diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml index a9dc26a8..e819c4e3 100644 --- a/.github/workflows/docs.yml +++ b/.github/workflows/docs.yml @@ -11,10 +11,6 @@ permissions: pages: write id-token: write -concurrency: - group: "pages" - cancel-in-progress: true - defaults: run: shell: bash @@ -75,6 +71,9 @@ jobs: deploy-docs: if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }} + concurrency: + group: "pages" + cancel-in-progress: true environment: name: github-pages url: ${{ steps.deployment.outputs.page_url }} diff --git a/aruco_pose/package.xml b/aruco_pose/package.xml index 03977753..a29c85b2 100644 --- a/aruco_pose/package.xml +++ b/aruco_pose/package.xml @@ -1,5 +1,5 @@ - + aruco_pose 0.23.0 Positioning with ArUco markers @@ -28,6 +28,8 @@ sensor_msgs rostest dynamic_reconfigure + python-docopt + python3-docopt image_publisher ros_pytest diff --git a/builder/image-ros.sh b/builder/image-ros.sh index afa369b5..2dd192b6 100755 --- a/builder/image-ros.sh +++ b/builder/image-ros.sh @@ -151,6 +151,9 @@ catkin_make run_tests #&& catkin_test_results echo_stamp "Change permissions for catkin_ws" chown -Rf pi:pi /home/pi/catkin_ws +echo_stamp "Update www" +sudo -u pi sh -c ". devel/setup.sh && rosrun clover www" + echo_stamp "Make \$HOME/examples symlink" ln -s "$(catkin_find clover examples --first-only)" /home/pi chown -Rf pi:pi /home/pi/examples diff --git a/builder/test/tests.py b/builder/test/tests.py index 2af19852..e550cf52 100755 --- a/builder/test/tests.py +++ b/builder/test/tests.py @@ -2,6 +2,7 @@ # validate all required modules installed +import os import rospy from geometry_msgs.msg import PoseStamped from sensor_msgs.msg import Range, BatteryState @@ -22,6 +23,7 @@ from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetV from led_msgs.srv import SetLEDs from led_msgs.msg import LEDStateArray, LEDState from aruco_pose.msg import Marker, MarkerArray, Point2D +from clover import long_callback import dynamic_reconfigure.client @@ -31,9 +33,12 @@ import tf2_geometry_msgs import VL53L1X import pymavlink from pymavlink import mavutil -import rpi_ws281x -import pigpio # from espeak import espeak from pyzbar import pyzbar +import docopt print(cv2.getBuildInformation()) + +if not os.environ.get('VM'): + import rpi_ws281x + import pigpio diff --git a/builder/test/tests.sh b/builder/test/tests.sh index 8eaf9dec..1d0ccc18 100755 --- a/builder/test/tests.sh +++ b/builder/test/tests.sh @@ -6,16 +6,10 @@ set -ex # validate required software is installed -python --version python2 --version python3 --version -ipython --version ipython3 --version -# ptvsd does not have a stand-alone binary -python -m ptvsd --version -python3 -m ptvsd --version - node -v npm -v @@ -25,42 +19,77 @@ lsof -v git --version vim --version pip --version -pip2 --version pip3 --version tcpdump --version monkey --version -pigpiod -v -i2cdetect -V -butterfly -h # espeak --version -mjpg_streamer --version systemctl --version +if [ -z $VM ]; then + # rpi only software + python --version + ipython --version + pip2 --version + # `python` is python2 for now + [[ $(python -c 'import sys;print(sys.version_info.major)') == "2" ]] + + # ptvsd does not have a stand-alone binary + python -m ptvsd --version + python3 -m ptvsd --version + + pigpiod -v + i2cdetect -V + butterfly -h + mjpg_streamer --version +fi + # ros stuff roscore -h rosversion clover rosversion aruco_pose -rosversion vl53l1x rosversion mavros rosversion mavros_extras rosversion ws281x rosversion led_msgs rosversion dynamic_reconfigure rosversion tf2_web_republisher -rosversion compressed_image_transport -rosversion rosbridge_suite -rosversion rosserial +rosversion rosbridge_server rosversion usb_cam rosversion cv_camera rosversion web_video_server -rosversion rosshow rosversion nodelet rosversion image_view -# validate some versions -[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix [[ $(rosversion ws281x) == "0.0.13" ]] +if [ -z $VM ]; then + rosversion compressed_image_transport + rosversion rosshow + rosversion vl53l1x + rosversion rosserial + [[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix +fi + +# determine user home directory +[ $VM ] && H="/home/clover" || H="/home/pi" + +# test basic ros tool work +source $H/catkin_ws/devel/setup.bash +roscd +rosrun +rosmsg +rossrv +rosnode || [ $? -eq 64 ] # usage output code is 64 +rostopic || [ $? -eq 64 ] +rosservice || [ $? -eq 64 ] +rosparam +roslaunch -h + # validate examples are present -[[ $(ls /home/pi/examples/*) ]] +[[ $(ls $H/examples/*) ]] + +# validate web tools present +[ -d $H/.ros/www ] +[ "$(readlink $H/.ros/www/clover)" = "$H/catkin_ws/src/clover/clover/www" ] +[ "$(readlink $H/.ros/www/clover_blocks)" = "$H/catkin_ws/src/clover/clover_blocks/www" ] diff --git a/clover/CMakeLists.txt b/clover/CMakeLists.txt index abfaa9c3..a2bfb3dc 100644 --- a/clover/CMakeLists.txt +++ b/clover/CMakeLists.txt @@ -53,7 +53,7 @@ find_package(OpenCV ${_opencv_version} REQUIRED ## Uncomment this if the package has a setup.py. This macro ensures ## modules and global scripts declared therein get installed ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() +catkin_python_setup() ################################################ ## Declare ROS messages, services and actions ## diff --git a/clover/examples/camera.py b/clover/examples/camera.py new file mode 100644 index 00000000..9f69d6de --- /dev/null +++ b/clover/examples/camera.py @@ -0,0 +1,64 @@ +# Information: https://clover.coex.tech/camera + +# Example on basic working with the camera and image processing: + +# - cuts out a central square from the camera image; +# - publishes this cropped image to the topic `/cv/center`; +# - computes the average color of it; +# - prints its name to the console. + +import rospy +import cv2 +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +from clover import long_callback + +rospy.init_node('cv') +bridge = CvBridge() + +printed_color = None +center_pub = rospy.Publisher('~center', Image, queue_size=1) + +def get_color_name(h): + if h < 15: return 'red' + elif h < 30: return 'orange' + elif h < 60: return 'yellow' + elif h < 90: return 'green' + elif h < 120: return 'cyan' + elif h < 150: return 'blue' + elif h < 170: return 'magenta' + else: return 'red' + + +@long_callback +def image_callback(msg): + img = bridge.imgmsg_to_cv2(msg, 'bgr8') + + # convert to HSV to work with color hue + img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) + + # cut out a central square + w = img.shape[1] + h = img.shape[0] + r = 20 + center = img_hsv[h // 2 - r:h // 2 + r, w // 2 - r:w // 2 + r] + + # compute and print the average hue + mean_hue = center[:, :, 0].mean() + color = get_color_name(mean_hue) + global printed_color + if color != printed_color: + print(color) + printed_color = color + + # publish the cropped image + center = cv2.cvtColor(center, cv2.COLOR_HSV2BGR) + center_pub.publish(bridge.cv2_to_imgmsg(center, 'bgr8')) + +# process every frame: +image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1) + +# process 5 frames per second: +# image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1) + +rospy.spin() diff --git a/clover/launch/aruco.launch b/clover/launch/aruco.launch index 53766c05..4fbb5e44 100644 --- a/clover/launch/aruco.launch +++ b/clover/launch/aruco.launch @@ -53,4 +53,8 @@ + + + diff --git a/clover/launch/clover.launch b/clover/launch/clover.launch index d438bad5..c78297d6 100644 --- a/clover/launch/clover.launch +++ b/clover/launch/clover.launch @@ -48,8 +48,6 @@ - - @@ -87,8 +85,4 @@ - - - - diff --git a/clover/package.xml b/clover/package.xml index 1c49e2b1..7ee4c683 100644 --- a/clover/package.xml +++ b/clover/package.xml @@ -43,8 +43,7 @@ python3-lxml dynamic_reconfigure python-pymavlink - - + ros_pytest diff --git a/clover/requirements.txt b/clover/requirements.txt index 81d0fda6..64b5f719 100644 --- a/clover/requirements.txt +++ b/clover/requirements.txt @@ -1,5 +1,4 @@ flask==1.1.1 -docopt==0.6.2 geopy==1.11.0 smbus2==0.3.0 VL53L1X==0.0.5 diff --git a/clover/setup.py b/clover/setup.py new file mode 100644 index 00000000..afdfcd70 --- /dev/null +++ b/clover/setup.py @@ -0,0 +1,11 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['clover'], + package_dir={'': 'src'}) + +setup(**setup_args) diff --git a/clover/src/clover/__init__.py b/clover/src/clover/__init__.py new file mode 100644 index 00000000..6d398c42 --- /dev/null +++ b/clover/src/clover/__init__.py @@ -0,0 +1,35 @@ +import rospy +from threading import Thread, Event + +def long_callback(fn): + """ + Decorator fixing a rospy issue for long-running topic callbacks, primarily + for image processing. + + See: https://github.com/ros/ros_comm/issues/1901. + + Usage example: + + @long_callback + def image_callback(msg): + # perform image processing + # ... + + rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1) + """ + e = Event() + + def thread(): + while not rospy.is_shutdown(): + e.wait() + e.clear() + fn(thread.current_msg) + + thread.current_msg = None + Thread(target=thread, daemon=True).start() + + def wrapper(msg): + thread.current_msg = msg + e.set() + + return wrapper diff --git a/clover/src/selfcheck.py b/clover/src/selfcheck.py index 64100ea9..b7b3eb85 100755 --- a/clover/src/selfcheck.py +++ b/clover/src/selfcheck.py @@ -9,7 +9,7 @@ # The above copyright notice and this permission notice shall be included in all # copies or substantial portions of the Software. -import os +import os, sys import math import subprocess import re @@ -28,24 +28,16 @@ from mavros_msgs.msg import State, OpticalFlowRad, Mavlink from mavros_msgs.srv import ParamGet from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped, Vector3Stamped from visualization_msgs.msg import MarkerArray as VisualizationMarkerArray +from diagnostic_msgs.msg import DiagnosticArray import tf.transformations as t from aruco_pose.msg import MarkerArray from mavros import mavlink import locale -# TODO: check attitude is present -# TODO: disk free space -# TODO: map, base_link, body -# TODO: rc service -# TODO: perform commander check, ekf2 status on PX4 -# TODO: check if FCU params setter succeed -# TODO: selfcheck ROS service (with blacklists for checks) - - rospy.init_node('selfcheck') -os.environ['ROSCONSOLE_FORMAT']='[${severity}]: ${message}' +os.environ['ROSCONSOLE_FORMAT']='${message}' # use user's locale to convert numbers, etc locale.setlocale(locale.LC_ALL, '') @@ -58,6 +50,16 @@ thread_local = threading.local() reports_lock = Lock() +# formatting colors +if sys.stdout.isatty(): + GREY = '\033[90m' + GREEN = '\033[92m' + RED = '\033[31m' + END = '\033[0m' +else: + GREY = GREEN = RED = END = '' + + def failure(text, *args): msg = text % args thread_local.reports += [{'failure': msg}] @@ -78,25 +80,34 @@ def check(name): except Exception as e: traceback.print_exc() rospy.logerr('%s: exception occurred', name) - return with reports_lock: for report in thread_local.reports: if 'failure' in report: rospy.logerr('%s: %s', name, report['failure']) elif 'info' in report: - rospy.loginfo('%s: %s', name, report['info']) + rospy.loginfo(GREY + name + END + ': ' + report['info']) if not thread_local.reports: - rospy.loginfo('%s: OK', name) + rospy.loginfo(GREY + name + END + ': ' + GREEN + 'OK' + END) if rospy.get_param('~time', False): rospy.loginfo('%s: %.1f sec', name, rospy.get_time() - start) return wrapper return inner +def ff(value, precision=2): + # safely format float or int + if value is None: + return RED + '???' + END + if isinstance(value, float): + return ('{:.' + str(precision + 1) + '}').format(value) + elif isinstance(value, int): + return str(value) + + param_get = rospy.ServiceProxy('mavros/param/get', ParamGet) -def get_param(name): +def get_param(name, default=None): try: res = param_get(param_id=name) except rospy.ServiceException as e: @@ -105,12 +116,17 @@ def get_param(name): if not res.success: failure('unable to retrieve PX4 parameter %s', name) + return default else: if res.value.integer != 0: return res.value.integer return res.value.real +def get_paramf(name, precision=2): + return ff(get_param(name), precision) + + recv_event = Event() link = mavutil.mavlink.MAVLink('', 255, 1) mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1) @@ -155,6 +171,24 @@ def mavlink_exec(cmd, timeout=3.0): return mavlink_recv +def read_diagnostics(name, key): + e = Event() + def cb(msg): + for status in msg.status: + if status.name.lower() == name.lower(): + for value in status.values: + if value.key.lower() == key.lower(): + cb.value = value.value + e.set() + return + + cb.value = None + sub = rospy.Subscriber('/diagnostics', DiagnosticArray, cb) + e.wait(1.0) # wait to read all the diagnostics from nodes publishing them + sub.unregister() + return cb.value + + BOARD_ROTATIONS = { 0: 'no rotation', 1: 'yaw 45°', @@ -200,6 +234,7 @@ def check_fcu(): state = rospy.wait_for_message('mavros/state', State, timeout=3) if not state.connected: failure('no connection to the FCU (check wiring)') + info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?')) return if not is_process_running('px4', exact=True): # can't use px4 console in SITL @@ -274,8 +309,15 @@ def check_fcu(): except rospy.ROSException: failure('no battery state') + # time sync check + try: + info('time sync offset: %.2f s', float(read_diagnostics('mavros: Time Sync', 'Estimated time offset (s)'))) + except: + failure('cannot read time sync offset') + except rospy.ROSException: failure('no MAVROS state (check wiring)') + info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?')) def describe_direction(v): @@ -356,7 +398,7 @@ def check_aruco(): if is_process_running('aruco_detect', full=True): try: - info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length')) + info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length', '?')) except KeyError: failure('aruco_detect/length parameter is not set') known_tilt = rospy.get_param('aruco_detect/known_tilt', '') @@ -420,7 +462,7 @@ def check_vpe(): except rospy.ROSException: if not is_process_running('vpe_publisher', full=True): info('no vision position estimate, vpe_publisher is not running') - elif rospy.get_param('aruco_map/known_tilt') == 'map_flipped': + elif rospy.get_param('aruco_map/known_tilt', '') == 'map_flipped': failure('no vision position estimate, markers are on the ceiling') elif is_on_the_floor(): info('no vision position estimate, the drone is on the floor') @@ -437,14 +479,14 @@ def check_vpe(): if vision_yaw_w == 0: failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter') else: - info('Vision yaw weight: %.2f', vision_yaw_w) + info('vision yaw weight: %s', ff(vision_yaw_w)) fuse = get_param('LPE_FUSION') if not fuse & (1 << 2): failure('vision position fusion is disabled, change LPE_FUSION parameter') delay = get_param('LPE_VIS_DELAY') if delay != 0: - failure('LPE_VIS_DELAY parameter is %s, but it should be zero', delay) - info('LPE_VIS_XY = %.2f m, LPE_VIS_Z = %.2f m', get_param('LPE_VIS_XY'), get_param('LPE_VIS_Z')) + failure('LPE_VIS_DELAY = %s, but it should be zero', delay) + info('LPE_VIS_XY = %s m, LPE_VIS_Z = %s m', get_paramf('LPE_VIS_XY'), get_paramf('LPE_VIS_Z')) elif est == 2: fuse = get_param('EKF2_AID_MASK') if not fuse & (1 << 3): @@ -453,10 +495,10 @@ def check_vpe(): failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter') delay = get_param('EKF2_EV_DELAY') if delay != 0: - failure('EKF2_EV_DELAY=%.2f, but it should be zero', delay) - info('EKF2_EVA_NOISE = %.3f, EKF2_EVP_NOISE = %.3f', - get_param('EKF2_EVA_NOISE'), - get_param('EKF2_EVP_NOISE')) + failure('EKF2_EV_DELAY = %.2f, but it should be zero', delay) + info('EKF2_EVA_NOISE = %s, EKF2_EVP_NOISE = %s', + get_paramf('EKF2_EVA_NOISE', 3), + get_paramf('EKF2_EVP_NOISE', 3)) if not vis: return @@ -557,7 +599,7 @@ def check_global_position(): rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8) except rospy.ROSException: info('no global position') - if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK') & (1 << 0)): + if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK', 0) & (1 << 0)): failure('enabled GPS fusion may suppress vision position aiding') @@ -578,29 +620,26 @@ def check_optical_flow(): failure('optical flow fusion is disabled, change LPE_FUSION parameter') if not fuse & (1 << 1): failure('flow gyro compensation is disabled, change LPE_FUSION parameter') - scale = get_param('LPE_FLW_SCALE') + scale = get_param('LPE_FLW_SCALE', 1) if not numpy.isclose(scale, 1.0): failure('LPE_FLW_SCALE = %.2f, but it should be 1.0', scale) - info('LPE_FLW_QMIN = %s, LPE_FLW_R = %.4f, LPE_FLW_RR = %.4f, SENS_FLOW_MINHGT = %.3f, SENS_FLOW_MAXHGT = %.3f', - get_param('LPE_FLW_QMIN'), - get_param('LPE_FLW_R'), - get_param('LPE_FLW_RR'), - get_param('SENS_FLOW_MINHGT'), - get_param('SENS_FLOW_MAXHGT')) + info('LPE_FLW_QMIN = %s, LPE_FLW_R = %s, LPE_FLW_RR = %s', + get_paramf('LPE_FLW_QMIN'), + get_paramf('LPE_FLW_R', 4), + get_paramf('LPE_FLW_RR', 4)) elif est == 2: - fuse = get_param('EKF2_AID_MASK') + fuse = get_param('EKF2_AID_MASK', 0) if not fuse & (1 << 1): failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter') - delay = get_param('EKF2_OF_DELAY') + delay = get_param('EKF2_OF_DELAY', 0) if delay != 0: failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay) - info('EKF2_OF_QMIN = %s, EKF2_OF_N_MIN = %.4f, EKF2_OF_N_MAX = %.4f, SENS_FLOW_MINHGT = %.3f, SENS_FLOW_MAXHGT = %.3f', - get_param('EKF2_OF_QMIN'), - get_param('EKF2_OF_N_MIN'), - get_param('EKF2_OF_N_MAX'), - get_param('SENS_FLOW_MINHGT'), - get_param('SENS_FLOW_MAXHGT')) + info('EKF2_OF_QMIN = %s, EKF2_OF_N_MIN = %s, EKF2_OF_N_MAX = %s', + get_paramf('EKF2_OF_QMIN'), + get_paramf('EKF2_OF_N_MIN', 4), + get_paramf('EKF2_OF_N_MAX', 4)) + info('SENS_FLOW_MINHGT = %s, SENS_FLOW_MAXHGT = %s', get_paramf('SENS_FLOW_MINHGT', 3), get_paramf('SENS_FLOW_MAXHGT', 3)) except rospy.ROSException: if rospy.get_param('optical_flow/disable_on_vpe', False): @@ -634,7 +673,7 @@ def check_rangefinder(): est = get_param('SYS_MC_EST_GROUP') if est == 1: - fuse = get_param('LPE_FUSION') + fuse = get_param('LPE_FUSION', 0) if not fuse & (1 << 5): info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface') else: @@ -737,7 +776,10 @@ def check_image(): try: info('version: %s', open('/etc/clover_version').read().strip()) except IOError: - info('no /etc/clover_version file, not the Clover image?') + try: + info('VM version: %s', open('/etc/clover_vm_version').read().strip()) + except IOError: + info('no /etc/clover_version file, not the Clover image?') @check('Preflight status') diff --git a/clover/src/www b/clover/src/www new file mode 100755 index 00000000..7a66c28e --- /dev/null +++ b/clover/src/www @@ -0,0 +1,4 @@ +#!/usr/bin/env bash + +export ROSWWW_DEFAULT=clover +rosrun roswww_static update diff --git a/clover/test/basic.py b/clover/test/basic.py index 21440bd2..088d6cfe 100755 --- a/clover/test/basic.py +++ b/clover/test/basic.py @@ -3,6 +3,7 @@ import rospy import pytest from mavros_msgs.msg import State from clover import srv +import time @pytest.fixture() def node(): @@ -60,3 +61,18 @@ def test_blocks(node): t.join() assert wait_print.result == 'test' + +def test_long_callback(): + from clover import long_callback + from time import sleep + + # very basic test for long_callback + @long_callback + def cb(i): + cb.counter += i + cb.counter = 0 + cb(2) + sleep(0.1) + cb(3) + sleep(1) + assert cb.counter == 5 diff --git a/clover_simulation/package.xml b/clover_simulation/package.xml index a7d27462..7ee6983f 100644 --- a/clover_simulation/package.xml +++ b/clover_simulation/package.xml @@ -1,4 +1,4 @@ - + clover_simulation 0.23.0 The clover_simulation package provides worlds and launch files for Gazebo. @@ -22,6 +22,8 @@ gazebo_ros gazebo_plugins rospy + python-docopt + python3-docopt diff --git a/clover_simulation/src/sim_leds.cpp b/clover_simulation/src/sim_leds.cpp index fb188af7..f281d99a 100644 --- a/clover_simulation/src/sim_leds.cpp +++ b/clover_simulation/src/sim_leds.cpp @@ -65,7 +65,8 @@ public: } role = (ros::this_node::getName() == "/gazebo") ? Role::Server : Role::Client; - ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s)", role == Role::Client ? "client" : "server"); + ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s) in namespace '%s'", + role == Role::Client ? "client" : "server", robotNamespace.c_str()); nh.reset(new ros::NodeHandle(robotNamespace)); @@ -109,7 +110,6 @@ LedController& get(std::string robotNamespace) std::lock_guard lock(controllerMutex); auto it = controllers.find(robotNamespace); if (it == controllers.end()) { - gzwarn << "Creating new LED controller for namespace " << robotNamespace << "\n"; controllers[robotNamespace].reset(new LedController(robotNamespace)); return *controllers[robotNamespace]; } diff --git a/docs/en/simulation_native.md b/docs/en/simulation_native.md index 35df908f..d28bc4b3 100644 --- a/docs/en/simulation_native.md +++ b/docs/en/simulation_native.md @@ -147,6 +147,8 @@ sudo systemctl enable roscore sudo systemctl start roscore ``` +### Web tools setup + Install any web server to serve Clover's web tools (`~/.ros/www` directory), e. g. Monkey: ```bash @@ -158,3 +160,11 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system sudo systemctl enable monkey sudo systemctl start monkey ``` + +Create `~/.ros/www` using the following command: + +```bash +rosrun clover www +``` + +If the set of packages containing a web part (through `www` directory) is changed, the above command also must be run. diff --git a/docs/en/wall_aruco.md b/docs/en/wall_aruco.md index 0fe2bc73..130e005a 100644 --- a/docs/en/wall_aruco.md +++ b/docs/en/wall_aruco.md @@ -49,10 +49,10 @@ If you are using the marker map, where the markers have equal distances along th After you fill out the map, you need to apply it. To do it, edit the file `aruco.launch`, located in `~/catkin_ws/src/clover/clover/launch/`. Change the line ``, where `map_name.txt` is the name of your map file. -If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must disable the parameter `known_tilt` both in the module `aruco_detect` and `aruco_map` in the same file. To do it automatically, enter: +If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must blank the `placement` argument in the same file: -```bash -sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch +```xml + ``` After all the settings, call `sudo systemctl restart clover` to restart the `clover` service. diff --git a/docs/ru/simulation_native.md b/docs/ru/simulation_native.md index a3f738ae..10dce379 100644 --- a/docs/ru/simulation_native.md +++ b/docs/ru/simulation_native.md @@ -147,6 +147,8 @@ sudo systemctl enable roscore sudo systemctl start roscore ``` +### Конфигурация веб-инструментов + Установите любой веб-сервер, чтобы раздавать веб-инструменты Клевера (директория `~/.ros/www`), например, Monkey: ```bash @@ -158,3 +160,11 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system sudo systemctl enable monkey sudo systemctl start monkey ``` + +Создайте директорию `~/.ros/www` следующей командой: + +```bash +rosrun clover www +``` + +При обновлении набора пакетов, содержащих веб-часть (через каталог `www`), также необходимо выполнение данной команды. diff --git a/docs/ru/wall_aruco.md b/docs/ru/wall_aruco.md index c2621394..ca3bd97a 100644 --- a/docs/ru/wall_aruco.md +++ b/docs/ru/wall_aruco.md @@ -51,10 +51,10 @@ sed -i "/direction_y/s/default=\".*\"/default=\"\"/" /home/pi/catkin_ws/src/clov После того, как вы заполните карту, необходимо применить ее — для этого отредактируйте файл `aruco.launch`, расположенный в `~/catkin_ws/src/clover/clover/launch/`. Измените в нем строку ``, где `map_name.txt` название вашего файла с картой. -При использовании маркеров, не привязанных к горизонтальным плоскостям(пол, потолок), необходимо отключить параметр `known_tilt` как в модуле `aruco_detect`, так и в модуле `aruco_map` в том же файле. Для того, чтобы сделать это автоматически, введите: +При использовании маркеров, не привязанных к горизонтальным плоскостям (пол, потолок), необходимо также сделать пустым значение аргумента `placement` в том же файле: -```bash -sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch +```xml + ``` После всех настроек вызовите `sudo systemctl restart clover` для перезагрузки сервиса `clover`. diff --git a/redirects.json b/redirects.json index 07d1d70c..d6a5ac81 100644 --- a/redirects.json +++ b/redirects.json @@ -35,7 +35,7 @@ { "from": "snippets.html", "to": "ru/snippets.html" }, { "from": "camera_frame.html", "to": "ru/camera_setup.html" }, { "from": "ru/camera_frame.html", "to": "camera_setup.html" }, - { "from": "camera.html", "to": "ru/camera.html" }, + { "from": "camera.html", "to": "en/camera.html" }, { "from": "led.html", "to": "en/leds.html" }, { "from": "leds.html", "to": "ru/leds.html" }, { "from": "rviz.html", "to": "ru/rviz.html" }, @@ -51,7 +51,7 @@ { "from": "firmware/", "to": "en/firmware.html" }, { "from": "simple_offboard/", "to": "en/simple_offboard.html" }, { "from": "offboard/", "to": "en/simple_offboard.html" }, - { "from": "camera/", "to": "ru/camera.html" }, + { "from": "camera/", "to": "en/camera.html" }, { "from": "snippets/", "to": "ru/snippets.html" }, { "from": "optical_flow/", "to": "ru/optical_flow.html" }, { "from": "laser/", "to": "ru/laser.html" }, diff --git a/roswww_static/CMakeLists.txt b/roswww_static/CMakeLists.txt index bb9e1fc7..f44f98ea 100644 --- a/roswww_static/CMakeLists.txt +++ b/roswww_static/CMakeLists.txt @@ -5,8 +5,6 @@ find_package(catkin REQUIRED) catkin_package() -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -catkin_install_python(PROGRAMS main.py +catkin_install_python(PROGRAMS src/update DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) diff --git a/roswww_static/README.md b/roswww_static/README.md index c2eea67f..92eb35f4 100644 --- a/roswww_static/README.md +++ b/roswww_static/README.md @@ -6,12 +6,14 @@ Note: you should configure your web server to make it follow symlinks. ## Instructions -* Run `main.py` node and it will generate the symlinks and index file. +* Run `update` script and it will generate the symlinks and index file: `rosrun roswww_static update`. * Point your static web server path to `~/.ros/www`. -You can rerun `main.py` if the list of installed packages changes. +You can rerun `update` if the list of installed packages changes. ## Parameters -* `index` – path for index page, otherwise packages list would be generated. -* `default_package` – if set then the index page would redirect to this package's page. +Parameters are passed through environment variables: + +* `ROSWWW_INDEX` – path for index page, otherwise packages list would be generated. +* `ROSWWW_DEFAULT` – if set then the index page would redirect to this package's page. diff --git a/roswww_static/launch/example.launch b/roswww_static/launch/example.launch deleted file mode 100644 index 3732081f..00000000 --- a/roswww_static/launch/example.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/roswww_static/main.py b/roswww_static/src/update similarity index 82% rename from roswww_static/main.py rename to roswww_static/src/update index 0b168509..6fbd0665 100755 --- a/roswww_static/main.py +++ b/roswww_static/src/update @@ -13,17 +13,15 @@ import os import shutil -import rospy import rospkg -rospy.init_node('roswww_static') - rospack = rospkg.RosPack() www = rospkg.get_ros_home() + '/www' -index_file = rospy.get_param('~index_file', None) -default_package = rospy.get_param('~default_package', None) +index_file = os.environ.get('ROSWWW_INDEX') +default_package = os.environ.get('ROSWWW_DEFAULT') +print('using www dir: ' + www) shutil.rmtree(www, ignore_errors=True) # reset www directory content os.mkdir(www) @@ -34,7 +32,7 @@ index = '

Packages list

\n
    \n' for name in packages: path = rospack.get_path(name) if os.path.exists(path + '/www'): - rospy.loginfo('found www path for %s package', name) + print('found www path for %s package' % name) os.symlink(path + '/www', www + '/' + name) index += '
  • {name}
    • '.format(name=name) @@ -42,7 +40,7 @@ if default_package is not None: redirect_html = ''.format(name=default_package) open(www + '/index.html', 'w').write(redirect_html) elif index_file is not None: - rospy.loginfo('symlinking index file') + print('symlinking index file') os.symlink(index_file, www + '/index.html') else: open(www + '/index.html', 'w').write(index)