Adding service call for changing which camera to use in H20T and H20.

CMakeLists.txt

@@ -99,6 +99,7 @@ set(msg_files
   "srv/MissionWpUpload.srv"
   "srv/MissionWpAction.srv"
   "srv/MissionWpGetInfo.srv"
+  "srv/ChangeH264Source.srv"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}

README.md

@@ -4,6 +4,44 @@ Fixed messages and services definitions from dji_osdk_ros. Plus a mapping file.
 
 The problem with the original definitions is that they use characters that are not allowed in constants and firldname in ROS2.
 
+## Patches to ros1 bridge needed
+
+Pattern file: resource/interface_factories.cpp.em
+
+auto & @(field["ros2"]["name"])2 = req2.@(field["ros2"]["name"]);
+@[        end if]@
+@[        if field["basic"]]@
+@[      if frm == "1"]@
+  @(field["ros2"]["name"])@(to) = @(field["ros1"]["name"])@(frm);
+@[        else]@
+  @(field["ros1"]["name"])@(to) = @(field["ros2"]["name"])@(frm);
+@[        end if]@
+@[        else]@
+@[      if frm == "1"]@
+  Factory<@(field["ros1"]["cpptype"]),@(field["ros2"]["cpptype"])>::convert_@(frm)_to_@(to)(@
+@(field["ros1"]["name"])@(frm), @(field["ros2"]["name"])@(to));
+@[        else]@
+  Factory<@(field["ros1"]["cpptype"]),@(field["ros2"]["cpptype"])>::convert_@(frm)_to_@(to)(@
+@(field["ros2"]["name"])@(frm), @(field["ros1"]["name"])@(to));
+@[        end if]@
+@[        end if]@
+@[        if field["array"]]@
+  }
+@[        end if]@
+
+Same place as below:
+
+               # This must be wrong, different name with same type will now be allowed, changing it
+                #if ros1_type != ros2_type or ros1_name != ros2_name:
+                if ros1_type != ros2_type:
+
+Fix case with arrays in service calls:
+```python
+                    if (ros1_type.rstrip("[]"), ros2_type.rstrip("[]")) not in message_string_pairs:
+                        match = False
+                        break
+```
+
 ## Getting started
 
 To make it easy for you to get started with GitLab, here's a list of recommended next steps.

srv/ChangeH264Source.srv

+# NO_1 = 0
+# NO_2 = 1
+# NO_3 = 2
+# FPV = 7
+#
+# H20_WIDE=1
+# H20T_WIDE=1
+# H20_ZOOM=2
+# H20T_ZOOM=2
+# H20T_IT=3
+
+
+uint8 camera
+uint8 source
+---
+bool result
\ No newline at end of file