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npurobocourse_sources

rmtt_node.py is tested in Ubuntu 20.04/ROS Noetic and used for authorized TT drones.

rmtt_node18.py is tested in Ubuntu 18.04/ROS Melodic.

Please switch in rmtt_bringup.launch.

To run rmtt_node18.py in Python 3.8:

pip install robomaster==0.1.1.63
pip install rospkg
pip install pyyaml
pip install scipy

add "-i https://pypi.tuna.tsinghua.edu.cn/simple" when running "pip install" in China.

In a new terminal from the workspace of npurobocourse_sources:

catkin_make_isolated
source devel_isolated/setup.bash

Connect to a TT drone by wifi, and run:

roslaunch rmtt_driver rmtt_bringup.launch

RoboMaster Tello Talent ROS Driver (RMTT) is originally developed for NPU-RoboCourse through the cooperation of NPU-USRI and Tianbot. We keep the original readme below.

RoboMaster Tello Talent (RMTT)

RoboMaster TT (also know as DJI Tello Talent or Ryze Tello Talent) features improved hardware and an LED light. RoboMaster TT suports Wi-Fi 5G channel and a flying map, which can be used for low-cost drone swarm.

Specification

Items Details
Model TLW004
Weight 87 g
Max Speed 28.8 kph
Max Flight Time 13 min
Camera 2592×1936
Battery LiPo
Capacity 1100 mAh
Voltage 3.8 V

Installation Instructions

Only support authorized devices and the environment is pre-configured in ROS2GO Noetic version.

Usage Instructions

Please read the RoboMaster TT User Manual carefully. Switch RoboMaster TT to direct connection mode, connect to RMTT-XXXXXX network.

Start rmtt_driver node

roslaunch rmtt_driver rmtt_bringup.launch

Topics

Published topics:

  • ~imu_data [sensor_msgs/Imu] imu data.

  • ~pose [geometry_msgs/PoseStamped] Drone pose on the mission pad.

  • ~mission_pad_id [std_msgs/UInt8] Mission pad id. 1 - 12.

  • ~image_raw/compressed [sensor_msgs/CompressedImage] Compressed image topic.

  • ~image_raw [sensor_msgs/Image] Image topic.

  • ~camera_info [sensor_msgs/CameraInfo] RMTT camera info.

  • ~tof_btm [sensor_msgs/Range] Bottom tof. Distance from drone to the ground.

  • ~tof_ext [sensor_msgs/Range] External tof. Distance to the obstacle in front of the drone.

  • ~altitude [std_msgs/Float32] Barometer readings.

  • ~battery [std_msgs/Float32] Battery percentage.

Subscribed topics:

  • ~cmd_vel [geometry_msgs/Twist] Command velocity. Only be effected after taking off.

  • ~takeoff [std_msgs/Empty] Takeoff.

  • ~land [std_msgs/Empty] Land.

  • ~flip [std_msgs/Empty] Flip.

  • ~led [std_msgs/ColorRGBA] Led on top of the external module.

  • ~mled [std_msgs/String] Dot matrix display. Showing charactor or string.

Services:

  • ~set_downvision [std_srvs/SetBool] Change the front cam to downward cam

  • ~set_hdmap Change the positioning to HD map mode. Can be used with the mission pad or HD map.

License

The ROS driver is proprietary. Other packages are under BSD Clause-3 open source license. RoboMaster SDK is under Apache License, version 2.0.