bebop_teleop
ROS node for the Parrot Bebop (1 or 2) teleop
To install and run this, you'll need SDL 2, which you may have to install (libsdl2-dev), and SDL_TTF.
To install the bebop_teleop package, clone this repo into a catkin workspace's src directory (preferably a new/clean one), and run $ catkin_make. Then, source the workspace's setup.(ba)sh.
To run the program, first connect to a Bebop's wireless network. Then, run the following commands:
$ roslaunch bebop_teleop bebop_connection.launch
$ roslaunch bebop_teleop teleop.launch
If a Bebop is not available, but you would still like to test the package, run $ rosrun bebop_teleop webcam in place of $ roslaunch bebop_teleop bebop_connection.launch. This will replace the Bebop camera feed with webcam feed in the GUI.
Configuration
Some asset files may need to be configured. You can see what can be changed by examining the launch/teleop.launch file, and changing the parameters. Alternatively, you can specify the font_path and circle_path parameters like so:
$ roslaunch bebop_teleop bebop_connection.launch font_path:="path/to/font.ttf/otf" circle_path:="path/to/circle.bmp"
Teleop Keyboard Mappings
| Key | Command |
|---|---|
| W | Forward |
| A | Left |
| S | Backward |
| D | Right |
| SPACE | Up |
| LSHIFT | Down |
| ENTER | Rotor Stop |
| RSHIFT | Takeoff |
| CTRL | Land |
| I | Forward Flip |
| J | Left Flip |
| K | Backward Flip |
| L | Right Flip |
| ARROW UP | Camera Up |
| ARROW DOWN | Camera Down |
| ARROW LEFT | Camera Left |
| ARROW RIGHT | Camera Right |
| 1 | Inc. Speed |
| 2 | Dec. Speed |
| 3 | Inc. Rot. Speed |
| 4 | Dec. Rot. Speed |
| 7 | Start Patrol |
| 8 | Stop Patrol |
| 0 | Toggle Control |
| [ | Start Nav. Home |
| ] | Stop Nav. Home |