Tello_ros

tello_ros可以发送state和image信息到相应话题,将tello_ros文件夹下载到catkin_ws/src/下

Prerequisites

• Python2.7
• pip
• Python OpenCV
• Numpy
• PIL
• libboost-python
• Tkinter
• Python h264 decoder
  • https://github.com/DaWelter/h264decoder

Installation

• Linux (Ubuntu 14.04 and above) 安装依赖 1.sudo apt-get update -y 2.sudo apt-get install libboost-all-dev -y 3.sudo apt-get install libavcodec-dev -y 4.sudo apt-get install libswscale-dev -y 5.sudo apt-get install python-numpy -y 6.sudo apt-get install python-matplotlib -y 7.sudo pip install opencv-python 8.sudo apt-get install python-imaging-tk 有可能还需要安装一下python-libboost，ffmpeg 安装h264 cd h264decoder mkdir build cd build cmake .. make cp libh264decoder.so ../../

Run the project

• Step1. Turn on Tello and connect your computer device to Tello via wifi.

• Step2. Open project folder in terminal. Run:

  python tello_ros.py(第一次可能会报错，再运行一次)
  

Project Description

tello.py - class Tello

Wrapper class to interact with Tello drone. Modified from https://github.com/microlinux/tello

The object starts 3 threads:

1. thread for receiving command response from Tello 端口8888
2. thread for receiving video stream 端口11111
3. thread for receiving state 端口8890

You can use read_frame() to read the last frame from Tello camera, and pause the video by setting video_freeze(is_freeze=True). You can use read_state() to read the state of Tello**.

h264decoder - class libh264decoder

From https://github.com/DaWelter/h264decoder.

A c++ based class that decodes raw h264 data. This module interacts with python language via python-libboost library, and its decoding functionality is based on ffmpeg library.

After compilation, a libh264decoder.so or libh264decoder.pyd file will be placed in the working directory so that the main python file can reference it.

If you have to compile it from source,with Linux or Mac,you can:

cd h264decoder
mkdir build
cd build
cmake ..
make
cp libh264decoder.so ../../