ROS2 Bridge for Parrot ANAFI Drones

This ROS2 package contains interface to Olympe SDK. Currently, it is compatible with the following models from Parrot ANAFI family: 4K, Thermal, USA, Ai.

Overview

Author: Andriy Sarabakha
Affiliation: Nanyang Technological University (NTU), Singapore
Maintainer: Andriy Sarabakha, [email protected]

Keywords: Parrot Anafi, ROS, controller

This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Publications

For more details, please refer to:

• A. Sarabakha, "anafi_ros: from Off-the-Shelf Drones to Research Platforms," arXiv, 2023. (pdf)

If you use this work in an academic context, please cite the paper:

@misc{https://doi.org/10.48550/arxiv.2303.01813,
  author = {Sarabakha, Andriy},  
  title = {anafi_ros: from Off-the-Shelf Drones to Research Platforms},
  publisher = {arXiv},
  year = {2023},
  doi = {10.48550/ARXIV.2303.01813},
  url = {https://arxiv.org/abs/2303.01813}
}

Installation

This package has been tested with python3 in ROS2 Humble/Ubuntu 22.04.

Dependencies

• Parrot Olympe - SDK for Parrot drones:

  pip install parrot-olympe
  

  Check installation:

  python -c 'import olympe; print("Installation OK")'
  

  Troubleshooting

  • Issue

    /usr/bin/env: ‘python’: No such file or directory
    

    Solution

    Set python3 as default python version:

    echo 'alias python=python3' >> ~/.bash_aliases
    source ~/.bash_aliases
    

  • Issue

    TypeError: Expected a message Descriptor, got Descriptor
    

    Solution

    Install protobuf version 3.6:

    pip install protobuf==3.6
    

  • Issue

    AttributeError: module 'collections' has no attribute 'MutableMapping'
    

    Solution

    Install protobuf version 3.20.0:

    pip install protobuf==3.20.0
    

• OpenCV - library for real-time computer vision:

  pip install opencv-python
  

• SciPy - library for scientific and technical computing:

  pip install scipy
  

Clone

To build from source, clone the latest version from this repository into your ROS2 workspace and build the package using:

cd ~/dev_ws/src
git clone -b ros2 https://github.com/andriyukr/olympe_bridge.git
sudo chmod -R 777 olympe_bridge/
cd ..
colcon build

• Issue

  SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
  

  Solution

  Install setuptools version 58.2.0:

  pip install setuptools==58.2.0
  

Usage

To connect to the drone, run in the terminal:

ros2 launch olympe_bridge_nodes anafi_launch.py

Package details

The complete list of subscribed and published topics, available services and parameters is here.