Flying robots over a 10.000 mile distance with JavaScript.

Talk given remotely for the Sydney JS Usergroup. Unfortunately my screen recording didn't work out : /.

Transcript

1. felixge NodeCopter Flying robots over a 10.000 mile distance with JavaScript Felix Geisendörfer
2. @felixge felixge Background 2005 - 2008 2008 - now 2009 - now Felix Geisendörfer
3. @felixge felixge npm modules Felix Geisendörfer
4. @felixge felixge NodeCopter
5. @felixge felixge What is NodeCopter? • Started as a one-time event in Berlin on Oct 5th, 2012 • 60 programmers to program 25 AR Drones for a full day • Amazing venue, old swimming hall with 13m ceilings • Non-profit / cheap tickets (25 EUR)
12. @felixge felixge 1 day
13. @felixge felixge 1 day • Computer vision
14. @felixge felixge 1 day • Computer vision • Voice recognition
15. @felixge felixge 1 day • Computer vision • Voice recognition • Gesture recognition
16. @felixge felixge 1 day • Computer vision • Voice recognition • Gesture recognition • Hardware controls
17. @felixge felixge 1 day • Computer vision • Voice recognition • Gesture recognition • Hardware controls • and more
18. @felixge felixge Previous Events • Berlin, Oct 5th, 2012 • Dublin, Oct 20th, 2012 • San Francisco, Oct 31st, 2012 • Seattle, Nov 8th - 9th, 2012 • Brighton, Nov 10th, 2012
19. @felixge felixge Upcoming Events • San Francisco, Dec 1st, 2012 • Florida, May 30, 2013 • + Summer of Drones
20. felixge Summer of Drones June 2013
21. @felixge felixge Summer of Drones
22. @felixge felixge Summer of Drones • 4 weeks in June 2013
23. @felixge felixge Summer of Drones • 4 weeks in June 2013
24. @felixge felixge Summer of Drones • 4 weeks in June 2013 • 10+ NodeCopter events, and 20+ MiniNodeCopter events
25. @felixge felixge Summer of Drones • 4 weeks in June 2013 • 10+ NodeCopter events, and 20+ MiniNodeCopter events
26. @felixge felixge Summer of Drones • 4 weeks in June 2013 • 10+ NodeCopter events, and 20+ MiniNodeCopter events • North America, Europe, South America and Asia
27. @felixge felixge Summer of Drones
28. @felixge felixge Summer of Drones • Drone games / competitions
29. @felixge felixge Summer of Drones • Drone games / competitions
30. @felixge felixge Summer of Drones • Drone games / competitions • Half autonomous / half human controlled
31. @felixge felixge Summer of Drones • Drone games / competitions • Half autonomous / half human controlled
32. @felixge felixge Summer of Drones • Drone games / competitions • Half autonomous / half human controlled • Spectators for the tournaments
34. felixge http://nodecopter.com/
35. felixge This Talk
36. felixge Flying robots over a 10.000 mile distance with JavaScript
37. felixge <alternative title>
38. felixge Somebody in Berlin presses a button. Nothing happens.
39. felixge <alternative title>
40. felixge “NodeCopter” terror cell under investigation. Drone strike causes several injuries at Sidney JavaScript meetup.
41. felixge Drone Self-Defense
42. felixge Tip 1: Flip drone up-side down
43. felixge Tip 2: Nerf Gun
44. felixge just kidding
45. @felixge felixge Parrot AR Drone 2.0
46. @felixge felixge The Specs
47. @felixge felixge The Specs • WiFi (b/g/n) Router
48. @felixge felixge The Specs • WiFi (b/g/n) Router • 1 GHz 32Bit ARM Cortex A8 processor
49. @felixge felixge The Specs • WiFi (b/g/n) Router • 1 GHz 32Bit ARM Cortex A8 processor • 125 MB DDR2 Memory
50. @felixge felixge The Specs • WiFi (b/g/n) Router • 1 GHz 32Bit ARM Cortex A8 processor • 125 MB DDR2 Memory • Linux 2.6.32 you can telnet into it (Busybox)
51. @felixge felixge The Specs • WiFi (b/g/n) Router • 1 GHz 32Bit ARM Cortex A8 processor • 125 MB DDR2 Memory • Linux 2.6.32 you can telnet into it (Busybox) • 720p front facing camera (30 FPS)
52. @felixge felixge The Specs • WiFi (b/g/n) Router • 1 GHz 32Bit ARM Cortex A8 processor • 125 MB DDR2 Memory • Linux 2.6.32 you can telnet into it (Busybox) • 720p front facing camera (30 FPS) • 240p vertical camera (60 FPS)
53. @felixge felixge The Specs • WiFi (b/g/n) Router • 1 GHz 32Bit ARM Cortex A8 processor • 125 MB DDR2 Memory • Linux 2.6.32 you can telnet into it (Busybox) • 720p front facing camera (30 FPS) • 240p vertical camera (60 FPS) • USB 2.0 connector
54. @felixge felixge The Specs
55. @felixge felixge The Specs • 3 axis gyroscope (2000°/second precision)
56. @felixge felixge The Specs • 3 axis gyroscope (2000°/second precision) • 3 axis accelerometer (+-50mg precision)
57. @felixge felixge The Specs • 3 axis gyroscope (2000°/second precision) • 3 axis accelerometer (+-50mg precision) • 3 axis magnetometer (6° precision)
58. @felixge felixge The Specs • 3 axis gyroscope (2000°/second precision) • 3 axis accelerometer (+-50mg precision) • 3 axis magnetometer (6° precision) • Pressure sensor (+-10 Pa precision)
59. @felixge felixge The Specs • 3 axis gyroscope (2000°/second precision) • 3 axis accelerometer (+-50mg precision) • 3 axis magnetometer (6° precision) • Pressure sensor (+-10 Pa precision) • Ultrasound sensors
60. @felixge felixge The Specs • 3 axis gyroscope (2000°/second precision) • 3 axis accelerometer (+-50mg precision) • 3 axis magnetometer (6° precision) • Pressure sensor (+-10 Pa precision) • Ultrasound sensors • Fully reparable - all components can be ordered
61. @felixge felixge Normal Setup Parrot AR Drone 2.0 Smartphone or Laptop WiFi
62. felixge WiFi Range is ~50m
63. felixge Berlin -> Australia
64. @felixge felixge
65. felixge ~10.000 miles (~16.000 km)
66. felixge We need to extend range by 320.000x
67. felixge “No problem, we’ll just set up an ssh tunnel, should take ~30 minutes” --me
68. felixge 30 minutes - yeah right
69. felixge ~8 hours
70. @felixge felixge The Idea Parrot AR Drone 2.0 @SydJS Laptop @SydJS WiFi @SydJS Router Ethernet Router @Berlin Laptop @Berlin THE INTERNET WiFi
71. @felixge felixge Reverse SSH Tunnel ssh -NT \ -R 2023:192.168.1.1:23 \ sydjs@91.64.83.193 • Connect to my laptop in Berlin (sydjs@91.64.83.193) • Forward port 2023 on my laptop to port 23 at 192.168.1.1 (the AR Drone) • -N (do not execute a cmd) -T (disable pseudo-tty)
72. felixge Works great for TCP
73. felixge Does not work with UDP
74. felixge netcat to the rescue!
75. @felixge felixge netcat udp forwarding # @sydjs ssh -NT \ -R 6556:localhost:6556 \ sydjs@91.64.83.193 & mkfifo navdata.fifo nc -l localhost 6556 < navdata.fifo \ | nc -u 192.168.1.1 5556 > navdata.fifo # @berlin mkfifo navdata.fifo nc -l -u localhost 5556 < navdata.fifo \ | nc localhost 65556 > navdata.fifo
76. felixge No luck : (
77. felixge Node.js to the rescue
78. @felixge felixge In Sidney • SSH Reverse tunnel for telnet and video (ports 23 and 5555) • SSH Reverse tunnel for udp (port 2024) • node.js TCP server on port 2024 listening for incoming connection from Berlin • Incoming tcp data = udp messages • Forwards messages received on tcp server via udp to drone • Also forwards udp messages from drone back to berlin via tcp
79. @felixge felixge In Berlin • node.js UDP server listening on port 5554 (navdata) and 5556 (control) • node.js TCP connection to port 2024 on localhost which is hooked up to port 2024 in sidney • Incoming UDP messages are send to Sidney via TCP • Data received via TCP from Sidney is resend as UDP locally
80. @felixge felixge Problem • UDP guarantees atomic messages • TCP does not (one message may be split into multiple parts, or merged with others)
81. @felixge felixge Simple Protocol • 4 Bytes: Message Length • 2 Bytes: Source UDP Port • 2 Bytes: Destination UDP Port • <Message Length>: Message
82. felixge <demo time> what could go wrong?
83. felixge </demo time>
84. felixge https://github.com/felixge/nodecopter-ssh-tunnel https://github.com/felixge/ar-drone https://github.com/bkw/node-dronestream
85. felixge So little JS!
86. felixge Thanks!
87. felixge Questions? Felix Geisendörfer