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.