Non root user

.gitignore

@@ -4,4 +4,5 @@ docs/_build/doctrees
 
 .pre-commit-config.yaml
 .vscode/
-build
+build
+.gitignore

README.md

@@ -26,3 +26,62 @@ Please notice that this wrapper is still a work in progress. While we aim to mak
 
 `psdk_ros2` wrapper is under the [Mozilla Public License Version 2.0](https://github.com/umdlife/psdk_ros2/blob/main/LICENSE.md). \
 Please note that the [DJI Payload-SDK](https://github.com/dji-sdk/Payload-SDK) libraries which are needed to run this wrapper use MIT License. 
+
+
+---
+
+Here's the step-by-step instructions for running the PSDK wrapper as a non-root user without requiring a password.
+
+
+## Running PSDK Wrapper as a Non-Root User
+
+To run the PSDK wrapper as a non-root user, switch to the `non_root_user` branch and configure it according to the instructions provided in the [PSDK ROS 2 Wiki](https://umdlife.github.io/psdk_ros2/index.html). However, running the wrapper in this way will still prompt for a password. 
+
+To avoid entering the password each time, follow the instructions below to modify the sudoers file so that specific commands can be executed without a password.
+
+### Step-by-Step Instructions
+
+1. **Backup the sudoers File**  
+   Before making any changes, back up the existing sudoers file as a precaution:
+   ```bash
+   sudo cp /etc/sudoers /etc/sudoers.bak
+   ```
+
+2. **Edit the sudoers File**  
+   You should never edit the sudoers file directly with a regular text editor. Instead, use `visudo`, which checks for syntax errors before saving:
+   ```bash
+   sudo visudo
+   ```
+
+3. **Modify the File**  
+   Inside the editor, find the section that looks like this:
+   ```bash
+   # Allow members of group sudo to execute any command
+   sudo ALL=(ALL:ALL) ALL
+   ```
+   Replace it with the following line to allow members of the sudo group to run commands without a password:
+   ```bash
+   sudo ALL=(ALL:ALL) NOPASSWD: ALL
+   ```
+
+4. **Save and Exit**  
+   - If `visudo` opens with Vim (default editor), press `Esc`, type `:wq`, and press Enter to save and exit.
+   - If `visudo` opens with Nano, press `Ctrl + O` to save, then Enter, and `Ctrl + X` to exit.
+
+
+5. **Testing the Configuration**  
+   Open a new terminal and run a command that typically requires a password, such as:
+   ```bash
+   sudo whoami
+   ```
+   If the command runs without prompting for a password, the configuration is correct. 
+
+6. **Run the PSDK Wrapper**  
+   Now, try launching the PSDK wrapper. It should initialize as a non-root user without requiring a password.
+   ```bash
+   ros2 launch psdk_wrapper wrapper.launch.py
+   ```
+
+---
+
+This configuration allows members of the sudo group to execute commands without needing to enter a password, streamlining the process of running the PSDK wrapper. If you encounter any issues, revert to the backed-up sudoers file (`/etc/sudoers.bak`) and review the changes.

psdk_wrapper/CMakeLists.txt

@@ -39,8 +39,8 @@ include(FetchContent)
 # Declare the content to fetch
 FetchContent_Declare(
   Payload_SDK
-  GIT_REPOSITORY https://github.com/dji-sdk/Payload-SDK.git
-  GIT_TAG 3.8.1
+  GIT_REPOSITORY https://github.com/bitcurious/Payload-SDK.git
+  GIT_TAG non-root-user
 )
 
 FetchContent_GetProperties(Payload_SDK)

psdk_wrapper/include/psdk_wrapper/modules/flight_control.hpp

@@ -149,9 +149,8 @@ class FlightControlModule : public rclcpp_lifecycle::LifecycleNode
    * @brief Callback function to exposing a generic control method of the
    * aircraft.The type of commands as well as the reference frame is specified
    * in a flag within the msg.
-   * @param msg  sensor_msgs::msg::Joy. Axes represent the x, y, z and yaw
+   * @param msg  sensor_msgs::msg::Joy. Axes represent the x, y, z, yaw and flag
    * command.
-   * @note This type of control is not implemented at this moment.
    */
   void flight_control_generic_cb(const sensor_msgs::msg::Joy::SharedPtr msg);
 
@@ -390,6 +389,26 @@ class FlightControlModule : public rclcpp_lifecycle::LifecycleNode
       const std::shared_ptr<GetObstacleAvoidance::Request> request,
       const std::shared_ptr<GetObstacleAvoidance::Response> response);
 
+  /**
+   *@brief Sets horizontal control mode as per flag, updates x, y, and z
+   * values and sets Joystick mode.
+   */
+  void set_horizontal_mode(float x_cmd, float y_cmd, float z_cmd, float yaw_cmd,
+                           uint8_t flag);
+
+  /**
+   * @brief Sets vertical control mode as per, flag updates x, y, and z
+   * values and sets Joystick mode.
+   */
+  void set_vertical_mode(float x_cmd, float y_cmd, float z_cmd, float yaw_cmd,
+                         uint8_t flag);
+  /**
+   *@brief Sets yaw control mode as per flag, updates yaw
+   * value and sets Joystick mode.
+   */
+  void set_yaw_mode(float x_cmd, float y_cmd, float z_cmd, float yaw_cmd,
+                    uint8_t flag);
+
   /* ROS 2 Subscribers */
   rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr
       flight_control_generic_sub_;
@@ -440,6 +459,26 @@ class FlightControlModule : public rclcpp_lifecycle::LifecycleNode
       get_horizontal_radar_obstacle_avoidance_srv_;
 
   bool is_module_initialized_{false};
+
+  T_DjiFlightControllerJoystickMode joystick_mode;
+  float x_cmd, y_cmd, z_cmd, yaw_cmd;
+
+  // Decode values for control flag.
+  enum Control
+  {
+    FRAME_GROUND = 0x00,
+    FRAME_BODY = 0x02,
+    HORIZONTAL_VELOCITY = 0x40,
+    HORIZONTAL_POSITION = 0x80,
+    HORIZONTAL_ANGLE = 0x00,
+    VERTICAL_VELOCITY = 0x00,
+    VERTICAL_POSITION = 0x10,
+    VERTICAL_THRUST = 0x20,
+    YAW_ANGLE = 0x00,
+    YAW_RATE = 0x08,
+  };
+
+  uint8_t flag;
 };
 
 }  // namespace psdk_ros2