ROS1-ROS2 bridge for DJI Onboard SDK ROS 4.1.0?

asked 2022-03-15 14:21:34 -0600

tompe17
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updated 2022-03-15 14:24:43 -0600

Have anybody done a mapping between ROS1 and ROS2 for the new dji_sdk ROS API (version 4+, the one supporting more things in the DJI SDK)?

See: https://github.com/dji-sdk/Onboard-SD...

I thought it would be doable to run the main programs in ROS2 and bridge to the DJI program written in ROS1 (which works very well for the old DJI ROS API). But DJI have used small letters in constant names for messages and services and capital letters in field names. I started to manually convert messages and write mapping rules but I though i was going to ask if anybody have done this work or have another solution?

Have anybody forked the DJI SDK ROS and fixed the names? Or is mapping rules the way to go? But i found a question indication that there is still a bug in ROS2 for mapping field names for types like uint8. Is that still the case?

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answered 2022-04-04 03:24:49 -0600

tompe17
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So I did write a script to generate message files and rules for translation so I can use ROS2 for DJI Onboard SDK ROS 4.1.0 and use all new things. Not yet fully tested since we wait for the new platform to arrive so i do not know if it is complete but for people interested you can find the new messages and service and the rule file here:

https://gitlab.liu.se/lrs2/ros2_dji_o...

Unfortunately the ROS1-ROS2 bridge does not work for this. I have made a Pull Request for a patch here:

https://github.com/ros2/ros1_bridge/p...

With these changes the generated rules file works.

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answered 2023-04-17 10:13:44 -0600

mudrole1
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Hi, I wonder if you managed to test this? Does it work?

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Yes it did work when the bridge code was fixed. i tried to get the patch for the bridge code into the release but I do not know what happened and I lost interest since we went with Ubuntu 22.04 and just ROS2. So I instead ported the DJI SDK for M300 ro ROS2 as a solution and I am planning to finnish a port of version 3.8 also for M100.

tompe17 ( 2023-04-27 11:08:13 -0600 )edit

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