Prepare for ROS Index

.github/workflows/ros_build.yaml

@@ -0,0 +1,21 @@
+name: ROS2 Build
+
+on: 
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  ros2_build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: psdk_ros2
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - uses: ros-tooling/[email protected]
+        with:
+          package-name: psdk_interfaces psdk_wrapper
+          target-ros2-distro: humble
+          skip-tests: true

debian/create_debians.sh

@@ -14,14 +14,12 @@ curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr
 
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-
 apt update
-apt install -y --no-install-recommends python3-pip python3-bloom python3-catkin-pkg dpkg-dev debhelper dh-python libopus-dev ffmpeg libavcodec-dev libavformat-dev libavfilter-dev libusb-1.0-0-dev
-ln -snf /usr/lib/x86_64-linux-gnu/libopus.a /usr/local/lib
+apt install -y --no-install-recommends python3-pip python3-bloom python3-catkin-pkg dpkg-dev debhelper dh-python
 pip3 install rosdep
 rosdep init
-mv psdk_ros2/debian/50-my-packages.list /etc/ros/rosdep/sources.list.d
-mv psdk_ros2/debian/rosdep.yaml /
+cp psdk_ros2/debian/50-my-packages.list /etc/ros/rosdep/sources.list.d
+cp psdk_ros2/debian/rosdep.yaml /
 
 # store the current dir
 CUR_DIR=$(pwd)

docs/documentation/GettingStarted.md

@@ -5,18 +5,20 @@ To use the psdk_ros2 wrapper you will need to create a new workspace in which yo
 ```bash
 mkdir -p ~/psdk_ros2_ws/src
 cd ~/psdk_ros2_ws/src
-# Clone the psdk_ros2 wrapper and the Payload-SDK 
+# Clone the psdk_ros2 wrapper
 git clone https://github.com/umdlife/psdk_ros2.git
-git clone https://github.com/dji-sdk/Payload-SDK.git
-
-# Checkout the proper version of the Payload-SDK (currently the wrapper is compatible with the latest release v3.5)
-cd Payload-SDK
-git checkout release/v3.5
 
 # Before building, check the Dependencies section and make sure you have everything installed
+# You can also run rosdep to automatically install the dependencies
+rosdep update
+rosdep keys --from-paths . --ignore-src --rosdistro humble | \
+  xargs rosdep resolve --rosdistro humble | \
+  awk '/#apt/{getline; print}' > ./rosdep_requirements.txt
+sudo apt install -y --no-install-recommends $(cat ./rosdep_requirements.txt) 
+
 # Build the code
 cd ~/psdk_ros2_ws
-colcon build --packages-skip entry	# Skip the build corresponding to DJI PSDK sample code
+colcon build
 
 # Launch the node
 ros2 launch psdk_wrapper wrapper.launch.py

psdk_wrapper/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(psdk_wrapper)
 
 SET(BUILD_SHARED_LIBS ON)
@@ -31,10 +31,29 @@ find_package(tf2_ros REQUIRED)
 find_package(psdk_interfaces REQUIRED)
 find_package(std_srvs REQUIRED)
 
+# FetchContent module
+include(FetchContent)
+
+# Declare the content to fetch
+FetchContent_Declare(
+  Payload_SDK
+  GIT_REPOSITORY https://github.com/dji-sdk/Payload-SDK.git
+  GIT_TAG 3.5
+)
+
+FetchContent_GetProperties(Payload_SDK)
+if(NOT Payload_SDK_POPULATED)
+  FetchContent_Populate(Payload_SDK)
+  message(STATUS "Payload_SDK_SOURCE_DIR: ${payload_sdk_SOURCE_DIR}")
+endif()
+
+# Set the path to the fetched content
+set(PSDK_PATH ${payload_sdk_SOURCE_DIR})
+
+message(STATUS "PSDK_PATH: ${PSDK_PATH}")
+
 # Add path to FindFFMPEG.cmake and FindLIBUSB.cmake files
-set(PSDK_PATH ${PROJECT_SOURCE_DIR}/../../Payload-SDK)
-set(CMAKE_MODULE_PATH 
-${PSDK_PATH}/samples/sample_c++/platform/linux/common/3rdparty)
+set(CMAKE_MODULE_PATH ${PSDK_PATH}/samples/sample_c++/platform/linux/common/3rdparty)
 
 find_package(FFMPEG REQUIRED)
 find_package(LIBUSB REQUIRED)
@@ -75,9 +94,9 @@ if (FFMPEG_FOUND)
             OUTPUT_VARIABLE ffmpeg_version_psdk_libput
             OUTPUT_STRIP_TRAILING_WHITESPACE
             )
-    string(REGEX MATCH "version.*Copyright" ffmpeg_version_line ${ffmpeg_version_psdk_libput})
-    string(REGEX MATCH " .* " ffmpeg_version ${ffmpeg_version_line})
-    string(REGEX MATCH "^ 5.*$" ffmpeg_major_version ${ffmpeg_version})
+    string(REGEX MATCH "version.*Copyright" ffmpeg_version_line "${ffmpeg_version_psdk_libput}")
+    string(REGEX MATCH " .* " ffmpeg_version "${ffmpeg_version_line}")
+    string(REGEX MATCH "^ 5.*$" ffmpeg_major_version "${ffmpeg_version}")
 
     if (HEAD${ffmpeg_major_version} STREQUAL "HEAD")
         message(STATUS " - Version: ${ffmpeg_version}")
@@ -108,7 +127,7 @@ include_directories(${FFMPEG_INCLUDE_DIR})
 include_directories(${DJI_OSAL_PATH})
 include_directories(${DJI_HAL_PATH})
 include_directories(${DJI_STREAMING_PATH})
-include_directories(${PROJECT_SOURCE_DIR}/../../Payload-SDK/psdk_lib/include)
+include_directories(${PSDK_PATH}/psdk_lib/include)
 include_directories(include)
 include_directories(src/3rdparty)
 

psdk_wrapper/include/psdk_wrapper/psdk_wrapper_utils.hpp

@@ -41,7 +41,7 @@
 #define CONTROL_DATA_TOPICS_MAX_FREQ 50
 
 #define GOOD_GPS_SIGNAL_LEVEL 5
-#define MAX_NUMBER_OF_RETRIES 3
+#define MAX_NUMBER_OF_RETRIES 5
 
 namespace psdk_ros2
 {

psdk_wrapper/package.xml

@@ -13,6 +13,9 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <depend>ffmpeg-dev</depend>
+  <depend>libusb-1.0-dev</depend>
+  <depend>libopus-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>tf2</depend>

psdk_wrapper/src/psdk_wrapper.cpp

@@ -73,7 +73,6 @@ PSDKWrapper::on_configure(const rclcpp_lifecycle::State &state)
   {
     return CallbackReturn::FAILURE;
   }
-  initialize_ros_elements();
 
   return CallbackReturn::SUCCESS;
 }
@@ -89,17 +88,22 @@ PSDKWrapper::on_activate(const rclcpp_lifecycle::State &state)
 
   if (!init(&user_info))
   {
+    rclcpp::shutdown();
     return CallbackReturn::FAILURE;
   }
 
-  activate_ros_elements();
-
   if (!init_telemetry() || !init_flight_control() || !init_camera_manager() ||
       !init_gimbal_manager() || !init_liveview())
   {
+    rclcpp::shutdown();
     return CallbackReturn::FAILURE;
   }
 
+  // Initialize and activate ROS elements only after the DJI modules are
+  // initialized
+  initialize_ros_elements();
+  activate_ros_elements();
+
   if (params_.publish_transforms)
   {
     publish_static_transforms();