Addition of gamepad_teleop_node.py and joy node

README.md

@@ -1,5 +1,7 @@
 # tello_driver
 
+[![Build Status](http://build.ros.org/job/Ksrc_uX__tello_driver__ubuntu_xenial__source/badge/icon)](http://build.ros.org/job/Ksrc_uX__tello_driver__ubuntu_xenial__source/)
+
 ## 1. Overview
 Communicating with the Tello drone can be done either using official [Tello SDK](https://dl-cdn.ryzerobotics.com/downloads/Tello/Tello%20SDK%202.0%20User%20Guide.pdf) or one of the unofficial libraries. The unofficial libraries originated from the reverse-engineering the raw packages broadcasted by the Tello. This ROS package is build on top of the unofficial [TelloPy](https://github.com/hanyazou/TelloPy) library. The [TelloPy](https://github.com/hanyazou/TelloPy) library is used at this moment since it offers more functionalities than the official [Tello SDK](https://dl-cdn.ryzerobotics.com/downloads/Tello/Tello%20SDK%202.0%20User%20Guide.pdf) or any other unofficial library. 
 
@@ -23,7 +25,6 @@ Developing of the tello_driver ROS package is inspired by [tello_driver](https:/
 * Connect to drone's WiFi access point (```TELLO_XXXXXX)```
 * ```$ roslaunch tello_driver tello_node.launch```
 
-
 ## 2. Nodes
 
 ### tello_driver_node.py
@@ -40,19 +41,17 @@ Main node running as interface for the TelloPy library
 * ```/tello/takeoff``` [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
 * ```/tello/throw_takeoff``` [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
 
-### Published topics
+#### Published topics
 * ```/tello/camera/camera_info``` [sensor_msgs/CameraInfo](http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html)
 * ```/tello/image_raw``` [sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html)
 * ```/tello/imag/raw/h264``` [h264_image_transport/H264Packet](https://github.com/tilk/h264_image_transport/blob/master/msg/H264Packet.msg)
 * ```/tello/odom``` [nav_msgs/Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)
 * ```/tello/status``` [tello_driver/TelloStatus](https://github.com/appie-17/tello_driver/blob/development/msg/TelloStatus.msg)
 
-### Services
+#### Services
+TODO
 
-### Parameters
-* ```~/image_raw/compressed/format```
-* ```~/image_raw/compressed/jpeg_quality```
-* ```~/image_raw/compressed/png_level```
+#### Parameters
 * ```~/tello_driver_node/connect_timeout_sec```
 * ```~/tello_driver_node/fixed_video_rate```
 * ```~/tello_driver_node/local_cmd_client_port```
@@ -63,12 +62,51 @@ Main node running as interface for the TelloPy library
 * ```~/tello_driver_node/vel_cmd_scale```
 * ```~/tello_driver_node/video_req_sps_hz```
 
+### gamepad_teleop_node.py
+Converting gamepad input controls from ```joy_node``` to commands for ```tello_driver_node.py```
+
+#### Subscribed topics
+* ```/joy``` [sensor_msgs/Joy](http://docs.ros.org/api/sensor_msgs/html/msg/Joy.html)
+* ```/tello/agent_cmd_vel_in``` [geometry_msgs/Twist](http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html)
+
+#### Published topic
+* ```/tello/cmd_vel``` [geometry_msgs/Twist](http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html)
+* ```/tello/fast_mode``` [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
+* ```/tello/flattrim``` [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
+* ```/tello/flip``` [std_msgs/Uint8](http://docs.ros.org/api/std_msgs/html/msg/UInt8.html)
+* ```/tello/land``` [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
+* ```/tello/palm_land``` [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
+* ```/tello/reset``` [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
+* ```/tello/takeoff``` [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
+* ```/tello/throw_takeoff``` [std_msgs/Empty](http://docs.ros.org/api/std_msgs/html/msg/Empty.html)
+
+#### Services
+None
+
+#### Parameters
+
+### joy_node
+Receive input from gamepad controller and publish into ```sensor_msgs/Joy``` message
+
+### Subscribed topics
+None
+
+### Published topics
+* ```/joy``` [sensor_msgs/Joy](http://docs.ros.org/api/sensor_msgs/html/msg/Joy.html)
+
+### Services
+None 
+
+### Parameters
+* ```~/joy_node/deadzone```
+* ```~/joy_node/dev```
 
 ## 3. Troubleshooting
 
 ## 4. Notes
+*When using PyAV to decode raw video instead of streaming h264 video, required to relaunch the ```tello_driver_node.py``` to continue the video stream after disconnected WiFi connection.
 
-## 5. WIP
+## 5. Work-in-progress
 
 ## 6. License
 

cfg/960x720.yaml

@@ -0,0 +1,20 @@
+image_width: 960
+image_height: 720
+camera_name: camera_front
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [929.562627, 0.000000, 487.474037, 0.000000, 928.604856, 363.165223, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.016272, 0.093492, 0.000093, 0.002999, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [937.878723, 0.000000, 489.753885, 0.000000, 0.000000, 939.156738, 363.172139, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

cfg/Tello.cfg

@@ -17,7 +17,10 @@ gen.add("video_req_sps_hz", double_t, 0,
     "Rate for regularly requesting SPS data from drone (0: disabled)",
     0.5, 0.0, 4.0)
 
-# Limit velocity control (Jordy)
+# Scale velocity control (Jordy)
 gen.add("vel_cmd_scale", double_t, 0, "Scale (down) vel_cmd value", 0.5, 0.01, 1.0)
 
+# Limit attitude control (Jordy)
+gen.add("att_limit", double_t, 0, "Limit attitude of Tello", 15, 5, 90)
+
 exit(gen.generate(PACKAGE, "tello_driver_node.py", "Tello"))

launch/joy_teleop.launch

@@ -9,7 +9,7 @@
   </node>
 
   <group ns="$(arg namespace)">
-    <node pkg="tello_driver" type="gamepad_marshall_node.py" name="joy_teleop" />
+    <node pkg="tello_driver" type="gamepad_teleop_node.py" name="gamepad_teleop" />
   </group>
 
 </launch>

launch/logger.launch

@@ -1,3 +1,4 @@
+<?xml version="1.0" ?>
 <launch>
   <arg name="bag.name" default="$(env HOME)/tello"/>
   <arg name="bag.topics" default="

launch/tello_node.launch

@@ -1,21 +1,26 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="tello_ip" default="192.168.10.1" />
-    <arg name="tello_cmd_server_port" default="8889" />
-    <arg name="local_cmd_client_port" default="8890" />
-    <arg name="local_vid_server_port" default="6038" />
-    <arg name="namespace" default="tello" />
+	<arg name="tello_ip" default="192.168.10.1" />
+	<arg name="tello_cmd_server_port" default="8889" />
+	<arg name="local_cmd_client_port" default="8890" />
+	<arg name="local_vid_server_port" default="6038" />
+	<arg name="camera_calibration"		default="$(find tello_driver)/cfg/960x720.yaml" />    
+	<arg name="namespace"							default="tello" />
 
-    <group ns="$(arg namespace)">
-        <node pkg="tello_driver" name="tello_driver_node" type="tello_driver_node.py" output="screen">
-            <param name="local_cmd_client_port" value="$(arg local_cmd_client_port)" />
-            <param name="local_vid_server_port" value="$(arg local_vid_server_port)" />
-            <param name="tello_ip" value="$(arg tello_ip)" />
-            <param name="tello_cmd_server_port" value="$(arg tello_cmd_server_port)" />
-            <param name="connect_timeout_sec" value="10.0" />
-            <param name="stream_h264_video" value="true" />
-        </node>
+	<group ns="$(arg namespace)">
+
+		<node pkg="tello_driver" name="tello_driver_node" type="tello_driver_node.py" output="screen">
+			<param name="local_cmd_client_port" value="$(arg local_cmd_client_port)" />
+			<param name="local_vid_server_port" value="$(arg local_vid_server_port)" />
+			<param name="tello_ip" value="$(arg tello_ip)" />
+			<param name="tello_cmd_server_port" value="$(arg tello_cmd_server_port)" />
+			<param name="connect_timeout_sec" value="10.0" />
+			<param name="stream_h264_video" value="true" />
+			<param name="camera_calibration" value="$(arg camera_calibration)" />			
+		</node>
+
+		<node pkg="image_transport" name="image_compressed" type="republish" args="raw in:=image_raw compressed out:=image_raw" />
+
+	</group>
 
-        <node pkg="image_transport" name="image_compressed" type="republish" args="raw in:=image_raw compressed out:=image_raw" />
-    </group>
 </launch>

package.xml

@@ -2,6 +2,7 @@
 <package format="2">
   <name>tello_driver</name>
   <version>0.2.0</version>
+
   <description>>This package provides a ROS interface for the TelloPy library.
   Development of this ROS package pursues not to modify the TelloPy library, 
   instead apply any modification or addition to the ros_driver package in an encapsulated manner.</description>
@@ -12,8 +13,10 @@
   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
+  <url>http://www.ros.org/wiki/tello_driver</url>
   <url type="website">https://github.com/appie-17/tello_driver</url>
-
+  <url type="bugtracker">https://github.com/appie-17/tello_driver/issues</url>
+
 
   <license>Apache2</license>