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Connecting Bebop drone with ROS

asked 2016-09-17 15:11:08 -0600

Trinto gravatar image

updated 2016-09-17 15:31:31 -0600

Hey,

i want to control my Bebop2 with ROS messages. I downloaded bebop_autonomy and catkin it. When I want to run the launch file, the driver is getting killed

There is no log file and I actually dont know, why I cant compile it.

I have:

  • ROS Indigo
  • Ubuntu 14.04
  • Drone Firmware 3.9

Someone else had this problem? Is there another solution to use the drone with ROS?

PARAMETERS

/bebop/robot_description: <?xml version="1....
/rosdistro: indigo
/rosversion: 1.11.20

NODES

/bebop/

bebop_driver (bebop_driver/bebop_driver_node)

robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master

process[master]: started with pid [16121]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to 829426e2-7cda-11e6-8573-0024e8cfd983

process[rosout-1]: started with pid [16134]

started core service [/rosout]

process[bebop/bebop_driver-2]: started with pid [16141]

process[bebop/robot_state_publisher-3]: started with pid [16152]

INFO [1474118862.405218917]: Initializing nodelet with 2 worker threads.

INFO [1474118862.468457685]: [BebopSDK] 15:27:42:468 | Bebop:230 - Bebop Cnstr()

INFO [1474118862.468590244]: Nodelet Cstr

INFO [1474118862.472868092]: Connecting to Bebop ...

INFO [1474118862.713580127]: [BebopSDK] 15:27:42:713 | CommandReceivedCallback:113 - Command

Received Callback LWP id is: 16268

ERROR [1474118862.867989008]: [ARCONTROLLER_Network] 15:27:42:867 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co

ERROR [1474118862.871437212]: [ARCONTROLLER_Network] 15:27:42:871 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co

ERROR [1474118862.874543473]: [ARCONTROLLER_Network] 15:27:42:874 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co

ERROR [1474118862.940212578]: [ARCONTROLLER_Network] 15:27:42:940 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 common.CommonState.UNKNOWN -> Unknown command

INFO [1474118862.953768631]: [BebopSDK] 15:27:42:953 | Connect:326 - BebopSDK inited, lwp_id: 16141

INFO [1474118862.953857749]: Fetching all settings from the Drone .. . INFO [1474118863.071386661]: Value for GPSSettingsHomeTypeType recved: 0

INFO [1474118863.071473543]: [CB] 15:27:43:071 | Update:1703 - Checking if GPSSettingsHomeTypeType exists in params ...

INFO [1474118863.073020388]: [CB] 15:27:43:072 | Update:1706 - No

ERROR [1474118863.092875287]: [ARCONTROLLER_Network] 15:27:43:092 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co

ERROR [1474118863.100761206]: [ARCONTROLLER_Network] 15:27:43:100 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co

ERROR [1474118863.104702699]: [ARCONTROLLER_Network] 15:27:43:104 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co

INFO [1474118863.189877636]: Value for PilotingSettingsMaxAltitudeCurrent recved: 30

INFO [1474118863.189995598]: [CB] 15:27:43:189 | Update:111 - Checking if PilotingSettingsMaxAltitudeCurrent exists in params ...

INFO [1474118863.191580856]: [CB] 15:27:43:191 | Update:114 - No

INFO [1474118863.193173377]: Value for PilotingSettingsMaxDistanceValue recved: 160

INFO [1474118863.193235326]: [CB] 15:27:43:193 | Update:352 - Checking if PilotingSettingsMaxDistanceValue exists in params ...

INFO [1474118863.194297682]: [CB] 15:27:43:194 | Update:355 - No

INFO [1474118863.200952648]: Value for PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover recved: 0

INFO [1474118863.201026121]: [CB] 15:27:43:201 | Update:432 - Checking if PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover exists in params ...

INFO] [1474118863.202526521]: [CB] 15:27:43:202 | Update:435 - No

INFO [1474118863.204033976]: Value for PilotingSettingsMaxTiltCurrent recved: 20

INFO [1474118863.204078953]: [CB] 15:27:43:204 | Update:191 - Checking if PilotingSettingsMaxTiltCurrent exists in params ...

INFO [1474118863.204989544]: [CB] 15:27:43 ... (more)

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Comments

Its about the ARSTREAM2_H264 . Its sending do driver and he is killing the driver..

Trinto gravatar imageTrinto ( 2016-09-19 01:44:26 -0600 )edit

Have you tried using this catkinized version of ARSDK? Try building that from source and then checkout and build the dev branch 2-parrot-sdk in bebop_autonomy

jacobperron gravatar imagejacobperron ( 2016-09-19 11:17:19 -0600 )edit

3 Answers

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answered 2016-09-19 11:42:58 -0600

Trinto gravatar image

I solved the problem by myself. Upgrading the SDK ( in bebop_autonomy under the hood are the steps for it ). Its difficult, because there is no new revision key. You have change the hash in generate.py to master/xml + chance the xml-tags at the end ( ardrone3.xml and Command.xml ) and in url-mustache its not libARCommands , its arsdk-xml and chance Xml to xml. Then delete ALL .xml in all filenames and in the files ! After chance in ardrone3_setting_callbacks.h pilotingsettingsstate_maxdistance_value to .._current, the both circling_xx_values with current to and something like bankedterm value to STATE. After you can catkin the workspace.

the next prob is, that the driver is dying, cause the new frames are to big. So give the frames more space in bebop_decode.cpp

Now you can communicate with the drone.

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answered 2016-09-21 20:02:52 -0600

Mani gravatar image

updated 2016-10-06 18:37:22 -0600

Update: The driver has been update to support SDK 3.10.x and firmware 3.9. It should work fine with your drone now.

bebop_autonomy needs to be updated to work with the latest firmware released by Parrot for Bebop drones. I will start working on it later this week and hopefully will release a new version as soon as possible.

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answered 2016-09-17 15:29:02 -0600

jacobperron gravatar image

updated 2016-09-17 16:18:00 -0600

Just to make sure, have you turned on the Bebop and connected your computer to the WiFi hotspot it creates before running the driver?

Also, could you provide the commands you used to run the driver? Thanks.

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Comments

I followed the introductions at bebop_autonomy. I catkined the package , connecting to bebops wifi and start with roslaunch bebop_driver bebop_node.launch.

Trinto gravatar imageTrinto ( 2016-09-17 22:56:26 -0600 )edit

In my opinion its about the new drone firmware 3.9.0. There are 3 new videosettings and the drone is sending to ros and he cant handle it

Trinto gravatar imageTrinto ( 2016-09-17 22:58:55 -0600 )edit
Trinto gravatar imageTrinto ( 2016-09-18 01:56:37 -0600 )edit

I also can start with a nodelet. but i still get the same dying process

Trinto gravatar imageTrinto ( 2016-09-19 01:44:21 -0600 )edit

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Asked: 2016-09-17 15:11:08 -0600

Seen: 1,665 times

Last updated: Oct 06 '16