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AutonomyLab / bebop_autonomy

ROS driver for Parrot Bebop Drones 1.0 & 2.0
http://wiki.ros.org/bebop_autonomy
BSD 3-Clause "New" or "Revised" License
153 stars 121 forks source link

implementation of sendPilotingMoveBy method #189

Open PouceHeure opened 5 years ago

PouceHeure commented 5 years ago

Goal:

The objective of this modification is to allow a Bepop library user to move a drone to a relative position directly

Implementation

The implementation is based on the parrot sdk method sendPilotingMoveBy

Usage:

For using this implementation: send a geomtry_msgs/Twist like this:

msg variables attribution action
linear.x dx displacement along the front axis
linear.y dy displacement along the right axis
linear.z dz displacement along the down axis
angular.x nothing nothing
angular.y nothing nothing
angular.z dpsi rotation of heading

at the topic /bebop/goto

Test:

Compilation and tests have been done on this config:

Example:

A video is available on Youtube at this adress: https://youtu.be/8RcVpDUoFJc

Anzw99 commented 1 year ago

Do I have to run the generation script to make new autogenerated msgs?

I got multiple error msgs like this one when launching the bebop driver

[ERROR] [1678744215.031232470]: [ARCONTROLLER_Device] 21:50:15:031 | ARCONTROLLER_Device_StopNetwork:7282 - Error occured durring unregistering ARCommands to the feature ARCONTROLLER_DICTIONARY_KEY_ARDRO