siyi-ros-sdk

SIYI-ROS-SDK for interface with A8 Mini camera

Camera webpage: https://siyi.biz/en/index.php?id=22

Features

• publish video stream to ROS topic, RTSP or HDMI supported
• a panel to display video stream, and save frame with Odometry info
• interface with YOLOv5 if launched
• tool to control gimbal angles

Setup

If stream video with HDMI, nothing else to configure.

If stream video with RTSP,

• Connect the camera to PC or onboard computer using the ethernet cable that comes with it. The current implementation uses UDP communication.
• Do the PC wired network configuration. Make sure to assign a manual IP address to your computer
  • For example, IP 192.168.144.30
  • Gateway 192.168.144.1
  • Netmask 255.255.255.0

Requirements

• OpenCV: https://opencv.org/get-started/
• ROS: https://wiki.ros.org/noetic/Installation/Ubuntu
• Qt5: https://wiki.qt.io/Install_Qt_5_on_Ubuntu

Installation

• Clone and build this package

git clone https://github.com/HuaYuXiao/siyi-ros-sdk.git ~/easondrone_ws/vision/siyi-ros-sdk
cd ~/easondrone_ws && catkin_make --source vision/siyi-ros-sdk --build vision/siyi-ros-sdk/build

Usage

• Check the scripts in the siyi_sdk/scripts directory to learn how to use the SDK

• To import this module in your code, copy the siyi_sdk.py siyi_message.py utility.py crc16_python.py scripts in your code directory, and import as follows, and then follow the test examples

from siyi_sdk import SIYISDK

Video Streaming

roslaunch siyi_ros_sdk siyi_ros_sdk.launch

YOLO detection

roslaunch siyi_ros_sdk yolov5.launch

The video will automatically switch to YOLO detection result once YOLO topics are available.

• An example of how to auto tracking with Yolov8 and CV2 tracket to0, see examples/ml_object_tracker.py
• An example of how to auto tracking with CV2 tracket, see examples/object_tracker.py

Gimbal Control

• An example of gimbal control, see examples/gimbal_control.py

• Example: To run the test_gimbal_rotation.py run,

cd siyi_sdk/tests
python3 test_gimbal_rotation.py

Acknowledgement

Thanks for the following packages:

• https://github.com/Innopolis-UAV-Team/siyi-python-sdk
• https://github.com/afdaniele/rtsp-ros-driver
• https://github.com/julianoes/siyi-a8-mini-camera-manager