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：现成的无人机易于操作,易于维护航空系统。然而,由于专有的飞行软件,这些无人机通常不会提供任何开放源码接口,使其能够在研究或教学中进行自主飞行。这项工作为ROS1和ROS2引入了一个套件,用于直接与Parrot ANAFI家族的现成无人机接口。开发的ROS套件是硬件性,可以无缝地连接到所有四个得到支持的无人机模型。这个框架可以与同一地面站的单个无人机或一组无人机连接起来。开发的套件在无人机能力的限度内进行了密集测试,并经过深思熟虑的记载,以便利世界各地其他研究团体使用。</s>