Class PSDKWrapper
Defined in File psdk_wrapper.hpp
Nested Relationships
Nested Types
Inheritance Relationships
Base Type
public rclcpp_lifecycle::LifecycleNode
Class Documentation
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class PSDKWrapper : public rclcpp_lifecycle::LifecycleNode
A ROS 2 wrapper that brings all the DJI PSDK functionalities to ROS 2.
Public Types
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using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
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using Trigger = std_srvs::srv::Trigger
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using SetHomeFromGPS = psdk_interfaces::srv::SetHomeFromGPS
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using SetGoHomeAltitude = psdk_interfaces::srv::SetGoHomeAltitude
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using GetGoHomeAltitude = psdk_interfaces::srv::GetGoHomeAltitude
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using SetObstacleAvoidance = psdk_interfaces::srv::SetObstacleAvoidance
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using GetObstacleAvoidance = psdk_interfaces::srv::GetObstacleAvoidance
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using CameraShootSinglePhoto = psdk_interfaces::srv::CameraShootSinglePhoto
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using CameraShootBurstPhoto = psdk_interfaces::srv::CameraShootBurstPhoto
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using CameraShootIntervalPhoto = psdk_interfaces::srv::CameraShootIntervalPhoto
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using CameraStopShootPhoto = psdk_interfaces::srv::CameraStopShootPhoto
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using CameraRecordVideo = psdk_interfaces::srv::CameraRecordVideo
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using CameraGetLaserRangingInfo = psdk_interfaces::srv::CameraGetLaserRangingInfo
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using CameraDownloadFileList = psdk_interfaces::srv::CameraDownloadFileList
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using CameraDownloadFileByIndex = psdk_interfaces::srv::CameraDownloadFileByIndex
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using CameraDeleteFileByIndex = psdk_interfaces::srv::CameraDeleteFileByIndex
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using CameraGetType = psdk_interfaces::srv::CameraGetType
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using CameraSetExposureModeEV = psdk_interfaces::srv::CameraSetExposureModeEV
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using CameraGetExposureModeEV = psdk_interfaces::srv::CameraGetExposureModeEV
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using CameraSetShutterSpeed = psdk_interfaces::srv::CameraSetShutterSpeed
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using CameraGetShutterSpeed = psdk_interfaces::srv::CameraGetShutterSpeed
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using CameraSetISO = psdk_interfaces::srv::CameraSetISO
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using CameraGetISO = psdk_interfaces::srv::CameraGetISO
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using CameraSetFocusTarget = psdk_interfaces::srv::CameraSetFocusTarget
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using CameraGetFocusTarget = psdk_interfaces::srv::CameraGetFocusTarget
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using CameraSetFocusMode = psdk_interfaces::srv::CameraSetFocusMode
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using CameraGetFocusMode = psdk_interfaces::srv::CameraGetFocusMode
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using CameraSetOpticalZoom = psdk_interfaces::srv::CameraSetOpticalZoom
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using CameraGetOpticalZoom = psdk_interfaces::srv::CameraGetOpticalZoom
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using CameraSetInfraredZoom = psdk_interfaces::srv::CameraSetInfraredZoom
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using CameraSetAperture = psdk_interfaces::srv::CameraSetAperture
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using CameraGetAperture = psdk_interfaces::srv::CameraGetAperture
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using CameraSetupStreaming = psdk_interfaces::srv::CameraSetupStreaming
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using GimbalSetMode = psdk_interfaces::srv::GimbalSetMode
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using GimbalReset = psdk_interfaces::srv::GimbalReset
Public Functions
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explicit PSDKWrapper(const std::string &node_name)
Construct a new PSDKWrapper object.
- Parameters:
node_name –
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~PSDKWrapper()
Destroy the PSDKWrapper object.
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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
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CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override
Initializes main PSDK modules.
- Parameters:
state – Reference to Lifecycle state
- Returns:
CallbackReturn SUCCESS or FAILURE
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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
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CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override
Resets member variables.
- Parameters:
state – Reference to Lifecycle state
- Returns:
CallbackReturn SUCCESS or FAILURE
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CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override
Deinitializes main PSDK modules.
- Parameters:
state – Reference to Lifecycle state
- Returns:
CallbackReturn SUCCESS or FAILURE
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using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn