#include <dji_sdk_node.h>

Public Member Functions
	DJISDKNode (ros::NodeHandle &nh, ros::NodeHandle &nh_private)
Private Types
typedef actionlib::SimpleActionServer < dji_sdk::DroneTaskAction >	DroneTaskActionServer
typedef actionlib::SimpleActionServer < dji_sdk::GlobalPositionNavigationAction >	GlobalPositionNavigationActionServer
typedef actionlib::SimpleActionServer < dji_sdk::LocalPositionNavigationAction >	LocalPositionNavigationActionServer
typedef actionlib::SimpleActionServer < dji_sdk::WaypointNavigationAction >	WaypointNavigationActionServer
Private Member Functions
bool	activation_callback (dji_sdk::Activation::Request &request, dji_sdk::Activation::Response &response)
bool	attitude_control_callback (dji_sdk::AttitudeControl::Request &request, dji_sdk::AttitudeControl::Response &response)
void	broadcast_callback ()
bool	camera_action_control_callback (dji_sdk::CameraActionControl::Request &request, dji_sdk::CameraActionControl::Response &response)
bool	drone_arm_control_callback (dji_sdk::DroneArmControl::Request &request, dji_sdk::DroneArmControl::Response &response)
bool	drone_task_action_callback (const dji_sdk::DroneTaskGoalConstPtr &goal)
bool	drone_task_control_callback (dji_sdk::DroneTaskControl::Request &request, dji_sdk::DroneTaskControl::Response &response)
bool	gimbal_angle_control_callback (dji_sdk::GimbalAngleControl::Request &request, dji_sdk::GimbalAngleControl::Response &response)
bool	gimbal_speed_control_callback (dji_sdk::GimbalSpeedControl::Request &request, dji_sdk::GimbalSpeedControl::Response &response)
bool	global_position_control_callback (dji_sdk::GlobalPositionControl::Request &request, dji_sdk::GlobalPositionControl::Response &response)
bool	global_position_navigation_action_callback (const dji_sdk::GlobalPositionNavigationGoalConstPtr &goal)
void	gps_convert_ned (float &ned_x, float &ned_y, double gps_t_lon, double gps_t_lat, double gps_r_lon, double gps_r_lat)
dji_sdk::LocalPosition	gps_convert_ned (dji_sdk::GlobalPosition loc)
void	init_actions (ros::NodeHandle &nh)
int	init_parameters (ros::NodeHandle &nh_private)
void	init_publishers (ros::NodeHandle &nh)
void	init_services (ros::NodeHandle &nh)
bool	local_position_control_callback (dji_sdk::LocalPositionControl::Request &request, dji_sdk::LocalPositionControl::Response &response)
bool	local_position_navigation_action_callback (const dji_sdk::LocalPositionNavigationGoalConstPtr &goal)
bool	message_frequency_control_callback (dji_sdk::MessageFrequencyControl::Request &request, dji_sdk::MessageFrequencyControl::Response &response)
bool	process_waypoint (dji_sdk::Waypoint new_waypoint)
bool	sdk_permission_control_callback (dji_sdk::SDKPermissionControl::Request &request, dji_sdk::SDKPermissionControl::Response &response)
bool	send_data_to_remote_device_callback (dji_sdk::SendDataToRemoteDevice::Request &request, dji_sdk::SendDataToRemoteDevice::Response &response)
bool	sync_flag_control_callback (dji_sdk::SyncFlagControl::Request &request, dji_sdk::SyncFlagControl::Response &response)
void	transparent_transmission_callback (unsigned char *buf, unsigned char len)
bool	velocity_control_callback (dji_sdk::VelocityControl::Request &request, dji_sdk::VelocityControl::Response &response)
bool	version_check_callback (dji_sdk::VersionCheck::Request &requset, dji_sdk::VersionCheck::Response &response)
bool	virtual_rc_data_control_callback (dji_sdk::VirtualRCDataControl::Request &request, dji_sdk::VirtualRCDataControl::Response &response)
bool	virtual_rc_enable_control_callback (dji_sdk::VirtualRCEnableControl::Request &request, dji_sdk::VirtualRCEnableControl::Response &response)
bool	waypoint_navigation_action_callback (const dji_sdk::WaypointNavigationGoalConstPtr &goal)
Private Attributes
dji_sdk::A3GPS	A3_GPS
ros::Publisher	A3_GPS_info_publisher
dji_sdk::A3RTK	A3_RTK
ros::Publisher	A3_RTK_info_publisher
dji_sdk::Acceleration	acceleration
ros::Publisher	acceleration_publisher
ros::Publisher	activation_publisher
bool	activation_result = false
ros::ServiceServer	activation_service
char	app_key [65]
ros::ServiceServer	attitude_control_service
dji_sdk::AttitudeQuaternion	attitude_quaternion
ros::Publisher	attitude_quaternion_publisher
ros::ServiceServer	camera_action_control_service
dji_sdk::Compass	compass
ros::Publisher	compass_publisher
ros::Publisher	data_received_from_remote_device_publisher
DJISDKMission *	dji_sdk_mission
ros::ServiceServer	drone_arm_control_service
DroneTaskActionServer *	drone_task_action_server
ros::ServiceServer	drone_task_control_service
dji_sdk::DroneTaskFeedback	drone_task_feedback
dji_sdk::DroneTaskResult	drone_task_result
dji_sdk::FlightControlInfo	flight_control_info
ros::Publisher	flight_control_info_publisher
uint8_t	flight_status
ros::Publisher	flight_status_publisher
dji_sdk::Gimbal	gimbal
ros::ServiceServer	gimbal_angle_control_service
ros::Publisher	gimbal_publisher
ros::ServiceServer	gimbal_speed_control_service
dji_sdk::GlobalPosition	global_position
ros::ServiceServer	global_position_control_service
GlobalPositionNavigationActionServer *	global_position_navigation_action_server
dji_sdk::GlobalPositionNavigationFeedback	global_position_navigation_feedback
dji_sdk::GlobalPositionNavigationResult	global_position_navigation_result
ros::Publisher	global_position_publisher
dji_sdk::GlobalPosition	global_position_ref
int	global_position_ref_seted = 0
dji_sdk::LocalPosition	local_position
ros::ServiceServer	local_position_control_service
LocalPositionNavigationActionServer *	local_position_navigation_action_server
dji_sdk::LocalPositionNavigationFeedback	local_position_navigation_feedback
dji_sdk::LocalPositionNavigationResult	local_position_navigation_result
ros::Publisher	local_position_publisher
dji_sdk::LocalPosition	local_position_ref
bool	localposbase_use_height = true
ros::ServiceServer	message_frequency_control_service
nav_msgs::Odometry	odometry
ros::Publisher	odometry_publisher
dji_sdk::PowerStatus	power_status
ros::Publisher	power_status_publisher
dji_sdk::RCChannels	rc_channels
ros::Publisher	rc_channels_publisher
ros::ServiceServer	sdk_permission_control_service
ros::ServiceServer	send_data_to_remote_device_service
ros::ServiceServer	sync_flag_control_service
dji_sdk::TimeStamp	time_stamp
ros::Publisher	time_stamp_publisher
unsigned char	transparent_transmission_data [100]
ActivateData	user_act_data
dji_sdk::Velocity	velocity
ros::ServiceServer	velocity_control_service
ros::Publisher	velocity_publisher
ros::ServiceServer	version_check_service
ros::ServiceServer	virtual_rc_data_control_service
ros::ServiceServer	virtual_rc_enable_control_service
WaypointNavigationActionServer *	waypoint_navigation_action_server
dji_sdk::WaypointNavigationFeedback	waypoint_navigation_feedback
dji_sdk::WaypointNavigationResult	waypoint_navigation_result

Detailed Description

Definition at line 30 of file dji_sdk_node.h.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<dji_sdk::DroneTaskAction> DJISDKNode::DroneTaskActionServer [private]

Definition at line 171 of file dji_sdk_node.h.

typedef actionlib::SimpleActionServer<dji_sdk::GlobalPositionNavigationAction> DJISDKNode::GlobalPositionNavigationActionServer [private]

Definition at line 173 of file dji_sdk_node.h.

typedef actionlib::SimpleActionServer<dji_sdk::LocalPositionNavigationAction> DJISDKNode::LocalPositionNavigationActionServer [private]

Definition at line 172 of file dji_sdk_node.h.

typedef actionlib::SimpleActionServer<dji_sdk::WaypointNavigationAction> DJISDKNode::WaypointNavigationActionServer [private]

Definition at line 174 of file dji_sdk_node.h.

Constructor & Destructor Documentation

DJISDKNode::DJISDKNode	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	nh_private
	)

Definition at line 385 of file dji_sdk_node_main.cpp.

Member Function Documentation

bool DJISDKNode::activation_callback	(	dji_sdk::Activation::Request &	request,
		dji_sdk::Activation::Response &	response
	)		`[private]`

Definition at line 15 of file dji_sdk_node_services.cpp.

bool DJISDKNode::attitude_control_callback	(	dji_sdk::AttitudeControl::Request &	request,
		dji_sdk::AttitudeControl::Response &	response
	)		`[private]`

Definition at line 23 of file dji_sdk_node_services.cpp.

void DJISDKNode::broadcast_callback ( ) [private]

Definition at line 28 of file dji_sdk_node_main.cpp.

bool DJISDKNode::camera_action_control_callback	(	dji_sdk::CameraActionControl::Request &	request,
		dji_sdk::CameraActionControl::Response &	response
	)		`[private]`

Definition at line 39 of file dji_sdk_node_services.cpp.

bool DJISDKNode::drone_arm_control_callback	(	dji_sdk::DroneArmControl::Request &	request,
		dji_sdk::DroneArmControl::Response &	response
	)		`[private]`

Definition at line 266 of file dji_sdk_node_services.cpp.

bool DJISDKNode::drone_task_action_callback ( const dji_sdk::DroneTaskGoalConstPtr & goal ) [private]

Definition at line 86 of file dji_sdk_node_actions.cpp.

bool DJISDKNode::drone_task_control_callback	(	dji_sdk::DroneTaskControl::Request &	request,
		dji_sdk::DroneTaskControl::Response &	response
	)		`[private]`

Definition at line 60 of file dji_sdk_node_services.cpp.

bool DJISDKNode::gimbal_angle_control_callback	(	dji_sdk::GimbalAngleControl::Request &	request,
		dji_sdk::GimbalAngleControl::Response &	response
	)		`[private]`

Definition at line 83 of file dji_sdk_node_services.cpp.

bool DJISDKNode::gimbal_speed_control_callback	(	dji_sdk::GimbalSpeedControl::Request &	request,
		dji_sdk::GimbalSpeedControl::Response &	response
	)		`[private]`

Definition at line 103 of file dji_sdk_node_services.cpp.

bool DJISDKNode::global_position_control_callback	(	dji_sdk::GlobalPositionControl::Request &	request,
		dji_sdk::GlobalPositionControl::Response &	response
	)		`[private]`

Definition at line 118 of file dji_sdk_node_services.cpp.

bool DJISDKNode::global_position_navigation_action_callback ( const dji_sdk::GlobalPositionNavigationGoalConstPtr & goal ) [private]

Definition at line 181 of file dji_sdk_node_actions.cpp.

void DJISDKNode::gps_convert_ned	(	float &	ned_x,
		float &	ned_y,
		double	gps_t_lon,
		double	gps_t_lat,
		double	gps_r_lon,
		double	gps_r_lat
	)		`[private]`

Definition at line 405 of file dji_sdk_node_main.cpp.

dji_sdk::LocalPosition DJISDKNode::gps_convert_ned ( dji_sdk::GlobalPosition loc ) [private]

Definition at line 415 of file dji_sdk_node_main.cpp.

void DJISDKNode::init_actions ( ros::NodeHandle & nh ) [inline, private]

Definition at line 195 of file dji_sdk_node.h.

int DJISDKNode::init_parameters ( ros::NodeHandle & nh_private ) [private]

Definition at line 318 of file dji_sdk_node_main.cpp.

void DJISDKNode::init_publishers ( ros::NodeHandle & nh ) [inline, private]

Definition at line 84 of file dji_sdk_node.h.

void DJISDKNode::init_services ( ros::NodeHandle & nh ) [inline, private]

Definition at line 149 of file dji_sdk_node.h.

bool DJISDKNode::local_position_control_callback	(	dji_sdk::LocalPositionControl::Request &	request,
		dji_sdk::LocalPositionControl::Response &	response
	)		`[private]`

Definition at line 150 of file dji_sdk_node_services.cpp.

bool DJISDKNode::local_position_navigation_action_callback ( const dji_sdk::LocalPositionNavigationGoalConstPtr & goal ) [private]

Definition at line 114 of file dji_sdk_node_actions.cpp.

bool DJISDKNode::message_frequency_control_callback	(	dji_sdk::MessageFrequencyControl::Request &	request,
		dji_sdk::MessageFrequencyControl::Response &	response
	)		`[private]`

Definition at line 286 of file dji_sdk_node_services.cpp.

bool DJISDKNode::process_waypoint ( dji_sdk::Waypoint new_waypoint ) [private]

Definition at line 16 of file dji_sdk_node_actions.cpp.

bool DJISDKNode::sdk_permission_control_callback	(	dji_sdk::SDKPermissionControl::Request &	request,
		dji_sdk::SDKPermissionControl::Response &	response
	)		`[private]`

Definition at line 177 of file dji_sdk_node_services.cpp.

bool DJISDKNode::send_data_to_remote_device_callback	(	dji_sdk::SendDataToRemoteDevice::Request &	request,
		dji_sdk::SendDataToRemoteDevice::Response &	response
	)		`[private]`

Definition at line 296 of file dji_sdk_node_services.cpp.

bool DJISDKNode::sync_flag_control_callback	(	dji_sdk::SyncFlagControl::Request &	request,
		dji_sdk::SyncFlagControl::Response &	response
	)		`[private]`

Definition at line 276 of file dji_sdk_node_services.cpp.

void DJISDKNode::transparent_transmission_callback	(	unsigned char *	buf,
		unsigned char	len
	)		`[private]`

Definition at line 20 of file dji_sdk_node_main.cpp.

bool DJISDKNode::velocity_control_callback	(	dji_sdk::VelocityControl::Request &	request,
		dji_sdk::VelocityControl::Response &	response
	)		`[private]`

Definition at line 196 of file dji_sdk_node_services.cpp.

bool DJISDKNode::version_check_callback	(	dji_sdk::VersionCheck::Request &	requset,
		dji_sdk::VersionCheck::Response &	response
	)		`[private]`

Definition at line 218 of file dji_sdk_node_services.cpp.

bool DJISDKNode::virtual_rc_data_control_callback	(	dji_sdk::VirtualRCDataControl::Request &	request,
		dji_sdk::VirtualRCDataControl::Response &	response
	)		`[private]`

Definition at line 240 of file dji_sdk_node_services.cpp.

bool DJISDKNode::virtual_rc_enable_control_callback	(	dji_sdk::VirtualRCEnableControl::Request &	request,
		dji_sdk::VirtualRCEnableControl::Response &	response
	)		`[private]`