Class PSDKWrapper

Defined in File psdk_wrapper.hpp

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

public rclcpp_lifecycle::LifecycleNode

Class Documentation

class PSDKWrapper : public rclcpp_lifecycle::LifecycleNode

A ROS 2 wrapper that brings all the DJI PSDK functionalities to ROS 2.

Public Types

using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

using Trigger = std_srvs::srv::Trigger

using SetHomeFromGPS = psdk_interfaces::srv::SetHomeFromGPS

using SetGoHomeAltitude = psdk_interfaces::srv::SetGoHomeAltitude

using GetGoHomeAltitude = psdk_interfaces::srv::GetGoHomeAltitude

using SetObstacleAvoidance = psdk_interfaces::srv::SetObstacleAvoidance

using GetObstacleAvoidance = psdk_interfaces::srv::GetObstacleAvoidance

using CameraShootSinglePhoto = psdk_interfaces::srv::CameraShootSinglePhoto

using CameraShootBurstPhoto = psdk_interfaces::srv::CameraShootBurstPhoto

using CameraShootIntervalPhoto = psdk_interfaces::srv::CameraShootIntervalPhoto

using CameraStopShootPhoto = psdk_interfaces::srv::CameraStopShootPhoto

using CameraRecordVideo = psdk_interfaces::srv::CameraRecordVideo

using CameraGetLaserRangingInfo = psdk_interfaces::srv::CameraGetLaserRangingInfo

using CameraDownloadFileList = psdk_interfaces::srv::CameraDownloadFileList

using CameraDownloadFileByIndex = psdk_interfaces::srv::CameraDownloadFileByIndex

using CameraDeleteFileByIndex = psdk_interfaces::srv::CameraDeleteFileByIndex

using CameraGetType = psdk_interfaces::srv::CameraGetType

using CameraSetExposureModeEV = psdk_interfaces::srv::CameraSetExposureModeEV

using CameraGetExposureModeEV = psdk_interfaces::srv::CameraGetExposureModeEV

using CameraSetShutterSpeed = psdk_interfaces::srv::CameraSetShutterSpeed

using CameraGetShutterSpeed = psdk_interfaces::srv::CameraGetShutterSpeed

using CameraSetISO = psdk_interfaces::srv::CameraSetISO

using CameraGetISO = psdk_interfaces::srv::CameraGetISO

using CameraSetFocusTarget = psdk_interfaces::srv::CameraSetFocusTarget

using CameraGetFocusTarget = psdk_interfaces::srv::CameraGetFocusTarget

using CameraSetFocusMode = psdk_interfaces::srv::CameraSetFocusMode

using CameraGetFocusMode = psdk_interfaces::srv::CameraGetFocusMode

using CameraSetOpticalZoom = psdk_interfaces::srv::CameraSetOpticalZoom

using CameraGetOpticalZoom = psdk_interfaces::srv::CameraGetOpticalZoom

using CameraSetInfraredZoom = psdk_interfaces::srv::CameraSetInfraredZoom

using CameraSetAperture = psdk_interfaces::srv::CameraSetAperture

using CameraGetAperture = psdk_interfaces::srv::CameraGetAperture

using CameraSetupStreaming = psdk_interfaces::srv::CameraSetupStreaming

using GimbalSetMode = psdk_interfaces::srv::GimbalSetMode

using GimbalReset = psdk_interfaces::srv::GimbalReset

Public Functions

explicit PSDKWrapper(const std::string &node_name)

Construct a new PSDKWrapper object.

Parameters:: node_name –

~PSDKWrapper(): Destroy the PSDKWrapper object.

CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override

Configures member variable and sets the environment.

Parameters:: state – Reference to Lifecycle state
Returns:: CallbackReturn SUCCESS or FAILURE

CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override

Initializes main PSDK modules.

Parameters:: state – Reference to Lifecycle state
Returns:: CallbackReturn SUCCESS or FAILURE

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override

Deactivates main PSDK modules and other member variables.

Parameters:: state – Reference to Lifecycle state
Returns:: CallbackReturn SUCCESS or FAILURE

CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override

Resets member variables.

Parameters:: state – Reference to Lifecycle state
Returns:: CallbackReturn SUCCESS or FAILURE

CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override

Deinitializes main PSDK modules.

Parameters:: state – Reference to Lifecycle state
Returns:: CallbackReturn SUCCESS or FAILURE