Install packages for DJI PSDK ros2 wrapper
Necessary hardware
- Drone : Matrice 350RTK
- Jetson nano
- sd card 64Gb +
- Necessary Hardware for DJI connection here
- Download and flash jetson nano Ubuntu 20.04 image from here
After booting on jetson image for first time run :
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install automake
sudo apt-get install libaio-dev
- Follow the instructions to install libopus 1.3.1 here
tar -xzvf opus-1.3.1.tar.gz
cd opus-1.3.1/
autoreconf -f -i
./configure
make -j16
sudo make install
- Follow the instructions to install ffmpeg.4.3.2 download from here
tar -zxvf ffmpeg-4.3.2.tar.gz
./configure --enable-shared --prefix=/usr/local
make && make install
sudo ldconfig
ffmpeg -version
If you encouter errors ensure that the compiled FFmpeg binary has executable permissions. Run:
ls -l /home/administrator/ffmpeg-4.3.2/ffmpeg
Look for the x in the permissions part of the output, which indicates executable permissions. If it's missing, you need to add executable permissions to the binary:
chmod +x /home/administrator/ffmpeg-4.3.2/ffmpeg
Attempt to run FFmpeg directly using its full path to ensure there's no issue with the binary itself:
/home/administrator/ffmpeg-4.3.2/ffmpeg -version
export LD_LIBRARY_PATH=/home/administrator/ffmpeg-4.3.2/lib:$LD_LIBRARY_PATH
add the last line to your ~/.bashrc Verify opencv installation and install libusb
opencv_version
sudo apt-get install libusb-1.0-0-dev
PSDK offers a Jetson Nano Usb Bulk Configuration File download from here ，including the configuration script (psdk-usb-configure.sh) and configuration program (startup_bulk).
/* Back up the bulk configuration file of jetson nano */
cp /opt/nvidia/l4t-usb-device-mode-start.sh ~/Desktop/nano-usb-config/nv-l4t-usb-device-mode-start-bk.sh
/* Using PSDK's bulk configuration file */
sudo cp startup_bulk/psdk-usb-configure.sh /opt/nvidia/nv-l4t-usb-device-mode-start.sh
/* Set the startup_bulk file path in the /opt/nvidia/nv-l4t-usb-device-mode-start.sh */
/home/dji/Desktop/startup_bulk/startup_bulk /dev/usb-ffs/bulk1 &
/home/dji/Desktop/startup_bulk/startup_bulk /dev/usb-ffs/bulk2 &
/* After restarting the system, make sure that startup_bulk is running normally */
ps -aux | grep startup_bulk
CAUTION : At the /opt/nvidia/nv-l4t-usb-device-mode-start.sh file you need to change the path /home/dji/Desktop/startup_bulk/startup_bulk everywhere in the script with the actual path of the start_bulk file. After the restart the ps -aux | grep startup_bulk should show the /dev/usb-ffs/bulk1 and /dev/usb-ffs/bulk2 .
Register for a PSDK Developer Account and follow the rest installation instructions from the PSDK
In order to install network device if you have a wireless interface : This command provides a list of devices with their VID and PID.
lsusb
You'll see output similar to this:
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 005: ID 045e:0752 Microsoft Corp. Wired Keyboard 400
Bus 001 Device 004: ID 04ca:0061 Lite-On Technology Corp. 4-Port USB 2.1 Hub
Bus 001 Device 003: ID 0bda:8179 Realtek Semiconductor Corp. RTL8188EUS 802.11n Wireless Network Adapter
The ID 0bda:8179 corresponds to the VID and PID of the device. These are the values you would use in the SDK configuration to specify the wireless network adapter you're working with. Configure the currently used wireless network interface controller device name, VID, and PID in the following files(lines 13-19).
samples/sample_c/platform/linux/nvidia_jetson/hal/dji_network.h samples/sample_c++/platform/linux/nvidia_jetson/hal/dji_network.h
Install ROS2 Humble : Follow the instructions here
Following the ROS2 Humble installation, install the psdk_ros2 wrapper following the installation steps here
Ensure you have the same app infos at all the following files: PSDK can not run without filling in the information.
samples/sample_c/platform/linux/nvidia_jetson/application/dji_sdk_app_info.h
samples/sample_c++/platform/linux/nvidia_jetson/application/dji_sdk_app_info.h
samples/sample_c++/platform/linux/manifold2/application/dji_sdk_app_info.h
samples/sample_c/platform/linux/manifold2/application/dji_sdk_app_info.h
If you want to compile the scripts for manifold and nvidia_jetson consider adding both at the CMakeLists.txt before proceding with the cmake . Update with the proper app infos the ROS2 PSDK wrapper.
~/psdk_ros2_ws/src/psdk_ros2/psdk_wrapper/cfg/psdk_params.yaml
If you encouter errors with lswresample or llzma consider manually add the dependencies at psdk_wrapper/CMakeLists.txt
target_link_libraries(psdk_wrapper_node
${FFMPEG_LIBRARIES}
-lusb-1.0
-lavcodec
-lswscale
-lswresample # Add this line for libswresample
-llzma # Add this line for liblzma
)