rossumo

Description

"rossumo" is a driver to use the Jumping Sumo robot, built by Parrot, in ROS. It relies on ARDroneSDK3, the official Parrot SDK. It is written in C++.

Supported hardware

The library was developed for the original Parrot Jumping Sumo, as shown in the picture. However, it should work seamlessly with the newer versions (Jumping Race Drones and Jumping Night Drones).

Supported firmware: v1.99.0. The list and changelog of firmwares is available here.

Licence

LGPL v3 (GNU Lesser General Public License version 3). See LICENCE.

ROS driver node

To launch the Sumo driver:

$ roslaunch rossumo rossumo.launch

Node parameters

• max_vel_lin max_vel_ang [int, default: 100]

The maximum linear/angular velocity sent by the driver to the robot. 100 is the max speed. Lower it to be kinder with the motors of the robot and hence increase their life expectancy.

• camera_calibration_filename [std::string, default: ""]

If not empty, the path to the calibration file of the camera. For instance, $(find rossumo)/data/sumo_camera_parameters.yaml

• camera_calibration_camname [std::string, default: "camname"]

Name of the camera in the calibration file of the camera. For instance, $(find rossumo)/data/sumo_camera_parameters.yaml

Subscriptions

• cmd_vel [geometry_msgs::Twist, (m/s, rad/s)]

The instantaneous speed order. Send it every 10 Hz to obtain continuous motion.

• anim [std_msgs::String]

Play one of the predefined animations, among metronome, ondulation, slalom slowshake, spin, spinJump, spinToPosture, spiral, tap.

• set_posture [std_msgs::String]

Play one of the predefined postures, among standing, kicker, jumper.

• sharp_turn [std_msgs::Float32, radians]

Make a on-the-spot turn. Positive angles generate CCW turns.

• high_jump [std_msgs::Empty]

Perform a high jump (about 80 cm high).

• long_jump [std_msgs::Empty]

Perform a long jump (about 80 cm long).

Publications

• camera/image_raw [sensor_msgs::Image]

The 640x480 raw image, encoded as bgr8. The framerate is roughly 15 fps. The image comes from the MJPEG video stream of the robot. If there is no subscriber to the topic, the streaming is stopped from the robot, which saves battery.

• camera/camera_info [sensor_msgs::CameraInfo]

The camera_info read from a calibration file.

• battery_percentage [std_msgs::Int16, 0~100]

The percentage of remaining battery.

• posture [std_msgs::String]

The current predefined posture among unknown, standing, kicker, jumper.

• link_quality [std_msgs::Int16, 0~5]

Quality of the Wifi connection, between 0 (very bad) and 5 (very good).

• alert [std_msgs::String]

The alerts emitted by the robot. Current they only concern the battery level, among unkwnown, none, low_battery, critical_battery

• outdoor [std_msgs::Int16]

TODO

Keyboard remote control

To launch remote control of the Sumo thanks to keyboard:

$ roslaunch rossumo joy_teleop.launch

It is based on the turtlebot_teleop package.

Joystick remote control

To launch remote control of the Sumo thanks to a USB joystick:

$ roslaunch rossumo joy_teleop.launch

It is based on the joy package.

Wiimote remote control

To launch remote control of the Sumo thanks to a Nintendo Wiimote, you need two launchers, one for the Wiimote driver, the other for the teleop node.

$ roslaunch rossumo wiimote_node.launch
$ roslaunch rossumo wiimote_teleop.launch

It is based on the wiimote package.

Installation

You first need to install the official SDK (ARDrone3) by Parrot. A summary of the instructions comes below.

Dependencies

Ubuntu 14.04:
$ sudo apt-get install phablet-tools  autoconf  libavahi-client-dev  libavcodec-dev  libavformat-dev  libswscale-dev
Ubuntu 16.04:
$ sudo apt install repo  autoconf  libavahi-client-dev  libavcodec-dev  libavformat-dev  libswscale-dev

FFMPEG for Trusty: you need the latest version of ffmpeg. Use the official PPA:

$ sudo add-apt-repository ppa:mc3man/trusty-media
$ sudo apt-get update
$ sudo apt-get dist-upgrade

Download ARDroneSDK3

Following the instructions:

$ repo init -u https://github.com/Parrot-Developers/arsdk_manifests.git
$ repo sync --force-sync

Build ARDroneSDK3

$ ./build.sh -p arsdk-native -t build-sdk -j

Build ARDroneSDK3 samples (optional)

$ git clone https://github.com/Parrot-Developers/Samples.git

New version - build.sh-based

$ ./build.sh -p arsdk-native -t build-sample

Old version - Makefile-based

Change the lines in the Makefile:

$ cd Samples/Unix/JumpingSumoPiloting
$ geany Makefile
SDK_DIR=/home/arnaud/sumo/out/Unix-base/staging/usr
CFLAGS=-I$(IDIR) -I $(SDK_DIR)/include/
LDIR = $(SDK_DIR)/lib/
<check the different -L flags>
<add json to libs>

$ make
$ LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/arnaud/sumo/out/Unix-base/staging/usr/lib ./JumpingSumoPiloting
$ sudo sh -c 'LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/arnaud/sumo/out/Unix-base/staging/usr/lib ./JumpingSumoPiloting '

Build rossumo with Catkin

$ catkin_make --only-pkg-with-deps rossumo

To specify the path to the ARDroneSDK3 'usr' folder:

$ catkin_make --only-pkg-with-deps rossumo -DARDRONESDK3_PATH=~/out/Unix-base/staging/usr

Camera calibration

Following the instructions of camera_calibration wiki page and tutorial :

$ rosrun camera_calibration cameracalibrator.py --size 8x10 --square 0.0298 image:=/rossumo1/rgb camera:=/camera