DJI Onboard SDK ROS 4.0.0

Latest Update

OSDK-ROS 4.0.0 was released on 8 May 2020.You need to read newest update below to get update information. Please see the release notes and ROS sample setup for more information.And We will update ROS Wiki later.

1. feature

This 4.0 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.
(note:We will cancel support for the OSDK-ROS-obsoleted's interface in the next version.)

OSDK-ROS4.0 interface	OSDK-ROS-obsoleted interface
files below in dji_osdk_ros folder	files below in dji_osdk_ros_obsoleted folder

This update mainly includes:

1. Redesigned the 4.0 version of the framework and interface (ROS side interacts with the OSDK side through the wrapper layer, business-related interfaces are fully encapsulated into the wrapper layer, and the ROS side provides all services and topics);
2. OSDK-ROS4.0's interfaces are completely matched with onboard-sdk4.0.0.
3. Version 4.0 provides a main node (dji_vehicle_node), which completes the activation of the drone, the acquisition of control rights, and the initialization of all services and topics;

nodes	services's name	topics's name
flight_control_node	flight_task_control
	set_go_home_altitude
	set_current_point_as_home
	enable_avoid
advanced_sensing_node	advanced_sensing	cameradata
gimbal_camera_control_node	gimbal_task_control
	camera_task_set_EV
	camera_task_set_shutter_speed
	camera_task_set_aperture
	camera_task_set_ISO
	camera_task_set_focus_point
	camera_task_tap_zoom_point
	camera_task_zoom_ctrl
	camera_start_shoot_single_photo
	camera_start_shoot_aeb_photo
	camera_start_shoot_burst_photo
	camera_start_shoot_interval_photo
	camera_stop_shoot_photo
	camera_record_video_action
wapoint(will be supported in next version)	waypoint(will be supported in next version)	waypoint(will be supported in next version)

3. At the same time, we 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.
   (note: These interfaces are not fully compatible with onboard-sdk4.0.0.And they will not be supported in next osdk-ros version.)

2. Prerequisites

The system environment we have tested is in the table below.

system version	ubuntu 16.04
processor architecture	x86(mainfold2-c),armv8(mainfold2-c)

Firmware Compatibility

OSDK-ROS4.0's firmware compatibility depends on onboard-sdk4.0.0's. you can get more information here;

Ros

you need to install ros first.Install instruction can be found at: http://wiki.ros.org/ROS/Installation. We just tested ROS kinetic version.

C++11 Compiler

We compile with C + + 11 Standard.

onboard-sdk

you need to download onboard-sdk4.0.0,and install it.

$mkdir build
$cd build
$cmake..
$sudo make -j7 install

nema-comms

$sudo apt install ros-{release}-nmea-comms

note:we only test on kinetic,but it should be support on other version.

ffmpeg

$sudo apt install ffmpeg

libusb-1.0-0-dev

$sudo apt install libusb-1.0-0-dev

opencv3.x

We use OpenCV to show images from camera stream. Download and install instructions can be found at: http://opencv.org. Tested with OpenCV 3.2.0.

3.Permission

uart permission

You need to add your user to the dialout group to obtain read/write permissions for the uart communication.

$sudo usermod -a -G dialout ${USER}

Then log out of your user account and log in again for the permissions to take effect.

usb permission

You will need to add an udev file to allow your system to obtain permission and to identify DJI USB port.

$cd /etc/udev/rules.d/
$sudo vi DJIDevice.rules

Then add these content into DJIDevice.rules.

$SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"

At last,you need to reboot your computer to make sure it works.

4. Building dji_osdk_ros pkg

create workspace

If you don't have a catkin workspace, create one as follows:

$mkdir catkin_ws
$cd catkin_ws
$mkdir src
$cd src
$catkin_init_workspace

add osdk-ros 4.0

Download osdk-ros 4.0 and put it into src.

Build the dji_osdk_ros ROS package

$cd ..
$catkin_make

Configuration

1.Remember to source your setup.bash.

$source devel/setup.bash

2.Edit the launch file and enter your App ID, Key, Baudrate and Port name in the designated places.
(note:there are two launch file.
dji_sdk_node.launch is for dji_sdk_node.(3.8.1's interface)
dji_vehicle_node is for dji_vehicle_node(4.0.0's interface))

$rosed dji_osdk_ros dji_sdk_node.launch
$rosed dji_osdk_ros dji_vehicle_node.launch

3.Remember to add UserConfig.txt to correct path.(in the current work directory)

If you want to run dji_sdk_node.launch, you need to put UserConfig.txt into /home/{user}/.ros. dji_vehicle_node.launch does not need UserConfig.txt.

Running the Samples

1.Start up the dji_osdk_ros ROS node.
if you want to use OSDK ROS 4.0.0's services and topics:

$roslaunch dji_osdk_ros dji_vehicle_node.launch

if you want to adapt to OSDK ROS 3.8.1's services and topics:

$roslaunch dji_osdk_ros dji_sdk_node.launch

2.Open up another terminal and cd to your catkin_ws location, and start up a sample (e.g. flight control sample).

$source devel/setup.bash
$rosrun dji_osdk_ros flight_control_node

note:if you want to rosrun dji_sdk_node,you need to put UserConfig.txt into current work directory.
3.Follow the prompt on screen to choose an action for the drone to do.

Support

You can get support from DJI and the community with the following methods:

• Email to [email protected]
• Report issue on github