Warning:
These commands are relative. Thus, the aircraft does not stop upon reaching the provided X/Y commands!! The low-level implementation of this functionality lacks a position controller for these axes. If this is desired, the user should implement his/hers own way of sending an XY command and stopping once the aircraft reaches it.
- `axes[2]`: z command [m]
* This command is relative to the global Cartesian frame where the aircraft has been initialized.
* The aircraft will stop at the designated z command once it reaches it.
- `axes[3]`: yaw command [rad]
* The commanded yaw is assumed to be following REP 103, thus a FLU rotation wrt to ENU frame
* The aircraft will stop at the designated yaw command once it reaches it.
#### `/psdk_ros2/flight_control_setpoint_ENUvelocity_yawrate`
These commands are with respect to a ENU oriented global Cartesian frame where the aircraft has been initialized.
- **Message Type**: `sensor_msgs::msg::Joy`
- `axes[0]`: x velocity command [m/s]
- `axes[1]`: y velocity command [m/s]
- `axes[2]`: z velocity command [m/s]
- `axes[3]`: yaw rate command [rad/s]
#### `/psdk_ros2/flight_control_setpoint_FLUvelocity_yawrate`
These commands are with respect to a body frame (FLU).
- **Message Type**: `sensor_msgs::msg::Joy`
- `axes[0]`: x velocity command [m/s]
- `axes[1]`: y velocity command [m/s]
- `axes[2]`: z velocity command [m/s]
- `axes[3]`: yaw rate command [rad/s]
#### `/psdk_ros2/flight_control_setpoint_generic`
* WIP: currently not implemented
#### `/psdk_ros2/flight_control_setpoint_rollpitch_yawrate_thrust`
* WIP: currently not implemented
### Camera
This module implements the main functionalities related with different camera payloads that can be mounted on-board the copter.
The PSDK libraries define a payload index for each camera mounted on-board a copter as follows:
```cpp
typedef enum {
DJI_MOUNT_POSITION_UNKNOWN = 0,
DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 = 1,
DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 = 2,
DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3 = 3,
DJI_MOUNT_POSITION_EXTENSION_PORT = 4,
} E_DjiMountPosition;
```
Thus, when calling any of the services explained below, first the payload index or mount position needs to be specified so that the proper camera is selected. By default, the payload index is set to 1 in many services.
#### Camera settings
The following camera parameters can be set/get. Please note, that some of these are not available for all camera types or need the camera to be put in a particular mode before the parameter can be set. Check the API Documentation for more information regaring the inputs and outputs of these ROS 2 services.
| Name | Type |
| --------------------------------------------| --------- |
| psdk_ros2/camera_get_type | Service |
| psdk_ros2/camera_set_exposure_mode_ev | Service |
| psdk_ros2/camera_get_exposure_mode_ev | Service |
| psdk_ros2/camera_set_shutter_speed | Service |
| psdk_ros2/camera_get_shutter_speed | Service |
| psdk_ros2/camera_set_iso | Service |
| psdk_ros2/camera_get_iso | Service |
| psdk_ros2/camera_set_focus_target | Service |
| psdk_ros2/camera_get_focus_target | Service |
| psdk_ros2/camera_set_focus_mode | Service |
| psdk_ros2/camera_get_focus_mode | Service |
| psdk_ros2/camera_get_focus_ring_range | Service |
| psdk_ros2/camera_set_focus_ring_value | Service |
| psdk_ros2/camera_get_focus_ring_value | Service |
| psdk_ros2/camera_set_optical_zoom | Service |
| psdk_ros2/camera_get_optical_zoom | Service |
| psdk_ros2/camera_set_infrared_zoom | Service |
| psdk_ros2/camera_set_aperture | Service |
| psdk_ros2/camera_get_aperture | Service |
| psdk_ros2/camera_get_laser_ranging_info | Service |
#### Camera commands
The following services can be called to start shooting photos or record videos with the payload installed on-board the copter. Check the API Documentation for more information regarding the inputs and outputs of these ROS 2 services.
| Name | Type |
| ----------------------------------------| --------- |
| psdk_ros2/camera_shoot_single_photo | Service |
| psdk_ros2/camera_shoot_burst_photo | Service |
| psdk_ros2/camera_shoot_interval_photo | Service |
| psdk_ros2/camera_stop_shoot_photo | Service |
| psdk_ros2/camera_record_video | Service |
#### Camera streaming
The camera streaming is managed by a ROS 2 service. Calling the `psdk_ros2/camera_setup_streaming` you can select the payload index of the camera you want to stream, the camera source (e.g. zoom camera/wide camera) and whether to start or stop the streaming with a boolean. Moreover, one can set if the stream should be published decoded or encoded. Once the streaming is started, you can see the images either on the `psdk_ros2/main_camera_stream` if the main camera has been selected or the `psdk_ros2/fpv_camera_stream` if the FPV camera has been selected.
Please notice that the frequency of the streaming will depend on the computational resources available on the board where the `psdk_ros2 wrapper` is launched.
| Name | Type |
| --------------------------------- | --------- |
| psdk_ros2/camera_setup_streaming | Service |
| psdk_ros2/main_camera_stream | Topic |
| psdk_ros2/fpv_camera_stream | Topic |
#### Camera file management
Camera services for managing the SD card storage from the DJI payload. Calling the `psdk_ros2/camera_get_file_list_info` returns as a result the number of files and an array of file data. With this information you are able to manipulate the objects inside the SD card by calling the other services like `psdk_ros2/camera_download_file_by_index` or `psdk_ros2/camera_delete_file_by_index`. Inside these services you need to specify the location where the files will be saved. You can configure the path for the file download via a ROS 2 parameter (see psdk_params.yml).
Moreover, one can check the current storage capacity of the SD card (`psdk_ros2/camera_get_sd_storage_info`) and format it if desired (`psdk_ros2/camera_format_sd_card`).
| Name | Type |
| --------------------------------------------| --------- |
| psdk_ros2/camera_get_file_list_info | Service |
| psdk_ros2/camera_download_file_by_index | Action |
| psdk_ros2/camera_delete_file_by_index | Action |
| psdk_ros2/camera_get_sd_storage_info | Service |
| psdk_ros2/camera_format_sd_card | Service |
### Gimbal
| Name | Type |
| --------------------------------- | --------- |
| psdk_ros2/gimbal_set_mode | Service |
| psdk_ros2/gimbal_reset | Service |
| psdk_ros2/gimbal_rotation | Publisher |
| psdk_ros2/gimbal_angles | Topic |
### Perception
The perception stereo streaming is managed by a ROS 2 service. Calling the `psdk_ros2/start_perception` you can select the direction of the stereo camera you want to stream (e.g. DOWN, FRONT, REAR, UP, LEFT, RIGHT) and whether to start or stop the streaming with a boolean. Once the streaming is started, you can see the images for left side stereo camera on the `psdk_ros2/perception_stereo_left_stream` and for right side stereo camera on the `psdk_ros2/perception_stereo_right_stream`. Currently only one direction stereo cameras (both left and right) feed can be access at a time.
Moreover, one can get the camera parameters on the `psdk_ros2/perception_camera_parameters`
| Name | Type |
| --------------------------------- | --------- |
| psdk_ros2/start_perception | Service |
| psdk_ros2/perception_stereo_left_stream | Topic |
| psdk_ros2/perception_stereo_right_stream | Topic |
| psdk_ros2/perception_camera_parameters | Topic |