DJI Matrice Series PSDK

Introduction 

DJI Matrice Series using DJI Onboard PSDK has compatibility with DJI M300, DJI M350 and DJI M30.

Installation 

Prerequisites 

Refer to the DJI PSDK ROS2 for the harware and software requirements.

Install platform package 

For binary installation, install by running:

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

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_psdk.git
cd ~/aerostack2_ws
rosdep install as2_platform_dji_psdk --from-paths src --ignore-src -r -y
colcon build --packages-up-to as2_platform_dji_psdk

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 PSDK Platform
Control Mode	Yaw Mode	Reference Frame
Speed	Speed	ENU

Sensors 

These are supported sensors:

Sensors DJI PSDK 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 provides a launch file for this platform:

ros2 launch as2_platform_dji_psdk as2_platform_dji_psdk.launch.py

Also, ROS 2 PSDK Wrapper must be launched before the platform:

ros2 launch as2_platform_dji_psdk psdk_wrapper.launch.py

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