ROS

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
$ 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