tello_driver

ROS driver wrapper for DJI/Ryze Tello drone

Installation

• $ cd <CATKIN_WS/SRC>
• $ git clone https://github.com/kei1107/tello_driver
• $ cd tello_driver/src/TelloPy
• $ sudo -H pip2 install -e .
• $ cd ../../
• $ chmod a+x cfg/Tello.cfg
• $ cd ../../
• $ catkin build tello_driver

Launch

• turn on drone and wait for its front lights to blink amber
• connect WiFi to drone's access point (e.g. TELLO_######)
• $ roslaunch tello_driver launch/tello_node.launch

Node:

src/tello_driver_node.py

Subscribe Topics:

• ~cmd_vel: geometry_msgs/Twist
• ~fast_mode: std_msgs/Empty
• ~image_raw: sensor_msgs/Image
• ~takeoff: std_msgs/Empty
• ~throw_takeoff: std_msgs/Empty
• ~land: std_msgs/Empty
• ~palm_land: std_msgs/Empty
• ~flattrim: std_msgs/Empty
• ~flip: std_msgs/Uint8

Publish Topics:

• ~image_raw : sensor_msgs/Image
• ~odom : nav_msgs/Odometry
• ~imu : sensor_msgs/Imu
• ~status : tello_driver/TelloStatus

Parameters:

• ~tello_ip
• ~tello_port
• ~client_port
• ~vid_port
• ~conn_port
• ~connect_timeout_sec
• ~tello_name