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how to program asctec pelican drone using ros and cpp?

I am working on vision based autonomous landing of UAVs on stationary target. I was using AR.drone for my research and was programmed in ROS. Now I am planning to use AscTec Pelican drone for the same. I had gone through Pelican drone documentation,and got some information about programming it using MatLAB simulink. But, I want to program the drone with ROS and cpp for my research.

As I am new to pelican drone platform, it is bit confusing how to start with and program the pelican drone using ROS and cpp. My concern is about how to write my own program to control the pelican in ROS. For example, I want to get the video feed from the drone, process it and send required control parameters to the drone. I had implemented all these things in AR drone using ROS. But wile coming to Pelican, I am bit confused. I did not get an idea how to connect the Xbee module and the PC(where I am programming) and flash the code to the drone,so I can control it. It will be helpful,if someone can guide me regarding the same. I am using Ubuntu 16.04 and ROS Kinetic.

Thanks in advance