A modified dji-sdk/Onboard-SDK-ROS
This is a modified version of Onboard-SDK-ROS, which uses standard ros message types, providing limited function of dji-sdk.
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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)
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If you don't need mvBlueFOX synchronization, just set ENABLE_DJIFOX to false to eliminate compile errors about mvBlueFOX drivers.
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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.
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Configure A3 SDK as below
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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/
- 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