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image: move examples to clover package

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This commit is contained in:
Oleg Kalachev
2021-06-08 23:06:58 +03:00
parent 118b4573fe
commit 71100a9545
7 changed files with 2 additions and 3 deletions
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31
builder/assets/examples/flight.py
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@@ -1,31 +0,0 @@
# Information: https://clover.coex.tech/programming
import rospy
from clover import srv
from std_srvs.srv import Trigger
rospy.init_node('flight')
get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)
# Take off and hover 1 m above the ground
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
# Wait for 3 seconds
rospy.sleep(3)
# Fly forward 1 m
navigate(x=1, y=0, z=0, frame_id='body')
# Wait for 3 seconds
rospy.sleep(3)
# Perform landing
land()

37
builder/assets/examples/flight_marker.py
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@@ -1,37 +0,0 @@
# Information: https://clover.coex.tech/aruco
import rospy
from clover import srv
from std_srvs.srv import Trigger
rospy.init_node('flight')
get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)
# Take off and hover 1 m above the ground
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
# Wait for 3 seconds
rospy.sleep(3)
# Fly 1 meter above ArUco marker 0
navigate(x=0, y=0, z=1, frame_id='aruco_0')
# Wait for 3 seconds
rospy.sleep(3)
# Fly to x=1 y=1 z=1 relative to ArUco markers map
navigate(x=1, y=1, z=1, frame_id='aruco_map')
# Wait for 3 seconds
rospy.sleep(3)
# Perform landing
land()

11
builder/assets/examples/get_telemetry.py
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@@ -1,11 +0,0 @@
# Information: https://clover.coex.tech/en/simple_offboard.html#gettelemetry
import rospy
from clover import srv
rospy.init_node('flight')
get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
# Print drone's state
print(get_telemetry())

31
builder/assets/examples/leds.py
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@@ -1,31 +0,0 @@
# Information: https://clover.coex.tech/led
import rospy
from clover.srv import SetLEDEffect
rospy.init_node('leds')
set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect) # define proxy to ROS-service
print('Fill red')
set_effect(r=255, g=0, b=0) # fill strip with red color
rospy.sleep(2)
print('Fill green')
set_effect(r=0, g=100, b=0) # fill strip with green color
rospy.sleep(2)
print('Fade to blue')
set_effect(effect='fade', r=0, g=0, b=255) # fade to blue color
rospy.sleep(2)
print('Flash red')
set_effect(effect='flash', r=255, g=0, b=0) # flash twice with red color
rospy.sleep(2)
print('Blink white')
set_effect(effect='blink', r=255, g=255, b=255) # blink with white color
rospy.sleep(5)
print('Rainbow')
set_effect(effect='rainbow') # show rainbow

41
builder/assets/examples/navigate_wait.py
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@@ -1,41 +0,0 @@
# Information: https://clover.coex.tech/en/snippets.html#navigate_wait
import math
import rospy
from clover import srv
from std_srvs.srv import Trigger
rospy.init_node('flight')
get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)
def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
frame_id='body', tolerance=0.2, auto_arm=False):
res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
frame_id=frame_id, auto_arm=auto_arm)
if not res.success:
return res
while not rospy.is_shutdown():
telem = get_telemetry(frame_id='navigate_target')
if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
return res
rospy.sleep(0.2)
# Take off 1 meter
navigate_wait(z=1, frame_id='body', auto_arm=True)
# Fly forward 1 m
navigate_wait(x=1, frame_id='body')
# Land
land()

2
builder/image-build.sh
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@@ -105,8 +105,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
# software install
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
# examples
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/' # TODO: symlink?
# network setup
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
# avahi setup

3
builder/image-ros.sh
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@@ -151,7 +151,8 @@ catkin_make run_tests #&& catkin_test_results
echo_stamp "Change permissions for catkin_ws"
chown -Rf pi:pi /home/pi/catkin_ws
echo_stamp "Change permissions for examples"
echo_stamp "Make \$HOME/examples symlink"
ln -s "$(catkin_find clover examples --first-only)" /home/pi
chown -Rf pi:pi /home/pi/examples
echo_stamp "Setup ROS environment"