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Disable hover, complete navdata feedback #31

Merged
merged 7 commits into from
Nov 23, 2012
Merged

Disable hover, complete navdata feedback #31

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73e9a53
Information about branch added to the README
mani-monaj Nov 12, 2012
13bb31f
Minor formatting
mani-monaj Nov 12, 2012
13145dc
Merge pull request #27 from mikehamer/master
mani-monaj Nov 14, 2012
0c42f25
No more cache stuff!
mikehamer Nov 21, 2012
96a7a48
Merge branch 'more-navdata'
mikehamer Nov 21, 2012
4057b6e
Updated to include some new flags and enable more aggressive flight
mikehamer Nov 21, 2012
cb4179f
Moved launch file to an aggressive launch
mikehamer Nov 22, 2012
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4 changes: 4 additions & 0 deletions README.md
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Expand Up @@ -34,6 +34,8 @@ The installation follows the same steps needed usually to compile a ROS driver.
$ roscd ardrone_autonomy
```

**NOTE (For advanced users):** Instead of the `master` branch you can use the `dev-unstable` branch for the latest _unstable_ code which may contain bug fixes or new features. This is the branch that all developments happen on. Please use this branch to submit pull requests.

* Compile the AR-Drone SDK: The driver contains a slightly patched version of AR-Drone 2.0 SDK which is located in `ARDroneLib` directory. To compile it, execute the `./build_sdk.sh`. Any system-wide dependency will be managed by the SDK's build script. You may be asked to install some packages during the installation procedure (e.g `daemontools`). You can verify the success of the SDK's build by checking the `lib` folder.

```bash
Expand Down Expand Up @@ -225,6 +227,8 @@ comments for enhancements

`github` offers a nice and convenient issue tracking and social coding platform, it can be used for bug reports and pull/feature request. This is the preferred method. You can also contact the author directly.

If you want to submit a pull request, please submit to `dev-unstable` branch.

### Why the `ARDroneLib` has been patched?

The ARDrone 2.0 SDK has been patched to 1) Enable the lib only build 2) Make its command parsing compatible with ROS and 3) To fix its weird `main()` function issue
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30 changes: 19 additions & 11 deletions launch/ardrone.launch → launch/ardrone_aggressive.launch
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Expand Up @@ -2,24 +2,32 @@
<launch>
<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
<param name="outdoor" value="1" />
<param name="max_bitrate" value="4000" />
<param name="bitrate" value="4000" />
<param name="flight_without_shell" value="1" />
<param name="navdata_demo" value="0" />
<param name="flight_without_shell" value="0" />
<param name="altitude_max" value="3000" />
<param name="altitude_min" value="50" />
<param name="euler_angle_max" value="0.21" />
<param name="control_vz_max" value="700" />
<param name="control_yaw" value="1.75" />

<param name="max_bitrate" value="2000" />
<param name="bitrate" value="2000" />
<param name="video_codec" value="129" />

<param name="altitude_max" value="5000" />
<param name="altitude_min" value="300" />

<param name="control_vz_max" value="2000" />
<param name="control_yaw" value="6.11" />
<param name="euler_angle_max" value="0.35" />

<param name="detect_type" value="10" />
<param name="detections_select_h" value="128" />
<param name="detections_select_v_hsync" value="32" />
<param name="enemy_colors" value="3" />
<param name="detections_select_h" value="32" />
<param name="detections_select_v_hsync" value="128" />
<param name="enemy_without_shell" value="0" />
<param name="do_imu_caliberation" value="false" />
<param name="tf_prefix" value="mydrone" />

<param name="enable_navdata_demo" value="true" />
<param name="command_disable_hover" value="true" />
<param name="command_always_send" value="true" />

<param name="enable_navdata_demo" value="true" />
<param name="enable_navdata_time" value="true" />
<param name="enable_navdata_raw_measures" value="true" />
<param name="enable_navdata_phys_measures" value="true" />
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