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Creating this contact is completely unrelated from ROS.
The drone hosts its own WiFi-Network, which you have to connect to. Once this is done, you should read the documentation from here. Also, have a look into this tutorial. It might not be completly compatible with the current AR-Drone-Driver, but when you use the virtual machine everythink should work. Nonetheless, it is a great introduction to accessing and programming the drone with ROS.
Good Luck!
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