DISCLAIMER: This package is an work-in-progress. I take no responsibility for any consequences of you using this software. The documentation might be broken, and features and API are considered VOLATILE presently.
ROS driver wrapper for DJI/Ryze Tello drone
Node: src/tello_driver_node.py
Topics:
~cmd_vel: geometry_msgs/Twist~fast_mode: std_msgs/Empty~image_raw: sensor_msgs/Image~takeoff: std_msgs/Empty~throw_takeoff: std_msgs/Empty~land: std_msgs/Empty~palm_land: std_msgs/Empty~flattrim: std_msgs/Empty~flip: std_msgs/Uint8
Parameters:
~tello_ip~tello_cmd_port~client_port~connect_timeout_sec
$ cd <CATKIN_WS/SRC>$ git clone https://github.com/anqixu/TelloPy.git$ cd TelloPy$ sudo -H pip2 install -e .$ cd ..$ git clone https://github.com/anqixu/h264_image_transport.git$ git clone https://github.com/anqixu/tello_driver.git$ cd ..$ rosdep install h264_image_transport- skip this step:
$ # rosdep install tello_driver # not working currently $ catkin build tello_driver
Optionally, install the following udev rules for PS3 gamepads; see instructions in comments on top of file.
- turn on drone and wait for its front lights to blink amber
- connect WiFi to drone's access point (e.g.
TELLO_######) $ roslaunch tello_driver launch/tello_node.launch
To see the camera:
$ rosrun rqt_image_view rqt_image_view /tello/image_raw/compressed
First check out the following and possibly adjust parameters / code / mappings:
Now run:
$ roslaunch tello_driver devel.launch
It is possible to connect to multiple Tello drones by using multiple USB WiFi dongles and a Docker container running UDP proxy servers.
- Sometimes, perhaps when taking off without moving gamepad analog sticks / sending commands to
/tello/cmd_vel, further cmd_vel will not work; fix by restarting node, moving gamepad analog sticks / send a message to/tello/cmd_velFIRST, then takeoff