Integration of Health Monitoring System (HMS) as a module

[amoramar]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses
Primary OS tested on	Ubuntu 22.04 (ROS2 Humble)
Drone platform tested on	DJI M300 RTK + H20 + Enterprise RC

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Description of contribution in a few bullet points

• Add Health Management System (HMS) module to the psdk_wrapper library
  • Register a callback method to fetch the HMS data published by DJI's PSDK
  • Identify known error codes by parsing them from a JSON file
  • Publish the data through a custom ROS2 topic
• Define two new message types in psdk_interfaces, HmsInfoMsg and HmsInfoTable

Motivation and Context

• The HMS provides information about the system status that is otherwise not known to the robotics stack.
  • E.g., some of the error codes have the associated consideration of Unable to take off, which is a very important piece of information for the end user.

How Has This Been Tested?

• Hardware-in-the-loop testing with a DJI M300 RTK drone and an H20 payload.

Description of documentation updates required from your changes

• A new ROS2 topic psdk_ros2/hms_info_table encapsulates all the information received from the PSDK
• The actively supported list of known error codes can be found in the PSDK library, in the samples folder for the hms module
  • The CMakeLists.txt in this repository will install the contents of the aforementioned folder locally, thus it will keep track of upstream changes

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Future work that may be required in bullet points

Screenshots (if appropriate):

[vicmassy]

Super nice job 🚀 🌟

I added few minor comments, and also double check the documentation if you have to add any new topic/module

[biancabnd]

Amazing work @amoramar ! 🎊 I left you a few comments, but nothing major.
Let me know what you think!

[biancabnd]

LGTM!! 👍 🎊 🥇