Update documentation + add missing includes and fix compile errors

umdlife · Dec 22, 2023 · 9aec5e9 · 9aec5e9
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diff --git a/docs/documentation/Contribute.md b/docs/documentation/Contribute.md
@@ -8,4 +8,4 @@ The `psdk_ros2` wrapper is released under the [Mozilla Public License version 2.
 
 ### 3rd Party Source Code
 
-It's important to note that the DJI Payload-SDK, a critical component integrated within the `psdk_ros2` wrapper, is released under the MIT license. The MIT license is a permissive open-source license that allows you to use, modify, and distribute the Payload-SDK in accordance with its terms. The MIT license file for the DJI Payload-SDK is included within the designated 3rd party folder of this repository. 
+It's important to note that the DJI Payload-SDK, a critical component integrated within the `psdk_ros2` wrapper, is released under the MIT license. The MIT license is a permissive open-source license that allows you to use, modify, and distribute the Payload-SDK in accordance with its terms.
diff --git a/docs/documentation/GettingStarted.md b/docs/documentation/GettingStarted.md
@@ -37,9 +37,7 @@ The following parameters can be configured in the *psdk_wrapper/cfg/psdk_params.
 | app_license           | String    | -                                  | Add your App license                        |
 | developer_account     | String    | -                                  | Add your developer account (not mandatory)  |
 | baudrate              | String    | 921600                             | -                                           |
-| hardware_connection   | String    | "DJI_USE_UART_AND_USB_BULK_DEVICE" | Depends on your connection method           |
-| uart_dev_1            | String    | "/dev/dji_serial"                  | As defined in udev rules                    |
-| uart_dev_2            | String    | "/dev/dji_advanced_sensing"        | As defined in udev rules                    |
+| link_config_file_path | String    | "absolute/path/to/config.json"     | (Optional) Default: cfg/link_config.json    |
 | imu_frame             | String    | "psdk_imu_link"                    | -                                           |
 | body_frame            | String    | "psdk_base_link"                   | -                                           |
 | map_frame             | String    | "psdk_map_enu"                     | -                                           |
@@ -61,6 +59,7 @@ The following parameters can be configured in the *psdk_wrapper/cfg/psdk_params.
 | - control_information | Integer   | 50                                 | -                                           |
 
 
+To configure the hardware connection type and to specify the exact ports that need to be used, please use the *psdk_wrapper/cfg/link_config.json* file. This file follows a similar strategy to the file one must configure before running the DJI PSDK samples. Thus, for simplicity, the psdk_ros2 wrapper follows the same approach. Please notice, that the App configuration (e.g. app_id, app_key) has been kept in the ros parameter file. 
 
 ## Udev rules
 

diff --git a/psdk_wrapper/include/psdk_wrapper/psdk_wrapper.hpp b/psdk_wrapper/include/psdk_wrapper/psdk_wrapper.hpp
@@ -28,6 +28,7 @@
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_ros/transform_broadcaster.h>
 
+#include <ament_index_cpp/get_package_share_directory.hpp>
 #include <cmath>
 #include <geometry_msgs/msg/accel_stamped.hpp>
 #include <geometry_msgs/msg/quaternion_stamped.hpp>
@@ -53,6 +54,7 @@
 
 #include "dji_camera_manager.h"           //NOLINT
 #include "dji_camera_stream_decoder.hpp"  //NOLINT
+#include "dji_config_manager.h"           //NOLINT
 #include "dji_gimbal_manager.h"           //NOLINT
 #include "hal_network.h"                  //NOLINT
 #include "hal_uart.h"                     //NOLINT

diff --git a/psdk_wrapper/src/modules/telemetry.cpp b/psdk_wrapper/src/modules/telemetry.cpp
@@ -337,7 +337,7 @@ PSDKWrapper::attitude_callback(const uint8_t *data, uint16_t data_size,
   attitude_pub_->publish(quaternion_msg);
 
   /* Save current attitude */
-  current_attitude_ = current_quat_FLU2ENU;
+  current_state_.attitude = current_quat_FLU2ENU;
   return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 

diff --git a/psdk_wrapper/src/psdk_wrapper.cpp b/psdk_wrapper/src/psdk_wrapper.cpp
@@ -236,7 +236,6 @@ PSDKWrapper::set_environment()
   }
   RCLCPP_INFO(get_logger(), "Registered HAL handler");
 
-#if (HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
   return_code = DjiUserConfigManager_LoadConfiguration(
       params_.link_config_file_path.c_str());
   if (return_code != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
@@ -265,7 +264,6 @@ PSDKWrapper::set_environment()
                  return_code);
     return false;
   }
-#elif (HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
   }
   else if (linkConfig.type == DJI_USER_LINK_CONFIG_USE_UART_AND_NETWORK_DEVICE)
   {
@@ -281,13 +279,11 @@ PSDKWrapper::set_environment()
                  "Register HAL Network handler error. Error code is: %ld",
                  return_code);
   }
-#elif (HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
   }
   else
   {
   RCLCPP_INFO(get_logger(), "Using DJI_USE_ONLY_UART");
   }
-#endif
 
   // Attention: if you want to use camera stream view function, please uncomment
   // it.
Original file line number	Diff line number	Diff line change
Expand Up		@@ -8,4 +8,4 @@ The `psdk_ros2` wrapper is released under the [Mozilla Public License version 2.

		### 3rd Party Source Code

		It's important to note that the DJI Payload-SDK, a critical component integrated within the `psdk_ros2` wrapper, is released under the MIT license. The MIT license is a permissive open-source license that allows you to use, modify, and distribute the Payload-SDK in accordance with its terms. The MIT license file for the DJI Payload-SDK is included within the designated 3rd party folder of this repository.
		It's important to note that the DJI Payload-SDK, a critical component integrated within the `psdk_ros2` wrapper, is released under the MIT license. The MIT license is a permissive open-source license that allows you to use, modify, and distribute the Payload-SDK in accordance with its terms.