tello_driver

1. Overview

Communicating with the Tello drone can be done either using official Tello SDK or one of the unofficial libraries. The unofficial libraries originated from the reverse-engineering the raw packages broadcasted by the Tello. This ROS package is build on top of the unofficial TelloPy library. The TelloPy library is used at this moment since it offers more functionalities than the official Tello SDK or any other unofficial library.

Developing of the tello_driver ROS package is inspired by tello_driver, which by now diverged considerately from the original work. Furthermore, development of this ROS package pursues not to modify the TelloPy library, but instead apply any modification or addition to the ros_driver package in an encapsulated manner. This prevents breaking functionalities when updating the TelloPy library.

Installation

• $ cd <CATKIN_WS/SRC>
• $ git clone https://github.com/hanyazou/TelloPy/tree/develop-0.7.0
• $ cd TelloPy
• $ pip install av numpy --user
• $ python setup.py install --user
• $ cd ..
• $ git clone https://github.com/appie-17/tello_driver.git
• $ cd ..
• $ catkin_make
• $ source devel/setup.bash

Launch

• Turn on Tello drone
• Connect to drone's WiFi access point (TELLO_XXXXXX)
• $ roslaunch tello_driver tello_node.launch

2. Nodes

tello_driver_node.py

Main node running as interface for the TelloPy library

Subscribed topics

• /tello/cmd_vel geometry_msgs/Twist
• /tello/emergency std_msgs/Empty
• /tello/fast_mode std_msgs/Empty
• /tello/flattrim std_msgs/Empty
• /tello/flip std_msgs/Uint8
• /tello/land std_msgs/Empty
• /tello/palm_land std_msgs/Empty
• /tello/takeoff std_msgs/Empty
• /tello/throw_takeoff std_msgs/Empty

Published topics

• /tello/camera/camera_info sensor_msgs/CameraInfo
• /tello/image_raw sensor_msgs/Image
• /tello/imag/raw/h264 h264_image_transport/H264Packet
• /tello/odom nav_msgs/Odometry
• /tello/status tello_driver/TelloStatus

Services

Parameters

• ~/image_raw/compressed/format
• ~/image_raw/compressed/jpeg_quality
• ~/image_raw/compressed/png_level
• ~/tello_driver_node/connect_timeout_sec
• ~/tello_driver_node/fixed_video_rate
• ~/tello_driver_node/local_cmd_client_port
• ~/tello_driver_node/local_vid_server_port
• ~/tello_driver_node/stream_h264_video
• ~/tello_driver_node/tello_cmd_server_port
• ~/tello_driver_node/tello_ip
• ~/tello_driver_node/vel_cmd_scale
• ~/tello_driver_node/video_req_sps_hz

3. Troubleshooting

4. Notes

5. WIP

6. License