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felixge NodeCopter Flying robots over a 10.000 mile distance with JavaScript Felix Geisendörfer

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@felixge felixge Background 2005 - 2008 2008 - now 2009 - now Felix Geisendörfer

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@felixge felixge npm modules Felix Geisendörfer

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@felixge felixge NodeCopter

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@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)

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@felixge felixge 1 day

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@felixge felixge 1 day • Computer vision

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@felixge felixge 1 day • Computer vision • Voice recognition

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@felixge felixge 1 day • Computer vision • Voice recognition • Gesture recognition

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@felixge felixge 1 day • Computer vision • Voice recognition • Gesture recognition • Hardware controls

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@felixge felixge 1 day • Computer vision • Voice recognition • Gesture recognition • Hardware controls • and more

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@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

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@felixge felixge Upcoming Events • San Francisco, Dec 1st, 2012 • Florida, May 30, 2013 • + Summer of Drones

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felixge Summer of Drones June 2013

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@felixge felixge Summer of Drones

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@felixge felixge Summer of Drones • 4 weeks in June 2013

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@felixge felixge Summer of Drones • 4 weeks in June 2013

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@felixge felixge Summer of Drones • 4 weeks in June 2013 • 10+ NodeCopter events, and 20+ MiniNodeCopter events

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@felixge felixge Summer of Drones • 4 weeks in June 2013 • 10+ NodeCopter events, and 20+ MiniNodeCopter events

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@felixge felixge Summer of Drones • 4 weeks in June 2013 • 10+ NodeCopter events, and 20+ MiniNodeCopter events • North America, Europe, South America and Asia

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@felixge felixge Summer of Drones

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@felixge felixge Summer of Drones • Drone games / competitions

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@felixge felixge Summer of Drones • Drone games / competitions

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@felixge felixge Summer of Drones • Drone games / competitions • Half autonomous / half human controlled

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@felixge felixge Summer of Drones • Drone games / competitions • Half autonomous / half human controlled

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@felixge felixge Summer of Drones • Drone games / competitions • Half autonomous / half human controlled • Spectators for the tournaments

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felixge http://nodecopter.com/

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felixge This Talk

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felixge Flying robots over a 10.000 mile distance with JavaScript

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felixge

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felixge Somebody in Berlin presses a button. Nothing happens.

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felixge

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felixge “NodeCopter” terror cell under investigation. Drone strike causes several injuries at Sidney JavaScript meetup.

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felixge Drone Self-Defense

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felixge Tip 1: Flip drone up-side down

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felixge Tip 2: Nerf Gun

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felixge just kidding

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@felixge felixge Parrot AR Drone 2.0

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@felixge felixge The Specs

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@felixge felixge The Specs • WiFi (b/g/n) Router

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@felixge felixge The Specs • WiFi (b/g/n) Router • 1 GHz 32Bit ARM Cortex A8 processor

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@felixge felixge The Specs • WiFi (b/g/n) Router • 1 GHz 32Bit ARM Cortex A8 processor • 125 MB DDR2 Memory

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@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)

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@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)

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@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)

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@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

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@felixge felixge The Specs

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@felixge felixge The Specs • 3 axis gyroscope (2000°/second precision)

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@felixge felixge The Specs • 3 axis gyroscope (2000°/second precision) • 3 axis accelerometer (+-50mg precision)

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@felixge felixge The Specs • 3 axis gyroscope (2000°/second precision) • 3 axis accelerometer (+-50mg precision) • 3 axis magnetometer (6° precision)

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@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)

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@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

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@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

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@felixge felixge Normal Setup Parrot AR Drone 2.0 Smartphone or Laptop WiFi

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felixge WiFi Range is ~50m

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felixge Berlin -> Australia

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@felixge felixge

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felixge ~10.000 miles (~16.000 km)

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felixge We need to extend range by 320.000x

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felixge “No problem, we’ll just set up an ssh tunnel, should take ~30 minutes” --me

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felixge 30 minutes - yeah right

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felixge ~8 hours

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@felixge felixge The Idea Parrot AR Drone 2.0 @SydJS Laptop @SydJS WiFi @SydJS Router Ethernet Router @Berlin Laptop @Berlin THE INTERNET WiFi

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@felixge felixge Reverse SSH Tunnel ssh -NT \ -R 2023:192.168.1.1:23 \ [email protected] • Connect to my laptop in Berlin ([email protected]) • 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)

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felixge Works great for TCP

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felixge Does not work with UDP

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felixge netcat to the rescue!

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@felixge felixge netcat udp forwarding # @sydjs ssh -NT \ -R 6556:localhost:6556 \ [email protected] & 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

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felixge No luck : (

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felixge Node.js to the rescue

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@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

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@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

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@felixge felixge Problem • UDP guarantees atomic messages • TCP does not (one message may be split into multiple parts, or merged with others)

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@felixge felixge Simple Protocol • 4 Bytes: Message Length • 2 Bytes: Source UDP Port • 2 Bytes: Destination UDP Port • : Message

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felixge what could go wrong?

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felixge

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felixge https://github.com/felixge/nodecopter-ssh-tunnel https://github.com/felixge/ar-drone https://github.com/bkw/node-dronestream

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felixge So little JS!

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felixge Thanks!

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felixge Questions? Felix Geisendörfer