libdrone
This small C++ library aims to provide a common interface to multirotor drones like the Parrot AR.Drone 2.0 or the Parrot Bebop. Most of the AR.Drone 2.0 communication code is taken directly from AutoFlight as an aim to decouple drone communications functionality from AutoFlight and provide an easy way add support for other devices.
Supported Drones
Currently support is planned for the Parrot AR.Drone 2.0 and Bebop.
Onboard extensions
The Bebop drone does not send navigation data at any usable frequency (5 Hz is way too low for autonomous navigation). Therefore, a very simple navdata server was written that runs on the Bebop drone and retransmits the full navigation data as used internally by the drone at higher frequencies. See bebop-onboard/navdataserver for more information.
Building the library on Ubuntu 16.04
First, make sure all dependencies are installed:
apt-get install -y unzip build-essential cmake git python3-dev python3-numpy software-properties-common
apt-get install -y libboost-all-dev
apt-get install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev
apt-get install -y libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavresample-dev
apt-get install -y libeigen3-dev
apt-get install -y qtbase5-dev qt5-default libqt5webkit5-dev qtmultimedia5-dev # Optional, needed for OpenCV Qt 5 support
You will also need OpenCV 3.1. Get it here, and unzip it somewhere. In that directory, do:
mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_QT=ON -D WITH_OPENGL=ON .. # For WITH_QT=ON you will need to have installed the Qt 5 packages
make -j4
make install
Now, go into the directory you have the libdrone sources in, and build it:
mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=Release ..
make -j4
make install
Using the library
Work in progress!