<div dir="ltr">Hi Andrei,<div><br></div><div>for the real ArDrone (not simulated) introrob_py excutes the method takeoff() of the ArDroneExtra interface. In that moment the state of ArDrone change and the Parrot SDK sends to Ar.Drone (via wifi) a AT command. The ArDrone's onboard firmware receives the AT command and activates the motors. All code that control the motors, sensors, .... is embedded in the Ar Drone firmware. In [1] you have the ArDrone developer guide (see page 19). ardrone_server is a wrapper of Parrot SDK inspired in ardrone_autonomy[2].</div><div><br></div><div>For the simulated ardrone, the quadrotor plugin [3] controls all movements.</div><div><br></div><div>regards</div><div><br></div><div><br></div><div>[1]: <a href="https://svn.jderobot.org/users/amartinflorido/tfm/docs/ARDrone_Developer_Guide_SDK_2_0.pdf">https://svn.jderobot.org/users/amartinflorido/tfm/docs/ARDrone_Developer_Guide_SDK_2_0.pdf</a></div><div>[2]: <a href="https://github.com/AutonomyLab/ardrone_autonomy">https://github.com/AutonomyLab/ardrone_autonomy</a> </div><div>[3]: <a href="https://github.com/RoboticsURJC/JdeRobot/tree/master/src/stable/components/gazeboserver/plugins/quadrotor">https://github.com/RoboticsURJC/JdeRobot/tree/master/src/stable/components/gazeboserver/plugins/quadrotor</a></div><div><br></div></div><div class="gmail_extra"><br><div class="gmail_quote">On Tue, Oct 6, 2015 at 11:17 AM, militaru92 <span dir="ltr"><<a href="mailto:militaru.andrei92@gmail.com" target="_blank">militaru.andrei92@gmail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">Hello everybody,<br>
<br>
I have a question about the introrob_py component and the quadrotor plugin<br>
for gazebo.<br>
Can someone tell me how does the ArDrone take off once the TakeOff button is<br>
pressed?<br>
<br>
I noticed that by pressing the takeoff button, the method of the<br>
ArDroneExtra Proxy is called: takeoff(), however this only changes the state<br>
of the ArDrone, I didn't notice any code that will activate the motors of<br>
the robot.<br>
<br>
I assume that in the introrob_py component, there is a function that sends<br>
an initial configuration to the motors of the ArDrone, but I didn't find it.<br>
<br>
The reason I am asking this is because I want to integrate my ROS-Ice bridge<br>
so I reimplemented in C++ the GUI in introrob, to work with ROS, but when I<br>
press "takeoff", only the state of the ArDrone changes.<br>
<br>
This is where you can find what I have done so far:<br>
<a href="https://github.com/militaru92/JdeRobot2015/tree/master/catkin_ws/src" rel="noreferrer" target="_blank">https://github.com/militaru92/JdeRobot2015/tree/master/catkin_ws/src</a><br>
<br>
The packages in question are: ARDrone_GUI and ARDroneInterface<br>
<br>
Best regards,<br>
Andrei Militaru<br>
<br>
<br>
<br>
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