CopterExpress/clover
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Merge branch 'master' into 22-armhf

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This commit is contained in:
Oleg Kalachev
2021-05-13 14:42:46 +03:00
parent 5870521b4b 80d446e857
commit a43c63fd21
19 changed files with 110 additions and 37 deletions
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4
clover/launch/clover.launch
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@@ -12,7 +12,6 @@
<arg name="led" default="true"/>
<arg name="blocks" default="false"/>
<arg name="rc" default="true"/>
<arg name="shell" default="true"/>
<arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
@@ -91,9 +90,6 @@
<param name="use_fake_gcs" value="false"/>
</node>
<!-- Shell access through ROS service -->
<node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
<!-- Update static directory -->
<node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
<param name="default_package" value="clover"/>

7
clover/launch/mavros.launch
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@@ -6,13 +6,16 @@
<arg name="viz" default="true"/>
<arg name="respawn" default="true"/>
<arg name="distance_sensor_remap" default="rangefinder/range"/>
<arg name="usb_device" default="/dev/px4fmu"/>
<arg name="prefix" default="" unless="$(eval fcu_conn == 'usb')"/>
<arg name="prefix" default="bash -c 'while [ ! -e $(arg usb_device) ]; do sleep 1; done; $0 $@'" if="$(eval fcu_conn == 'usb')"/>
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
<node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
<!-- UART connection -->
<param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
<!-- USB connection -->
<param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
<param name="fcu_url" value="$(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
<!-- sitl before PX4 1.9.0 -->
<param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>

16
clover/test/basic.py
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@@ -33,19 +33,3 @@ def test_web_video_server(node):
# Python 3
import urllib.request as urllib
urllib.urlopen("http://localhost:8080").read()
def test_shell(node):
execute = rospy.ServiceProxy('exec', srv.Execute)
execute.wait_for_service(5)
res = execute(cmd='echo foo')
assert res.code == 0
assert res.output == 'foo\n'
res = execute(cmd='foo')
assert res.code == 32512
assert res.output == ''
res = execute(cmd='ls foo')
assert res.code == 512
assert res.output == ''

1
clover/www/clover_version Symbolic link
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@@ -0,0 +1 @@
/etc/clover_version

10
clover/www/index.html
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@@ -13,15 +13,15 @@
<div class="version"></div>
<script src="js/roslib.js"></script>
<script type="text/javascript">
document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
// Determine image version
var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });
var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
exec.callService(new ROSLIB.ServiceRequest({ cmd: 'cat /etc/clover_version' }), function(result) {
document.querySelector('.version').innerHTML = 'Version: ' + result.output;
fetch('clover_version').then(function(response) {
if (response.status !== 200) return;
response.text().then(function(text) {
document.querySelector('.version').innerHTML = 'Version: ' + text;
});
});
</script>