Abstract
We present a project that aggregates various existing robotic software and serves as a platform to conveniently control a quadrocopter, mainly for research or educational purposes. User interface runs in a browser and other components are also made with portability in mind. We provide a common interface that unifies different quadrocopter models and we implemented it for the Parrot AR.Drone 2.0. The platform is data oriented, i.e., it is based on dataflow between user objects. We implemented several such objects for: data recording and replaying, inertial and visual localization and following a given path.
Highlights
MotivationDespite the fact that cheap hardware (such as Parrot AR.Drone 2.0 [1] or ready kits [2]) is available, there are not many possibilities for application programmers to develop software for these robots without need to distinguish between individual models
Despite the fact that cheap hardware is available, there are not many possibilities for application programmers to develop software for these robots without need to distinguish between individual models
Our aim is to provide a platform for development of software for quadrocopters
Summary
Despite the fact that cheap hardware (such as Parrot AR.Drone 2.0 [1] or ready kits [2]) is available, there are not many possibilities for application programmers to develop software for these robots without need to distinguish between individual models. Our aim is to provide a platform for development of software for quadrocopters. Sample script that flies through computed checkpoints It assumes there is created a dataflow graph with the node xcheckpoint in it. Similar project is Urbi SDK, developed by former private company Gostai [4]. Reasons why we chose Urbi SDK despite this fact are in the section 3.2. There is the official SDK [6] with C++ API, ControlTower [7] that provide Java interface, a ROS package ardrone_autonomy [8], UObject for Urbi SDK [9] or implementation of Czech Technical University [10]. Because none of the aforementioned fit to our requirements for OS portability, stability, functionality or documentation, we implemented our own (see the section 4.3)
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