Merge pull request #8 from AutoModality/AM-604/4_0_1

Updated to DJI 4.0.1

Author: danhennage

.gitignore

@@ -14,4 +14,5 @@ build
 catkin_ws
 .vscode
 
-debian/ros-*-dji-onboard-sdk-ros*
+debian/ros-*-dji-onboard-sdk-ros*
+debian/ros-*-dji-osdk-ros*

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(dji_sdk) ## Compile as C++11, supported in ROS Kinetic and newer
+project(dji_osdk_ros) ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
 
 ## Find catkin macros and libraries
@@ -9,10 +9,12 @@ find_package(catkin REQUIRED COMPONENTS
     geometry_msgs
     message_generation
     nav_msgs
+    nmea_msgs
     roscpp
     rospy
     std_msgs
     sensor_msgs
+    message_filters # for message_filter
   )
 
 ## System dependencies are found with CMake's conventions
@@ -69,13 +71,32 @@ find_package(FFMPEG REQUIRED)
 ## Generate msg in the 'msg' folder
 add_message_files(
   FILES
-  CameraData.msg
 
   FCTimeInUTC.msg
   GPSUTC.msg
   Gimbal.msg
   Waypoint.msg
   WaypointList.msg
+  WaypointV2AircraftControlActuatorFlying.msg
+  WaypointV2AircraftControlActuatorRotateHeading.msg
+  WaypointV2AircraftControlActuator.msg
+  WaypointV2AssociateTrigger.msg
+  WaypointV2CameraActuatorFocalLengthParam.msg
+  WaypointV2CameraActuatorFocusParam.msg
+  WaypointV2CameraActuator.msg
+  WaypointV2Config.msg
+  WaypointV2GimbalActuatorRotationParam.msg
+  WaypointV2GimbalActuator.msg
+  WaypointV2InitSetting.msg
+  WaypointV2IntervalTrigger.msg
+  WaypointV2ReachpointTrigger.msg
+  WaypointV2SampleReachPointTrigger.msg
+  WaypointV2TrajectoryTrigger.msg
+  WaypointV2Action.msg
+  WaypointV2.msg
+  WaypointV2MissionEventPush.msg
+  WaypointV2MissionStatePush.msg
+
   MobileData.msg
   PayloadData.msg
   MissionWaypointAction.msg
@@ -90,6 +111,9 @@ add_message_files(
 ## Generate services in the 'srv' folder
 add_service_files(
   FILES
+
+  GetDroneType.srv
+  GetM300StereoParams.srv
   FlightTaskControl.srv
   GimbalAction.srv
   CameraEV.srv
@@ -108,8 +132,21 @@ add_service_files(
   MFIO.srv
   SetGoHomeAltitude.srv
   SetNewHomePoint.srv
-  AdvancedSensing.srv
+  SetupCameraH264.srv
   AvoidEnable.srv
+  InitWaypointV2Setting.srv
+  UploadWaypointV2Mission.srv
+  UploadWaypointV2Action.srv
+  DownloadWaypointV2Mission.srv
+  StartWaypointV2Mission.srv
+  StopWaypointV2Mission.srv
+  PauseWaypointV2Mission.srv
+  ResumeWaypointV2Mission.srv
+  GenerateWaypointV2Action.srv
+  SetGlobalCruisespeed.srv
+  GetGlobalCruisespeed.srv
+  SubscribeWaypointV2Event.srv
+  SubscribeWaypointV2State.srv
 
   Activation.srv
   CameraAction.srv
@@ -285,6 +322,9 @@ install(DIRECTORY include/${PROJECT_NAME}/
   PATTERN ".svn" EXCLUDE
 )
 
+install(DIRECTORY include/dji_osdk_ros_obsoleted
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
 ## Install launch files into share directory
 install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

Makefile

@@ -0,0 +1 @@
+Debian dir generated by bloom using AMROS cli

ReadMe.md

@@ -1 +1,7 @@
-ros-melodic-dji-onboard-sdk-ros (4.0.0-AM7) unstable; urgency=medium
+ros-melodic-dji-osdk-ros (4.0.1002-0bionic) bionic; urgency=high
+
+  * Autogenerated, no changelog for this version found in CHANGELOG.rst.
+
+ -- kevin.hoo <kevin.hoo@dji.com>  Mon, 11 Jan 2021 22:41:01 -0000
+
+

configure

@@ -1,22 +1,12 @@
-Source: ros-melodic-dji-onboard-sdk-ros
-Section: unknown
-Priority: extra
-Maintainer: AutoModality <dev@automodality.com>
-Build-Depends: debhelper (>=9) , 
-    dji-onboard-sdk, 
-    ros-melodic-nmea-msgs,
-    libusb-1.0-0-dev,
-    ffmpeg,
-Standards-Version: 3.9.6
-Homepage: https://github.com/AutoModality/OSDK-ROS
+Source: ros-melodic-dji-osdk-ros
+Section: misc
+Priority: optional
+Maintainer: kevin.hoo <kevin.hoo@dji.com>
+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
+Homepage: http://developer.dji.com/onboard-sdk/documentation/github-platform-docs/ROS/README.html
+Standards-Version: 3.9.2
 
-Package: ros-melodic-dji-onboard-sdk-ros
+Package: ros-melodic-dji-osdk-ros
 Architecture: any
-Multi-Arch: foreign
-Depends: ${misc:Depends}, ${shlibs:Depends} , 
-    dji-onboard-sdk, 
-    ros-melodic-nmea-msgs,
-    libusb-1.0-0-dev,
-    ffmpeg,
-Description: OSDK-ROS node for interfacing with DJI's OSDK
-
+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
+Description: A ROS package using DJI Onboard SDK

debian/README.md

@@ -1,22 +1,65 @@
 #!/usr/bin/make -f
-# You must remove unused comment lines for the released package.
-#export DH_VERBOSE = 1
-#export DEB_BUILD_MAINT_OPTIONS = hardening=+all
-#export DEB_CFLAGS_MAINT_APPEND  = -Wall -pedantic
-#export DEB_LDFLAGS_MAINT_APPEND = -Wl,--as-needed
+# -*- makefile -*-
+# Sample debian/rules that uses debhelper.
+# This file was originally written by Joey Hess and Craig Small.
+# As a special exception, when this file is copied by dh-make into a
+# dh-make output file, you may use that output file without restriction.
+# This special exception was added by Craig Small in version 0.37 of dh-make.
 
-%:
-	dh $@
+# Uncomment this to turn on verbose mode.
+export DH_VERBOSE=1
+# TODO: remove the LDFLAGS override.  It's here to avoid esoteric problems
+# of this sort:
+#  https://code.ros.org/trac/ros/ticket/2977
+#  https://code.ros.org/trac/ros/ticket/3842
+export LDFLAGS=
+export PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig
+# Explicitly enable -DNDEBUG, see:
+# 	https://github.com/ros-infrastructure/bloom/issues/327
+export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
 
+%:
+	dh $@ -v --buildsystem=cmake
 
 override_dh_auto_configure:
-	@echo "Running dh_auto_configure"
-	dh_auto_configure
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree that was dropped by catkin, and source it.  It will
+	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	if [ -f "/opt/ros/melodic/setup.sh" ]; then . "/opt/ros/melodic/setup.sh"; fi && \
+	dh_auto_configure -- \
+		-DCATKIN_BUILD_BINARY_PACKAGE="1" \
+		-DCMAKE_INSTALL_PREFIX="/opt/ros/melodic" \
+		-DCMAKE_PREFIX_PATH="/opt/ros/melodic"
 
 override_dh_auto_build:
-	@echo "Running the build"
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree that was dropped by catkin, and source it.  It will
+	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	if [ -f "/opt/ros/melodic/setup.sh" ]; then . "/opt/ros/melodic/setup.sh"; fi && \
 	dh_auto_build
-	@echo "Done running the build"
+
+override_dh_auto_test:
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree that was dropped by catkin, and source it.  It will
+	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	echo -- Running tests. Even if one of them fails the build is not canceled.
+	if [ -f "/opt/ros/melodic/setup.sh" ]; then . "/opt/ros/melodic/setup.sh"; fi && \
+	dh_auto_test || true
+
+override_dh_shlibdeps:
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree that was dropped by catkin, and source it.  It will
+	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	if [ -f "/opt/ros/melodic/setup.sh" ]; then . "/opt/ros/melodic/setup.sh"; fi && \
+	dh_shlibdeps -l$(CURDIR)/debian/ros-melodic-dji-osdk-ros//opt/ros/melodic/lib/
+
+override_dh_auto_install:
+	# In case we're installing to a non-standard location, look for a setup.sh
+	# in the install tree that was dropped by catkin, and source it.  It will
+	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+	if [ -f "/opt/ros/melodic/setup.sh" ]; then . "/opt/ros/melodic/setup.sh"; fi && \
+	dh_auto_install
+
 
 override_dh_builddeb:
 	dh_builddeb --destdir=.