Closed dgitz closed 10 years ago
It appears that PTAM in the state_estimation node until it gets a valid ar drone version from the navdata pressure ros topic. So a good check is after starting the ardrone_driver to see if the /ardrone/navdata topic is being published. A workaround is to edit the tum_ardrone/src/stateestimation/PTAMWrapper.cpp file, add
node->arDroneVersion = 2;
before: while(node->arDroneVersion == 0) { std::cout << "Waiting for first navdata to determine drone version!" << std::endl; usleep(250000); } And then do rosmake tum_ardrone
Tested it 4 times in a row, no problems. Still get checksum failed messages in the ardrone_driver window but PTAM video and pose look correct.
Downgraded AR Drone F/W to 2.3.3 using http://forum.parrot.com/ardrone/en/viewtopic.php?id=4936 and other error messages go away. This will probably fix this issue as well.
Have inconsistencies with PTAM not initializing, causing Pose estimates to not be provided. http://answers.ros.org/question/117176/tum_ardrone/