diff --git a/README.md b/README.md index 3d2cdd7d..0ed4a163 100644 --- a/README.md +++ b/README.md @@ -1,30 +1,35 @@ -# CLEVER +# COEX Clover Drone Kit CLEVER drone -CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. +Clover is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. -Copter Express has implemented a large number of different autonomous drone projects using exactly the same platform: [automated pizza delivery](https://www.youtube.com/watch?v=hmkAoZOtF58) in Samara and Kazan, coffee delivery in Skolkovo Innovation Center, [autonomous quadcopter with charging station](https://www.youtube.com/watch?v=RjX6nUqw1mI) for site monitoring and security, winning drones on [Robocross-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU) and [Robocross-2017](https://youtu.be/AQnd2CRczbQ) competitions and many others. +The main documentation is available [on Gitbook](https://clever.coex.tech/). -**The main documentation is available [on Gitbook](https://clever.coex.tech/).** +Official website: coex.tech/clover. -Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone. +## Video compilation + +[![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. ## Raspberry Pi image -**Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases).** +Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases). [![Build Status](https://travis-ci.org/CopterExpress/clever.svg?branch=master)](https://travis-ci.org/CopterExpress/clever) -Image includes: +Image features: * Raspbian Buster -* ROS Melodic +* [ROS Melodic](http://wiki.ros.org/melodic) * Configured networking * OpenCV -* mavros -* Periphery drivers (`pigpiod`, `rpi_ws281x`, etc) -* CLEVER software bundle for autonomous drone control +* [`mavros`](http://wiki.ros.org/mavros) +* Periphery drivers for ROS ([GPIO](https://clever.coex.tech/en/gpio.html), [LED strip](https://clever.coex.tech/en/leds.html), etc) +* `aruco_pose` package for marker-assisted navigation +* `clover` package for autonomous drone control API description (in Russian) for autonomous flights is available [on GitBook](https://clever.coex.tech/simple_offboard.html). @@ -32,11 +37,11 @@ API description (in Russian) for autonomous flights is available [on GitBook](ht Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). -Clone this repo to directory `~/catkin_ws/src/clever`: +Clone this repo to directory `~/catkin_ws/src/clover`: ```bash cd ~/catkin_ws/src -git clone https://github.com/CopterExpress/clever.git clever +git clone https://github.com/CopterExpress/clever.git clover ``` All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`: @@ -62,7 +67,7 @@ curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/inst You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder: ```bash -cd ~/catkin_ws/src/clever/clever/config +cd ~/catkin_ws/src/clover/clover/config sudo cp 99-px4fmu.rules /lib/udev/rules.d ``` @@ -73,20 +78,20 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p Enable systemd service `roscore` (if not running): ```bash -sudo systemctl enable /home//catkin_ws/src/clever/builder/assets/roscore.service +sudo systemctl enable /home//catkin_ws/src/clover/builder/assets/roscore.service sudo systemctl start roscore ``` To start connection to SITL, use: ```bash -roslaunch clever sitl.launch +roslaunch clover sitl.launch ``` To start connection to the flight controller, use: ```bash -roslaunch clever clever.launch +roslaunch clover clvoer.launch ``` > Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`. @@ -94,10 +99,10 @@ roslaunch clever clever.launch Also, you can enable and start the systemd service: ```bash -sudo systemctl enable /home//catkin_ws/src/clever/deploy/clever.service -sudo systemctl start clever +sudo systemctl enable /home//catkin_ws/src/clover/deploy/clover.service +sudo systemctl start clover ``` ## License -While the Clever platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License. +While the Clover platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.