Is it possible to use packages dedicated to other ROS distribution? or is there any simple tutorial how to transfer package to catkin standard and use it with Indigo?
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↧
Mark / tag detection - Indigo, help!
Hi,
I tried to do tag recognition with ardrone_autonomy, but it is not working.
Is it possible to use this mechanism in Gazebo? (with tum_simulator package)
Please check screen: 
I also read this information [here](https://github.com/AutonomyLab/ardrone_autonomy#tag-detection) but I have no idea what I am doing wrong.
Is it necessary to do camera calibration even using Gazebo?
I also find that there are other option to do tag recognition, but It will also work in Indigo?
Packages like: http://wiki.ros.org/ar_pose or http://wiki.ros.org/ar_track_alvar
I don't have a lot experience with ROS, please tell we, what is the simplest way to do this? Which option will be better and simpler?
Thank you for your support.
--------------
Edit:
I tried to install ar_pose, is [this](https://github.com/LucidOne/ar_tools) version compatible with ROS Indigo?
Or I should use sth like this: https://github.com/srv/ccny_vision/tree/indigo/ar_pose/launch ?
Please help.
↧
bottom cam tf error in ardrone_autonomy
Hi all,
As far as I understand, there is a problem with the transform of base to bottom_cam in ardrone_autonomy. The problem is as follows: In ardrone_driver.cpp around line 92~97 we see the following code.
// Bottom Cam to Base (Bad Assumption: No translation from IMU and Base)
// TODO: This should be different from Drone 1 & 2.
tf_base_bottom = tf::StampedTransform(
tf::Transform(
tf::createQuaternionFromRPY(180.0 * _DEG2RAD, 0.0, 90.0 * _DEG2RAD),
tf::Vector3(0.0, -0.02, 0.0)),
ros::Time::now(), droneFrameBase, droneFrameBottomCam
);
1) The above rotation makes the x-axis of the bottom_cam point towards the y-axis of the ardrone_base_link while the y-axis of the bottom_cam point towards the x-axis of the ardrone_base_link. This gives trouble if the bottom_cam observe, for instance, a marker like alvar (ar_track_alvar) which is aligned with the ardrone_base_link; it makes the forward and backward reversed.
2) I guess the translation in the negative Y direction is also wrong. May be it should be in the negative Z direction from the ardrone_base_link
3) Just a minor matter: the comment should also be corrected to Base to Bottom cam (not bottom to base).
So, I suggest
tf_base_bottom = tf::StampedTransform(
tf::Transform(
//tf::createQuaternionFromRPY(180.0 * _DEG2RAD, 0.0, 90.0 * _DEG2RAD),
tf::createQuaternionFromRPY(-180.0 * _DEG2RAD, 0, -90.0 * _DEG2RAD),
//tf::Vector3(0.0, -0.02, 0.0)),
tf::Vector3(0.0, 0.0, -0.02)),
ros::Time::now(), droneFrameBase, droneFrameBottomCam
);
By the way, there was a similar question at [link](http://answers.ros.org/question/196959/bottom-camera-problem/)
Thank you
Peshala
↧
AR drone autonomy in armhf
I tried the [following description](http://wiki.ros.org/tum_ardrone) to install ar drone autonomy package in beagle bone black.
I am using Ubuntu arm 12.04 in BBB and ROS hydro.
my steps are :
roscd
git clone https://github.com/AutonomyLab/ardrone_autonomy.git
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:`pwd`/ardrone_autonomy
cd ardrone_autonomy
./build_sdk.sh
and shows
Checking required Ubuntu packages ...
You should install the following packages to compile the AR.Drone SDK with Ubuntu:
daemontools : Mandatory to build the AR.Drone project on Ubuntu
libsdl1.2-dev
libgtk2.0-dev
libxml2-dev
libudev-dev
libiw-dev
Do you want to install them now [y/n] ?
y
Reading package lists... Done
Building dependency tree
Reading state information... Done
You might want to run 'apt-get -f install' to correct these:
The following packages have unmet dependencies:
libgtk2.0-dev : Depends: libglib2.0-dev (>= 2.27.3) but it is not going to be installed
Depends: libgdk-pixbuf2.0-dev (>= 2.21.0) but it is not going to be installed
Depends: libpango1.0-dev (>= 1.20) but it is not going to be installed
Depends: libatk1.0-dev (>= 1.29.2) but it is not going to be installed
Depends: libcairo2-dev (>= 1.6.4-6.1) but it is not going to be installed
Depends: libx11-dev (>= 2:1.0.0-6) but it is not going to be installed
Depends: libxext-dev (>= 1:1.0.1-2) but it is not going to be installed
Depends: libxinerama-dev (>= 1:1.0.1-4.1) but it is not going to be installed
Depends: libxi-dev (>= 1:1.0.1-4) but it is not going to be installed
Depends: libxrandr-dev (>= 1:1.2.99)
Depends: libxcursor-dev but it is not going to be installed
Depends: libxfixes-dev (>= 1:3.0.0-3) but it is not going to be installed
Depends: libxcomposite-dev (>= 1:0.2.0-3) but it is not going to be installed
Depends: libxdamage-dev (>= 1:1.0.1-3) but it is not going to be installed
Depends: libxml2-utils but it is not going to be installed
Depends: gir1.2-gtk-2.0 but it is not going to be installed
Recommends: debhelper but it is not going to be installed
libpython3.2 : Depends: python3.2 (= 3.2.3-0ubuntu3.6) but it is not going to be installed
libqt4-help : Depends: libqtgui4 (= 4:4.8.1-0ubuntu4.8) but it is not going to be installed
libsdl1.2-dev : Depends: libsdl1.2debian (= 1.2.14-6.4ubuntu3) but it is not going to be installed
Depends: libx11-dev but it is not going to be installed
Depends: libglu1-mesa-dev but it is not going to be installed
Depends: libasound2-dev
Depends: libpulse-dev but it is not going to be installed
Depends: libcaca-dev but it is not going to be installed
Depends: libxt-dev but it is not going to be installed
Depends: libxext-dev but it is not going to be installed
libxau-dev : Depends: x11proto-core-dev but it is not going to be installed
E: Unmet dependencies. Try 'apt-get -f install' with no packages (or specify a solution).
make[1]: *** [checkpackages] Error 100
make: *** [all] Error 2
ubuntu@ubuntu-armhf:/opt/ros/hydro/ardrone_autonomy$
↧
video from node to v4l2
Hi,
I need to pass a video stream from the ardrone_autonomy package's topic 'ardrone/front/image_raw' to a v4l2 (Video 4 Linux 2) virtual device dev/video0. Is there any package that could help me do this?
Thanks for the help!
andre_th
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↧
Ar_pose doesn't recognize tag in tum_simulator. Please help.
Hello,
I would like to use ar_pose with image from ardrone camera. I don't have real quadrotor, I am using tum_simulator with Gazebo.
My problem is that ar_pose doesn't recognize tags in simulation, so I have few questions:
screens:
Gazebo and ar_tag which I add [](http://snag.gy/vYzFi.jpg)
1. Should I do camera calibration? (I don't have real cam, I am using cam which is in tum_simulator)
2. What parameters should be set in ar_pose like: marker marker_width? (I am using tags in simulation)
4. Why ar_pose doesn't recognize this tag?
**EDIT:
what I have done?**
I have add two lines to launch file which is responsible for running Gazebo + tum_simulator + ardrone_autonomy
↧
ar-drone without camera
Hi, I need to use something like ardrone-autonomy node to control a Parrot ar drone 2.0 and at the same time have full access to the drone's 5555 port in order to feed a v4l2 virtual device. In detail I need to be able to control the drone by using a ROS node (I don't need video or navdata) and at the same time connect to the 5555 port by ffmpeg (using the line
ffmpeg -i tcp://192.168.1.1:5555 -f v4l2 /dev/video0).
Is there any way to do this?
If I try to launch the ardrone-autonomy node and the ffmpeg command at the same time, both the ffmpeg video and the ardrone/front/image_raw topic do not work.
I am trying to convert the image received by the drone's image topic and feed the v4l2 device by Gstreamer but it is very complicated and I am wondering if there is a simpler method.
Thanks!
Andre
↧
Is ROS Indigo supported by ardrone_autonomy
Hi,
I im trying to work with an AR DRONE 2.0, and I have installed ROS Indigo and ardrone_autonomy package. I wish to know if it will work, or i will have to install a previous ROS, like Hydro or Groovy, to continue working.
Thanks a lot.
↧