eyantra_drone

Metapackage to control the eyantra_drone via service and topics http://wiki.ros.org/eyantra_drone

Getting Started

Use following instructions on how to use this package:

Prerequisites

# libavcodec and libsdl2-dev for camera
sudo apt install libavcodec-dev libsdl2-dev 

Installation

# Navigate to catkin workspace
cd <WORKSPACE_NAME>

# clone repository
git clone https://github.com/simmubhangu/eyantra_drone.git

# Build the Package
catkin_make 

Run Package

# launch file to communication with  edrone

roslaunch edrone_server drone_comb.launch

# Follow the instruction on terminal to control the drone

Using ROSTopic:

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1500, rcPitch: 1500, rcYaw: 1500, rcThrottle: 1000, rcAUX1: 0, rcAUX2: 0, rcAUX3: 0, rcAUX4: 1500}" // example of arming drone 

ROSTopic To Control edrone

Arm

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1500, rcPitch: 1500, rcYaw: 1500, rcThrottle: 1000, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"

Disarm

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1500, rcPitch: 1500, rcYaw: 1500, rcThrottle: 1500, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1000}"

Increase Roll value to move forward with respect to x-axis

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1600, rcPitch: 1500, rcYaw: 1500, rcThrottle: 1500, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"

Decrease Roll value to move backward with respect to x-axis

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1400, rcPitch: 1500, rcYaw: 1500, rcThrottle: 1500, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"

Increase Pitch value to move forward/left with respect to y-axis

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1500, rcPitch: 1600, rcYaw: 1500, rcThrottle: 1500, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"

Decrease Pitch value to move backward/right with respect to y-axis

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1500, rcPitch: 1400, rcYaw: 1500, rcThrottle: 1500, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"

Increase Throttle value to move up with respect to z-axis

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1500, rcPitch: 1500, rcYaw: 1500, rcThrottle: 1800, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"

Decrease Throttle value to move down with respect to z-axis

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1500, rcPitch: 1500, rcYaw: 1500, rcThrottle: 1200, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"

Increase Yaw value to rotate in clockwise direction

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1500, rcPitch: 1500, rcYaw: 1800, rcThrottle: 1500, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"

Decrease Yaw value to rotate in anti-clockwise direction

rostopic pub /drone_command edrone_client/edrone_msgs "{rcRoll: 1500, rcPitch: 1500, rcYaw: 1200, rcThrottle: 1500, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"

Note: RC values ranges from 1000 to 2000

Multiple Drones

Following is the procedure to control multiple drones within the same network:

Setting the drone in client mode: Connect to drone wifi and use following command to open telnet connection:

telnet 192.168.4.1 // drone wifi ip

Set the drone in both Station(STA) and Access Point Mode(AP) : Use following command:

+++AT MODE 3

Set the ssid and password: Use following command:

+++AT STA ssid password

Add IPs: Start your hotspot and your drone should connect to the hotspot. Note the IP address assigned to it. Edit following lines in DroneSwarm.cpp. Repeat this for all new drones which are added to the network.

all_ips.push_back("192.168.43.151");
all_ips.push_back("");

Send data: Follow procedure in ROSTopic Header to give commands to fly the drones. Add droneIndex in edrone_msgs for every topic. This index is the same as the index of the IP within 'all_ips' when you add it.

TODO - Get drone data from multiple drones