diff --git a/.travis.yml b/.travis.yml index 3d240f67..aa326366 100644 --- a/.travis.yml +++ b/.travis.yml @@ -77,6 +77,7 @@ jobs: - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections" - sudo apt update && sudo apt install -y calibre msttcorefonts - npm install gitbook-cli -g + - gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932 - npm install markdownlint-cli -g - npm install svgexport -g - gitbook -V diff --git a/README.md b/README.md index 1848c23c..5a642efc 100644 --- a/README.md +++ b/README.md @@ -21,6 +21,7 @@ Clover drone is used on a wide range of educational events, including [Copter Ha Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases). [![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover) +![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total) Image features: diff --git a/aruco_pose/CMakeLists.txt b/aruco_pose/CMakeLists.txt index 30fe1e4b..f0176424 100644 --- a/aruco_pose/CMakeLists.txt +++ b/aruco_pose/CMakeLists.txt @@ -111,7 +111,7 @@ generate_messages( ## Generate dynamic reconfigure parameters in the 'cfg' folder generate_dynamic_reconfigure_options( - cfg/DetectorParams.cfg + cfg/Detector.cfg ) ################################### diff --git a/aruco_pose/cfg/DetectorParams.cfg b/aruco_pose/cfg/Detector.cfg similarity index 100% rename from aruco_pose/cfg/DetectorParams.cfg rename to aruco_pose/cfg/Detector.cfg diff --git a/builder/assets/examples/get_telemetry.py b/builder/assets/examples/get_telemetry.py new file mode 100644 index 00000000..fbbfb24f --- /dev/null +++ b/builder/assets/examples/get_telemetry.py @@ -0,0 +1,11 @@ +# Information: https://clover.coex.tech/en/simple_offboard.html#gettelemetry + +import rospy +from clover import srv + +rospy.init_node('flight') + +get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry) + +# Print drone's state +print(get_telemetry()) diff --git a/builder/assets/hardware_setup.sh b/builder/assets/hardware_setup.sh index ea4b0ee5..868de1be 100755 --- a/builder/assets/hardware_setup.sh +++ b/builder/assets/hardware_setup.sh @@ -65,7 +65,7 @@ echo_stamp "#6 Turn on UART" # https://github.com/RPi-Distro/raspi-config/pull/75 /usr/bin/raspi-config nonint do_serial 1 /usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt -/usr/bin/raspi-config nonint set_config_var dtoverlay pi3-disable-bt /boot/config.txt +echo dtoverlay=pi3-disable-bt >> /boot/config.txt systemctl disable hciuart.service # After adding to Raspbian OS diff --git a/builder/image-ros.sh b/builder/image-ros.sh index 1bd60339..b9700088 100755 --- a/builder/image-ros.sh +++ b/builder/image-ros.sh @@ -101,6 +101,7 @@ rm -rf build # remove build artifacts echo_stamp "Build Clover documentation" cd /home/pi/catkin_ws/src/clover NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g +NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932 NPM_CONFIG_UNSAFE_PERM=true gitbook install gitbook build touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin diff --git a/builder/image-software.sh b/builder/image-software.sh index 5d695571..54917504 100755 --- a/builder/image-software.sh +++ b/builder/image-software.sh @@ -149,6 +149,7 @@ my_travis_retry pip install --prefer-binary rpi_ws281x echo_stamp "Setup Monkey" mv /etc/monkey/sites/default /etc/monkey/sites/default.orig mv /root/monkey /etc/monkey/sites/default +sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf systemctl enable monkey.service echo_stamp "Install Node.js" diff --git a/builder/standalone-install.sh b/builder/standalone-install.sh index d477fb30..f4da6623 100755 --- a/builder/standalone-install.sh +++ b/builder/standalone-install.sh @@ -41,3 +41,6 @@ pip install --upgrade pytest cd /root/catkin_ws source devel/setup.bash catkin_make run_tests && catkin_test_results + +# Step 5: Install packages +catkin_make install diff --git a/clover/launch/clover.launch b/clover/launch/clover.launch index a3e3ba8e..5626c82a 100644 --- a/clover/launch/clover.launch +++ b/clover/launch/clover.launch @@ -12,7 +12,6 @@ - @@ -91,9 +90,6 @@ - - - diff --git a/clover/launch/mavros.launch b/clover/launch/mavros.launch index 1eea4558..d67e40e4 100644 --- a/clover/launch/mavros.launch +++ b/clover/launch/mavros.launch @@ -6,13 +6,15 @@ + + - + - + diff --git a/clover/test/basic.py b/clover/test/basic.py index fe546f7d..f9a767d8 100755 --- a/clover/test/basic.py +++ b/clover/test/basic.py @@ -28,19 +28,3 @@ def test_simple_offboard_services_available(): def test_web_video_server(node): import urllib2 urllib2.urlopen("http://localhost:8080").read() - -def test_shell(node): - execute = rospy.ServiceProxy('exec', srv.Execute) - execute.wait_for_service(5) - - res = execute(cmd='echo foo') - assert res.code == 0 - assert res.output == 'foo\n' - - res = execute(cmd='foo') - assert res.code == 32512 - assert res.output == '' - - res = execute(cmd='ls foo') - assert res.code == 512 - assert res.output == '' diff --git a/clover/www/clover_version b/clover/www/clover_version new file mode 120000 index 00000000..ac5ca460 --- /dev/null +++ b/clover/www/clover_version @@ -0,0 +1 @@ +/etc/clover_version \ No newline at end of file diff --git a/clover/www/index.html b/clover/www/index.html index 676b48e5..fbae51c8 100644 --- a/clover/www/index.html +++ b/clover/www/index.html @@ -13,15 +13,15 @@
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+ 5 +60 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/4" = 1'-0" +140 +0.25 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +61 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/8" = 1'-0" +140 +0.375 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +62 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/2" = 1'-0" +140 +0.5 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +63 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/4" = 1'-0" +140 +0.75 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +64 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1" = 1'-0" +140 +1.0 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +65 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1-1/2" = 1'-0" +140 +1.5 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +66 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3" = 1'-0" +140 +3.0 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +67 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +6" = 1'-0" +140 +6.0 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +68 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1'-0" = 1'-0" +140 +12.0 +141 +12.0 +290 + 0 + 0 +ENDSEC + 0 +EOF diff --git a/docs/assets/dxf/4.2/grip_spacer.png b/docs/assets/dxf/4.2/grip_spacer.png new file mode 100644 index 00000000..e9263655 Binary files /dev/null and b/docs/assets/dxf/4.2/grip_spacer.png differ diff --git a/docs/en/copterhack2021.md b/docs/en/copterhack2021.md index 136d455b..cd8d9670 100644 --- a/docs/en/copterhack2021.md +++ b/docs/en/copterhack2021.md @@ -1,6 +1,6 @@ # CopterHack 2021 -CopterHack 2021 is a team competition for the development of open source projects for the Clover quadcopter platform. +CopterHack 2021 is a team competition for the development of open source projects for the Clover quadcopter platform. Fifty-four teams from 12 countries took part in the competition. All information about the event can be found on the official website: https://coex.tech/copterhack. diff --git a/docs/en/models.md b/docs/en/models.md index 55ecd452..3610c5f4 100644 --- a/docs/en/models.md +++ b/docs/en/models.md @@ -96,6 +96,16 @@ This page contains models and drawings of some of the drone parts. They can be u big_leg.dxf + + + + Grip spacer.
+ Function: spacer for the gripper plates.
+ Material: monolithic polycarbonate 2mm.
+ Quantity: 1 pcs. + + grip_spacer.dxf + ## Clover 4 diff --git a/docs/en/programming.md b/docs/en/programming.md index f927e8b9..78f5ae34 100644 --- a/docs/en/programming.md +++ b/docs/en/programming.md @@ -34,7 +34,15 @@ Read more in the [GPS connection](gps.md) article. > **Info** For studying Python programming language, see [tutorial](https://www.learnpython.org/en/Welcome). -After you've configured your positioning system, you can start writing programs for autonomous flights. Use the [SSH connection to the Raspberry Pi](ssh.md) to run your scripts. In order to run a Python script use the `python` command: +After you've configured your positioning system, you can start writing programs for autonomous flights. Use the [SSH connection to the Raspberry Pi](ssh.md) to run your scripts. + +Before the first flight it's recommended to check the Clover's configuration with [selfcheck.py utility](selfcheck.md): + +```bash +rosrun clover selfcheck.py +``` + +In order to run a Python script use the `python` command: ```bash python flight.py diff --git a/docs/en/snippets.md b/docs/en/snippets.md index 4772077b..b8fe6539 100644 --- a/docs/en/snippets.md +++ b/docs/en/snippets.md @@ -359,3 +359,28 @@ calibrate_gyro() ``` > **Note** In process of calibration the drone should not be moved. + + + +### # {#aruco-detect-enabled} + + + +Enable and disable [ArUco markers recognition](aruco_marker.md) dynamically (for example, for saving CPU resources): + +```python +import rospy +import dynamic_reconfigure.client + +# ... + +client = dynamic_reconfigure.client.Client('aruco_detect') + +# Turn markers recognition off +client.update_configuration({'enabled': False}) + +rospy.sleep(5) + +# Turn markers recognition on +client.update_configuration({'enabled': True}) +``` diff --git a/docs/ru/copterhack2021.md b/docs/ru/copterhack2021.md index ee0446bf..0b93a3b3 100644 --- a/docs/ru/copterhack2021.md +++ b/docs/ru/copterhack2021.md @@ -1,6 +1,6 @@ # CopterHack 2021 -CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер". +CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер". В конкурсе приняло участие 54 команды из 12 стран. Все информацию о мероприятии смотрите на официальном сайте: https://ru.coex.tech/copterhack. diff --git a/docs/ru/models.md b/docs/ru/models.md index 5eed6d40..ddb5fb37 100644 --- a/docs/ru/models.md +++ b/docs/ru/models.md @@ -96,6 +96,16 @@ big_leg.dxf + + + + Проставка для захвата.
+ Функция: Опорный элемент для механического захвата.
+ Материал: Монолитный поликарбонат 2мм.
+ Количество: 1 шт. + + grip_spacer.dxf + ## Клевер 4 diff --git a/docs/ru/programming.md b/docs/ru/programming.md index 8dea6653..b4e5c395 100644 --- a/docs/ru/programming.md +++ b/docs/ru/programming.md @@ -32,9 +32,17 @@ ## Автономный полет {#flight} -> **Info** Для изучения языка программирования Python обращайтесь к [самоучителю](https://pythonworld.ru/samouchitel-python). +> **Info** Для изучения языка программирования Python вы можете обратиться к [самоучителю](https://pythonworld.ru/samouchitel-python). -После настройки системы позиционирования становится возможным написание скриптов для автономных полетов. Для выполнения скриптов [подключитесь в Raspberry Pi по SSH](ssh.md). Для того, чтобы запустить Python-скрипт, используйте команду `python`: +После настройки системы позиционирования становится возможным написание скриптов для автономных полетов. Для выполнения скриптов [подключитесь в Raspberry Pi по SSH](ssh.md). + +Перед первым полетом рекомендуется проверить конфигурацию Клевера при помощи [утилиты selfcheck.py](selfcheck.md): + +```bash +rosrun clover selfcheck.py +``` + +Для того, чтобы запустить Python-скрипт, используйте команду `python`: ```bash python flight.py diff --git a/docs/ru/snippets.md b/docs/ru/snippets.md index adaabe5d..af71488f 100644 --- a/docs/ru/snippets.md +++ b/docs/ru/snippets.md @@ -377,3 +377,28 @@ calibrate_gyro() ``` > **Note** В процессе калибровки гироскопов дрон нельзя двигать. + + + +### # {#aruco-detect-enabled} + + + +Динамически включать и отключать [распознавание ArUco-маркеров](aruco_marker.md) (например, для экономии ресурсов процессора): + +```python +import rospy +import dynamic_reconfigure.client + +# ... + +client = dynamic_reconfigure.client.Client('aruco_detect') + +# Turn markers recognition off +client.update_configuration({'enabled': False}) + +rospy.sleep(5) + +# Turn markers recognition on +client.update_configuration({'enabled': True}) +``` diff --git a/redirects.json b/redirects.json index 134dae7c..8d4a04ff 100644 --- a/redirects.json +++ b/redirects.json @@ -49,7 +49,8 @@ { "from": "modes/", "to": "ru/modes.html" }, { "from": "firmware/", "to": "en/firmware.html" }, - { "from": "simple_offboard/", "to": "ru/simple_offboard.html" }, + { "from": "simple_offboard/", "to": "en/simple_offboard.html" }, + { "from": "offboard/", "to": "en/simple_offboard.html" }, { "from": "camera/", "to": "ru/camera.html" }, { "from": "snippets/", "to": "ru/snippets.html" }, { "from": "optical_flow/", "to": "ru/optical_flow.html" }, @@ -61,6 +62,7 @@ { "from": "camera_setup/", "to": "en/camera_setup.html" }, { "from": "power/", "to": "en/power.html" }, { "from": "connection/", "to": "en/connection.html" }, + { "from": "clover_vm/", "to": "en/simulation_vm.html" }, { "from": "ru/microsd_images.html", "to": "image.html" }, { "from": "en/microsd_images.html", "to": "image.html" }