网站建设的出路,网站建设开发上线流程,wordpress收集客户插件,网站建设那家做的好DJI 无人机 Onboard SDK ROS 功能包demo运行demo功能准备测试环境运行 dji sdk 节点运行 demo 节点自动飞行任务航点自动飞行兴趣点环绕自动飞行飞行控制本地坐标位置控制搭建好 Onboard SDK ROS 的开发环境后#xff0c;功能包自身具备一些写好的demo功能案例 dji sdk 的节点…
DJI 无人机 Onboard SDK ROS 功能包demo运行demo功能准备测试环境运行 dji sdk 节点运行 demo 节点自动飞行任务航点自动飞行兴趣点环绕自动飞行飞行控制本地坐标位置控制搭建好 Onboard SDK ROS 的开发环境后功能包自身具备一些写好的demo功能案例 dji sdk 的节点在dji_sdk文件夹中 demo的功能案例则在dji_sdk_demo文件夹中
demo功能
具体的demo功能可以查看文件夹内的CMakeLists.txt文件
通过名称可以看出其功能总结如下
demo_mission 自动飞行任务
add_executable(demo_missionsrc/demo_mission.cpp)demo_camera_gimbal 相机云台控制
add_executable(demo_camera_gimbalsrc/demo_camera_gimbal.cpp )demo_mfio 多功能IO控制
add_executable(demo_mfiosrc/demo_mfio.cpp)demo_flight_control 飞行控制
add_executable(demo_flight_controlsrc/demo_flight_control.cpp)demo_mobile_comm msdk通信
add_executable(demo_mobile_commsrc/demo_mobile_comm.cpp)demo_payload_comm psdk通信
add_executable(demo_payload_commsrc/demo_payload_comm.cpp)demo_local_position_control 本地坐标位置控制
add_executable(demo_local_position_controlsrc/demo_local_position_control.cpp)demo_time_sync 时间硬件同步功能
add_executable(demo_time_syncsrc/demo_time_sync.cpp)demo_stereo_depth_perception 深度相机感知 add_executable(demo_stereo_depth_perceptionsrc/demo_stereo_depth_perception.cpp${STEREO_UTILITY_SRC_FILE} )demo_stereo_object_depth_perception 深度相机目标感知 add_executable(demo_stereo_object_depth_perceptionsrc/demo_stereo_object_depth_perception.cpp${STEREO_UTILITY_SRC_FILE} )在模拟器环境下可以测试
自动飞行任务飞行控制本地坐标位置控制
准备测试环境
连接A3飞控usb口至电脑打开 DJI Assistan2 开启模拟器
运行 dji sdk 节点
roslaunch dji_sdk sdk.launch终端输出如下 节点运行信息 NODES / dji_sdk (dji_sdk/dji_sdk_node) auto-starting new master process[master]: started with pid [5812] ROS_MASTER_URIhttp://localhost:11311 setting /run_id to 93cf1500-a697-11ed-bf42-df9474278202 process[rosout-1]: started with pid [5822] started core service [/rosout] process[dji_sdk-2]: started with pid [5825] 开启串口 STATUS/1 init, L55: Attempting to open device /dev/ttyUSB0 with baudrate 921600… STATUS/1 init, L65: …Serial started successfully. 读取无人机设备信息 STATUS/1 parseDroneVersionInfo, L727: Device Serial No. 0670169082 STATUS/1 parseDroneVersionInfo, L729: Hardware A3 STATUS/1 parseDroneVersionInfo, L730: Firmware 3.3.8.47 ERRORLOG/1 initVirtualRC, L1103: Virtual RC is not supported on this platform! 激活信息 STATUS/1 activate, L1313: version 0x303082F STATUS/1 activate, L1326: Activation successful 检查订阅功能 STATUS/1 verify, L244: Verify subscription successful. STATUS/1 initGimbal, L890: Checking if gimbal is connected … STATUS/1 startPackage, L350: Start package 0 result: 0. STATUS/1 startPackage, L352: Package 0 info: freq50, nTopics1. STATUS/1 removePackage, L468: Remove package 0 successful. STATUS/1 initGimbal, L934: Gimbal not mounted! [ INFO] [1675740553.755751972]: drone activated [ INFO] [1675740553.778064095]: Use data subscription to get telemetry data! [ INFO] [1675740553.778079475]: align_time_with_FC set to false. We will use ros time to time stamp messages! STATUS/1 verify, L244: Verify subscription successful. 订阅不同数据 STATUS/1 startPackage, L350: Start package 2 result: 0. STATUS/1 startPackage, L352: Package 2 info: freq100, nTopics3. STATUS/1 startPackage, L350: Start package 1 result: 0. STATUS/1 startPackage, L352: Package 1 info: freq50, nTopics14. STATUS/1 startPackage, L350: Start package 0 result: 0. STATUS/1 startPackage, L352: Package 0 info: freq5, nTopics1. STATUS/1 removePackage, L468: Remove package 0 successful. STATUS/1 startPackage, L350: Start package 0 result: 0. STATUS/1 startPackage, L352: Package 0 info: freq5, nTopics12. STATUS/1 startPackage, L350: Start package 3 result: 0. STATUS/1 startPackage, L352: Package 3 info: freq400, nTopics1. 运行 demo 节点
自动飞行任务
rosrun dji_sdk_demo demo_mission直接运行终端出现如下 激活成功并且成功获得SDK的控制权 需要输入命令选择运行的任务有效命令为a和b,
a 为 航点任务无人机会生成几个航点然后完成自动飞行结束后在最后一个航点处悬停b 为 兴趣点任务无人机生成一个兴趣点然后绕该点环绕飞行 [ INFO] [1675740815.554077620]: Activated successfully [ INFO] [1675740815.566534458]: Obtain SDK control Authority successfully | Available commands: | | [a] Waypoint Mission | | [b] Hotpoint Mission | 航点自动飞行
选择a后 会根据当前位置生成8个航点 a [ INFO] [1675740828.523351999]: Creating Waypoints… [ INFO] [1675740828.523385537]: Waypoint created at (LLA): 22.542813 113.958902 10.000000 [ INFO] [1675740828.523424518]: Uploading Waypoints… [ INFO] [1675740828.523438455]: Waypoint created at (LLA): 22.542813 113.958902 10.000000 [ INFO] [1675740828.523454862]: Waypoint created at (LLA): 22.542842 113.958952 11.000000 [ INFO] [1675740828.523479041]: Waypoint created at (LLA): 22.542813 113.959001 12.000000 [ INFO] [1675740828.523494546]: Waypoint created at (LLA): 22.542756 113.959001 13.000000 [ INFO] [1675740828.523507912]: Waypoint created at (LLA): 22.542727 113.958952 14.000000 [ INFO] [1675740828.523520406]: Waypoint created at (LLA): 22.542756 113.958902 15.000000 [ INFO] [1675740828.523533197]: Waypoint created at (LLA): 22.542813 113.958902 10.000000 完成初始化航点任务 [ INFO] [1675740828.523546607]: Initializing Waypoint Mission… 航点上传成功 [ INFO] [1675740836.561940059]: Waypoint upload command sent successfully 开始自动航点飞行指令发送成功 [ INFO] [1675740836.566911899]: Mission start command sent successfully 模拟器上无人机会自动解锁然后起飞并且完成设定航点的飞行任务最终在最后一个航点悬停 兴趣点环绕自动飞行
选择b后会执行兴趣点环绕自动飞行任务 b 自动起飞,无人机自动解锁然后飞至1.2m [ INFO] [1675742099.443036182]: Takeoff command sent successfully 无人机先升至环绕高度以默认环绕角速度15deg/s 进行位置绕飞绕飞5s [ INFO] [1675742114.443178988]: Start with default rotation rate: 15 deg/s [ INFO] [1675742114.448505426]: Mission start command sent successfully [ INFO] [1675742139.448688192]: Pause for 5s 任务暂停与继续 [ INFO] [1675742139.451349922]: Mission pause command sent successfully [ INFO] [1675742144.451458193]: Resume [ INFO] [1675742144.456389352]: Mission resume command sent successfully 更新绕飞半径 [ INFO] [1675742154.456525822]: Update radius to 1.5x: new radius 15.000000 [ INFO] [1675742164.457708017]: Hotpoint update radius command sent successfully 更新绕飞速度 [ INFO] [1675742174.457859734]: Update hotpoint rotation rate: new rate 5 deg/s [ INFO] [1675742184.459081801]: Hotpoint update yaw rate command sent successfully 绕飞停止 [ INFO] [1675742194.459170476]: Stop [ INFO] [1675742194.462806962]: Mission stop command sent successfully 降落 [ INFO] [1675742194.462819562]: land [ INFO] [1675742194.467372616]: Land command sent successfully 飞行控制
rosrun dji_sdk_demo demo_flight_control 无人机自动起飞然后飞一个矩形 [ INFO] [1675743016.199742227]: A3/N3 taking off! [ INFO] [1675743016.415844652]: Motor Spinning … [ INFO] [1675743020.636488163]: Ascending… [ INFO] [1675743022.278058330]: Successful takeoff! 飞行路线1 仅截取开头一段 [ INFO] [1675743022.278089899]: ##### Start route 1 … [ INFO] [1675743023.130819687]: -----x-0.012091, y0.096899, z0.262428, yaw1.040941 … [ INFO] [1675743023.130845799]: dx0.012091, dy19.903101, dz2.737572, dyaw-0.006256 … [ INFO] [1675743023.950986554]: -----x-0.034531, y0.727045, z0.875107, yaw1.055536 … [ INFO] [1675743023.951012451]: dx0.034531, dy19.272955, dz2.124893, dyaw0.008338 … [ INFO] [1675743024.770909261]: -----x-0.017862, y1.465063, z1.378654, yaw1.043764 … [ INFO] [1675743024.770938054]: dx0.017862, dy18.534937, dz1.621346, dyaw-0.003434 … [ INFO] [1675743025.590800226]: -----x-0.000521, y2.222384, z1.749954, yaw1.045671 … 路线1开始刹车 [ INFO] [1675743050.370302330]: ##### Route 1 start break… [ INFO] [1675743050.570487046]: -----x0.000151, y19.593961, z2.999557, yaw1.047178 … [ INFO] [1675743050.570512280]: dx-0.000151, dy0.406039, dz0.000443, dyaw-0.000020 … [ INFO] [1675743051.390515574]: -----x0.000191, y19.561036, z2.999557, yaw1.047188 … [ INFO] [1675743051.390541700]: dx-0.000191, dy0.438964, dz0.000443, dyaw-0.000009 … 路线1结束 [ INFO] [1675743051.930245287]: ##### Route 1 finished… 后面重复路线2、路线3、路线4的打印信息 本地坐标位置控制
起飞完成两个目标点的飞行 [ INFO] [1675743826.255594594]: A3/N3 taking off! [ INFO] [1675743826.512051941]: Motor Spinning … [ INFO] [1675743830.693925672]: Ascending… [ INFO] [1675743832.325256741]: Successful takeoff! [ INFO] [1675743858.244149614]: 1 of 2 target(s) complete [ INFO] [1675743885.684112340]: 2 of 2 target(s) complete
