as2_platform_dji_psdk

Aerostack2 platform for DJI drones that use the DJI Payload SDK (PSDK), such as the Matrice 30, Matrice 300 RTK and Matrice 350 RTK.

The platform talks to the drone through psdk_ros2, so a running deployment has two nodes: the psdk_wrapper node, which owns the connection to the drone, and the Aerostack2 platform node, which translates Aerostack2 commands into psdk_wrapper topics and services.

[!NOTE] For older drones that only support the deprecated Onboard SDK, such as the Matrice 210 V2, use as2_platform_dji_osdk.

[!IMPORTANT] This package can’t be released to the ROS build farm or listed on the ROS Index yet, because its psdk_interfaces dependency isn’t released for any ROS 2 distribution newer than Humble. Building it from source, together with psdk_ros2, works.

Requirements

• Ubuntu 22.04 with ROS 2 Humble
• Aerostack2
• psdk_ros2, which provides psdk_interfaces and the psdk_wrapper node
• A DJI developer app (app_name, app_id, app_key and app_license) from the DJI Developer Center

Build

From the root of your workspace:

rosdep install -y -r --ignore-src --from-paths src --packages-up-to as2_platform_dji_psdk
colcon build --packages-up-to as2_platform_dji_psdk

Usage

Set your DJI app credentials in config/psdk_authentication.yaml:

/**:
  ros__parameters:
    app_name: "YourPSDK"
    app_id: "YourID"
    app_key: "YourAppKey"
    app_license: "YourAppLicense"
    developer_account: "YourDeveloperAccount"
    baudrate: "921600"

Set the serial, USB bulk or network devices that connect to the drone in config/link_config.json.

Then launch the psdk_wrapper node and the platform:

ros2 launch as2_platform_dji_psdk psdk_wrapper.launch.py namespace:=drone0
ros2 launch as2_platform_dji_psdk as2_platform_dji_psdk.launch.py namespace:=drone0

psdk_wrapper.launch.py

The wrapper’s GPS, IMU and main camera topics are remapped to the Aerostack2 sensor_measurements/ namespace.

as2_platform_dji_psdk.launch.py

Platform parameters (command and info rates, camera, gimbal, TF timeout) are in config/platform_config_file.yaml, and each one can also be overridden as a launch argument.

Test

colcon test --packages-select as2_platform_dji_psdk
colcon test-result --verbose

File truncated at 100 lines see the full file

Changelog for package as2_platform_dji_psdk

1.1.0 (2024-08-20)

• [fix] psdk_wrapper.launch.py by removing tab in default config files
• [feat] Update changes in launcher and params to psdk_ros2 v1.3.0
• [feat] Update launcher with param utils
• [test] flake8 passing
• [ci] new ci added
• [fix] velocity sub topic
• [feat] Add tf_frame_prefix param
• [feat] Improve gimbal using TF
• [fix] Avoid sending duplicated gimbal command
• [fix] platform take off
• [feat] Add gimbal
• [refactor] Code refractor without impl
• [feat] Add HMS file
• [feat] Add gimbal and camera intialization flags
• [fix] speed state and yaw reference frames
• [feat] obtain ctrl authority
• [feat] change to SynchronousServiceClient
• [test] enable test dir
• [docs] add copyright
• [style] add hints to platform virtual methods
• [test] Use ament_lint_auto
• [build] Add psdk_interfaces dependency
• Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, Santiago Tapia-Fernández, pariaspe