loulansuiye / onboard-sdk-ros

Official ROS packages for DJI onboard SDK.

DJI Onboard SDK ROS 3.6

Latest Update

OSDK ROS 3.6 was released on Feb 2nd 2018. This release brings new features for the Matrice 210 and 210 RTK aircraft. In addition to providing camera feed data from the previous release, this release features several improvements to the main node and new demos for stereo data. Please see the release notes for more information.

Quick Start Guide

This repository contains the Onboard SDK ROS wrapper and demos. The ROS package requires Onboard SDK (djiosdk-core) to be installed to your system prior to running it. For detailed setup instructions, please follow the documentation here.

The ROS package is a full rewrite of DJI Onboard SDK ROS, with changes in APIs, reference frames, communication mechanisms etc. We encourage you to take a look at the documentation for full details.

ROS Wiki can be found here. Please be sure to read the release notes.

Firmware Compatibility

Aircraft/FC	Firmware Package Version	Flight Controller Version	OSDK Branch	Notes
M210/M210 RTK	1.1.0410+	3.2.39.12+	OSDK-ROS 3.6 (Current)	Requires DJI Assistant 2 version 1.1.8
M210/M210 RTK	1.1.0410+	3.2.39.12+	OSDK-ROS 3.4+	Requires DJI Assistant 2 version 1.1.8
M600/M600 Pro	1.0.1.65	3.2.41.9	OSDK-ROS 3.6 (Current)
	1.0.1.65	3.2.41.9	OSDK-ROS 3.3+	Firmware released 10/24/17
	1.0.1.60	3.2.41.5	Not Supported	Firmware pulled due to instability
	1.0.1.20	3.2.15.62	OSDK-ROS 3.3	3.3 backward compatiblity released 10/18
	1.0.0.80	3.2.15.00	OSDK-ROS 3.2
A3/A3 Pro	1.7.1.5	3.2.36.8	OSDK-ROS 3.6 (Current)
	1.7.1.5	3.2.36.8	OSDK-ROS 3.3+
	1.7.0.5	3.2.15.50	OSDK-ROS 3.2
	1.7.0.0	3.2.15.37	OSDK-ROS 3.2
N3	1.7.1.5	3.2.36.8	OSDK-ROS 3.6 (Current)
	1.7.1.5	3.2.36.8	OSDK-ROS 3.3+
	1.7.0.0	3.2.15.37	OSDK-ROS 3.2
M100	1.3.1.0	3.1.10.0	OSDK-ROS 3.6 (Current)
M100	1.3.1.0	3.1.10.0	OSDK-ROS 3.4+

Notes on differences between M100 and A3/N3 setup

Onboard SDK ROS is backward compatible with M100. However, due to the limitations of the flight controller of M100, some new features such as hardware sync, MFIO, on demand telemetry data (subscription) are only supported by A3/N3, and some settings for M100 are different from those for A3/N3.

1. The DJI Assistant 2 for M100 and for A3/N3 are slighly different. Please download DJI Assistant 2 from the corresponding product webpage.

2. The DJI SDK ROS package requires different baud rate for M100 and A3/N3. For M100, set the baud rate to 230400 in DJI Assistant 2's "SDK" tab, and the sdk.launch file; while for A3/N3, use 921600.

3. For M100, on the right side of the "SDK setting" tab of DJI Assistant 2, set the Data Type of ACC and GYRO to "Raw Data", and ALTI to "Data Fusion". The reason is that the raw data of acc and gyro are part of the /dji_sdk/imu message.

4. The flight_status enums for M100 and A3/N3 are different. See dji_sdk.h for details and demo_flight_control for examples.

5. Some topics are only available on A3/N3: display_mode, angular_velocity_fused, acceleration_ground_fused, trigger_time.

6. The imu topic is published at 400Hz on A3/N3, and at 100Hz on M100.

7. Some services are only available on A3/N3: mfio_config, mfio_set_value, set_hardsyc

Support

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

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