  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.
