[Exercise 8.13] ar_drone velocity


I am unsure of the correct way to manipulate the movement of the ar_drone.
I am currently attempting to publish velocities to the ar_drone’s /cmd_vel topic, and make the drone move in a square.

If I do the following:

vel = Twist()
vel.linear.y = 0.5

would the drone move in the y-direction?
Or would I need to manipulate angular velocity in the z-direction and use vel.linear.x = 0.5 in order to move in the y-direction?
Is there another topic I could publish to instead, that uses pitch roll and yaw?
Any suggestions or advice would be greatly appreciated.


Hi Alex,

Welcome to the Community!

To make the drone move in a square, you could do something similar to the “move BB8 in a square” task (Unit 6 quiz; not sure if you have done that):

  1. Takeoff.
  2. Move the drone forward for x seconds.
  3. Stop the drone. Turn it by 90 degrees.
  4. Repeat 2 and 3 until you have a square.