ardrone_interface
=================
Interface based on pygame and ROS to control the AR.Drone
Dependencies:
https://github.com/AutonomyLab/ardrone_autonomy
Install Guide:
- Install ardrone_autonomy
- Clone this repository
- rosmake this module
- Run it by: roslaunch ardrone_interface interface.launch
Controls:
w
elevator ups
:elevator downa
:yaw leftd
:yaw rightup
:pitch down --> forwarddown
:pitch up --> backwardleft
:Roll leftright
:Roll rightspace
:take off / landc
:toggle between front camera and bottom camerar
:reset/flat trim --> Works in both flight modest
:reset the tracker, only when tracking. This is actually not necessary. Only for debugging.-
:decrease sensibility+
:increase sensibilitym
:toggle between manual_flightmode and autonomous_flightmodeb
:show batterystatus in percententer
:confirms the box you've selected in the videofeed.1
: small center_box2
: medium small center_box3
: medium center_box4
: medium big center_box5
: center_box width and height -16
: center_box width and height +17
: center_box width -18
: center_box width +19
: center_box height -10
: center_box height +1
Tracking an object:
We've implemented an other project (github.com/Ronan0912/ros_opentld). We used the trackernode named tld_tracker for its algorithm, which is OpenTLD. You can select a bounding box with the mouse in the videofeed of the ARdrone. If right it presents a nice green box, when ready you can confirm it with the 'enter' key. It sends the bounding box to the tld_tracker node. For doing this you have to run the tld_tracker node as well of course.
Autonomous_flightmode:
When changed to autonomous flying the interface wil try to steer the ARdrone in a manner that the object, the one you are tracking, will stay in the gray rectangle.
!! Warning !!
This is work in progress and at the moment not all dimensions and steering commands are implemented.