From 69140f4ad933786829221800e342a59e7d47fdbc Mon Sep 17 00:00:00 2001 From: FarmXDev Date: Fri, 2 Aug 2024 04:33:24 -0700 Subject: [PATCH 1/2] Updating psdk_interfaces messages into brain_box_msgs --- brain_box_msgs/CMakeLists.txt | 27 ++++++++++ brain_box_msgs/msg/ControlMode.msg | 4 ++ brain_box_msgs/msg/DisplayMode.msg | 49 +++++++++++++++++++ brain_box_msgs/msg/EscData.msg | 5 ++ brain_box_msgs/msg/EscStatusIndividual.msg | 9 ++++ brain_box_msgs/msg/FileAttributes.msg | 6 +++ brain_box_msgs/msg/FileInfo.msg | 8 +++ brain_box_msgs/msg/FlightAnomaly.msg | 15 ++++++ brain_box_msgs/msg/FlightStatus.msg | 6 +++ brain_box_msgs/msg/GPSDetails.msg | 19 +++++++ brain_box_msgs/msg/GimbalRotation.msg | 8 +++ brain_box_msgs/msg/GimbalStatus.msg | 18 +++++++ brain_box_msgs/msg/HmsInfoMsg.msg | 10 ++++ brain_box_msgs/msg/HmsInfoTable.msg | 3 ++ brain_box_msgs/msg/HomePosition.msg | 7 +++ .../msg/PerceptionCameraParameters.msg | 6 +++ brain_box_msgs/msg/PositionFused.msg | 5 ++ brain_box_msgs/msg/RCConnectionStatus.msg | 5 ++ brain_box_msgs/msg/RTKYaw.msg | 3 ++ brain_box_msgs/msg/RelativeObstacleInfo.msg | 15 ++++++ brain_box_msgs/msg/SDKCtrlInfo.msg | 6 +++ brain_box_msgs/msg/SingleBatteryInfo.msg | 16 ++++++ brain_box_msgs/msg/SubFileInfo.msg | 6 +++ brain_box_msgs/srv/CameraGetFileListInfo.srv | 7 +++ 24 files changed, 263 insertions(+) create mode 100644 brain_box_msgs/msg/ControlMode.msg create mode 100644 brain_box_msgs/msg/DisplayMode.msg create mode 100644 brain_box_msgs/msg/EscData.msg create mode 100644 brain_box_msgs/msg/EscStatusIndividual.msg create mode 100644 brain_box_msgs/msg/FileAttributes.msg create mode 100644 brain_box_msgs/msg/FileInfo.msg create mode 100644 brain_box_msgs/msg/FlightAnomaly.msg create mode 100644 brain_box_msgs/msg/FlightStatus.msg create mode 100644 brain_box_msgs/msg/GPSDetails.msg create mode 100644 brain_box_msgs/msg/GimbalRotation.msg create mode 100644 brain_box_msgs/msg/GimbalStatus.msg create mode 100644 brain_box_msgs/msg/HmsInfoMsg.msg create mode 100644 brain_box_msgs/msg/HmsInfoTable.msg create mode 100644 brain_box_msgs/msg/HomePosition.msg create mode 100644 brain_box_msgs/msg/PerceptionCameraParameters.msg create mode 100644 brain_box_msgs/msg/PositionFused.msg create mode 100644 brain_box_msgs/msg/RCConnectionStatus.msg create mode 100644 brain_box_msgs/msg/RTKYaw.msg create mode 100644 brain_box_msgs/msg/RelativeObstacleInfo.msg create mode 100644 brain_box_msgs/msg/SDKCtrlInfo.msg create mode 100644 brain_box_msgs/msg/SingleBatteryInfo.msg create mode 100644 brain_box_msgs/msg/SubFileInfo.msg create mode 100644 brain_box_msgs/srv/CameraGetFileListInfo.srv diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index 9f7688e..04cb347 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -188,6 +188,30 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/VxYaw.msg msg/ZEDStatus.msg + #psdk msg + "msg/DisplayMode.msg" + "msg/FlightAnomaly.msg" + "msg/GimbalStatus.msg" + "msg/HomePosition.msg" + "msg/PositionFused.msg" + "msg/GPSDetails.msg" + "msg/RelativeObstacleInfo.msg" + "msg/SDKCtrlInfo.msg" + "msg/GimbalRotation.msg" + "msg/RTKYaw.msg" + "msg/FlightStatus.msg" + "msg/RCConnectionStatus.msg" + "msg/ControlMode.msg" + "msg/HmsInfoMsg.msg" + "msg/HmsInfoTable.msg" + "msg/SingleBatteryInfo.msg" + "msg/EscData.msg" + "msg/EscStatusIndividual.msg" + "msg/FileInfo.msg" + "msg/SubFileInfo.msg" + "msg/FileAttributes.msg" + "msg/PerceptionCameraParameters.msg" + #services srv/AMMapBoundingBoxQuery.srv srv/AnalyzeSingleImage.srv @@ -205,6 +229,9 @@ rosidl_generate_interfaces(${PROJECT_NAME} srv/VelocityControl.srv srv/VxFlightPlan.srv srv/VxMissionExec.srv + + #psdk services + "srv/CameraGetFileListInfo.srv" #actions action/CheckForObjects.action diff --git a/brain_box_msgs/msg/ControlMode.msg b/brain_box_msgs/msg/ControlMode.msg new file mode 100644 index 0000000..c2b4165 --- /dev/null +++ b/brain_box_msgs/msg/ControlMode.msg @@ -0,0 +1,4 @@ +std_msgs/Header header +uint8 control_mode # The modes in which the aircraft is being controlled (control loops being applied on horizontal, vertical and yaw axes of the aircraft) +uint8 device_mode # 0->RC 1->MSDK 4->PSDK +uint8 control_auth # 1->Has control authority 0->No control authority \ No newline at end of file diff --git a/brain_box_msgs/msg/DisplayMode.msg b/brain_box_msgs/msg/DisplayMode.msg new file mode 100644 index 0000000..a4e6208 --- /dev/null +++ b/brain_box_msgs/msg/DisplayMode.msg @@ -0,0 +1,49 @@ +uint8 DISPLAY_MODE_MANUAL_CTRL = 0 +uint8 DISPLAY_MODE_ATTITUDE = 1 +uint8 DISPLAY_MODE_RESERVED_2 = 2 +uint8 DISPLAY_MODE_RESERVED_3 = 3 +uint8 DISPLAY_MODE_RESERVED_4 = 4 +uint8 DISPLAY_MODE_RESERVED_5 = 5 +uint8 DISPLAY_MODE_P_GPS = 6 +uint8 DISPLAY_MODE_RESERVED_7 = 7 +uint8 DISPLAY_MODE_RESERVED_8 = 8 +uint8 DISPLAY_MODE_HOTPOINT_MODE = 9 +uint8 DISPLAY_MODE_ASSISTED_TAKEOFF = 10 +uint8 DISPLAY_MODE_AUTO_TAKEOFF = 11 +uint8 DISPLAY_MODE_AUTO_LANDING = 12 +uint8 DISPLAY_MODE_RESERVED_13 = 13 +uint8 DISPLAY_MODE_RESERVED_14 = 14 +uint8 DISPLAY_MODE_NAVI_GO_HOME = 15 +uint8 DISPLAY_MODE_RESERVED_16 = 16 +uint8 DISPLAY_MODE_NAVI_SDK_CTRL = 17 +uint8 DISPLAY_MODE_RESERVED_18 = 18 +uint8 DISPLAY_MODE_RESERVED_19 = 19 +uint8 DISPLAY_MODE_RESERVED_20 = 20 +uint8 DISPLAY_MODE_RESERVED_21 = 21 +uint8 DISPLAY_MODE_RESERVED_22 = 22 +uint8 DISPLAY_MODE_RESERVED_23 = 23 +uint8 DISPLAY_MODE_RESERVED_24 = 24 +uint8 DISPLAY_MODE_RESERVED_25 = 25 +uint8 DISPLAY_MODE_RESERVED_26 = 26 +uint8 DISPLAY_MODE_RESERVED_27 = 27 +uint8 DISPLAY_MODE_RESERVED_28 = 28 +uint8 DISPLAY_MODE_RESERVED_29 = 29 +uint8 DISPLAY_MODE_RESERVED_30 = 30 +uint8 DISPLAY_MODE_RESERVED_31 = 31 +uint8 DISPLAY_MODE_RESERVED_32 = 32 +uint8 DISPLAY_MODE_FORCE_AUTO_LANDING = 33 +uint8 DISPLAY_MODE_RESERVED_34 = 34 +uint8 DISPLAY_MODE_RESERVED_35 = 35 +uint8 DISPLAY_MODE_RESERVED_36 = 36 +uint8 DISPLAY_MODE_RESERVED_37 = 37 +uint8 DISPLAY_MODE_RESERVED_38 = 38 +uint8 DISPLAY_MODE_RESERVED_39 = 39 +uint8 DISPLAY_MODE_SEARCH_MODE = 40 +uint8 DISPLAY_MODE_ENGINE_START = 41 +uint8 DISPLAY_MODE_RESERVED_42 = 42 +uint8 DISPLAY_MODE_RESERVED_43 = 42 + + + +std_msgs/Header header +uint8 display_mode \ No newline at end of file diff --git a/brain_box_msgs/msg/EscData.msg b/brain_box_msgs/msg/EscData.msg new file mode 100644 index 0000000..fa3b371 --- /dev/null +++ b/brain_box_msgs/msg/EscData.msg @@ -0,0 +1,5 @@ + + +std_msgs/Header header + +EscStatusIndividual[] esc # Array of ESC status \ No newline at end of file diff --git a/brain_box_msgs/msg/EscStatusIndividual.msg b/brain_box_msgs/msg/EscStatusIndividual.msg new file mode 100644 index 0000000..c0c7b46 --- /dev/null +++ b/brain_box_msgs/msg/EscStatusIndividual.msg @@ -0,0 +1,9 @@ +int16 current # ESC current, unit: mA +int16 speed # ESC speed, unit: rpm +uint16 voltage # Input power from battery to ESC, unit: mV +int16 temperature # ESC temperature, unit: degree C +int16 stall # Motor is stall +int16 empty # Motor has no load +int16 unbalanced # Motor speed is unbalanced +int16 esc_disconnected # ESC is disconnected +int16 temperature_high # Temperature is high \ No newline at end of file diff --git a/brain_box_msgs/msg/FileAttributes.msg b/brain_box_msgs/msg/FileAttributes.msg new file mode 100644 index 0000000..02ad590 --- /dev/null +++ b/brain_box_msgs/msg/FileAttributes.msg @@ -0,0 +1,6 @@ +uint32 photo_ratio +uint32 photo_rotation +uint32 video_duration +uint32 video_frame_rate +uint32 video_rotation +uint32 video_resolution diff --git a/brain_box_msgs/msg/FileInfo.msg b/brain_box_msgs/msg/FileInfo.msg new file mode 100644 index 0000000..cb969f6 --- /dev/null +++ b/brain_box_msgs/msg/FileInfo.msg @@ -0,0 +1,8 @@ +string name +uint8 type +uint32 size +uint32 index +int64 create_time_unix +FileAttributes attributes +uint8 number_sub_files +SubFileInfo[] sub_files diff --git a/brain_box_msgs/msg/FlightAnomaly.msg b/brain_box_msgs/msg/FlightAnomaly.msg new file mode 100644 index 0000000..8b2c284 --- /dev/null +++ b/brain_box_msgs/msg/FlightAnomaly.msg @@ -0,0 +1,15 @@ +std_msgs/Header header +uint32 impact_in_air # 0: No impact, 1: _impact happens in Air +uint32 random_fly # 0: Normal, 1: Randomly fly in GPS mode without stick input +uint32 height_ctrl_fail # 0: Height control normal, 1: Height control failed +uint32 roll_pitch_ctrl_fail # 0: Tilt control normal, 1: Tilt control failed +uint32 yaw_ctrl_fail # 0: Yaw control normal, 1: Yaw control failed +uint32 aircraft_is_falling # 0: Aircraft is not falling, 1: Aircraft is falling +uint32 strong_wind_level1 # 0: wind is under big wind level 1, 1: wind is stronger than big wind level 1 +uint32 strong_wind_level2 # 0: wind is under big wind level 2, 1: wind is stronger than big wind level 2 +uint32 compass_installation_error # 0: Compass install right, 1: Compass install error +uint32 imu_installation_error # 0: IMU install right, 1: IMU install error +uint32 esc_temperature_high # 0: ESC temperature is normal, 1: ESC temperature is high +uint32 at_least_one_esc_disconnected # 0: No ESC disconnected, 1: At least one ESC is disconnected +uint32 gps_yaw_error # 0: No GPS yaw error, 1: GPS yaw error +uint32 reserved \ No newline at end of file diff --git a/brain_box_msgs/msg/FlightStatus.msg b/brain_box_msgs/msg/FlightStatus.msg new file mode 100644 index 0000000..1375e44 --- /dev/null +++ b/brain_box_msgs/msg/FlightStatus.msg @@ -0,0 +1,6 @@ +uint8 FLIGHT_STATUS_STOPED = 0 +uint8 FLIGHT_STATUS_ON_GROUND = 1 +uint8 FLIGHT_STATUS_ON_AIR = 2 + +std_msgs/Header header +uint8 flight_status \ No newline at end of file diff --git a/brain_box_msgs/msg/GPSDetails.msg b/brain_box_msgs/msg/GPSDetails.msg new file mode 100644 index 0000000..f16475e --- /dev/null +++ b/brain_box_msgs/msg/GPSDetails.msg @@ -0,0 +1,19 @@ +std_msgs/Header header +float32 horizontal_dop # Horizontal dilution of precision, unit: 0.01, eg: 100 = 1.00, <1: ideal, 1-2: excellent, 2-5: good, 5-10: moderate, 10-20: fair, >20: poor. +float32 position_dop # Position dilution of precision, unit: 0.01, eg: 100 = 1.00, <1: ideal, 1-2: excellent, 2-5: good, 5-10: moderate, 10-20: fair, >20: poor. + +uint16 GPS_FIX_STATE_NO_FIX = 0 # GPS position has not been fixed. +uint16 GPS_FIX_STATE_DEAD_RECKONING_ONLY = 1 # GPS position is dead reckoned only. +uint16 GPS_FIX_STATE_2D_FIX = 2 # The horizontal position with latitude/longitude (or northing/easting or X/Y) is fixed. +uint16 GPS_FIX_STATE_3D_FIX = 3 # The horizontal and vertical position with latitude/longitude/altitude (northing/easting/altitude or X/Y/Z) is fixed. +uint16 GPS_FIX_STATE_GPS_PLUS_DEAD_RECKONING = 4 # Position is calculated by GPS and combined with dead reckoning. +uint16 GPS_FIX_STATE_TIME_ONLY_FIX = 5 # Only time is fixed. +float32 fix_state + +float32 vertical_accuracy # Vertical position accuracy (mm), the smaller, the better. +float32 horizontal_accuracy # Horizontal position accuracy (mm), the smaller, the better. +float32 speed_accuracy # Speed accuracy (cm/s), the smaller, the better. +uint32 num_gps_satellites_used # Number of GPS satellites used for fixing position. +uint32 num_glonass_satellites_used # Number of GLONASS satellites used for fixing position. +uint16 num_total_satellites_used # Total number of satellites used for fixing position. +uint16 gps_counter # Accumulated times of sending GPS data. \ No newline at end of file diff --git a/brain_box_msgs/msg/GimbalRotation.msg b/brain_box_msgs/msg/GimbalRotation.msg new file mode 100644 index 0000000..82804ea --- /dev/null +++ b/brain_box_msgs/msg/GimbalRotation.msg @@ -0,0 +1,8 @@ +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint8 rotation_mode # see E_DjiGimbalRotationMode in dji_gimbal_manager.h 0 /*!< Incremental angle rotation mode, represents rotating gimbal specified angles based on current angles. */ + # 1, /*!< Absolute angle rotation mode, represents rotating gimbal to specified angles in the ground coordinate. */ + # 2 /*!< Speed rotation mode, specifies rotation speed of gimbal in the ground coordinate. */ +float32 pitch # unit: radians +float32 roll # unit: radians +float32 yaw # unit: radians +float32 time # /*!< Expect execution time of gimbal rotation, unit: second. */ diff --git a/brain_box_msgs/msg/GimbalStatus.msg b/brain_box_msgs/msg/GimbalStatus.msg new file mode 100644 index 0000000..1a2e5df --- /dev/null +++ b/brain_box_msgs/msg/GimbalStatus.msg @@ -0,0 +1,18 @@ +std_msgs/Header header +uint32 mount_status # 1 - gimbal mounted, 0 - gimbal not mounted +uint32 is_busy +uint32 pitch_limited # 1 - axis reached limit, 0 - no +uint32 roll_limited # 1 - axis reached limit, 0 - no +uint32 yaw_limited # 1 - axis reached limit, 0 - no +uint32 calibrating # 1 - calibrating, 0 - no +uint32 prev_calibration_result # 1 - success, 0 - fail +uint32 installed_direction # 1 - reversed for OSMO, 0 - normal +uint32 disabled_mvo +uint32 gear_show_unable +uint32 gyro_falut # 1 - fault, 0 - normal +uint32 esc_pitch_status # 1 - Pitch data is normal, 0 - fault +uint32 esc_roll_status # 1 - Roll data is normal, 0 - fault +uint32 esc_yaw_status # 1 - Yaw data is normal , 0 - fault +uint32 drone_data_recv # 1 - normal , 0 - at fault +uint32 init_unfinished # 1 - init complete, 0 - not complete +uint32 fw_updating # 1 - updating, 0 - not updating \ No newline at end of file diff --git a/brain_box_msgs/msg/HmsInfoMsg.msg b/brain_box_msgs/msg/HmsInfoMsg.msg new file mode 100644 index 0000000..2b8d293 --- /dev/null +++ b/brain_box_msgs/msg/HmsInfoMsg.msg @@ -0,0 +1,10 @@ +uint32 error_code # Error code associated to HMS message +uint8 component_index # Related to "payloadId" in the camera module +uint8 error_level +string ground_info # Description of the error code if/when the drone is on the ground +string fly_info # Description of the error code if/when the drone is in the air + +uint8 MIN_HMS_ERROR_LEVEL = 0 +uint8 MID_HMS_ERROR_LEVEL = 3 +uint8 MAX_HMS_ERROR_LEVEL = 6 + diff --git a/brain_box_msgs/msg/HmsInfoTable.msg b/brain_box_msgs/msg/HmsInfoTable.msg new file mode 100644 index 0000000..fc3b253 --- /dev/null +++ b/brain_box_msgs/msg/HmsInfoTable.msg @@ -0,0 +1,3 @@ +uint32 num_msg # Length of 'table' array +HmsInfoMsg[] table # Array of HmsInfoMsg + diff --git a/brain_box_msgs/msg/HomePosition.msg b/brain_box_msgs/msg/HomePosition.msg new file mode 100644 index 0000000..b680d20 --- /dev/null +++ b/brain_box_msgs/msg/HomePosition.msg @@ -0,0 +1,7 @@ +uint8 HOME_POSITION_STATUS_FAILED = 0 +uint8 HOME_POSITION_STATUS_SUCCESS = 1 + +std_msgs/Header header +uint8 home_position_status +float64 latitude +float64 longitude \ No newline at end of file diff --git a/brain_box_msgs/msg/PerceptionCameraParameters.msg b/brain_box_msgs/msg/PerceptionCameraParameters.msg new file mode 100644 index 0000000..8c95be7 --- /dev/null +++ b/brain_box_msgs/msg/PerceptionCameraParameters.msg @@ -0,0 +1,6 @@ +std_msgs/Header header +uint8 stereo_cameras_direction +float64[9] left_intrinsics +float64[9] right_intrinsics +float64[9] rotation_left_in_right +float64[3] translation_left_in_right \ No newline at end of file diff --git a/brain_box_msgs/msg/PositionFused.msg b/brain_box_msgs/msg/PositionFused.msg new file mode 100644 index 0000000..17622f0 --- /dev/null +++ b/brain_box_msgs/msg/PositionFused.msg @@ -0,0 +1,5 @@ +std_msgs/Header header +geometry_msgs/Point position +uint8 x_health +uint8 y_health +uint8 z_health \ No newline at end of file diff --git a/brain_box_msgs/msg/RCConnectionStatus.msg b/brain_box_msgs/msg/RCConnectionStatus.msg new file mode 100644 index 0000000..d0e46fb --- /dev/null +++ b/brain_box_msgs/msg/RCConnectionStatus.msg @@ -0,0 +1,5 @@ +std_msgs/Header header +uint8 air_connection # Sky side is connected, i.e., receiver is connected to FC +uint8 ground_connection # Ground side is connected, i.e., RC is on and connected to FC +uint8 app_connection # Mobile App is connected to RC +uint8 air_or_ground_disconnected # 0 if sky or ground side is disconnected for 3 seconds \ No newline at end of file diff --git a/brain_box_msgs/msg/RTKYaw.msg b/brain_box_msgs/msg/RTKYaw.msg new file mode 100644 index 0000000..7b420c2 --- /dev/null +++ b/brain_box_msgs/msg/RTKYaw.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +uint16 yaw # unit: deg. The RTK yaw will provide the vector from ANT1 to ANT2 as configured in DJI Assistant 2. This + # means that the value of RTK yaw will be 90deg offset from the yaw of the aircraft. \ No newline at end of file diff --git a/brain_box_msgs/msg/RelativeObstacleInfo.msg b/brain_box_msgs/msg/RelativeObstacleInfo.msg new file mode 100644 index 0000000..bacccbe --- /dev/null +++ b/brain_box_msgs/msg/RelativeObstacleInfo.msg @@ -0,0 +1,15 @@ +std_msgs/Header header + +float32 down # distance from obstacle (m) +float32 front # distance from obstacle (m) +float32 right # distance from obstacle (m) +float32 back # distance from obstacle (m) +float32 left # distance from obstacle (m) +float32 up # distance from obstacle (m) +uint8 down_health # Down sensor flag: 0 - not working, 1 - working +uint8 front_health # Front sensor flag: 0 - not working, 1 - working +uint8 right_health # Right sensor flag: 0 - not working, 1 - working +uint8 back_health # Back sensor flag: 0 - not working, 1 - working +uint8 left_health # Left sensor flag: 0 - not working, 1 - working +uint8 up_health # Up sensor health flag: 0 - not working, 1 - working +uint8 reserved # Reserved sensor health flag \ No newline at end of file diff --git a/brain_box_msgs/msg/SDKCtrlInfo.msg b/brain_box_msgs/msg/SDKCtrlInfo.msg new file mode 100644 index 0000000..f4e26cf --- /dev/null +++ b/brain_box_msgs/msg/SDKCtrlInfo.msg @@ -0,0 +1,6 @@ +std_msgs/Header header +uint8 control_mode # see CtlrMode in dji_status.hpp +uint8 device_status # 0->rc 1->app 4->serial +uint8 flight_status # 1->opensd 0->close +uint8 vrc_status +uint8 reserved \ No newline at end of file diff --git a/brain_box_msgs/msg/SingleBatteryInfo.msg b/brain_box_msgs/msg/SingleBatteryInfo.msg new file mode 100644 index 0000000..eefa03c --- /dev/null +++ b/brain_box_msgs/msg/SingleBatteryInfo.msg @@ -0,0 +1,16 @@ +std_msgs/Header header + +uint8 battery_index +float32 voltage +float32 current +float32 full_capacity +float32 capacity_remain +float32 capacity_percentage +float32 temperature +uint8 cell_count +uint32 self_check_error +uint32 closed_reason +uint16 abnormal_comm +uint16 is_embed + + \ No newline at end of file diff --git a/brain_box_msgs/msg/SubFileInfo.msg b/brain_box_msgs/msg/SubFileInfo.msg new file mode 100644 index 0000000..1166d55 --- /dev/null +++ b/brain_box_msgs/msg/SubFileInfo.msg @@ -0,0 +1,6 @@ +string name +uint8 type +uint32 size +uint32 index +int64 create_time_unix +FileAttributes attributes diff --git a/brain_box_msgs/srv/CameraGetFileListInfo.srv b/brain_box_msgs/srv/CameraGetFileListInfo.srv new file mode 100644 index 0000000..56d0bba --- /dev/null +++ b/brain_box_msgs/srv/CameraGetFileListInfo.srv @@ -0,0 +1,7 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +--- +#response +bool success +FileInfo[] file_list +int16 count From 80ac526f1a07cf8524ef02104fc36b0d36510a8c Mon Sep 17 00:00:00 2001 From: FarmXDev Date: Mon, 5 Aug 2024 21:49:53 -0700 Subject: [PATCH 2/2] Added custom srv from psdk_msg to am_msg --- brain_box_msgs/CMakeLists.txt | 37 +++++++++++++++++++ .../action/CameraDeleteFileByIndex.action | 8 ++++ .../action/CameraDownloadFileByIndex.action | 11 ++++++ brain_box_msgs/srv/CameraFormatSdCard.srv | 6 +++ brain_box_msgs/srv/CameraGetAperture.srv | 6 +++ .../srv/CameraGetExposureModeEV.srv | 7 ++++ brain_box_msgs/srv/CameraGetFocusMode.srv | 6 +++ brain_box_msgs/srv/CameraGetFocusTarget.srv | 10 +++++ brain_box_msgs/srv/CameraGetISO.srv | 6 +++ .../srv/CameraGetLaserRangingInfo.srv | 14 +++++++ brain_box_msgs/srv/CameraGetOpticalZoom.srv | 8 ++++ brain_box_msgs/srv/CameraGetSDStorageInfo.srv | 7 ++++ brain_box_msgs/srv/CameraGetShutterSpeed.srv | 7 ++++ brain_box_msgs/srv/CameraGetType.srv | 6 +++ brain_box_msgs/srv/CameraRecordVideo.srv | 6 +++ brain_box_msgs/srv/CameraSetAperture.srv | 6 +++ .../srv/CameraSetExposureModeEV.srv | 7 ++++ brain_box_msgs/srv/CameraSetFocusMode.srv | 6 +++ brain_box_msgs/srv/CameraSetFocusTarget.srv | 9 +++++ brain_box_msgs/srv/CameraSetISO.srv | 6 +++ brain_box_msgs/srv/CameraSetInfraredZoom.srv | 7 ++++ brain_box_msgs/srv/CameraSetOpticalZoom.srv | 7 ++++ brain_box_msgs/srv/CameraSetShutterSpeed.srv | 7 ++++ brain_box_msgs/srv/CameraSetupStreaming.srv | 8 ++++ brain_box_msgs/srv/CameraShootBurstPhoto.srv | 6 +++ .../srv/CameraShootIntervalPhoto.srv | 8 ++++ brain_box_msgs/srv/CameraShootSinglePhoto.srv | 6 +++ brain_box_msgs/srv/CameraStopShootPhoto.srv | 6 +++ brain_box_msgs/srv/GetGoHomeAltitude.srv | 5 +++ brain_box_msgs/srv/GetObstacleAvoidance.srv | 4 ++ brain_box_msgs/srv/GimbalReset.srv | 6 +++ brain_box_msgs/srv/GimbalSetMode.srv | 7 ++++ .../srv/PerceptionStereoVisionSetup.srv | 7 ++++ brain_box_msgs/srv/SetGoHomeAltitude.srv | 5 +++ brain_box_msgs/srv/SetHomeFromGPS.srv | 6 +++ brain_box_msgs/srv/SetObstacleAvoidance.srv | 5 +++ 36 files changed, 279 insertions(+) create mode 100644 brain_box_msgs/action/CameraDeleteFileByIndex.action create mode 100644 brain_box_msgs/action/CameraDownloadFileByIndex.action create mode 100644 brain_box_msgs/srv/CameraFormatSdCard.srv create mode 100644 brain_box_msgs/srv/CameraGetAperture.srv create mode 100644 brain_box_msgs/srv/CameraGetExposureModeEV.srv create mode 100644 brain_box_msgs/srv/CameraGetFocusMode.srv create mode 100644 brain_box_msgs/srv/CameraGetFocusTarget.srv create mode 100644 brain_box_msgs/srv/CameraGetISO.srv create mode 100644 brain_box_msgs/srv/CameraGetLaserRangingInfo.srv create mode 100644 brain_box_msgs/srv/CameraGetOpticalZoom.srv create mode 100644 brain_box_msgs/srv/CameraGetSDStorageInfo.srv create mode 100644 brain_box_msgs/srv/CameraGetShutterSpeed.srv create mode 100644 brain_box_msgs/srv/CameraGetType.srv create mode 100644 brain_box_msgs/srv/CameraRecordVideo.srv create mode 100644 brain_box_msgs/srv/CameraSetAperture.srv create mode 100644 brain_box_msgs/srv/CameraSetExposureModeEV.srv create mode 100644 brain_box_msgs/srv/CameraSetFocusMode.srv create mode 100644 brain_box_msgs/srv/CameraSetFocusTarget.srv create mode 100644 brain_box_msgs/srv/CameraSetISO.srv create mode 100644 brain_box_msgs/srv/CameraSetInfraredZoom.srv create mode 100644 brain_box_msgs/srv/CameraSetOpticalZoom.srv create mode 100644 brain_box_msgs/srv/CameraSetShutterSpeed.srv create mode 100644 brain_box_msgs/srv/CameraSetupStreaming.srv create mode 100644 brain_box_msgs/srv/CameraShootBurstPhoto.srv create mode 100644 brain_box_msgs/srv/CameraShootIntervalPhoto.srv create mode 100644 brain_box_msgs/srv/CameraShootSinglePhoto.srv create mode 100644 brain_box_msgs/srv/CameraStopShootPhoto.srv create mode 100644 brain_box_msgs/srv/GetGoHomeAltitude.srv create mode 100644 brain_box_msgs/srv/GetObstacleAvoidance.srv create mode 100644 brain_box_msgs/srv/GimbalReset.srv create mode 100644 brain_box_msgs/srv/GimbalSetMode.srv create mode 100644 brain_box_msgs/srv/PerceptionStereoVisionSetup.srv create mode 100644 brain_box_msgs/srv/SetGoHomeAltitude.srv create mode 100644 brain_box_msgs/srv/SetHomeFromGPS.srv create mode 100644 brain_box_msgs/srv/SetObstacleAvoidance.srv diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index 04cb347..0f3b380 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -232,6 +232,39 @@ rosidl_generate_interfaces(${PROJECT_NAME} #psdk services "srv/CameraGetFileListInfo.srv" + "srv/CameraGetType.srv" + "srv/CameraSetExposureModeEV.srv" + "srv/CameraGetExposureModeEV.srv" + "srv/CameraSetShutterSpeed.srv" + "srv/CameraGetShutterSpeed.srv" + "srv/CameraSetISO.srv" + "srv/CameraGetISO.srv" + "srv/CameraSetFocusTarget.srv" + "srv/CameraGetFocusTarget.srv" + "srv/CameraSetFocusMode.srv" + "srv/CameraGetFocusMode.srv" + "srv/CameraSetOpticalZoom.srv" + "srv/CameraGetOpticalZoom.srv" + "srv/CameraSetInfraredZoom.srv" + "srv/CameraSetAperture.srv" + "srv/CameraGetAperture.srv" + "srv/CameraShootSinglePhoto.srv" + "srv/CameraShootBurstPhoto.srv" + "srv/CameraShootIntervalPhoto.srv" + "srv/CameraStopShootPhoto.srv" + "srv/CameraRecordVideo.srv" + "srv/CameraGetLaserRangingInfo.srv" + "srv/CameraSetupStreaming.srv" + "srv/CameraFormatSdCard.srv" + "srv/CameraGetSDStorageInfo.srv" + "srv/GimbalSetMode.srv" + "srv/GimbalReset.srv" + "srv/SetHomeFromGPS.srv" + "srv/SetGoHomeAltitude.srv" + "srv/GetGoHomeAltitude.srv" + "srv/SetObstacleAvoidance.srv" + "srv/GetObstacleAvoidance.srv" + "srv/PerceptionStereoVisionSetup.srv" #actions action/CheckForObjects.action @@ -243,6 +276,10 @@ rosidl_generate_interfaces(${PROJECT_NAME} action/RTL.action action/VxFlightExec.action action/Fibonacci.action + + #psdk action + "action/CameraDeleteFileByIndex.action" + "action/CameraDownloadFileByIndex.action" DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs nav_msgs shape_msgs vision_msgs rcl_interfaces ) diff --git a/brain_box_msgs/action/CameraDeleteFileByIndex.action b/brain_box_msgs/action/CameraDeleteFileByIndex.action new file mode 100644 index 0000000..56850c6 --- /dev/null +++ b/brain_box_msgs/action/CameraDeleteFileByIndex.action @@ -0,0 +1,8 @@ +# goal +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint32 file_index +--- +# result +bool success +--- +# feedback diff --git a/brain_box_msgs/action/CameraDownloadFileByIndex.action b/brain_box_msgs/action/CameraDownloadFileByIndex.action new file mode 100644 index 0000000..cf18506 --- /dev/null +++ b/brain_box_msgs/action/CameraDownloadFileByIndex.action @@ -0,0 +1,11 @@ +# goal +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint32 file_index +string file_name +string file_path + +--- +# result +bool success +--- +# feedback diff --git a/brain_box_msgs/srv/CameraFormatSdCard.srv b/brain_box_msgs/srv/CameraFormatSdCard.srv new file mode 100644 index 0000000..d3a52bf --- /dev/null +++ b/brain_box_msgs/srv/CameraFormatSdCard.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h + +--- +#response +bool success diff --git a/brain_box_msgs/srv/CameraGetAperture.srv b/brain_box_msgs/srv/CameraGetAperture.srv new file mode 100644 index 0000000..dbd0930 --- /dev/null +++ b/brain_box_msgs/srv/CameraGetAperture.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +--- +#response +bool success +uint16 aperture # see enum E_DjiCameraManagerAperture in dji_camera_manager.h \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraGetExposureModeEV.srv b/brain_box_msgs/srv/CameraGetExposureModeEV.srv new file mode 100644 index 0000000..b887a62 --- /dev/null +++ b/brain_box_msgs/srv/CameraGetExposureModeEV.srv @@ -0,0 +1,7 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +--- +#response +bool success +uint8 exposure_mode # see enum E_DjiCameraManagerExposureMode in dji_camera_manager.h +uint8 ev_factor # ev_factor see enum E_DjiCameraManagerExposureCompensation in dji_camera_manager.h \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraGetFocusMode.srv b/brain_box_msgs/srv/CameraGetFocusMode.srv new file mode 100644 index 0000000..89c7a51 --- /dev/null +++ b/brain_box_msgs/srv/CameraGetFocusMode.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +--- +#response +bool success +uint8 focus_mode # see enum E_DjiCameraManagerFocusMode in dji_camera_manager.h \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraGetFocusTarget.srv b/brain_box_msgs/srv/CameraGetFocusTarget.srv new file mode 100644 index 0000000..f2b58ca --- /dev/null +++ b/brain_box_msgs/srv/CameraGetFocusTarget.srv @@ -0,0 +1,10 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h + + +--- +#response +bool success +float32 x_target # see enum T_DjiCameraPointInScreen in dji_typedef.h # *!< Specifies horizontal zone coordinate. This parameter is between 0 and 1. + # The point [0.0, 0.0] represents the top-left angle of the screen.*/ +float32 y_target # see enum T_DjiCameraPointInScreen in dji_typedef.h /*!< Specifies vertical zone coordinate. This parameter is between 0 and 1. */ \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraGetISO.srv b/brain_box_msgs/srv/CameraGetISO.srv new file mode 100644 index 0000000..dba536a --- /dev/null +++ b/brain_box_msgs/srv/CameraGetISO.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +--- +#response +bool success +int8 iso_factor # see enum E_DjiCameraManagerISO in dji_camera_manager.h \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraGetLaserRangingInfo.srv b/brain_box_msgs/srv/CameraGetLaserRangingInfo.srv new file mode 100644 index 0000000..b3e95f2 --- /dev/null +++ b/brain_box_msgs/srv/CameraGetLaserRangingInfo.srv @@ -0,0 +1,14 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h + +--- +#response +bool success +float64 longitude +float64 latitude +int32 altitude +int32 distance +int16 screen_x +int16 screen_y +bool enable_lidar +uint8 exception diff --git a/brain_box_msgs/srv/CameraGetOpticalZoom.srv b/brain_box_msgs/srv/CameraGetOpticalZoom.srv new file mode 100644 index 0000000..c68ffcb --- /dev/null +++ b/brain_box_msgs/srv/CameraGetOpticalZoom.srv @@ -0,0 +1,8 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h + +--- +#response +bool success +float32 zoom_factor # Returns the current optical zoom factor +float32 max_zoom_factor # Returns the maximum optical zoom factor \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraGetSDStorageInfo.srv b/brain_box_msgs/srv/CameraGetSDStorageInfo.srv new file mode 100644 index 0000000..cbb4e76 --- /dev/null +++ b/brain_box_msgs/srv/CameraGetSDStorageInfo.srv @@ -0,0 +1,7 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +--- +#response +bool success +uint32 total_capacity +uint32 remain_capacity \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraGetShutterSpeed.srv b/brain_box_msgs/srv/CameraGetShutterSpeed.srv new file mode 100644 index 0000000..77e4300 --- /dev/null +++ b/brain_box_msgs/srv/CameraGetShutterSpeed.srv @@ -0,0 +1,7 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +--- +#response +bool success +int8 shutter_speed # see enum E_DjiCameraManagerShutterSpeed in dji_camera_manager.h + # potential inputs from 0 to 66 and 0xFF for unkown \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraGetType.srv b/brain_box_msgs/srv/CameraGetType.srv new file mode 100644 index 0000000..04bd85b --- /dev/null +++ b/brain_box_msgs/srv/CameraGetType.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +--- +#response +bool success +string camera_type # Return camera type according to enum E_DjiCameraType in dji_typedef.h \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraRecordVideo.srv b/brain_box_msgs/srv/CameraRecordVideo.srv new file mode 100644 index 0000000..a020ae7 --- /dev/null +++ b/brain_box_msgs/srv/CameraRecordVideo.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +bool start_stop # 0 for stop and 1 for start +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraSetAperture.srv b/brain_box_msgs/srv/CameraSetAperture.srv new file mode 100644 index 0000000..9d9ac0f --- /dev/null +++ b/brain_box_msgs/srv/CameraSetAperture.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint16 aperture # see enum E_DjiCameraManagerAperture in dji_camera_manager.h +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraSetExposureModeEV.srv b/brain_box_msgs/srv/CameraSetExposureModeEV.srv new file mode 100644 index 0000000..14a01e3 --- /dev/null +++ b/brain_box_msgs/srv/CameraSetExposureModeEV.srv @@ -0,0 +1,7 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint8 exposure_mode # see E_DjiCameraManagerExposureMode in dji_camera_manager.h +uint8 ev_factor 255 # see enum E_DjiCameraManagerExposureCompensation in dji_camera_manager.h +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraSetFocusMode.srv b/brain_box_msgs/srv/CameraSetFocusMode.srv new file mode 100644 index 0000000..b9144fb --- /dev/null +++ b/brain_box_msgs/srv/CameraSetFocusMode.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint8 focus_mode # see enum E_DjiCameraManagerFocusMode in dji_camera_manager.h +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraSetFocusTarget.srv b/brain_box_msgs/srv/CameraSetFocusTarget.srv new file mode 100644 index 0000000..9c42a6c --- /dev/null +++ b/brain_box_msgs/srv/CameraSetFocusTarget.srv @@ -0,0 +1,9 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +float32 x_target # see enum T_DjiCameraPointInScreen in dji_typedef.h # *!< Specifies horizontal zone coordinate. This parameter is between 0 and 1. + # The point [0.0, 0.0] represents the top-left angle of the screen.*/ +float32 y_target # see enum T_DjiCameraPointInScreen in dji_typedef.h /*!< Specifies vertical zone coordinate. This parameter is between 0 and 1. */ + +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraSetISO.srv b/brain_box_msgs/srv/CameraSetISO.srv new file mode 100644 index 0000000..49c7e0f --- /dev/null +++ b/brain_box_msgs/srv/CameraSetISO.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint8 iso_factor # see enum E_DjiCameraManagerISO in dji_camera_manager.h +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraSetInfraredZoom.srv b/brain_box_msgs/srv/CameraSetInfraredZoom.srv new file mode 100644 index 0000000..9367f0c --- /dev/null +++ b/brain_box_msgs/srv/CameraSetInfraredZoom.srv @@ -0,0 +1,7 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +float32 zoom_factor + +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraSetOpticalZoom.srv b/brain_box_msgs/srv/CameraSetOpticalZoom.srv new file mode 100644 index 0000000..0fe7237 --- /dev/null +++ b/brain_box_msgs/srv/CameraSetOpticalZoom.srv @@ -0,0 +1,7 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +float32 zoom_factor + +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraSetShutterSpeed.srv b/brain_box_msgs/srv/CameraSetShutterSpeed.srv new file mode 100644 index 0000000..2818a41 --- /dev/null +++ b/brain_box_msgs/srv/CameraSetShutterSpeed.srv @@ -0,0 +1,7 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint8 shutter_speed_factor # see enum E_DjiCameraManagerShutterSpeed in dji_camera_manager.h + # potential inputs from 0 to 66 and 0xFF for unkown +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraSetupStreaming.srv b/brain_box_msgs/srv/CameraSetupStreaming.srv new file mode 100644 index 0000000..40cb5d0 --- /dev/null +++ b/brain_box_msgs/srv/CameraSetupStreaming.srv @@ -0,0 +1,8 @@ +#request +uint8 payload_index 1 # please refer to enum E_DjiLiveViewCameraPosition in dji_liveview.h +uint8 camera_source 0 # please refer to enum E_DjiLiveViewCameraSource in dji_liveview.h +bool start_stop # 0 for stop and 1 for start +bool decoded_output 1 # 0 for encoded output and 1 for decoded output +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraShootBurstPhoto.srv b/brain_box_msgs/srv/CameraShootBurstPhoto.srv new file mode 100644 index 0000000..5489787 --- /dev/null +++ b/brain_box_msgs/srv/CameraShootBurstPhoto.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint8 photo_burst_count #see enum E_DjiCameraBurstCount in dji_typedef.h +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraShootIntervalPhoto.srv b/brain_box_msgs/srv/CameraShootIntervalPhoto.srv new file mode 100644 index 0000000..2fcc6df --- /dev/null +++ b/brain_box_msgs/srv/CameraShootIntervalPhoto.srv @@ -0,0 +1,8 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint8 num_photos_to_capture # 0:reserve 1~254:number 255:keep capturing till stop +int16 time_interval # time interval between two captures (second) + +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraShootSinglePhoto.srv b/brain_box_msgs/srv/CameraShootSinglePhoto.srv new file mode 100644 index 0000000..a39cd50 --- /dev/null +++ b/brain_box_msgs/srv/CameraShootSinglePhoto.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h + +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/CameraStopShootPhoto.srv b/brain_box_msgs/srv/CameraStopShootPhoto.srv new file mode 100644 index 0000000..a39cd50 --- /dev/null +++ b/brain_box_msgs/srv/CameraStopShootPhoto.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h + +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/GetGoHomeAltitude.srv b/brain_box_msgs/srv/GetGoHomeAltitude.srv new file mode 100644 index 0000000..68b6fcc --- /dev/null +++ b/brain_box_msgs/srv/GetGoHomeAltitude.srv @@ -0,0 +1,5 @@ +#request +--- +#response +uint16 altitude # unit m +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/GetObstacleAvoidance.srv b/brain_box_msgs/srv/GetObstacleAvoidance.srv new file mode 100644 index 0000000..975bbf1 --- /dev/null +++ b/brain_box_msgs/srv/GetObstacleAvoidance.srv @@ -0,0 +1,4 @@ +--- +#response +bool obstacle_avoidance_on +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/GimbalReset.srv b/brain_box_msgs/srv/GimbalReset.srv new file mode 100644 index 0000000..445ed5f --- /dev/null +++ b/brain_box_msgs/srv/GimbalReset.srv @@ -0,0 +1,6 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint8 reset_mode 1 # see enum E_DjiGimbalResetMode in dji_gimbal.h +--- +#response +bool success diff --git a/brain_box_msgs/srv/GimbalSetMode.srv b/brain_box_msgs/srv/GimbalSetMode.srv new file mode 100644 index 0000000..13421a2 --- /dev/null +++ b/brain_box_msgs/srv/GimbalSetMode.srv @@ -0,0 +1,7 @@ +#request +uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h +uint8 gimbal_mode # see enum E_DjiGimbalMode in dji_typedef.h + +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/PerceptionStereoVisionSetup.srv b/brain_box_msgs/srv/PerceptionStereoVisionSetup.srv new file mode 100644 index 0000000..8f17665 --- /dev/null +++ b/brain_box_msgs/srv/PerceptionStereoVisionSetup.srv @@ -0,0 +1,7 @@ +#request +string stereo_cameras_direction # DOWN, FRONT, REAR, UP, LEFT, RIGHT +bool start_stop # 0 for stop and 1 for start +--- +#response +bool success +string message \ No newline at end of file diff --git a/brain_box_msgs/srv/SetGoHomeAltitude.srv b/brain_box_msgs/srv/SetGoHomeAltitude.srv new file mode 100644 index 0000000..b38fad7 --- /dev/null +++ b/brain_box_msgs/srv/SetGoHomeAltitude.srv @@ -0,0 +1,5 @@ +#request +uint16 altitude # unit: m range 20~500 m +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/SetHomeFromGPS.srv b/brain_box_msgs/srv/SetHomeFromGPS.srv new file mode 100644 index 0000000..9836a41 --- /dev/null +++ b/brain_box_msgs/srv/SetHomeFromGPS.srv @@ -0,0 +1,6 @@ +#request +float64 latitude #/*!< unit: rad */ +float64 longitude #/*!< unit: rad */ +--- +#response +bool success \ No newline at end of file diff --git a/brain_box_msgs/srv/SetObstacleAvoidance.srv b/brain_box_msgs/srv/SetObstacleAvoidance.srv new file mode 100644 index 0000000..e6be337 --- /dev/null +++ b/brain_box_msgs/srv/SetObstacleAvoidance.srv @@ -0,0 +1,5 @@ +#request +bool obstacle_avoidance_on # True: obstacle avoidance on, False, obstacle avoidance off +--- +#response +bool success \ No newline at end of file