Package Summary

>This package provides a ROS interface for the TelloPy library. Development of this ROS package pursues not to modify the TelloPy library, instead apply any modification or addition to the ros_driver package in an encapsulated manner.

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tello_driver

Overview

Communicating with the Tello drone can be done either using official Tello SDK or one of the unofficial libraries. The unofficial libraries originated from the reverse-engineering the raw packages broadcasted by the Tello. This ROS package is build on top of the unofficial TelloPy library. The TelloPy library is used at this moment since it offers more functionalities than the official Tello SDK or any other unofficial library.

Developing of the tello_driver ROS package is inspired by tello_driver, which by now diverged considerately from the original work. Furthermore, development of this ROS package pursues not to modify the TelloPy library, but instead apply any modification or addition to the ros_driver package in an encapsulated manner. This prevents breaking functionalities when updating the TelloPy library.

Installation

ROS distribution

Binary release from the ROS repository:

  • Kinetic
    $ sudo apt install ros-kinetic-tello-driver

Build from source

  • $ cd <CATKIN_WS/SRC>
    $ git clone --recursive https://github.com/appie-17/tello_driver.git
  • $ cd ..
    $ catkin_make
    $ source devel/setup.bash

Launch

  • Turn on Tello drone
  • Connect to drone's WiFi access point (TELLO_XXXXXX)

     $ roslaunch tello_driver tello_node.launch

Nodes

tello_driver_node

Main node running as interface for the TelloPy library

Subscribed topics

Published topics

Parameters

  • ~/tello_driver_node/connect_timeout_sec

  • ~/tello_driver_node/fixed_video_rate

  • ~/tello_driver_node/local_cmd_client_port

  • ~/tello_driver_node/local_vid_server_port

  • ~/tello_driver_node/stream_h264_video

  • ~/tello_driver_node/tello_cmd_server_port

  • ~/tello_driver_node/tello_ip

  • ~/tello_driver_node/vel_cmd_scale

  • ~/tello_driver_node/video_req_sps_hz

  • ~/tello_driver_node/altitude_limit

  • ~/tello_driver_node/attitude_limit

  • ~/tello_driver_node/low_bat_threshold

gamepad_teleop_node

Converting gamepad input controls from joy_node to commands for tello_driver_node

Subscribed topics

Published topics

Services

None

Parameters

joy_node

Receive input from gamepad controller and publish into sensor_msgs/Joy message

Subscribed topics

None

Published topics

Services

None

Parameters

  • ~/joy_node/deadzone

  • ~/joy_node/dev

Troubleshooting

  • No more video output after reconnect

  • Relaunch the tello_driver_node to continue the video stream after WiFi reconnection. Only an issue when using PyAV to decode h264 video instead of ROS codec_image_transport.

Notes

  • Stream raw video

  • Depends on PyAV package:

  • $ pip install av --user
  • Installation of PyAV on Ubuntu 16.04 requires ffmpeg of at least version 3:
    $ sudo add-apt-repository ppa:jonathonf/ffmpeg-3   
    $ sudo apt update && sudo apt install ffmpeg

WIP

License

Wiki: tello_driver (last edited 2019-10-24 20:32:45 by Jordy van Appeven)