noetic

LICENSE

@@ -0,0 +1,28 @@
+Copyright (c) 2015, Mani Monajjemi (AutonomyLab, Simon Fraser University)
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of [project] nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+

README.md

@@ -0,0 +1,22 @@
+# bebop_autonomy
+
+[ROS](http://ros.org) driver for [Parrot Bebop](http://www.parrot.com/ca/products/bebop-drone/) drone (quadrocopter).
+
+* Documentation: http://bebop-autonomy.readthedocs.io/
+* ROS wiki page: http://wiki.ros.org/bebop_autonomy
+* Support: [ROS Q&A (tag: bebop_autonomy)](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:bebop_autonomy/page:1/)
+* Code API: http://docs.ros.org/indigo/api/bebop_autonomy/html
+
+## Development Team
+
+* Author: [Mani Monajjemi](http://mani.im) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca)) + [other contributers](http://bebop-autonomy.readthedocs.io/en/latest/contribute.html#list-of-contributers)
+* Maintainers:
+    * [Sepehr MohaimenianPour](http://sepehr.im/) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))
+    * Thomas Bamford ([Dynamic Systems Lab](http://www.dynsyslab.org), [University of Toronto](https://www.utoronto.ca/))
+    * [Tobias Naegeli](https://ait.ethz.ch/people/naegelit/) ([Advanced Interactive Technologies Lab](http://www.ait.ethz.ch/), [ETH Zürich](http://www.ethz.ch/))
+
+## Build Status
+
+[![Build Status (ROS I,J,K) - TravisCI](https://travis-ci.org/AutonomyLab/bebop_autonomy.svg?branch=indigo-devel)](https://travis-ci.org/AutonomyLab/bebop_autonomy) [![Build Status (ROS I,J) - Semaphore](https://semaphoreci.com/api/v1/projects/11786233-d505-4d79-b27c-80c2742243a4/537552/badge.svg)](https://semaphoreci.com/mani_monaj/bebop_autonomy)
+
+Built against [parrot_arsdk](https://github.com/AutonomyLab/parrot_arsdk) 3.12.6p1

bebop_autonomy/CHANGELOG.rst

@@ -0,0 +1,32 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package bebop_autonomy
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.7.0 (2017-07-29)
+------------------
+
+0.6.0 (2016-11-02)
+------------------
+
+0.5.1 (2016-05-04)
+------------------
+
+0.5.0 (2016-04-01)
+------------------
+* Add bebop_description package
+* Contributors: Mani Monajjemi
+
+0.4.1 (2016-02-17)
+------------------
+
+0.4.0 (2016-01-17)
+------------------
+
+0.3.0 (2015-09-17)
+------------------
+* New in 0.3.0
+* Create ROS metapackage for bebop_autonomy
+  - bebop_autonomy is the ROS metapackage name
+  - Rename bebop_autonomy package to bebop_driver
+  - Rename bebop_autonomy_msgs to bebop_msgs
+* Contributors: Mani Monajjemi

bebop_autonomy/CMakeLists.txt

@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(bebop_autonomy)
+find_package(catkin REQUIRED)
+catkin_metapackage()

bebop_autonomy/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<package>
+  <name>bebop_autonomy</name>
+  <version>0.7.0</version>
+  <description>bebop_autonomy is a ROS driver for Parrot Bebop drone, based on Parrot’s official ARDroneSDK3</description>
+
+  <maintainer email="mmonajje@sfu.ca">Mani Monajjemi</maintainer>
+  <maintainer email="smohaime@sfu.ca">Sepehr MohaimenianPour</maintainer>
+  <maintainer email="thomas.bamford@mail.utoronto.ca">Thomas Bamford</maintainer>
+  <maintainer email="naegelit@student.ethz.ch">Tobias Naegeli</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/bebop_autonomy</url>
+  <url type="repository">http://github.com/AutonomyLab/bebop_autonomy</url>
+
+  <author email="mmonajje@sfu.ca">Mani Monajjemi</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>bebop_driver</run_depend>
+  <run_depend>bebop_msgs</run_depend>
+  <run_depend>bebop_tools</run_depend>
+  <run_depend>bebop_description</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+</package>
+

bebop_description/CHANGELOG.rst

@@ -0,0 +1,37 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package bebop_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.7.0 (2017-07-29)
+------------------
+
+0.6.0 (2016-11-02)
+------------------
+
+0.5.1 (2016-05-04)
+------------------
+
+0.5.0 (2016-04-01)
+------------------
+* The initial version of bebop_description pacakge
+  - Add a simple kinematic model of Bebop as URDF/Xacro (base_link,
+  camera joints and the optical frame)
+* Contributors: Mani Monajjemi
+
+0.4.1 (2016-02-17)
+------------------
+
+0.4.0 (2016-01-17)
+------------------
+
+0.3.0 (2015-09-17)
+------------------
+
+0.2.0 (2015-09-10)
+------------------
+
+0.1.2 (2015-09-05)
+------------------
+
+0.1.1 (2015-09-04)
+------------------

bebop_description/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(bebop_description)
+
+find_package(catkin REQUIRED COMPONENTS
+  roslaunch
+)
+
+catkin_package()
+
+# TODO: Tests
+# TODO: Install Rules

bebop_description/launch/description.launch

@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- this file is included by bebop_driver launch files by default in their own namespaces -->
+  <param name="robot_description" command="$(find xacro)/xacro $(find bebop_description)/urdf/bebop_base.urdf.xacro" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+</launch>

bebop_description/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package>
+  <name>bebop_description</name>
+  <version>0.7.0</version>
+  <description>URDF robot description for Parrot Bebop Drones</description>
+
+  <maintainer email="mmonajje@sfu.ca">Mani Monajjemi</maintainer>
+  <maintainer email="smohaime@sfu.ca">Sepehr MohaimenianPour</maintainer>
+  <maintainer email="thomas.bamford@mail.utoronto.ca">Thomas Bamford</maintainer>
+  <maintainer email="naegelit@student.ethz.ch">Tobias Naegeli</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/bebop_description</url>
+  <url type="repository">http://github.com/AutonomyLab/bebop_autonomy</url>
+  <author email="mmonajje@sfu.ca">Mani Monajjemi</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>urdf</run_depend>
+  <run_depend>xacro</run_depend>
+
+  <export>
+  </export>
+</package>

bebop_description/urdf/bebop_base.urdf.xacro

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<!-- Kinematic model, simplified visual, no collisions -->
+<robot name="bebop" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:property name="PI" value="3.1415926535897931" />
+  <xacro:property name="camera_offset_len" value="0.1" />
+  <xacro:property name="camera_offset_ver" value="0.0" />
+  <!-- +- 35 degrees -->
+  <xacro:property name="pan_range" value="0.6108652381980153" />
+  <xacro:property name="pan_vel" value="2.0" />
+  <!-- +- 35 degrees -->
+  <xacro:property name="tilt_range" value="0.6108652381980153" />
+  <xacro:property name="tilt_vel" value="2.0" />
+  <xacro:property name="joint_effort" value="50" />
+
+  <link name="base_link">
+   <visual>
+      <geometry>
+        <mesh scale=".001 .001 .001" filename="package://bebop_description/meshes/bebop_model.stl"/>
+      </geometry>
+   </visual>
+  </link>
+  <link name="camera_base_link"></link>
+  <link name="camera_pan_link"></link>
+  <link name="camera_tilt_link"></link>
+  <link name="camera_optical"></link>
+
+  <joint name="base_link_joint" type="fixed">
+    <origin xyz="${camera_offset_len} 0 ${camera_offset_ver}" rpy="0 0 0" />
+    <parent link="base_link"/>
+    <child link="camera_base_link" />
+  </joint>
+
+  <joint name="camera_pan_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="camera_base_link" />
+    <child link="camera_pan_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="${-pan_range}" upper="${pan_range}"
+      effort="${joint_effort}" velocity="${pan_vel}" />
+  </joint>
+
+  <joint name="camera_tilt_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="camera_pan_link" />
+    <child link="camera_tilt_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="${-tilt_range}" upper="${tilt_range}"
+      effort="${joint_effort}" velocity="${tilt_vel}" />
+  </joint>
+
+  <joint name="camera_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="${-PI/2} 0 ${-PI/2}" />
+    <parent link="camera_tilt_link" />
+    <child link="camera_optical" />
+  </joint>
+
+  <!-- [nice to have] -->
+  <!-- xacro:include filename="bebop.gazebo" /-->
+</robot>