ARDRONE ROS2

Exports ARDRONE ARSDK3 from Parrot as a ROS2 package. A node for the Jumping Sumo is provided, but more nodes are welcome in PR.

ARDRONE SDK

source /opt/ros/humble/setup.bash
rosdep install -i --from-path src --rosdistro humble -y --ignore-src
colcon build --packages-up-to ardrone_sumo --event-handlers console_direct+

The package ardrone_sdk relies on CMake ExternalProject_Add. This command downloads the compiled library from ardrone-sdk-native during the cmake install phase.

ardrone_sdk exports headers and libs for easy integration, as illustrated in ardrone_sumo

find_package(ardrone_sdk REQUIRED)
add_executable(jumping_sumo src/jumping_sumo.cpp)
ament_target_dependencies(jumping_sumo 
  ardrone_sdk
)

Jumping Sumo

ROS2 node for Jumping Sumo (and samples including Bebop)

Features

Control the JumpingSumo drone via ROS2 topics

• Subscribe to geometry_msgs/Twist on jumpingsumo/cmd_vel for motion control
• Publish sensor_msgs/Image on jumpingsumo/image_raw for video feed
• Publish sensor_msgs/BatteryState on jumpingsumo/battery for battery status
• WiFi connection handling

Usage

1. Connect to JumpingSumo’s WiFi network
2. Launch the ROS2 node:

ros2 run ardrone_sumo jumping_sumo

To control the drone, use:

# Terminal 1
ros2 run rqt_image_view rqt_image_view /jumpingsumo/image_raw
# Terminal 2
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/jumpingsumo/cmd_vel

The camera distortion is apparent for nearby objects, so calibration is needed for further use

The original sample may still be run

source install/setup.bash
JumpingSumoSample

To enable debug logging for detailed command information:

ros2 run ardrone_sumo jumping_sumo --ros-args --log-level jumping_sumo:=debug

This will show all DEBUG level messages, which include detailed command key information