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Visualizing a real drone's path

asked 2018-04-15 05:17:02 -0600

hoffa gravatar image

Hi! I would like to visualize a real AR.DRONE 2.0's path with a simple line in a plane grid. My question is which is the simplest method? Should i use Rviz? I found ros3djs javascript library, which has a Path function, but dont really know which node should i pass to the function.

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answered 2018-04-15 18:09:50 -0600

Geoff gravatar image

rviz is your best bet here.

There are two common approaches you can choose from, depending on what information your drone publishes.

If your drone publishes its current position estimate relative to a fixed point (such as where it was turned on), then you can display that information directly in rviz by selecting the published position's frame as the fixed frame (under the "global options" header in the left panel).

If your drone publishes a relative offset from its previous position estimate each time, then you will need to create a node that accumulates that value to provide an absolute position estimate, and then publish that for rviz to display.

If you provide more information about what your drone publishes, I can provide more exact instructions.

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Thanks for your answer! The ARDRONE 2.0 publishes its current position estimate relative to a fixed point. With the help of rviz TF i could reproduce the drones position to the 'world', using the odometry data. link text

hoffa gravatar image hoffa  ( 2018-04-17 03:05:34 -0600 )edit

Now i'm struggling with the Path option, because i don't find any topic with nav_msgs/Path type to subscribe to.

hoffa gravatar image hoffa  ( 2018-04-17 03:08:09 -0600 )edit

I figured it out how to get nav_msgs/Path type from the odometry topic. I could also use the urdf model of the ardrone, and it looks amazing! Pic

hoffa gravatar image hoffa  ( 2018-04-17 09:57:57 -0600 )edit

If your problem is solved, then please mark the answer as a solution so that others with the same problem know it works.

Geoff gravatar image Geoff  ( 2018-04-17 18:34:00 -0600 )edit

Hi! Can I ask how did you do it? Because I'm having the same problem and I can't find the way to solve it. I already made a node that converts tha odometry data to the path type but it doesn't work. I don't know how to get the drone's urdf either. Would yo help me, please?

FrancinaCarron gravatar image FrancinaCarron  ( 2021-07-11 15:20:16 -0600 )edit

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Asked: 2018-04-15 05:17:02 -0600

Seen: 1,000 times

Last updated: Apr 15 '18