ROS与DJI N3飞控建立连接并简单控制

平台： UBUNTU16.04
ROS kinetic
DJI ASSISTANT 2
OSDK3.3.1
Onboard SDK ROS 3.3.1
DJI N3飞控（型号：3.2.36.8 固件：1.7.1.5）
DJI LightBridge II

一、OSDK安装
参考：http://developer.dji.com/onboard-sdk/documentation/sample-doc/sample-setup.html#ros-oes
Installing the OSDK
1-Clone (or download as zip) the DJI OSDK from Github here.
https://github.com/dji-sdk/Onboard-SDK/releases
2-Open a terminal inside the onboardsdk folder and follow these steps to build the core OSDK library：

mkdir build
cd build
cmake ..
make djiosdk-core

3-Now, install the osdk-core library to your system so that the dji_sdk ROS node may find it and link against it:

sudo make install djiosdk-core

Building the ROS Nodes
4-If you don’t have a catkin workspace, create one as follows:

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
catkin_init_workspace

5-Clone (or download as zip) the DJI OSDK-ROS from Github here in the src folder.
https://github.com/dji-sdk/Onboard-SDK-ROS/releases
6-Build the dji_sdk ROS package and the dji_sdk_demo ROS package.

cd ..
catkin_make

Configuration
7-Remember to source your setup.bash:

source devel/setup.bash

8-Edit the launch file and enter your App ID, Key, Baudrate and Port name in the designated places:

rosed dji_sdk sdk.launch

Running the Samples
9-Start up the dji_sdk ROS node:

roslaunch dji_sdk sdk