[JdeRobot] ArDrone Takeoff

[Alberto Martin]

Hi Andrei,

for the real ArDrone (not simulated) introrob_py excutes the method
takeoff() of the ArDroneExtra interface. In that moment the state of
ArDrone change and the Parrot SDK sends to Ar.Drone (via wifi) a AT
command. The ArDrone's onboard firmware receives the AT command and
activates the motors. All code that control the motors, sensors, .... is
embedded in the Ar Drone firmware. In [1] you have the ArDrone developer
guide (see page 19). ardrone_server is a wrapper of Parrot SDK inspired in
ardrone_autonomy[2].

For the simulated ardrone, the quadrotor plugin [3] controls all movements.

regards


[1]:
https://svn.jderobot.org/users/amartinflorido/tfm/docs/ARDrone_Developer_Guide_SDK_2_0.pdf
[2]: https://github.com/AutonomyLab/ardrone_autonomy
[3]:
https://github.com/RoboticsURJC/JdeRobot/tree/master/src/stable/components/gazeboserver/plugins/quadrotor


On Tue, Oct 6, 2015 at 11:17 AM, militaru92 <militaru.andrei92 en gmail.com>
wrote:

> Hello everybody,
>
> I have a question about the introrob_py component and the quadrotor plugin
> for gazebo.
> Can someone tell me how does the ArDrone take off once the TakeOff button
> is
> pressed?
>
> I noticed that by pressing the takeoff button, the method of the
> ArDroneExtra Proxy is called: takeoff(), however this only changes the
> state
> of the ArDrone, I didn't notice any code that will activate the motors of
> the robot.
>
> I assume that in the introrob_py component, there is a function that sends
> an initial configuration to the motors of the ArDrone, but I didn't find
> it.
>
> The reason I am asking this is because I want to integrate my ROS-Ice
> bridge
> so I reimplemented in C++ the GUI in introrob, to work with ROS, but when I
> press "takeoff", only the state of the ArDrone changes.
>
> This is where you can find what I have done so far:
> https://github.com/militaru92/JdeRobot2015/tree/master/catkin_ws/src
>
> The packages in question are: ARDrone_GUI and ARDroneInterface
>
> Best regards,
> Andrei Militaru
>
>
>
> --
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