Improve manual installation instruction and make some related fixes

README.md

@@ -10,7 +10,7 @@ Copter Express has implemented a large number of different autonomous drone proj
 
 Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.
 
-## Preconfigured RPi 3 image
+## Raspberry Pi image
 
 **Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases).**
 
@@ -30,49 +30,59 @@ API description (in Russian) for autonomous flights is available [on GitBook](ht
 
 ## Manual installation
 
-Install ROS Kinetic according to the [documentation](http://wiki.ros.org/kinetic/Installation).
+Install ROS Kinetic according to the [documentation](http://wiki.ros.org/kinetic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
 
-Clone repo to directory `/home/pi/catkin_ws/src/clever`:
+Clone this repo to directory `~/catkin_ws/src/clever`:
 
 ```bash
 cd ~/catkin_ws/src
 git clone https://github.com/CopterExpress/clever.git clever
 ```
 
-Build ROS packages:
+All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:
+
+```bash
+cd ~/catkin_ws/
+rosdep install -y --from-paths src --ignore-src
+```
+
+Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):
 
 ```bash
 cd ~/catkin_ws
 catkin_make -j1
 ```
 
-Enable systemd service `roscore` (if not enabled):
+To complete `mavros` install you'll need to install `geographiclib` datasets:
 
 ```bash
-sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service
+curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
+```
+
+## Running
+
+Enable systemd service `roscore` (if not running):
+
+```bash
+sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/roscore.service
 sudo systemctl start roscore
 ```
 
-Enable systemd service `clever`:
+To start connection to SITL, use:
 
 ```bash
-sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service
-sudo systemctl start clever
+roslaunch clever sitl.launch
 ```
 
-### Dependencies
+To start connection to the flight controller, use:
 
-[ROS Kinetic](http://wiki.ros.org/kinetic).
+```bash
+roslaunch clever clever.launch
+```
 
-Necessary ROS packages:
+Also, you can enable and start the systemd service:
 
-* `opencv3`
-* `mavros`
-* `rosbridge_suite`
-* `web_video_server`
-* `cv_camera`
-* `nodelet`
-* `dynamic_reconfigure`
-* `bondcpp`, branch `master`
-* `roslint`
-* `rosserial`
+```bash
+sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/clever.service
+sudo systemctl start clever
+```

builder/image-software.sh

@@ -108,6 +108,7 @@ ntpdate \
 python-dev \
 python3-dev \
 python-systemd \
+mjpg-streamer=2.0 \
 && echo_stamp "Everything was installed!" "SUCCESS" \
 || (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
 

builder/test/tests.sh

@@ -29,6 +29,7 @@ pigpiod -v
 i2cdetect -V
 butterfly -h
 espeak --version
+mjpg_streamer --version
 
 # ros stuff
 

clever/package.xml

@@ -30,11 +30,9 @@
   <depend>nodelet</depend>
   <depend>mavros</depend>
   <depend>mavros_extras</depend>
-  <depend>lxml</depend>
   <depend>cv_camera</depend>
   <depend>cv_bridge</depend>
   <depend>opencv3</depend>
-  <depend>mjpg-streamer</depend>
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <exec_depend>python-pymavlink</exec_depend>