mirror of
https://github.com/CopterExpress/clever-show.git
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builder: Add ability to move custom files from clever-config directory to clever image
This commit is contained in:
Arthur Golubtsov
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37
builder/clever-config/launch/aruco.launch
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37
builder/clever-config/launch/aruco.launch
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<launch>
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<arg name="aruco_detect" default="true"/>
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<arg name="aruco_map" default="true"/>
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<arg name="aruco_vpe" default="true"/>
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<!-- For additional help go to https://clever.copterexpress.com/aruco.html -->
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<!-- aruco_detect: detect aruco markers, estimate poses -->
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<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<param name="estimate_poses" value="true"/>
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<param name="send_tf" value="true"/>
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<param name="known_tilt" value="map"/>
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<param name="length" value="0.33"/>
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</node>
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<!-- aruco_map: estimate aruco map pose -->
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<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<remap from="markers" to="aruco_detect/markers"/>
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<param name="map" value="$(find aruco_pose)/map/animation_map.txt"/>
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<param name="known_tilt" value="map"/>
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<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
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<param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
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</node>
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<!-- vpe publisher from aruco markers -->
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<node name="vpe_publisher" pkg="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
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<remap from="~pose_cov" to="aruco_map/pose"/>
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<remap from="~vpe" to="mavros/vision_pose/pose"/>
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<param name="frame_id" value="aruco_map_detected"/>
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<param name="publish_zero" value="true"/>
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<param name="offset_frame_id" value="aruco_map"/>
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</node>
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</launch>
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71
builder/clever-config/launch/clever.launch
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71
builder/clever-config/launch/clever.launch
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<launch>
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<arg name="fcu_conn" default="usb"/>
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<arg name="fcu_ip" default="127.0.0.1"/>
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<arg name="gcs_bridge" default="tcp"/>
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<arg name="web_video_server" default="true"/>
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<arg name="rosbridge" default="true"/>
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<arg name="main_camera" default="true"/>
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<arg name="optical_flow" default="true"/>
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<arg name="aruco" default="true"/>
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<arg name="rc" default="true"/>
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<arg name="rangefinder_vl53l1x" default="true"/>
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<!-- mavros -->
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<include file="$(find clever)/launch/mavros.launch">
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<arg name="fcu_conn" value="$(arg fcu_conn)"/>
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<arg name="fcu_ip" value="$(arg fcu_ip)"/>
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<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
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</include>
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<!-- web video server -->
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<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5">
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<param name="default_stream_type" value="ros_compressed"/>
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<param name="publish_rate" value="1.0"/>
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</node>
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<!-- aruco markers -->
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<include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
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<!-- optical flow -->
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<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<param name="calc_flow_gyro" value="true"/>
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</node>
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<!-- main nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
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<param name="num_worker_threads" value="2"/>
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</node>
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<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
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<!-- simplified offboard control -->
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<node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
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<param name="reference_frames/body" value="map"/>
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<param name="reference_frames/base_link" value="map"/>
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</node>
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<!-- Auxiliary frames -->
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<node name="frames" pkg="clever" type="frames" output="screen">
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<param name="body/frame_id" value="body"/>
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</node>
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<!-- main camera -->
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<include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
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<!-- rosbridge -->
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<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
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<!-- tf2 republisher for web visualization -->
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<node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
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<!-- vl53l1x ToF rangefinder -->
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<node name="vl53l1x" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
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<param name="frame_id" value="rangefinder"/>
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<remap from="~range" to="mavros/distance_sensor/rangefinder_sub"/> <!-- redirect data to FCU -->
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</node>
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<!-- rc backend -->
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<node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
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</launch>
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37
builder/clever-config/launch/main_camera.launch
Normal file
37
builder/clever-config/launch/main_camera.launch
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<launch>
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<!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
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<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
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<!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
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<!-- camera is oriented downward, camera cable goes backward [option 1] -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
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<!-- camera is oriented downward, camera cable goes forward [option 2] -->
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<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>-->
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<!-- camera is oriented upward, camera cable goes backward [option 3] -->
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<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>-->
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<!-- camera is oriented upward, camera cable goes forward [option 4] -->
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<!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>-->
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<!-- camera node -->
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<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
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<param name="frame_id" value="main_camera_optical"/>
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<param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
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<param name="rate" value="100"/> <!-- poll rate -->
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<param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
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<param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
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<!-- camera resolution, NOTE: camera_info file should match it -->
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<param name="image_width" value="320"/>
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<param name="image_height" value="240"/>
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</node>
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<!-- camera visualization markers -->
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<node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
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<param name="scale" value="3.0"/>
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</node>
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</launch>
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8
builder/clever-config/map/animation_map.txt
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8
builder/clever-config/map/animation_map.txt
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@@ -30,10 +30,12 @@ echo_stamp() {
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REPO_DIR="/mnt"
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SCRIPTS_DIR="${REPO_DIR}/builder"
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CONFIG_DIR="${SCRIPTS_DIR}/clever-config"
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IMAGES_DIR="${REPO_DIR}/images"
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[[ ! -d ${SCRIPTS_DIR} ]] && (echo_stamp "Directory ${SCRIPTS_DIR} doesn't exist" "ERROR"; exit 1)
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[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo_stamp "Directory ${IMAGES_DIR} was created successful" "SUCCESS"
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[[ ! -d ${CONFIG_DIR} ]] && mkdir ${CONFIG_DIR} && echo_stamp "Directory ${CONFIG_DIR} was created successful" "SUCCESS"
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if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="$(cd ${REPO_DIR}; git log --format=%h -1)"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
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# IMAGE_VERSION="${TRAVIS_TAG:=$(cd ${REPO_DIR}; git log --format=%h -1)}"
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@@ -105,7 +107,10 @@ git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
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# Copy service file for clever show client
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img-chroot ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever-show.service' '/lib/systemd/system/'
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img-chroot ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/animation_map.txt' '/home/pi/catkin_ws/src/clever/aruco_pose/map/'
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# Copy config files for clever
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if [[ -d "${CONFIG_DIR}/launch" ]]; then img-chroot ${IMAGE_PATH} copy ${CONFIG_DIR}'/launch' '/home/pi/catkin_ws/src/clever/clever'; fi
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if [[ -d "${CONFIG_DIR}/map" ]]; then img-chroot ${IMAGE_PATH} copy ${CONFIG_DIR}'/map' '/home/pi/catkin_ws/src/clever/aruco_pose'; fi
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# Shrink image
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img-resize ${IMAGE_PATH}
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@@ -23,7 +23,7 @@ echo_stamp() {
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}
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# rename wifi ssid
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sed -i "s/NEW_SSID='CLEVER/NEW_SSID='CleverShow/" /root/init_rpi.sh
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sed -i "s/NEW_SSID='CLEVER/NEW_SSID='CLEVERSHOW/" /root/init_rpi.sh
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# add sudoers variables to make sudo works with ros (for led strip)
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grep -qxF 'Defaults env_keep += "ROS_LOG_DIR"' /etc/sudoers || cat << EOT >> /etc/sudoers
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@@ -38,13 +38,5 @@ Defaults env_keep += "ROS_HOME"
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Defaults env_keep += "ROS_LOG_DIR"
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EOT
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# configure aruco.launch and clever.launch (for positioning with aruco map)
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sed -i '/<arg name="aruco_map"/c \ <arg name="aruco_map" default="true"/>' /home/pi/catkin_ws/src/clever/clever/launch/aruco.launch
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sed -i '/<arg name="aruco_vpe"/c \ <arg name="aruco_vpe" default="true"/>' /home/pi/catkin_ws/src/clever/clever/launch/aruco.launch
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sed -i '/<param name="map"/c \ <param name="map" value="\$\(find aruco_pose\)/map/animation_map.txt"/>' /home/pi/catkin_ws/src/clever/clever/launch/aruco.launch
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sed -i '/<arg name="aruco"/c \ <arg name="aruco" default="true"/>' /home/pi/catkin_ws/src/clever/clever/launch/clever.launch
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sed -i '/<arg name="rangefinder_vl53l1x"/c \ <arg name="rangefinder_vl53l1x" default="true"/>' /home/pi/catkin_ws/src/clever/clever/launch/clever.launch
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sed -i '/<arg name="optical_flow"/c \ <arg name="optical_flow" default="true"/>' /home/pi/catkin_ws/src/clever/clever/launch/clever.launch
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echo_stamp "Image was configured!" "SUCCESS"
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