From ecfa70548223fc620519e331ea6b7f304bb77888 Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Fri, 3 Apr 2020 19:50:16 +0300
Subject: [PATCH] Client: Updates for compability with clover and simulations

---
 Drone/FlightLib/FlightLib.py  | 10 ++++++++--
 Drone/copter_client.py        | 10 ++++++++--
 Drone/visual_pose_watchdog.py | 10 ++++++++--
 3 files changed, 24 insertions(+), 6 deletions(-)

diff --git a/Drone/FlightLib/FlightLib.py b/Drone/FlightLib/FlightLib.py
index 8c70b09..6ecb302 100644
--- a/Drone/FlightLib/FlightLib.py
+++ b/Drone/FlightLib/FlightLib.py
@@ -6,7 +6,13 @@ import time
 import logging
 import threading
 import rospy
-from clever import srv
+
+# for backward compatibility with clever
+try:
+    from clever import srv
+except ImportError:
+    from clover import srv
+
 from mavros_msgs.srv import SetMode
 from mavros_msgs.srv import CommandBool
 from std_srvs.srv import Trigger
@@ -337,7 +343,7 @@ def takeoff(height=TAKEOFF_HEIGHT, speed=TAKEOFF_SPEED, tolerance=TOLERANCE, fra
             return 'interrupted'
 
         climb = abs(get_telemetry_locked(frame_id=frame_id).z - start.z)
-        rospy.logdebug("Takeoff to {:.2f} of {:.2f} meters".format(climb, height))
+        rospy.loginfo("Takeoff to {:.2f} of {:.2f} meters".format(climb, height))
 
         time_passed = time.time() - time_start
 
diff --git a/Drone/copter_client.py b/Drone/copter_client.py
index 150e694..4efba23 100644
--- a/Drone/copter_client.py
+++ b/Drone/copter_client.py
@@ -4,7 +4,13 @@ import time
 import math
 import rospy
 import numpy
-from clever import srv
+
+# for backward compatibility with clever
+try:
+    from clever import srv
+except ImportError:
+    from clover import srv
+
 import datetime
 import logging
 import threading
@@ -13,7 +19,6 @@ import subprocess
 from collections import namedtuple
 
 from FlightLib import FlightLib
-from FlightLib import LedLib
 
 import client
 
@@ -86,6 +91,7 @@ class CopterClient(client.Client):
         rospy.loginfo("Init ROS node")
         rospy.init_node('clever_show_client')
         if self.config.led_use:
+            from FlightLib import LedLib
             LedLib.init_led(self.config.led_pin)
         task_manager_instance.start()  # TODO move to self
         if self.config.copter_frame_id == "floor":
diff --git a/Drone/visual_pose_watchdog.py b/Drone/visual_pose_watchdog.py
index 4ca07cb..7f62957 100644
--- a/Drone/visual_pose_watchdog.py
+++ b/Drone/visual_pose_watchdog.py
@@ -5,7 +5,13 @@ import time
 import math
 import logging
 import threading
-from clever.srv import SetAttitude
+
+# for backward compatibility with clever
+try:
+    from clever import SetAttitude
+except ImportError:
+    from clover import SetAttitude
+
 from sensor_msgs.msg import Range
 from mavros_msgs.msg import State, PositionTarget
 from mavros_msgs.srv import SetMode, CommandBool
@@ -16,7 +22,7 @@ from geometry_msgs.msg import PoseStamped
 import inspect  # Add parent dir to PATH to import messaging_lib
 current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
 parent_dir = os.path.dirname(current_dir)
-sys.path.insert(0, parent_dir) 
+sys.path.insert(0, parent_dir)
 
 from config import ConfigManager