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Drone ROS Packages
Commit 024c86bf authored by Larkin Heintzman's avatar Larkin Heintzman
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CMakeLists.txt 0 → 120000
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/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
Onboard-SDK-ROS/.gitignore 0 → 100644
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./CMakeLists.txt
*.swn
*.swo
*.swp
*sdk.launch
build.sh
.idea/
*.git
!.gitignore
Onboard-SDK-ROS/CMakeLists.txt 0 → 100644
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Onboard-SDK-ROS/ReadMe.md 0 → 100644
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Onboard-SDK-ROS/cmake-modules/CMakeLists.txt 0 → 100644
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cmake_minimum_required(VERSION 2.8.3)
include(${CMAKE_CURRENT_SOURCE_DIR}/External_djiosdkcore.cmake)
Onboard-SDK-ROS/cmake-modules/External_djiosdkcore.cmake 0 → 100644
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# Download,compile and install djiosdk-core
include(ExternalProject)
# TODO VERSION may be changed
set(VERSION "3.8.1")
set(EXTERNAL_SOURCE_NAME Onboard-SDK)
set(EXTERNAL_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../${EXTERNAL_SOURCE_NAME}-${VERSION})
set(EXTERNAL_BUILD_PATH ${EXTERNAL_SOURCE_PATH}/../${EXTERNAL_SOURCE_NAME}-${VERSION}-build)
message(STATUS "${EXTERNAL_SOURCE_NAME} ${VERSION} path is ${EXTERNAL_SOURCE_PATH}")
# Set appropriate branch name
set(BRANCH_NAME ${VERSION})
ExternalProject_Add (
${EXTERNAL_SOURCE_NAME}
GIT_REPOSITORY https://github.com/dji-sdk/Onboard-SDK
GIT_TAG ${BRANCH_NAME}
SOURCE_DIR ${EXTERNAL_SOURCE_PATH}
BINARY_DIR ${EXTERNAL_BUILD_PATH}
CMAKE_COMMAND cd ${EXTERNAL_BUILD_PATH} && cmake ${EXTERNAL_SOURCE_PATH} -DADVANCED_SENSING=ON
BUILD_COMMAND cd ${EXTERNAL_BUILD_PATH} && make djiosdk-core
INSTALL_COMMAND cd ${EXTERNAL_BUILD_PATH} && sudo make install djiosdk-core
)
ExternalProject_Get_Property(${EXTERNAL_SOURCE_NAME} source_dir)
Onboard-SDK-ROS/cmake-modules/FindAdvancedSensing.cmake 0 → 100644
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# Once done this will define
#
# FOUND_ADVANCED_SENSING - system has advanced-sensing
if (NOT FOUND_ADVANCED_SENSING)
find_path(ADVANCED_SENSING_LIB
NAMES
libadvanced-sensing.a
PATHS
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
PATH_SUFFIXES
lib
)
if(NOT ADVANCED_SENSING_LIB STREQUAL ADVANCED_SENSING_LIB-NOTFOUND)
message(STATUS "Found Advanced Sensing in the system")
set(FOUND_ADVANCED_SENSING TRUE)
endif()
endif (NOT FOUND_ADVANCED_SENSING)
\ No newline at end of file
Onboard-SDK-ROS/cmake-modules/FindFFMPEG.cmake 0 → 100644
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#
# Find the native FFMPEG includes and library
#
# This module defines
# FFMPEG_INCLUDE_DIR, where to find avcodec.h, avformat.h ...
# FFMPEG_LIBRARIES, the libraries to link against to use FFMPEG.
# FFMPEG_FOUND, If false, do not try to use FFMPEG.
# also defined, but not for general use are
# FFMPEG_avformat_LIBRARY and FFMPEG_avcodec_LIBRARY, where to find the FFMPEG library.
# This is useful to do it this way so that we can always add more libraries
# if needed to FFMPEG_LIBRARIES if ffmpeg ever changes...
# if ffmpeg headers are all in one directory
FIND_PATH(FFMPEG_INCLUDE_DIR avformat.h
PATHS
$ENV{FFMPEG_DIR}/include
$ENV{OSGDIR}/include
$ENV{OSG_ROOT}/include
~/Library/Frameworks
/Library/Frameworks
/usr/local/include
/usr/include
/sw/include # Fink
/opt/local/include # DarwinPorts
/opt/csw/include # Blastwave
/opt/include
/usr/freeware/include
PATH_SUFFIXES ffmpeg
DOC "Location of FFMPEG Headers"
)
# if ffmpeg headers are seperated to each of libavformat, libavcodec etc..
IF( NOT FFMPEG_INCLUDE_DIR )
FIND_PATH(FFMPEG_INCLUDE_DIR libavformat/avformat.h
PATHS
$ENV{FFMPEG_DIR}/include
$ENV{OSGDIR}/include
$ENV{OSG_ROOT}/include
~/Library/Frameworks
/Library/Frameworks
/usr/local/include
/usr/include
/sw/include # Fink
/opt/local/include # DarwinPorts
/opt/csw/include # Blastwave
/opt/include
/usr/freeware/include
PATH_SUFFIXES ffmpeg
DOC "Location of FFMPEG Headers"
)
ENDIF( NOT FFMPEG_INCLUDE_DIR )
# we want the -I include line to use the parent directory of ffmpeg as
# ffmpeg uses relative includes such as <ffmpeg/avformat.h> or <libavcodec/avformat.h>
get_filename_component(FFMPEG_INCLUDE_DIR ${FFMPEG_INCLUDE_DIR} ABSOLUTE)
FIND_LIBRARY(FFMPEG_avformat_LIBRARY avformat
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_avcodec_LIBRARY avcodec
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_avutil_LIBRARY avutil
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_vorbis_LIBRARY vorbis
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_dc1394_LIBRARY dc1394_control
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_vorbisenc_LIBRARY vorbisenc
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_theora_LIBRARY theora
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_dts_LIBRARY dts
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_gsm_LIBRARY gsm
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_swscale_LIBRARY swscale
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_z_LIBRARY z
/usr/local/lib
/usr/lib
)
SET(FFMPEG_LIBRARIES)
IF(FFMPEG_INCLUDE_DIR)
IF(FFMPEG_avformat_LIBRARY)
IF(FFMPEG_avcodec_LIBRARY)
IF(FFMPEG_avutil_LIBRARY)
SET( FFMPEG_FOUND "YES" )
SET( FFMPEG_BASIC_LIBRARIES
${FFMPEG_avcodec_LIBRARY}
${FFMPEG_avformat_LIBRARY}
${FFMPEG_avutil_LIBRARY}
)
# swscale is always a part of newer ffmpeg distros
IF(FFMPEG_swscale_LIBRARY)
LIST(APPEND FFMPEG_BASIC_LIBRARIES ${FFMPEG_swscale_LIBRARY})
ENDIF(FFMPEG_swscale_LIBRARY)
SET(FFMPEG_LIBRARIES ${FFMPEG_BASIC_LIBRARIES})
IF(FFMPEG_vorbis_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_vorbis_LIBRARY})
ENDIF(FFMPEG_vorbis_LIBRARY)
IF(FFMPEG_dc1394_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_dc1394_LIBRARY})
ENDIF(FFMPEG_dc1394_LIBRARY)
IF(FFMPEG_vorbisenc_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_vorbisenc_LIBRARY})
ENDIF(FFMPEG_vorbisenc_LIBRARY)
IF(FFMPEG_theora_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_theora_LIBRARY})
ENDIF(FFMPEG_theora_LIBRARY)
IF(FFMPEG_dts_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_dts_LIBRARY})
ENDIF(FFMPEG_dts_LIBRARY)
IF(FFMPEG_gsm_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_gsm_LIBRARY})
ENDIF(FFMPEG_gsm_LIBRARY)
IF(FFMPEG_z_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_z_LIBRARY})
ENDIF(FFMPEG_z_LIBRARY)
SET(FFMPEG_LIBRARIES ${FFMPEG_LIBRARIES} CACHE INTERNAL "All presently found FFMPEG libraries.")
ENDIF(FFMPEG_avutil_LIBRARY)
ENDIF(FFMPEG_avcodec_LIBRARY)
ENDIF(FFMPEG_avformat_LIBRARY)
ENDIF(FFMPEG_INCLUDE_DIR)
MARK_AS_ADVANCED(
FFMPEG_INCLUDE_DIR
FFMPEG_avformat_LIBRARY
FFMPEG_avcodec_LIBRARY
FFMPEG_avutil_LIBRARY
FFMPEG_vorbis_LIBRARY
FFMPEG_dc1394_LIBRARY
FFMPEG_vorbisenc_LIBRARY
FFMPEG_theora_LIBRARY
FFMPEG_dts_LIBRARY
FFMPEG_gsm_LIBRARY
FFMPEG_swscale_LIBRARY
FFMPEG_z_LIBRARY
)
Onboard-SDK-ROS/cmake-modules/FindLibUSB.cmake 0 → 100644
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# source of this file
# https://github.com/OpenKinect/libfreenect/blob/master/cmake_modules/Findlibusb-1.0.cmake
# Once done this will define
#
# LIBUSB_1_FOUND - system has libusb
# LIBUSB_1_INCLUDE_DIRS - the libusb include directory
# LIBUSB_1_LIBRARIES - Link these to use libusb
# LIBUSB_1_DEFINITIONS - Compiler switches required for using libusb
#
if (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS)
# in cache already
set(LIBUSB_FOUND TRUE)
else (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS)
find_path(LIBUSB_1_INCLUDE_DIR
NAMES
libusb.h
PATHS
/usr/include
/usr/local/include
/opt/local/include
/sw/include
PATH_SUFFIXES
libusb-1.0
)
find_library(LIBUSB_1_LIBRARY
NAMES
usb-1.0 usb
PATHS
/usr/lib
/usr/local/lib
/opt/local/lib
/sw/lib
)
set(LIBUSB_1_INCLUDE_DIRS
${LIBUSB_1_INCLUDE_DIR}
)
set(LIBUSB_1_LIBRARIES
${LIBUSB_1_LIBRARY}
)
if (LIBUSB_1_INCLUDE_DIRS AND LIBUSB_1_LIBRARIES)
set(LIBUSB_1_FOUND TRUE)
endif (LIBUSB_1_INCLUDE_DIRS AND LIBUSB_1_LIBRARIES)
if (LIBUSB_1_FOUND)
if (NOT libusb_1_FIND_QUIETLY)
message(STATUS "Found libusb-1.0:")
message(STATUS " - Includes: ${LIBUSB_1_INCLUDE_DIRS}")
message(STATUS " - Libraries: ${LIBUSB_1_LIBRARIES}")
endif (NOT libusb_1_FIND_QUIETLY)
else (LIBUSB_1_FOUND)
if (libusb_1_FIND_REQUIRED)
message(FATAL_ERROR "Could not find libusb")
endif (libusb_1_FIND_REQUIRED)
endif (LIBUSB_1_FOUND)
# show the LIBUSB_1_INCLUDE_DIRS and LIBUSB_1_LIBRARIES variables only in the advanced view
mark_as_advanced(LIBUSB_1_INCLUDE_DIRS LIBUSB_1_LIBRARIES)
endif (LIBUSB_1_LIBRARIES AND LIBUSB_1_INCLUDE_DIRS)
Onboard-SDK-ROS/cmake-modules/FindOpenCVContribImgProc.cmake 0 → 100644
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# Once done this will define
#
# FOUND_OPENCV_CONTRIB_IMG_PROC - system has opencv contrib img proc module
# This boolean is currently not used in the system.
# It's nice to have and not required.
if (NOT FOUND_OPENCV_CONTRIB_IMG_PROC)
find_path(OPENCV_CONTRIB_IMG_PROC
NAMES
disparity_filter.hpp
PATHS
/usr/include/opencv2/ximgproc
/usr/local/include/opencv2/ximgproc
/opt/local/include/opencv2/ximgproc
/sw/include/opencv2/ximgproc
PATH_SUFFIXES
ximgproc
)
if(NOT OPENCV_CONTRIB_IMG_PROC STREQUAL OPENCV_CONTRIB_IMG_PROC-NOTFOUND)
message(STATUS "Found ximgproc module in OpenCV, will use it to filter disparity map in depth perception sample")
set(FOUND_OPENCV_CONTRIB_IMG_PROC TRUE)
add_definitions(-DUSE_OPEN_CV_CONTRIB)
endif()
endif (NOT FOUND_OPENCV_CONTRIB_IMG_PROC)
\ No newline at end of file
Onboard-SDK-ROS/cmake-modules/FindOpenCVViz.cmake 0 → 100644
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# Once done this will define
#
# FOUND_OPENCV_VIZ - system has advanced-sensing
if (NOT FOUND_OPENCV_VIZ)
find_path(OPENCV_VIZ
NAMES
viz3d.hpp
PATHS
/usr/include/opencv2/viz
/usr/local/include/opencv2/viz
/opt/local/include/opencv2/viz
/sw/include/opencv2/viz
PATH_SUFFIXES
opencv2
)
if(NOT OPENCV_VIZ STREQUAL OPENCV_VIZ-NOTFOUND)
message(STATUS "Found viz3d in OpenCV, will use it to visualize point cloud")
set(FOUND_OPENCV_VIZ TRUE)
else()
message(STATUS "Did not find viz3d in OpenCV")
endif()
endif (NOT FOUND_OPENCV_VIZ)
\ No newline at end of file
Onboard-SDK-ROS/cmake-modules/Finddjiosdk-core.cmake 0 → 100644
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# Once do# Once done this will be defined
#
# djiosdk-core_FOUND - system has djiosdk-core installed relative to the DJI OSDK Core
# djiosdk-core_INCLUDE_DIRS - the djiosdk-core include directory
# djiosdk-core_LIBRARY - djiosdk-core library
#
message(STATUS "Using Finddjiosdk-core.cmake find djiosdk-core")
set(INSTALL_LIB_DIR lib)
set(INSTALL_INCLUDE_DIR include)
set(DEF_INSTALL_CMAKE_DIR　lib/cmake)
find_path(djiosdk-core_INCLUDE_DIRS
NAMES
djiosdk
PATHS
${INSTALL_INCLUDE_DIR}
)
find_library(djiosdk-core_LIBRARY
NAMES
djiosdk-core
PATHS
${INSTALL_LIB_DIR}
)
set(djiosdk-core_INCLUDE_DIRS
${djiosdk-core_INCLUDE_DIRS}
CACHE STRING "" FORCE)
set(djiosdk-core_LIBRARY
${djiosdk-core_LIBRARY}
CACHE STRING "" FORCE)
if ( djiosdk-core_INCLUDE_DIRS AND djiosdk-core_LIBRARY)
set(djiosdk-core_FOUND TRUE)
endif ()
if (djiosdk-core_FOUND)
if (NOT libdjiosdk-core_FIND_QUIETLY)
message(STATUS "Found djiosdk-core:")
message(STATUS " - Includes: ${djiosdk-core_INCLUDE_DIRS}")
message(STATUS " - Libraries: ${djiosdk-core_LIBRARY}")
endif ()
else ()
if (djiosdk-core_FIND_REQUIRED)
message(FATAL_ERROR "Could not find djiosdk-core")
endif ()
endif ()
Onboard-SDK-ROS/include/dji_osdk_ros/bus_driver.h 0 → 100644
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/** @file mission_node.h
* @version 4.0
* @date June 2020
*
* @brief node of hotpoint 1.0/waypoint 1.0.
*
* @Copyright (c) 2020 DJI
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#ifndef MISSION_NODE_H
#define MISSION_NODE_H
// System includes
#include "unistd.h"
#include <iostream>
#include <string>
// DJI SDK includes
#include <dji_osdk_ros/MissionWpAction.h>
#include <dji_osdk_ros/MissionWpUpload.h>
#include <dji_osdk_ros/vehicle_wrapper.h>
#include <dji_osdk_ros/dji_vehicle_node.h>
// ROS includes
#include <ros/ros.h>
#include <sensor_msgs/NavSatFix.h>
//#include <dji_vehicle.hpp>
#define C_EARTH (double)6378137.0
#define C_PI (double)3.141592653589793
#define DEG2RAD(DEG) ((DEG) * ((C_PI) / (180.0)))
typedef struct ServiceAck
{
bool result;
int cmd_set;
int cmd_id;
unsigned int ack_data;
ServiceAck(bool res, int set, int id, unsigned int ack)
: result(res)
, cmd_set(set)
, cmd_id(id)
, ack_data(ack)
{
}
ServiceAck()
{
}
} ServiceAck;
bool runWaypointMission(int responseTimeout);
void setWaypointDefaults(DJI::OSDK::WayPointSettings* wp);
void setWaypointInitDefaults(dji_osdk_ros::MissionWaypointTask& waypointTask);
std::vector<DJI::OSDK::WayPointSettings> createWaypoints();
std::vector<DJI::OSDK::WayPointSettings> generateWaypointsPolygon(
DJI::OSDK::WayPointSettings* start_data, DJI::OSDK::float64_t increment,
int num_wp);
std::vector<DJI::OSDK::WayPointSettings> loadWaypoints();
void uploadWaypoints(std::vector<DJI::OSDK::WayPointSettings>& wp_list,
int responseTimeout,
dji_osdk_ros::MissionWaypointTask& waypointTask);
ServiceAck initWaypointMission(dji_osdk_ros::MissionWaypointTask& waypointTask);
ServiceAck missionAction(DJI::OSDK::DJI_MISSION_TYPE type,
DJI::OSDK::MISSION_ACTION action);
ServiceAck activate();
ServiceAck obtainCtrlAuthority();
bool takeoff();
bool land();
void gpsPosCallback(const sensor_msgs::NavSatFix::ConstPtr& msg);
//void waypointEventCallback(Vehicle *vehicle, RecvContainer recvFrame, UserData userData);
#endif // MISSION_NODE_H
Onboard-SDK-ROS/include/dji_osdk_ros/common_type.h 0 → 100644
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Onboard-SDK-ROS/include/dji_osdk_ros/dji_vehicle_node.h 0 → 100644
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This diff is collapsed.
Onboard-SDK-ROS/include/dji_osdk_ros/mission_node.h 0 → 100644
View file @ 024c86bf
/** @file mission_node.h
* @version 4.0
* @date June 2020
*
* @brief node of hotpoint 1.0/waypoint 1.0.
*
* @Copyright (c) 2020 DJI
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#ifndef MISSION_NODE_H
#define MISSION_NODE_H
// System includes
#include "unistd.h"
#include <iostream>
// DJI SDK includes
#include <dji_osdk_ros/MissionWpAction.h>
#include <dji_osdk_ros/MissionHpAction.h>
#include <dji_osdk_ros/MissionWpUpload.h>
#include <dji_osdk_ros/MissionHpUpload.h>
#include <dji_osdk_ros/MissionHpUpdateRadius.h>
#include <dji_osdk_ros/MissionHpUpdateYawRate.h>
#include <dji_osdk_ros/dji_vehicle_node.h>
// ROS includes
#include <ros/ros.h>
#include <sensor_msgs/NavSatFix.h>
#define C_EARTH (double)6378137.0
#define C_PI (double)3.141592653589793
#define DEG2RAD(DEG) ((DEG) * ((C_PI) / (180.0)))
typedef struct ServiceAck
{
bool result;
int cmd_set;
int cmd_id;
unsigned int ack_data;
ServiceAck(bool res, int set, int id, unsigned int ack)
: result(res)
, cmd_set(set)
, cmd_id(id)
, ack_data(ack)
{
}
ServiceAck()
{
}
} ServiceAck;
bool runWaypointMission(uint8_t numWaypoints, int responseTimeout);
void setWaypointDefaults(DJI::OSDK::WayPointSettings* wp);
void setWaypointInitDefaults(dji_osdk_ros::MissionWaypointTask& waypointTask);
std::vector<DJI::OSDK::WayPointSettings> createWaypoints(
int numWaypoints, DJI::OSDK::float64_t distanceIncrement,
DJI::OSDK::float32_t start_alt);
std::vector<DJI::OSDK::WayPointSettings> generateWaypointsPolygon(
DJI::OSDK::WayPointSettings* start_data, DJI::OSDK::float64_t increment,
int num_wp);
void uploadWaypoints(std::vector<DJI::OSDK::WayPointSettings>& wp_list,
int responseTimeout,
dji_osdk_ros::MissionWaypointTask& waypointTask);
bool runHotpointMission(int initialRadius, int responseTimeout);
void setHotpointInitDefault(dji_osdk_ros::MissionHotpointTask& hotpointTask);
ServiceAck initWaypointMission(dji_osdk_ros::MissionWaypointTask& waypointTask);
ServiceAck initHotpointMission(dji_osdk_ros::MissionHotpointTask& hotpointTask);
ServiceAck missionAction(DJI::OSDK::DJI_MISSION_TYPE type,
DJI::OSDK::MISSION_ACTION action);
ServiceAck activate();
ServiceAck obtainCtrlAuthority();
bool takeoff();
bool land();
ServiceAck hotpointUpdateRadius(float radius);
ServiceAck hotpointUpdateYawRate(float yawRate, int direction);
void gpsPosCallback(const sensor_msgs::NavSatFix::ConstPtr& msg);
#endif // MISSION_NODE_H
\ No newline at end of file
Onboard-SDK-ROS/include/dji_osdk_ros/mobile_device_node.h 0 → 100644
View file @ 024c86bf
/** @file mobile_device_node.h
* @version 4.0
* @date May 2020
*
* @brief sample node of mobile device.
*
* @Copyright (c) 2020 DJI
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#ifndef SRC_MOBILE_DEVICE_NODE_H
#define SRC_MOBILE_DEVICE_NODE_H
#include <ros/ros.h>
#include <dji_osdk_ros/common_type.h>
#include <dji_osdk_ros/dji_vehicle_node.h>
using namespace dji_osdk_ros;
#pragma pack(1)
typedef struct AckReturnToMobile{
uint16_t cmdID;
bool ackResult;
} AckReturnToMobile;
#pragma pack()
/*! service */
ros::ServiceClient send_to_mobile_data_client;
ros::ServiceClient flight_control_client;
ros::ServiceClient gimbal_control_client;
ros::ServiceClient camera_start_shoot_single_photo_client;
ros::ServiceClient camera_record_video_action_client;
ros::ServiceClient obtain_ctrl_authority_client;
/*! Subscriber */
ros::Subscriber fromMobileDataSub;
/*! function */
static void DisplayMainMenu(void);
bool sendToMobile(AckReturnToMobile returnAckMobile);
void fromMobileDataSubCallback(const dji_osdk_ros::MobileData::ConstPtr& fromMobileData);
/*! action */
bool takeoff();
bool land();
bool gohome();
bool gohomeAndConfirmLanding();
bool moveByPosOffset(MoveOffset&& move_offset);
bool localPositionCtrl();
bool resetGimbal();
bool Rotategimbal();
bool takePicture();
bool recordVideo();
bool obtainJoystickControlAuthority();
#endif //SRC_MOBILE_DEVICE_NODE_H
Onboard-SDK-ROS/include/dji_osdk_ros/payload_device_node.h 0 → 100644
View file @ 024c86bf
/** @file payload_device_node.h
* @version 4.0
* @date May 2020
*
* @brief sample node of payload device.
*
* @Copyright (c) 2020 DJI
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#ifndef SRC_PAYLOAD_DEVICE_NODE_H
#define SRC_PAYLOAD_DEVICE_NODE_H
//include
#include <ros/ros.h>
#include <dji_osdk_ros/dji_vehicle_node.h>
using namespace dji_osdk_ros;
//const
#define TEST_DATA_0 0x32
#define TEST_DATA_1 0x33
//service
ros::ServiceClient send_to_payload_data_client;
ros::Subscriber fromPayloadData;
//function
bool sendToPayload(dji_osdk_ros::SendPayloadData sendPayloadData);
void fromPayloadDataSubCallback(const dji_osdk_ros::PayloadData::ConstPtr& fromPayloadData);
#endif //SRC_PAYLOAD_DEVICE_NODE_H
Onboard-SDK-ROS/include/dji_osdk_ros/stereo_utility/camera_param.hpp 0 → 100755
View file @ 024c86bf
#ifndef ONBOARDSDK_CAMERA_H
#define ONBOARDSDK_CAMERA_H
#include <opencv2/opencv.hpp>
#include <memory>
#include "config.hpp"
namespace M210_STEREO
{
class CameraParam
{
public:
enum POSITION
{
FRONT_LEFT = 0,
FRONT_RIGHT = 1,
DOWN_LEFT = 2,
DOWN_RIGHT = 3
};
typedef std::shared_ptr<CameraParam> Ptr;
CameraParam(uint8_t position);
~CameraParam();
public:
static CameraParam::Ptr createCameraParam(uint8_t position);
inline cv::Mat getIntrinsic() { return this->param_intrinsic_; }
inline cv::Mat getDistortion() { return this->param_distortion_; }
inline double getPrincipalX() { return this->param_intrinsic_.at<double>(0, 2); }
inline double getPrincipalY() { return this->param_intrinsic_.at<double>(1, 2); }
inline double getFocalX() { return this->param_intrinsic_.at<double>(0, 0); }
inline double getFocalY() { return this->param_intrinsic_.at<double>(1, 1); }
protected:
bool initIntrinsicParam();
bool initDistortionParam();
protected:
cv::Mat param_intrinsic_;
cv::Mat param_distortion_;
float depth_scale_;
uint8_t location_;
};
} // namespace M210_STEREO
#endif //ONBOARDSDK_CAMERA_H
Onboard-SDK-ROS/include/dji_osdk_ros/stereo_utility/config.hpp 0 → 100755
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#ifndef ONBOARDSDK_CONFIG_H
#define ONBOARDSDK_CONFIG_H
#include <opencv2/core/core.hpp>
#include <iostream>
namespace M210_STEREO
{
class Config
{
private:
Config();
public:
~Config();
static Config& instance();
static Config* instancePtr();
static void setParamFile(const std::string& file_name);
template <typename T>
static T get(const std::string& key)
{
T t;
Config::instancePtr()->file_[key] >> t;
return t;
}
private:
static Config* single_instance_;
cv::FileStorage file_;
};
} // namespace M210_STEREO
#endif //ONBOARDSDK_CONFIG_H
Onboard-SDK-ROS/include/dji_osdk_ros/stereo_utility/frame.hpp 0 → 100755
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#ifndef ONBOARDSDK_FRAME_H
#define ONBOARDSDK_FRAME_H
#include <memory>
#include <opencv2/opencv.hpp>
namespace M210_STEREO
{
static const int VGA_HEIGHT = 480;
static const int VGA_WIDTH = 640;
struct Frame
{
typedef std::shared_ptr<Frame> Ptr;
Frame(uint64_t id, uint32_t time_stamp, cv::Mat img)
: id(id)
, time_stamp(time_stamp)
, raw_image(img) {};
static Frame::Ptr createFrame(uint64_t id, uint32_t time_stamp, cv::Mat img)
{
return std::make_shared<Frame>(id, time_stamp, img);
}
inline cv::Mat getImg() { return this->raw_image; }
uint64_t id;
uint32_t time_stamp;
cv::Mat raw_image;
};
} // namespace M210_STEREO
#endif //ONBOARDSDK_FRAME_H
Onboard-SDK-ROS/include/dji_osdk_ros/stereo_utility/m300_stereo_param_tool.hpp 0 → 100755
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#ifndef ONBOARDSDK_M300_STEREO_PARAM_TOOL_H
#define ONBOARDSDK_M300_STEREO_PARAM_TOOL_H
#include "dji_vehicle.hpp"
#include "dji_perception.hpp"
#include "dji_osdk_ros/stereo_utility/config.hpp"
using namespace M210_STEREO;
using namespace DJI;
using namespace DJI::OSDK;
class M300StereoParamTool
{
public:
M300StereoParamTool(Vehicle *vehicle);
~M300StereoParamTool();
public:
typedef struct DoubleCamParamType {
Perception::DirectionType direction;
double leftIntrinsics[9];
double rightIntrinsics[9];
double rotaionLeftInRight[9];
double translationLeftInRight[3];
} DoubleCamParamType;
/*!*/
Perception::CamParamType getM300stereoParams(Perception::DirectionType direction);
bool createStereoParamsYamlFile(std::string fileName,
Perception::CamParamType param);
void setParamFileForM300(std::string fileName);
private:
static void PerceptionCamParamCB(Perception::CamParamPacketType pack,
void *userData);
Vehicle *vehicle;
};
#endif //ONBOARDSDK_M300_STEREO_PARAM_TOOL_H
Onboard-SDK-ROS/include/dji_osdk_ros/stereo_utility/point_cloud_viewer.hpp 0 → 100755
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#ifndef ONBOARDSDK_POINT_CLOUD_VIEWER_HPP
#define ONBOARDSDK_POINT_CLOUD_VIEWER_HPP
#include <opencv2/opencv.hpp>
#include <opencv2/viz/viz3d.hpp>
#include <opencv2/viz/vizcore.hpp>
namespace M210_STEREO
{
class PointCloudViewer
{
public:
~PointCloudViewer();
static void showPointCloud(cv::viz::WCloud &cloud);
static inline void spinOnce() { PointCloudViewer::instancePtr()->viewer_.spinOnce(); };
static PointCloudViewer& instance();
static PointCloudViewer* instancePtr();
private:
PointCloudViewer(const std::string &name);
private:
static PointCloudViewer* single_instance_;
cv::viz::Viz3d viewer_;
cv::Point3d view_pos_;
cv::Point3d view_point_;
cv::Point3d view_y_dir_;
cv::viz::WCoordinateSystem world_coordinate_;
};
} // namespace M210_STEREO
#endif //ONBOARDSDK_POINT_CLOUD_VIEWER_HPP
Onboard-SDK-ROS/include/dji_osdk_ros/stereo_utility/stereo_frame.hpp 0 → 100755
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#ifndef ONBOARDSDK_STEREO_FRAME_H
#define ONBOARDSDK_STEREO_FRAME_H
#include <memory>
#include <opencv2/opencv.hpp>
#include "frame.hpp"
#include "camera_param.hpp"
#include "dji_ack.hpp"
#include "dji_log.hpp"
#include "point_cloud_viewer.hpp"
#ifdef USE_GPU
#include <opencv2/cudastereo.hpp>
#include <opencv2/cudawarping.hpp>
#endif
#ifdef USE_OPEN_CV_CONTRIB
#include <opencv2/ximgproc/disparity_filter.hpp>
#endif
#include "sensor_msgs/Image.h"
#include "sensor_msgs/point_cloud2_iterator.h"
#include "visualization_msgs/MarkerArray.h"
#include "ros/ros.h"
#ifdef USE_DARKNET_ROS
#include "darknet_ros_msgs/BoundingBoxes.h"
#endif
namespace M210_STEREO
{
class StereoFrame
{
public:
typedef std::shared_ptr<StereoFrame> Ptr;
StereoFrame(CameraParam::Ptr left_cam, CameraParam::Ptr right_cam,
int num_disp = 64, int block_size = 13);
~StereoFrame();
public:
static StereoFrame::Ptr createStereoFrame(CameraParam::Ptr left_cam,
CameraParam::Ptr right_cam);
void readStereoImgs(const DJI::OSDK::ACK::StereoVGAImgData &imgs);
void rectifyImgs();
void computeDisparityMap();
void filterDisparityMap();
void unprojectPtCloud();
void unprojectROSPtCloud();
#ifdef USE_DARKNET_ROS
void calcObjectInfo(const darknet_ros_msgs::BoundingBoxesConstPtr &b_box, visualization_msgs::MarkerArray &marker_array);
#endif
inline cv::Mat getRectLeftImg() { return this->rectified_img_left_; }
inline cv::Mat getRectRightImg() { return this->rectified_img_right_; }
inline cv::Mat getDisparityMap() { return this->disparity_map_8u_; }
inline cv::viz::WCloud getPtCloud() { return this->pt_cloud_; }
inline sensor_msgs::PointCloud2 getROSPtCloud() { return this->ros_pt_cloud_; }
#ifdef USE_OPEN_CV_CONTRIB
inline cv::Mat getFilteredDispMap() { return this->filtered_disparity_map_8u_; }
#endif
protected:
bool initStereoParam();
protected:
//! Image frames
Frame::Ptr frame_left_ptr_;
Frame::Ptr frame_right_ptr_;
//! Camera related
CameraParam::Ptr camera_left_ptr_;
CameraParam::Ptr camera_right_ptr_;
//! Stereo camera parameters
cv::Mat param_rect_left_;
cv::Mat param_rect_right_;
cv::Mat param_proj_left_;
cv::Mat param_proj_right_;
cv::Mat rectified_mapping_[2][2];
//! Rectified images
cv::Mat rectified_img_left_;
cv::Mat rectified_img_right_;
//! Block matching related
int num_disp_;
int block_size_;
cv::Ptr<cv::StereoBM> block_matcher_;
cv::Mat disparity_map_8u_;
cv::Mat raw_disparity_map_;
//! Point Cloud related
double principal_x_;
double principal_y_;
double fx_;
double fy_;
double baseline_x_fx_;
// due to rectification, the image boarder are blank
// we cut them out
const int border_size_;
const int trunc_img_width_end_;
const int trunc_img_height_end_;
std::vector<uint8_t> color_buffer_;
cv::Mat color_mat_;
cv::Mat_<cv::Vec3f> mat_vec3_pt_;
cv::viz::WCloud pt_cloud_;
#ifdef USE_GPU
cv::cuda::GpuMat cuda_rectified_mapping_[2][2];
cv::cuda::GpuMat cuda_rect_src;
cv::cuda::GpuMat cuda_rectified_img_left_;
cv::cuda::GpuMat cuda_rectified_img_right_;
cv::cuda::GpuMat cuda_disparity_map_8u;
#endif
#ifdef USE_OPEN_CV_CONTRIB
cv::Ptr<cv::ximgproc::DisparityWLSFilter> wls_filter_;
cv::Ptr<cv::StereoMatcher> right_matcher_;
cv::Mat raw_right_disparity_map_;
cv::Mat filtered_disparity_map_;
cv::Mat filtered_disparity_map_8u_;
#endif
//! ROS related
sensor_msgs::PointCloud2 ros_pt_cloud_;
sensor_msgs::PointCloud2Modifier *cloud_modifier_;
sensor_msgs::PointCloud2Iterator<float> *x_it_;
sensor_msgs::PointCloud2Iterator<float> *y_it_;
sensor_msgs::PointCloud2Iterator<float> *z_it_;
sensor_msgs::PointCloud2Iterator<uint8_t> *r_it_;
sensor_msgs::PointCloud2Iterator<uint8_t> *g_it_;
sensor_msgs::PointCloud2Iterator<uint8_t> *b_it_;
visualization_msgs::Marker marker_template_;
};
} // namespace M210_STEREO
#endif //ONBOARDSDK_STEREO_FRAME_H
Onboard-SDK-ROS/include/dji_osdk_ros/stereo_vision_depth_perception_node.h 0 → 100644
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/** @file stereo_vision_depth_perception.h
* @version 4.0
* @date May 2020
*
* @brief sample node of stereo vision depth perception.
*
* @Copyright (c) 2020 DJI
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#ifndef DEMO_ADVANCED_SENSING_DEPTH_PERCEPTION_H
#define DEMO_ADVANCED_SENSING_DEPTH_PERCEPTION_H
// System includes
#include "chrono"
#include <signal.h>
// DJI SDK includes
#include <dji_osdk_ros/common_type.h>
#include <dji_osdk_ros/StereoVGASubscription.h>
#include <dji_osdk_ros/GetDroneType.h>
#include <dji_osdk_ros/GetM300StereoParams.h>
// ROS includes
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
// Utility includes
#include "dji_osdk_ros/stereo_utility/stereo_frame.hpp"
typedef std::chrono::time_point<std::chrono::high_resolution_clock> timer;
typedef std::chrono::duration<float> duration;
void displayStereoRectImgCallback(const sensor_msgs::ImageConstPtr &img_left,
const sensor_msgs::ImageConstPtr &img_right,
M210_STEREO::StereoFrame::Ptr stereo_frame_ptr);
void displayStereoDisparityCallback(const sensor_msgs::ImageConstPtr &img_left,
const sensor_msgs::ImageConstPtr &img_right,
M210_STEREO::StereoFrame::Ptr stereo_frame_ptr);
void displayStereoFilteredDisparityCallback(const sensor_msgs::ImageConstPtr &img_left,
const sensor_msgs::ImageConstPtr &img_right,
M210_STEREO::StereoFrame::Ptr stereo_frame_ptr);
void displayStereoPtCloudCallback(const sensor_msgs::ImageConstPtr &img_left,
const sensor_msgs::ImageConstPtr &img_right,
M210_STEREO::StereoFrame::Ptr stereo_frame_ptr);
void visualizeRectImgHelper(M210_STEREO::StereoFrame::Ptr stereo_frame_ptr);
void visualizeDisparityMapHelper(M210_STEREO::StereoFrame::Ptr stereo_frame_ptr);
bool imgSubscriptionHelper(dji_osdk_ros::StereoVGASubscription &service);
void shutDownHandler(int s);
#endif //DEMO_ADVANCED_SENSING_DEPTH_PERCEPTION_H
Onboard-SDK-ROS/include/dji_osdk_ros/vehicle_wrapper.h 0 → 100644
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This diff is collapsed.
Onboard-SDK-ROS/include/dji_osdk_ros/waypointV2_node.h 0 → 100644
View file @ 024c86bf
/** @file mission_node.cpp
* @version 4.0
* @date July 2020
*
* @brief node of waypoint V2.0.
*
* @Copyright (c) 2020 DJI
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#ifndef WAYPOINTV2_NODE_H
#define WAYPOINTV2_NODE_H
#include <dji_osdk_ros/dji_vehicle_node.h>
// ROS includes
#include <ros/ros.h>
dji_osdk_ros::GetDroneType drone_type;
dji_osdk_ros::InitWaypointV2Setting initWaypointV2Setting_;
dji_osdk_ros::UploadWaypointV2Mission uploadWaypointV2Mission_;
dji_osdk_ros::UploadWaypointV2Action uploadWaypointV2Action_;
dji_osdk_ros::DownloadWaypointV2Mission downloadWaypointV2Mission_;
dji_osdk_ros::StartWaypointV2Mission startWaypointV2Mission_;
dji_osdk_ros::StopWaypointV2Mission stopWaypointV2Mission_;
dji_osdk_ros::PauseWaypointV2Mission pauseWaypointV2Mission_;
dji_osdk_ros::ResumeWaypointV2Mission resumeWaypointV2Mission_;
dji_osdk_ros::SetGlobalCruisespeed setGlobalCruisespeed_;
dji_osdk_ros::GetGlobalCruisespeed getGlobalCruisespeed_;
dji_osdk_ros::GenerateWaypointV2Action generateWaypointV2Action_;
dji_osdk_ros::SubscribeWaypointV2Event subscribeWaypointV2Event_;
dji_osdk_ros::SubscribeWaypointV2State subscribeWaypointV2State_;
ros::ServiceClient waypointV2_init_setting_client;
ros::ServiceClient waypointV2_upload_mission_client;
ros::ServiceClient waypointV2_upload_action_client;
ros::ServiceClient waypointV2_download_mission_client;
ros::ServiceClient waypointV2_start_mission_client;
ros::ServiceClient waypointV2_stop_mission_client;
ros::ServiceClient waypointV2_pause_mission_client;
ros::ServiceClient waypointV2_resume_mission_client;
ros::ServiceClient waypointV2_set_global_cruisespeed_client;
ros::ServiceClient waypointV2_get_global_cruisespeed_client;
ros::ServiceClient waypointV2_generate_actions_client;
ros::ServiceClient waypointV2_mission_event_push_client;
ros::ServiceClient waypointV2_mission_state_push_client;
ros::Subscriber waypointV2EventSub;
ros::Subscriber waypointV2StateSub;
ros::ServiceClient get_drone_type_client;
sensor_msgs::NavSatFix gps_position_;
dji_osdk_ros::WaypointV2MissionEventPush waypoint_V2_mission_event_push_;
dji_osdk_ros::WaypointV2MissionStatePush waypoint_V2_mission_state_push_;
void gpsPositionSubCallback(const sensor_msgs::NavSatFix::ConstPtr& gpsPosition);
void waypointV2MissionStateSubCallback(const dji_osdk_ros::WaypointV2MissionStatePush::ConstPtr& waypointV2MissionStatePush);
void waypointV2MissionEventSubCallback(const dji_osdk_ros::WaypointV2MissionEventPush::ConstPtr& waypointV2MissionEventPush);
void setWaypointV2Defaults(dji_osdk_ros::WaypointV2& waypointV2);
std::vector<dji_osdk_ros::WaypointV2> generatePolygonWaypoints(const ros::NodeHandle &nh, float32_t radius, uint16_t polygonNum);
bool initWaypointV2Setting(ros::NodeHandle &nh);
bool uploadWaypointV2Mission(ros::NodeHandle &nh);
bool uploadWaypointV2Action(ros::NodeHandle &nh);
bool downloadWaypointV2Mission(ros::NodeHandle &nh, std::vector<dji_osdk_ros::WaypointV2> &mission);
bool startWaypointV2Mission(ros::NodeHandle &nh);
bool stopWaypointV2Mission(ros::NodeHandle &nh);
bool pauseWaypointV2Mission(ros::NodeHandle &nh);
bool resumeWaypointV2Mission(ros::NodeHandle &nh);
bool generateWaypointV2Actions(ros::NodeHandle &nh, uint16_t actionNum);
bool setGlobalCruiseSpeed(ros::NodeHandle &nh, float32_t cruiseSpeed);
float32_t getGlobalCruiseSpeed(ros::NodeHandle &nh);
bool runWaypointV2Mission(ros::NodeHandle &nh);
#endif // WAYPOINTV2_NODE_H
\ No newline at end of file
Onboard-SDK-ROS/include/dji_osdk_ros_obsoleted/dji_linux_environment.hpp 0 → 100644
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/*! @file dji_linux_environment.hpp
* @version 3.3
* @date Jun 05 2017
*
* @brief
* Helper functions to handle user configuration parsing
*
* @Copyright (c) 2017 DJI
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#ifndef ONBOARDSDK_DJI_ENVIRONMENT_H
#define ONBOARDSDK_DJI_ENVIRONMENT_H
#include <fstream>
#include <iostream>
#include <ostream>
#include <stdexcept>
#include <unistd.h>
class DJI_Environment
{
public:
DJI_Environment(const std::string& config_file_path);
~DJI_Environment();
static std::string findFile(std::string file);
int getApp_id() const;
const std::string& getEnc_key() const;
const std::string& getDevice() const;
unsigned int getBaudrate() const;
unsigned int getACMDefaultBaudrate() const;
bool getConfigResult() const;
bool parse(std::string config_file_path);
const std::string& getDeviceAcm() const;
void setDeviceAcm(std::string dev_path);
void setSampleCase(std::string sample_case);
std::string getSampleCase();
private:
std::string config_file_path;
int app_id;
std::string enc_key;
std::string device;
unsigned int baudrate;
bool config_read_result;
std::string device_acm;
std::string sample_case;
const static unsigned int default_acm_baudrate = 921600;
};
#endif // ONBOARDSDK_DJI_ENVIRONMENT_H
Onboard-SDK-ROS/include/dji_osdk_ros_obsoleted/dji_linux_helpers.hpp 0 → 100644
View file @ 024c86bf
/*! @file dji_linux_helpers.hpp
* @version 3.3
* @date Jun 05 2017
*
* @brief
* Helper functions to handle user configuration parsing, version query and
* activation.
*
* @Copyright (c) 2017 DJI
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#ifndef ONBOARDSDK_HELPERS_H
#define ONBOARDSDK_HELPERS_H
#include <iostream>
#include <fstream>
#include <dji_linux_environment.hpp>
#include <dji_vehicle.hpp>
#include <dji_platform.hpp>
#include <dji_setup_helpers.hpp>
using namespace std;
class LinuxSetup : private Setup {
public:
LinuxSetup(int argc, char **argv, bool enableAdvancedSensing = false);
~LinuxSetup();
public:
void setupEnvironment(int argc, char** argv);
bool initVehicle();
public:
DJI_Environment *getEnvironment() {
return this->environment;
}
Vehicle::ActivateData *getActivateData() {
return &this->activateData;
}
Vehicle *getVehicle() {
return vehicle;
}
private:
uint32_t functionTimeout;
Vehicle::ActivateData activateData;
DJI_Environment* environment;
};
#endif // ONBOARDSDK_HELPERS_H
Onboard-SDK-ROS/include/dji_osdk_ros_obsoleted/dji_sdk/dji_sdk.h 0 → 100644
View file @ 024c86bf
/** @file dji_sdk.h
* @version 3.7
* @date July, 2018
*
* @brief
* Definitions and Enums for client code to use dji_sdk ros modules
*
* @copyright 2018 DJI. All rights reserved.
*
*/
#ifndef PROJECT_DJI_SDK_H_H
#define PROJECT_DJI_SDK_H_H
#include <dji_control.hpp>
#include <dji_status.hpp>
#include <dji_version.hpp>
namespace DJISDK {
/*!
* This enum is used with service query_drone_version to
* check if the drone is M100 or not. We only support
* M100 with this particular FW version.
*/
enum DroneFirmwareVersion
{
M100_31 = DJI::OSDK::Version::M100_31,
};
typedef enum AircraftVersion
{
UNKNOWN,
M100,
M600,
A3,
N3,
M210
} AircraftVersion;
enum FlightControlFlag
{
HORIZONTAL_ANGLE = DJI::OSDK::Control::HORIZONTAL_ANGLE,
HORIZONTAL_VELOCITY = DJI::OSDK::Control::HORIZONTAL_VELOCITY,
HORIZONTAL_POSITION = DJI::OSDK::Control::HORIZONTAL_POSITION,
// Horizontal angular rate is supported only by A3/N3 based platform
// and is NOT supported by M100
HORIZONTAL_ANGULAR_RATE = DJI::OSDK::Control::HORIZONTAL_ANGULAR_RATE,
VERTICAL_VELOCITY = DJI::OSDK::Control::VERTICAL_VELOCITY,
VERTICAL_POSITION = DJI::OSDK::Control::VERTICAL_POSITION,
VERTICAL_THRUST = DJI::OSDK::Control::VERTICAL_THRUST,
YAW_ANGLE = DJI::OSDK::Control::YAW_ANGLE,
YAW_RATE = DJI::OSDK::Control::YAW_RATE,
HORIZONTAL_GROUND = DJI::OSDK::Control::HORIZONTAL_GROUND,
HORIZONTAL_BODY = DJI::OSDK::Control::HORIZONTAL_BODY,
STABLE_DISABLE = DJI::OSDK::Control::STABLE_DISABLE,
STABLE_ENABLE = DJI::OSDK::Control::STABLE_ENABLE
};
/*!
* Refer to demo_flight_control.cpp in dji_sdk_demo for how to
* use the display mode.
*/
enum DisplayMode
{
/*! This mode requires the user to manually
* control the aircraft to remain stable in air. */
MODE_MANUAL_CTRL=DJI::OSDK::VehicleStatus::DisplayMode::MODE_MANUAL_CTRL,
/*! In this mode, the aircraft can keep
* attitude stabilization and only use the
* barometer for positioning to control the altitude. <br>
* The aircraft can not autonomously locate and hover stably.*/
MODE_ATTITUDE=DJI::OSDK::VehicleStatus::DisplayMode::MODE_ATTITUDE,
/*! The aircraft is in normal GPS mode. <br>
* In normal GPS mode, the aircraft can
* autonomously locate and hover stably. <br>
* The sensitivity of the aircraft to the
* command response is moderate.
*/
MODE_P_GPS=DJI::OSDK::VehicleStatus::DisplayMode::MODE_P_GPS,
/*! In hotpoint mode */
MODE_HOTPOINT_MODE=DJI::OSDK::VehicleStatus::DisplayMode::MODE_HOTPOINT_MODE,
/*! In this mode, user can push the throttle
* stick to complete stable take-off. */
MODE_ASSISTED_TAKEOFF=DJI::OSDK::VehicleStatus::DisplayMode::MODE_ASSISTED_TAKEOFF,
/*! In this mode, the aircraft will autonomously
* start motor, ascend and finally hover. */
MODE_AUTO_TAKEOFF=DJI::OSDK::VehicleStatus::DisplayMode::MODE_AUTO_TAKEOFF,
/*! In this mode, the aircraft can land autonomously. */
MODE_AUTO_LANDING=DJI::OSDK::VehicleStatus::DisplayMode::MODE_AUTO_LANDING,
/*! In this mode, the aircraft can antonomously return the
* last recorded Home Point. <br>
* There are three types of this mode: Smart RTH(Return-to-Home),
* Low Batterry RTH, and Failsafe RTTH. */
MODE_NAVI_GO_HOME=DJI::OSDK::VehicleStatus::DisplayMode::MODE_NAVI_GO_HOME,
/*! In this mode, the aircraft is controled by SDK API. <br>
* User can directly define the control mode of horizon
* and vertical directions and send control datas to aircraft. */
MODE_NAVI_SDK_CTRL=DJI::OSDK::VehicleStatus::DisplayMode::MODE_NAVI_SDK_CTRL,
/*! drone is forced to land, might due to low battery */
MODE_FORCE_AUTO_LANDING=DJI::OSDK::VehicleStatus::DisplayMode::MODE_FORCE_AUTO_LANDING,
/*! drone will search for the last position where the rc is not lost */
MODE_SEARCH_MODE =DJI::OSDK::VehicleStatus::DisplayMode::MODE_SEARCH_MODE,
/*! Mode for motor starting. <br>
* Every time user unlock the motor, this will be the first mode. */
MODE_ENGINE_START = DJI::OSDK::VehicleStatus::DisplayMode::MODE_ENGINE_START
};
/*!
* Note that the flight status for M100 and A3/N3 are different.
*
* Refer to demo_flight_control.cpp in dji_sdk_demo for how to
* use the flight status.
*
*/
enum FlightStatus
{
STATUS_STOPPED = DJI::OSDK::VehicleStatus::FlightStatus::STOPED,
STATUS_ON_GROUND = DJI::OSDK::VehicleStatus::FlightStatus::ON_GROUND,
STATUS_IN_AIR = DJI::OSDK::VehicleStatus::FlightStatus::IN_AIR
};
enum M100FlightStatus
{
M100_STATUS_ON_GROUND = DJI::OSDK::VehicleStatus::M100FlightStatus::ON_GROUND_STANDBY,
M100_STATUS_TAKINGOFF = DJI::OSDK::VehicleStatus::M100FlightStatus::TAKEOFF,
M100_STATUS_IN_AIR = DJI::OSDK::VehicleStatus::M100FlightStatus::IN_AIR_STANDBY,
M100_STATUS_LANDING = DJI::OSDK::VehicleStatus::M100FlightStatus::LANDING,
M100_STATUS_FINISHED_LANDING = DJI::OSDK::VehicleStatus::M100FlightStatus::FINISHING_LANDING
};
}
#endif //PROJECT_DJI_SDK_H_H
Onboard-SDK-ROS/include/osdkhal_linux.h 0 → 100755
View file @ 024c86bf
/**
********************************************************************
* @file osdkhal_linux.h
* @version V2.0.0
* @date 2019/07/01
* @brief This is the header file for "osdkhal_linux.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2018-2019 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef OSDK_HAL_LINUX_H
#define OSDK_HAL_LINUX_H
/* Includes ------------------------------------------------------------------*/
#include "stdint.h"
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include <string.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include "osdk_typedef.h"
#include "osdk_platform.h"
#ifdef ADVANCED_SENSING
#include <libusb-1.0/libusb.h>
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
E_OsdkStat OsdkLinux_UartSendData(const T_HalObj *obj, const uint8_t *pBuf, uint32_t bufLen);
E_OsdkStat OsdkLinux_UartReadData(const T_HalObj *obj, uint8_t *pBuf, uint32_t *bufLen);
E_OsdkStat OsdkLinux_UartInit(const char *port, const int baudrate, T_HalObj *obj);
E_OsdkStat OsdkLinux_UartClose(T_HalObj *obj);
#ifdef ADVANCED_SENSING
E_OsdkStat OsdkLinux_USBBulkInit(uint16_t pid, uint16_t vid, uint16_t num, uint16_t epIn,
uint16_t epOut, T_HalObj *obj);
E_OsdkStat OsdkLinux_USBBulkSendData(const T_HalObj *obj, const uint8_t *pBuf,
uint32_t bufLen);
E_OsdkStat OsdkLinux_USBBulkReadData(const T_HalObj *obj, uint8_t *pBuf,
uint32_t *bufLen);
E_OsdkStat OsdkLinux_USBBulkClose(T_HalObj *obj);
#endif
#ifdef __cplusplus
}
#endif
#endif // OSDK_HAL_LINUX_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
Onboard-SDK-ROS/include/osdkosal_linux.h 0 → 100644
View file @ 024c86bf
/**
********************************************************************
* @file osdkosal_linux.h
* @version V2.0.0
* @date 2019/07/01
* @brief This is the header file for "osdk_osal.c", defining the structure
*and
* (exported) function prototypes.
*
* @copyright (c) 2018-2019 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef OSDK_OSAL_LINUX_H
#define OSDK_OSAL_LINUX_H
/* Includes ------------------------------------------------------------------*/
#include <pthread.h>
#include <semaphore.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/time.h>
#include <unistd.h>
#include "osdk_typedef.h"
#include "osdk_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
// TODO:adapter for different system task interface void*
E_OsdkStat OsdkLinux_TaskCreate(T_OsdkTaskHandle *task, void *(*taskFunc)(void *),
uint32_t stackSize, void *arg);
E_OsdkStat OsdkLinux_TaskDestroy(T_OsdkTaskHandle task);
E_OsdkStat OsdkLinux_TaskSleepMs(uint32_t time_ms);
E_OsdkStat OsdkLinux_MutexCreate(T_OsdkMutexHandle *mutex);
E_OsdkStat OsdkLinux_MutexDestroy(T_OsdkMutexHandle mutex);
E_OsdkStat OsdkLinux_MutexLock(T_OsdkMutexHandle mutex);
E_OsdkStat OsdkLinux_MutexUnlock(T_OsdkMutexHandle mutex);
E_OsdkStat OsdkLinux_SemaphoreCreate(T_OsdkSemHandle *semaphore,
uint32_t initValue);
E_OsdkStat OsdkLinux_SemaphoreDestroy(T_OsdkSemHandle semaphore);
E_OsdkStat OsdkLinux_SemaphoreWait(T_OsdkSemHandle semaphore);
E_OsdkStat OsdkLinux_SemaphoreTimedWait(T_OsdkSemHandle semaphore,
uint32_t waitTime);
E_OsdkStat OsdkLinux_SemaphorePost(T_OsdkSemHandle semaphore);
E_OsdkStat OsdkLinux_GetTimeMs(uint32_t *ms);
#ifdef OS_DEBUG
E_OsdkStat OsdkLinux_GetTimeUs(uint64_t *us);
#endif
void *OsdkLinux_Malloc(uint32_t size);
void OsdkLinux_Free(void *ptr);
#ifdef __cplusplus
}
#endif
#endif // OSDK_OSAL_LINUX_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
Onboard-SDK-ROS/launch/dji_sdk_node.launch 0 → 100644
View file @ 024c86bf
<launch>
<node pkg="dji_osdk_ros" type="dji_sdk_node" name="dji_sdk" output="screen">
<!-- node parameters -->
<param name="acm_name" type="string" value="/dev/ttyACM0"/>
<param name="serial_name" type="string" value="/dev/ttyUSB0"/>
<param name="baud_rate" type="int" value="921600"/>
<param name="app_id" type="int" value= "12345"/>
<param name="app_version" type="int" value="1"/>
<param name="align_time" type="bool" value="false"/>
<param name="enc_key" type="string" value="abc123"/>
<param name="use_broadcast" type="bool" value="false"/>
<param name="dxc" type="bool" value="false"/>
</node>
</launch>
Onboard-SDK-ROS/launch/dji_vehicle_node.launch 0 → 100644
View file @ 024c86bf
<launch>
<rosparam file="$(find dji_osdk_ros)/launch/waypoints_musical_drones.json"/>
<node pkg="dji_osdk_ros" type="dji_vehicle_node" name="vehicle_node" output="screen">
<!-- node parameters -->
<param name="acm_name" type="string" value="/dev/ttyACM0"/>
<param name="serial_name" type="string" value="/dev/dji_usb"/>
<param name="baud_rate" type="int" value="921600"/>
<param name="app_id" type="int" value="1069806"/>
<param name="app_version" type="int" value="1"/>
<param name="align_time" type="bool" value="false"/>
<param name="enc_key" type="string" value="e180b993ca8365653437fbafe7211ba040386d77c3c87627882857a11bd8efbd"/>
<param name="use_broadcast" type="bool" value="false"/>
</node>
<param name="base_speed" type="double" value="0.5"/>
<param name="drone_id" type="int" value="0"/>
<node pkg="dji_osdk_ros" type="bus_driver" name="bus_driver" output="screen"/>
</launch>
Onboard-SDK-ROS/launch/dji_vehicle_node.launch.save 0 → 100644
View file @ 024c86bf
<launch>
<rosparam file="$(find dji_osdk_ros)/launch/waypoints_musical_drones.json"/>
<node pkg="dji_osdk_ros" type="dji_vehicle_node" name="vehicle_node" output="screen">
<!-- node parameters -->
<param name="acm_name" type="string" value="/dev/ttyACM0"/>
<param name="serial_name" type="string" value="/dev/dji_usb"/>
<param name="baud_rate" type="int" value="921600"/>
<param name="app_id" type="int" value="1069806"/>
<param name="app_version" type="int" value="1"/>
<param name="align_time" type="bool" value="false"/>
<param name="enc_key" type="string" value="e180b993ca8365653437fbafe7211ba040386d77c3c87627882857a11bd8efbd"/>
<param name="use_broadcast" type="bool" value="false"/>
</no
de>
<node pkg="dji_osdk_ros" type="bus_driver" name="bus_driver" output="screen">
<param name="base_speed" type="double" value="0.5"/>
</node>
</launch>
Onboard-SDK-ROS/launch/local_test.launch 0 → 100644
View file @ 024c86bf
<launch>
<rosparam file="$(find dji_osdk_ros)/launch/waypoints_musical_drones.json"/>
<node pkg="dji_osdk_ros" type="dji_vehicle_node" name="vehicle_node" output="screen">
<!-- node parameters -->
<param name="acm_name" type="string" value="/dev/ttyACM0"/>
<param name="serial_name" type="string" value="/dev/dji_usb"/>
<param name="baud_rate" type="int" value="921600"/>
<param name="app_id" type="int" value="1069806"/>
<param name="app_version" type="int" value="1"/>
<param name="align_time" type="bool" value="false"/>
<param name="enc_key" type="string" value="e180b993ca8365653437fbafe7211ba040386d77c3c87627882857a11bd8efbd"/>
<param name="use_broadcast" type="bool" value="false"/>
</node>
<param name="base_speed" type="double" value="0.5"/>
<param name="drone_id" type="int" value="0"/>
<param name="camera_type" type="int" value="0"/>
<!-- <node pkg="dji_osdk_ros" type="bus_driver" name="bus_driver" output="screen"/> -->
<!-- <node pkg="dji_osdk_ros" type="image_saver.py" name="image_saver" output="screen"/> -->
</launch>
Onboard-SDK-ROS/launch/waypoints_musical_drones.json 0 → 100644
View file @ 024c86bf
{"robot_list": {"robot_0": {"waypoint_0": [0, -1, 37.22302383901093, -80.43273099999999, 2], "waypoint_1": [1, -1, 37.22312499999998, -80.4326039590342, 2], "waypoint_2": [2, -1, 37.223226160853365, -80.43273099999999, 2], "waypoint_3": [3, -1, 37.22317558044364, -80.43273099999999, 2], "waypoint_4": [4, -1, 37.22312499999998, -80.4327945204829, 2], "waypoint_5": [5, -1, 37.22307441952242, -80.43273099999999, 2], "waypoint_6": [6, -1, 37.22309465171751, -80.43273099999999, 2], "waypoint_7": [7, -1, 37.22312499999998, -80.43269288771026, 2], "waypoint_8": [8, -1, 37.22315534827025, -80.43273099999999, 2], "waypoint_9": [9, -1, 37.22312499999998, -80.4326039590342, 2]}, "robot_1": {"waypoint_0": [0, -1, 37.223226160853365, -80.43273099999999, 2], "waypoint_1": [1, -1, 37.22312499999998, -80.43285804096581, 2], "waypoint_2": [2, -1, 37.22302383901093, -80.43273099999999, 2], "waypoint_3": [3, -1, 37.22307441952242, -80.43273099999999, 2], "waypoint_4": [4, -1, 37.22312499999998, -80.4326674795171, 2], "waypoint_5": [5, -1, 37.22317558044364, -80.43273099999999, 2], "waypoint_6": [6, -1, 37.22315534827025, -80.43273099999999, 2], "waypoint_7": [7, -1, 37.22312499999998, -80.43276911228975, 2], "waypoint_8": [8, -1, 37.22309465171751, -80.43273099999999, 2], "waypoint_9": [9, -1, 37.22312499999998, -80.43285804096581, 2]}}}
\ No newline at end of file
Onboard-SDK-ROS/msg/BatteryState.msg 0 → 100644
View file @ 024c86bf
uint8 voltageNotSafety # Generally caused by low temperature, the battery has electricity,
# but the battery voltage is too low.
uint8 veryLowVoltageAlarm
uint8 LowVoltageAlarm
uint8 seriousLowCapacityAlarm
uint8 LowCapacityAlarm
\ No newline at end of file
Onboard-SDK-ROS/msg/BatteryWholeInfo.msg 0 → 100644
View file @ 024c86bf
uint16 remainFlyTime # remain fly time(s)
uint16 goHomeNeedTime # Time required for the gohome flight (s)
uint16 landNeedTime # Time required for the land flight (s).max value:100*/
uint16 goHomeNeedCapacity # Capacity required for the gohome flight (%).max value:100*/
uint16 landNeedCapacity # Capacity required for the land flight (%).max value:100*/
float32 safeFlyRadius # Safe flight area radius (m)*/
float32 capacityConsumeSpeed # (mAh/sec)*/
BatteryState batteryState
uint8 goHomeCountDownState # Countdown status of smart battery gohome
# 0/2:not in gohome state
# 1 :in gohome state
#
uint8 gohomeCountDownvalue # uint:s.max value:10
uint16 voltage # mv
uint8 batteryCapacityPercentage # uint:%.max value:100
uint8 lowBatteryAlarmThreshold
uint8 lowBatteryAlarmEnable
uint8 seriousLowBatteryAlarmThreshold
uint8 seriousLowBatteryAlarmEnable
\ No newline at end of file
Onboard-SDK-ROS/msg/FCTimeInUTC.msg 0 → 100644
View file @ 024c86bf
# the time stamp of getting this data in the ROS system
time stamp
# the time stamp in FC
uint32 fc_timestamp_us
uint32 fc_utc_yymmdd
uint32 fc_utc_hhmmss
Onboard-SDK-ROS/msg/FlightAnomaly.msg 0 → 100644
View file @ 024c86bf
# Here is an example how to use FlightAnomaly msg:
#
# void flightAnomalyCallback(const dji_osdk_ros::FlightAnomaly::ConstPtr & msg)
# {
# uint32_t flightAnomalyData = msg->data;
# if(flightAnomalyData)
# {
# ROS_INFO("Flight Anomaly Reported by Flight Controller. Here are details:");
# if(flightAnomalyData && dji_osdk_ros::FlightAnomaly::COMPASS_INSTALLATION_ERROR)
# {
# ROS_INFO("COMPASS_INSTALLATION_ERROR");
# }
#
# if(flightAnomalyData && dji_osdk_ros::FlightAnomaly::IMU_INSTALLATION_ERROR)
# {
# ROS_INFO("IMU_INSTALLATION_ERROR");
# }
#
# // etc...
# }
# }
#
#
# constants for anomaly details
uint32 IMPACT_IN_AIR = 1 #
uint32 RANDOM_FLY = 2 #
uint32 VERTICAL_CONTROL_FAIL = 4 #
uint32 HORIZONTAL_CONTROL_FAIL = 8 #
uint32 YAW_CONTROL_FAIL = 16 #
uint32 AIRCRAFT_IS_FALLING = 32 #
uint32 STRONG_WIND_LEVEL1 = 64 #
uint32 STRONG_WIND_LEVEL2 = 128 #
uint32 COMPASS_INSTALLATION_ERROR = 256 #
uint32 IMU_INSTALLATION_ERROR = 512 #
uint32 ESC_TEMPERATURE_HIGH = 1024 #
uint32 ESC_DISCONNECTED = 2048 #
uint32 GPS_YAW_ERROR = 4096 #
#
uint32 data
Onboard-SDK-ROS/msg/GPSUTC.msg 0 → 100644
View file @ 024c86bf
# the time stamp of getting this data in the ROS system
time stamp
# the time stamp from GPS/RTK
string UTCTimeData
Onboard-SDK-ROS/msg/Gimbal.msg 0 → 100644
View file @ 024c86bf
Header header
# ts is the time it takes to achieve the desired angle,
# so the shorter the time, the faster the gimbal rotates.
int32 ts # sec
# Mode is 1 byte size:
# Bit #: | Set to 0: | Set to 1:
# ----------- | ------------------------------------- | -------------------------------------
# bit 0 | Incremental control, | Absolute control,
# | the angle reference is the | the angle reference is
# | current Gimbal location | related to configuration in DJI Go App
# bit 1 | Gimbal will follow the command in Yaw | Gimbal will maintain position in Yaw
# bit 2 | Roll invalid bit, the same as bit[1] | Roll invalid bit, the same as bit[1]
# bit 3 |Pitch invalid bit, the same as bit[1] | Pitch invalid bit, the same as bit[1]
# bit [4:7] | bit [4:7]: reserved, set to be 0 |
uint8 mode
float32 yaw # rads
float32 pitch # rads
float32 roll # rads
Onboard-SDK-ROS/msg/HMSPushInfo.msg 0 → 100644
View file @ 024c86bf
uint32 alarmID #/*! error code*/
uint8 sensorIndex #/*! fault sensor's index*/
uint8 reportLevel #/*! fault level ,0-4,0 is no error,4 is highest*/
\ No newline at end of file
Onboard-SDK-ROS/msg/JoystickParams.msg 0 → 100644
View file @ 024c86bf
float32 x # Control with respect to the x axis of the
# DJI::OSDK::Control::HorizontalCoordinate.
float32 y # Control with respect to the y axis of the
# DJI::OSDK::Control::HorizontalCoordinate.
float32 z # Control with respect to the z axis, up is positive.
float32 yaw #Yaw position/velocity control w.r.t. the ground frame.
\ No newline at end of file
Onboard-SDK-ROS/msg/MissionHotpointTask.msg 0 → 100644
View file @ 024c86bf
float64 latitude # degree
float64 longitude # degree
float64 altitude # meter
float64 radius # meter
float32 angular_speed #deg/s
uint8 is_clockwise
uint8 start_point
uint8 yaw_mode
Onboard-SDK-ROS/msg/MissionWaypoint.msg 0 → 100644
View file @ 024c86bf
float64 latitude # degree
float64 longitude # degree
float32 altitude # relative altitude from takeoff point
float32 damping_distance # Bend length (effective coordinated turn mode only)
int16 target_yaw # Yaw (degree)
int16 target_gimbal_pitch # Gimbal pitch
uint8 turn_mode # 0: clockwise, 1: counter-clockwise
uint8 has_action # 0: no, 1: yes
uint16 action_time_limit
MissionWaypointAction waypoint_action
Onboard-SDK-ROS/msg/MissionWaypointAction.msg 0 → 100644
View file @ 024c86bf
# action_repeat
# lower 4 bit: Total number of actions
# hight 4 bit: Total running times
uint8 action_repeat
uint8[16] command_list
uint16[16] command_parameter
Onboard-SDK-ROS/msg/MissionWaypointTask.msg 0 → 100644
View file @ 024c86bf
# constant for action_on_finish
uint8 FINISH_NO_ACTION = 0 # no action
uint8 FINISH_RETURN_TO_HOME = 1 # return to home
uint8 FINISH_AUTO_LANDING = 2 # auto landing
uint8 FINISH_RETURN_TO_POINT = 3 # return to point 0
uint8 FINISH_NO_EXIT = 4 # infinite mode， no exit
# constant for yaw_mode
uint8 YAW_MODE_AUTO = 0 # auto mode (point to next waypoint)
uint8 YAW_MODE_LOCK = 1 # lock as an initial value
uint8 YAW_MODE_RC = 2 # controlled by RC
uint8 YAW_MODE_WAYPOINT = 3 # use waypoint's yaw(tgt_yaw)
# constant for trace_mode
uint8 TRACE_POINT = 0 # point to point, after reaching the target waypoint hover, complete waypt action (if any), then fly to the next waypt
uint8 TRACE_COORDINATED = 1 # 1: Coordinated turn mode, smooth transition between waypts, no waypts task
# constants for action_on_rc_lost
uint8 ACTION_FREE = 0 # exit waypoint and failsafe
uint8 ACTION_AUTO = 1 # continue the waypoint
# constants for gimbal_pitch_mode
uint8 GIMBAL_PITCH_FREE = 0 # free mode, no control on gimbal
uint8 GIMBAL_PITCH_AUTO = 1 # auto mode, Smooth transition between waypoints on gimbal
float32 velocity_range # Maximum speed joystick input(2~15m)
float32 idle_velocity # Cruising Speed (without joystick input, no more than vel_cmd_range)
uint8 action_on_finish # See constants above for possible actions
uint8 mission_exec_times # 1: once ; 2: twice
uint8 yaw_mode # see constants above for possible yaw modes
uint8 trace_mode # see constants above for possible trace modes
uint8 action_on_rc_lost # see constants above for possible actions
uint8 gimbal_pitch_mode # see constants above for pissible gimbal modes
MissionWaypoint[] mission_waypoint # a vector of waypoints
Onboard-SDK-ROS/msg/MobileData.msg 0 → 100644
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uint8[] data
\ No newline at end of file
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uint8[] data
\ No newline at end of file
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uint8 batteryIndex
int32 currentVoltage # uint:mV
int32 currentElectric # uint:mA
uint32 fullCapacity # uint:mAh
uint32 remainedCapacity # uint:mAh
int16 batteryTemperature # uint:0.1℃
uint8 cellCount
uint8 batteryCapacityPercent # uint:%
SmartBatteryState batteryState
uint8 SOP # Relative power percentage
\ No newline at end of file
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uint8 cellBreak # 0:normal;other:Undervoltage core index(0x01-0x1F)
uint8 selfCheckError # enum-type: DJISmartBatterySelfCheck
uint8 batteryClosedReason # enum-type: DJI_BETTERY_CLOSED_REASON
uint8 batSOHState # enum-type: DJISmartBatterySohState*/
uint8 maxCycleLimit # APP:cycle_limit*10*/
uint8 batteryCommunicationAbnormal
uint8 hasCellBreak
uint8 heatState # enum-type: DJISmartBatteryHeatState
\ No newline at end of file
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Header header
float32 x
float32 y
float32 z
uint8 xHealth
uint8 yHealth
uint8 zHealth
\ No newline at end of file
Onboard-SDK-ROS/msg/Waypoint.msg 0 → 100644
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float64 latitude # in degree
float64 longitude # in degree
float32 altitude
int16 heading #heading is in [-180,180]
uint16 staytime # in second
Onboard-SDK-ROS/msg/WaypointV2.msg 0 → 100644
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# The struct represents a target point in the waypoint mission. For a waypoint
#constant for flightpathMode
uint8 DJIWaypointV2FlightPathModeGoToPointAlongACurve = 0 #In the mission, the aircraft will go to the waypoint along a curve and fly past the waypoint.
uint8 DJIWaypointV2FlightPathModeGoToPointAlongACurveAndStop = 1 #In the mission, the aircraft will go to the waypoint along a curve and stop at the waypoint.
uint8 DJIWaypointV2FlightPathModeGoToPointInAStraightLineAndStop = 2 #In the mission, the aircraft will go to the waypoint along a straight line and stop at the waypoint.
uint8 DJIWaypointV2FlightPathModeCoordinateTurn = 3 #In the mission, the aircraft will fly from the previous waypoint to the next waypoint along a smooth curve without stopping at this waypoint.
#the next in a curved motion, adhering to the ``DJIWaypointV2_dampingDistance``, which is
#set in ``DJIWaypointV2``.
uint8 DJIWaypointV2FlightPathModeGoToFirstPointAlongAStraightLine = 4 # In the mission, the aircraft will go to the first waypoint along a straight line.
# This is only valid for the first waypoint.
uint8 DJIWaypointV2FlightPathModeStraightOut = 5 # Straight exit the Last waypoint, Only valid for last waypoint.
uint8 DJIWaypointV2FlightPathModeUnknown = 255 # Unknown
#constant for headMode
uint8 DJIWaypointV2HeadingModeAuto = 0 # Aircraft's heading will always be in the direction of flight.
uint8 DJIWaypointV2HeadingFixed = 1 # Aircraft's heading will be set to the heading when reaching the first waypoint.
# Before reaching the first waypoint, the aircraft's heading can be controlled by
# the remote controller. When the aircraft reaches the first waypoint, its
# heading will be fixed.
uint8 DJIWaypointV2HeadingManual = 2 # The aircraft's heading in the mission can be controlled by the remote controller.
uint8 DJIWaypointV2HeadingWaypointCustom = 3 # In the mission, the aircraft's heading will change dynamically and adapt to the heading set at the next waypoint.
# See ``DJIWaypointV2_heading`` to preset the heading.
uint8 DJIWaypointV2HeadingTowardPointOfInterest = 4 # Aircraft's heading will always toward point of interest.
# using ``DJIWaypointV2_pointOfInterest`` setting point of interest coordiate and ``DJIWaypointV2_pointOfInterestAltitude``
# setting point of interset altitute.
uint8 DJIWaypointV2HeadingGimbalYawFollow = 5 # The aircraft's heading rotate simultaneously with its gimbal's yaw.
uint8 DJIWaypointV2HeadingUnknown = 255 # Unknown.
#constant for turnMode
uint8 DJIWaypointV2TurnModeClockwise = 0 # The aircraft's heading rotates clockwise.
uint8 DJIWaypointV2TurnModeCounterClockwise = 1 # The aircraft's heading rotates counterclockwise.
uint8 DJIWaypointV2TurnModeUnknown = 255 # Changes the heading of the aircraft by rotating the aircraft anti-clockwise.
# mission, a flight route consists of multiple `WaypointV2` objects.
float64 longitude # waypoint position relative to WayPointV2InitSettings's reference point.unit: m
float64 latitude
float32 relativeHeight # relative to takeoff height
uint8 waypointType # Waypoint flight path mode
uint8 headingMode # Represents current aircraft's heading mode on current waypoint.
WaypointV2Config config # Represents current waypoint's speed config.
uint16 dampingDistance
float32 heading # The heading to which the aircraft will rotate by the time it reaches the
# waypoint. The aircraft heading will gradually change between two waypoints with
# different headings if the waypoint mission's `headingMode` is set to
# 'DJIWaypointV2_DJIWaypointV2HeadingMode_WaypointCustom`. A heading has a range of
# [-180, 180] degrees, where 0 represents True North.
uint8 turnMode # Determines whether the aircraft will turn clockwise or anticlockwise when
# changing its heading.
# Property is used when ``DJIWaypointV2_headingMode`` is
# ``DJIWaypointV2_DJIWaypointV2HeadingMode_TowardPointOfInterest``.
# Aircraft will always be heading to point while executing mission. Default is
# "kCLLocationCoordinate2DInvalid".
float32 positionX # X distance to reference point, North is positive
float32 positionY # Y distance to reference point, East is positive
float32 positionZ # Z distance to reference point, UP is positive
# While the aircraft is travelling between waypoints, you can offset its speed by
# using the throttle joystick on the remote controller. "maxFlightSpeed" is this
# offset when the joystick is pushed to maximum deflection. For example, If
# maxFlightSpeed is 10 m/s, then pushing the throttle joystick all the way up will
# add 10 m/s to the aircraft speed, while pushing down will subtract 10 m/s from
# the aircraft speed. If the remote controller stick is not at maximum deflection,
# then the offset speed will be interpolated between "[0, maxFlightSpeed]"" with a
# resolution of 1000 steps. If the offset speed is negative, then the aircraft
# will fly backwards to previous waypoints. When it reaches the first waypoint, it
# will then hover in place until a positive speed is applied. "maxFlightSpeed" has
# a range of [2,15] m/s.
float32 maxFlightSpeed
# The base automatic speed of the aircraft as it moves between waypoints with
# range [-15, 15] m/s. The aircraft's actual speed is a combination of the base
# automatic speed, and the speed control given by the throttle joystick on the
# remote controller. If "autoFlightSpeed >0": Actual speed is "autoFlightSpeed" +
# Joystick Speed (with combined max of "maxFlightSpeed") If "autoFlightSpeed =0":
# Actual speed is controlled only by the remote controller joystick. If
# autoFlightSpeed <0" and the aircraft is at the first waypoint, the aircraft
# will hover in place until the speed is made positive by the remote controller
# joystick. In flight controller firmware 3.2.10.0 or above, different speeds
# between individual waypoints can also be set in waypoint objects which will
# overwrite "autoFlightSpeed".
float32 autoFlightSpeed
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2Action.msg 0 → 100644
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# This class represents an action for ``DJIWaypointV2Mission``. It
# determines how action is performed when a waypoint mission is executed.
# The action will be triggered when action associated executes.
# The parameters should be defined by ``DJIWaypointV2Action_DJIWaypointV2AssociateTriggerParam``.
uint8 DJIWaypointV2ActionTriggerTypeActionAssociated = 2
# The action will be triggered when the aircraft flies from one waypoint to the next.
# The parameters should be defined by ``DJIWaypointV2Action_DJIWaypointV2TrajectoryTriggerParam``.
uint8 DJIWaypointV2ActionTriggerTypeTrajectory = 3
# The action will be triggered when the aircraft flies between two waypoints
# The parameters should be defined by ``DJIWaypointV2Action_DJIWaypointV2IntervalTriggerParam``.
uint8 DJIWaypointV2ActionTriggerTypeInterval = 4
uint8 DJIWaypointV2ActionTriggerTypeSampleReachPoint = 5
# Unknown
uint8 DJIWaypointV2ActionTriggerTypeUnknown = 255
#contant for waypointV2ActuatorTriggerType
# The action will be executed by the camera.
# The parameters should be defined by ``DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam``.
uint8 DJIWaypointV2ActionActuatorTypeCamera = 1
# The action will be executed by the gimbal.
# The parameters should be defined by ``DJIWaypointV2Action_DJIWaypointV2GimbalActuatorParam``.
uint8 DJIWaypointV2ActionActuatorTypeGimbal = 2
# The action will executes by control aircraft.
# The parameters should be setting by ``DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam``.
uint8 DJIWaypointV2ActionActuatorTypeAircraftControl = 4
# Unknown actuator type.
uint8 DJIWaypointV2ActionActuatorTypeUnknown = 255
uint16 actionId # The ID of Action.
uint8 waypointV2ActionTriggerType
uint8 waypointV2ACtionActuatorType
# The trigger of action.You can only choose one to config
WaypointV2AssociateTrigger waypointV2AssociateTrigger
WaypointV2IntervalTrigger waypointV2IntervalTrigger
WaypointV2TrajectoryTrigger waypointV2TrajectoryTrigger
WaypointV2SampleReachPointTrigger waypointV2SampleReachPointTrigger
# The actuator of action.You can only choose one to config
WaypointV2CameraActuator waypointV2CameraActuator
WaypointV2GimbalActuator waypointV2GimbalActuator
WaypointV2AircraftControlActuator waypointV2AircraftControlActuator
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2AircraftControlActuator.msg 0 → 100644
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# Parameters for aircraft control actuator. It is valid only when the
# ``DJIWaypointV2Action_DJIWaypointV2Actuator_type`` is
# ``DJIWaypointV2MissionV2_DJIWaypointV2ActionActuatorType_AircraftControl``.
#contant for DJIWaypointV2ActionActuatorAircraftControlOperationType
# Rotates the aircraft's yaw.
uint8 DJIWaypointV2ActionActuatorAircraftControlOperationTypeRotateYaw = 1
# Keeps the aircraft stop flying or start flying.
uint8 DJIWaypointV2ActionActuatorAircraftControlOperationTypeFlyingControl = 2
# Unknown
uint8 DJIWaypointV2ActionActuatorAircraftControlOperationTypeUnknown = 255
uint8 actuatorIndex # The index of actuator. It is valid when the diagnostics is related
# to camera or gimbal and the connected product has multiple gimbals and cameras.
uint16 DJIWaypointV2ActionActuatorAircraftControlOperationType
WaypointV2AircraftControlActuatorFlying waypointV2AircraftControlActuatorFlying
WaypointV2AircraftControlActuatorRotateHeading waypointV2AircraftControlActuatorRotateHeading
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2AircraftControlActuatorFlying.msg 0 → 100644
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# This class defines if the aircraft starts or stops the flight.s.
uint8 isStartFlying # Determines the aircraft start flying or stop flying.
# ``TRUE`` for the aircraft to start flying.
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2AircraftControlActuatorRotateHeading.msg 0 → 100644
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# This class defines how the aircraft rotates on the yaw axis.
uint8 isRelative # Determines the aircraft rotate heading relative.
# if ``TRUE``, when the aircraft is rotating, relative to the current angle.
float32 yaw # Determines the direction how aircraft changes its heading.
\ No newline at end of file
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#contant for actionAssociatedType
uint8 DJIWaypointV2TriggerAssociatedTimingTypeSimultaneously = 1 # The trigger starts simultaneously with the trigger that is associated.
uint8 DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised = 2 # The trigger starts after the trigger associated has finished.
uint8 DJIWaypointV2TriggerAssociatedTimingTypeUnknown = 255 # Unkown timing type.
uint8 actionAssociatedType # The type of assciate trigger.
uint8 waitingTime # Waiting time in seconds after ActionTrigger starts.
uint16 actionIdAssociated # Associated action ID.
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2CameraActuator.msg 0 → 100644
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# This determines how the camera will be performed when a waypoint mission is executing.
#constant for DJIWaypointV2ActionActuatorCameraOperationType
# Starts to shoot a photo.
uint16 DJIWaypointV2ActionActuatorCameraOperationTypeTakePhoto = 1
# Starts to record a video.
uint16 DJIWaypointV2ActionActuatorCameraOperationTypeStartRecordVideo = 2
# Stops to record a video.
uint16 DJIWaypointV2ActionActuatorCameraOperationTypeStopRecordVideo = 3
# Starts focus.
uint16 DJIWaypointV2ActionActuatorCameraOperationTypeFocus = 4
# Starts focal lenth. Only support those support flocal lenth cameras.
uint16 DJIWaypointV2ActionActuatorCameraOperationTypeFocalLength = 5
uint16 actuatorIndex # The index of actuator. It is valid when the diagnostics is related
# to camera or gimbal and the connected product has multiple gimbals and cameras.
uint16 DJIWaypointV2ActionActuatorCameraOperationType
# you can only choose one to config.
WaypointV2CameraActuatorFocusParam focusParam # The parameters for camera focus operation. It is valid only when
# ``DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam_operationType`` is
# ``DJIWaypointV2MissionV2_DJIWaypointV2ActionActuatorCameraOperationType_Focus``
WaypointV2CameraActuatorFocalLengthParam zoomParam # The parameters for camera focus length operation. It is valid only when
# ``DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam_operationType`` is
# ``DJIWaypointV2MissionV2_DJIWaypointV2ActionActuatorCameraOperationType_FocalLength``
\ No newline at end of file
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# This class defines a camera focal length operation for ``DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam``.
# Focal length of zoom lens. Valid range is [``DJICamera_DJICameraOpticalZoomSpec_minFocalLength``,
# ``DJICamera_DJICameraOpticalZoomSpec_minFocalLength``] and must be a multiple of
# ``DJICamera_DJICameraOpticalZoomSpec_focalLengthStep``.
# Only support by those camera ``DJICamera_CameraSettings_isOpticalZoomSupported`` return ``TRUE``.
uint16 focalLength
uint8 retryTimes = 1
\ No newline at end of file
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# This class defines a camera focus operation for ``DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam``.
# The lens focus target point. When the focus mode is auto, the target point
# is the focal point. When the focus mode is manual, the target point is the zoom
# out area if the focus assistant is enabled for the manual mode.
# The range for x and y is from 0.0 to 1.0. The point [0.0, 0.0] represents the top-left angle of the screen.
float32 x # x axis focus point value.range: [0,1]
float32 y # y axis focus point value.range: [0,1]
uint8 regionType #focus type:0:point focus,1:rectangle focus
float32 width #Normalized focus area width(0,1)
float32 height # Normalized focus area height(0,1)
uint8 retryTimes = 1
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2Config.msg 0 → 100644
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# Represents current waypoint's speed config.
# 0: set local waypoint's cruise speed,
# 1: unset global waypoint's cruise speed*/
uint8 useLocalCruiseVel
# 0: set local waypoint's max speed,
# 1: unset global waypoint's max speed*/
uint8 useLocalMaxVel
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2GimbalActuator.msg 0 → 100644
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# gimbal actuator will be performed when a waypoint mission is executed.
#constant for DJIWaypointV2ActionActuatorGimbalOperationType
# Rotates the gimbal. Only valid when the trigger type is
# ``DJIWaypointV2MissionV2_DJIWaypointV2TriggerAssociatedTimingType_ReachPoint``.
uint8 DJIWaypointV2ActionActuatorGimbalOperationTypeRotateGimbal = 1
# Unknown
uint8 DJIWaypointV2ActionActuatorGimbalOperationTypeUnknown = 255
uint8 DJIWaypointV2ActionActuatorGimbalOperationType
uint16 actuatorIndex # The index of actuator. It is valid when the diagnostics is related
# to camera or gimbal and the connected product has multiple gimbals and cameras.
WaypointV2GimbalActuatorRotationParam waypointV2GimbalActuatorRotationParam # The operation type of gimbal actuator.
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2GimbalActuatorRotationParam.msg 0 → 100644
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int16 x # gimbal roll angle, unit: 0.1 deg,range:[-3600, 3600]*/
int16 y # gimbal pitch angle, unit: 0.1 deg,range:[-3600, 3600]*/
int16 z # gimbal yaw angle, unit: 0.1 deg,range:[-3600, 3600]*/
uint8 ctrl_mode # 0: absolute position control, 1:relative position control*/
uint8 rollCmdIgnore # 0: roll command normal, 1: roll command ignore*/
uint8 pitchCmdIgnore# 0: pitch command normal, 1: pitch command ignore*/
uint8 yawCmdIgnore # 0: yaw command normal, 1: yaw command ignore*/
uint8 absYawModeRef # 0: absoluate rotate yaw relative to aircraft,
# 1: absoluate rotate yaw relative to North*/
uint8 duationTime # 0: rotate time,unit:0.1s, range[1,255]*/
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2InitSetting.msg 0 → 100644
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# @brief Waypoint V2 Mission Initialization settings
# @details This is one of the few structs in the OSDK codebase that
# is used in both a sending and a receiving API.
#constant for finishedAction
uint8 DJIWaypointV2MissionFinishedNoAction = 0 # No further action will be taken.
# The aircraft can be controlled by the remote controller.
uint8 DJIWaypointV2MissionFinishedGoHome = 1 # Goes home when the mission is finished. The aircraft will
# land directly if it is within 20 meters away from the home point.
uint8 DJIWaypointV2MissionFinishedAutoLanding = 2 # The aircraft will land automatically at the last waypoint.
uint8 DJIWaypointV2MissionFinishedGoToFirstWaypoint = 3 # The aircraft will go back to the first waypoint and hover.
uint8 DJIWaypointV2MissionFinishedContinueUntilStop = 4 # When the aircraft reaches its final waypoint, it will hover without ending the
# mission. The joystick can still be used to pull the aircraft back along its
# previous waypoints. The only way this mission can end is if stopMission is
# called
#constant for gotoFirstWaypintMode
uint8 DJIWaypointV2MissionGotoFirstWaypointModeSafely = 0 # Go to the waypoint safely. The aircraft will rise to the same altitude of the
# waypoint if the current altitude is lower then the waypoint altitude. It then
# goes to the waypoint coordinate from the current altitude, and proceeds to the
# altitude of the waypoint.
uint8 DJIWaypointV2MissionGotoFirstWaypointModePointToPoint = 1 # Go to the waypoint from the current aircraft point to the waypoint directly.
uint32 missionID # The Mission ID. Use to distinguish　different mission
uint16 missTotalLen # The Mission waypoint total length, could not exceed 65535
uint8 repeatTimes # Mission execution can be repeated more than once. A value of 0 means the mission
# only executes once, and does not repeat. A value of 1 means the mission will
# execute a total of two times.
uint8 finishedAction # Action the aircraft will take when the waypoint mission is complete.
# While the aircraft is travelling between waypoints, you can offset its speed by
# using the throttle joystick on the remote controller. `maxFlightSpeed` is this
# offset when the joystick is pushed to maximum deflection. For example, If
# maxFlightSpeed is 10 m/s, then pushing the throttle joystick all the way up
# will add 10 m/s to the aircraft speed, while pushing down will subtract 10 m/s
# from the aircraft speed. If the remote controller stick is not at maximum
# deflection, then the offset speed will be interpolated between [0,
# `maxFlightSpeed`] with a resolution of 1000 steps. If the offset speed is
# negative, then the aircraft will fly backwards to previous waypoints. When it
# reaches the first waypoint, it will then hover in place until a positive speed
# is applied. `maxFlightSpeed` has a range of [2,15] m/s.
# unit: m/s
float32 maxFlightSpeed
# The base automatic speed of the aircraft as it moves between waypoints with
# range [-15, 15] m/s. The aircraft's actual speed is a combination of the base
# automatic speed, and the speed control given by the throttle joystick on the
# remote controller. If `autoFlightSpeed` >0: Actual speed is `autoFlightSpeed` +
# Joystick Speed (with combined max of `maxFlightSpeed`) If `autoFlightSpeed` =0:
# Actual speed is controlled only by the remote controller joystick. If
# `autoFlightSpeed` <0 and the aircraft is at the first waypoint, the aircraft
# will hover in place until the speed is made positive by the remote controller
# joystick.
# unit: m/s
float32 autoFlightSpeed
uint8 exitMissionOnRCSignalLost # Determines whether the mission should stop when connection between the aircraft
# and remote controller is lost. Default is `NO`.
uint8 gotoFirstWaypointMode # Defines how the aircraft will go to the first waypoint from its current
# position. Default is ``DJIWaypointV2MissionV2_DJIWaypointV2MissionGotoWaypointMode_Safely``.
WaypointV2[] mission
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2IntervalTrigger.msg 0 → 100644
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#constant for actionIntervalType
uint8 DJIWaypointV2ActionIntervalTypeTime = 1 # The action will be repeated after a particular period of time.
uint8 DJIWaypointV2ActionIntervalTypeDistance = 2 # The action will be repeated after a particular distance.
uint8 DJIWaypointV2ActionIntervalTypeUnknown = 255 # Unknown action trigger type.
uint16 startIndex # It determines the index of the waypoint at which the trigger starts.
# If the ``DJIWaypointV2Action_DJIWaypointV2IntervalTriggerParam_actionIntervalType``
# is ``DJIWaypointV2MissionV2_DJIWaypointV2TriggerAssociatedTimingType_Time``
# The time interval in seconds when two action are executed as the aircraft moves
# from the current waypoint to the next waypoint.
# If the ``DJIWaypointV2Action_DJIWaypointV2IntervalTriggerParam_actionIntervalType`` is
# ``DJIWaypointV2MissionV2_DJIWaypointV2TriggerAssociatedTimingType_Distance``
# The distance interval in meters when two action are executed as the aircraft moves
# from the current waypoint to the next waypoint.
uint16 interval
uint8 actionIntervalType # The type of interval trigger.
# See ``DJIWaypointV2MissionV2_DJIWaypointV2ActionIntervalType``.
\ No newline at end of file
Onboard-SDK-ROS/msg/WaypointV2MissionEventPush.msg 0 → 100644
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uint8 event
uint32 FCTimestamp
#ID:0x01
uint8 interruptReason #0x00:rc triggered interrupt
#ID:0x02
uint8 recoverProcess #0x00:finished pause recover
#ID:0x03
uint8 finishReason #0x00:finished normally; 0x10:External user trigger ended successfully
#ID:0x10
uint16 waypointIndex
#ID:0x11
uint8 currentMissionExecNum
uint8 finishedAllExecNum #0:not finished; 1:finished all exec num
\ No newline at end of file
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int8 commonDataVersion
uint16 commonDataLen
uint16 curWaypointIndex
uint8 state #0x0:ground station not start. 0x1:mission prepared. 0x2:enter mission.
#0x3:execute flying route mission.
#0x4:pause state. 0x5:enter mission after ending pause.
#0x6:exit mission.
uint16 velocity #uint:0.01m/s
\ No newline at end of file
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# It describes an action will be triggered when the aircraft reach the certain waypoint.
uint16 startIndex # It determines the index of the waypoint at which the action will be triggered.
uint16 endIndex
uint16 intervalWPNum
uint16 waypointCountToTerminate # It determines the waypoint count till the action triggered stops.
\ No newline at end of file
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uint16 waypointIndex # It determines the index of the waypoint at which the action will be triggered.
uint16 terminateNum
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# This class represents a trajectory trigger action when should be trigger.
uint16 startIndex # It determines the index of the waypoint at which the trigger starts.
uint16 endIndex # It determines the waypoint when the trigger stops.
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Onboard-SDK-ROS/scripts/image_activation.py 0 → 100755
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#! /usr/bin/python3
# Copyright (c) 2015, Rethink Robotics, Inc.
# Using this CvBridge Tutorial for converting
# ROS images to OpenCV2 images
# http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython
# Using this OpenCV2 tutorial for saving Images:
# http://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_gui/py_image_display/py_image_display.html
# rospy for the subscriber
import rospy
from dji_osdk_ros.srv import StereoVGASubscription
from dji_osdk_ros.srv import SetupCameraStream
def main():
rospy.init_node('image_activation')
# request drone to open stereo images
rospy.wait_for_service('setup_camera_stream')
try:
camera_service_proxy = rospy.ServiceProxy('setup_camera_stream', SetupCameraStream)
response = camera_service_proxy(rospy.get_param('camera_type'), 1)
print(response)
except:
print("image service call failed")
if __name__ == '__main__':
main()
Onboard-SDK-ROS/src/CMakeLists.txt 0 → 100644
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add_subdirectory(dji_osdk_ros)
add_subdirectory(dji_osdk_ros_obsoleted)
Onboard-SDK-ROS/src/dji_osdk_ros/CMakeLists.txt 0 → 100644
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add_subdirectory(modules)
add_subdirectory(samples)
FILE(GLOB EXAMPLES *.cc *.c *.cpp)
if(OPEN_CV_3_3_0_INSTALLED AND FOUND_OPENCV_VIZ)
add_definitions(-DOPEN_CV_INSTALLED)
endif()
FOREACH(EXAMPLE ${EXAMPLES})
GET_FILENAME_COMPONENT(MY_TARGET "${EXAMPLE}" NAME_WE)
ADD_EXECUTABLE(${MY_TARGET} ${EXAMPLE})
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(${MY_TARGET}
dji_osdk_ros_generate_messages_cpp)
TARGET_LINK_LIBRARIES(${MY_TARGET}
${PROJECT_NAME}
)
INSTALL(TARGETS ${MY_TARGET}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
ENDFOREACH()
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