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Aaron Roller
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Merge pull request #67 from AutoModality/revert-2-BB-876/sdk-package-name
BREAKING CHANGE: dji_sdk name change
2 parents 259f02c + 6d3a332 commit eaef6dd

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-54
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3 files changed

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‎include/vb_util_lib/gps_util.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@
1010

1111
#include <cmath>
1212

13-
#define EARTH_RADIUS 6371000 // meters
13+
#define EARTH_RADIUS_M 6371000 // meters
1414

1515
double latLonDeg_to_Dist(double lat1, double lon1, double lat2, double lon2);
1616

‎include/vb_util_lib/topics.h‎

Lines changed: 48 additions & 48 deletions
Original file line numberDiff line numberDiff line change
@@ -9,31 +9,31 @@ namespace am
99
class am_topics
1010
{
1111
public:
12-
static constexpr char DJI_SDK_IMU[] = "/dji_sdk/imu";
13-
static constexpr char DJI_SDK_IMU_RPY[] = "/dji_sdk/imu_rpy";
14-
static constexpr char DJI_SDK_RTK_POSITION[] = "/dji_sdk/rtk_position";
15-
static constexpr char DJI_SDK_RTK_VELOCITY[] = "/dji_sdk/rtk_velocity";
16-
static constexpr char DJI_SDK_RTK_YAW[] = "/dji_sdk/rtk_yaw";
17-
static constexpr char DJI_SDK_RC[] = "/dji_sdk/rc";
18-
static constexpr char DJI_SDK_GIMBAL_ANG_CMD[] = "/dji_sdk/gimbal_angle_cmd";
19-
static constexpr char DJI_SDK_GIMBAL_SPD_CMD[] = "/dji_sdk/gimbal_speed_cmd";
20-
static constexpr char DJI_SDK_GIMBAL_ANG[] = "/dji_sdk/gimbal_angle";
21-
static constexpr char DJI_SDK_GLOBAL_POSITION[] = "/dji_sdk/global_position";
22-
static constexpr char DJI_SDK_GPS_POSITION[] = "/dji_sdk/gps_position";
23-
static constexpr char DJI_SDK_FLIGHT_STATUS[] = "/dji_sdk/flight_status";
24-
static constexpr char DJI_SDK_BATTERY_STATE[] = "/dji_sdk/battery_state";
25-
static constexpr char DJI_SDK_CONTROL_STATUS[] = "/dji_sdk/control_status";
26-
static constexpr char DJI_SDK_FROM_MOBILE_DATA[] = "/dji_sdk/from_mobile_data";
27-
static constexpr char DJI_SDK_ACCELERATION_GROUND_FUSED[] = "/dji_sdk/acceleration_ground_fused";
28-
static constexpr char DJI_SDK_VO_POSIITON[] = "/dji_sdk/vo_position";
29-
static constexpr char DJI_SDK_VELOCITY[] = "/dji_sdk/velocity";
30-
static constexpr char DJI_SDK_ATTITUDE[] = "/dji_sdk/attitude";
31-
static constexpr char DJI_SDK_HEIGHT_ABOVE_TAKEOFF[] = "/dji_sdk/height_above_takeoff";
32-
static constexpr char DJI_SDK_ANGULAR_VELOCITY_FUSED[] = "/dji_sdk/angular_velocity_fused";
33-
static constexpr char DJI_SDK_RELATIVE_POSITION[] = "/dji_sdk/relative_position";
34-
static constexpr char DJI_SDK_ODOMETRY[] = "/dji_sdk/odometry";
35-
static constexpr char DJI_SDK_SEND_DATA_TO_MOBILE[] = "/dji_sdk/send_data_to_mobile";
36-
static constexpr char DJI_SDK_CORRECTED_ATTITUDE[] = "/dji_sdk/corrected_attitude";
12+
static constexpr char DJI_SDK_IMU[] = "/dji_osdk_ros/imu";
13+
static constexpr char DJI_SDK_IMU_RPY[] = "/dji_osdk_ros/imu_rpy";
14+
static constexpr char DJI_SDK_RTK_POSITION[] = "/dji_osdk_ros/rtk_position";
15+
static constexpr char DJI_SDK_RTK_VELOCITY[] = "/dji_osdk_ros/rtk_velocity";
16+
static constexpr char DJI_SDK_RTK_YAW[] = "/dji_osdk_ros/rtk_yaw";
17+
static constexpr char DJI_SDK_RC[] = "/dji_osdk_ros/rc";
18+
static constexpr char DJI_SDK_GIMBAL_ANG_CMD[] = "/dji_osdk_ros/gimbal_angle_cmd";
19+
static constexpr char DJI_SDK_GIMBAL_SPD_CMD[] = "/dji_osdk_ros/gimbal_speed_cmd";
20+
static constexpr char DJI_SDK_GIMBAL_ANG[] = "/dji_osdk_ros/gimbal_angle";
21+
static constexpr char DJI_SDK_GLOBAL_POSITION[] = "/dji_osdk_ros/global_position";
22+
static constexpr char DJI_SDK_GPS_POSITION[] = "/dji_osdk_ros/gps_position";
23+
static constexpr char DJI_SDK_FLIGHT_STATUS[] = "/dji_osdk_ros/flight_status";
24+
static constexpr char DJI_SDK_BATTERY_STATE[] = "/dji_osdk_ros/battery_state";
25+
static constexpr char DJI_SDK_CONTROL_STATUS[] = "/dji_osdk_ros/control_status";
26+
static constexpr char DJI_SDK_FROM_MOBILE_DATA[] = "/dji_osdk_ros/from_mobile_data";
27+
static constexpr char DJI_SDK_ACCELERATION_GROUND_FUSED[] = "/dji_osdk_ros/acceleration_ground_fused";
28+
static constexpr char DJI_SDK_VO_POSIITON[] = "/dji_osdk_ros/vo_position";
29+
static constexpr char DJI_SDK_VELOCITY[] = "/dji_osdk_ros/velocity";
30+
static constexpr char DJI_SDK_ATTITUDE[] = "/dji_osdk_ros/attitude";
31+
static constexpr char DJI_SDK_HEIGHT_ABOVE_TAKEOFF[] = "/dji_osdk_ros/height_above_takeoff";
32+
static constexpr char DJI_SDK_ANGULAR_VELOCITY_FUSED[] = "/dji_osdk_ros/angular_velocity_fused";
33+
static constexpr char DJI_SDK_RELATIVE_POSITION[] = "/dji_osdk_ros/relative_position";
34+
static constexpr char DJI_SDK_ODOMETRY[] = "/dji_osdk_ros/odometry";
35+
static constexpr char DJI_SDK_SEND_DATA_TO_MOBILE[] = "/dji_osdk_ros/send_data_to_mobile";
36+
static constexpr char DJI_SDK_CORRECTED_ATTITUDE[] = "/dji_osdk_ros/corrected_attitude";
3737

3838
static constexpr char FEATURE_ODOMETRY[] = "/feature/odometry";
3939
static constexpr char FEATURE_SEARCH_IDS[] = "/feature/search_ids";
@@ -124,30 +124,30 @@ class am_topics
124124
static constexpr char SENSOR_IMAGE_CONTROLLER_CAMERA_SELECT[] = "/image_controller/camera_select";
125125

126126
//dji sdk camera services
127-
static constexpr char DJI_CAMERA_240P_SERVICE[] = "/dji_sdk/stereo_240p_subscription";
128-
static constexpr char DJI_CAMERA_VGA_SERVICE[] = "/dji_sdk/stereo_vga_subscription";
129-
static constexpr char DJI_CAMERA_FPV_MAIN_SERVICE[] = "/dji_sdk/setup_camera_stream";
130-
static constexpr char DJI_CAMERA_DEPTH_SERVICE[] = "/dji_sdk/stereo_depth_subscription";
127+
static constexpr char DJI_CAMERA_240P_SERVICE[] = "/dji_osdk_ros/stereo_240p_subscription";
128+
static constexpr char DJI_CAMERA_VGA_SERVICE[] = "/dji_osdk_ros/stereo_vga_subscription";
129+
static constexpr char DJI_CAMERA_FPV_MAIN_SERVICE[] = "/dji_osdk_ros/setup_camera_stream";
130+
static constexpr char DJI_CAMERA_DEPTH_SERVICE[] = "/dji_osdk_ros/stereo_depth_subscription";
131131

132132
//dji sdk raw camera streams
133-
static constexpr char DJI_CAMERA_FPV_STREAM[] = "/dji_sdk/fpv_camera_images";
134-
static constexpr char DJI_CAMERA_MAIN_STREAM[] = "/dji_sdk/main_camera_images";
135-
static constexpr char DJI_CAMERA_240P_FRONT_LEFT_STREAM[] = "/dji_sdk/stereo_240p_front_left_images";
136-
static constexpr char DJI_CAMERA_240P_FRONT_RIGHT_STREAM[] = "/dji_sdk/stereo_240p_front_right_images";
137-
static constexpr char DJI_CAMERA_240P_DOWN_FRONT_STREAM[] = "/dji_sdk/stereo_240p_down_front_images";
138-
static constexpr char DJI_CAMERA_240P_DOWN_BACK_STREAM[] = "/dji_sdk/stereo_240p_down_back_images";
139-
static constexpr char DJI_CAMERA_VGA_FRONT_LEFT_STREAM[] = "/dji_sdk/stereo_vga_front_left_images";
140-
static constexpr char DJI_CAMERA_VGA_FRONT_RIGHT_STREAM[] = "/dji_sdk/stereo_vga_front_right_images";
141-
static constexpr char DJI_CAMERA_FRONT_DEPTH[] = "/dji_sdk/stereo_240p_front_depth_images";
142-
143-
static constexpr char DJI_CAMERA_SHM_FPV_STREAM[] = "/dji_sdk/shm/fpv_camera_images";
144-
static constexpr char DJI_CAMERA_SHM_MAIN_STREAM[] = "/dji_sdk/shm/main_camera_images";
145-
static constexpr char DJI_CAMERA_SHM_240P_FRONT_LEFT_STREAM[] = "/dji_sdk/shm/stereo_240p_front_left_images";
146-
static constexpr char DJI_CAMERA_SHM_240P_FRONT_RIGHT_STREAM[] = "/dji_sdk/shm/stereo_240p_front_right_images";
147-
static constexpr char DJI_CAMERA_SHM_240P_DOWN_FRONT_STREAM[] = "/dji_sdk/shm/stereo_240p_down_front_images";
148-
static constexpr char DJI_CAMERA_SHM_240P_DOWN_BACK_STREAM[] = "/dji_sdk/shm/stereo_240p_down_back_images";
149-
static constexpr char DJI_CAMERA_SHM_VGA_FRONT_LEFT_STREAM[] = "/dji_sdk/shm/stereo_vga_front_left_images";
150-
static constexpr char DJI_CAMERA_SHM_VGA_FRONT_RIGHT_STREAM[] = "/dji_sdk/shm/stereo_vga_front_right_images";
133+
static constexpr char DJI_CAMERA_FPV_STREAM[] = "/dji_osdk_ros/fpv_camera_images";
134+
static constexpr char DJI_CAMERA_MAIN_STREAM[] = "/dji_osdk_ros/main_camera_images";
135+
static constexpr char DJI_CAMERA_240P_FRONT_LEFT_STREAM[] = "/dji_osdk_ros/stereo_240p_front_left_images";
136+
static constexpr char DJI_CAMERA_240P_FRONT_RIGHT_STREAM[] = "/dji_osdk_ros/stereo_240p_front_right_images";
137+
static constexpr char DJI_CAMERA_240P_DOWN_FRONT_STREAM[] = "/dji_osdk_ros/stereo_240p_down_front_images";
138+
static constexpr char DJI_CAMERA_240P_DOWN_BACK_STREAM[] = "/dji_osdk_ros/stereo_240p_down_back_images";
139+
static constexpr char DJI_CAMERA_VGA_FRONT_LEFT_STREAM[] = "/dji_osdk_ros/stereo_vga_front_left_images";
140+
static constexpr char DJI_CAMERA_VGA_FRONT_RIGHT_STREAM[] = "/dji_osdk_ros/stereo_vga_front_right_images";
141+
static constexpr char DJI_CAMERA_FRONT_DEPTH[] = "/dji_osdk_ros/stereo_240p_front_depth_images";
142+
143+
static constexpr char DJI_CAMERA_SHM_FPV_STREAM[] = "/dji_osdk_ros/shm/fpv_camera_images";
144+
static constexpr char DJI_CAMERA_SHM_MAIN_STREAM[] = "/dji_osdk_ros/shm/main_camera_images";
145+
static constexpr char DJI_CAMERA_SHM_240P_FRONT_LEFT_STREAM[] = "/dji_osdk_ros/shm/stereo_240p_front_left_images";
146+
static constexpr char DJI_CAMERA_SHM_240P_FRONT_RIGHT_STREAM[] = "/dji_osdk_ros/shm/stereo_240p_front_right_images";
147+
static constexpr char DJI_CAMERA_SHM_240P_DOWN_FRONT_STREAM[] = "/dji_osdk_ros/shm/stereo_240p_down_front_images";
148+
static constexpr char DJI_CAMERA_SHM_240P_DOWN_BACK_STREAM[] = "/dji_osdk_ros/shm/stereo_240p_down_back_images";
149+
static constexpr char DJI_CAMERA_SHM_VGA_FRONT_LEFT_STREAM[] = "/dji_osdk_ros/shm/stereo_vga_front_left_images";
150+
static constexpr char DJI_CAMERA_SHM_VGA_FRONT_RIGHT_STREAM[] = "/dji_osdk_ros/shm/stereo_vga_front_right_images";
151151

152152
static constexpr char SENSOR_CAMERA_SELECT_SERVICE[] = "/sensor/camera/camera_select";
153153

@@ -196,7 +196,7 @@ class am_topics
196196
static constexpr char REMOTE_CTRL_VX_MISSION[] = "/remote/ctrl/vx/mission";
197197

198198
static constexpr char LED_BLINK[] = "/blinkm_command";
199-
static constexpr char BATTERY_STATE[] = "/dji_sdk/battery_state";
199+
static constexpr char BATTERY_STATE[] = "/dji_osdk_ros/battery_state";
200200

201201
// Mavros specific topics
202202
static constexpr char MAVROS_RC_IN[] = "/mavros/rc/in";

‎src/vb_util_lib/gps_util.cpp‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@ double latLonDeg_to_Dist(double lat1, double lon1, double lat2, double lon2) {
3838
sin(delLon/2) * sin(delLon/2));
3939
double c = 2 * atan2(sqrt(a), sqrt(1-a));
4040

41-
return EARTH_RADIUS * c;
41+
return EARTH_RADIUS_M * c;
4242
}
4343
//φ1 lat1
4444
//var y = Math.sin(λ2-λ1) * Math.cos(φ2);
@@ -66,10 +66,10 @@ double latLonDeg_to_Bearing(double lat1, double lon1, double lat2, double lon2)
6666

6767
void newGPSCoord(double lat, double lon, double bearing, double distance,
6868
double *new_lat, double *new_lon) {
69-
*new_lat = asin( sin(lat)*cos(distance/EARTH_RADIUS) +
70-
cos(lat)*sin(distance/EARTH_RADIUS)*cos(bearing) );
71-
*new_lon = lon + atan2(sin(bearing)*sin(distance/EARTH_RADIUS)*cos(lat),
72-
cos(distance/EARTH_RADIUS)-sin(lat)*sin(*new_lat));
69+
*new_lat = asin( sin(lat)*cos(distance/EARTH_RADIUS_M) +
70+
cos(lat)*sin(distance/EARTH_RADIUS_M)*cos(bearing) );
71+
*new_lon = lon + atan2(sin(bearing)*sin(distance/EARTH_RADIUS_M)*cos(lat),
72+
cos(distance/EARTH_RADIUS_M)-sin(lat)*sin(*new_lat));
7373
return;
7474
}
7575

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