M100 (1) 运行

软件环境设置指南
本指南详细介绍了使用Onboard SDK所需的软件环境。
https://developer.dji.com/onboard-sdk/documentation/development-workflow/environment-setup.html#all-platforms
下载电脑端调参软件
- DJI Assistant 2 调参软件 v.1.1.2
https://www.dji.com/cn/matrice600/info#downloads
下载手机端调参软件
- DJL GO Creat
https://www.dji.com/cn/goapp
下载SDK

https://developer.dji.com/cn/onboard-sdk/

- 从Github

下载板载SDK

https://github.com/dji-sdk/Onboard-SDK

下载板载SDK-ROS存储库

https://github.com/dji-sdk/Mobile-SDK-Android

启用OSDK API

激活账号

https://developer.dji.com/cn/user/apps/#onboard

l g

<launch>
    <node pkg="dji_sdk" type="dji_sdk_node" name="dji_sdk" output="screen">
    <!-- node parameters -->
    <param name="serial_name" type="string" value="/dev/ttyUSB0"/>
    <param name="baud_rate" type="int" value="115200"/>
    <param name="app_id" type="int" value="1044132"/>
    <param name="app_version" type="int" value="1"/>
    <param name="align_time" type="bool" value="false"/>
    <param name="enc_key" type="string" value="c6e9959875a6bba94ef7ddf7720a8ff91c7daca74a67a432ad26847031a6786c"/>
    <param name="use_broadcast" type="bool" value="false"/>
    </node>
</launch>

0 升级

遥控器升级到最新

遥控器连接手机,下载升级包,手机直接升级

飞行器固件升级 1.3.1.0

连接windons下DJL Assistant 2 软件,自动升级
升级过程不能中断,否则失败

升级说明,

1 硬件连接

手机+遥控器

开启切换模式, 取消新手模式
遥控器接入F挡

飞机+电脑

开启USB-TTL 连接,NUC靠近开关黄色的USB口(USB0端口)
飞机USB小口连接另一台电脑,打开DJL Assistant 2 软件
设置串口波特率,开启SDK对勾

2 程序启动

在电脑上

编辑启动文件并在指定位置输入您的应用程序ID，密钥，波特率和端口名称：

rosed dji_sdk sdk.launch

首先获取usb端口打开权限

echo 12 | sudo chmod 777 /dev/ttyUSB0

运行官方运行文件

roslaunch light_wings passThrough.launch

运行控制节点

rosrun dji_sdk_demo demo_mission

当然可以写脚本一次运行 run.sh

#!/bin/bash

cd /home/light-wings/DJI/djim100_ws
echo 12 | sudo chmod 777 /dev/ttyUSB0
roslaunch light_wings passThrough.launch
exit 0

接着可以看到windos电脑下运行的DJL Assistant 2软件能够模拟飞行

官方样例

云台测试

115200

windos assitans 2 设置波特率

ls /dev/tty*    //查USB端口
echo 12 | sudo chmod 777 /dev/ttyUSB0   // 给权限
roslaunch dji_sdk sdk.launch

地面获取视频

飞机视频---------------------遥控器+视频卡+电脑+运行USB视频读取

这里写了个节点

运行命令

rosrun my_image_transport my_subscriber

代码

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>

using namespace cv;
using namespace std;

void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
  try
  {
    cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
  }
  catch (cv_bridge::Exception& e)
  {
    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
  }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "image_listener");
  ros::NodeHandle nh;
  
  Mat im;
  VideoCapture cap(0);
  
  if(!cap.isOpened())
  {
      cout << "fail open." << endl;
  }
  
  while(true)
  {
      cap >> im;
      
      cvNamedWindow("im", 0);
      imshow("im", im);
      cvWaitKey(1);
  }
    
 
  
  //cv::namedWindow("view");
  //cv::startWindowThread();
  //image_transport::ImageTransport it(nh);
  //image_transport::Subscriber sub = it.subscribe("/stereo_camera/right/image_raw", 1, imageCallback);

  //ros::NodeHandle nh1;
  //cv::namedWindow("view1");
  //cv::startWindowThread();
 // image_transport::ImageTransport it(nh1);
 // image_transport::Subscriber sub1 = it.subscribe("/stereo_camera/left/image_raw", 1, imageCallback);

  //ros::spin();
  //cv::destroyWindow("view");
  return 0;
}

cmake_minimum_required(VERSION 2.8.3)
project(my_image_transport)


find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  OpenCV
)


catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES my_image_transport
#  CATKIN_DEPENDS cv_bridge image_transport
#  DEPENDS system_lib
)


include_directories(
# include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(my_publisher src/my_publisher.cpp)
target_link_libraries(my_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(my_subscriber src/my_subscriber.cpp)
target_link_libraries(my_subscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

<?xml version="1.0"?>
<package format="2">
  <name>my_image_transport</name>
  <version>0.0.0</version>
  <description>The my_image_transport package</description>

  <maintainer email="light-wings@todo.todo">light-wings</maintainer>


  <license>TODO</license>


  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>image_transport</build_depend>
  <build_depend>opencv2</build_depend>
  <build_export_depend>cv_bridge</build_export_depend>
  <build_export_depend>image_transport</build_export_depend>
  
  <exec_depend>cv_bridge</exec_depend>
  <exec_depend>image_transport</exec_depend>
  
  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>