Please select Into the mobile phone version | Continue to access the computer ver.
Camera topics not available
170 13 5-15 00:51
Uploading and Loding Picture ...(0/1)
o(^-^)o
Milhouse1234
lvl.2

Denmark
Offline

Hey

I'm trying to get the feed from both FPV and Main gimbaled camera (Zenmuse XT2) from my Matrice 210 V2 RTK, but none of the camera topics appear on my rostopic list (attached image).
I'm using Ubuntu 16.04 with ROS Kinetic and Onboard SDK 3.8.1, the sdk was compiled with the advanced sensing.
I have tried to use and succeeded with other topics, so i assume there's nothing wrong on the installation process.
What am I missing?

Thanks in advance.

rostopic.png
5-15 00:51
Use props
xiao.long
lvl.2

South Africa
Offline

To get the video stream, you should use rosservice, not rostopic
Such as, you can use command: rosservice call /dji_sdk/setup_camera_stream "{cameraType: 0, start: 0}"
Then, you can view the video stream in rqt_image_view.
5-15 02:46
Use props
Milhouse1234
lvl.2

Denmark
Offline

Thanks for the reply, but i fall into the same problem.

5-15 03:20
Use props
Xiao Long
lvl.2

South Africa
Offline

"ADVANCED_SENSING" is ON by default. It is recommended that you recompile and check if there are any errors during the compilation process.
Additionally, using the ADVANCED_SENSING, you need to connect the USB of the M210 V2 to your ubuntu16.04.
5-17 19:57
Use props
Milhouse1234
lvl.2

Denmark
Offline

I'll look into that and let you know.
5-18 01:19
Use props
Milhouse1234
lvl.2

Denmark
Offline

Hey, I re-installed the sdk being careful and going over all the step, but still have got the same problem.. even with the USB cable connected. Any other possible solutions you may have?
5-18 03:41
Use props
Xiao Long
lvl.2

South Africa
Offline

If Advanced Sensing is enabled but USB is not connected, roslaunch should fail to execute. This phenomenon can help you check whether the Advanced Sensing function is enabled. Also, does the following prompt appear when you execute "roslaunch dji_sdk sdk.launch"?


In addition, it is recommended that you post your full compiled log, as well as the full log of roslaunch.
5-18 20:35
Use props
Milhouse1234
lvl.2

Denmark
Offline

The "Advanced Sensing is Enabled on M210" does not prompt when I roslaunch. Here's the full logs

Compiled log:

lucas@lucas-Lenovo:~/catkin_ws$ rm -rf build
lucas@lucas-Lenovo:~/catkin_ws$ catkin_make

Base path: /home/lucas/catkin_ws
Source space: /home/lucas/catkin_ws/src
Build space: /home/lucas/catkin_ws/build
Devel space: /home/lucas/catkin_ws/devel
Install space: /home/lucas/catkin_ws/install
####
#### Running command: "cmake /home/lucas/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/lucas/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/lucas/catkin_ws/install -G Unix Makefiles" in "/home/lucas/catkin_ws/build"
####
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/lucas/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/lucas/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/lucas/catkin_ws/devel;/opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.12", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/lucas/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.12")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.20
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 3 packages in topological order:
-- ~~  - beginner_tutorials
-- ~~  - dji_sdk
-- ~~  - dji_sdk_demo
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- beginner_tutorials: 1 messages, 1 services
-- +++ processing catkin package: 'dji_sdk'
-- ==> add_subdirectory(Onboard-SDK-ROS/dji_sdk)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Using Finddjiosdk-core.cmake find djiosdk-core
-- Found djiosdk-core:
--  - Includes: /usr/local/include
--  - Libraries: /usr/local/lib/libdjiosdk-core.a
-- dji_sdk: 13 messages, 28 services
-- +++ processing catkin package: 'dji_sdk_demo'
-- ==> add_subdirectory(Onboard-SDK-ROS/dji_sdk_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found OpenCV 3.3.1 installed in the system, will use it for depth perception sample
--  - Includes: /opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv
-- Did not find viz3d in OpenCV
-- Found 10.2 CUDA installed in the system, will use it for depth perception sample
--  - Includes: /usr/local/cuda/include
-- Configuring done
-- Generating done
-- Build files have been written to: /home/lucas/catkin_ws/build
####
#### Running command: "make -j12 -l12" in "/home/lucas/catkin_ws/build"
####
Scanning dependencies of target _beginner_tutorials_generate_messages_check_deps_AddTwoInts
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Scanning dependencies of target _dji_sdk_generate_messages_check_deps_CameraAction
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Scanning dependencies of target demo_local_position_control
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[ 89%] Built target dji_sdk_generate_messages
[ 90%] Building CXX object Onboard-SDK-ROS/dji_sdk_demo/CMakeFiles/demo_payload_comm.dir/src/demo_payload_comm.cpp.o
[ 90%] Building CXX object Onboard-SDK-ROS/dji_sdk_demo/CMakeFiles/demo_local_position_control.dir/src/demo_local_position_control.cpp.o
[ 90%] Building CXX object Onboard-SDK-ROS/dji_sdk_demo/CMakeFiles/demo_mfio.dir/src/demo_mfio.cpp.o
[ 90%] Building CXX object Onboard-SDK-ROS/dji_sdk_demo/CMakeFiles/demo_time_sync.dir/src/demo_time_sync.cpp.o
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[ 90%] Building CXX object Onboard-SDK-ROS/dji_sdk_demo/CMakeFiles/demo_camera_gimbal.dir/src/demo_camera_gimbal.cpp.o
[ 91%] Building CXX object Onboard-SDK-ROS/dji_sdk_demo/CMakeFiles/demo_flight_control.dir/src/demo_flight_control.cpp.o
[ 92%] Building CXX object Onboard-SDK-ROS/dji_sdk_demo/CMakeFiles/demo_mobile_comm.dir/src/demo_mobile_comm.cpp.o
[ 92%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/main.cpp.o
[ 92%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/modules/dji_sdk_node_services.cpp.o
[ 93%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/modules/dji_sdk_node.cpp.o
[ 94%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/modules/dji_sdk_node_control.cpp.o
[ 95%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/dji_sdk_demo/demo_mfio
[ 95%] Built target demo_mfio
[ 95%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/modules/dji_sdk_node_mission_services.cpp.o
[ 95%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/dji_sdk_demo/demo_camera_gimbal
[ 95%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/dji_sdk_demo/demo_payload_comm
[ 95%] Built target demo_payload_comm
[ 95%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/modules/dji_sdk_node_subscriber.cpp.o
[ 95%] Built target demo_camera_gimbal
[ 96%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/modules/dji_sdk_node_publisher.cpp.o
[ 97%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/dji_sdk_demo/demo_time_sync
[ 98%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/dji_sdk_demo/demo_local_position_control
[ 98%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/dji_sdk_demo/demo_mission
[ 98%] Built target demo_time_sync
[ 98%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/modules/dji_sdk_node_mobile_comm.cpp.o
[ 98%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/modules/dji_sdk_node_payload_comm.cpp.o
[ 98%] Built target demo_local_position_control
[ 98%] Built target demo_mission
[100%] Building CXX object Onboard-SDK-ROS/dji_sdk/CMakeFiles/dji_sdk_node.dir/src/modules/dji_sdk_node_time_sync.cpp.o
[100%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/dji_sdk_demo/demo_flight_control
[100%] Built target demo_flight_control
[100%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/dji_sdk_demo/demo_mobile_comm
[100%] Built target demo_mobile_comm
[100%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/dji_sdk/dji_sdk_node
[100%] Built target dji_sdk_node

And roslaunch log:

lucas@lucas-Lenovo:~/catkin_ws$ roslaunch dji_sdk sdk.launch

... logging to /home/lucas/.ros/log/bfb50338-99a6-11ea-99cd-3c950953954d/roslaunch-lucas-Lenovo-12776.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://lucas-Lenovo:39493/

SUMMARY
========

PARAMETERS
* /dji_sdk/align_time: False
* /dji_sdk/app_id: 1087420
* /dji_sdk/app_version: 1
* /dji_sdk/baud_rate: 1000000
* /dji_sdk/enc_key: 7e7fed6c7b14df965...
* /dji_sdk/serial_name: /dev/ttyUSB0
* /dji_sdk/use_broadcast: False
* /rosdistro: kinetic
* /rosversion: 1.12.14

NODES
  /
    dji_sdk (dji_sdk/dji_sdk_node)

auto-starting new master
process[master]: started with pid [12786]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bfb50338-99a6-11ea-99cd-3c950953954d
process[rosout-1]: started with pid [12799]
started core service [/rosout]
process[dji_sdk-2]: started with pid [12816]

STATUS/1 @ init, L56: Attempting to open device /dev/ttyUSB0 with baudrate 1000000...

STATUS/1 @ init, L66: ...Serial started successfully.

STATUS/1 @ parseDroneVersionInfo, L762: Device Serial No. = ****************

STATUS/1 @ parseDroneVersionInfo, L764: Hardware = PM420

STATUS/1 @ parseDroneVersionInfo, L765: Firmware = 3.4.3.37

ERRORLOG/1 @ initVirtualRC, L1188: Virtual RC is not supported on this platform!

STATUS/1 @ activate, L1398: version 0x3040325

STATUS/1 @ activate, L1411: Activation successful

STATUS/1 @ verify, L247: Verify subscription successful.
STATUS/1 @ initGimbal, L926: Checking if gimbal is connected ...
STATUS/1 @ startPackage, L353: Start package 0 result: 0.
STATUS/1 @ startPackage, L355: Package 0 info: freq=50, nTopics=1.

STATUS/1 @ removePackage, L471: Remove package 0 successful.[ INFO] [1589875211.690206230]: drone activated
[ INFO] [1589875211.786229726]: Use data subscription to get telemetry data!
[ INFO] [1589875211.786250019]: align_time_with_FC set to false. We will use ros time to time stamp messages!

STATUS/1 @ verify, L247: Verify subscription successful.
STATUS/1 @ startPackage, L353: Start package 2 result: 0.
STATUS/1 @ startPackage, L355: Package 2 info: freq=100, nTopics=3.

STATUS/1 @ startPackage, L353: Start package 1 result: 0.
STATUS/1 @ startPackage, L355: Package 1 info: freq=50, nTopics=13.

STATUS/1 @ startPackage, L353: Start package 0 result: 0.
STATUS/1 @ startPackage, L355: Package 0 info: freq=5, nTopics=6.

STATUS/1 @ startPackage, L353: Start package 3 result: 0.
STATUS/1 @ startPackage, L355: Package 3 info: freq=400, nTopics=1.


At this point I'm assuming I messed up when trying to setup the advanced sensing, but i've done it twice by now and installed all the dependencies (LibUSb, FFmpeg and OpenCV, including an ACM driver) and the udev file is good to go:

My system is x86 so it should support advanced sensing.

Any suggestion?
5-19 00:05
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Milhouse1234
lvl.2

Denmark
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Maybe compatibility issues with the OSDK and the drone firmware? I've also tried to get the camera stream on my Manifold 2 but with the same problem.
OSDK 3.8.1
Firmware V01.00.0590
5-19 00:57
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Milhouse1234
lvl.2

Denmark
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Downgrading the firmware to 1.0.0450 did not help
5-19 02:50
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macaldan
lvl.1

China
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From the log "failed to load python extension for lz4 support. lz4 compression will not be available",I think there is something wrong with your python environment configuration.You can check the version of python and whether lz4 is installed. If not,you can install it by “sudo apt install python-roslz4”
5-19 22:39
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Milhouse1234
lvl.2

Denmark
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Changed the default python version to 2.7 and fixed the LZ4 issue, but didn't help with the advanced sensing part :/
5-20 00:09
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macaldan
lvl.1

South Africa
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OK then let's  add the  advance sensing:

step1. add  this command "set (ADVANCED_SENSING ON)"  in the CMakelist.txt of ~/catkin_ws/src/CMakelist.txt

step2.add  this command "set (ADVANCED_SENSING ON)"  in the CMakelist of  ~/catkin_ws/src/Onboard-SDK-ROS-3.8/Onboard-SDK-3.8.1/CMakelist.txt

step3.catkin_make
5-21 02:27
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Milhouse1234
lvl.2

Denmark
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This morning I setup everything once again, don't know exactly what I did different, but now it works..
Thanks for your time
5-21 03:32
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