"falkor_ardrone" is a ROS package which uses the "ardrone_autonomy" package (originally from brown, now from AutonomyLab) to implement autonomous control functionality on an AR.Drone. This was originally a part of the fork from "ardrone_autonomy", but now it has been seperated out. The old forked repository still exists for history purposes but it is stale.
- March 20, 2013: Release related to company launch/Wired article
- October 23, 2012: Create this seperate package
Once the AR.Drone is connected to your computer via WiFi, run
```bash
$ roslaunch falkor_ardrone track.launch
```
This launches the ardrone_driver from ardrone_autonomy to communicate with the AR.Drone, as well as the nodes needed for the AR.Drone to track the target. The cascade files used for detection are in the directory cascade/. Edit the cascadefile parameter in roslaunch to change which cascade file to use.
Once everything is up and running you should see a window with the front camera from the AR.Drone and a square yellow box around the detected object. The PS3 controller has the following
- Triangle: Takeoff
- Circle: Reset
- Cross: Land
- Square: Start/Stop following
- Up: Bring AR.Drone closer (increase goal size of the target)
- Down: Move AR.Drone further away (decrease goal size of the
- Left Joystick: Pitch and Roll
- Right Joystick: Altitude and Yaw
- Center PS3 Button: Toggle recording to USB stick
Copyright (c) 2012, Falkor Systems, Inc. All rights reserved.
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