rmtt_node.py is tested in Ubuntu 20.04/ROS Noetic.
rmtt_node18.py is tested in Ubuntu 18.04/ROS Melodic.
Please switch in rmtt_bringup.launch.
To run rmtt_node18.py:
conda create -n py38 python=3.8
conda activate py38
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 run pip install in China.
In the workspace of rmtt_ros:
catkin_make
source devel/setup.bash
roslaunch rmtt_driver rmtt_bringup.launch
RoboMaster Tello Talent ROS Driver is developed initially for NPU-RoboCourse through the cooperation of NPU-USRI and Tianbot.
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.
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 |
Only support authorized devices and the environment is pre-configured in ROS2GO Noetic version.
Please read the RoboMaster TT User Manual carefully. Switch RoboMaster TT to direct connection mode, connect to RMTT-XXXXXX network.
roslaunch rmtt_driver rmtt_bringup.launch
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.
The ROS driver is prietary. Other packages are under BSD Clause-3 open source license. RoboMaster SDK is under Apache License, version 2.0.
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