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Merge pull request dji-sdk#369 from DJI-Colin/update_readme_for_4.0.1
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Update readme for 4.0.1
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@DJI-Jerry
DJI-Jerry authored Aug 10, 2020
2 parents 80ef26a + 2ab1b24 commit 9a556f0
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72 changes: 67 additions & 5 deletions ReadMe.md
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Expand Up @@ -19,11 +19,11 @@ This update mainly includes:

| **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 | |
|advanced_sensing_node |advanced_sensing |cameradata |
|gimbal_camera_control_node |gimbal_task_control | |
| |camera_task_set_EV | |
| |camera_task_set_shutter_speed | |
Expand All @@ -38,8 +38,68 @@ This update mainly includes:
| |camera_start_shoot_interval_photo | |
| |camera_stop_shoot_photo | |
| |camera_record_video_action | |
|wapoint(will be supported in next version) |waypoint(will be supported in next version) |waypoint(will be supported in next version) |

|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 | | |
|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 | |
| |dji_osdk_ros/waypointV2_stopMission | |
| |dji_osdk_ros/waypointV2_pauseMission | |
| |dji_osdk_ros/waypointV2_resumeMission | |
| |dji_osdk_ros/waypointV2_generateActions | |
| |dji_osdk_ros/waypointV2_setGlobalCruisespeed | |
| |dji_osdk_ros/waypointV2_getGlobalCruisespeed | |

3. At the same time, we 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-sdk4.0.0.And they will not be supported in next osdk-ros version.__)
### 2. Prerequisites
Expand All @@ -48,7 +108,7 @@ The system environment we have tested is in the table below.
| | |
|----------------------------|-------------------------------------------- |
| **system version** | ubuntu 16.04 |
| **processor architecture** | x86(mainfold2-c),armv8(mainfold2-c) |
| **processor architecture** | x86(mainfold2-c),armv8(mainfold2-g) |
#### Firmware Compatibility
OSDK-ROS 4.0's firmware compatibility depends on onboard-sdk 4.0.0's. you can get more information [here](https://github.com/dji-sdk/Onboard-SDK);
#### Ros
Expand All @@ -70,7 +130,9 @@ __note:we only test on kinetic,but it should be support on other version.__
#### libusb-1.0-0-dev
> $sudo apt install libusb-1.0-0-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 3.2.0.
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
Follow the instruction of [here](https://developer.dji.com/onboard-sdk/documentation/sample-doc/advanced-sensing-stereo-depth-perception.html).

### 3.Permission
#### uart permission
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74 changes: 0 additions & 74 deletions include/dji_osdk_ros/stereo_vision_object_depth_perception_node.h
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