PyojinKim / Tello_ROS_ORBSLAM

A full and whole framework for using Drones in general, and the DJI Tello specifically.

ORB-SLAM2 on ROS with DJI Tello

This repository provides an ORB-SLAM2 example on Robot Operating System (ROS) with DJI Tello drone. DJI Tello sends video stream to the ORB-SLAM2, and it publishes 3-DoF position and 3-DoF orientation of the DJI Tello. Control panel (GUI) will allow you to control the DJI Tello and command it to move along the x, y, z, roll, pitch, and yaw directions. You can also find a joystick/keyboard to control the DJI Tello instead of using your DJI Tello app.

1. Installation Guide

(1) Tested Environments: Ubuntu 18.04.5 LTS (64-bit) + ROS Melodic + MSI GS60 (GeForce GTX 970M)

(2) Install Robot Operating System (ROS) first following this page: http://wiki.ros.org/melodic/Installation/Ubuntu

(3) Eigen3, ffmpeg, and other trivial packages

sudo apt-get install libeigen3-dev ffmpeg
sudo apt-get install python-catkin-tools
sudo apt-get install ros-melodic-joystick-drivers
sudo apt-get install python-imaging-tk
sudo apt-get install python-pip

(4) Pangolin for ORB-SLAM2 visualization: https://github.com/stevenlovegrove/Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
sudo apt-get install libgl1-mesa-dev libglew-dev libxkbcommon-dev
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .

(5) CMake latest version at least > 3.14 for H264 Decoder: link1

(6) H264 Decoder for DJI Tello video stream: https://github.com/DaWelter/h264decoder

git clone https://github.com/DaWelter/h264decoder.git
sudo apt-get install libswscale-dev libavcodec-dev libavutil-dev
cd h264decoder
pip install .

mkdir build
cd build
cmake ..
make

(7) TelloPy and H264 Decoder from this repository

git clone https://github.com/PyojinKim/Tello_ROS_ORBSLAM.git
cd ~/Documents/Tello_ROS_ORBSLAM/TelloPy
sudo python setup.py install

cd ~/Documents/Tello_ROS_ORBSLAM/h264decoder
sudo apt-get install libswscale-dev libavcodec-dev libavutil-dev
sudo cp ~/Documents/Tello_ROS_ORBSLAM/h264decoder/Linux/libh264decoder.so /usr/local/lib/python2.7/dist-packages

(8) DJI Tello catkin workspace from this repository

cd ~/Documents/Tello_ROS_ORBSLAM/ROS/tello_catkin_ws/
rosdep update
rosdep install --from-paths src --ignore-src -r -y

catkin init
catkin clean
catkin build --mem-limit 70% -j1

echo "source $PWD/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

2. Usage

• Connect DJI Tello through WiFi network such as TELLO-5B8FEF

• Run roslaunch like below command in the terminal. Enjoy! :)

roslaunch flock_driver orbslam2_with_cloud_map.launch

rostopic list
rosrun rqt_graph rqt_graph

3. DJI Tello Control Panel (GUI)

• Takeoff!: will make the DJI tello take off, elevating about 0.7 meters vertically. If you click the Land! button, it will land and descend to the ground smoothly.

• Calibrate Z!: will make the DJI Tello elevate about 0.5 meters and then descend 0.5 meters. With this movement, the internal height sensor of the DJI Tello will be used together with the height which is measured by the ORB-SLAM2. The controller will compute and use this scale factor from the SLAM coordinates to the real-world coordinates.

• Publish Command!: will send the desired X,Y,Z position and yaw angle to the controller, and the DJI will navigate to the desired coordinates. Note that the Toggle Slam Control! button should be pressed before to activate the Publish Command! button for the safety issue.

Please refer to this original github link for more detailed information and how to use each button: https://github.com/tau-adl/Tello_ROS_ORBSLAM#tello-ui-user-interface

4. References

(1) Original Tello_ROS_ORBSLAM source code: https://github.com/tau-adl/Tello_ROS_ORBSLAM

(2) Flock, a ROS driver for DJI Tello: https://github.com/clydemcqueen/flock

(3) ORB-SLAM2 ROS implementation: http://wiki.ros.org/orb_slam2_ros

(4) tello_driver, another ROS driver for DJI Tello: http://wiki.ros.org/tello_driver