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Merge pull request #10 from AutoModality/AM-682/camera-stream
Merge branch 'AM-682/camera-stream' of https://github.com/AutoModality/Onboard-SDK-ROS into AM-682/camera-stream AM-682/camera-stream
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‎.github/workflows/package.yml‎

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branches-ignore:
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- master
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jobs:
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package:
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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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os: [ubuntu-18.04, [arm64,self-hosted,linux, build]]
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fail-fast: false
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package-cuda:
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runs-on: [arm64,self-hosted,linux, cuda]
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steps:
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- uses: AutoModality/action-clean@v1.1.0
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- uses: actions/checkout@v2
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- uses: rlespinasse/github-slug-action@2.0.0 # for GITHUB_REF_SLUG
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- uses: rlespinasse/github-slug-action@3.1.0 # for GITHUB_REF_SLUG
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- name: Package
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id: package
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uses: AutoModality/action-package-debian-ros@v3
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with:
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branch: ${{ env.GITHUB_REF_SLUG }}
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build-number: ${{ github.run_number }}
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release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
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- name: The generated package
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run: echo "The artifact is ${{ steps.package.outputs.artifact-path }}"
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run: |
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AM_PLATFORM=dji_m300 amros packages install -y --password=${{ secrets.BUILD_PASSWORD }}
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echo ${{ secrets.BUILD_PASSWORD }} | sudo -S whoami && source /opt/ros/melodic/setup.bash && amros dev build deb --clean --version="0.0.${{ github.run_number }}"
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- name: Deploy
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id: deploy
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uses: AutoModality/action-cloudsmith@0.2.0
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repo: 'dev'
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distro: 'ubuntu'
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release: 'bionic'
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file: '${{ steps.package.outputs.artifact-path }}'
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file: 'ros-melodic-dji-osdk-ros_0.0.${{ github.run_number }}-0bionic_arm64.deb' # version must match package phase
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draft-pr:
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runs-on: ubuntu-18.04
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needs: package
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needs: package-cuda
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steps:
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- uses: actions/checkout@v2
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- name: Draft a Pull Request
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uses: repo-sync/pull-request@v2
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with:
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pr_draft: true
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github_token: ${{ secrets.GITHUB_TOKEN }}
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# code-format:
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# runs-on: ubuntu-18.04
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# needs: package
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# steps:
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# - uses: actions/checkout@v2
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# - name: Format Code
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# uses: AutoModality/action-ros-clang-format@master
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# env:
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# GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

‎CMakeLists.txt‎

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@@ -73,6 +73,7 @@ add_message_files(
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FILES
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FCTimeInUTC.msg
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JoystickParams.msg
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GPSUTC.msg
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Gimbal.msg
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Waypoint.msg
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WaypointV2.msg
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WaypointV2MissionEventPush.msg
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WaypointV2MissionStatePush.msg
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RelPosition.msg
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MobileData.msg
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PayloadData.msg
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MissionWaypointAction.msg
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MissionHotpointTask.msg
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FlightAnomaly.msg
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VOPosition.msg
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RelPosition.msg
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BatteryState.msg
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BatteryWholeInfo.msg
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SmartBatteryState.msg
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SmartBatteryDynamicInfo.msg
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HMSPushInfo.msg
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)
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## Generate services in the 'srv' folder
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GetDroneType.srv
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GetM300StereoParams.srv
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FlightTaskControl.srv
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SetJoystickMode.srv
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JoystickAction.srv
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ObtainControlAuthority.srv
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KillSwitch.srv
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EmergencyBrake.srv
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GimbalAction.srv
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CameraEV.srv
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CameraShutterSpeed.srv
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CameraAperture.srv
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CameraISO.srv
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CameraFocusPoint.srv
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CameraTapZoomPoint.srv
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CameraSetZoomPara.srv
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CameraZoomCtrl.srv
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CameraStartShootSinglePhoto.srv
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CameraStartShootBurstPhoto.srv
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CameraStartShootAEBPhoto.srv
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CameraStartShootIntervalPhoto.srv
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CameraStopShootPhoto.srv
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CameraRecordVideoAction.srv
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GetWholeBatteryInfo.srv
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GetSingleBatteryDynamicInfo.srv
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MFIO.srv
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SetGoHomeAltitude.srv
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SetNewHomePoint.srv
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GetGoHomeAltitude.srv
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SetCurrentAircraftLocAsHomePoint.srv
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SetHomePoint.srv
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SetupCameraH264.srv
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AvoidEnable.srv
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SetAvoidEnable.srv
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GetAvoidEnable.srv
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InitWaypointV2Setting.srv
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UploadWaypointV2Mission.srv
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UploadWaypointV2Action.srv
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GenerateWaypointV2Action.srv
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SetGlobalCruisespeed.srv
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GetGlobalCruisespeed.srv
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GetHMSData.srv
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SubscribeWaypointV2Event.srv
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SubscribeWaypointV2State.srv
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‎ReadMe.md‎

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# DJI Onboard SDK ROS 4.0.1
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# DJI Onboard SDK ROS 4.1.0
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33
## Latest Update
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OSDK-ROS 4.0.1 was released on 24 August 2020.You need to read newest update below to get update information. Please see the [release notes](https://developer.dji.com/onboard-sdk/downloads/) and [ROS sample setup](https://developer.dji.com/cn/onboard-sdk/documentation/development-workflow/environment-setup.html#linux-with-ros) for more information.And We will update [ROS Wiki](http://wiki.ros.org/dji_sdk/) later.
5+
OSDK-ROS 4.1.0 was released on 20 January 2021.You need to read newest update below to get update information. Please see the [release notes](https://developer.dji.com/onboard-sdk/downloads/) and [ROS sample setup](https://developer.dji.com/cn/onboard-sdk/documentation/development-workflow/environment-setup.html#linux-with-ros) for more information.And We will update [ROS Wiki](http://wiki.ros.org/dji_sdk/) later.
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### 1. feature
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This 4.0.1 version releases a feature package: dji_osdk_ros. The package contains two different framework's interface. OSDK-ROS-obsoleted kept ros3.8.1's interface.
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This 4.1.0 version releases a feature package: dji_osdk_ros. The package contains two different framework's interface. OSDK-ROS-obsoleted kept ros3.8.1's interface.
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(__note:We will cancel support for the OSDK-ROS-obsoleted's interface in the next version.__)
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| **OSDK-ROS4.0.1 interface** | **OSDK-ROS-obsoleted interface** |
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| **OSDK-ROS4.1.0 interface** | **OSDK-ROS-obsoleted interface** |
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|--------------------------------------|---------------------------------------------|
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|files below in dji_osdk_ros folder | files below in dji_osdk_ros_obsoleted folder|
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This update mainly includes:
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1. Data subscription interface and sample;
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2. Mobile device interface and sample;
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3. Payload device interface and sample;
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4. Add the top obstacle avoidance enable interface;
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5. Waypoint1.0/2.0 interface and sample;
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6. Advanced sensing interface and sample perfection;
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include:
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> camera-h264
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> camera-stream
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> stereo-vision-depth-perception(rectified stereo images．disparity mapfiltered disparity map (Optional)．point cloud)
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(__note: If you roslaunch dji_vehicle_node.launch to get m300_stereo_param.yaml, the yaml file will be prouduced in .ros folder(/home/${user}/.ros).And you need to copy it to the directory which you need to rosrun.__)
27-
7. we also kept all services and topics of osdk-ros 3.8.1. If you want to use these interfaces,you need to run dji_sdk_node and use it's services and topics.
15+
This update mainly includes:
16+
1. Battery information interface and sample;
17+
2. hms interface and sample;
18+
3. update flight-control interface and sample:
19+
include:
20+
>set_joystick_mode
21+
>joystick_action
22+
>get/set_go_home_altitude
23+
>set_home_point
24+
>rename 'set_current_point_as_home' to 'set_current_aircraft_point_as_home'
25+
>rename 'enable_avoid' to 'set_horizon_avoid_enable'
26+
>rename 'enable_upwards_avoid' to 'set_upwards_avoid_enable'
27+
>get_acoid_enable_status
28+
>kill_switch
29+
>emergency_brake
30+
>update flight_task_control,include:
31+
a.add velocity and yaw rate control action
32+
b.add turn on/off motor action
33+
c.add force landing and confirm landing action
34+
d.add cancel landing and cancel go home action
35+
36+
4. fixed telemetry_node problem:displayMode and rcConnection is zero.
37+
38+
5. we also kept all services and topics of osdk-ros 3.8.1. If you want to use these interfaces,you need to run dji_sdk_node and use it's services and topics.
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(__note: These interfaces are not fully compatible with onboard-sdk4.0.1.And they will not be supported in next osdk-ros version.__)
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| **nodes** | **services's name** | **topics's name** |
3142
|--------------------------------------|--------------------------------------------------|---------------------------------------|
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|dji_vehicle_node |get_drone_type | |
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|flight_control_node |flight_task_control | |
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| |set_go_home_altitude | |
35-
| |set_current_point_as_home | |
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| |enable_avoid | |
37-
| |enable_upwards_avoid | |
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| |get_go_home_altitude | |
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| |set_current_aircraft_point_as_home | |
48+
| |set_horizon_avoid_enable | |
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| |set_upwards_avoid_enable | |
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| |set_local_pos_reference | |
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| |joystick_action | |
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| |set_joystick_mode | |
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| |set_home_point | |
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| |get_avoid_enable_status | |
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| |obtain_release_control_authority | |
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| |kill_switch | |
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| |emergency_brake | |
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|gimbal_camera_control_node |gimbal_task_control | |
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| |camera_task_set_EV | |
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| |camera_task_set_shutter_speed | |
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| |camera_task_set_aperture | |
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| |camera_task_set_ISO | |
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| |camera_task_set_focus_point | |
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| |camera_task_tap_zoom_point | |
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| |camera_task_set_zoom_para | |
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| |camera_task_zoom_ctrl | |
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| |camera_start_shoot_single_photo | |
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| |camera_start_shoot_aeb_photo | |
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| | |dji_osdk_ros/stereo_240p_front_depth_images|
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| | |dji_osdk_ros/stereo_vga_front_left_images |
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| | |dji_osdk_ros/stereo_vga_front_right_images |
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|time_sync_node | | |
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|time_sync_node | |dji_osdk_ros/time_sync_nmea_msg |
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| | |dji_osdk_ros/time_sync_gps_utc |
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| | |dji_osdk_ros/time_sync_fc_time_utc |
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| | |dji_osdk_ros/time_sync_pps_source |
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|mission_node |dji_osdk_ros/mission_waypoint_upload | |
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| |dji_osdk_ros/mission_waypoint_action | |
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| |dji_osdk_ros/mission_waypoint_getInfo | |
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| |dji_osdk_ros/waypointV2_getGlobalCruisespeed | |
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| |dji_osdk_ros/waypointV2_subscribeMissionEvent |dji_osdk_ros/waypointV2_mission_event |
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| |dji_osdk_ros/waypointV2_subscribeMissionState |dji_osdk_ros/swaypointV2_mission_state |
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|battery_node |get_whole_battery_info | |
140+
| |get_single_battery_dynamic_info | |
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|hms_node |get_hms_data | |
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### 2. Prerequisites
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The system environment we have tested is in the table below.
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| **system version** | ubuntu 16.04 |
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| **processor architecture** | x86(mainfold2-c),armv8(mainfold2-g) |
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#### Firmware Compatibility
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OSDK-ROS 4.0.1's firmware compatibility depends on onboard-sdk 4.0.1's. you can get more information [here](https://developer.dji.com/cn/document/0c2b2d75-d019-480c-9241-8c8e7209692d);
150+
OSDK-ROS 4.1.0's firmware compatibility depends on onboard-sdk 4.1.0's. you can get more information [here](https://developer.dji.com/cn/document/0c2b2d75-d019-480c-9241-8c8e7209692d);
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#### Ros
125152
you need to install ros first.Install instruction can be found at: http://wiki.ros.org/ROS/Installation. We just tested ROS kinetic version.
126153
#### C++11 Compiler
127154
We compile with C + + 11 Standard.
128155
#### onboard-sdk
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you need to download onboard-sdk4.0.1,and install it.
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you need to download onboard-sdk4.1.0,and install it.
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>$mkdir build
131158
>$cd build
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>$cmake ..
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140167
> $sudo apt install ffmpeg
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#### libusb-1.0-0-dev
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> $sudo apt install libusb-1.0-0-dev
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#### libsdl2-dev
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> $sudo apt install libsdl2-dev
143172
#### opencv3.x
144173
We use OpenCV to show images from camera stream. Download and install instructions can be found at: http://opencv.org. Tested with OpenCV 3.3.0.Suggest using 3.3.0+.
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#### stereo-vision function
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>$sudo vi DJIDevice.rules
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160189
Then add these content into DJIDevice.rules.
161-
>$SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"
190+
>SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"
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At last,you need to reboot your computer to make sure it works.
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>$mkdir src
171200
>$cd src
172201
>$catkin_init_workspace
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#### add osdk-ros 4.0.1
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Download osdk-ros 4.0.1 and put it into src.
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#### add osdk-ros 4.1.0
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Download osdk-ros 4.1.0 and put it into src.
175204
#### Build the dji_osdk_ros ROS package
176205
>$cd ..
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>$catkin_make
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2.Edit the launch file and enter your App ID, Key, Baudrate and Port name in the designated places.
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(__note:there are two launch file.
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dji_sdk_node.launch is for dji_sdk_node.(3.8.1's interface)
185-
dji_vehicle_node is for dji_vehicle_node(4.0.1's interface)__)
214+
dji_vehicle_node is for dji_vehicle_node(4.1.0's interface)__)
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> $rosed dji_osdk_ros dji_sdk_node.launch
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> $rosed dji_osdk_ros dji_vehicle_node.launch
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@@ -191,7 +220,7 @@ dji_vehicle_node is for dji_vehicle_node(4.0.1's interface)__)
191220
>dji_vehicle_node.launch does not need UserConfig.txt.
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#### Running the Samples
193222
1.Start up the dji_osdk_ros ROS node.
194-
if you want to use OSDK ROS 4.0.1's services and topics:
223+
if you want to use OSDK ROS 4.1.0's services and topics:
195224
>$roslaunch dji_osdk_ros dji_vehicle_node.launch
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if you want to adapt to OSDK ROS 3.8.1's services and topics:
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You can get support from DJI and the community with the following methods:
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* Email to dev@dji.com
210239
* Report issue on github
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‎debian/control‎

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Section: misc
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Priority: optional
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Maintainer: kevin.hoo <kevin.hoo@dji.com>
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Build-Depends: debhelper (>= 9.0.0), ros-melodic-actionlib, ros-melodic-actionlib-msgs, ros-melodic-catkin, ros-melodic-geometry-msgs, ros-melodic-message-filters, ros-melodic-message-generation, ros-melodic-nav-msgs, ros-melodic-nmea-msgs, ros-melodic-roscpp, ros-melodic-rospy, ros-melodic-std-msgs
5+
Build-Depends: debhelper (>= 9.0.0), opencv, ros-melodic-actionlib, ros-melodic-actionlib-msgs, ros-melodic-catkin, ros-melodic-geometry-msgs, ros-melodic-message-filters, ros-melodic-message-generation, ros-melodic-nav-msgs, ros-melodic-nmea-msgs, ros-melodic-roscpp, ros-melodic-rospy, ros-melodic-std-msgs
66
Homepage: http://developer.dji.com/onboard-sdk/documentation/github-platform-docs/ROS/README.html
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Standards-Version: 3.9.2
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Package: ros-melodic-dji-osdk-ros
1010
Architecture: any
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Depends: ${shlibs:Depends}, ${misc:Depends}, ros-melodic-actionlib, ros-melodic-actionlib-msgs, ros-melodic-geometry-msgs, ros-melodic-message-filters, ros-melodic-message-runtime, ros-melodic-nav-msgs, ros-melodic-nmea-msgs, ros-melodic-roscpp, ros-melodic-rospy, ros-melodic-std-msgs
11+
Depends: ${shlibs:Depends}, ${misc:Depends}, opencv, ros-melodic-actionlib, ros-melodic-actionlib-msgs, ros-melodic-geometry-msgs, ros-melodic-message-filters, ros-melodic-message-runtime, ros-melodic-nav-msgs, ros-melodic-nmea-msgs, ros-melodic-roscpp, ros-melodic-rospy, ros-melodic-std-msgs
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Description: A ROS package using DJI Onboard SDK

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