This package contains a ROS node package and Nucleo-F767ZI firmware for controlling your RoboMaster S1 through the ROS network.
You can control DJI RoboMaster S1 using geometry_msgs::Twist through the ROS Network.
You should prepare these items.
- DJI RoboMaster S1
- Ubuntu PC with WiFi (16.04 LTS and STM32CubeIDE)
- Nucleo-F767ZI
- Universal board (http://akizukidenshi.com/catalog/g/gP-09972/)
- CAN Tranceiver breakout board (https://www.amazon.co.jp/dp/B076HHVZM1)
- Wire harnes
- 2.54mm Connector and Pin etc. (https://www.amazon.co.jp/gp/product/B071RK5STD/)
- SONY PlayStation4(R) Controller
If you want to control via Wifi, please prepare these items.
- Ethernet-Wifi Converter (WLI-UTX-AG300/C)
- DC-DC Converter (http://akizukidenshi.com/catalog/g/gK-09981/) or Mobile Battery for Wifi Converter
- Left Axis : Linear X and Linear Y
- Right Axis : Gimbal Pitch and Gimbal Yaw
- Right Axis push : Blaster
- L2 : Enable control
Install ds4drv for PlayStation4(R) Controller
$ sudo pip install ds4drv
Install Ubuntu WiFi Access Point
$sudo apt install hostapd
$sudo vi /etc/hostapd/hostapd.conf
interface=wlp61s0
driver=nl80211
ssid=RoboMasterS1Host
hw_mode=g
channel=7
wpa=2
wpa_passphrase=robomasters1
wpa_key_mgmt=WPA-PSK
rsn_pairwise=CCMP
$ git clone --recursive https://github.com/tatsuyai713/robomaster_s1_can_hack.git
Please make symbolic link from "ros" folder to your ROS workspace.
under construction...