diff --git a/README.md b/README.md index 1561b671..04e90aab 100644 --- a/README.md +++ b/README.md @@ -2,34 +2,26 @@ - - - - - + + +
++
-This repository contains documentation, software platform source and RPi image builder for COEX Clover. +This repository contains documentation, software platform source code and RPi image builder for COEX Clover drone kit. COEX Clover Clover is a [PX4](https://px4.io)- and [ROS](https://www.ros.org)-powered educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. -The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). +The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: coex.tech/clover. -Official website: coex.tech/clover. - -## Autonomous flights compilation +## Autonomous flights video [![Clover Drone Kit autonomy compilation](http://img.youtube.com/vi/u3omgsYC4Fk/hqdefault.jpg)](https://youtu.be/u3omgsYC4Fk) Clover drone is used on a wide range of educational events, including [Copter Hack](https://www.youtube.com/watch?v=xgXheg3TTs4), WorldSkills Drone Operation competition, [Autonomous Vehicles Track of NTI Olympics 2016–2020](https://www.youtube.com/watch?v=E1_ehvJRKxg), Quadro Hack 2019 (National University of Science and Technology MISiS), Russian Robot Olympiad (autonomous flights), and others. -## PX4 Dev Summit 2019 talk - -[![](http://img.youtube.com/vi/CTG9E9PbJQ8/0.jpg)](http://www.youtube.com/watch?v=CTG9E9PbJQ8) - ## Features ### Prebuilt RPi image @@ -38,7 +30,18 @@ Clover drone is used on a wide range of educational events, including [Copter Ha ### Common robotics software -ROS, OpenCV... +Prebuilt image for Raspberry Pi includes: + +|Software|Description| +|-|-| +|Raspbian Buster|| +|[ROS Melodic](http://wiki.ros.org/melodic)|Common robotics framework| +|[OpenCV](https://opencv.org)|Computer vision library| +|[`mavros`](http://wiki.ros.org/mavros)|ROS package for communication with the flight controller| +|Configured networking|| +|Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)|| +|`clover`|package for autonomous drone control| +|`aruco_pose`|Package for marker-assisted navigation| ### QGroundControl Wi-Fi bridge @@ -46,7 +49,7 @@ ROS, OpenCV... ### Easy autonomous flights programming -Taking off, navigating and land is just: +By using `clover` package, taking off, navigating and landing is just: ```python navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True) # takeoff and hover 1 m above the ground @@ -64,13 +67,21 @@ See [programming documentation](https://clover.coex.tech) for further informatio ### Optical flow positioning + + RPi based optical flow.... +See [details](https://clover.coex.tech/en/optical_flow.html) in the documentation. + ### ArUco markers recognizing + + ... -### Easy work with peripheral devices +See [details](https://clover.coex.tech/en/aruco.html) in the documentation. + +### Easy working with peripheral devices Preinstalled package for the [LED strip](https://clover.coex.tech/en/leds.html) allows high-level control (such as rainbow effect or color fade) as well as individual LED low-level control: @@ -104,45 +115,53 @@ level = pi.read(12) # read the state of pin 12 ### Simulator -Gazebo-based simulation. + + +Clover repository includes three simulation-related repository for Gazebo-based simulation. Screenshot... +See details in the [documentation](https://clover.coex.tech/en/simulation.html). The simulation environment also available as a virtual machine image. + ### Remote control apps -... + + + + + +
+ + + + + + + +
+ + ### Community -Community photo... + Clover is widely used ... +[Telegram chat](tg://resolve?domain=COEXHelpdesk)... + ### Free and open source -The Clover software bundle is free, open source, and compatible with any PX4-based drone. +The Clover software bundle is free, open source, and compatible with any PX4/ROS-based drone. -## Raspberry Pi image - -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) - -Image features: - -* Raspbian Buster -* [ROS Melodic](http://wiki.ros.org/melodic) -* Configured networking -* OpenCV -* [`mavros`](http://wiki.ros.org/mavros) -* Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc) -* `aruco_pose` package for marker-assisted navigation -* `clover` package for autonomous drone control - -API description for autonomous flights is available [on GitBook](https://clover.coex.tech/en/simple_offboard.html). +## Manual installation For manual package installation and running see [`clover` package documentation](clover/README.md). +## PX4 Dev Summit 2019 talk + +[![](http://img.youtube.com/vi/CTG9E9PbJQ8/0.jpg)](http://www.youtube.com/watch?v=CTG9E9PbJQ8) + ## Other resources * Official documentation: [https://clover.coex.tech](https://clover.coex.tech). diff --git a/docs/assets/aruco.gif b/docs/assets/aruco.gif new file mode 100644 index 00000000..2a050c90 Binary files /dev/null and b/docs/assets/aruco.gif differ diff --git a/docs/assets/community/collage.jpg b/docs/assets/community/collage.jpg new file mode 100644 index 00000000..191e6429 Binary files /dev/null and b/docs/assets/community/collage.jpg differ diff --git a/docs/assets/optical-flow.gif b/docs/assets/optical-flow.gif new file mode 100644 index 00000000..f2ce28bd Binary files /dev/null and b/docs/assets/optical-flow.gif differ diff --git a/docs/assets/simulator.jpg b/docs/assets/simulator.jpg new file mode 100644 index 00000000..efe6c4aa Binary files /dev/null and b/docs/assets/simulator.jpg differ