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Step by Step Tutorial to Use This Package with DJI A3

If you don't need IMU-BlueFOX Camera synchronization, you can safely skip steps marked by [SYNC].

Please PR or post issues if something is not clear or make you confusing.

Hardware Preparation

  1. Connect A3/N3 (Flight controller and LED module), LightBridge 2 (Air system and Ground system, connected to DJI GO App with Internet access). Make sure that all the following parts are connected and work well.

A3kit

  1. Power on all components, configurate A3 on DJI Assistant 2 as below

Configuration

  1. [SYNC] Configurate hardware synchronization channel on DJI Assistant 2 as below

sync

  1. Link the USB-TTL module with A3 and [SYNC] hardware sync wire

connection

  1. If you need stereo or more camera sync, please choose F1-F4 or F6-F8 similarly in 3 and connect the wire in the same way.

Software Installation

  1. Follow DJI-Onboard-SDK Documentation to install the dji-sdk/Onboard-SDK into your system. Generally, you can do it as

    git clone https://github.com/dji-sdk/Onboard-SDK.git 
cd Onboard-SDK/
mkdir build
cd build/
cmake .. 
make -j
sudo make install

  2. In your catkin workspace, clone this repo: git clone https://github.com/groundmelon/djiros.git.

  3. If you do not need mvBlueFOX synchronization, just set ENABLE_DJIFOX to false in CMakeLists.txt:22 to eliminate compile errors about mvBlueFOX drivers.

  4. [SYNC] If you need mvBlueFOX synchronization, please install the mvBlueFOX Camera Driver.

  5. By default, the launch files will load environment variables for APPID and ENCKEY. You can set them in your environment, for example,

    echo "export DJIROS_APPID=1234567" >> ~/.bashrc
echo "export DJIROS_ENCKEY=xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx" >> ~/.bashrc
source ~/.bashrc

    Alternatively, you can edit launch/djiros.launch or launch/djifox.launch (with SYNC), and fill in your APPID and ENCKEY in the parameter fields.

    For members of HKUST-Aerial-Robotics-Group, please see Dropbox/reading/code/uavteam/DJISDK_APP_KEY.txt for id and key.

  6. If no sync is needed, it is advised to set align_with_fmu as false.

  7. Remember to grant permission for operating the serial ports. There are many methods, such as add your user into group dialout, or follow this tutorial to set mode as 0666 by udev. For the latter method, an example rule file is provided.

  8. [SYNC] Edit launch/djifox.launch, set your serial number of the mvBlueFOX camera in the field camera0/serial. Other camera parameters can be set accordingly. Typically, fast_mode: false is for fps <= 25, and fast_mode: true is for 30 <= fps < 50.

Launch the Package

  1. Use roslaunch to launch the nodes: roslaunch djiros djiros.launch or [SYNC] roslaunch djiros djifox.launch

  2. If you see some printing of "NEW DEVICE", please make sure that your DJI GO has Internet access and try again and again for several times.