tello_ros is a ROS2 driver for Tello and Tello EDU drones.
There are 4 ROS packages:
tello_driveris a C++ ROS node that connects to the dronetello_msgsis a set of ROS messagestello_descriptioncontains robot description (URDF) filestello_gazebocan be used to simulate a Tello drone in Gazebo, see theREADME.mdin that package for details
The driver is designed to very simple while making it easy to integrate Tello drones into the ROS ecosystem.
The driver communicates with the drone using the Tello SDK, which has several advantages:
- The SDK is documented, and there's quite a bit of development activity around it, so it's likely to be stable.
- The SDK is text-based, which means that
tello_roscan be simple but still provide full access to the SDK by passing arbitrary strings to the drone.
Many Tello commands (e.g., takeoff and land) are long-running, and the drone returns ok or error on completion.
The driver provides the ROS service tello_command to initiate commands,
and the corresponding ROS topic tello_response to indicate command completion.
Per ROS convention, the driver also responds to Twist messages on the cmd_vel topic.
These are translated into rc commands and sent to the drone.
Velocity values are arbitrarily mapped from [-1.0, 1.0] to [-100, 100].
This may change in the future.
The driver parses telemetry data and sends it on the flight_data topic.
The presence of telemetry data is a good indicator that the drone is connected.
The driver parses the video stream and sends images on the image_raw topic.
Camera information is sent on the camera_info topic.
The Tello drones have a sophisticated visual odometry system and an onboard IMU, but there's minimal access to these internal systems. The driver does not publish odometry.
Additional notes:
- Only one command may be running at a time.
- If a command (other than
rc) is currently running, incomingcmd_velmessages are ignored. - Tello drones do not send responses for
rccommands, and neither does the driver. - The driver sends
commandandstreamoncommands at startup to initiate telemetry and video. - If telemetry or video stops, the driver will attempt to restart by sending
commandandstreamoncommands. - Roll (
Twist.angular.x) and pitch (Twist.angular.y) are ignored incmd_velmessages. - The driver doesn't keep track of state, so it will happily send
rcmessages to the drone even if it's on the ground. The drone just ignores them. - You can send arbitrary strings to the drone via the
tello_commandservice. - Tello drones auto-land if no commands are received within 15 seconds.
The driver sends a
rc 0 0 0 0command after 12 seconds of silence to avoid this.
~tello_actiontello_msgs/TelloAction
~cmd_velgeometry_msgs/Twist
~tello_responsestd_msgs/String~flight_datatello_msgs/FlightData~image_rawsensor_msgs/Image~camera_infosensor_msgs/CameraInfo
The defaults work well for a single Tello drone.
| Name | Description | Default |
|---|---|---|
drone_ip |
Send commands to this IP address | 192.168.10.1 |
drone_port |
Send commands to this UDP port | 8889 |
command_port |
Send commands from this UDP port | 38065 |
data_port |
Flight data (Tello state) will arrive on this UDP port | 8890 |
video_port |
Video data will arrive on this UDP port | 11111 |
Set up a Ubuntu 20.04 box or VM.
Also install asio:
sudo apt install libasio-dev
Install ROS2 Foxy with the ros-foxy-desktop option.
If you install binaries, be sure to also install the development tools and ROS tools from the source installation instructions.
Install these additional packages:
sudo apt install ros-foxy-cv-bridge ros-foxy-camera-calibration-parsers
Download, compile and install tello_ros:
mkdir -p ~/tello_ros_ws/src
cd ~/tello_ros_ws/src
git clone https://github.com/clydemcqueen/tello_ros.git
git clone https://github.com/ptrmu/ros2_shared.git
cd ..
source /opt/ros/foxy/setup.bash
# If you didn't intall Gazebo, skip tello_gazebo while building:
colcon build --event-handlers console_direct+ --packages-skip tello_gazebo
The driver provides a simple launch file that will allow you to fly the drone using a wired XBox One gamepad.
Turn on the drone, connect to TELLO-XXXXX via wi-fi, and launch ROS:
cd ~/tello_ros_ws
source install/setup.bash
ros2 launch tello_driver teleop_launch.py
Hit the XBox One menu button to take off, and the view button to land.
If you don't have an XBox One gamepad, you can send commands using the ROS2 CLI:
ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}"
ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'rc 0 0 0 20'}"
ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'land'}"
ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'battery?'}"
You can also send cmd_vel messages:
ros2 topic pub /cmd_vel geometry_msgs/Twist # Sends rc 0 0 0 0
ros2 topic pub /cmd_vel geometry_msgs/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"
- Tello
- Firmware v01.04.35.01, SDK v1.3
- Tello EDU
- Firmware v02.04.69.03, SDK v2.0
tello_ros was developed along with several other projects while ROS2 was rapidly changing.
All of the related projects adopted similar conventions around branch names:
- the
masterbranch works with the latest ROS2 release (Foxy as of this writing) - there may be branches for older ROS2 versions, such as
crystal,dashingoreloquent
The following projects and branches were tested together:
- ROS2 Foxy with fiducial_vlam:
The h264decoder is from: https://github.com/DaWelter/h264decoder
- Tello User Manual 1.4
- SDK 1.3 for Tello, see the errata below
- SDK 2.0 for Tello EDU, see the errata below
- Tello EDU Mission Pad Guide (SDK 2.0) for Tello EDU
- Tello Pilots Developer Forum is a good developer community
- Tello drones do not respond to
rccommands (the SDK suggests that they returnokorerror)