gimbal_camera_control_node.cpp定义了控制,没有演示如何去除抓拍的照片
Completed-
case 'h': {
CameraStartShootSinglePhoto cameraStartShootSinglePhoto;
cameraStartShootSinglePhoto.request.payload_index = static_cast<uint8_t>(dji_osdk_ros::PayloadIndex::PAYLOAD_INDEX_0);
camera_start_shoot_single_photo_client.call(cameraStartShootSinglePhoto);
break;
}case 'i': {
CameraStartShootAEBPhoto cameraStartShootAebPhoto;
cameraStartShootAebPhoto.request.payload_index = static_cast<uint8_t>(dji_osdk_ros::PayloadIndex::PAYLOAD_INDEX_0);
cameraStartShootAebPhoto.request.photo_aeb_count = static_cast<uint8_t>(dji_osdk_ros::PhotoAEBCount::AEB_COUNT_5);
camera_start_shoot_aeb_photo_client.call(cameraStartShootAebPhoto);
break;
}case 'j': {
CameraStartShootBurstPhoto cameraStartShootBurstPhoto;
cameraStartShootBurstPhoto.request.payload_index = static_cast<uint8_t>(dji_osdk_ros::PayloadIndex::PAYLOAD_INDEX_0);
cameraStartShootBurstPhoto.request.photo_burst_count = static_cast<uint8_t>(dji_osdk_ros::PhotoBurstCount::BURST_COUNT_7);
camera_start_shoot_burst_photo_client.call(cameraStartShootBurstPhoto);
break;
}case 'k': {
CameraStartShootIntervalPhoto cameraStartShootIntervalPhoto;
cameraStartShootIntervalPhoto.request.payload_index = static_cast<uint8_t>(dji_osdk_ros::PayloadIndex::PAYLOAD_INDEX_0);
cameraStartShootIntervalPhoto.request.photo_num_conticap = 255;
cameraStartShootIntervalPhoto.request.time_interval = 3;
camera_start_shoot_interval_photo_client.call(cameraStartShootIntervalPhoto);
std::cout << "Sleep 15 seconds" << std::endl;
sleep(15);
CameraStopShootPhoto cameraStopShootPhoto;
cameraStopShootPhoto.request.payload_index = static_cast<uint8_t>(dji_osdk_ros::PayloadIndex::PAYLOAD_INDEX_0);
camera_stop_shoot_photo_client.call(cameraStopShootPhoto);
break;
} -
OSDK ROS 中gimbal_camera_control_node.cpp 是用于控制云台或相机拍照等功能的指令,用于帮助开发者理解功能。开发者可以参考Linux sample中的download sample在ROS中开发和使用下载照片功能。 https://github.com/dji-sdk/Onboard-SDK/blob/master/sample/platform/linux/payloads/download_sample.cpp
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