Merge remote-tracking branch 'origin/master' into buster-python3

builder/assets/examples/flight.py

@@ -0,0 +1,31 @@
+# Information: https://clever.coex.tech/en/programming.html
+
+import rospy
+from clover import srv
+from std_srvs.srv import Trigger
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+land = rospy.ServiceProxy('land', Trigger)
+
+# Takeoff and hover 1 m above the ground
+navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Fly forward 1 m
+navigate(x=1, y=0, z=0, frame_id='body')
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Perform landing
+land()

builder/assets/examples/leds.py

@@ -0,0 +1,25 @@
+# Information: https://clever.coex.tech/en/leds.html
+
+import rospy
+from clover.srv import SetLEDEffect
+
+rospy.init_node('leds')
+
+set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
+
+set_effect(r=255, g=0, b=0)  # fill strip with red color
+rospy.sleep(2)
+
+set_effect(r=0, g=100, b=0)  # fill strip with green color
+rospy.sleep(2)
+
+set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
+rospy.sleep(2)
+
+set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
+rospy.sleep(5)
+
+set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
+rospy.sleep(5)
+
+set_effect(effect='rainbow')  # show rainbow

builder/assets/init_rpi.sh

@@ -38,7 +38,12 @@ echo_stamp() {
 NEW_SSID='clover-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
 echo_stamp "Setting SSID to ${NEW_SSID}"
 # TODO: Use wpa_cli insted direct file edit
-cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
+# FIXME: We rely on raspberrypi-net-mods to copy our file to /etc/wpa_supplicant.
+# This is not very reliable, but seems to fix our rfkill problem.
+cat << EOF >> /boot/wpa_supplicant.conf
+ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
+update_config=1
+country=GB
 network={
     ssid="${NEW_SSID}"
     psk="cloverwifi"
@@ -51,9 +56,6 @@ network={
 }
 EOF
 
-echo_stamp "Unblocking wireless interface"
-rfkill unblock wifi
-
 NEW_HOSTNAME=$(echo ${NEW_SSID} | tr '[:upper:]' '[:lower:]')
 echo_stamp "Setting hostname to $NEW_HOSTNAME"
 hostnamectl set-hostname $NEW_HOSTNAME

builder/image-build.sh

@@ -104,6 +104,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
+# examples
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 

builder/test/tests.sh

@@ -52,3 +52,6 @@ rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
 rosversion rosshow
+
+# validate examples are present
+[[ $(ls /home/pi/examples/*) ]]