The off-the-shelf drones are simple to operate and easy to maintain aerial systems. However, due to proprietary flight software, these drones usually do not provide any open-source interface which can enable them for autonomous flight in research or teaching. This work introduces a package for ROS1 and ROS2 for straightforward interfacing with off-the-shelf drones from the Parrot ANAFI family. The developed ROS package is hardware agnostic, allowing connecting seamlessly to all four supported drone models. This framework can connect with the same ease to a single drone or a team of drones from the same ground station. The developed package was intensively tested at the limits of the drones' capabilities and thoughtfully documented to facilitate its use by other research groups worldwide.

翻译：商用无人机是操作简单且易于维护的空中系统。然而，由于专有飞行软件的限制，这些无人机通常不提供任何开源接口，使其无法用于研究或教学中的自主飞行。本文介绍了一个面向ROS1和ROS2的软件包，用于直接与Parrot ANAFI系列商用无人机进行交互。所开发的ROS包与硬件无关，能够无缝连接所有四种支持的无人机型号。该框架可同样便捷地连接单架无人机或从同一地面站到多架无人机组成的编队。该软件包在无人机性能极限条件下经过了密集测试，并附有详尽文档，以方便全球其他研究团队使用。