[tello_driver] Adapt driver to changes on DW

JdeRobot / drones

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[tello_driver] Adapt driver to changes on DW #165

Closed pariaspe closed 2 years ago

pariaspe commented 2 years ago

New frame support #162 Cruise speed #163

pariaspe commented 2 years ago

Frame support --> Added tf trees
Change speed support done with mavros/param/set service

pariaspe commented 2 years ago

Default drone speed in set_cmd_pos kept as 12 m/s since it matches both PX4 [1] and Tello [2] cruise speeds.

[1] MPC_XY_VEL_MAX --> default: 12m/s [2] Tello default speed is its maximum speed (10m/s). Driver ensures to keep desired speed between the valid range (1-10m/s).