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problem with distributed ROS (swarm of ardrones)

asked 2013-04-30 00:49:53 -0600

jacky_90 gravatar image

Hello everyone. I'm having issues with the control of 3 ardrones, each one connected to its laptop, where one of these laptos is configured as the master.

The network is configured properly.

The first problem occured with 2 drones. When flying togheter, I kept getting the following error "Reconnecting ... Reconnecting ... Timeout when reading navdatas - resending a navdata request on port 5554"

So I firstly switched from the 200 hz of the navdata msgs sent from the drone to 15 hz, and I set the drone driver loop from 50 to 20. The two drones where then able to fly togheter. When I added the third, unfortunately, the error reappeared.

In my nodes I write on a custom topic the informations relative to each drone (I send them each 300 ms), I have 2 loops repeating at 200 and 100 ms, and on each laptop two nodes for marker detection (ar_track_alvar package)

Does anyone have an idea of how to make the system work robustly with 3 drones?

Thank you!

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answered 2013-04-30 03:10:50 -0600

jacky_90 gravatar image

just realised that was wifi's fault. All the 3 drones are using the same channel. I have not find a way to make each drone select a different channel, though.

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answered 2013-04-30 07:57:24 -0600

jacky_90 gravatar image

updated 2013-04-30 08:00:26 -0600

Each drone, once turned on, becomes an access-point in the default configuration, and the laptop simply sees it as a classic wi-fi connection. Each ssid is univocal. It is possible, but non recommended, to change this behaviour setting an appropriate parameter. The possible configurations are:

• 0 : The drone is the access point of the network • 1 : The drone creates (or join) the network in Ad-Hoc mode • 2 : The drone tries to join the network as a station

But I am not a network expert =( What do you suggest?

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answered 2013-04-30 05:08:44 -0600

Claudio gravatar image

I was going to write that the problem were most probably due to how the AR.Drone manages it's own wifi connection. I never really used an AR.Drone, can't it be connected to a standard infrastructure?

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Asked: 2013-04-30 00:49:53 -0600

Seen: 392 times

Last updated: Apr 30 '13