Reading from Bebop


The video stream from Bebop’s front camera is published on image_raw topic as sensor_msgs/Image messages. bebop_driver complies with ROS camera interface specifications and publishes camera information and calibration data to camera_info topic. Due to limitations in Parrot’s ARDroneSDK3, the quality of video stream is limited to 640 x 368 @ 30 Hz. The field of view of this virtual camera (based on our measurements) is ~80 (horizontal) and ~50 (vertical) degrees.

To set the location of camera calibration data, please check this page: Configuring Bebop and the Driver. Since v0.4, the package ships with a default camera caliberation file located at bebop_driver/data/bebop_front_calib.yaml. Both default node/nodelet launch files, load this file when executing the driver.

Standard ROS messages


New in version 0.5.

  • ROS Topic: odom
  • ROS Message Type: nav_msgs/Odometry

The driver integerates visual-inertial velocity estimates reported by Bebop’s firmware to calculate the odometery. This message contains both the position and velocity of the Bebop in an ENU aligned odometery frame also named as odom. This frame name is configurable (see Driver Parameters) The cooridnate frame convention complies with ROS REP 103 (ROS Standard Message Types (i.e Twist, Odometery) - REP 103). Please not that since odometery is calculated from Bebop States (see States (aka Navdata)), the update rate is limited to 5 Hz.


New in version 0.5.

  • ROS Topic: fix
  • ROS Message Type: sensor_msgs/NavSatFix

Joint States (Pan/Tilt of The Virtual Camera)

New in version 0.5.

  • ROS Topic: joint_states
  • ROS Message Type: sensor_msgs/JointState


New in version 0.5.

The driver updates the following TF tree based on a simple kinematic model of the Bebop (provided by bebop_description) pacakge, the current state of the virtual camera joints and the calculated odometery (if publish_odom_tf is set, see Driver Parameters).


States (aka Navdata)

Unlike Parrot ARDrone, Bebop does not constantly transmit all on-board data back to the host device with high frequency. Each state variable is sent only when its value is changed. In addition, the publication rate is currently limited to 5 Hz. The driver publishes these states selectively and when explicitly enabled through a ROS parameter. For example setting ~states/enable_pilotingstate_flyingstatechanged parameter to true will enable the publication of flying state changes to topic states/ARDrone3/PilotingState/FlyingStateChanged. List of all such parameters and their corresponding topics and message types are indexed in the following pages:

Common States
List of common States and Corresponding ROS Parameters and Topics
Bebop-specific States
List of ardrone3 States and Corresponding ROS Parameters and Topics