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# CLEVER
# COEX Clover Drone Kit
<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="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: <a href="https://coex.tech/clover">coex.tech/clover</a>.
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).
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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
```
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Enable systemd service `roscore` (if not running):
```bash
sudo systemctl enable /home/<username>/catkin_ws/src/clever/builder/assets/roscore.service
sudo systemctl enable /home/<username>/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/<username>/catkin_ws/src/clever/deploy/clever.service
sudo systemctl start clever
sudo systemctl enable /home/<username>/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.