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Repository Summary
| Checkout URI | https://github.com/tiers/tello-ros2-gazebo.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-01-22 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ros2_shared | 0.1.0 |
| tello_description | 0.1.0 |
| tello_driver | 0.1.0 |
| tello_gazebo | 0.1.0 |
| tello_msgs | 0.1.0 |
README
Running a Tello simulation in Gazebo
tello_gazebo consists of several components:
-
TelloPluginsimulates a drone, handling takeoff, landing and very simple flight dynamics -
markerscontains Gazebo models for fiducial markers -
fiducial.worldis a simple world with a bunch of fiducial markers -
inject_entity.pyis a script that will read an URDF (ROS) or SDF (Gazebo) file and spawn a model in a running instance of Gazebo - the built-in camera plugin is used to emulate the Gazebo forward-facing camera
Installation
Install ROS2 Galactic
https://docs.ros.org/ with the `ros-galactic-desktop` option. #### Make sure you have gazebo
sudo apt install gazebo11 libgazebo11 libgazebo11-dev #### Add the following
sudo apt install libasio-dev
sudo apt install ros-galactic-cv-bridge ros-galactic-camera-calibration-parsers
sudo apt install libignition-rendering3
pip3 install transformations
Build this package
mkdir -p ~/tello_ros_ws/src
cd ~/tello_ros_ws/src
git clone https://github.com/TIERS/tello-ros2-gazebo.git
cd ..
source /opt/ros/galactic/setup.bash
colcon build
Run a teleop simulation
cd ~/tello_ros_ws
source install/setup.bash
export GAZEBO_MODEL_PATH=${PWD}/install/tello_gazebo/share/tello_gazebo/models
source /usr/share/gazebo/setup.sh
ros2 launch tello_gazebo simple_launch.py
You will see a single drone in a blank world. You can control the drone using the joystick.
If you run into the No namespace found error re-set GAZEBO_MODEL_PATH:
export GAZEBO_MODEL_PATH=${PWD}/install/tello_gazebo/share/tello_gazebo/models
source /usr/share/gazebo/setup.sh
Control the drone
ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}"
ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'land'}"
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/drone1
CONTRIBUTING
No CONTRIBUTING.md found.
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