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List:       ros-users
Subject:    [ros-users] New ros package for AR.Drone, falkor_ardrone
From:       sameer () falkorsystems ! com (Sameer Parekh)
Date:       2012-10-23 14:15:57
Message-ID: EB9ED6A5F5514198AA74346C3C7CDE87 () falkorsystems ! com
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Hi everyone-- I've moved all my own code out of the ardrone_autonomy fork that I've \
created into a new package, "falkor_ardrone", added a little basic documentation, and \
submitted a request for indexing. It's available here: 

https://github.com/FalkorSystems/falkor_ardrone

Since the last demo at the NY Hardware Startup I added a PID controller for the \
robot's vel_cmd using the Navdata vx/vy data that the ardrone_driver was giving me, \
and it flies a lot better. Here's a video from the NYC flying robots meetup:

http://www.youtube.com/watch?v=Eq29wDa0B1U&feature=plcp

Yours,
-- 
Sameer Parekh, CEO
Falkor Systems, Inc.


On Tuesday, September 25, 2012 at 5:40 PM, Sameer Parekh wrote:

> Hi everyone, 
> I'm new to OpenCV and ROS so I'm happy to mention that I'll be demoing my first \
> OpenCV/ROS project this Wednesday at the NY HW Startup Meetup and also at Maker \
> Faire on Sunday this weekend. Here are the two links to the events:  
> http://www.meetup.com/NY-Hardware-Start-up/events/80880922/
> 
> http://makerfaire.com/pub/e/9341
> 
> All the code I wrote is in a fork off of AutonomyLab's ardrone_autonomy. I probably \
> should have created a seperate package, I know, I'll probably move all my additions \
> into a separate package at some point. In the meantime you can pick up my code at:  \
>  https://github.com/FalkorSystems/ardrone_autonomy
> 
> It's not documented at all, and it has evidence of numerous attempts to try \
> different things that failed to work very well, but now it works pretty well. I \
> finally ended up using a Haar classifier so that I could detect a person wearing a \
> t-shirt with my company logo, and the robot follows it. The cascade detection is \
> augmented with optical flow in case in a subsequent frame the logo gets missed by \
> the detector.  
> Hopefully this will help other people out there trying to do similar things.  
> 
> 

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