How to make ardrone autonomy package work on Jetson Nano? - ros

Question

I'm working on a Jetson Nano board and I need to connect it with a parrot ar drone 2.0, so in order to do that I would like to use the ardrone_autonomy package, but I can't do that because jetson has Ubuntu 18, which only supports ROS Melodic, which doesn't have this package.
Here is what I tried:
I built the package from this repository:
https://github.com/dsapandora/ardrone_autonomy
But I obtained this error:
/tmp/ccIoQjBo.s: Assembler messages:
/tmp/ccIoQjBo.s:128: Error: unknown mnemonic `bswap' -- `bswap x3'
generic.makefile:231: recipe for target '../../Soft/Build/targets_versions/vlib_PROD_MODE_Linux_4.9.140-tegra_GNU_Linux_usrbingcc_5.4.0/video_mem32.o' failed
make[8]: *** [../../Soft/Build/targets_versions/vlib_PROD_MODE_Linux_4.9.140-tegra_GNU_Linux_usrbingcc_5.4.0/video_mem32.o] Error 1
vlib.makefile:104: recipe for target 'all' failed
make[7]: *** [all] Error 2
Makefile:167: recipe for target 'build_vlib' failed
make[6]: *** [build_vlib] Error 2
Makefile:170: recipe for target 'all' failed
make[5]: *** [all] Error 2
Makefile:84: recipe for target 'build_libs' failed
make[4]: *** [build_libs] Error 2
Makefile:20: recipe for target 'all' failed
make[3]: *** [all] Error 2
ardrone_autonomy/CMakeFiles/ardronelib.dir/build.make:110: recipe for target '/catkin_ws/devel/src/ardronelib-stamp/ardronelib-build' failed
make[2]: *** [/catkin_ws/devel/src/ardronelib-stamp/ardronelib-build] Error 2
CMakeFiles/Makefile2:578: recipe for target 'ardrone_autonomy/CMakeFiles/ardronelib.dir/all' failed
make[1]: *** [ardrone_autonomy/CMakeFiles/ardronelib.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
After I resolved that using almost any solution from here:
https://github.com/AutonomyLab/ardrone_autonomy/issues/71
I can compile the package without problems but when I try to run the node, it says that the ardrone_driver has died, without any other information.
2.Then I tried to build the package in a docker under ROS Kinetic, but after getting the same bswap error as above, after applying the above solution I get this:
/tmp/ccFs5LFZ.s: Assembler messages:
/tmp/ccFs5LFZ.s:130: Error: unexpected characters following instruction at operand 2 -- `mov x4,x4,ror#8'
generic.makefile:231: recipe for target '../../Soft/Build/targets_versions/vlib_PROD_MODE_Linux_4.9.140- tegra_GNU_Linux_usrbingcc_5.4.0/video_mem32.o' failed
make[8]: *** [../../Soft/Build/targets_versions /vlib_PROD_MODE_Linux_4.9.140-tegra_GNU_Linux_usrbingcc_5.4.0 /video_mem32.o] Error 1
vlib.makefile:110: recipe for target 'all' failed
make[7]: *** [all] Error 2
Makefile:167: recipe for target 'build_vlib' failed
make[6]: *** [build_vlib] Error 2
Makefile:170: recipe for target 'all' failed
make[5]: *** [all] Error 2
Makefile:84: recipe for target 'build_libs' failed
make[4]: *** [build_libs] Error 2
Makefile:24: recipe for target 'all' failed
make[3]: *** [all] Error 2
ardrone_autonomy/CMakeFiles/ardronelib.dir/build.make:110: recipe for target '/ardrone_ws/devel/src/ardronelib-stamp/ardronelib-build' failed
make[2]: *** [/ardrone_ws/devel/src/ardronelib-stamp/ardronelib-build] Error 2
CMakeFiles/Makefile2:578: recipe for target 'ardrone_autonomy/CMakeFiles/ardronelib.dir/all' failed
make[1]: *** [ardrone_autonomy/CMakeFiles/ardronelib.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 2%] Built target _ardrone_autonomy_generate_messages_check_deps_matrix33
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j2" failed
And here is where I'm stuck, because as much as I know it is a problem of processor architecture (Jetson uses armv8), and all the above solutions are for armv7, but I don't know how to solve this. Please let me know if anyone else found a solution to this problem. Any help would be highly appreciated!

Answer 1

I finally solved the problem, here are the complete steps, if there is someone else who is struggling with the same problems:
I downloaded the docker image using:
sudo docker pull ros:kinetic-robot-xenial
And then followed this steps to run the image: http://wiki.ros.org/docker/Tutorials/Docker
The I cloned the ardrone_autonomy package in a worksapce, from the above link:
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/dsapandora/ardrone_autonomy.git
apt-get update
cd ../
rosdep install --from-paths src --ignore-src -r -y
catkin_make
After the error with bswap appears, edit this file: devel/src/ardronelib/ARDroneLib/VP_SDK/VP_Os/linux/intrin.h and replace:
static INLINE uint32_t _byteswap_ulong(uint32_t value)
{
__asm("bswap %0":
"=r" (value):
"0" (value));
return value;
}
with this:
static INLINE uint32_t _byteswap_ulong(uint32_t value)
{
int32_t tmp;
__asm __volatile(
"eor %1, %2, %2, ror #16\n"
"bic %1, %1, #0x00ff0000\n"
"mov %0, %2, ror #8\n"
"eor %0, %0, %1, lsr #8"
: "=r" (value), "=r" (tmp)
: "r" (value)
);
return value;
}
and comment this line: _BitScanReverse(&index, code);
After you do this if you try to give it a catkin_make it should appear the last error which can be resolved "simply" (after you understand what is happening there :) ) just by replacing this line (from the same file as above):
"mov %0, %2, ror #8\n"
with:
"mov %0, %2\n"
and now should work just fine.
PS: Don't forget to source your workspace.

Answer 2

AR Drone 2.0 is still compatible.
Just Downgrade the firmware to 2.4.1 (i use this one) from
https://www.espaciodrone.com/todos-los-firmware-del-ar-drone-1-y-2/
Power up your AR.Drone
Connect your computer to the AR.Drone’s network
Open a telnet session to 192.168.1.1
type the following: echo "1.1.1" > /firmware/version.txt
press enter
type the following: echo "2.4.1" > /update/version.txt
Connect an FTP client to: 192.168.1.1 Port: 5551 (i use nautilius ctrl + l then ftp://192.168.1.1:5551)
Upload the downloaded plf file to the FTP server (AR.Drone)
Disconnect your computer from the AR.Drone
Disconnect the battery from the AR.Drone
Reconnect the battery
Wait about 5 minutes while the upgrade completes, leave your drone switched on
And use this git clone https://github.com/dsapandora/ardrone...
It works like a charm...