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Collection of stacks which make up the TeleKyb framework to control quadrotor UAVs.

This site and the TeleKyb code itself are under active development. We will always try out best to release only tested code, however, any version might still contain some undesired behavior.


TeleKyb is released under the new BSD license. Please note that this software is provided 'as is' whithout any warranties. Furthermore, neither one of the authors nor their institutions can be hold responcible of any harm or damage of any kind caused by the use of this software or by follwing this instructions. The use of TeleKyb is completely at our own risk!


Flashing of the Low-Level Software onto the MikroKopter

Installation of TeleKyb

# Checkout the TeleKyb repository
svn co https://svn.tuebingen.mpg.de/kyb-robotics/TeleKyb/trunk/ telekyb

# Update ROS_PACKAGE_PATH (if necessary)
echo "export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:`pwd`/telekyb/stacks" >> ~/.bashrc

# Install ROS standalone tools, if not done already
sudo apt-get install python-rosinstall python-rosdep

# Install system dependencies for the mikrokopter demo package:
rosdep install tk_mk_demo

# build all packages required for the mikrokopter demo
rosmake tk_mk_demo

Run the Demo


The Demo

#If you have a Vicon motion tracking system, run this command.
roslaunch tk_mk_demo gamepad_mk_vicon.launch IPTrackingSystem:= --screen

#This comand is for an Optitrack system from NaturalPoint.
roslaunch tk_mk_demo gamepad_mk_optitrack.launch IPTrackingSystem:= --screen


/dev/derial/by-iddoes not exist

You are either not in the dialout user group, the ZigBee module is not connected, or otherwise not detected.

Could not find UAV with matching tUavID and tUavFirmware

The specified quadrotor ID could not be found using any of the currently connected serial devices.

Did not receive initial TKState within Timeout!

In most cases, TeleKyb could not get the current pose from the tracking system. You should also see periodical messages of the type "(n) from object_name: No resonse from the server for >= m seconds". Make sure that you set the right IP (e.g., try to ping that IP), that you named the object correctly (it should be the object_name from the error message), and that your tracking system is actually streaming the object pose.

Report a Bug


2024-06-15 13:48