Merge branch 'master' into terrain-frame

.github/workflows/build.yml

@@ -25,8 +25,8 @@ jobs:
     - uses: actions/checkout@v2
       with:
         path: catkin_ws/src/clover
-    - name: Install pip
-      run: apt-get update && apt-get -y install python3-pip
+    - name: Install requirements
+      run: apt-get update && apt-get -y install python3-pip fakeroot python3-bloom debhelper dpkg-dev
     - name: Install dependencies
       run: rosdep update && rosdep install --from-paths src --ignore-src -y
     - name: Install GeographicLib datasets
@@ -35,5 +35,17 @@ jobs:
       run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
     - name: Run tests
       run: source devel/setup.bash && catkin_make run_tests && catkin_test_results
-    - name: Install
-      run: source devel/setup.bash && catkin_make install
+    - name: Build Debian packages
+      run: |
+        source devel/setup.bash
+        for file in `find . -name "package.xml"`; do
+          cd $(dirname ${file})
+          bloom-generate rosdebian --os-name ubuntu --os-version $(lsb_release -cs) --ros-distro $ROS_DISTRO  
+          fakeroot debian/rules binary
+          cd -
+        done
+    - uses: actions/upload-artifact@v3
+      with:
+        name: debian-packages
+        path: catkin_ws/src/clover/*.deb
+        retention-days: 1

clover/launch/main_camera.launch

@@ -4,6 +4,8 @@
     <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
     <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
     <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
+    <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
+    <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
     <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -43,4 +45,8 @@
     <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
         <param name="scale" value="3.0"/>
     </node>
+
+    <!-- image topic throttled -->
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
 </launch>

clover/src/simple_offboard.cpp

@@ -898,6 +898,13 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 	return false;
 }
 
+bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
+{
+	setpoint_timer.stop();
+	res.success = true;
+	return true;
+}
+
 int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "simple_offboard");
@@ -979,6 +986,7 @@ int main(int argc, char **argv)
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
 	auto sr_serv = nh.advertiseService("set_rates", &setRates);
 	auto ld_serv = nh.advertiseService("land", &land);
+	auto rl_serv = nh_priv.advertiseService("release", &release);
 
 	// Setpoint timer
 	setpoint_timer = nh.createTimer(ros::Duration(1 / nh_priv.param("setpoint_rate", 30.0)), &publishSetpoint, false, false);

clover/test/basic.py

@@ -24,6 +24,7 @@ def test_simple_offboard_services_available():
     rospy.wait_for_service('set_attitude', timeout=5)
     rospy.wait_for_service('set_rates', timeout=5)
     rospy.wait_for_service('land', timeout=5)
+    rospy.wait_for_service('simple_offboard/release', timeout=5)
 
 def test_web_video_server(node):
     try:

clover/test/basic.test

@@ -37,6 +37,9 @@
 
     <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
 
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw 5.0 image_raw_throttled" required="true"/>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

docs/en/camera.md

@@ -145,6 +145,8 @@ 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"/>

docs/en/simple_offboard.md

@@ -305,6 +305,16 @@ rosservice call /land "{}"
 
 > **Caution** In recent PX4 versions, the vehicle will be switched out of LAND mode to manual mode, if the remote control sticks are moved significantly.
 
+### release
+
+If it's necessary to pause sending setpoint messages, use the `simple_offboard/release` service:
+
+```python
+release = rospy.ServiceProxy('simple_offboard/release', Trigger)
+
+release()
+```
+
 ## Additional materials
 
 * [ArUco-based position estimation and navigation](aruco.md).

docs/en/simulation_usage.md

@@ -97,3 +97,13 @@ PX4_SIM_SPEED_FACTOR=0.42 roslaunch clover_simulation simulator.launch
 The virtual machine may benefit from several CPU cores, especially if the cores are not very performant. In our tests, a four-core machine with only a single core allocated to the VM was unable to run the simulation, with constant interface freezes and dropped ROS messages. The same machine with all four cores available to the VM was able to run the simulation at 0.25 real-time speed.
 
 Do note that you should not allocate more resources than you have on your host hardware.
+
+### Changing the map of ArUco-markers in the simulator
+
+In order to change the map of ArUco-markers in the simulator, you can use the following command:
+
+```bash
+rosrun clover_simulation aruco_gen --single-model --source-world=$(catkin_find clover_simulation resources/worlds/clover.world) $(catkin_find aruco_pose map/map.txt) > $(catkin_find clover_simulation resources/worlds/clover_aruco.world)
+```
+
+In this example, `map.txt` is the name of markers name.

docs/en/snippets.md

@@ -240,6 +240,30 @@ ros_msg = mavlink.convert_to_rosmsg(msg)
 mavlink_pub.publish(ros_msg)
 ```
 
+<!-- markdownlint-disable MD044 -->
+
+### # {#mavlink-receive}
+
+<!-- markdownlint-enable MD044 -->
+
+Subscribe to all MAVLink messages from the flight controller and decode them:
+
+```python
+from mavros_msgs.msg import Mavlink
+from mavros import mavlink
+from pymavlink import mavutil
+
+link = mavutil.mavlink.MAVLink('', 255, 1)
+
+def mavlink_cb(msg):
+    mav_msg = link.decode(mavlink.convert_to_bytes(msg))
+    print('msgid =', msg.msgid, mav_msg) # print message id and parsed message
+
+mavlink_sub = rospy.Subscriber('mavlink/from', Mavlink, mavlink_cb)
+
+rospy.spin()
+```
+
 ### # {#rc-sub}
 
 React to the drone's mode switching (may be used for starting an autonomous flight, see [example](https://gist.github.com/okalachev/b709f04522d2f9af97e835baedeb806b)):

docs/ru/camera.md

@@ -147,6 +147,8 @@ 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"/>

docs/ru/simple_offboard.md

@@ -305,6 +305,16 @@ rosservice call /land "{}"
 
 > **Caution** В более новых версиях PX4 коптер выйдет из режима LAND в ручной режим, если сильно перемещать стики.
 
+### release
+
+В случае необходимости приостановки отправки setpoint-сообщений, используйте сервис `simple_offboard/release`:
+
+```python
+release = rospy.ServiceProxy('simple_offboard/release', Trigger)
+
+release()
+```
+
 ## Дополнительные материалы
 
 * [Полеты в поле ArUco-маркеров](aruco.md).

docs/ru/simulation_usage.md

@@ -99,3 +99,13 @@ PX4_SIM_SPEED_FACTOR=0.42 roslaunch clover_simulation simulator.launch
 Выделение нескольких процессорных ядер для виртуальной машины может значительно повысить производительность симуляции. В наших испытаниях виртуальная машина, для которой было выделено одно ядро, не позволяла работать в симуляторе: окно Gazebo не реагировало на пользовательский ввод, сообщения ROS терялись. После выделения четырёх ядер для этой же виртуальной машины симуляция стала работать со скоростью 0.25 от реального времени.
 
 При этом не следует пытаться выделить для виртуальной машины больше ресурсов, чем доступно на основной системе.
+
+### Изменение карты ArUco-меток в симуляторе
+
+Для того, чтобы изменить карту ArUco-меток в симуляторе, можно использовать следующую команду:
+
+```bash
+rosrun clover_simulation aruco_gen --single-model --source-world=$(catkin_find clover_simulation resources/worlds/clover.world) $(catkin_find aruco_pose map/map.txt) > $(catkin_find clover_simulation resources/worlds/clover_aruco.world)
+```
+
+В данном примере `map.txt` – имя карты меток.

docs/ru/snippets.md

@@ -251,6 +251,30 @@ ros_msg = mavlink.convert_to_rosmsg(msg)
 mavlink_pub.publish(ros_msg)
 ```
 
+<!-- markdownlint-disable MD044 -->
+
+### # {#mavlink-receive}
+
+<!-- markdownlint-enable MD044 -->
+
+Подписка на все MAVLink-сообщения от полетного контроллера и их декодирование:
+
+```python
+from mavros_msgs.msg import Mavlink
+from mavros import mavlink
+from pymavlink import mavutil
+
+link = mavutil.mavlink.MAVLink('', 255, 1)
+
+def mavlink_cb(msg):
+    mav_msg = link.decode(mavlink.convert_to_bytes(msg))
+    print('msgid =', msg.msgid, mav_msg) # print message id and parsed message
+
+mavlink_sub = rospy.Subscriber('mavlink/from', Mavlink, mavlink_cb)
+
+rospy.spin()
+```
+
 ### # {#rc-sub}
 
 Реакция на переключение режима на пульте радиоуправления (может быть использовано для запуска автономного полета, см. [пример](https://gist.github.com/okalachev/b709f04522d2f9af97e835baedeb806b)):