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Merge branch 'master' into roswww-static-target

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This commit is contained in:
Oleg Kalachev
2021-12-17 09:18:19 +03:00
parent cd08dba827 cba12e115e
commit 9aa5a7e447
12 changed files with 156 additions and 16 deletions
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2
builder/image-ros.sh
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@@ -112,7 +112,7 @@ my_travis_retry pip3 install wheel
my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
source /opt/ros/${ROS_DISTRO}/setup.bash
# Don't build simulation plugins for actual drone
catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
source devel/setup.bash
echo_stamp "Install clever package (for backwards compatibility)"

2
clover/src/selfcheck.py
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@@ -648,7 +648,7 @@ def check_clover_service():
elif 'failed' in output:
failure('service failed to run, check your launch-files')
BLACKLIST = 'Unexpected command 520', 'Time jump detected'
BLACKLIST = 'Unexpected command 520', 'Time jump detected', 'different index:'
r = re.compile(r'^(.*)\[(FATAL|ERROR| WARN)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
error_count = OrderedDict()

1
docs/en/SUMMARY.md
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@@ -100,6 +100,7 @@
* [CopterHack-2019](copterhack2019.md)
* [CopterHack-2018](copterhack2018.md)
* [CopterHack-2017](copterhack2017.md)
* [Video contest](video_contest.md)
* [Clover-based projects](projects.md)
* [Autonomous Multirotor Landing System (AMLS)](amls.md)
* [Drone show](clever-show.md)

4
docs/en/agriculture.md
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@@ -75,9 +75,9 @@ else:
shape = 'undefined'
color = 'undefined'
if shape = 'brown':
if shape == 'brown':
culture = "greshiha"
if shape = 'yellow_orange':
if shape == 'yellow_orange':
culture = "pshenitsa"
image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_colback_color)

12
docs/en/copterhack2022.md
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@@ -11,10 +11,9 @@ The proposed projects have to be open-source and be compatible with the Clover q
## Projects of the contest's participants {#participants}
|Place|Team|Project|Points|
|-|-|-|-|
|:-:|-|-|-|
||🇰🇬 Alatoo University Team|[Облачная платформа для симулятора Клевера](https://github.com/pteacher/clover/blob/clover_simulator/docs/ru/clover-development-studio.md)||
||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover2/docs/ru/advancedclover2.md)||
||🇺🇸 EnviroFleet|[EnviroFleet](https://github.com/gueyman/clover/blob/envirofleet/docs/en/enviro_fleet.md)||
||🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
||🇷🇺 Stereo|[Neural obstacle avoidance](https://github.com/den250400/clover/blob/neural-obstacle-avoidance/docs/en/neural-obstacle-avoidance.md)||
||🇷🇺 Space clowns|[Copter For Space](https://github.com/slavikyd/clover/blob/patch-3/docs/ru/c4s.md)||
@@ -28,16 +27,19 @@ The proposed projects have to be open-source and be compatible with the Clover q
||🇷🇺 Дрой Ронов|[Clover Swarm](https://github.com/stinger000/clever/blob/clover_swarm_request/docs/ru/clover-swarm.md)||
||🇩🇪 Inondro|[Inondro Pix](https://github.com/Inondro/clover/blob/inondro-pix/docs/en/inondro_copterhack22_pix.md)||
||🇷🇺 V-NAV|[Visual Navigation](https://github.com/v-nav/clover/blob/v-nav_article/docs/ru/v-nav.md)||
||🇷🇺 Бизнес-гуси|[Drone Rover Climbing System](https://github.com/HexaHEX/clover/blob/CopterHack2022_Business_Geese-1/docs/ru/business_geese.md)||
||🇷🇺 fuall|[Доставка дронами](https://github.com/Silly4s/clover/blob/master/docs/ru/dostavka.md)||
||🇮🇳 DJS Phoenix|[Autonomous valet parking drone assistance](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix-Ikshana/docs/en/djs_phoenix_ikshana.md)||
||🇷🇺 Джедаи 1581|[Ретранслятор на базе Клевера](https://github.com/JJNIK/clover/blob/patch-1/docs/ru/1581.md)||
||🇷🇺 SPECTRE|[SPECTRE](https://github.com/alakhmenev/clover/blob/spectre_team/docs/ru/spectre_team.md)||
||🇷🇺 Lucky flight|[Swarm of Improved Clover](https://github.com/bessiaka/clover/blob/Lucky-flight/docs/ru/lucky_flight.md)||
||🇷🇺 SolidEye|[Разработка лидара без движущихся частей](https://github.com/feanorgg/clover/blob/solideye/docs/ru/solid_eye.md)||
||🇰🇬 AI_U_CLOVER|[AIU_CLOVER](https://github.com/zhibekm/clover/blob/zhibekm-patch-1/docs/en/aiu-article.md)||
||🇷🇺 Scout_Drone|[Создание поисково-спасательного беспилотного летательного аппарата](https://github.com/MustafaNatur/clover/blob/Scout_Drone.md/docs/ru/scout_drone.md)||
||🇷🇺 С305|[Система мониторинга воздуха](https://github.com/Ruslan2288/clover/blob/master/docs/ru/air_monitor.md)| |
|✕|🇺🇸 EnviroFleet|[EnviroFleet](https://github.com/gueyman/clover/blob/envirofleet/docs/en/enviro_fleet.md)||
|✕|🇷🇺 Бизнес-гуси|[Drone Rover Climbing System](https://github.com/HexaHEX/clover/blob/CopterHack2022_Business_Geese-1/docs/ru/business_geese.md)||
|✕|🇷🇺 fuall|[Доставка дронами](https://github.com/Silly4s/clover/blob/master/docs/ru/dostavka.md)||
|✕|🇷🇺 Scout_Drone|[Создание поисково-спасательного беспилотного летательного аппарата](https://github.com/MustafaNatur/clover/blob/Scout_Drone.md/docs/ru/scout_drone.md)| |
✕ – teams which haven't qualified for the Final.
## Company case competition

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docs/en/snippets.md
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@@ -399,3 +399,45 @@ while not rospy.is_shutdown():
break
rospy.sleep(0.2)
```
### # {#get-param}
Read flight controller's parameter:
```python
from mavros_msgs.srv import ParamGet
from mavros_msgs.msg import ParamValue
# ...
param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
# ...
# Read parameter of type INT
value = param_get(param_id='COM_FLTMODE1').value.integer
# Read parameter of type FLOAT
value = param_get(param_id='MPC_Z_P').value.float
```
### # {#set-param}
Set flight controller's parameter:
```python
from mavros_msgs.srv import ParamSet
from mavros_msgs.msg import ParamValue
# ...
param_set = rospy.ServiceProxy('mavros/param/set', ParamSet)
# ...
# Set parameter of type INT:
param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
# Set parameter of type FLOAT:
param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
```

25
docs/en/video_contest.md Normal file
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@@ -0,0 +1,25 @@
# Contest for the best educational video on assembly and configuration
Requirements:
- the video contains the entire process of assembling and configuring the Clover 4.2 drone kit: from opening the box with components to flying the copter in Position mode using ArUco markers;
- the video is uploaded to YouTube and is public accessible;
- the video contains voice-over in English;
- the video lasts from 6 to 60 minutes.
Dates of the contest: February 12 – December 13, 2021.
## Prizes
- 🥇 1st place: $500 (USD).
- 🥈 2nd place: $300 (USD).
- 🥉 3rd place: $200 (USD).
## Results
|Place|Participant|Link to the video|
|:-:|-|-|
|1|🇷🇺 Philipp Batalin|https://www.youtube.com/watch?v=f0rpdulOSEk|
|2|🇮🇹 Sara Pettinari|https://www.youtube.com/watch?v=PxxfyVH6RRA|
|3|🇲🇾 Kai Feng Chew|https://www.youtube.com/watch?v=skgSwFle6Ms|
|3|🇰🇿 Nikita Lobanov|https://www.youtube.com/watch?v=93b1epEM3SQ|

1
docs/ru/SUMMARY.md
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@@ -114,6 +114,7 @@
* [Робокросс-2019](robocross2019.md)
* [CopterHack-2018](copterhack2018.md)
* [CopterHack-2017](copterhack2017.md)
* [Конкурс видео](video_contest.md)
* [Проекты на базе Клевера](projects.md)
* [Система автоматической посадки (AMLS)](amls.md)
* [Разработка системы для управления БПЛА с помощью шлема виртуальной реальности](remote-control-with-oculusvr.md)

4
docs/ru/agriculture.md
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@@ -75,9 +75,9 @@ else:
shape = 'undefined'
color = 'undefined'
if shape = 'brown':
if shape == 'brown':
culture = "greshiha"
if shape = 'yellow_orange':
if shape == 'yellow_orange':
culture = "pshenitsa"
image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_colback_color)

12
docs/ru/copterhack2022.md
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@@ -11,10 +11,9 @@ CopterHack 2022 — это международный конкурс по ра
## Проекты участников конкурса {#participants}
|Место|Команда|Проект|Балл|
|-|-|-|-|
|:-:|-|-|-|
||🇰🇬 Alatoo University Team|[Облачная платформа для симулятора Клевера](https://github.com/pteacher/clover/blob/clover_simulator/docs/ru/clover-development-studio.md)||
||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover2/docs/ru/advancedclover2.md)||
||🇺🇸 EnviroFleet|[EnviroFleet](https://github.com/gueyman/clover/blob/envirofleet/docs/en/enviro_fleet.md)||
||🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
||🇷🇺 Stereo|[Neural obstacle avoidance](https://github.com/den250400/clover/blob/neural-obstacle-avoidance/docs/en/neural-obstacle-avoidance.md)||
||🇷🇺 Space clowns|[Copter For Space](https://github.com/slavikyd/clover/blob/patch-3/docs/ru/c4s.md)||
@@ -28,16 +27,19 @@ CopterHack 2022 — это международный конкурс по ра
||🇷🇺 Дрой Ронов|[Clover Swarm](https://github.com/stinger000/clever/blob/clover_swarm_request/docs/ru/clover-swarm.md)||
||🇩🇪 Inondro|[Inondro Pix](https://github.com/Inondro/clover/blob/inondro-pix/docs/en/inondro_copterhack22_pix.md)||
||🇷🇺 V-NAV|[Visual Navigation](https://github.com/v-nav/clover/blob/v-nav_article/docs/ru/v-nav.md)||
||🇷🇺 Бизнес-гуси|[Drone Rover Climbing System](https://github.com/HexaHEX/clover/blob/CopterHack2022_Business_Geese-1/docs/ru/business_geese.md)||
||🇷🇺 fuall|[Доставка дронами](https://github.com/Silly4s/clover/blob/master/docs/ru/dostavka.md)||
||🇮🇳 DJS Phoenix|[Autonomous valet parking drone assistance](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix-Ikshana/docs/en/djs_phoenix_ikshana.md)||
||🇷🇺 Джедаи 1581|[Ретранслятор на базе Клевера](https://github.com/JJNIK/clover/blob/patch-1/docs/ru/1581.md)||
||🇷🇺 SPECTRE|[SPECTRE](https://github.com/alakhmenev/clover/blob/spectre_team/docs/ru/spectre_team.md)||
||🇷🇺 Lucky flight|[Swarm of Improved Clover](https://github.com/bessiaka/clover/blob/Lucky-flight/docs/ru/lucky_flight.md)||
||🇷🇺 SolidEye|[Разработка лидара без движущихся частей](https://github.com/feanorgg/clover/blob/solideye/docs/ru/solid_eye.md)||
||🇰🇬 AI_U_CLOVER|[AIU_CLOVER](https://github.com/zhibekm/clover/blob/zhibekm-patch-1/docs/en/aiu-article.md)||
||🇷🇺 Scout_Drone|[Создание поисково-спасательного беспилотного летательного аппарата](https://github.com/MustafaNatur/clover/blob/Scout_Drone.md/docs/ru/scout_drone.md)||
||🇷🇺 С305|[Система мониторинга воздуха](https://github.com/Ruslan2288/clover/blob/master/docs/ru/air_monitor.md)| |
|✕|🇺🇸 EnviroFleet|[EnviroFleet](https://github.com/gueyman/clover/blob/envirofleet/docs/en/enviro_fleet.md)||
|✕|🇷🇺 Бизнес-гуси|[Drone Rover Climbing System](https://github.com/HexaHEX/clover/blob/CopterHack2022_Business_Geese-1/docs/ru/business_geese.md)||
|✕|🇷🇺 fuall|[Доставка дронами](https://github.com/Silly4s/clover/blob/master/docs/ru/dostavka.md)||
|✕|🇷🇺 Scout_Drone|[Создание поисково-спасательного беспилотного летательного аппарата](https://github.com/MustafaNatur/clover/blob/Scout_Drone.md/docs/ru/scout_drone.md)| |
✕ – команды, не дошедшие до финала.
## Направление "кейс компании"

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docs/ru/snippets.md
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@@ -417,3 +417,45 @@ while not rospy.is_shutdown():
break
rospy.sleep(0.2)
```
### # {#get-param}
Считать параметр полетного контроллера:
```python
from mavros_msgs.srv import ParamGet
from mavros_msgs.msg import ParamValue
# ...
param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
# ...
# Считать параметр типа INT
value = param_get(param_id='COM_FLTMODE1').value.integer
# Считать параметр типа FLOAT
value = param_get(param_id='MPC_Z_P').value.float
```
### # {#set-param}
Изменить параметр полетного контроллера:
```python
from mavros_msgs.srv import ParamSet
from mavros_msgs.msg import ParamValue
# ...
param_set = rospy.ServiceProxy('mavros/param/set', ParamSet)
# ...
# Изменить параметр типа INT:
param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
# Изменить параметр типа FLOAT:
param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
```

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docs/ru/video_contest.md Normal file
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@@ -0,0 +1,25 @@
# Конкурс на лучшее образовательное видео по сборке и настройке
Требования:
- видео содержит весь процесс сборки и настройки конструктора Клевер 4.2: от открытия коробки с компонентами до летающего Коптера в режиме Position по ArUco-маркерам;
- видео загружено на YouTube и находится в открытом доступе;
- видео содержит озвучивание и субтитры на русском языке;
- видео длится от 6 до 60 минут.
Даты проведения конкурса: 12 февраля – 13 декабря 2021.
## Призы
- 🥇 1 место: $500.
- 🥈 2 место: $300.
- 🥉 3 место: $200.
## Результаты
|Место|Участник|Ссылка на видео|
|:-:|-|-|
|1|🇷🇺 Филипп Баталин|https://www.youtube.com/watch?v=f0rpdulOSEk|
|2|🇮🇹 Sara Pettinari|https://www.youtube.com/watch?v=PxxfyVH6RRA|
|3|🇲🇾 Kai Feng Chew|https://www.youtube.com/watch?v=skgSwFle6Ms|
|3|🇰🇿 Никита Лобанов|https://www.youtube.com/watch?v=93b1epEM3SQ|