For the Thrill of it All: A bridge among Linux, Robot Operating System, Android and Unmanned Aerial Vehicles

Civilian Unmanned Aerial Vehicles (UAVs) are becoming more accessible for domestic use. Currently, UAV manufacturer DJI dominates the market, and their drones have been used for a wide range of applications. Model lines such as the Phantom can be applied for autonomous navigation where Global Positioning System (GPS) signals are not reliable, with the aid of Simultaneous Localization and Mapping (SLAM), such as monocular Visual SLAM. In this work, we propose a bridge among different systems, such as Linux, Robot Operating System (ROS), Android, and UAVs as an open-source framework, where the gimbal camera recording can be streamed to a remote server, supporting the implementation of an autopilot. Finally, we present some experimental results showing the performance of the video streaming validating the framework.