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Merge branch 'master' into recent-px4

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Oleg Kalachev
2022-01-20 19:57:20 +03:00
parent b3ac99fbef a525714e3a
commit b628825420
15 changed files with 27 additions and 29 deletions
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2
clover/launch/mavros_config.yaml
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@@ -1,7 +1,7 @@
# Config file for mavros
# Based on https://raw.githubusercontent.com/mavlink/mavros/master/mavros/launch/px4_config.yaml
startup_px4_usb_quirk: true
startup_px4_usb_quirk: false
conn:
heartbeat_rate: 1.0 # send hertbeat rate in Hertz

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docs/en/aruco.md
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@@ -1,7 +1,5 @@
# ArUco markers
> **Note** The following applies to [image versions](image.md) **0.16** and up. Older documentation is still available for [for version **0.15.1**](https://github.com/CopterExpress/clover/blob/v0.15.1/docs/en/aruco.md).
[ArUco markers](https://docs.opencv.org/3.2.0/d5/dae/tutorial_aruco_detection.html) are commonly used for vision-based position estimation.
Examples of ArUco markers:

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docs/en/autolaunch.md
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@@ -6,7 +6,7 @@ Software autorun
systemd
---
Main documentation: [https://wiki.archlinux.org/index.php/Systemd_(Russian)](https://wiki.archlinux.org/index.php/Systemd_(Russian)).
Main documentation: [https://wiki.archlinux.org/title/Systemd](https://wiki.archlinux.org/title/Systemd).
All automatically started Clover software is launched as a `clover.service` systemd service.
@@ -50,12 +50,12 @@ You can add your own node to the list of automatically launched ones. To do this
The started file must have *permission* to run:
```(bash)
```bash
chmod +x my_program.py
```
When scripting languages are used, [shebang] should be placed at the beginning of the file (https://ru.wikipedia.org/wiki/Shebang_(Unix)), for example:
When scripting languages are used, a [shebang](https://en.wikipedia.org/wiki/Shebang_(Unix)) should be placed at the beginning of the file, for example:
```(bash)
```bash
#!/usr/bin/env python
```

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docs/en/copterhack2022.md
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@@ -13,27 +13,27 @@ The proposed projects have to be open-source and be compatible with the Clover q
|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)||
||🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover2/docs/ru/advanced_clover_simulator.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)||
||🇷🇺 R.S.|[Drone Hawk](https://github.com/slavaroot/clover/blob/droneHawkSecurity/docs/ru/drone-hawk-security.md)||
||🇲🇾 Moopt|[IoT Water Monitoring & Optimization](https://github.com/kafechew/clover/blob/master/docs/en/moopt-uav.md)||
||🇧🇷 Atena - Grupo SEMEAR|[Swarm in Blocks](https://github.com/Grupo-SEMEAR-USP/clover/blob/Swarm_in_Blocks/docs/en/Swarm_in_Blocks.md)||
||🇧🇷 Atena - Grupo SEMEAR|[Swarm in Blocks](https://github.com/Grupo-SEMEAR-USP/clover/blob/Swarm_in_Blocks/docs/en/swarm_in_blocks.md)||
||🇷🇺 Clevertron|[Clevertron](https://github.com/Daniel-drone/clover/blob/Clevertron-1/docs/ru/clevertron.md)||
||🇷🇺 Clover Rescue Team|[Rescue Clover](https://github.com/DevMBS/clover/blob/CloverRescueTeam/docs/ru/clover-rescue-team.md)||
||🇵🇱 Edgenoon|[Neural and vision-based landing method](https://github.com/edgenoon-ai/clover/blob/neural_vision_based_landing_method/docs/en/neural_vision_based_landing_method.md)||
||🇷🇺 CopterCat|[CopterCat](https://github.com/matveylapin/clover/blob/CopterCat/docs/ru/сopter_сat.md)||
||🇷🇺 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)||
||🇮🇳 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)||
||🇷🇺 С305|[Система мониторинга воздуха](https://github.com/Ruslan2288/clover/blob/master/docs/ru/air_monitor.md)| |
|✕|🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
|✕|🇷🇺 V-NAV|[Visual Navigation](https://github.com/v-nav/clover/blob/v-nav_article/docs/ru/v-nav.md)||
|✕|🇷🇺 Джедаи 1581|[Ретранслятор на базе Клевера](https://github.com/JJNIK/clover/blob/patch-1/docs/ru/1581.md)||
|✕|🇷🇺 Lucky flight|[Swarm of Improved Clover](https://github.com/bessiaka/clover/blob/Lucky-flight/docs/ru/lucky_flight.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)||

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docs/en/mavlink.md
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@@ -29,7 +29,7 @@ Examples of MAVLink messages:
* `GLOBAL_POSITION_INT` – global position of the quadcopter (latitude/longitude/altitude);
* `COMMAND_LONG` – a command to the quadcopter (take off, land, toggle modes, etc).
A complete list of MAVLink messages is available in [MAVLink documentation] (http://mavlink.org/messages/common).
A complete list of MAVLink messages is available in [MAVLink documentation](https://mavlink.io/en/messages/common.html).
### System, system component

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docs/en/ros.md
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@@ -49,7 +49,7 @@ Each topic has the a of messages it passes. ROS include a lot of standard messag
|Message type|Description|
|-|-|
|[`std_msgs/Int64`](https://docs.ros.org/api/std_msgs/html/msg/Int64.html)|Integer number.|
|[`std_msgs/Float64`](https://docs.ros.org/api/std_msgs/html/msg/Float64.html)|Double-precision floating-point number|
|[`std_msgs/Float64`](https://docs.ros.org/api/std_msgs/html/msg/Float64.html)|Double-precision floating-point number.|
|[`std_msgs/String`](https://docs.ros.org/api/std_msgs/html/msg/String.html)|String.|
|[`geometry_msgs/PoseStamped`](https://docs.ros.org/api/geometry_msgs/html/msg/PoseStamped.html)|Position and orientation of an object in a given [coordinate system](frames.md) and a time stamp (widely used for passing the robot pose or some robot's part pose).|
|[`geometry_msgs/TwistStamped`](https://docs.ros.org/api/geometry_msgs/html/msg/TwistStamped.html)|Linear and angular velocity of an object in a given coordinate system and a time stamp.|

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docs/en/rviz.md
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@@ -43,7 +43,7 @@ Axis or Grid configured to frame `aruco_map` will visualize the location [on the
### jsk_rviz_plugins
It is also recommended to install additional useful plugins for rviz [jsk_rviz_plugins](https://jsk-docs.readthedocs.io/en/latest/jsk_visualization/doc/jsk_rviz_plugins/index.html). This kit allows visualizing topics like `TwistStamped` (velocity) `CameraInfo`, `PolygonArray`, and many more. To install, use command:
It is also recommended to install additional useful plugins for rviz [jsk_rviz_plugins](https://jsk-visualization.readthedocs.io/en/latest/jsk_rviz_plugins/index.html). This kit allows visualizing topics like `TwistStamped` (velocity) `CameraInfo`, `PolygonArray`, and many more. To install, use command:
```(bash)
sudo apt-get install ros-melodic-jsk-visualization

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docs/en/sitl.md
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@@ -5,7 +5,7 @@ PX4 Simulation
Main article: https://dev.px4.io/en/simulation/
PX4 simulation is possible in Linux and macOS with the use of physical environment simulation systems [jMAVSim](https://pixhawk.org/dev/hil/jmavsim) and [the Gazebo](http://gazebosim.org).
PX4 simulation is possible in Linux and macOS with the use of physical environment simulation systems [jMAVSim](https://docs.px4.io/master/en/simulation/jmavsim.html) and [the Gazebo](http://gazebosim.org).
jMAVSim is a lightweight environment intended only for testing multi-rotor aircraft systems; Gazebo is a versatile environment for all types of robots.

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docs/en/sonar.md
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@@ -89,7 +89,7 @@ while True:
### Filtering the data
To filter (smooth out) the data and delete [outliers](https://en.wikipedia.org/wiki/Outlier), [Kalman filter](https://en.wikipedia.org/wiki/Kalman_filter) or a simple [median filter](https://ru.wikipedia.org/wiki/Median_filter) can be used. An example of median filtering implementation:
To filter (smooth out) the data and delete [outliers](https://en.wikipedia.org/wiki/Outlier), [Kalman filter](https://en.wikipedia.org/wiki/Kalman_filter) or a simple [median filter](https://en.wikipedia.org/wiki/Median_filter) can be used. An example of median filtering implementation:
```python
import collections

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docs/ru/clever_blocks.md
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@@ -42,4 +42,4 @@ sudo systemctl start clever-blocks.service
python main.py
```
После запуска Вы можете открыть веб-интерфейс для блочного программирования по адресу [192.168.11.1:5000](192.168.11.1:5000).
После запуска Вы можете открыть веб-интерфейс для блочного программирования по адресу [192.168.11.1:5000](http://192.168.11.1:5000).

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docs/ru/copterhack2022.md
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@@ -13,27 +13,27 @@ CopterHack 2022 — это международный конкурс по ра
|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)||
||🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover2/docs/ru/advanced_clover_simulator.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)||
||🇷🇺 R.S.|[Drone Hawk](https://github.com/slavaroot/clover/blob/droneHawkSecurity/docs/ru/drone-hawk-security.md)||
||🇲🇾 Moopt|[IoT Water Monitoring & Optimization](https://github.com/kafechew/clover/blob/master/docs/en/moopt-uav.md)||
||🇧🇷 Atena - Grupo SEMEAR|[Swarm in Blocks](https://github.com/Grupo-SEMEAR-USP/clover/blob/Swarm_in_Blocks/docs/en/Swarm_in_Blocks.md)||
||🇧🇷 Atena - Grupo SEMEAR|[Swarm in Blocks](https://github.com/Grupo-SEMEAR-USP/clover/blob/Swarm_in_Blocks/docs/en/swarm_in_blocks.md)||
||🇷🇺 Clevertron|[Clevertron](https://github.com/Daniel-drone/clover/blob/Clevertron-1/docs/ru/clevertron.md)||
||🇷🇺 Clover Rescue Team|[Rescue Clover](https://github.com/DevMBS/clover/blob/CloverRescueTeam/docs/ru/clover-rescue-team.md)||
||🇵🇱 Edgenoon|[Neural and vision-based landing method](https://github.com/edgenoon-ai/clover/blob/neural_vision_based_landing_method/docs/en/neural_vision_based_landing_method.md)||
||🇷🇺 CopterCat|[CopterCat](https://github.com/matveylapin/clover/blob/CopterCat/docs/ru/сopter_сat.md)||
||🇷🇺 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)||
||🇮🇳 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)||
||🇷🇺 С305|[Система мониторинга воздуха](https://github.com/Ruslan2288/clover/blob/master/docs/ru/air_monitor.md)| |
|✕|🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
|✕|🇷🇺 V-NAV|[Visual Navigation](https://github.com/v-nav/clover/blob/v-nav_article/docs/ru/v-nav.md)||
|✕|🇷🇺 Джедаи 1581|[Ретранслятор на базе Клевера](https://github.com/JJNIK/clover/blob/patch-1/docs/ru/1581.md)||
|✕|🇷🇺 Lucky flight|[Swarm of Improved Clover](https://github.com/bessiaka/clover/blob/Lucky-flight/docs/ru/lucky_flight.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)||

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docs/ru/mavlink.md
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@@ -29,7 +29,7 @@ MAVLink-сообщение это отдельная "порция" данных
* `GLOBAL_POSITION_INT` – глобальная позиция квадрокоптера (широта/долгота/высота);
* `COMMAND_LONG` – команда для квадрокоптера (взлететь, сесть, переключить режим и т. д.).
Полный список MAVLink-сообщений можно посмотреть в [документации MAVLink](http://mavlink.org/messages/common).
Полный список MAVLink-сообщений можно посмотреть в [документации MAVLink](https://mavlink.io/en/messages/common.html).
### Система, компонент системы

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docs/ru/rviz.md
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@@ -43,7 +43,7 @@ Axis или Grid настроенный на фрейм `aruco_map` будут
### jsk_rviz_plugins
Рекомендуется также установка набора дополнительных полезных плагинов для rviz [jsk_rviz_plugins](https://jsk-docs.readthedocs.io/en/latest/jsk_visualization/doc/jsk_rviz_plugins/index.html). Это набор позволяет визуализировать топики типа `TwistStamped` (скорость), `CameraInfo`, `PolygonArray` и многое другое. Для установки используйте команду:
Рекомендуется также установка набора дополнительных полезных плагинов для rviz [jsk_rviz_plugins](https://jsk-visualization.readthedocs.io/en/latest/jsk_rviz_plugins/index.html). Это набор позволяет визуализировать топики типа `TwistStamped` (скорость), `CameraInfo`, `PolygonArray` и многое другое. Для установки используйте команду:
```bash
sudo apt-get install ros-melodic-jsk-visualization

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docs/ru/sitl.md
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@@ -4,7 +4,7 @@
Основная статья: https://dev.px4.io/en/simulation/
Симуляция PX4 возможна в ОС GNU/Linux и macOS с использованием систем симуляции физической среды [jMAVSim](https://pixhawk.org/dev/hil/jmavsim) и [Gazebo](http://gazebosim.org).
Симуляция PX4 возможна в ОС GNU/Linux и macOS с использованием систем симуляции физической среды [jMAVSim](https://docs.px4.io/master/en/simulation/jmavsim.html) и [Gazebo](http://gazebosim.org).
jMAVSim является легковесной средой, предназначенной только для тестирование мультироторных летательных систем; Gazebo – универсальная среда для любых типов роботов.

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docs/ru/sitl_docker.md
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@@ -14,7 +14,7 @@
* Пакеты [ROS](http://www.ros.org/), требуемые для запуска нод Клевера
* Собранный для симулятора PX4
* Легковесный web-интерфейс для Gazebo [Gzweb](http://gazebosim.org/gzweb.html)
* Web-терминал [Butterfly](http://paradoxxxzero.github.io/2014/02/28/butterfly.html)
* Web-терминал [Butterfly](https://github.com/paradoxxxzero/butterfly)
## Предварительная настройка