Can't check drone velocities.

[guiaugustoga987]

Hi,

I need to know the drone velocities in m/s. How do I acess this information ? If I echo /bebop/odom topic I get all twist.twist data = 0 as you can see :

header: seq: 522 stamp: secs: 1691184697 nsecs: 428244013 frame_id: "odom" child_frame_id: "base_link" pose: pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: -0.0007713166171202364 y: -0.017880132644812745 z: -0.9997898473865937 w: 0.009998349362347272 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] twist: twist: linear: x: 0.0 y: 0.0 z: -0.0 angular: x: 0.0 y: 0.0 z: 0.0

On topic /bebop/states/ardrone3/PilotingState/SpeedChanged I get :

---

header: seq: 868 stamp: secs: 1691183742 nsecs: 303088109 frame_id: "base_link" speedX: 0.0 speedY: 0.0 speedZ: 0.0

How do I access these data ?

Thanks.

[guiaugustoga987]

It seems like the values are only published when a takeoff command is send to the drone.

[araujorayza]

I've had a similar problem but no response in #187 . Are you using bebop 2?

[guiaugustoga987]

Yes. As I said, the linear velocities display non-zero values only when the drone is flying. But the angular velocities remain zero anyway.