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