DJI Matrice Series OSDK

Introduction

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

../../_images/DJI_M3001.jpg

Installation

Prerequisites

Refer to the DJI Onboard SDK documentation for the harware and software requirements.

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

Install platform package

  • For binary installation, install by running:

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

  • For source installation, follow the steps below:

# 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

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

Camera

sensor_measurements/camera

sensor_msgs/Image

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.

Aerostack2 provides a launch file for this platform:

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

To see all the available parameters, use the ‘-s’ flag to show the description of each parameter in the launch file.