DJI RoboMaster S1 ROS Bridge Package

This package contains a ROS node package and Nucleo-F767ZI firmware for controlling your RoboMaster S1 through the ROS network.

What is this?

You can control DJI RoboMaster S1 using geometry_msgs::Twist through the ROS Network.

Preparation

You should prepare these items.

• DJI RoboMaster S1
• Ubuntu PC with WiFi (16.04 LTS and STM32CubeIDE)
• Nucleo-F767ZI
• Universal board (http://akizukidenshi.com/catalog/g/gP-09972/)
• CAN Tranceiver breakout board (https://www.amazon.co.jp/dp/B076HHVZM1)
• Wire harnes
• 2.54mm Connector and Pin etc. (https://www.amazon.co.jp/gp/product/B071RK5STD/)
• SONY PlayStation4(R) Controller

If you want to control via Wifi, please prepare these items.

• Ethernet-Wifi Converter (WLI-UTX-AG300/C)
• DC-DC Converter (http://akizukidenshi.com/catalog/g/gK-09981/) or Mobile Battery for Wifi Converter

PS4 Controller Key Map

• Left Axis : Linear X and Linear Y
• Right Axis : Gimbal Pitch and Gimbal Yaw
• Right Axis push : Blaster
• L2 : Enable control

How to install

Install ds4drv for PlayStation4(R) Controller

$ sudo pip install ds4drv

Install Ubuntu WiFi Access Point

$sudo apt install hostapd

$sudo vi /etc/hostapd/hostapd.conf

interface=wlp61s0

driver=nl80211

ssid=RoboMasterS1Host

hw_mode=g

channel=7

wpa=2

wpa_passphrase=robomasters1

wpa_key_mgmt=WPA-PSK

rsn_pairwise=CCMP

$ git clone --recursive https://github.com/tatsuyai713/robomaster_s1_can_hack.git

Please make symbolic link from "ros" folder to your ROS workspace.

How to make controller board

under construction...