a-ppies/djiros

djiros

由于原始项目使用的OSDK版本为3.3，稍作修改后适配自己使用的版本（N3飞控固件版本为1.7.7，OSDK版本为3.8）

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A modified dji-sdk/Onboard-SDK-ROS

This is a modified version of dji-sdk/Onboard-SDK-ROS, which uses standard ros message types, provides limited function of dji-sdk/Onboard-SDK-ROS.

For Beginners, Please Follow Step-by-Step Tutorial

TLDR for Experts

• FindEigen.cmake from ceres-solver is used. Please resolve it accordingly if you meet some problem about Eigen.

• Remember to install dji-sdk/Onboard-SDK. Follow instructions of DJI-Onboard-SDK Documentation to install it into the system.

• If you don't need mvBlueFOX synchronization, just set ENABLE_DJIFOX to false to eliminate compile errors about mvBlueFOX drivers. If you need it, please install the bluefox camera drivers.

• launch/djiros.launch and launch/djifox.launch will use environment variables to get APPID and ENCKEY. You can add your id and key in your launch file / set it to the environment. For members of HKUST-Aerial-Robotics-Group, please see Dropbox/reading/code/uavteam/DJISDK_APP_KEY.txt for id and key.

• Please pay attention to ttyUSB name and privilege. An example for udev-rule file is provided in docs/99-ftdi.rules. A tutorial can be found at http://hintshop.ludvig.co.nz/show/persistent-names-usb-serial-devices/

ROS Interfaces

Parameters

~serial_name             [string] : Path to the serial port device (e.g. /dev/ttyUSB0)
~baud_rate               [int]    : Baudrate for serial port
~app_id                  [int]    : App Id for dji sdk
~enc_key                 [string] : App Key for dji sdk
~sensor_mode             [bool]   : No activation and control is needed, just output imu, rc, gps, ...
~align_with_fmu          [bool]   : Use ticks from FMU/ ros::Time::now() when data is received.
~gravity                 [double] : scale multiplied on accelerometer output
~ctrl_cmd_stream_timeout [double] : timeout for judging if control command is streaming in or stopped
~ctrl_cmd_wait_timeout   [double] : timeout for waiting for control command after switch into api mode

Camera Parameters

Please see KumarRobotics/bluefox2 as a reference

Topics

Publishers:

 ~imu  : [sensor_msgs/IMU]              IMU message at 400 Hz, in the [ROS REP 103](http://www.ros.org/reps/rep-0103.html) frame definition.
 ~rc   : [sensor_msgs/Joy]              RC joysticks at 50 Hz, remapped to [-1, +1]. See [include/djiros/DjiRos.h](include/djiros/DjiRos.h) for the direction.
 ~velo : [geometry_msgs/Vector3Stamped] Velocity message in NED frame.
 ~gps  : [sensor_msgs/NavSatFix]        GPS message.
 [SYNC] ~image: [sensor_msgs/Image]     Synchronized images from camera driver.

• See the code and official documents for published topics and their details.
• For other messages, please modify the code.
• Pay attention to the frame_id of the published topics which represent the frame. Frame definition can be seen in include/djiros/DjiRos.h.

Subscribers:

~ctrl: [sensor_msgs/Joy] For controlling the drone

$ djiros_bluefox