ROS driver for Parrot Bebop Drones 1.0 & 2.0
Home Page: http://wiki.ros.org/bebop_autonomy
License: BSD 3-Clause "New" or "Revised" License
ROS driver for Parrot Bebop drone (quadrocopter).
Built against parrot_arsdk 3.12.6p1
Hello,
I am using bebop_autonomy package to control the bebop drone autonomously using an external stack. But the problem is that the publishing rate of the rotation angles is currently limited to 5Hz because of which the position controllers on the external stack running at 30 hz cannot work properly. Is there anyway right now to increase the update rate of the bebop rotation angles or till when I expect the update rate to be increased?
Thanks.
When testing the most recent driver on a Bebop 2, a set of warnings are frequently output. The warnings are:
[ WARN] [1462807887.981096145]: [ARSTREAM2_H264Filter] 11:31:27:981 | ARSTREAM2_H264Filter_fillMissingEndOfFrame:892 - Missing NALU is probably a slice
[ WARN] [1462807887.981218202]: [ARSTREAM2_H264Filter] 11:31:27:981 | ARSTREAM2_H264Filter_fillMissingEndOfFrame:950 - Skipped P slice NALU output size: 13
[ WARN] [1462807887.983282285]: [ARSTREAM2_H264Filter] 11:31:27:983 | ARSTREAM2_H264Filter_fillMissingSlices:768 - Missing NALU is probably a SPS, PPS or SEI or on previous AU => OK
In addition to this warning set, sometimes independent and sometimes at the same time, the following warning shows up:
[ WARN] [1462808246.418777361]: [BebopSDK] 11:37:26:418 | FrameReceivedCallback:196 - Previous frame might have been missed.
Is this a normal warning? It seems to be happening very frequently which makes control difficult. Thank you for your time and any information.
Hi All,
I'm trying to compile the bebop_autonomy package on an odroid xu4 (indigo) and have compile errors. I found similar problems in the ARDrone autonomy package:
AutonomyLab/ardrone_autonomy#71
but i'm not able to figure out how to apply this patch to the bebop_autonomy package (different structure).
Does anyone have similar problems/issues?
the compiler output:
> /home/odroid/catkin_ws/devel/arsdk/build/alchemy/scripts/alchemake
gcc-4.8.real: error: unrecognized command line option '-m32'
gcc-4.8.real: error: unrecognized command line option '-msse'
gcc-4.8.real: error: unrecognized command line option '-msse2'
gcc-4.8.real: error: unrecognized command line option '-mssse3'
gcc-4.8.real: error: unrecognized command line option '-m32'
gcc-4.8.real: error: unrecognized command line option '-msse'
gcc-4.8.real: error: unrecognized command line option '-msse2'
gcc-4.8.real: error: unrecognized command line option '-mssse3'
readelf: Error: '/home/odroid/catkin_ws/devel/arsdk/out/Unix-base/build/a.out': No such file
mkdir: invalid mode 'ssse3'
----------------------------------------------------------------------
+ ALCHEMY_WORKSPACE_DIR = /home/odroid/catkin_ws/devel/arsdk
+ TARGET_PRODUCT = Unix
+ TARGET_PRODUCT_VARIANT = base
+ TARGET_OS = linux
+ TARGET_OS_FLAVOUR = native
+ TARGET_LIBC = native
+ TARGET_ARCH = x86
+ TARGET_CPU =
+ TARGET_OUT = /home/odroid/catkin_ws/devel/arsdk/out/Unix-base
+ TARGET_CONFIG_DIR = /home/odroid/catkin_ws/devel/arsdk/products/Unix/base/config
+ TARGET_CC_PATH = /usr/bin/gcc
+ TARGET_CC_VERSION = 4.8
----------------------------------------------------------------------
Scanning /home/odroid/catkin_ws/devel/arsdk/packages for makefiles...
Prebuilt module ncurses marked as overriden
Found 30 makefiles
Found 58 modules
make[3]: warning: jobserver unavailable: using -j1. Add `+' to parent make rule.
Autotools: json => Configuring
configure: error: in `/home/odroid/catkin_ws/devel/arsdk/out/Unix-base/build/json/json-c-0.9':
configure: error: C compiler cannot create executables
See `config.log' for more details
make[3]: *** [/home/odroid/catkin_ws/devel/arsdk/out/Unix-base/build/json/json-0.9.configured] Error 77
[ 96%] Built target ARSDKBuildUtils
[ 97%] [ 98%] Building CXX object bebop_autonomy/bebop_driver/CMakeFiles/libbebop.dir/src/bebop.cpp.o
Building CXX object bebop_autonomy/bebop_driver/CMakeFiles/libbebop.dir/src/bebop_video_decoder.cpp.o
In file included from /home/odroid/catkin_ws/src/bebop_autonomy/bebop_driver/src/bebop_video_decoder.cpp:25:0:
/home/odroid/catkin_ws/src/bebop_autonomy/bebop_driver/include/bebop_driver/bebop_video_decoder.h:30:50: fatal error: libARController/ARCONTROLLER_Error.h: No such file or directory
#include "libARController/ARCONTROLLER_Error.h"
^
compilation terminated.
make[2]: *** [bebop_autonomy/bebop_driver/CMakeFiles/libbebop.dir/src/bebop_video_decoder.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
/home/odroid/catkin_ws/src/bebop_autonomy/bebop_driver/src/bebop.cpp:37:40: fatal error: libARCommands/ARCommands.h: No such file or directory
#include "libARCommands/ARCommands.h"
^
compilation terminated.
make[2]: *** [bebop_autonomy/bebop_driver/CMakeFiles/libbebop.dir/src/bebop.cpp.o] Error 1
make[1]: *** [bebop_autonomy/bebop_driver/CMakeFiles/libbebop.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4" failed
Hey guys. Getting following error:
PARAMETERS
NODES
/bebop/
bebop_driver (bebop_driver/bebop_driver_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [16121]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 829426e2-7cda-11e6-8573-0024e8cfd983
process[rosout-1]: started with pid [16134]
started core service [/rosout]
process[bebop/bebop_driver-2]: started with pid [16141]
process[bebop/robot_state_publisher-3]: started with pid [16152]
[ INFO] [1474118862.405218917]: Initializing nodelet with 2 worker threads.
[ INFO] [1474118862.468457685]: [BebopSDK] 15:27:42:468 | Bebop:230 - Bebop Cnstr()
[ INFO] [1474118862.468590244]: Nodelet Cstr
[ INFO] [1474118862.472868092]: Connecting to Bebop ...
[ INFO] [1474118862.713580127]: [BebopSDK] 15:27:42:713 | CommandReceivedCallback:113 - Command Received Callback LWP id is: 16268
[ERROR] [1474118862.867989008]: [ARCONTROLLER_Network] 15:27:42:867 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474118862.871437212]: [ARCONTROLLER_Network] 15:27:42:871 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474118862.874543473]: [ARCONTROLLER_Network] 15:27:42:874 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474118862.940212578]: [ARCONTROLLER_Network] 15:27:42:940 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 common.CommonState.UNKNOWN -> Unknown command
[ INFO] [1474118862.953768631]: [BebopSDK] 15:27:42:953 | Connect:326 - BebopSDK inited, lwp_id: 16141
[ INFO] [1474118862.953857749]: Fetching all settings from the Drone ...
[ INFO] [1474118863.071386661]: Value for GPSSettingsHomeTypeType recved: 0
[ INFO] [1474118863.071473543]: [CB] 15:27:43:071 | Update:1703 - Checking if GPSSettingsHomeTypeType exists in params ...
[ INFO] [1474118863.073020388]: [CB] 15:27:43:072 | Update:1706 - No
[ERROR] [1474118863.092875287]: [ARCONTROLLER_Network] 15:27:43:092 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474118863.100761206]: [ARCONTROLLER_Network] 15:27:43:100 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474118863.104702699]: [ARCONTROLLER_Network] 15:27:43:104 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ INFO] [1474118863.189877636]: Value for PilotingSettingsMaxAltitudeCurrent recved: 30
[ INFO] [1474118863.189995598]: [CB] 15:27:43:189 | Update:111 - Checking if PilotingSettingsMaxAltitudeCurrent exists in params ...
[ INFO] [1474118863.191580856]: [CB] 15:27:43:191 | Update:114 - No
[ INFO] [1474118863.193173377]: Value for PilotingSettingsMaxDistanceValue recved: 160
[ INFO] [1474118863.193235326]: [CB] 15:27:43:193 | Update:352 - Checking if PilotingSettingsMaxDistanceValue exists in params ...
[ INFO] [1474118863.194297682]: [CB] 15:27:43:194 | Update:355 - No
[ INFO] [1474118863.200952648]: Value for PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover recved: 0
[ INFO] [1474118863.201026121]: [CB] 15:27:43:201 | Update:432 - Checking if PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover exists in params ...
[ INFO] [1474118863.202526521]: [CB] 15:27:43:202 | Update:435 - No
[ INFO] [1474118863.204033976]: Value for PilotingSettingsMaxTiltCurrent recved: 20
[ INFO] [1474118863.204078953]: [CB] 15:27:43:204 | Update:191 - Checking if PilotingSettingsMaxTiltCurrent exists in params ...
[ INFO] [1474118863.204989544]: [CB] 15:27:43:204 | Update:194 - No
[ INFO] [1474118863.206983024]: Value for PilotingSettingsAbsolutControlOn recved: 0
[ INFO] [1474118863.207043856]: [CB] 15:27:43:207 | Update:271 - Checking if PilotingSettingsAbsolutControlOn exists in params ...
[ INFO] [1474118863.207771113]: [CB] 15:27:43:207 | Update:274 - No
[ INFO] [1474118863.219866157]: Value for PilotingSettingsBankedTurnValue recved: 0
[ INFO] [1474118863.219941096]: [CB] 15:27:43:219 | Update:513 - Checking if PilotingSettingsBankedTurnValue exists in params ...
[ INFO] [1474118863.221278557]: [CB] 15:27:43:221 | Update:516 - No
[ INFO] [1474118863.222701014]: Value for SpeedSettingsMaxVerticalSpeedCurrent recved: 1
[ INFO] [1474118863.222754303]: [CB] 15:27:43:222 | Update:1075 - Checking if SpeedSettingsMaxVerticalSpeedCurrent exists in params ...
[ INFO] [1474118863.223785230]: [CB] 15:27:43:223 | Update:1078 - No
[ INFO] [1474118863.225613466]: Value for SpeedSettingsMaxRotationSpeedCurrent recved: 100
[ INFO] [1474118863.225654602]: [CB] 15:27:43:225 | Update:1155 - Checking if SpeedSettingsMaxRotationSpeedCurrent exists in params ...
[ INFO] [1474118863.226362234]: [CB] 15:27:43:226 | Update:1158 - No
[ INFO] [1474118863.234484077]: Value for SpeedSettingsHullProtectionPresent recved: 0
[ INFO] [1474118863.234542464]: [CB] 15:27:43:234 | Update:1235 - Checking if SpeedSettingsHullProtectionPresent exists in params ...
[ INFO] [1474118863.235710071]: [CB] 15:27:43:235 | Update:1238 - No
[ INFO] [1474118863.237468674]: Value for SpeedSettingsOutdoorOutdoor recved: 1
[ INFO] [1474118863.237520497]: [CB] 15:27:43:237 | Update:1315 - Checking if SpeedSettingsOutdoorOutdoor exists in params ...
[ INFO] [1474118863.238472852]: [CB] 15:27:43:238 | Update:1318 - No
[ INFO] [1474118863.251575217]: Value for SpeedSettingsMaxPitchRollRotationSpeedCurrent recved: 300
[ INFO] [1474118863.251644220]: [CB] 15:27:43:251 | Update:1395 - Checking if SpeedSettingsMaxPitchRollRotationSpeedCurrent exists in params ...
[ INFO] [1474118863.252927833]: [CB] 15:27:43:252 | Update:1398 - No
[ INFO] [1474118863.254569382]: Value for NetworkSettingsWifiSelectionType recved: 1
[ INFO] [1474118863.254622043]: [CB] 15:27:43:254 | Update:1501 - Checking if NetworkSettingsWifiSelectionType exists in params ...
[ INFO] [1474118863.255588437]: [CB] 15:27:43:255 | Update:1504 - No
[ INFO] [1474118863.258823625]: Value for NetworkSettingsWifiSelectionBand recved: 0
[ INFO] [1474118863.259016945]: [CB] 15:27:43:258 | Update:1522 - Checking if NetworkSettingsWifiSelectionBand exists in params ...
[ INFO] [1474118863.259923764]: [CB] 15:27:43:259 | Update:1525 - No
[ INFO] [1474118863.260750476]: Value for NetworkSettingsWifiSelectionChannel recved: 6
[ INFO] [1474118863.260784000]: [CB] 15:27:43:260 | Update:1543 - Checking if NetworkSettingsWifiSelectionChannel exists in params ...
[ INFO] [1474118863.261342241]: [CB] 15:27:43:261 | Update:1546 - No
[ INFO] [1474118863.290460818]: Value for PictureSettingsVideoStabilizationModeMode recved: 0
[ INFO] [1474118863.290513059]: [CB] 15:27:43:290 | Update:1623 - Checking if PictureSettingsVideoStabilizationModeMode exists in params ...
[ INFO] [1474118863.291447187]: [CB] 15:27:43:291 | Update:1626 - No
[ERROR] [1474118863.293378298]: [ARCONTROLLER_Network] 15:27:43:293 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474118863.296448102]: [ARCONTROLLER_Network] 15:27:43:296 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474118863.315566944]: [ARCONTROLLER_Network] 15:27:43:315 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ INFO] [1474118863.330631988]: Value for GPSSettingsReturnHomeDelayDelay recved: 60
[ INFO] [1474118863.330693518]: [CB] 15:27:43:330 | Update:1783 - Checking if GPSSettingsReturnHomeDelayDelay exists in params ...
[ INFO] [1474118863.333176795]: [CB] 15:27:43:333 | Update:1786 - No
[ INFO] [1474118863.336192262]: Value for GPSSettingsHomeTypeType recved: 0
[ INFO] [1474118863.336302541]: [CB] 15:27:43:336 | Update:1703 - Checking if GPSSettingsHomeTypeType exists in params ...
[ INFO] [1474118863.338623088]: [CB] 15:27:43:338 | Update:1711 - Yes
[ INFO] [1474118866.113073247]: Dynamic reconfigure callback with level: -1
[ INFO] [1474118866.136688121]: Enabling video stream ...
[ WARN] [1474118866.136829969]: [BebopSDK] 15:27:46:136 | StartStreaming:364 - Video streaming started ...
[ INFO] [1474118866.136956032]: Nodelet lwp_id: 16141
[ INFO] [1474118866.137009601]: bebop_driver nodelet loaded.
[ INFO] [1474118866.137100045]: [CameraThread] thread lwp_id: 16463
[ INFO] [1474118866.137190559]: [AuxThread] thread lwp_id: 16464
[ WARN] [1474118866.158027497]: [ARSTREAM2_H264Filter] 15:27:46:157 | ARSTREAM2_H264Filter_RtpReceiverNaluCallback:1201 - ARSTREAM2_RtpReceiver NALU buffer is too small, truncated AU (or maybe it's the fi
[ WARN] [1474118866.167337480]: [ARSTREAM2_H264Filter] 15:27:46:167 | ARSTREAM2_H264Filter_enqueueCurrentAu:481 - AU output cancelled (waitForSync)
[ WARN] [1474118866.201722369]: [ARSTREAM2_H264Filter] 15:27:46:201 | ARSTREAM2_H264Filter_enqueueCurrentAu:481 - AU output cancelled (waitForSync)
[ WARN] [1474118866.231175626]: [ARSTREAM2_H264Filter] 15:27:46:231 | ARSTREAM2_H264Filter_enqueueCurrentAu:481 - AU output cancelled (waitForSync)
[ WARN] [1474118866.266660026]: [ARSTREAM2_H264Filter] 15:27:46:266 | ARSTREAM2_H264Filter_enqueueCurrentAu:481 - AU output cancelled (waitForSync)
[ WARN] [1474118866.292939904]: [ARSTREAM2_H264Filter] 15:27:46:292 | ARSTREAM2_H264Filter_sync:161 - SPS/PPS sync OK
[ INFO] [1474118866.292996196]: [BebopSDK] 15:27:46:292 | DecoderConfigCallback:147 - H264 configuration packet received: #SPS: 27 #PPS: 9 (MP4? 0)
[ WARN] [1474118866.293077003]: [ARSTREAM2_H264Filter] 15:27:46:293 | ARSTREAM2_H264Filter_generateGrayIFrame:568 - Waiting for a slice to generate gray I-frame
[ WARN] [1474118866.293136577]: [ARSTREAM2_H264Filter] 15:27:46:293 | ARSTREAM2_H264Filter_generateGrayIFrame:568 - Waiting for a slice to generate gray I-frame
[ WARN] [1474118866.293288622]: [ARSTREAM2_H264Filter] 15:27:46:293 | ARSTREAM2_H264Filter_generateGrayIFrame:618 - Gray I slice NALU output size: 1629
[ INFO] [1474118866.293336323]: [BebopSDK] 15:27:46:293 | FrameReceivedCallback:174 - Frame Recv & Decode LWP id: 16466
[ INFO] [1474118866.295966127]: [Decoder] 15:27:46:295 | InitCodec:133 - H264 Codec is initialized!
[ INFO] [1474118866.296011175]: [Decoder] 15:27:46:295 | Decode:235 - Updating H264 codec parameters (Buffer Size: 36) ...
[bebop/bebop_driver-2] process has died [pid 16141, exit code -11, cmd /home/dennis/bebop_ws/devel/lib/bebop_driver/bebop_driver_node __name:=bebop_driver __log:=/home/dennis/.ros/log/829426e2-7cda-11e6-8573-0024e8cfd983/bebop-bebop_driver-2.log].
log file: /home/dennis/.ros/log/829426e2-7cda-11e6-8573-0024e8cfd983/bebop-bebop_driver-2*.log
ROS-Indigo
bebop firmware 3.9.0
ubuntu 14.04
Hi,
Just got a brand new Bebop 2 drone last week and it works great with the controller & phone app.
So I installed ROS indigo on Ubuntu 14.04 and built / installed the bebop_autonomy ROS package according to the documentation instructions Got all the way up to the part where I run the driver with "roslaunch bebop_driver bebop_node.launch" and then I get the result below (process dies with errors mentioning ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN)...
roslaunch bebop_driver bebop_node.launch
... logging to /home/username/.ros/log/09c2f872-8051-11e6-a79c-a0a8cd7a2911/roslaunch-username-comp-22267.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://username-comp:42539/
PARAMETERS
NODES
/bebop/
bebop_driver (bebop_driver/bebop_driver_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[bebop/bebop_driver-1]: started with pid [22288]
process[bebop/robot_state_publisher-2]: started with pid [22289]
[ INFO] [1474500555.912267356]: Initializing nodelet with 4 worker threads.
[ INFO] [1474500555.957847044]: [BebopSDK] 18:29:15:957 | Bebop:230 - Bebop Cnstr()
[ INFO] [1474500555.957905316]: Nodelet Cstr
[ INFO] [1474500555.965846269]: Connecting to Bebop ...
[ INFO] [1474500555.969096582]: [CB] 18:29:15:969 | Ardrone3PilotingStateFlatTrimChanged:320 - [STATES] Enabling states/ARDrone3/PilotingState/FlatTrimChanged
[ INFO] [1474500555.970596368]: [CB] 18:29:15:970 | Ardrone3PilotingStateFlyingStateChanged:364 - [STATES] Enabling states/ARDrone3/PilotingState/FlyingStateChanged
[ INFO] [1474500555.972415353]: [CB] 18:29:15:972 | Ardrone3PilotingStateNavigateHomeStateChanged:466 - [STATES] Enabling states/ARDrone3/PilotingState/NavigateHomeStateChanged
[ INFO] [1474500555.973526332]: [CB] 18:29:15:973 | Ardrone3PilotingStatePositionChanged:524 - [STATES] Enabling states/ARDrone3/PilotingState/PositionChanged
[ INFO] [1474500555.974568931]: [CB] 18:29:15:974 | Ardrone3PilotingStateSpeedChanged:589 - [STATES] Enabling states/ARDrone3/PilotingState/SpeedChanged
[ INFO] [1474500555.975523155]: [CB] 18:29:15:975 | Ardrone3PilotingStateAttitudeChanged:654 - [STATES] Enabling states/ARDrone3/PilotingState/AttitudeChanged
[ INFO] [1474500555.976900638]: [CB] 18:29:15:976 | Ardrone3PilotingStateAltitudeChanged:770 - [STATES] Enabling states/ARDrone3/PilotingState/AltitudeChanged
[ INFO] [1474500555.979502730]: [CB] 18:29:15:979 | Ardrone3MediaStreamingStateVideoEnableChanged:1046 - [STATES] Enabling states/ARDrone3/MediaStreamingState/VideoEnableChanged
[ INFO] [1474500555.980463455]: [CB] 18:29:15:980 | Ardrone3CameraStateOrientation:1097 - [STATES] Enabling states/ARDrone3/CameraState/Orientation
[ INFO] [1474500555.982719669]: [CB] 18:29:15:982 | Ardrone3GPSStateNumberOfSatelliteChanged:1315 - [STATES] Enabling states/ARDrone3/GPSState/NumberOfSatelliteChanged
[ INFO] [1474500555.985244127]: [CB] 18:29:15:985 | CommonCommonStateBatteryStateChanged:141 - [STATES] Enabling states/common/CommonState/BatteryStateChanged
[ INFO] [1474500555.988351613]: [CB] 18:29:15:988 | CommonCommonStateWifiSignalChanged:503 - [STATES] Enabling states/common/CommonState/WifiSignalChanged
[ INFO] [1474500555.991816631]: [CB] 18:29:15:991 | CommonOverHeatStateOverHeatChanged:721 - [STATES] Enabling states/common/OverHeatState/OverHeatChanged
[ INFO] [1474500555.993818776]: [CB] 18:29:15:993 | CommonMavlinkStateMavlinkFilePlayingStateChanged:816 - [STATES] Enabling states/common/MavlinkState/MavlinkFilePlayingStateChanged
[ INFO] [1474500555.995540920]: [CB] 18:29:15:995 | CommonMavlinkStateMavlinkPlayErrorStateChanged:881 - [STATES] Enabling states/common/MavlinkState/MavlinkPlayErrorStateChanged
[ INFO] [1474500555.998492416]: [CB] 18:29:15:998 | CommonFlightPlanStateAvailabilityStateChanged:1157 - [STATES] Enabling states/common/FlightPlanState/AvailabilityStateChanged
[ INFO] [1474500555.999573161]: [CB] 18:29:15:999 | CommonFlightPlanStateComponentStateListChanged:1208 - [STATES] Enabling states/common/FlightPlanState/ComponentStateListChanged
[ INFO] [1474500556.039429889]: [BebopSDK] 18:29:16:039 | CommandReceivedCallback:113 - Command Received Callback LWP id is: 22429
[ERROR] [1474500556.184011918]: [ARCONTROLLER_Network] 18:29:16:183 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474500556.193729666]: [ARCONTROLLER_Network] 18:29:16:193 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474500556.196608551]: [ARCONTROLLER_Network] 18:29:16:196 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474500556.237091309]: [ARCONTROLLER_Network] 18:29:16:237 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 common.CommonState.UNKNOWN -> Unknown command
[ INFO] [1474500556.242395672]: [BebopSDK] 18:29:16:242 | Connect:326 - BebopSDK inited, lwp_id: 22288
[ WARN] [1474500556.242450615]: Resetting all settings ...
[ INFO] [1474500556.242484271]: [BebopSDK] 18:29:16:242 | ResetAllSettings:414 - All settings of the drone have been reset to default values.
[ INFO] [1474500556.304472915]: Value for GPSSettingsHomeTypeType recved: 0
[ INFO] [1474500556.304529044]: [CB] 18:29:16:304 | Update:1703 - Checking if GPSSettingsHomeTypeType exists in params ...
[ INFO] [1474500556.305502908]: [CB] 18:29:16:305 | Update:1711 - Yes
[ERROR] [1474500556.315517860]: [ARCONTROLLER_Network] 18:29:16:315 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474500556.317353090]: [ARCONTROLLER_Network] 18:29:16:317 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474500556.318447472]: [ARCONTROLLER_Network] 18:29:16:318 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ INFO] [1474500556.730793656]: Value for PilotingSettingsMaxAltitudeCurrent recved: 30
[ INFO] [1474500556.730882962]: [CB] 18:29:16:730 | Update:111 - Checking if PilotingSettingsMaxAltitudeCurrent exists in params ...
[ INFO] [1474500556.732363867]: [CB] 18:29:16:732 | Update:119 - Yes
[ INFO] [1474500556.745992459]: Value for PilotingSettingsMaxDistanceValue recved: 2000
[ INFO] [1474500556.746823196]: [CB] 18:29:16:746 | Update:352 - Checking if PilotingSettingsMaxDistanceValue exists in params ...
[ INFO] [1474500556.748688674]: [CB] 18:29:16:748 | Update:360 - Yes
[ INFO] [1474500556.767293464]: Value for PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover recved: 0
[ INFO] [1474500556.767446362]: [CB] 18:29:16:767 | Update:432 - Checking if PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover exists in params ...
[ INFO] [1474500556.769014301]: [CB] 18:29:16:768 | Update:440 - Yes
[ INFO] [1474500556.781971303]: Value for PilotingSettingsMaxTiltCurrent recved: 20
[ INFO] [1474500556.782033237]: [CB] 18:29:16:782 | Update:191 - Checking if PilotingSettingsMaxTiltCurrent exists in params ...
[ INFO] [1474500556.782977090]: [CB] 18:29:16:782 | Update:199 - Yes
[ INFO] [1474500556.801884257]: Value for PilotingSettingsAbsolutControlOn recved: 0
[ INFO] [1474500556.801986055]: [CB] 18:29:16:801 | Update:271 - Checking if PilotingSettingsAbsolutControlOn exists in params ...
[ INFO] [1474500556.803202973]: [CB] 18:29:16:803 | Update:279 - Yes
[ INFO] [1474500556.817915614]: Value for PilotingSettingsBankedTurnValue recved: 0
[ INFO] [1474500556.817977347]: [CB] 18:29:16:817 | Update:513 - Checking if PilotingSettingsBankedTurnValue exists in params ...
[ INFO] [1474500556.818962353]: [CB] 18:29:16:818 | Update:521 - Yes
[ INFO] [1474500556.843433132]: Value for SpeedSettingsMaxVerticalSpeedCurrent recved: 1
[ INFO] [1474500556.843500308]: [CB] 18:29:16:843 | Update:1075 - Checking if SpeedSettingsMaxVerticalSpeedCurrent exists in params ...
[ INFO] [1474500556.844469725]: [CB] 18:29:16:844 | Update:1083 - Yes
[ INFO] [1474500556.872860534]: Value for SpeedSettingsMaxRotationSpeedCurrent recved: 100
[ INFO] [1474500556.872920160]: [CB] 18:29:16:872 | Update:1155 - Checking if SpeedSettingsMaxRotationSpeedCurrent exists in params ...
[ INFO] [1474500556.873844856]: [CB] 18:29:16:873 | Update:1163 - Yes
[ INFO] [1474500556.890331116]: Value for SpeedSettingsHullProtectionPresent recved: 0
[ INFO] [1474500556.890406551]: [CB] 18:29:16:890 | Update:1235 - Checking if SpeedSettingsHullProtectionPresent exists in params ...
[ INFO] [1474500556.891382741]: [CB] 18:29:16:891 | Update:1243 - Yes
[ INFO] [1474500557.077724058]: Value for PictureSettingsVideoStabilizationModeMode recved: 0
[ INFO] [1474500557.077779852]: [CB] 18:29:17:077 | Update:1623 - Checking if PictureSettingsVideoStabilizationModeMode exists in params ...
[ INFO] [1474500557.078832450]: [CB] 18:29:17:078 | Update:1631 - Yes
[ INFO] [1474500558.133172803]: Value for GPSSettingsReturnHomeDelayDelay recved: 60
[ INFO] [1474500558.133252371]: [CB] 18:29:18:133 | Update:1783 - Checking if GPSSettingsReturnHomeDelayDelay exists in params ...
[ INFO] [1474500558.135346585]: [CB] 18:29:18:135 | Update:1791 - Yes
[ INFO] [1474500558.147533623]: Value for GPSSettingsHomeTypeType recved: 0
[ INFO] [1474500558.147630309]: [CB] 18:29:18:147 | Update:1703 - Checking if GPSSettingsHomeTypeType exists in params ...
[ INFO] [1474500558.149640190]: [CB] 18:29:18:149 | Update:1711 - Yes
[ INFO] [1474500558.174012251]: Value for SpeedSettingsMaxPitchRollRotationSpeedCurrent recved: 300
[ INFO] [1474500558.174076065]: [CB] 18:29:18:174 | Update:1395 - Checking if SpeedSettingsMaxPitchRollRotationSpeedCurrent exists in params ...
[ INFO] [1474500558.175117925]: [CB] 18:29:18:175 | Update:1403 - Yes
[ERROR] [1474500558.190383867]: [ARCONTROLLER_Network] 18:29:18:190 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474500558.206040568]: [ARCONTROLLER_Network] 18:29:18:205 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ INFO] [1474500559.242751337]: Fetching all settings from the Drone ...
[ INFO] [1474500559.274870959]: Value for PilotingSettingsMaxAltitudeCurrent recved: 30
[ INFO] [1474500559.274998918]: [CB] 18:29:19:274 | Update:111 - Checking if PilotingSettingsMaxAltitudeCurrent exists in params ...
[ INFO] [1474500559.276705474]: [CB] 18:29:19:276 | Update:119 - Yes
[ INFO] [1474500559.276833660]: Value for PilotingSettingsMaxDistanceValue recved: 2000
[ INFO] [1474500559.276908867]: [CB] 18:29:19:276 | Update:352 - Checking if PilotingSettingsMaxDistanceValue exists in params ...
[ INFO] [1474500559.278688768]: [CB] 18:29:19:278 | Update:360 - Yes
[ INFO] [1474500559.278824091]: Value for PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover recved: 0
[ INFO] [1474500559.278899131]: [CB] 18:29:19:278 | Update:432 - Checking if PilotingSettingsNoFlyOverMaxDistanceShouldnotflyover exists in params ...
[ INFO] [1474500559.280270265]: [CB] 18:29:19:280 | Update:440 - Yes
[ INFO] [1474500559.281540721]: Value for PilotingSettingsMaxTiltCurrent recved: 20
[ INFO] [1474500559.281590432]: [CB] 18:29:19:281 | Update:191 - Checking if PilotingSettingsMaxTiltCurrent exists in params ...
[ INFO] [1474500559.282569213]: [CB] 18:29:19:282 | Update:199 - Yes
[ INFO] [1474500559.282809575]: Value for PilotingSettingsAbsolutControlOn recved: 0
[ INFO] [1474500559.282856070]: [CB] 18:29:19:282 | Update:271 - Checking if PilotingSettingsAbsolutControlOn exists in params ...
[ INFO] [1474500559.283843904]: [CB] 18:29:19:283 | Update:279 - Yes
[ INFO] [1474500559.286693678]: Value for PilotingSettingsBankedTurnValue recved: 0
[ INFO] [1474500559.286736016]: [CB] 18:29:19:286 | Update:513 - Checking if PilotingSettingsBankedTurnValue exists in params ...
[ INFO] [1474500559.287594048]: [CB] 18:29:19:287 | Update:521 - Yes
[ INFO] [1474500559.290224181]: Value for SpeedSettingsMaxVerticalSpeedCurrent recved: 1
[ INFO] [1474500559.290266534]: [CB] 18:29:19:290 | Update:1075 - Checking if SpeedSettingsMaxVerticalSpeedCurrent exists in params ...
[ INFO] [1474500559.291071443]: [CB] 18:29:19:291 | Update:1083 - Yes
[ INFO] [1474500559.299014131]: Value for SpeedSettingsMaxRotationSpeedCurrent recved: 100
[ INFO] [1474500559.299069770]: [CB] 18:29:19:299 | Update:1155 - Checking if SpeedSettingsMaxRotationSpeedCurrent exists in params ...
[ INFO] [1474500559.300071993]: [CB] 18:29:19:300 | Update:1163 - Yes
[ INFO] [1474500559.302215160]: Value for SpeedSettingsHullProtectionPresent recved: 0
[ INFO] [1474500559.302255277]: [CB] 18:29:19:302 | Update:1235 - Checking if SpeedSettingsHullProtectionPresent exists in params ...
[ INFO] [1474500559.303193622]: [CB] 18:29:19:303 | Update:1243 - Yes
[ INFO] [1474500559.305084077]: Value for SpeedSettingsOutdoorOutdoor recved: 1
[ INFO] [1474500559.305129578]: [CB] 18:29:19:305 | Update:1315 - Checking if SpeedSettingsOutdoorOutdoor exists in params ...
[ INFO] [1474500559.306100994]: [CB] 18:29:19:306 | Update:1323 - Yes
[ INFO] [1474500559.307593522]: Value for SpeedSettingsMaxPitchRollRotationSpeedCurrent recved: 300
[ INFO] [1474500559.307653885]: [CB] 18:29:19:307 | Update:1395 - Checking if SpeedSettingsMaxPitchRollRotationSpeedCurrent exists in params ...
[ INFO] [1474500559.308724321]: [CB] 18:29:19:308 | Update:1403 - Yes
[ INFO] [1474500559.308966183]: Value for NetworkSettingsWifiSelectionType recved: 1
[ INFO] [1474500559.309008696]: [CB] 18:29:19:308 | Update:1501 - Checking if NetworkSettingsWifiSelectionType exists in params ...
[ INFO] [1474500559.310403132]: [CB] 18:29:19:310 | Update:1509 - Yes
[ INFO] [1474500559.310506072]: Value for NetworkSettingsWifiSelectionBand recved: 0
[ INFO] [1474500559.310538881]: [CB] 18:29:19:310 | Update:1522 - Checking if NetworkSettingsWifiSelectionBand exists in params ...
[ INFO] [1474500559.311176717]: [CB] 18:29:19:311 | Update:1530 - Yes
[ INFO] [1474500559.311211557]: Value for NetworkSettingsWifiSelectionChannel recved: 4
[ INFO] [1474500559.311237894]: [CB] 18:29:19:311 | Update:1543 - Checking if NetworkSettingsWifiSelectionChannel exists in params ...
[ INFO] [1474500559.311770975]: [CB] 18:29:19:311 | Update:1551 - Yes
[ INFO] [1474500559.333858244]: Value for PictureSettingsVideoStabilizationModeMode recved: 0
[ INFO] [1474500559.333921100]: [CB] 18:29:19:333 | Update:1623 - Checking if PictureSettingsVideoStabilizationModeMode exists in params ...
[ INFO] [1474500559.334908904]: [CB] 18:29:19:334 | Update:1631 - Yes
[ERROR] [1474500559.335851858]: [ARCONTROLLER_Network] 18:29:19:335 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474500559.339002608]: [ARCONTROLLER_Network] 18:29:19:338 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ERROR] [1474500559.341401477]: [ARCONTROLLER_Network] 18:29:19:341 | ARCONTROLLER_Network_ReaderRun:940 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.PictureSettingsState.UNKNOWN -> Unknown co
[ INFO] [1474500559.351633840]: Value for GPSSettingsReturnHomeDelayDelay recved: 60
[ INFO] [1474500559.351698528]: [CB] 18:29:19:351 | Update:1783 - Checking if GPSSettingsReturnHomeDelayDelay exists in params ...
[ INFO] [1474500559.352568070]: [CB] 18:29:19:352 | Update:1791 - Yes
[ INFO] [1474500559.352731899]: Value for GPSSettingsHomeTypeType recved: 0
[ INFO] [1474500559.352761828]: [CB] 18:29:19:352 | Update:1703 - Checking if GPSSettingsHomeTypeType exists in params ...
[ INFO] [1474500559.353434264]: [CB] 18:29:19:353 | Update:1711 - Yes
[ INFO] [1474500562.373466181]: Dynamic reconfigure callback with level: -1
[ INFO] [1474500562.373535968]: [CB] 18:29:22:373 | UpdateBebopFromROS:309 - PilotingSettingsMaxDistanceValue changed!
[ INFO] [1474500562.373560988]: [CB] 18:29:22:373 | UpdateBebopFromROS:323 - Sending PilotingSettingsMaxDistance changes to bebop
[ INFO] [1474500562.388250848]: Value for PilotingSettingsMaxDistanceValue recved: 160
[ INFO] [1474500562.388383775]: [CB] 18:29:22:388 | Update:352 - Checking if PilotingSettingsMaxDistanceValue exists in params ...
[ INFO] [1474500562.389550285]: [CB] 18:29:22:389 | Update:360 - Yes
[ INFO] [1474500562.390181171]: Enabling video stream ...
[ WARN] [1474500562.390235425]: [BebopSDK] 18:29:22:390 | StartStreaming:364 - Video streaming started ...
[ INFO] [1474500562.390333428]: Nodelet lwp_id: 22288
[ INFO] [1474500562.390367663]: [CameraThread] thread lwp_id: 22622
[ INFO] [1474500562.390400980]: [AuxThread] thread lwp_id: 22623
[ INFO] [1474500562.390427443]: bebop_driver nodelet loaded.
[ WARN] [1474500562.413070576]: [ARSTREAM2_H264Filter] 18:29:22:413 | ARSTREAM2_H264Filter_RtpReceiverNaluCallback:1201 - ARSTREAM2_RtpReceiver NALU buffer is too small, truncated AU (or maybe it's the fi
[ WARN] [1474500562.413162221]: [ARSTREAM2_H264Filter] 18:29:22:413 | ARSTREAM2_H264Filter_sync:161 - SPS/PPS sync OK
[ INFO] [1474500562.413203086]: [BebopSDK] 18:29:22:413 | DecoderConfigCallback:147 - H264 configuration packet received: #SPS: 27 #PPS: 9 (MP4? 0)
[ WARN] [1474500562.413264830]: [ARSTREAM2_H264Filter] 18:29:22:413 | ARSTREAM2_H264Filter_generateGrayIFrame:568 - Waiting for a slice to generate gray I-frame
[ WARN] [1474500562.413331715]: [ARSTREAM2_H264Filter] 18:29:22:413 | ARSTREAM2_H264Filter_generateGrayIFrame:568 - Waiting for a slice to generate gray I-frame
[ WARN] [1474500562.417604668]: [ARSTREAM2_H264Filter] 18:29:22:417 | ARSTREAM2_H264Filter_generateGrayIFrame:618 - Gray I slice NALU output size: 1629
[ INFO] [1474500562.417696384]: [BebopSDK] 18:29:22:417 | FrameReceivedCallback:174 - Frame Recv & Decode LWP id: 22625
[ INFO] [1474500562.419384238]: [Decoder] 18:29:22:419 | InitCodec:133 - H264 Codec is initialized!
[ INFO] [1474500562.419423624]: [Decoder] 18:29:22:419 | Decode:235 - Updating H264 codec parameters (Buffer Size: 36) ...
[bebop/bebop_driver-1] process has died [pid 22288, exit code -11, cmd /home/username/bebop_ws/devel/lib/bebop_driver/bebop_driver_node __name:=bebop_driver __log:=/home/username/.ros/log/09c2f872-8051-11e6-a79c-a0a8cd7a2911/bebop-bebop_driver-1.log].
log file: /home/username/.ros/log/09c2f872-8051-11e6-a79c-a0a8cd7a2911/bebop-bebop_driver-1*.log
^C[bebop/robot_state_publisher-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Sometimes when I grab the UAV out of the air with my hands, it panics (says something about the emergency land, and spams ROS errors) and the driver stops sending telemetry. Any bag files being recorded end at this point.
I'll get back to you with the specific error output if I can reproduce it.
Is it possible to connect multiple bebops to a single computer following the same procedure for the ardrone_autonomy? Or is there some other way?
Are the images recorded from the vertical camera of the Bebop available for processing ? Is there a way to extract them ?
When changing the parameter "PictureSettingsVideoStabilizationModeMode", nothing happens. Normally if the parameter is 3, there shouldn't be any stabilization, but when reading "/bebop/image_raw" we saw that the video was still being stabilized.
The other modes of that parameter also do not visually change the image feed.
Hello
Will you be including a topic to publish imu data like with ardrone_autonomy?
Thank you for your time.
Great package! Works like a charm!
Do you have plans to support raw IMU data streams? And also other sensors: barometer & ultrasound?
Plus, the documentation says that the odometry measurements are computed by integrating 'visual-inertial' velocities. Is the Bebop doing some sort of visual-inertial SLAM onboard? How are these velocities computed?
Thanks
Hi,
I just opened the issue for ask a question to you. There is a way to measure the altitude of the bebop without doing takeoff as can be done with ardrone autonomy?
Thank you for your attention,
Sergio
Hi,
I cant seem to figure out how to map different joysticks with the bebop2. I am trying to configure the xbox 360 wireless controller on ROS indigo. Can you help me with this?
Thanks
Alex
Hi,
Bebop SDK allows us to set the maximum vertical speed and pitch/roll rotation speed.
http://developer.parrot.com/docs/SDK3/#a-name-ardrone3-speedsettings-maxverticalspeed-a
http://developer.parrot.com/docs/SDK3/#a-name-ardrone3-speedsettings-maxpitchrollrotationspeed-a
It would be nice if we could set them via ROS.
Thank you for your great work.
Hi All,
I am having difficulty wih the catkin build. I am following the instructions on the wiki and the build seems to go until some 404s. The outcome is this:
[build] Summary: All 5 packages succeeded!
[build] Ignored: 1 packages were skipped or are blacklisted.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 43 minutes and 36.6 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
I take it this is not good enough to proceed further and it should be sorted out before continuing.
The output for the errors is this (seems like Parrot SDK problem?):
Starting >>> bebop_driver
Warnings << bebop_driver:make /home/xx/bebop_ws/logs/bebop_driver/build.make.000.log
gpg: keyring /home/xx/.repoconfig/gnupg/secring.gpg' created gpg: keyring/home/xx/.repoconfig/gnupg/pubring.gpg' created
gpg: /home/xx/.repoconfig/gnupg/trustdb.gpg: trustdb created
gpg: key 920F5C65: public key "Repo Maintainer [email protected]" imported
gpg: key 692B382C: public key "Conley Owens [email protected]" imported
gpg: Total number processed: 2
gpg: imported: 2 (RSA: 1)
Get https://gerrit.googlesource.com/git-repo/clone.bundle
Get https://gerrit.googlesource.com/git-repo
remote: Finding sources: 100% (5/5)
remote: Total 5 (delta 2), reused 5 (delta 2)
Unpacking objects: 100% (5/5), done.
From https://gerrit.googlesource.com/git-repo
82f6798..4d5bb68 master -> origin/master
Get https://github.com/Parrot-Developers/arsdk_manifests.git
% Total % Received % Xferd Average Speed Time Time Time Current
Dload Upload Total Spent Left Speed
0 0 0 0 0 0 0 0 --:--:-- --:--:-- --:--:-- 0curl: (22) The requested URL returned error: 404 Not Found
Server does not provide clone.bundle; ignoring.
remote: Counting objects: 80, done.
remote: Total 80 (delta 0), reused 0 (delta 0), pack-reused 80
From https://github.com/Parrot-Developers/arsdk_manifests
[I] Starting task 'build-sdk'
[I] In '/home/xx/bebop_ws/devel/.private/bebop_driver/arsdk': ALCHEMY_TARGET_CONFIG_DIR="/home/xx/bebop_ws/devel/.private/bebop_driver/arsdk/products/arsdk/native/config" ALCHEMY_TARGET_OUT="/home/xx/bebop_ws/devel/.private/bebop_driver/arsdk/out/arsdk-native" ALCHEMY_TARGET_PRODUCT="arsdk" ALCHEMY_TARGET_PRODUCT_VARIANT="native" ALCHEMY_TARGET_SCAN_ADD_DIRS=" /home/xx/bebop_ws/devel/.private/bebop_driver/arsdk/packages" ALCHEMY_TARGET_SCAN_PRUNE_DIRS=" /home/xx/bebop_ws/devel/.private/bebop_driver/arsdk" ALCHEMY_USE_COLORS="1" ALCHEMY_WORKSPACE_DIR="/home/xx/bebop_ws/devel/.private/bebop_driver/arsdk" PARROT_BUILD_PROP_GROUP="drones" PARROT_BUILD_PROP_PRODUCT="arsdk" PARROT_BUILD_PROP_PROJECT="arsdk" PARROT_BUILD_PROP_UID="arsdk-native-0.0.0-20161023-1234" PARROT_BUILD_PROP_VARIANT="native" PARROT_BUILD_PROP_VERSION="0.0.0" /home/xx/bebop_ws/devel/.private/bebop_driver/arsdk/build/alchemy/scripts/alchemake -j1 all
[W] Not using job control
make[3]: warning: -jN forced in submake: disabling jobserver mode.
Scanning /home/xx/bebop_ws/devel/.private/bebop_driver/arsdk/packages for makefiles...
configure: WARNING: Continuing even with errors mentioned immediately above this line.
configure: WARNING: OpenSSL headers and library versions do not match.
configure: WARNING: Cannot find libraries for IDN support: IDN disabled
configure: WARNING: Continuing even with errors mentioned immediately above this line.
packages/libARNetworkAL/Sources/Wifi/ARNETWORKAL_WifiNetwork.c: In function 'ARNETWORKAL_WifiNetwork_Signal':
packages/libARNetworkAL/Sources/Wifi/ARNETWORKAL_WifiNetwork.c:252:17: warning: ignoring return value of 'write', declared with attribute warn_unused_result [-Wunused-result]
write (object->fifo[1], buff, 1);
^
packages/libARNetworkAL/Sources/Wifi/ARNETWORKAL_WifiNetwork.c:260:17: warning: ignoring return value of 'write', declared with attribute warn_unused_result [-Wunused-result]
write (object->fifo[1], buff, 1);
^
packages/libARNetworkAL/Sources/Wifi/ARNETWORKAL_WifiNetwork.c: In function 'ARNETWORKAL_WifiNetwork_Receive':
packages/libARNetworkAL/Sources/Wifi/ARNETWORKAL_WifiNetwork.c:903:13: warning: ignoring return value of 'read', declared with attribute warn_unused_result [-Wunused-result]
read (receiverObject->fifo[0], &dump, 1);
^
packages/libARDiscovery/Sources/ARDISCOVERY_Connection.c: In function 'ARDISCOVERY_Connection_DeviceAccept':
packages/libARDiscovery/Sources/ARDISCOVERY_Connection.c:816:13: warning: ignoring return value of 'read', declared with attribute warn_unused_result [-Wunused-result]
read (connectionData->abortPipe[0], &dump, 10);
^
packages/libARDiscovery/Sources/ARDISCOVERY_Connection.c: In function 'ARDISCOVERY_Connection_RxPending':
packages/libARDiscovery/Sources/ARDISCOVERY_Connection.c:947:13: warning: ignoring return value of 'read', declared with attribute warn_unused_result [-Wunused-result]
read (connectionData->abortPipe[0], &dump, 10);
^
packages/libARDiscovery/Sources/ARDISCOVERY_Connection.c: In function 'ARDISCOVERY_Connection_Unlock':
packages/libARDiscovery/Sources/ARDISCOVERY_Connection.c:1036:9: warning: ignoring return value of 'write', declared with attribute warn_unused_result [-Wunused-result]
write (connectionData->abortPipe[1], buff, 1);
^
[I] In '/home/xx/bebop_ws/devel/.private/bebop_driver/arsdk': ln -fs arsdk-native /home/xx/bebop_ws/devel/.private/bebop_driver/arsdk/out/arsdk-native/../Unix-base
[I] Finished task 'build-sdk'
/home/xx/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop.cpp: In member function ‘void bebop_driver::Bebop::Connect(ros::NodeHandle&, ros::NodeHandle&, const string&)’:
/home/xx/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop.cpp:236:6: note: variable tracking size limit exceeded with -fvar-tracking-assignments, retrying without
void Bebop::Connect(ros::NodeHandle& nh, ros::NodeHandle& priv_nh, const std::string& bebop_ip)
^
cd /home/xx/bebop_ws/build/bebop_driver; catkin build --get-env bebop_driver | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
........................................................................................................................................................................................
Finished <<< bebop_driver [ 40 minutes and 26.9 seconds ]
Hello, is there something like moving the drone with positionparams ( like move 1meter in x ) and not with speed ( twist msg is a speed operator ).
Is the camera matrix uniform across all the gimbal region for the camera?
Although the code builds fine with the new catkin tools (e.g. catkin build), it fails when original catkin_make is invoked. There seems to be some dependency issues with the message generation step.
A nice feature would be to only transmit video from the bebop if there is a subscriber on the relevant topic. This should free up some bandwidth and possibly reduce latency/increase rate of the other data transmission.
End of build
-- Errors were found during build ! --
Build took 14s
make[2]: *** [/home/uav-ros-3/bebop_ws/devel/src/ARSDKBuildUtils-stamp/ARSDKBuildUtils-build] Error 1
make[1]: *** [CMakeFiles/ARSDKBuildUtils.dir/all] Error 2
make: *** [all] Error 2
[bebop_driver] <== '/home/uav-ros-3/bebop_ws/build/bebop_driver/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' failed with return code '2'
Failed <== bebop_driver [ 18.5 seconds ]
[build] There were '1' errors:
Failed to build package 'bebop_driver' because the following command:
# Command to reproduce:
cd /home/uav-ros-3/bebop_ws/build/bebop_driver && /home/uav-ros-3/bebop_ws/build/bebop_driver/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j; cd -
# Path to log:
cat /home/uav-ros-3/bebop_ws/build/build_logs/bebop_driver.log
Exited with return code: 2
[build] Runtime: 20.5 seconds
I get the following build error on Ubuntu 15.04, even though I've fetched all the documented dependencies.
/home/jake/catkin_ws/src/bebop_autonomy/bebop_driver/src/bebop_video_decoder.cpp:
In member function bool bebop_driver::VideoDecoder::InitCodec(uint32_t,
uint32_t):
/home/jake/catkin_ws/src/bebop_autonomy/bebop_driver/src/bebop_video_decoder.cpp:79:39:
error: CODEC_ID_H264 was not declared in this scope
codec_ptr_ = avcodec_find_decoder(CODEC_ID_H264);
link_directories(${ARDRONESDK3_PATH}/lib)
can be changed to:
link_directories(${ARDRONESDK3_PATH}/lib
${AVCODEC_LIBRARY_DIRS}
${AVFORMAT_LIBRARY_DIRS}
${SWSCALE_LIBRARY_DIRS}
)
in case users want to link against a local copy of libav.
Teleop launch file doesn't work out of the box because it's not in the same namespace as the bebop driver.
Hi,
This ROS package looks great, awesome work. I am however having an issue, whenever I try to launch the bebop_node.launch I get the following issue:
ARDISCOVERY_Device_NewARNetworkAL:238 - error: Socket access permission denied
I also get similar error message when trying to run the SDK example, BebopDroneReceiveStream. I followed all the instructions and the build process reported no errors. I'm using ROS Indigo and Ubuntu 14.04
Thanks for any help in advance!
Hi,
I was wondering if there is any ROS simulation support for the Parrot bebop drone. It seems the Parrot ARdrone has good support for the simulation test but could not find any information for the bebop drone. The drone itself flies well using the bebop_autonomy, but I would still not risk the drone crashing while testing some developed algorithms. I would deeply appreciate if someone can point me in right direction.
Thanks
Alex
in bebop_video_decoder.cpp:79
changed
CODEC_ID_H264
to
AV_CODEC_ID_H264
and the build succeeded.
I've tried following the instructions here for building the package on a new computer, but the package does not compile. At some point during the bebop_driver compilation, an xterm window pops up and says
Can't execvp ./build.sh: No such file or directory
Seems like during the process of downloading the ARDroneSDK, the build script doesn't get downloaded. I see that in the CMakeLists of bebop_driver, a certain commit of the arsdk_manifest is pulled, which has a release.xml that links to a certain commit of arsdk_package that has the build.sh in the correct place, but for some reason the file is not pulled down.
The repo sync command spits out a number of 404 Not Found, but at the end says that fetching and syncing were completed 100%, so I'm not sure what the issue is.
We are running the Bebop by connecting it to a router. The Bebop connects and we were running the driver just fine. However, today after running successfully we replaced the battery and restarted the Bebop. It connects to the network but when the driver is launched the Bebop disconnects itself from the network and the driver fails to complete the launch. An error comes up saying the connection is lost because it took too long to receive the first frame. We could see no change in the driver but still tried deleting the driver completely and rebuilding. After rebuilding the problem persisted. Does anyone know what the problem might be? Here is the output of the driver launch:
> SUMMARY
========
PARAMETERS
* /bebop/bebop_driver/bebop_ip: 192.168.1.101
* /bebop/bebop_driver/camera_info_url: package://bebop_d...
* /bebop/bebop_driver/reset_settings: True
* /bebop/bebop_driver/states/enable_altitudechanged: True
* /bebop/bebop_driver/states/enable_autotakeoffmodechanged: True
* /bebop/bebop_driver/states/enable_camerastate_orientation: True
* /bebop/bebop_driver/states/enable_commonstate_batterystatechanged: True
* /bebop/bebop_driver/states/enable_commonstate_wifisignalchanged: True
* /bebop/bebop_driver/states/enable_controllerstate_ispilotingchanged: True
* /bebop/bebop_driver/states/enable_flightplanstate_availabilitystatechanged: True
* /bebop/bebop_driver/states/enable_flightplanstate_componentstatelistchanged: True
* /bebop/bebop_driver/states/enable_gpsstate_numberofsatellitechanged: True
* /bebop/bebop_driver/states/enable_mavlinkstate_mavlinkfileplayingstatechanged: True
* /bebop/bebop_driver/states/enable_mavlinkstate_mavlinkplayerrorstatechanged: True
* /bebop/bebop_driver/states/enable_mediastreamingstate_videoenablechanged: True
* /bebop/bebop_driver/states/enable_numberofsatellitechanged: True
* /bebop/bebop_driver/states/enable_overheatstate_overheatchanged: True
* /bebop/bebop_driver/states/enable_pilotingstate_altitudechanged: True
* /bebop/bebop_driver/states/enable_pilotingstate_attitudechanged: True
* /bebop/bebop_driver/states/enable_pilotingstate_flattrimchanged: True
* /bebop/bebop_driver/states/enable_pilotingstate_flyingstatechanged: True
* /bebop/bebop_driver/states/enable_pilotingstate_navigatehomestatechanged: True
* /bebop/bebop_driver/states/enable_pilotingstate_positionchanged: True
* /bebop/bebop_driver/states/enable_pilotingstate_speedchanged: True
* /rosdistro: indigo
* /rosversion: 1.11.19
NODES
/bebop/
bebop_driver (bebop_driver/bebop_driver_node)
auto-starting new master
process[master]: started with pid [3672]
ROS_MASTER_URI=http://workstation:11311/
setting /run_id to 02a842b4-13a4-11e6-8438-3c970edc4507
process[rosout-1]: started with pid [3685]
started core service [/rosout]
process[bebop/bebop_driver-2]: started with pid [3702]
[ INFO] [1462550582.810552466]: Initializing nodelet with 8 worker threads.
[ INFO] [1462550582.878636277]: [BebopSDK] 12:03:02:878 | Bebop:198 - Bebop Cnstr()
[ INFO] [1462550582.878705567]: Nodelet Cstr
[ INFO] [1462550582.886062153]: Connecting to Bebop ...
[ INFO] [1462550582.891177876]: [CB] 12:03:02:891 | Ardrone3PilotingStateFlatTrimChanged:319 - [STATES] Enabling states/ARDrone3/PilotingState/FlatTrimChanged
[ INFO] [1462550582.893775132]: [CB] 12:03:02:893 | Ardrone3PilotingStateFlyingStateChanged:363 - [STATES] Enabling states/ARDrone3/PilotingState/FlyingStateChanged
[ INFO] [1462550582.896615254]: [CB] 12:03:02:896 | Ardrone3PilotingStateNavigateHomeStateChanged:465 - [STATES] Enabling states/ARDrone3/PilotingState/NavigateHomeStateChanged
[ INFO] [1462550582.898468033]: [CB] 12:03:02:898 | Ardrone3PilotingStatePositionChanged:523 - [STATES] Enabling states/ARDrone3/PilotingState/PositionChanged
[ INFO] [1462550582.900179366]: [CB] 12:03:02:900 | Ardrone3PilotingStateSpeedChanged:588 - [STATES] Enabling states/ARDrone3/PilotingState/SpeedChanged
[ INFO] [1462550582.901976164]: [CB] 12:03:02:901 | Ardrone3PilotingStateAttitudeChanged:653 - [STATES] Enabling states/ARDrone3/PilotingState/AttitudeChanged
[ INFO] [1462550582.904435691]: [CB] 12:03:02:904 | Ardrone3PilotingStateAltitudeChanged:769 - [STATES] Enabling states/ARDrone3/PilotingState/AltitudeChanged
[ INFO] [1462550582.908986874]: [CB] 12:03:02:908 | Ardrone3MediaStreamingStateVideoEnableChanged:1045 - [STATES] Enabling states/ARDrone3/MediaStreamingState/VideoEnableChanged
[ INFO] [1462550582.912266005]: [CB] 12:03:02:912 | Ardrone3CameraStateOrientation:1096 - [STATES] Enabling states/ARDrone3/CameraState/Orientation
[ INFO] [1462550582.916254270]: [CB] 12:03:02:916 | Ardrone3GPSStateNumberOfSatelliteChanged:1256 - [STATES] Enabling states/ARDrone3/GPSState/NumberOfSatelliteChanged
[ INFO] [1462550582.922437928]: [CB] 12:03:02:922 | CommonCommonStateBatteryStateChanged:141 - [STATES] Enabling states/common/CommonState/BatteryStateChanged
[ INFO] [1462550582.930734351]: [CB] 12:03:02:930 | CommonCommonStateWifiSignalChanged:503 - [STATES] Enabling states/common/CommonState/WifiSignalChanged
[ INFO] [1462550582.936090787]: [CB] 12:03:02:936 | CommonOverHeatStateOverHeatChanged:714 - [STATES] Enabling states/common/OverHeatState/OverHeatChanged
[ INFO] [1462550582.938812280]: [CB] 12:03:02:938 | CommonControllerStateisPilotingChanged:809 - [STATES] Enabling states/common/ControllerState/isPilotingChanged
[ INFO] [1462550582.940673323]: [CB] 12:03:02:940 | CommonMavlinkStateMavlinkFilePlayingStateChanged:860 - [STATES] Enabling states/common/MavlinkState/MavlinkFilePlayingStateChanged
[ INFO] [1462550582.943380837]: [CB] 12:03:02:943 | CommonMavlinkStateMavlinkPlayErrorStateChanged:925 - [STATES] Enabling states/common/MavlinkState/MavlinkPlayErrorStateChanged
[ INFO] [1462550582.950948562]: [CB] 12:03:02:950 | CommonFlightPlanStateAvailabilityStateChanged:1201 - [STATES] Enabling states/common/FlightPlanState/AvailabilityStateChanged
[ INFO] [1462550582.953564100]: [CB] 12:03:02:953 | CommonFlightPlanStateComponentStateListChanged:1252 - [STATES] Enabling states/common/FlightPlanState/ComponentStateListChanged
[ INFO] [1462550583.055508151]: [BebopSDK] 12:03:03:055 | CommandReceivedCallback:112 - Command Received Callback LWP id is: 139736760979177
[ INFO] [1462550583.236001806]: [BebopSDK] 12:03:03:235 | Connect:287 - BebopSDK inited, lwp_id: 3702
[ WARN] [1462550583.236126052]: Resetting all settings ...
[ INFO] [1462550583.236236196]: [BebopSDK] 12:03:03:236 | ResetAllSettings:375 - All settings of the drone have been reset to default values.
[ERROR] [1462550583.305124814]: [ARCONTROLLER_Network] 12:03:03:305 | ARCONTROLLER_Network_ReaderRun:819 - ARCOMMANDS_Decoder_DecodeBuffer () failed : 2 ARDrone3.CameraState.UNKNOWN -> Unknown command
[ INFO] [1462550583.540925380]: Value for PilotingSettingsMaxAltitudeCurrent recved: 30
[ INFO] [1462550583.541043966]: [CB] 12:03:03:541 | Update:111 - Checking if PilotingSettingsMaxAltitudeCurrent exists in params ...
[ INFO] [1462550583.542928390]: [CB] 12:03:03:542 | Update:114 - No
[ INFO] [1462550583.585796610]: Value for PilotingSettingsMaxTiltCurrent recved: 20
[ INFO] [1462550583.585906066]: [CB] 12:03:03:585 | Update:191 - Checking if PilotingSettingsMaxTiltCurrent exists in params ...
[ INFO] [1462550583.587642937]: [CB] 12:03:03:587 | Update:194 - No
[ INFO] [1462550583.615175356]: Value for PilotingSettingsAbsolutControlOn recved: 0
[ INFO] [1462550583.615276786]: [CB] 12:03:03:615 | Update:271 - Checking if PilotingSettingsAbsolutControlOn exists in params ...
[ INFO] [1462550583.617096975]: [CB] 12:03:03:617 | Update:274 - No
[ INFO] [1462550583.640272180]: Value for SpeedSettingsMaxVerticalSpeedCurrent recved: 1
[ INFO] [1462550583.640371232]: [CB] 12:03:03:640 | Update:512 - Checking if SpeedSettingsMaxVerticalSpeedCurrent exists in params ...
[ INFO] [1462550583.642037757]: [CB] 12:03:03:641 | Update:515 - No
[ INFO] [1462550583.653155000]: Value for SpeedSettingsMaxRotationSpeedCurrent recved: 100
[ INFO] [1462550583.653275477]: [CB] 12:03:03:653 | Update:592 - Checking if SpeedSettingsMaxRotationSpeedCurrent exists in params ...
[ INFO] [1462550583.654879490]: [CB] 12:03:03:654 | Update:595 - No
[ INFO] [1462550583.666767253]: Value for SpeedSettingsHullProtectionPresent recved: 0
[ INFO] [1462550583.666885121]: [CB] 12:03:03:666 | Update:672 - Checking if SpeedSettingsHullProtectionPresent exists in params ...
[ INFO] [1462550583.668580269]: [CB] 12:03:03:668 | Update:675 - No
[ INFO] [1462550583.824874973]: Value for GPSSettingsReturnHomeDelayDelay recved: 60
[ INFO] [1462550583.825008767]: [CB] 12:03:03:824 | Update:1060 - Checking if GPSSettingsReturnHomeDelayDelay exists in params ...
[ INFO] [1462550583.827115042]: [CB] 12:03:03:827 | Update:1063 - No
[ INFO] [1462550586.236525477]: Fetching all settings from the Drone ...
[ INFO] [1462550586.289499868]: Value for PilotingSettingsMaxAltitudeCurrent recved: 30
[ INFO] [1462550586.289626402]: [CB] 12:03:06:289 | Update:111 - Checking if PilotingSettingsMaxAltitudeCurrent exists in params ...
[ INFO] [1462550586.291504181]: [CB] 12:03:06:291 | Update:119 - Yes
[ INFO] [1462550586.291979542]: Value for PilotingSettingsMaxTiltCurrent recved: 20
[ INFO] [1462550586.292056503]: [CB] 12:03:06:292 | Update:191 - Checking if PilotingSettingsMaxTiltCurrent exists in params ...
[ INFO] [1462550586.293522502]: [CB] 12:03:06:293 | Update:199 - Yes
[ INFO] [1462550586.296154098]: Value for PilotingSettingsAbsolutControlOn recved: 0
[ INFO] [1462550586.296223512]: [CB] 12:03:06:296 | Update:271 - Checking if PilotingSettingsAbsolutControlOn exists in params ...
[ INFO] [1462550586.297777328]: [CB] 12:03:06:297 | Update:279 - Yes
[ INFO] [1462550586.304889918]: Value for SpeedSettingsMaxVerticalSpeedCurrent recved: 1
[ INFO] [1462550586.304963606]: [CB] 12:03:06:304 | Update:512 - Checking if SpeedSettingsMaxVerticalSpeedCurrent exists in params ...
[ INFO] [1462550586.306416801]: [CB] 12:03:06:306 | Update:520 - Yes
[ INFO] [1462550586.311213231]: Value for SpeedSettingsMaxRotationSpeedCurrent recved: 100
[ INFO] [1462550586.311333200]: [CB] 12:03:06:311 | Update:592 - Checking if SpeedSettingsMaxRotationSpeedCurrent exists in params ...
[ INFO] [1462550586.312962571]: [CB] 12:03:06:312 | Update:600 - Yes
[ INFO] [1462550586.318337076]: Value for SpeedSettingsHullProtectionPresent recved: 0
[ INFO] [1462550586.318444948]: [CB] 12:03:06:318 | Update:672 - Checking if SpeedSettingsHullProtectionPresent exists in params ...
[ INFO] [1462550586.319983278]: [CB] 12:03:06:319 | Update:680 - Yes
[ INFO] [1462550586.320945115]: Value for SpeedSettingsOutdoorOutdoor recved: 1
[ INFO] [1462550586.321040254]: [CB] 12:03:06:321 | Update:752 - Checking if SpeedSettingsOutdoorOutdoor exists in params ...
[ INFO] [1462550586.322523048]: [CB] 12:03:06:322 | Update:755 - No
[ INFO] [1462550586.326668131]: Value for NetworkSettingsWifiSelectionType recved: 3
[ INFO] [1462550586.326764473]: [CB] 12:03:06:326 | Update:858 - Checking if NetworkSettingsWifiSelectionType exists in params ...
[ INFO] [1462550586.328016949]: [CB] 12:03:06:327 | Update:861 - No
[ INFO] [1462550586.329490471]: Value for NetworkSettingsWifiSelectionBand recved: 0
[ INFO] [1462550586.329591022]: [CB] 12:03:06:329 | Update:879 - Checking if NetworkSettingsWifiSelectionBand exists in params ...
[ INFO] [1462550586.330790166]: [CB] 12:03:06:330 | Update:882 - No
[ INFO] [1462550586.332631344]: Value for NetworkSettingsWifiSelectionChannel recved: 6
[ INFO] [1462550586.332733315]: [CB] 12:03:06:332 | Update:900 - Checking if NetworkSettingsWifiSelectionChannel exists in params ...
[ INFO] [1462550586.334339791]: [CB] 12:03:06:334 | Update:903 - No
[ INFO] [1462550586.386944134]: Value for GPSSettingsReturnHomeDelayDelay recved: 60
[ INFO] [1462550586.387118393]: [CB] 12:03:06:387 | Update:1060 - Checking if GPSSettingsReturnHomeDelayDelay exists in params ...
[ INFO] [1462550586.388884558]: [CB] 12:03:06:388 | Update:1068 - Yes
[ INFO] [1462550589.712603354]: Dynamic reconfigure callback with level: -1
[ INFO] [1462550589.712759777]: [CB] 12:03:09:712 | UpdateBebopFromROS:309 - PilotingSettingsMaxDistanceValue changed!
[ERROR] [1462550589.712842722]: [CB] 12:03:09:712 | UpdateBebopFromROS:317 - Value of PilotingSettingsMaxDistance was not initialized either by Bebop or Params.
[ INFO] [1462550589.712917599]: [CB] 12:03:09:712 | UpdateBebopFromROS:796 - NetworkSettingsWifiSelectionType changed!
[ INFO] [1462550589.712975222]: [CB] 12:03:09:712 | UpdateBebopFromROS:828 - Sending NetworkSettingsWifiSelection changes to bebop
[ INFO] [1462550589.713032354]: [CB] 12:03:09:713 | UpdateBebopFromROS:938 - GPSSettingsHomeTypeType changed!
[ERROR] [1462550589.713071706]: [CB] 12:03:09:713 | UpdateBebopFromROS:946 - Value of GPSSettingsHomeType was not initialized either by Bebop or Params.
[ INFO] [1462550589.725599154]: Enabling video stream ...
[ WARN] [1462550589.725720016]: [BebopSDK] 12:03:09:725 | StartStreaming:325 - Video streaming started ...
[ INFO] [1462550589.725891685]: Nodelet lwp_id: 3702
[ INFO] [1462550589.725954965]: Camera publisher thread lwp_id: 3998
[ INFO] [1462550589.726075612]: bebop_driver nodelet loaded.
[ INFO] [1462550589.832409415]: [ARSTREAM_Reader] 12:03:09:832 | ARSTREAM_Reader_RunDataThread:455 - Missed -65535 frames !
[ INFO] [1462550589.832671765]: [BebopSDK] 12:03:09:832 | FrameReceivedCallback:144 - Frame Recv & Decode LWP id: 139741055946476
[ INFO] [1462550589.834209624]: [Decoder] 12:03:09:834 | InitCodec:127 - H264 Codec is initialized!
[ INFO] [1462550589.834269139]: [Decoder] 12:03:09:834 | Decode:201 - Waiting for the first IFrame.
[ERROR] [1462550589.834340208]: [BebopSDK] 12:03:09:834 | FrameReceivedCallback:171 - Video decode failed
[ INFO] [1462550589.845375550]: [Decoder] 12:03:09:845 | Decode:201 - Waiting for the first IFrame.
[ERROR] [1462550589.845471645]: [BebopSDK] 12:03:09:845 | FrameReceivedCallback:171 - Video decode failed
[ INFO] [1462550589.872389018]: [Decoder] 12:03:09:872 | Decode:201 - Waiting for the first IFrame.
[ERROR] [1462550589.872495407]: [BebopSDK] 12:03:09:872 | FrameReceivedCallback:171 - Video decode failed
[ INFO] [1462550589.917476501]: [Decoder] 12:03:09:917 | Decode:201 - Waiting for the first IFrame.
[ERROR] [1462550589.917603219]: [BebopSDK] 12:03:09:917 | FrameReceivedCallback:171 - Video decode failed
[ INFO] [1462550589.939233707]: [Decoder] 12:03:09:939 | Decode:201 - Waiting for the first IFrame.
[ERROR] [1462550589.939332592]: [BebopSDK] 12:03:09:939 | FrameReceivedCallback:171 - Video decode failed
[ INFO] [1462550594.978263919]: [ARNETWORKAL_WifiNetwork] 12:03:14:978 | ARNETWORKAL_WifiNetwork_Receive:860 - [0x7f17e424bdf0] connection lost (too long time without reception)
Could you update for SDK 3.9.2?
Old (rosmake) image_transport plugin: https://github.com/introlab/introlab-ros-pkg/tree/master/x264_image_transport
Control commands are latched indefinitely, so comms failures can be dangerous.
A timeout on commands could fix this. With a timeout of 0 seconds, a constant stream of motion commands would be required. A more typical setting might be 0.5 seconds, which would allow slower control loops but maintain safety. A negative setting could represent the current latching behavior.
cmd_vel.linear.y should move Bebop to the left, not right.
Raw (SDK) Data:
ROS message type:
Is camera_control topic working correctly ? According to
https://media.readthedocs.org/pdf/bebop-autonomy/latest/bebop-autonomy.pdf
to move Bebop’s virtual camera I should publish a message of type geometry_msgs/Twist to
camera_control topic. But then the topic requires a message of type std_msgs/Empty that does not allow to control the camera
~/catkin_ws$ rostopic info /bebop/camera_control
Type: std_msgs/Empty
Publishers: None
Subscribers:
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