DJI Matrice Series

Introduction 

DJI Matrice Series using DJI Onboard SDK has compatibility with DJI M210 V2, M210 RTX V2 and M300 RTK.

Installation 

For binary installation, install by running:

sudo apt install ros-humble-as2-platform-dji-osdk

Warning

This package is not available for binary installation yet. Cooming soon.

For source installation, clone the platform repository into your workspace and build it.

# If you have installed Aerostack2 from sources we recommend to clone the package in the src folder of your workspace otherwise you can clone it in any ROS 2 workspace you want.
cd ~/aerostack2_ws/src/aerostack2/as2_aerial_platforms
git clone git@github.com:aerostack2/as2_platform_dji_osdk.git
cd ~/aerostack2_ws
rosdep install as2_platform_dji_osdk --from-paths src --ignore-src -r -y
colcon build --packages-up-to as2_platform_dji_osdk

Install platform package 

For binary installation, install by running:

sudo apt install ros-humble-as2-platform-dji-osdk

Warning

This package is not available for binary installation yet. Cooming soon.

For source installation, clone Aerostack2 repository into your workspace and build it. See it in Aerostack2 installation guide.

Setup connection with DJI Matrice 

See DJI Device Connection tutorial for connect onboard computer with Aerostack2 to DJI Matrice aircracft.

Aerostack2 Common Interface 

For more details about platform control modes and sensors, see Aerostack2 Aerial Platform Concepts.

Control Modes 

These are supported control modes:

Control Modes DJI OSDK Platform
Control Mode	Yaw Mode	Reference Frame
Hover	None	None
Speed	Speed	ENU
Speed	Angle	ENU

Sensors 

These are supported sensors:

Sensors DJI OSDK Platform
Sensor	Topic	Type
Odometry	sensor_measurements/odom	nav_msgs/Odometry
IMU	sensor_measurements/imu	sensor_msgs/Imu
Battery	sensor_measurements/battery	sensor_msgs/BatteryState
GPS	sensor_measurements/gps	sensor_msgs/NavSatFix

Platform Launch 

Aerostack2 DJI OSDK platform provides a launch file, which parameters are:

DJI OSDK Platform Parameters
Parameter	Type	Description
namespace	string	Namespace of the platform, also named as drone id.
config	string	Optional. File yaml path with the config file that set: command frequency in Hz (cmd_freq), info frequency in Hz (info_freq) and file path with the control modes configuration (control_modes_file). Default the file in the package.
dji_app_config	string	Text file with the DJI app configuration. Must have the following format: app_id: <your_app_id> app_key: <your_app_key> device: /dev/ttyUSB0 baudrate: 921600 acm_port: /dev/ttyACM0
simulation_mode	bool	Optional, default false. Use for simulation with DJI Assistant 2.

Example of launch command:

ros2 launch as2_platform_dji_osdk as2_platform_dji_osdk_launch.py namespace:=drone1 dji_app_config:=UserConfig.txt