Configuring Bebop and the Driver¶
Driver Parameters¶
Following parameters are set during driver’s startup:
~bebop_ip¶
Sets the IP addres of the Bebop. The default value is 192.168.42.1.
~reset_settings¶
Setting this parameter to true will reset all Bebop configurations to factory defaults. Default value is false.
~camera_info_url¶
Sets the location of the camera caliberation data. Default is empty string. For more information check this documentation.
Note
Since v0.4, the package comes with a default camera caliberation file located at bebop_driver/data/bebop_front_calib.yaml.
~camera_frame_id¶
Sets the frame_id of camera and image messages. Default value is camera.
~cmd_vel_timeout¶
New in version 0.4.
Sets the safety timeout for piloting cmd_vel commands in seconds. Deafult is set to 0.1 seconds (100 miliseconds). If no piloting command is received by the driver within this timeout period, the driver issues a stop command which causes the drone to hover.
Dynamically Reconfigurable Parameters for Bebop¶
Following ROS parameters change Bebop’s settings. They can be tweaked during runtime using dynamic reconfigure GUI. Setting ~reset_settings parameter to true will reset all these settings to factory defaults.