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dji-sdk / Onboard-SDK-ROS

Official ROS packages for DJI onboard SDK.
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No camera images to ROS topics with M210 #234

Closed eeroniemi closed 6 years ago

eeroniemi commented 6 years ago

After launching ROS master node, I would expect images from different camers to appear on image topics but this doesn't happen. Onboard SDK code camera samples work fine.

I have been able to reproduce this problem with two computers:

Both have latest Onboard SDK's installed:

Both computers have Ubuntu 16 + ROS Kinetic. Onboard-SDK is complied with advanced sensing enabled.

How to reproduce

Connect USB and USB-TTL from M210 to your computer.

Test that camera connection works with Onboard-SDK samples:

rock64@rock64:~/dji/Onboard-SDK/build/bin$ ./camera-stream-callback-sample UserConfig.txt

Now I can see video stream from both FPV and main camera on my desktop screen.

Launch the DJI ROS node.

rock64@rock64:~$ roslaunch dji_sdk sdk.launch
... logging to /home/rock64/.ros/log/f5eb751a-b030-11e8-9738-86e0c0eafaa9/roslaunch-rock64-4257.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://rock64:43190/

SUMMARY
========

PARAMETERS
 * /dji_sdk/align_time: False
 * /dji_sdk/app_id: 1060581
 * /dji_sdk/app_version: 1
 * /dji_sdk/baud_rate: 230400
 * /dji_sdk/enc_key: 4844426e51fd869cc...
 * /dji_sdk/serial_name: /dev/ttyUSB0
 * /dji_sdk/use_broadcast: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    dji_sdk (dji_sdk/dji_sdk_node)

auto-starting new master
process[master]: started with pid [4267]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f5eb751a-b030-11e8-9738-86e0c0eafaa9
process[rosout-1]: started with pid [4280]
started core service [/rosout]
process[dji_sdk-2]: started with pid [4293]
[ INFO] [1536058500.039419784]: Advanced Sensing is Enabled on M210.

STATUS/1 @ init, L55: Attempting to open device /dev/ttyUSB0 with baudrate 230400...

STATUS/1 @ init, L65: ...Serial started successfully.

STATUS/1 @ parseDroneVersionInfo, L706: Device Serial No. = 095XF7C002024S

STATUS/1 @ parseDroneVersionInfo, L708: Hardware = PM410

STATUS/1 @ parseDroneVersionInfo, L709: Firmware = 3.3.10.4

STATUS/1 @ removePackage, L468: Remove package 1 successful.
ERRORLOG/1 @ removeLeftOverPackages, L499: failed to remove package 1
STATUS/1 @ removePackage, L468: Remove package 2 successful.
ERRORLOG/1 @ removeLeftOverPackages, L499: failed to remove package 2
ERRORLOG/1 @ initVirtualRC, L1067: Virtual RC is not supported on this platform!

STATUS/1 @ init, L49: Looking for USB device...

STATUS/1 @ init, L65: Found 11 USB devices, identifying DJI device...

STATUS/1 @ init, L83: Found a DJI device...

STATUS/1 @ init, L96: Attempting to open DJI USB device...

STATUS/1 @ init, L134: ...DJI USB device started successfully.

STATUS/1 @ activate, L1277: version 0x3030A04

STATUS/1 @ activate, L1290: Activation successful

STATUS/1 @ verify, L244: Verify subscription successful.
STATUS/1 @ initGimbal, L869: Checking if gimbal is connected ...
STATUS/1 @ startPackage, L350: Start package 0 result: 0.
STATUS/1 @ startPackage, L352: Package 0 info: freq=50, nTopics=1.

STATUS/1 @ removePackage, L468: Remove package 0 successful.[ INFO] [1536058506.819959645]: drone activated
[ INFO] [1536058507.695332577]: Use data subscription to get telemetry data!
[ INFO] [1536058507.695865732]: align_time_with_FC set to false. We will use ros time to time stamp messages!

STATUS/1 @ verify, L244: Verify subscription successful.
STATUS/1 @ startPackage, L350: Start package 2 result: 0.
STATUS/1 @ startPackage, L352: Package 2 info: freq=100, nTopics=3.

STATUS/1 @ startPackage, L350: Start package 1 result: 0.
STATUS/1 @ startPackage, L352: Package 1 info: freq=50, nTopics=14.

STATUS/1 @ startPackage, L350: Start package 0 result: 0.
STATUS/1 @ startPackage, L352: Package 0 info: freq=5, nTopics=6.

STATUS/1 @ startPackage, L350: Start package 3 result: 0.
STATUS/1 @ startPackage, L352: Package 3 info: freq=400, nTopics=1.

List of ROS topics:

rock64@rock64:~$ rostopic list
/dji_sdk/acceleration_ground_fused
/dji_sdk/angular_velocity_fused
/dji_sdk/attitude
/dji_sdk/battery_state
/dji_sdk/display_mode
/dji_sdk/flight_anomaly
/dji_sdk/flight_control_setpoint_ENUposition_yaw
/dji_sdk/flight_control_setpoint_ENUvelocity_yawrate
/dji_sdk/flight_control_setpoint_generic
/dji_sdk/flight_control_setpoint_rollpitch_yawrate_zposition
/dji_sdk/flight_status
/dji_sdk/fpv_camera_images
/dji_sdk/from_mobile_data
/dji_sdk/gimbal_angle
/dji_sdk/gimbal_angle_cmd
/dji_sdk/gimbal_speed_cmd
/dji_sdk/gps_health
/dji_sdk/gps_position
/dji_sdk/height_above_takeoff
/dji_sdk/imu
/dji_sdk/local_frame_ref
/dji_sdk/local_position
/dji_sdk/main_camera_images
/dji_sdk/rc
/dji_sdk/rc_connection_status
/dji_sdk/stereo_240p_down_back_images
/dji_sdk/stereo_240p_down_front_images
/dji_sdk/stereo_240p_front_depth_images
/dji_sdk/stereo_240p_front_left_images
/dji_sdk/stereo_240p_front_right_images
/dji_sdk/stereo_vga_front_left_images
/dji_sdk/stereo_vga_front_right_images
/dji_sdk/trigger_time
/dji_sdk/velocity
/dji_sdk/vo_position
/rosout
/rosout_agg

Now when I try to output images from image topics I get no data. Tried to output images different ways:

With DJI M100, Onboard-SDK 3.6 and M100 X3 ROS driver (https://github.com/groundmelon/m100_x3) I can see the video feed on topic /m100_x3/image_raw

rcabg commented 6 years ago

Hello @eeroniemi

When using ROS, did you call the "/dji_sdk/setup_camera_stream" service? It is necessary in order to get the image topics in ROS. See here for parameters needed by the service call.

For the main camera, remember to have your RC on with the DJI GO app.

eeroniemi commented 6 years ago

Seems like I missed that one. After doing that I got images to ROS topics. Thanks for help @rcabg !