From f4d00a47afd49db0074831aab60170bf8857addb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 10 Dec 2021 16:19:07 +0300 Subject: [PATCH 1/7] docs: fix --- docs/en/agriculture.md | 4 ++-- docs/ru/agriculture.md | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/en/agriculture.md b/docs/en/agriculture.md index 43ea5dd1..e8a3eb58 100644 --- a/docs/en/agriculture.md +++ b/docs/en/agriculture.md @@ -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) diff --git a/docs/ru/agriculture.md b/docs/ru/agriculture.md index 74f4f0f5..c81ef60e 100644 --- a/docs/ru/agriculture.md +++ b/docs/ru/agriculture.md @@ -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) From 9f6aa7dabd51b9e408fba82bd8f092253951e8f7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 11 Dec 2021 09:54:02 +0300 Subject: [PATCH 2/7] docs: add get-param and set-param snippets --- docs/en/snippets.md | 42 ++++++++++++++++++++++++++++++++++++++++++ docs/ru/snippets.md | 42 ++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 84 insertions(+) diff --git a/docs/en/snippets.md b/docs/en/snippets.md index 49d4e986..c22b8846 100644 --- a/docs/en/snippets.md +++ b/docs/en/snippets.md @@ -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)) +``` diff --git a/docs/ru/snippets.md b/docs/ru/snippets.md index 5d60cffa..1dd3a726 100644 --- a/docs/ru/snippets.md +++ b/docs/ru/snippets.md @@ -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)) +``` From 535b366babb50b087889d621422429f8a324559c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 14 Dec 2021 18:52:32 +0300 Subject: [PATCH 3/7] docs: update copterhack article --- docs/en/copterhack2022.md | 12 +++++++----- docs/ru/copterhack2022.md | 12 +++++++----- 2 files changed, 14 insertions(+), 10 deletions(-) diff --git a/docs/en/copterhack2022.md b/docs/en/copterhack2022.md index d02e5149..eebf03f0 100644 --- a/docs/en/copterhack2022.md +++ b/docs/en/copterhack2022.md @@ -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 diff --git a/docs/ru/copterhack2022.md b/docs/ru/copterhack2022.md index f81bbd3d..004389c3 100644 --- a/docs/ru/copterhack2022.md +++ b/docs/ru/copterhack2022.md @@ -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" From 8668295cfe1edd3671c4baab870d64d8130bbd84 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 14 Dec 2021 19:24:59 +0300 Subject: [PATCH 4/7] docs: fix --- docs/en/copterhack2022.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/en/copterhack2022.md b/docs/en/copterhack2022.md index eebf03f0..181dec78 100644 --- a/docs/en/copterhack2022.md +++ b/docs/en/copterhack2022.md @@ -37,7 +37,7 @@ The proposed projects have to be open-source and be compatible with the Clover q |✕|🇺🇸 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)|| +|✕|🇷🇺 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. From d27bbf31bdf303bea41efdc3ff4c2b4094038b84 Mon Sep 17 00:00:00 2001 From: Elena Seliverstova <64311178+SeliverstovaE@users.noreply.github.com> Date: Thu, 16 Dec 2021 00:21:48 +0300 Subject: [PATCH 5/7] docs: video contest page (#427) Co-authored-by: Oleg Kalachev --- docs/en/SUMMARY.md | 1 + docs/en/video_contest.md | 25 +++++++++++++++++++++++++ docs/ru/SUMMARY.md | 1 + docs/ru/video_contest.md | 25 +++++++++++++++++++++++++ 4 files changed, 52 insertions(+) create mode 100644 docs/en/video_contest.md create mode 100644 docs/ru/video_contest.md diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index afeef0c3..91905db4 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -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) diff --git a/docs/en/video_contest.md b/docs/en/video_contest.md new file mode 100644 index 00000000..8c6d4068 --- /dev/null +++ b/docs/en/video_contest.md @@ -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| diff --git a/docs/ru/SUMMARY.md b/docs/ru/SUMMARY.md index ea5a0bd6..b09ebb22 100644 --- a/docs/ru/SUMMARY.md +++ b/docs/ru/SUMMARY.md @@ -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) diff --git a/docs/ru/video_contest.md b/docs/ru/video_contest.md new file mode 100644 index 00000000..de9bf98e --- /dev/null +++ b/docs/ru/video_contest.md @@ -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| From bb6a6c81f32715bffa6f4a39c198880bbf5dc042 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 16 Dec 2021 13:41:14 +0300 Subject: [PATCH 6/7] =?UTF-8?q?selfcheck.py:=20don=E2=80=99t=20show=20'dif?= =?UTF-8?q?ferent=20index'=20warnings?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- clover/src/selfcheck.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clover/src/selfcheck.py b/clover/src/selfcheck.py index 93668958..d9abda37 100755 --- a/clover/src/selfcheck.py +++ b/clover/src/selfcheck.py @@ -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(.*))?$') error_count = OrderedDict() From cba12e115e77a5d226229353946e2bccdcc557ca Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 16 Dec 2021 13:57:13 +0300 Subject: [PATCH 7/7] builder: remove unneeded catkin_blacklist_packages --- builder/image-ros.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/builder/image-ros.sh b/builder/image-ros.sh index cb647c4f..e98934db 100755 --- a/builder/image-ros.sh +++ b/builder/image-ros.sh @@ -112,7 +112,7 @@ my_travis_retry pip3 install wheel my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt source /opt/ros/${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)"