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 calibration data. Default is empty string. For more information check this documentation.

Note

Since v0.4, the package comes with a default camera calibration file located at bebop_driver/data/bebop_front_calib.yaml.

~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.

~odom_frame_id

New in version 0.5.

Sets the frame_id of the odometery message (see Standard ROS messages) and the odometery frame used in the TF tree (see TF). The default value is odom.

~publish_odom_tf

New in version 0.5.

Enables the publishing of odom to base_link TF transform (see TF). The default value is true.

~camera_frame_id

Deprecated since version 0.5.

Sets the frame_id of camera and image messages. The default value is camera_optical.

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.

List of Ardrone3 Settings and Corresponding ROS Parameter