Merge branch 'v0.24-release' into simple-offboard-update

2026-05-26 21:19:35 +00:00 · 2022-12-29 05:56:02 +03:00
parent b0021583c2 460c3fdbe1
commit 50b9ad3ad8
8 changed files with 69 additions and 64 deletions
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@ 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).

-![GitHub Workflow Status](https://img.shields.io/github/workflow/status/CopterExpress/clover/CI)
+![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/CopterExpress/clover/build-image.yaml?branch=master)
 ![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)

 Image features:
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -45,7 +45,7 @@
        <remap from="camera_info" to="main_camera/camera_info"/>
        <param name="calc_flow_gyro" value="true"/>
        <param name="roi_rad" value="0.8"/>
-        <param name="disable_on_vpe" value="false"/>
+        <param name="disable_on_vpe" value="true"/>
    </node>

    <!-- simplified offboard control -->
--- a/clover_blocks/www/python.js
+++ b/clover_blocks/www/python.js
@@ -83,9 +83,6 @@ function generateROSDefinitions() {
 		if (rosDefinitions.navigateGlobal) {
 			code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
 		}
-		if (rosDefinitions.setYaw) {
-			code += `set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)\n`;
-		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
 		}
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -36,7 +36,7 @@
  * [Optical Flow](optical_flow.md)
  * [Autonomous flight (OFFBOARD)](simple_offboard.md)
  * [Coordinate systems (frames)](frames.md)
-  * [Code snippets](snippets.md)
+  * [Code examples](snippets.md)
  * [Interfacing with a laser rangefinder](laser.md)
  * [LED strip](leds.md)
  * [Working with GPIO](gpio.md)
--- a/docs/en/camera.md
+++ b/docs/en/camera.md
@@ -14,7 +14,7 @@ The `clover` service must be restarted after the launch-file has been edited:
 sudo systemctl restart clover
 ```

-You may use rqt or [web_video_server](web_video_server.md) to view the camera stream.
+You may use [rqt](rviz.md) or [web_video_server](web_video_server.md) to view the camera stream.

 ## Troubleshooting

@@ -52,8 +52,6 @@ The [SD card image](image.md) comes with a preinstalled [OpenCV](https://opencv.

 ### Python

-Main article: http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython.
-
 An example of creating a subscriber for a topic with an image from the main camera for processing with OpenCV:

 ```python
@@ -61,12 +59,14 @@ import rospy
 import cv2
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
+from clover import long_callback

-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()

+@long_callback
 def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    img = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
    # Do any image processing with cv2...

 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
@@ -74,19 +74,31 @@ image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
 rospy.spin()
 ```

+> **Note** Image processing may take significant time to finish. This can cause an [issue](https://github.com/ros/ros_comm/issues/1901) in rospy library, which would lead to processing stale camera frames. To solve this problem you need to use `long_callback` decorator from `clover` library, as in the example above.
+
+#### Limiting CPU usage
+
+When using the `main_camera/image_raw` topic, the script will process the maximum number of frames from the camera, actively utilizing the CPU (up to 100%). In tasks, where processing each camera frame is not critical, you can use the topic, where the frames are published at rate 5 Hz: `main_camera/image_raw_throttled`:
+
+```python
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+```
+
+#### Publishing images
+
 To debug image processing, you can publish a separate topic with the processed image:

 ```python
 image_pub = rospy.Publisher('~debug', Image)
 ```

-Publishing the processed image (at the end of the image_callback function):
+Publishing the processed image:

 ```python
-image_pub.publish(bridge.cv2_to_imgmsg(cv_image, 'bgr8'))
+image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
 ```

-The obtained images can be viewed using [web_video_server](web_video_server.md).
+The published images can be viewed using [web_video_server](web_video_server.md) or [rqt](rviz.md).

 #### Retrieving one frame

@@ -97,7 +109,7 @@ import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge

-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()

 # ...
@@ -119,40 +131,32 @@ QR codes recognition in Python:
 ```python
 import rospy
 from pyzbar import pyzbar
+import cv2
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
+from clover import long_callback

+rospy.init_node('cv')
 bridge = CvBridge()

-rospy.init_node('barcode_test')
-
-# Image subscriber callback function
-def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
-    barcodes = pyzbar.decode(cv_image)
+@long_callback
+def image_callback(msg):
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
+    barcodes = pyzbar.decode(img)
    for barcode in barcodes:
-        b_data = barcode.data.decode("utf-8")
+        b_data = barcode.data.decode('utf-8')
        b_type = barcode.type
        (x, y, w, h) = barcode.rect
        xc = x + w/2
        yc = y + h/2
-        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
+        print('Found {} with data {} with center at x={}, y={}'.format(b_type, b_data, xc, yc))

-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)

 rospy.spin()
 ```

-The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
-
-> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
-
-```xml
-<node pkg="topic_tools" name="cam_throttle" type="throttle"
-    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
-```
-
-The topic for the subscriber in this case should be changed for `main_camera/image_raw_throttled`.
+> **Hint** See other computer vision examples in the `~/examples` directory of the [RPi image](image.md).

 ## Video recording

--- a/docs/en/copterhack2023.md
+++ b/docs/en/copterhack2023.md
@@ -22,7 +22,7 @@ The proposed projects are supposed to be open-source and be compatible with the
 ||🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
 ||🇷🇺 C305|[Система радио-навигации](https://github.com/Lukerrr/clover-c305/blob/nav_beacon/docs/ru/nav-beacon.md)||
 ||🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
-||🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](https://github.com/ssmith-81/clover/blob/MoCap_Clover/docs/en/MoCap-Clover)||
+||🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](https://github.com/ssmith-81/clover/blob/MoCap_Clover/docs/en/mocap_clover.md)||
 ||🇧🇷 Atena|[Swarm in Blocks 2](https://github.com/Grupo-SEMEAR-USP/clover/blob/swarm_in_blocks_2/docs/en/swarm_in_blocks_2.md)||
 ||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover3/docs/ru/advanced_clover_simulator_platform.md)||
 ||🇷🇺 Лицей №128|[Платформа для зарядки квадрокоптера](https://github.com/Juli-Shvetsova/clover/blob/liceu128-1/docs/ru/liceu128.md)||
--- a/docs/ru/camera.md
+++ b/docs/ru/camera.md
@@ -54,8 +54,6 @@ raspistill -o test.jpg

 ### Python

-Основная статья: http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython.
-
 Пример создания подписчика на топик с изображением с основной камеры для обработки с использованием OpenCV:

 ```python
@@ -63,12 +61,14 @@ import rospy
 import cv2
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
+from clover import long_callback

-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()

+@long_callback
 def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    img = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
    # Do any image processing with cv2...

 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
@@ -76,19 +76,31 @@ image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
 rospy.spin()
 ```

+> **Note** Обработка изображения может занимать значительное время. Это может вызвать [проблему](https://github.com/ros/ros_comm/issues/1901) в библиотеке rospy, которая приведет к обработке устаревших кадров с камеры. Для решения этой проблемы необходимо использовать декоратор `long_callback` из библиотеки `clover`, как в примере выше.
+
+#### Ограничение использования CPU
+
+При использовании топика `main_camera/image_raw` скрипт будет обрабатывать максимальное количество кадров с камеры, активно используя CPU (вплоть до 100%). В задачах, где обработка каждого кадра не критична, можно использовать топик, где кадры публикуются с частотой 5 Гц: `main_camera/image_raw_throttled`:
+
+```python
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+```
+
+#### Публикация изображений
+
 Для отладки обработки изображения можно публиковать отдельный топик с обработанным изображением:

 ```python
 image_pub = rospy.Publisher('~debug', Image)
 ```

-Публикация обработанного изображения (в конце функции image_callback):
+Публикация обработанного изображения:

 ```python
-image_pub.publish(bridge.cv2_to_imgmsg(cv_image, 'bgr8'))
+image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
 ```

-Получаемые изображения можно просматривать используя [web_video_server](web_video_server.md).
+Получаемые изображения можно просматривать используя [web_video_server](web_video_server.md) или [rqt](rviz.md).

 #### Получение одного кадра

@@ -99,12 +111,12 @@ import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge

-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()

 # ...

-# Получение кадра:
+# Retrieve a frame:
 img = bridge.imgmsg_to_cv2(rospy.wait_for_message('main_camera/image_raw', Image), 'bgr8')
 ```

@@ -121,40 +133,32 @@ img = bridge.imgmsg_to_cv2(rospy.wait_for_message('main_camera/image_raw', Image
 ```python
 import rospy
 from pyzbar import pyzbar
+import cv2
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
+from clover import long_callback

+rospy.init_node('cv')
 bridge = CvBridge()

-rospy.init_node('barcode_test')
-
-# Image subscriber callback function
-def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
-    barcodes = pyzbar.decode(cv_image)
+@long_callback
+def image_callback(msg):
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
+    barcodes = pyzbar.decode(img)
    for barcode in barcodes:
-        b_data = barcode.data.decode("utf-8")
+        b_data = barcode.data.decode('utf-8')
        b_type = barcode.type
        (x, y, w, h) = barcode.rect
        xc = x + w/2
        yc = y + h/2
-        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
+        print('Found {} with data {} with center at x={}, y={}'.format(b_type, b_data, xc, yc))

-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)

 rospy.spin()
 ```

-Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`):
-
-> **Note** Начиная с версии [образа](image.md) **0.24** топик `image_raw_throttled` доступен без дополнительной конфигурации.
-
-```xml
-<node pkg="topic_tools" name="cam_throttle" type="throttle"
-    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
-```
-
-Топик для подписчика в этом случае необходимо поменять на `main_camera/image_raw_throttled`.
+> **Hint** Смотрите другие примеры по работе с компьютерным зрением в каталоге `~/examples` [образа для RPi](image.md).

 ## Запись видео

--- a/docs/ru/copterhack2023.md
+++ b/docs/ru/copterhack2023.md
@@ -22,7 +22,7 @@ CopterHack 2023 — это международный конкурс по ра
 ||🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
 ||🇷🇺 C305|[Система радио-навигации](https://github.com/Lukerrr/clover-c305/blob/nav_beacon/docs/ru/nav-beacon.md)||
 ||🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
-||🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](https://github.com/ssmith-81/clover/blob/MoCap_Clover/docs/en/MoCap-Clover)||
+||🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](https://github.com/ssmith-81/clover/blob/MoCap_Clover/docs/en/mocap_clover.md)||
 ||🇧🇷 Atena|[Swarm in Blocks 2](https://github.com/Grupo-SEMEAR-USP/clover/blob/swarm_in_blocks_2/docs/en/swarm_in_blocks_2.md)||
 ||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover3/docs/ru/advanced_clover_simulator_platform.md)||
 ||🇷🇺 Лицей №128|[Платформа для зарядки квадрокоптера](https://github.com/Juli-Shvetsova/clover/blob/liceu128-1/docs/ru/liceu128.md)||