camilojimo
lvl.1
Australia
Offline
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Hi Shura,
this (/dji_sdk/sdk.launch) only activate the ros environment you have to:
1. In your ROS node, re-map the RC values to a suitable velocity range (say -5 to +5 m/s) in x, y, z axes.
2. In the same ROS node, write your app logic that will determine what yaw the drone should be executing.
3. Finally, publish these x,y,z velocities and your yaw to (/dji_sdk/flight_control_setpoint_generic or flight_control_setpoint_ENUvelocity_yawrate) topic. See the information about the control flags as well in the ROS wiki (end of page) and sample code; you will need to set a control flag that commands vertical velocity, horizontal velocity, yaw angle, body frame, active brake. |
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