Magic-Skydio

This repo enables users using Skydio R1 and a base station computer to acquire R1's state through an HTTP connection, port the state to ROS, publish it as two topics (pose, speed), and then subscribe to them through a Webpage using ROSBridge.

Use of this repo requires:

1. Access to a base station that runs ROS melodic on Ubuntu 18.04, and rosbridge.
2. A Skydio R1 drone.
3. A cellular device that can connect to Skydio R1.
4. Access to Skydio SDK.

Instructions:

1. Upload "magic-skydio/skydio-skills/com" to Skydio SDK. (Instructions: https://console.skydio.com/docs/skills/getting_started.html )

2. Open Webpage (magic-skydio/web/webpage.html) to a browser of your choice. We tried it on Chrome.

3. On a command line:

   i. roscore

   ii. roslaunch rosbridge_server rosbridge_websocket.launch

4. In a new command window, run the "magic-skydio/workspace/src/skydio-state/scripts/com_link_demo.py"

   Arguments:

   --skill-key equal to the key of the ComLink skill which is [your_skillset_name].com_link.ComLink

   --forward X Tells the Skydio to move X forward

   --loop

   If you use a simulator:

   • --token-file pointing to the downloaded Simulator Auth Token file
   • --baseurl equal to Simulator URI from the Developer Console

   For more information: https://github.com/Skydio/skydio-skills/blob/master/client/README.md

5. Open the Console on the Webpage, and view the ROS messages.