DJIBote

DJIBote is a interface between DJI consumer drones and ROS, enabling sensoring and controlling through a network using any ROS package.

Requirements

Ubuntu 16.04 installation
ROS Kinetic
Android Studio 2.0+
Android System 4.1+
DJI Android SDK 4.3.2
Tested with DJI Spark only

How To Use | Usage

As it is now, the setup is a little complicated:

Connect Android phone to computer using USB cable.
Install the app on the phone using Android Studio.
Turn drone on, connect to its Wi-Fi and press connect in the app.
Run roscore in a computer.
Turn USB tethering on, go to a terminal and search for the assigned IP (it'll be the usb0 connection). It's important to say that your firewall settings need to enable connections in some ports (11311 used to connection and I need to see what others) or it won't work. --- If you want to use in the android emulator (no ROS support until now) the IP used should be: 10.0.2.2:11311
At ROS connection activity set the master IP to http://tetheredAssignedIP:11311/ and click connect.
From this moment on you'll see the drone live feed at screen and all available topics published in ROS.

How It Works

This Android app is created using dji-android SDK and rosAndroid. It works sending messages through both of these services to make drone sensor states available in topics at the computer and messages sent do some ROS topics arrive as commands to the drone.

Current stage of development:

This project is in it's initial stages and until now the only implemented features are:

Drone parameters (as heading, position and others) are visible in topics at the master computer

The next features to be implemented are:

Make camera feed available in a topic
Implement drone controls in app
Control drone from messages sent to a /cmd_vel topic
Give higher priority to controls in phone screen than in ROS

Contribution