Greeting, I have been following ur codes for awhile. may I know are there any methods to rename the video streaming window application? I am currently running multiple drones and would to rename from "frame" to either "drone1" or 2. Thank you.

ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'battery?'}"

Measure the effect of various rc commands, and improve the translation of cmd_vel to rc a b c d.

I was using the driver to control DJI Tello on Ubuntu 20.04 using ROS 2 Foxy, but now I'm using Ubuntu 22.04 and ROS 2 Humble, so I would like to know if tello_ros can be used to control the drone on Humble?

ros2dashing+gazebo9

Hi, I came across this video and I was wondering how you are controlling a swarm of drones. Are you using multiple network connections? i see there's an open issue.

P.S. I'm working on porting your work to ROS1.

Likely solution: subscribe to cmd_vel, and convert to 'rc a b c d'.

if I make the drone yaw I can see that the streaming on rviz stops once there are no markers visible in the frame. I tested adding more markers, and indeed if I place enough of them around the drone, the streaming continues.

Is there a reason for this?

Reproducible with:
ros2 launch tello_gazebo vlam_launch.py
And another terminal running the command :
ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}" ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'rc 0 0 0 0.5'}"

Foxy changes how parameters work. This is addressed in #53

Add this to CMakeLists.txt:

if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif ()

And then fix the warnings.

Pull the camera info from a file

Detect ArUco messages and publish poses & corners for use in RCARS.

This breaks the design pattern for a ROS driver, but there are 2 reasons to do this:

1. downstream nodes won't need to subscribe to image topics, which will reduce network traffic. This will be important when we have 4+ drones in the air.
2. this makes it easier to build a driver simulation.

When sending rc commands to the drone inside simulation it follows the format: forward/back, left/right, up/down, yaw.
This conflicts with the actual rc command which is left/right, forward/back, up/down, yaw (which is what is described in the documentation).

Provide URDF and SDF files

Convert TelloDriver to a ROS2 component. Set use_intra_process_comms = true.

Running this package in a docker container
Built the dockerfile and ran the container using

docker run -td --privileged --net=host --ipc=host
--name="tello12"
--gpus=all
-e "DISPLAY=$DISPLAY"
-e "QT_X11_NO_MITSHM=1"
-v "/tmp/.X11-unix:/tmp/.X11-unix:rw"
-e "XAUTHORITY=$XAUTH"
-e ROS_IP=127.0.0.1
-e NVIDIA_DRIVER_CAPABILITIES=all
--cap-add=SYS_PTRACE
tello1 bash

However, running the container normally (docker run -it tello1 bash) also produces the same result,

[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 172.17.0.2
[gazebo-1] [Wrn] [GuiIface.cc:298] Couldn't locate specified .ini. Creating file at "/root/.gazebo/gui.ini"
[gazebo-1] [Err] [RenderEngine.cc:749] Can't open display:
[gazebo-1] [Wrn] [RenderEngine.cc:89] Unable to create X window. Rendering will be disabled
[gazebo-1] [Wrn] [RenderEngine.cc:292] Cannot initialize render engine since render path type is NONE. Ignore this warning ifrendering has been turned off on purpose.
[gazebo-1] [Wrn] [GuiIface.cc:120] could not connect to display
[gazebo-1] [Msg] Could not load the Qt platform plugin "xcb" in "" even though it was found.
[gazebo-1] [Err] [GuiIface.cc:124] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
[gazebo-1]
[gazebo-1] Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.

ROS2 Eloquent is expected 11/22, betas are out now. Create a dashing branch, then port to master to Eloquent.

Similar to teleop_twist_joy, but should work with 4 axes, as well as land and takeoff actions.

Hello, I am still in Tello and ROS 2. I want to buy 2 tellos and build swarm controller. Before I buy it, I have a question, how to install ROS 2 in tello and use this repo as a driver? Will I buy Raspberry Phi and attach it on tello? Thank you

Hi, I am trying to colcon build using Ubuntu 22.04 and ROS2 Humble. I got error for the /tello_description/src/replace.py: Permission denied.

I have tried adding sudo to the colcon build but still the same

On the 'dashing' branch, and possibly 'master' (Eloquent).

Hello,
Thank you for your open-source plugin, which was quite useful to simulate and control Tello through ROS2.
I want to acknowledge your work by citing you in my scientific article. Do you have any reference that I can cite?
Have a good day

Hello sir, I'm having this error when i compile with colcon build, i can't solve the problem. Should I have to modify my cmake ?

cmake in Tello_gazebo:

cmake_minimum_required(VERSION 3.5)
project(tello_gazebo)

#=============

Setup

#=============

Default to C99

if (NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif ()

Default to C++14

if (NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif ()

Emulate colcon

if ($ENV{CLION_IDE})
message("Running inside CLion")
set(tello_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/tello_msgs/share/tello_msgs/cmake")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DRUN_INSIDE_CLION")
endif ()

Find packages

find_package(ament_cmake REQUIRED)
find_package(gazebo REQUIRED) # Note uppercase variables in /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake
find_package(gazebo_dev REQUIRED)
find_package(gazebo_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tello_msgs REQUIRED)

Local includes

include_directories(
include
${gazebo_ros_INCLUDE_DIRS}
${geometry_msgs_INCLUDE_DIRS}
${std_msgs_INCLUDE_DIRS}
${tello_msgs_INCLUDE_DIRS}
)

#=============

Tello Gazebo plugin

#=============

add_library(
TelloPlugin SHARED
src/tello_plugin.cpp
)

ament_target_dependencies(
TelloPlugin
gazebo_dev
gazebo_ros
geometry_msgs
rclcpp
std_msgs
tello_msgs
)

#=============

Install

#=============

Install targets

install(
TARGETS TelloPlugin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

Install world and launch files

install(
DIRECTORY models worlds launch
DESTINATION share/${PROJECT_NAME}
)

Install Python scripts

install(
PROGRAMS src/inject_entity.py
DESTINATION lib/${PROJECT_NAME}
)

#=============

Run ament macros

#=============

ament_package()

The camera topic does not display any information in rviz2

Thank you so much for this great project!

I just wanted to thank you and share a project that I made this weekend: tello_ros_docker. It creates a docker image to run tello_ros. Right now, it's not completely setup to work with a real Tello drone (I don't have one yet, but should be getting one this week). So, for the moment, it defaults to running the tello_gazebo simple_launch.

Anyhow, it should be a useful development environment for others or even just a quick way to get tello_ros running. If you're interested in taking a look, I'd welcome any feedback.

Right now frame_id is hardcoded:
header.frame_id = "camera_frame"

It probably makes sense to pass TelloDriverContext into the sockets, since we may want to add more parameters later.

I'm having issues running the teleop code in a Docker container. I tried running it on the tiryoh foxy image https://github.com/Tiryoh/docker-ros2-desktop-vnc and it didn't connect.

Respond to the cmd_vel message, and see how the drone flies w/ the published SDK 1.3 interface.

SDK v2.0 was released, with new commands.

Dashing has just released: https://discourse.ros.org/t/ros-2-dashing-diademata-released/9365

ros2_shared is missing from install instructions (README.md).

As of Dashing, gazebo_ros_packages publishes camera_info as "best effort," which is probably a good idea. Also change this in tello_driver.

It should be possible to build a ROS image msg directly from the output of libav.

Hi, thank you very much for sharing such a great project ~

It is very amazing ~

So far I tried tello_gazebo and it works very well ~

However, when I tried the integration of fiducial_vlam, it showed the following error:

user@ubuntu:~/tello_ros_ws$ ros2 launch tello_gazebo vlam_launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2020-11-01-01-37-50-957820-ubuntu-9691
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'vmap_node' not found on the libexec directory '/home/user/tello_ros_ws/install/fiducial_vlam/lib/fiducial_vlam' 
Task exception was never retrieved
future: <Task finished coro=<LaunchService._process_one_event() done, defined at /opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py:293> exception=RuntimeError('Signal event received before subprocess transport available.',)>
Traceback (most recent call last):
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 295, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 315, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/actions/execute_process.py", line 383, in __on_signal_process_event
    raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [gazebo-1]: process started with pid [9707]
[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 192.168.142.135
[gazebo-1] Gazebo multi-robot simulator, version 9.14.0
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[gazebo-1] Gazebo multi-robot simulator, version 9.14.0
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[gazebo-1] [Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.
[ERROR] [gazebo-1]: process[gazebo-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gazebo-1]: sending signal 'SIGTERM' to process[gazebo-1]
[ERROR] [gazebo-1]: process has died [pid 9707, exit code -15, cmd 'gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so /home/user/tello_ros_ws/install/tello_gazebo/share/tello_gazebo/worlds/fiducial.world'].
[gazebo-1] 
[gazebo-1] 
user@ubuntu:~/tello_ros_ws$ 

Can I know what should I do in order to solve this ?

Thank you very much ..

Appreciate a lot ~

Running with ROS2Eloquent and Gazebo 9

Errors:
I got this line : "Unable to parse model.config for model : bin_4_dropping_task" together will other errors to import models from the online database

Hi @clydemcqueen,
Tello IMU data aren't standard raw IMU measurments. Is it possible to do VIO just using monocular video + Tello IMU messages?
Regards,

I am running ros2 Dashing and I get this error whenever I try to simulate the drone in gazebo. I am able to control the actual tello drone through teleop, this problem arises only when i run the gazebo simulation. I followed every step in the readme file but there is always the possibility I might have missed something

alessandro@alessandro-K501UX:~/projects/ros_tello$ ros2 launch tello_gazebo simple_launch.py
[INFO] [launch]: All log files can be found below /home/alessandro/.ros/log/2019-12-09-18-44-13-280853-alessandro-K501UX-10266
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo-1]: process started with pid [10276]
[INFO] [inject_entity.py-2]: process started with pid [10277]
[ERROR] [inject_entity.py-2]: process has died [pid 10277, exit code 1, cmd '/home/alessandro/projects/ros_tello/install/tello_gazebo/lib/tello_gazebo/inject_entity.py /home/alessandro/projects/ros_tello/install/tello_description/share/tello_description/urdf/tello_1.urdf 0 0 1 0'].
[INFO] [robot_state_publisher-3]: process started with pid [10278]
[INFO] [joy_node-4]: process started with pid [10279]
[INFO] [tello_joy-5]: process started with pid [10280]
[ERROR] [launch]: Caught exception in launch (see debug for traceback): I/O operation on closed file
[INFO] [tello_joy-5]: sending signal 'SIGINT' to process[tello_joy-5]
[INFO] [joy_node-4]: sending signal 'SIGINT' to process[joy_node-4]
[INFO] [robot_state_publisher-3]: sending signal 'SIGINT' to process[robot_state_publisher-3]
[INFO] [gazebo-1]: sending signal 'SIGINT' to process[gazebo-1]
[robot_state_publisher-3] Initialize urdf model from file: /home/alessandro/projects/ros_tello/install/tello_description/share/tello_description/urdf/tello_1.urdf
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] The root link base_link_1 has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-3] Link camera_link_1 had 0 children
[robot_state_publisher-3] got segment base_link_1
[robot_state_publisher-3] got segment camera_link_1
[robot_state_publisher-3] Adding fixed segment from base_link_1 to camera_link_1
[gazebo-1] Gazebo multi-robot simulator, version 9.0.0
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1]
[gazebo-1] Gazebo multi-robot simulator, version 9.0.0
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1]
[tello_joy-5] [INFO] [rclcpp]: signal_handler(signal_value=2)
[INFO] [tello_joy-5]: process has finished cleanly [pid 10280]
[robot_state_publisher-3] [INFO] [rclcpp]: signal_handler(signal_value=2)
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 10278]
[joy_node-4] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[joy_node-4]   what():  Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-dashing-rcl-0.7.7/src/rcl/guard_condition.c:69
[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 192.168.1.37
[ERROR] [joy_node-4]: process has died [pid 10279, exit code -6, cmd '/opt/ros/dashing/lib/joy/joy_node __ns:=/drone1'].
[INFO] [gazebo-1]: process has finished cleanly [pid 10276]
[gazebo-1]
[gazebo-1]
alessandro@alessandro-K501UX:

I will provide any further information if needed

Build instructions for Dashing and Eloquent (README.md, Dockerfile) should be updated.

E.g., in docker/eloquent/Dockerfile

RUN git clone https://github.com/clydemcqueen/tello_ros.git
RUN git clone https://github.com/ptrmu/ros2_shared.git
RUN git clone https://github.com/ptrmu/fiducial_vlam.git

should be

RUN git clone https://github.com/clydemcqueen/tello_ros.git -b eloquent
RUN git clone https://github.com/ptrmu/ros2_shared.git -b eloquent
RUN git clone https://github.com/ptrmu/fiducial_vlam.git -b eloquent

wonderfull work, i buy a tello drone, but i have intalled ros 1 with catkin_make , how i can run the driver on ros1 , please help me

I made this change in 38895d8 but it's flaky, so I reverted it. Figure out why it didn't work.

Hi, I am trying to make a simulation for personal project using the tello model you made. however i can't find a way to get the image sent from the tello in gazebo. Is it possible to get it? (I am just starting of with using ros2...so I am having a hard time)

i faced issue at inject_entity.py (/root/tello_ws/install/tello_gazebo/lib/tello_gazebo/inject_entity.py)
and i can't solve use "pip install" command

ModuleNotFoundError: No module named 'transformations'

and i would like to share the solution for you who try to spawn tello_urdf in gazebo

solution1)
add below method in inject_entity.py

def quaternion_from_euler(roll, pitch, yaw):
    """
    Converts euler roll, pitch, yaw to quaternion (w in last place)
    quat = [x, y, z, w]
    Bellow should be replaced when porting for ROS 2 Python tf_conversions is done.
    """
    cy = math.cos(yaw * 0.5)
    sy = math.sin(yaw * 0.5)
    cp = math.cos(pitch * 0.5)
    sp = math.sin(pitch * 0.5)
    cr = math.cos(roll * 0.5)
    sr = math.sin(roll * 0.5)

    q = [0] * 4
    q[0] = cy * cp * cr + sy * sp * sr
    q[1] = cy * cp * sr - sy * sp * cr
    q[2] = sy * cp * sr + cy * sp * cr
    q[3] = sy * cp * cr - cy * sp * sr

    return q

solution2)
include tranformation.py file in the same path as injcet_entity.py
https://github.com/ros/geometry/blob/noetic-devel/tf/src/tf/transformations.py#L1100

When I complied the code， “fatal error: asio.hpp: No such file or directory” is encounter. How can I deal with it?

When launching the sample Gazebo sim with ros2 launch tello_gazebo simple_launch.py and the driver with ros2 launch tello_driver teleop_launch.py then running ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}" to arm the drone, the response from the driver is always [tello_driver]: Not connected, dropping 'takeoff'
From the code I can see this is the warning that occurs when the state socket or video socket are not receiving data. When no command is sent, a [tello_driver]: Command timed out error is printed at regular intervals, which indicates no connection.
Any insight as to what might be wrong?
I am running this in Docker if that is relevant

tello_driver always binds to 0.0.0.0, which will listen to every network interface. There should be an option to bind to a particular IP address, so that users with multiple wifi network cards can control multiple drones.