naoki-mizuno / tello_driver

ROS driver for DJI/Ryze Tello drones

tello_driver

WORK-IN-PROGRESS

ROS driver wrapper for DJI/Ryze Tello drone

Node: src/tello_driver_node.py

Topics:

• ~cmd_vel: geometry_msgs/Twist
• ~fast_mode: std_msgs/Empty
• ~image_raw: sensor_msgs/Image
• ~takeoff: std_msgs/Empty
• ~throw_takeoff: std_msgs/Empty
• ~land: std_msgs/Empty
• ~palm_land: std_msgs/Empty
• ~flattrim: std_msgs/Empty
• ~flip: std_msgs/Uint8

Parameters:

• ~tello_ip
• ~tello_cmd_port
• ~client_port
• ~connect_timeout_sec

Installation

• $ cd <CATKIN_WS/SRC>
• $ git clone https://github.com/anqixu/TelloPy.git
• $ cd TelloPy
• $ sudo -H pip2 install -e .
• $ cd ..
• $ git clone https://github.com/anqixu/h264_image_transport.git
• $ git clone https://github.com/anqixu/tello_driver.git
• $ cd ..
• $ rosdep install h264_image_transport
• $ rosdep install tello_driver
• $ catkin build tello_driver

Optionally, install the following udev rules for PS3 gamepads; see instructions in comments on top of file.

Running the driver

• turn on drone and wait for its front lights to blink amber
• connect WiFi to drone's access point (e.g. TELLO_######)
• $ roslaunch tello_driver launch/tello_node.launch

To see the camera:

• $ rosrun rqt_image_view rqt_image_view /tello/image_raw/compressed

Tele-operate the drone using a wired DualShock 3 gamepad

First check out the following and possibly adjust parameters / code / mappings:

• launch/joy_teleop.launch
• launch/logger.launch
• src/gamepad_marshall_node.py

Now run:

• $ roslaunch tello_driver devel.launch

Connecting to multiple drones

It is possible to connect to multiple Tello drones by using multiple USB WiFi dongles and a Docker container running UDP proxy servers.

Known bugs

• Sometimes, perhaps when taking off without moving gamepad analog sticks / sending commands to /tello/cmd_vel, further cmd_vel will not work; fix by restarting node, moving gamepad analog sticks / send a message to /tello/cmd_vel FIRST, then takeoff