ardrone not responding to the image tags.

asked 2012-01-14 14:58:30 -0500

This post is a wiki. Anyone with karma >75 is welcome to improve it.

updated 2012-01-15 12:50:03 -0500

Eric Perko
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http://ericperko.com/

I ran some tests on the ardrone to identify the tags .The camera of the ardrone quit well recognizes the tags.This was evident since there was a tag identified on the image window outlining the tag with a green line.I have some pictures of tag identification,since I have only one karma,I am not able to upload.

These are the commands which are executed for the tag identification and the flight of the ardrone.

rosrun ardrone_brown ardrone_driver //synching the computer with the ardrone wifi and acquiring connection

rosrun ar_recog ar_recog image:=/ardrone/image_raw //directs the camera feed of the ardrone to the ar_ecog

rosrun image_view image_view image:=/ar/image //this windows shows the image window of the ardrone which is monitored by ar_recog .It is able to recognize image tags and outline it in green outline

rosrun nolan3d nolan3d.py //this is the target follower which indeed communicates with the ardrone driver.here is the topic info

metallo@ubuntu:~$ rosnode info /nolan_3014_1326654517968 
--------------------------------------------------------------------------------
Node [/nolan_3014_1326654517968]
Publications: 
 * /cmd_vel [geometry_msgs/Twist]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /tags [ar_recog/Tags]

Services: None

contacting node http://ubuntu:60922/ ...
Pid: 3014
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /cmd_vel
    * to: /ardrone_driver            //note here it communicates with the ardrone driver
    * direction: outbound
    * transport: TCPROS
 * topic: /tags
    * to: http://ubuntu:58952/
    * direction: inbound
    * transport: TCPROS

rosrun drone_teleop drone_teleop.py(using this I set the ardrone on flight)

This is where I discovered the problem.I held the tag in an optimal distance in-front of the drone.The tag I held was a big one ( 8.5 inches x 11 inches).But the drone does not seem to fly to it and neither align itself to the tag when held close it .

any suggestions please.. hope the question is more informative now..

Here is what I did. I made sure the drone was on air. Then I started the node Nolan3D package by running the python program in its bin.Then I held the image tag.The drone did not fly to me and even when the image tag was close , it was not able to align its movement according to the tag.

Any suggestions please.