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M100 X3 ROS Driver

A ROS package which can read video stream from Zenmuse-X3-Camera on M100 and publish it as sensor_msgs/Image. Must be compiled and launched on Manifold.

This package is based on dji_sdk_manifold_read_cam and dji-sdk/Manifold-Cam. Refer to them for more infomation.

Steps for streaming video from X3 to Manifold, through SSH, without a hdmi-screen

  1. Install all the prerequisites in dji-sdk/Manifold-Cam

  2. (Optional) Disable lightdm for stability:

    in /etc/init/lightdm.conf, line 12:

    Modify runlevel [!06] to runlevel [!026]

  3. Add xinit& to a startup script, such as:

    echo -e '#!/bin/bash\nxinit&' > /home/ubuntu/pre_x3
chmod a+x /home/ubuntu/pre_x3

    And add /home/ubuntu/pre_x3 into /etc/rc.local

  4. Add export DISPLAY=:0 to your bashrc or remember to set this environment variable to THE USER WHO WILL RUN THE CODE

  5. (Maybe a reboot here)

  6. Run sudo -s to grant root privilege, because the driver needs to operate many /dev /sys stuffs

  7. rosrun m100_x3 m100_x3_node

Steps for streaming video from X3 to Manifold with a hdmi-screen

Same as 1, 6, 7 above