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a few wierd problems with the ardrone_autonomy

asked 2014-08-21 01:46:52 -0500

z3391384 gravatar image

Hi, guys, I have installed the ardrone dirver on my laptop and I am having a few problems when when using it with Ardrone 2.0.

1) After running the driver, I used this command rostopic echo /ardrone/navdata, what I find is that the altd and vz are always 0 while vz, vy are updating.

2) It is found that the video_channel parameter either being 1 or 0, the image is always published to the /ardrone/front/image_raw and /ardrone/image_raw. The /ardrone/bottom/image_raw topic always has nothing.

3) I have a node subscribing to the /ardrone/image_raw (callback1) and /ardrone/imu (callback2) topic. I set up a counter that is incremented by 1 in the callback2 function. In the callback1 function, I first print the counter and then set it to 0. What I notice is that the counter value varies a lot. I mean the IMU data is published at 200Hz and the image at 20 Hz. the counter should be around 10, right ?

I really appreciate it if anyone can help with these issues.

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answered 2016-03-31 12:40:45 -0500

jayess gravatar image

updated 2016-04-30 22:10:39 -0500

I know that it's been a while, but from what I know about the AR.Drone and ardrone_autonomy here's my input:

1) Is AR.Drone flying? If it's not, then you should see altd showing 0. The velocities are estimated using the bottom camera and they're only going to estimate the x and y velocities, not z.

2) The video is streamed from the front camera automatically along the /ardrone/front/... topics. Unfortunately, the AR.Drone 2.0 doesn't support streaming both cameras at the same time.In order to get a video stream form the bottom camera along the /ardrone/bottom/... topics you need to call a service to switch cameras using rosservice call /ardrone/togglecam or something similar. Using tab to automatically fill in your commands is very useful.

3) Not really sure what you're getting at here.

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Asked: 2014-08-21 01:46:52 -0500

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Last updated: Apr 30 '16