GUIDANCE-SDK-ROS-UART

This is a DJI Guidance ROS node for UART connection, based on the DJI uart_example from GuidanceSDK repo.

For USB connection, the repo can be found on Guidance-SDK-ROS.

How to use

1. Clone the repo to the catkin workspace source directory catkin_ws/src and then

cd ~/catkin_ws/src
git clone this
cd .. && catkin_make

2. Execution with $roslaunch, by specifying your UART connection port. ( Must provide ROOT privileges )

For example,

roslaunch guidance_uart uart_port.launch port:= "/dev/ttyTHS2" 

or by rosrunning the node, with the default UART port, on "/dev/ttyTHS2" (UART3),

rosrun guidance_uart guidanceNodeUART

Data Publishers - Topics

There are five topics generated by the guidanceNodeUART node.

• /guidance_uart/imu
• /guidance_uart/velocity
• /guidance_uart/ultrasonic
• /guidance_uart/obstacle_distance
• /guidance_uart/motion (Motion.msg based on DJI_guidance.h)

Reminder : Image data are not transfered via UART connection, due to its limited bandwidth.