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Services

Note

You can find the API documentation of all services here.

Toggle Camera

Calling ardrone/togglecam service with no parameters will change the active video camera stream. (e.g rosservice call /ardrone/togglecam).

ardrone/setcamchannel service directly sets the current active camera channel. One parameter (``uint8 channel ``) must be set when calling this service. For AR-Drone 1.0, valid values are {0,1,2,3} while for AR-Drone 2.0 these values are {0,1}. The order is similar to the order described in :ref:`cameras` section.

LED Animations

Calling ardrone/setledanimation service invokes one of 14 pre-defined LED animations for the drone. The parameters are

  • uint8 type: The type of animation which is a number in range [0..13]
  • float32 freq: The frequency of the animation in Hz
  • uint8 duration: The duration of the animation in Seconds.

The type parameter will map [in order] to one of these animations (srv/LedAnim.srv for more details):

BLINK_GREEN_RED, BLINK_GREEN, BLINK_RED, BLINK_ORANGE,
SNAKE_GREEN_RED, FIRE, STANDARD, RED, GREEN, RED_SNAKE,BLANK,
LEFT_GREEN_RIGHT_RED, LEFT_RED_RIGHT_GREEN, BLINK_STANDARD`

You can test these animations in command line using commands similar to:

$ rosservice call /ardrone/setledanimation 1 4 5

Flight Animations

Warning

Be extra cautious about using animations, especially flip animations.

Calling ardrone/setflightanimation service executes one of 20 pre-defined flight animations for the drone. The parameters are:

  • uint8 type: The type of flight animation, a number in range [0..19]
  • uint16 duration: The duration of the animation. Use 0 for default duration (recommended)

The type parameter will map [in order] to one of these pre-defined animations (check srv/FlightAnim.srv for more details):

ARDRONE_ANIM_PHI_M30_DEG, ARDRONE_ANIM_PHI_30_DEG, ARDRONE_ANIM_THETA_M30_DEG, ARDRONE_ANIM_THETA_30_DEG,
ARDRONE_ANIM_THETA_20DEG_YAW_200DEG, ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG, ARDRONE_ANIM_TURNAROUND,
ARDRONE_ANIM_TURNAROUND_GODOWN, ARDRONE_ANIM_YAW_SHAKE, ARDRONE_ANIM_YAW_DANCE, ARDRONE_ANIM_PHI_DANCE,
ARDRONE_ANIM_THETA_DANCE, ARDRONE_ANIM_VZ_DANCE, ARDRONE_ANIM_WAVE, ARDRONE_ANIM_PHI_THETA_MIXED,
ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED, ARDRONE_ANIM_FLIP_AHEAD, ARDRONE_ANIM_FLIP_BEHIND, ARDRONE_ANIM_FLIP_LEFT,
ARDRONE_ANIM_FLIP_RIGHT

You can test these animations in command line using commands similar to:

rosservice call /ardrone/setflightanimation 1 0

while drone is flying.

Flat Trim

Calling ardrone/flattrim service without any parameter will send a "Flat Trim" request to AR-Drone to re-calibrate its rotation estimates assuming that it is on a flat surface. Do not call this service while Drone is flying or while the drone is not actually on a flat surface.

Record to USB Stick

Calling ardrone/setrecord service will enable and disable recording to the USB stick. Pass 1 to enable or 0 to disable this feature.