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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 and ROS sample setup for more information.And We will update ROS Wiki later.
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-ROS4.1.0 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. 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
fixed telemetry_node problem:displayMode and rcConnection is zero.
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 | ||
| 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 | ||
| camera_start_shoot_burst_photo | ||
| camera_start_shoot_interval_photo | ||
| camera_stop_shoot_photo | ||
| camera_record_video_action | ||
| telemetry_node | dji_osdk_ros/attitude | |
| dji_osdk_ros/battery_state | ||
| dji_osdk_ros/imu | ||
| dji_osdk_ros/flight_status | ||
| dji_osdk_ros/gps_health | ||
| dji_osdk_ros/gps_position | ||
| dji_osdk_ros/vo_position | ||
| dji_osdk_ros/height_above_takeoff | ||
| dji_osdk_ros/velocity | ||
| dji_osdk_ros/from_mobile_data | ||
| dji_osdk_ros/from_payload_data | ||
| dji_osdk_ros/gimbal_angle | ||
| dji_osdk_ros/rc | ||
| dji_osdk_ros/local_position | ||
| dji_osdk_ros/local_frame_ref | ||
| 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 | ||
| dji_osdk_ros/main_camera_images | ||
| dji_osdk_ros/fpv_camera_images | ||
| dji_osdk_ros/camera_h264_stream | ||
| dji_osdk_ros/stereo_240p_front_left_images | ||
| dji_osdk_ros/stereo_240p_front_right_images | ||
| dji_osdk_ros/stereo_240p_down_front_images | ||
| dji_osdk_ros/stereo_240p_down_back_images | ||
| 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 | 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 | ||
| dji_osdk_ros/mission_waypoint_getSpeed | ||
| dji_osdk_ros/mission_waypoint_setSpeed | ||
| dji_osdk_ros/mission_hotpoint_upload | ||
| dji_osdk_ros/mission_hotpoint_action | ||
| dji_osdk_ros/mission_hotpoint_getInfo | ||
| dji_osdk_ros/mission_hotpoint_updateYawRate | ||
| dji_osdk_ros/mission_hotpoint_resetYaw | ||
| dji_osdk_ros/mission_hotpoint_updateRadius | ||
| dji_osdk_ros/mission_status | ||
| camera_stream_node | setup_camera_stream | |
| camera_h264_node | setup_camera_h264 | |
| stereo_vision_depth_perception_node | get_m300_stereo_params | |
| stereo_240p_subscription | ||
| stereo_depth_subscription | ||
| stereo_vga_subscription | ||
| mobile_device_node | send_data_to_mobile_device | |
| payload_device_node | send_data_to_payload_device_server | |
| waypointV2_node | dji_osdk_ros/waypointV2_initSetting | |
| dji_osdk_ros/waypointV2_uploadMission | ||
| dji_osdk_ros/waypointV2_downloadMission | ||
| dji_osdk_ros/waypointV2_uploadAction | ||
| dji_osdk_ros/waypointV2_startMission |
$ claude mcp add Onboard-SDK-ROS \
-- python -m otcore.mcp_server <graph>