# tello_driver

**Repository Path**: artint7/tello_driver

## Basic Information

- **Project Name**: tello_driver
- **Description**: ROS driver for DJI/Ryze Tello drones
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2019-11-03
- **Last Updated**: 2022-11-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# tello_driver

**DISCLAIMER: This package is an work-in-progress. I take no responsibility for any consequences of you using this software. The documentation might be broken, and features and API are considered VOLATILE presently.**

ROS driver wrapper for DJI/Ryze Tello drone

Node: [src/tello_driver_node.py](src/tello_driver_node.py)

Topics:
* `~cmd_vel`: [geometry_msgs/Twist](http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html)
* `~fast_mode`: [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
* `~image_raw`: [sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html)
* `~takeoff`: [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
* `~throw_takeoff`: [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
* `~land`: [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
* `~palm_land`: [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
* `~flattrim`: [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
* `~flip`: [std_msgs/Uint8](http://docs.ros.org/api/std_msgs/html/msg/UInt8.html)

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`
* skip this step: `$ # rosdep install tello_driver # not working currently`
* `$ catkin build tello_driver`

Optionally, install the [following udev rules](https://github.com/anqixu/sixad_rumble/blob/master/misc/10-gamepads.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/joy_teleop.launch)
* [launch/logger.launch](launch/logger.launch)
* [src/gamepad_marshall_node.py](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](wifi_docker_proxy).

## 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