Nodecopter Hacking

Controlling a Nodecopter remotely is cool, but having it control itself is even cooler! This presentation is about how to get Node.js running on the AR.Drone 2.0 embedded linux and fly it automatically.

Transcript

1. andrew
3. Nodecopter
5. Felix Geisendörfer
6. AR Drone 2.0
7. HD Camera Downfacing camera Gyroscope Wifi 1GHz CPU Linux Accelerometer Magnetometer Ultrasound
8. ardrone2.parrot.com/developer-zone
9. var arDrone = require('ar-drone');
 var client = arDrone.createClient();
 
 client.takeoff();
 
 client
 .after(3000, function() {
 this.up(1);
 })
 .after(2000, function() {
 this.stop()
 this.clockwise(1);
 })
 .after(3000, function() {
 this.stop();
 this.land();
 });
10. QR CodeR
11. Dance Mat Drone
12. Kinect Drone
13. $ telnet 192.168.1.1
14. # busybox | head BusyBox v1.14.0 () multi-call binary Copyright (C) 1998-2008 Erik Andersen, Rob Landley, Denys Vlasenko and others. Licensed under GPLv2. See source distribution for full notice. ! ! # cat /proc/version Linux version 2.6.32.9-g1dd1a2a (stephane@stephane-pc) (gcc version 4.5.1 (Sourcery G++ Lite 2010.09-50) ) #1 PREEMPT Thu May 30 19:21:53 CEST 2013 ! ! # uname -a Linux uclibc 2.6.32.9-g1dd1a2a #1 PREEMPT Thu May 30 19:21:53 CEST 2013 armv7l GNU/Linux ! # df -h Filesystem Size Used Available Use% Mounted on ubi1:system 26.3M 21.7M 3.3M 87% / tmp 57.7M 644.0K 57.1M 1% /tmp dev 57.7M 0 57.7M 0% /dev ubi0:factory 4.8M 76.0K 4.5M 2% /factory ubi2:update 13.2M 28.0K 12.5M 0% /update ubi2:data 53.5M 14.0M 36.8M 28% /data
15. $ ftp -u ftp://anonymous:anonymous@192.168.1.1/file file ! $ telnet 192.168.1.1 ! # ls /data/video ! # file ! ** bug in tar unpacking ** ! # ls /data/video/usb
17. # ls /data/video/usb ! ar-drone ! # cp -r /data/video/usb/ar-drone /data/video/
18. https://github.com/felixge/node-cross-compiler
19. # https://github.com/felixge/node-cross-compiler ! $ git clone git://github.com/felixge/node-cross-compiler.git $ cd node-cross-compiler $ ./helpers/ardrone2.sh
20. #!/bin/bash set -eu ! if [ ! -e build/bin/node ]; then echo "-> Spinning up VM" vagrant up echo "-> Building node binary" vagrant ssh -c "cd cross-compiler && ./setup-vm.sh && make ardrone2" echo "-> Halting VM" vagrant halt echo "-> To completely remove the VM, please execute 'vagrant destroy'" else echo "-> Skipping build (node binary exists)" fi ! echo "Would you like to install node on the drone? (Connect now) [Y/n]" read a if [[ $a == "Y" || $a == "y" || $a = "" ]]; then echo "-> Uploading binary" ftp -u ftp://anonymous:anonymous@192.168.1.1/node build/bin/node echo "-> Installing" { echo "cd /data/video && mv ./node /bin && chmod u+x /bin/node && rm -rf node && exit"; sleep 1; } | telnet 192.168.1.1 echo "-> Installation completed!" else echo "-> Build completed!" fi
21. var arDrone = require('..'); var http = require('http'); ! var client = arDrone.createClient(); client.disableEmergency(); ! navData = {} ! client.on('navdata', function(data){ navData = data; }); ! var server = http.createServer(function(req, res) { res.writeHead(200, {'Content-Type': 'application/json'}); res.end(JSON.stringify(navData)); }); ! server.listen(8080, function() { console.log('started server on http://192.168.1.1:8080') });
22. var arDrone = require('..'); var http = require('http'); ! var client = arDrone.createClient(); client.disableEmergency(); ! navData = {} ! client.on('navdata', function(data){ navData = data; }); ! var server = http.createServer(function(req, res) { res.writeHead(200, {'Content-Type': 'application/json'}); res.end(JSON.stringify(navData)); }); ! server.listen(8080, function() { console.log('Serving latest png on port 8080 ...'); client.takeoff(); ! client .after(5000, function() { this.clockwise(0.5); }) .after(5000, function() { this.stop(); }) .after(1000, function() { this.stop(); this.land(); }); console.log('started server on http://192.168.1.1:8080') });
23. Demo Time
24. WARNING WARNING
25. https://gist.github.com/maxogden/4152815
27. virus-copter github.com/substack/virus-copter
29. nodecopter.com
30. 12 FEBRUARY
31. Thank You @teabass