Official Software Development Kit for Gremsy Payload Devices

The Gremsy PayloadSDK provides a comprehensive C++ library for integrating and controlling Gremsy's advanced payload systems. Whether you're building custom applications, integrating with existing platforms, or testing payload capabilities, this SDK offers a complete solution with an intuitive API and ready-to-use demo applications.

Experience the full power of Gremsy payloads through our feature-rich graphical interface:

• Real-time RTSP video streaming with interactive tracking controls
• Complete camera control panel - zoom, focus, exposure, white balance, IR settings
• Intuitive gimbal control - modes, speed adjustment, precise angle positioning
• Live telemetry monitoring - GPS, storage, temperature, LRF data
• One-click operations - capture, record, auto-focus, tracking

Professional control interface for Gremsy payload devices

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

• VIO Payload: software v2.0.0 or higher ✅
• MB1 Payload(Lynx, GHardron): software v2.0.0 or higher ✅
• OrusL Payload: software v2.0.0 or higher ✅

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

The PayloadSDK supports two connection methods for maximum flexibility:

Connection Options:

• Ethernet: High-speed communication with video streaming support
• UART: Alternative connection for embedded systems

Connection settings can be configured in payloadsdk.h

# Core libraries
sudo apt-get install libcurl4-openssl-dev libjsoncpp-dev

# UI Demo dependencies (optional, but recommended)
sudo apt-get install libgtkmm-3.0-dev
sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

# OpenCV (required by examples)
sudo apt-get install libopencv-dev python3-opencv

cd PayloadSdk
mkdir build && cd build

Choose your payload type:

# For VIO Payload
cmake -DVIO=1 ../

# For MB1 Payload
cmake -DMB1=1 ../

# For ORUSL Payload
cmake -DORUSL=1 ../

# For ZIO Payload
cmake -DZIO=1 ../

Compile:

make -j$(nproc)

💡 Tip: Use -j$(nproc) to utilize all CPU cores for faster compilation

The UI Demo is more than just a testing tool—it's a complete reference implementation showing how to integrate all PayloadSDK features into a professional application. Perfect for:

✅ Evaluation: Test all payload capabilities before integration

✅ Development: Reference implementation for your own applications

✅ Demonstration: Showcase payload features to clients

✅ Testing: Validate payload configurations and functionality

✅ Training: Learn the SDK through interactive examples

After building the SDK (see above), launch the application:

./tests/ui_demo/ui_demo

1. Enter IP Address - Update the IP field to match your payload (e.g., 192.168.55.1)
2. Click Connect - Establish connection to your payload
3. Start Streaming - Click Play to view live RTSP video
4. Take Control - Use the control panels to operate camera and gimbal

🎯 Pro Tip: The RTSP URL auto-generates from your IP address. Just enter the IP and everything else is automatic!

For detailed UI Demo documentation, architecture, and troubleshooting: 👉 UI Demo Complete Guide

Beyond the UI Demo, the SDK includes various integration examples:

# After building, examples are available in:
./tests/
├── ui_demo/              # Full GUI application
├── camera_example/       # Camera control examples
├── gimbal_example/       # Gimbal control examples
└── streaming_example/    # Video streaming examples

Edit payloadsdk.h to configure your connection:

// Ethernet connection (default)
#define udp_ip_target "192.168.55.1"
#define udp_port_target 14566

// Or UART connection
#define uart_target "/dev/ttyUSB0"
#define uart_baud_target 115200

Build fails with OpenCV errors:

sudo apt-get install libopencv-dev python3-opencv

Cannot connect to payload:

• Verify IP address matches payload configuration
• Check network cable connection
• Ensure payload firmware is v2.0.0 or higher

Video stream not working:

• Enable "Auto Connection" in payload web interface
• Check firewall allows RTSP traffic (port 8554)
• Verify GStreamer plugins are installed

For more solutions, see UI Demo Troubleshooting

• Documentation: Full SDK Documentation
• Issues: GitHub Issues
• Website: www.gremsy.com
• Email: [email protected]

Copyright © 2024 Gremsy. All rights reserved.