/anafi_ros1

ROS Bridge for Parrot Drones

Primary LanguagePython

ROS2 Bridge for Parrot ANAFI Drones

This ROS2 package contains interface to Olympe SDK. Currently, it is compatible with the following models from Parrot ANAFI family: 4K, Thermal, USA, Ai.

Overview

Author: Andriy Sarabakha
Affiliation: Nanyang Technological University (NTU), Singapore
Maintainer: Andriy Sarabakha, andriy.sarabakha@ntu.edu.sg

Keywords: Parrot Anafi, ROS, controller

This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Publications

For more details, please refer to:

  • A. Sarabakha, "anafi_ros: from Off-the-Shelf Drones to Research Platforms," arXiv, 2023. (pdf)

If you use this work in an academic context, please cite the paper:

@misc{https://doi.org/10.48550/arxiv.2303.01813,
  author = {Sarabakha, Andriy},  
  title = {anafi_ros: from Off-the-Shelf Drones to Research Platforms},
  publisher = {arXiv},
  year = {2023},
  doi = {10.48550/ARXIV.2303.01813},
  url = {https://arxiv.org/abs/2303.01813}
}

Installation

This package has been tested with python3 in ROS2 Humble/Ubuntu 22.04.

Dependencies

  • Parrot Olympe - SDK for Parrot drones:

    pip install parrot-olympe

    Check installation:

    python -c 'import olympe; print("Installation OK")'

    Troubleshooting

    • Issue

      /usr/bin/env: ‘python’: No such file or directory

      Solution

      Set python3 as default python version:

      echo 'alias python=python3' >> ~/.bash_aliases
source ~/.bash_aliases

    • Issue

      TypeError: Expected a message Descriptor, got Descriptor

      Solution

      Install protobuf version 3.6:

      pip install protobuf==3.6

    • Issue

      AttributeError: module 'collections' has no attribute 'MutableMapping'

      Solution

      Install protobuf version 3.20.0:

      pip install protobuf==3.20.0

  • OpenCV - library for real-time computer vision:

    pip install opencv-python

  • SciPy - library for scientific and technical computing:

    pip install scipy

Clone

To build from source, clone the latest version from this repository into your ROS2 workspace and build the package using:

cd ~/dev_ws/src
git clone -b ros2 https://github.com/andriyukr/olympe_bridge.git
sudo chmod -R 777 olympe_bridge/
cd ..
colcon build

  • Issue

    SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.

    Solution

    Install setuptools version 58.2.0:

    pip install setuptools==58.2.0

Usage

To connect to the drone, run in the terminal:

ros2 launch olympe_bridge_nodes anafi_launch.py

Package details

The complete list of subscribed and published topics, available services and parameters is here.