PayloadSdk

This repo is officially SDK for all Gremsy's Payloads

Hardware

• Ubuntu PC (x86_64)
• Jetson platform (aarch64)
• Raspberry Pi
• Qualcomm RB5165

Software

This branch supported:

• Vio payload: software v2.0.0 or higher
• Zio payload: not supported yet
• GHardron payload: not supported yet
• OrusL payload: software v2.0.0 or higher

Clone the project

git clone -b payloadsdk_v3 https://github.com/Gremsy/PayloadSdk.git

Hardware setup

PayloadSDK supports 2 control conections, that's configured at payloadsdk.h:

Figure 1: Hardware setup use Ethernet or UART connection

How to build

• Install required libraries

sudo apt-get install libcurl4-openssl-dev libjsoncpp-dev
sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
sudo apt-get install libgtkmm-3.0-dev
sudo apt-get install libopencv-dev

Note: If you encounter OpenCV errors during cmake, install OpenCV:

sudo apt-get install libopencv-dev python3-opencv

• Build project

cd PayloadSdk
mkdir build && cd build

# Configure with payload type (choose one):
cmake -DVIO=1 ../      # For VIO payload
# OR
cmake -DMB1=1 ../      # For MB1 payload
# OR
cmake -DZIO=1 ../      # For ZIO payload
# OR
cmake -DORUSL=1 ../    # For ORUSL payload

make -j6

UI Demo Application

A comprehensive graphical user interface application for testing and controlling Gremsy payload devices is available in the tests/ui_demo directory.

Features

• Full Camera Control: View modes, zoom, focus, exposure, white balance, IR settings
• Gimbal Control: Mode selection, speed control, and angle positioning
• Video Streaming: Built-in RTSP stream player with interactive controls
• Real-time Monitoring: Storage info, capture status, GPS coordinates, telemetry data
• Object Tracking: Touch-based target selection and tracking control

Building UI Demo

Build from the PayloadSDK root directory with VIO or ORUSL enabled:

cd PayloadSdk
mkdir build && cd build

# Configure with payload type (choose one):
cmake -DVIO=1 ../      # For VIO payload (required for UI Demo)
# OR
cmake -DORUSL=1 ../    # For ORUSL payload

make -j6

Run the application:

./tests/ui_demo/ui_demo

Quick Start

1. Launch the application
2. Enter your payload IP address (default: 192.168.55.1)
   • Important: Change this to match your actual payload IP address
3. Click Connect
4. Control camera, gimbal, and view live video stream

For detailed documentation, see tests/ui_demo/README.md