edwing335 / djiros Goto Github PK

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

• Modify CMakeLists.txt to add Eigen3 to the include directories. It depends on which version of Eigen your are using ( from apt-get, manually installed or other situation)

• If you don't need mvBlueFOX synchronization, just set ENABLE_DJIFOX to false to eliminate compile errors about mvBlueFOX drivers.

• launch/djiros.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 / hardcode it in the source code.

• Configure A3 SDK as below

• 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
• only_broadcast [bool] : No activation and control is needed, just broadcast 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

• See the code and official documents for published topics and their details.
• Subscriber "~ctrl" for control the drone
• Subscriber "~gimbal_ctrl" and "~gimbal_speed_ctrl" for control the gimbal