dji-sdk · ajanani85 · Mar 15, 2016 · Mar 15, 2016 · Mar 15, 2016 · Mar 23, 2016
diff --git a/.github/workflows/package.yml b/.github/workflows/package.yml
@@ -0,0 +1,38 @@
+name: Release Candidate
+on: 
+  push:
+    branches-ignore:
+      - master
+jobs:
+  package-cuda:
+    runs-on: [arm64,self-hosted,linux, cuda]
+    steps:
+      - uses: AutoModality/[email protected]
+      - uses: actions/checkout@v2
+      - uses: rlespinasse/[email protected] # for GITHUB_REF_SLUG
+      - name: Package
+        run: |
+          AM_PLATFORM=dji_m300 amros packages install -y --password=${{ secrets.BUILD_PASSWORD }}
+          echo ${{ secrets.BUILD_PASSWORD }} | sudo -S whoami && source /opt/ros/melodic/setup.bash && amros dev build deb --clean --version="0.0.${{ github.run_number }}" 
+      - name: Deploy
+        id: deploy
+        uses: AutoModality/[email protected]
+        with:
+          api-key: ${{ secrets.CLOUDSMITH_API_KEY }}
+          command: 'push'
+          format: 'deb'
+          owner: 'automodality'
+          repo: 'dev'
+          distro: 'ubuntu'
+          release: 'bionic'
+          file: 'ros-melodic-dji-osdk-ros_0.0.${{ github.run_number }}-0bionic_arm64.deb' # version must match package phase
+  draft-pr:
+    runs-on: ubuntu-18.04
+    needs: package-cuda
+    steps:
+      - uses: actions/checkout@v2
+      - name: Draft a Pull Request
+        uses: repo-sync/pull-request@v2
+        with:
+          pr_draft: true
+          github_token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -0,0 +1,34 @@
+name: Release
+on: 
+  push:
+    branches:
+      - master
+jobs:
+  release-package:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-18.04, [arm64,self-hosted,linux, build]]
+      fail-fast: false
+    name: Package
+    steps:
+      - uses: AutoModality/[email protected]
+      - uses: actions/checkout@v2
+      - name: Package
+        id: package
+        uses: AutoModality/action-package-debian-ros@v3
+        with:
+          version: 4.0.0-AM${{ github.run_number }}
+          release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
+      - name: Deploy
+        id: deploy
+        uses: AutoModality/[email protected]
+        with:
+          api-key: ${{ secrets.CLOUDSMITH_API_KEY }}
+          command: 'push'
+          format: 'deb'
+          owner: 'automodality'
+          repo: 'release'
+          distro: 'ubuntu'
+          release: 'bionic'
+          file: '${{ steps.package.outputs.artifact-path }}'
diff --git a/.gitignore b/.gitignore
@@ -1,7 +1,18 @@
 ./CMakeLists.txt
+*~
 *.swn
 *.swo
 *.swp
 *sdk.launch
 build.sh
 .idea/
+.history
+debian/ros-melodic-am-osdk-ros*
+debian/ros-melodic-dji-onboard-sdk-ros.debhelper.log
+ros-melodic-dji-onboard-sdk-build-deps_*_all.deb
+build
+catkin_ws
+.vscode
+
+debian/ros-*-dji-onboard-sdk-ros*
+debian/ros-*-dji-osdk-ros*
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -73,6 +73,7 @@ add_message_files(
   FILES
 
   FCTimeInUTC.msg
+  JoystickParams.msg
   GPSUTC.msg
   Gimbal.msg
   Waypoint.msg
@@ -96,7 +97,7 @@ add_message_files(
   WaypointV2.msg
   WaypointV2MissionEventPush.msg
   WaypointV2MissionStatePush.msg
-
+  RelPosition.msg
   MobileData.msg
   PayloadData.msg
   MissionWaypointAction.msg
@@ -105,6 +106,11 @@ add_message_files(
   MissionHotpointTask.msg
   FlightAnomaly.msg
   VOPosition.msg
+  BatteryState.msg
+  BatteryWholeInfo.msg
+  SmartBatteryState.msg
+  SmartBatteryDynamicInfo.msg
+  HMSPushInfo.msg
 )
 
 ## Generate services in the 'srv' folder
@@ -114,25 +120,36 @@ add_service_files(
   GetDroneType.srv
   GetM300StereoParams.srv
   FlightTaskControl.srv
+  SetJoystickMode.srv
+  JoystickAction.srv
+  ObtainControlAuthority.srv
+  KillSwitch.srv
+  EmergencyBrake.srv
   GimbalAction.srv
   CameraEV.srv
   CameraShutterSpeed.srv
   CameraAperture.srv
   CameraISO.srv
   CameraFocusPoint.srv
   CameraTapZoomPoint.srv
+  CameraSetZoomPara.srv
   CameraZoomCtrl.srv
   CameraStartShootSinglePhoto.srv
   CameraStartShootBurstPhoto.srv
   CameraStartShootAEBPhoto.srv
   CameraStartShootIntervalPhoto.srv
   CameraStopShootPhoto.srv
   CameraRecordVideoAction.srv
+  GetWholeBatteryInfo.srv
+  GetSingleBatteryDynamicInfo.srv
   MFIO.srv
   SetGoHomeAltitude.srv
-  SetNewHomePoint.srv
+  GetGoHomeAltitude.srv
+  SetCurrentAircraftLocAsHomePoint.srv
+  SetHomePoint.srv
   SetupCameraH264.srv
-  AvoidEnable.srv
+  SetAvoidEnable.srv
+  GetAvoidEnable.srv
   InitWaypointV2Setting.srv
   UploadWaypointV2Mission.srv
   UploadWaypointV2Action.srv
@@ -144,6 +161,7 @@ add_service_files(
   GenerateWaypointV2Action.srv
   SetGlobalCruisespeed.srv
   GetGlobalCruisespeed.srv
+  GetHMSData.srv
   SubscribeWaypointV2Event.srv
   SubscribeWaypointV2State.srv
 
@@ -315,11 +333,19 @@ add_subdirectory(src)
 # )
 
 ## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h*"
+  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}
+)
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 # install(FILES

diff --git a/ReadMe.md b/ReadMe.md
@@ -1,47 +1,68 @@
-# DJI Onboard SDK ROS 4.0.1
+# DJI Onboard SDK ROS 4.1.0
 
 ## Latest Update
 
-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.
+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.
 
 ### 1. feature  
-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.  
+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.  
 (__note:We will cancel support for the OSDK-ROS-obsoleted's interface in the next version.__)
 
-| **OSDK-ROS4.0.1 interface**          | **OSDK-ROS-obsoleted interface**            |
+| **OSDK-ROS4.1.0 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. Data subscription interface and sample;  
-2. Mobile device interface and sample;  
-3. Payload device interface and sample;  
-4. Add the top obstacle avoidance enable interface;
-5. Waypoint1.0/2.0 interface and sample;  
-6. Advanced sensing interface and sample perfection;  
-   include:  
-   > camera-h264  
-   > camera-stream  
-   > stereo-vision-depth-perception(rectified stereo images．disparity mapfiltered disparity map (Optional)．point cloud)  
-  (__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.__)  
-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.   
+This update mainly includes: 
+1. Battery information interface and sample;
+2. hms interface and sample;
+3. update flight-control interface and sample:
+   include:
+   >set_joystick_mode  
+   >joystick_action  
+   >get/set_go_home_altitude  
+   >set_home_point  
+   >rename 'set_current_point_as_home' to 'set_current_aircraft_point_as_home'  
+   >rename 'enable_avoid' to 'set_horizon_avoid_enable'  
+   >rename 'enable_upwards_avoid' to 'set_upwards_avoid_enable'  
+   >get_acoid_enable_status  
+   >kill_switch  
+   >emergency_brake  
+   >update flight_task_control,include:  
+   a.add velocity and yaw rate control action  
+   b.add turn on/off motor action  
+   c.add force landing and confirm landing action  
+   d.add cancel landing and cancel go home action
+
+4. fixed telemetry_node problem:displayMode and rcConnection is zero.  
+
+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.   
 (__note: These interfaces are not fully compatible with onboard-sdk4.0.1.And they will not be supported in next osdk-ros version.__)
 
 | **nodes**                            |  **services's name**                             | **topics's name**                     |
 |--------------------------------------|--------------------------------------------------|---------------------------------------|
 |dji_vehicle_node                      |get_drone_type                                    |                                       |
 |flight_control_node                   |flight_task_control                               |                                       |
 |                                      |set_go_home_altitude                              |                                       |
-|                                      |set_current_point_as_home                         |                                       |
-|                                      |enable_avoid                                      |                                       |
-|                                      |enable_upwards_avoid                              |                                       |
+|                                      |get_go_home_altitude                              |                                       |
+|                                      |set_current_aircraft_point_as_home                |                                       |
+|                                      |set_horizon_avoid_enable                          |                                       |
+|                                      |set_upwards_avoid_enable                          |                                       |
+|                                      |set_local_pos_reference                           |                                       |
+|                                      |joystick_action                                   |                                       |
+|                                      |set_joystick_mode                                 |                                       |
+|                                      |set_home_point                                    |                                       |
+|                                      |get_avoid_enable_status                           |                                       |
+|                                      |obtain_release_control_authority                  |                                       |
+|                                      |kill_switch                                       |                                       |
+|                                      |emergency_brake                                   |                                       |
 |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_set_zoom_para                         |                                       |
 |                                      |camera_task_zoom_ctrl                             |                                       |
 |                                      |camera_start_shoot_single_photo                   |                                       |
 |                                      |camera_start_shoot_aeb_photo                      |                                       |
@@ -78,7 +99,10 @@ This update mainly includes:
 |                                      |                                                  |dji_osdk_ros/stereo_240p_front_depth_images|
 |                                      |                                                  |dji_osdk_ros/stereo_vga_front_left_images  |
 |                                      |                                                  |dji_osdk_ros/stereo_vga_front_right_images |
-|time_sync_node                        |                                                  |                                       |
+|time_sync_node                        |                                                  |dji_osdk_ros/time_sync_nmea_msg        |
+|                                      |                                                  |dji_osdk_ros/time_sync_gps_utc         |
+|                                      |                                                  |dji_osdk_ros/time_sync_fc_time_utc     |
+|                                      |                                                  |dji_osdk_ros/time_sync_pps_source      |
 |mission_node                          |dji_osdk_ros/mission_waypoint_upload              |                                       |
 |                                      |dji_osdk_ros/mission_waypoint_action              |                                       |
 |                                      |dji_osdk_ros/mission_waypoint_getInfo             |                                       |
@@ -112,6 +136,9 @@ This update mainly includes:
 |                                      |dji_osdk_ros/waypointV2_getGlobalCruisespeed      |                                       |
 |                                      |dji_osdk_ros/waypointV2_subscribeMissionEvent     |dji_osdk_ros/waypointV2_mission_event  |
 |                                      |dji_osdk_ros/waypointV2_subscribeMissionState     |dji_osdk_ros/swaypointV2_mission_state |
+|battery_node                          |get_whole_battery_info                            |                                       |
+|                                      |get_single_battery_dynamic_info                   |                                       |
+|hms_node                              |get_hms_data                                      |                                       |
 ### 2. Prerequisites
 The system environment we have tested is in the table below.
 
@@ -120,17 +147,18 @@ The system environment we have tested is in the table below.
 | **system version**         | ubuntu 16.04                                |
 | **processor architecture** | x86(mainfold2-c),armv8(mainfold2-g)         |
 #### Firmware Compatibility
-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);
+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);
 #### 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-sdk4.0.1,and install it.
+you need to download onboard-sdk4.1.0,and install it.
 >$mkdir build  
 >$cd build  
->$cmake..  
->$sudo make -j7 install
+>$cmake ..  
+>$make -j7  
+>$sudo make install
 #### nema-comms
 > $sudo apt install ros-{release}-nmea-comms  
 
@@ -139,6 +167,8 @@ __note:we only test on kinetic,but it should be support on other version.__
 > $sudo apt install ffmpeg  
 #### libusb-1.0-0-dev
 > $sudo apt install libusb-1.0-0-dev
+#### libsdl2-dev
+> $sudo apt install libsdl2-dev
 #### opencv3.x
 We use OpenCV to show images from camera stream. Download and install instructions can be found at: http://opencv.org. Tested with OpenCV 3.3.0.Suggest using 3.3.0+.
 #### stereo-vision function
@@ -157,7 +187,7 @@ You will need to add an udev file to allow your system to obtain permission and
 >$sudo vi DJIDevice.rules
 
 Then add these content into DJIDevice.rules.
->$SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"
+>SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"
 
 At last,you need to reboot your computer to make sure it works.
 
@@ -169,8 +199,8 @@ If you don't have a catkin workspace, create one as follows:
 >$mkdir src  
 >$cd src  
 >$catkin_init_workspace
-#### add osdk-ros 4.0.1 
-Download osdk-ros 4.0.1 and put it into src.
+#### add osdk-ros 4.1.0 
+Download osdk-ros 4.1.0 and put it into src.
 #### Build the dji_osdk_ros ROS package
 >$cd ..  
 >$catkin_make
@@ -181,7 +211,7 @@ Download osdk-ros 4.0.1 and put it into src.
 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(4.0.1's interface)__)
+dji_vehicle_node is for dji_vehicle_node(4.1.0's interface)__)
 > $rosed dji_osdk_ros dji_sdk_node.launch  
 > $rosed dji_osdk_ros dji_vehicle_node.launch  
 
@@ -190,7 +220,7 @@ dji_vehicle_node is for dji_vehicle_node(4.0.1's interface)__)
 >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 4.0.1's services and topics:
+if you want to use OSDK ROS 4.1.0'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:
@@ -207,3 +237,4 @@ __note:if you want to rosrun dji_sdk_node,you need to put UserConfig.txt into cu
 You can get support from DJI and the community with the following methods:
 * Email to [email protected]
 * Report issue on github
+
diff --git a/debian/bloom-generate.txt b/debian/bloom-generate.txt
@@ -0,0 +1 @@
+Debian dir generated by bloom using AMROS cli
diff --git a/debian/changelog b/debian/changelog
@@ -0,0 +1,7 @@
+ros-melodic-dji-osdk-ros (4.0.1002-0bionic) bionic; urgency=high
+
+  * Autogenerated, no changelog for this version found in CHANGELOG.rst.
+
+ -- kevin.hoo <[email protected]>  Mon, 11 Jan 2021 22:41:01 -0000
+
+
diff --git a/debian/compat b/debian/compat
@@ -0,0 +1 @@
+9