文件列表:

rmtt_apriltag/
rmtt_description/
rmtt_driver/
rmtt_ros/
rmtt_teleop/
rmtt_tracker/

RoboMaster Tello Talent ROS Driver. Developed by Tianbot # RoboMaster Tello Talent (RMTT) RoboMaster TT (also know as DJI Tello Talent or Ryze Tello Talent) features improved hardware and an LED light. RoboMaster TT suports Wi-Fi 5G channel and a flying map, which can be used for low-cost drone swarm. ## Specification | Items | Details| | :---: | :---: | | Model | TLW004 | | Weight | 87 g | | Max Speed | 28.8 kph | | Max Flight Time | 13 min | | Camera | 2592×1936 | | Battery | LiPo | | Capacity | 1100 mAh | | Voltage | 3.8 V | ## Installation Instructions Only support authorized devices and the environment is pre-configured in ROS2GO Noetic version. ## Usage Instructions Please read the RoboMaster TT User Manual carefully. Switch RoboMaster TT to direct connection mode, connect to RMTT-XXXXXX network. ### Start rmtt_driver node ``` roslaunch rmtt_driver rmtt_bringup.launch ``` ## Topics Published topics: - ~imu_data [sensor_msgs/Imu] imu data. - ~pose [geometry_msgs/PoseStamped] Drone pose on the mission pad. - ~mission_pad_id [std_msgs/UInt8] Mission pad id. 1 - 12. - ~image_raw/compressed [sensor_msgs/CompressedImage] Compressed image topic. - ~image_raw [sensor_msgs/Image] Image topic. - ~camera_info [sensor_msgs/CameraInfo] RMTT camera info. - ~tof_btm [sensor_msgs/Range] Bottom tof. Distance from drone to the ground. - ~tof_ext [sensor_msgs/Range] External tof. Distance to the obstacle in front of the drone. - ~altitude [std_msgs/Float32] Barometer readings. - ~battery [std_msgs/Float32] Battery percentage. Subscribed topics: - ~cmd_vel [geometry_msgs/Twist] Command velocity. Only be effected after taking off. - ~takeoff [std_msgs/Empty] Takeoff. - ~land [std_msgs/Empty] Land. - ~flip [std_msgs/Empty] Flip. - ~led [std_msgs/ColorRGBA] Led on top of the external module. - ~mled [std_msgs/String] Dot matrix display. Showing charactor or string. Services: - ~set_downvision [std_srvs/SetBool] Change the front cam to downward cam - ~set_hdmap Change the positioning to HD map mode. Can be used with the mission pad or HD map. ## License The ROS driver is prietary. Other packages are under BSD Clause-3 open source license. RoboMaster SDK is under Apache License, version 2.0.

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