image: add some todo

.travis.yml

@@ -77,7 +77,6 @@ jobs:
         - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
         - sudo apt update && sudo apt install -y calibre msttcorefonts
         - npm install gitbook-cli -g
-        - gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
         - npm install markdownlint-cli -g
         - npm install svgexport -g
         - gitbook -V

README.md

@@ -21,7 +21,6 @@ Clover drone is used on a wide range of educational events, including [Copter Ha
 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
 [![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
-![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:
 

aruco_pose/CMakeLists.txt

@@ -111,7 +111,7 @@ generate_messages(
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
-  cfg/Detector.cfg
+  cfg/DetectorParams.cfg
 )
 
 ###################################

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.21.2</version>
+  <version>0.21.1</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

builder/assets/examples/get_telemetry.py

@@ -1,11 +0,0 @@
-# Information: https://clover.coex.tech/en/simple_offboard.html#gettelemetry
-
-import rospy
-from clover import srv
-
-rospy.init_node('flight')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-
-# Print drone's state
-print(get_telemetry())

builder/assets/hardware_setup.sh

@@ -79,4 +79,10 @@ if ! grep -q "^bcm2835-v4l2" /etc/modules;
 then printf "bcm2835-v4l2\n" >> /etc/modules
 fi
 
-echo_stamp "#8 End of configure hardware interfaces"
+echo_stamp "#8 Check if Compute Module 4"
+if grep -q "Compute Module 4" "/proc/device-tree/model"; then
+  echo_stamp "Enable USB on Compute Module 4"
+  echo "dtoverlay=dwc2,dr_mode=host" >> /boot/config.txt
+fi
+
+echo_stamp "#9 End of configure hardware interfaces"

builder/image-network.sh

@@ -60,4 +60,25 @@ domain-needed
 quiet-dhcp6
 EOF
 
-echo_stamp "#4 End of network installation"
+echo_stamp "#4 Build the RTL8814AU Wi-Fi adapter driver"
+wget http://archive.raspberrypi.org/debian/pool/main/r/raspberrypi-firmware/raspberrypi-kernel-headers_1.20210108-1_armhf.deb
+dpkg -i raspberrypi-kernel-headers_1.20210108-1_armhf.deb
+cd /home/pi
+git clone https://github.com/aircrack-ng/rtl8812au.git --depth=1
+cd rtl8812au
+echo kernel version: $(uname -r)
+echo kernel version from procfs: $(cat /proc/version)
+echo version: $(git describe --tags --always)
+sed -i 's/CONFIG_PLATFORM_I386_PC = y/CONFIG_PLATFORM_I386_PC = n/g' Makefile # https://github.com/aircrack-ng/rtl8812au#for-raspberry-rpi
+sed -i 's/CONFIG_PLATFORM_ARM_RPI = n/CONFIG_PLATFORM_ARM_RPI = y/g' Makefile
+# sed -i 's/CONFIG_PLATFORM_ARM64_RPI = n/CONFIG_PLATFORM_ARM64_RPI = y/g' Makefile
+apt-cache policy raspberrypi-kernel-headers
+# apt-get install -y raspberrypi-kernel-headers=1.20210108 dkms
+apt-get install -y dkms
+ls /lib/modules
+echo make
+make KERNEL_VER=5.4.83-v7l+ KVER=5.4.83-v7l+ # TODO: determine kernel version from fs
+echo make install
+make install KERNEL_VER=5.4.83-v7l+ KVER=5.4.83-v7l+
+
+echo_stamp "#5 End of network installation"

builder/image-ros.sh

@@ -101,7 +101,6 @@ rm -rf build  # remove build artifacts
 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
 NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
-NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
 NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin

builder/image-software.sh

@@ -149,7 +149,6 @@ my_travis_retry pip install --prefer-binary rpi_ws281x
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
-sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
 systemctl enable monkey.service
 
 echo_stamp "Install Node.js"

builder/standalone-install.sh

@@ -41,6 +41,3 @@ pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
-
-# Step 5: Install packages
-catkin_make install

clover/CMakeLists.txt

@@ -24,7 +24,6 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_ros
   image_transport
   cv_bridge
-  catkin_virtualenv
 )
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -133,16 +132,6 @@ generate_messages(
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
-
-# Generate the virtualenv
-catkin_generate_virtualenv(INPUT_REQUIREMENTS requirements.in)
-
-# Make sure your python executables are installed using `catkin_install_python`:
-catkin_install_python(
-  PROGRAMS
-    src/selfcheck.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
 catkin_package(
 #  INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
@@ -259,8 +248,11 @@ target_link_libraries(${PROJECT_NAME}
 # )
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
- install(FILES requirements.in
-       	 DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
 
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes

clover/launch/clover.launch

@@ -12,6 +12,7 @@
     <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 -->
 
@@ -90,6 +91,9 @@
         <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"/>

clover/launch/mavros.launch

@@ -6,15 +6,13 @@
     <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="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" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(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="$(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
+        <param name="fcu_url" value="/dev/px4fmu" 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')"/>

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover</name>
-  <version>0.21.2</version>
+  <version>0.21.1</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -15,7 +15,6 @@
 
   <!-- Package format specifier version 2.0 allows specifying dependencies for both
    build- and runtime in a single <depend> element -->
-  <build_depend>catkin_virtualenv</build_depend>
   <depend>message_generation</depend>
   <depend>roscpp</depend>
   <depend>rospy</depend>
@@ -39,8 +38,7 @@
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
   <depend>python-lxml</depend>
-  <test_depend>ros_pytest</test_depend>
-  <!-- <exec_depend>python-pymavlink</exec_depend> -->
+  <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
 
@@ -48,6 +46,5 @@
   <export>
     <nodelet plugin="${prefix}/nodelet_plugins.xml" />
     <!-- Other tools can request additional information be placed here -->
-    <pip_requirements>requirements.in</pip_requirements>
   </export>
 </package>

clover/requirements.in

@@ -1,13 +0,0 @@
-click>=7.1.2
-docopt>=0.6.2
-flask>=1.1.1
-future>=0.18.2
-geopy>=1.11.0
-itsdangerous>=1.1.0
-jinja2>=2.11.3
-lxml>=4.6.3
-markupsafe>=1.1.1
-pymavlink>=2.4.14
-smbus2>=0.3.0
-vl53l1x>=0.0.5
-werkzeug>=1.0.1

clover/requirements.txt

@@ -0,0 +1,5 @@
+flask==1.1.1
+docopt==0.6.2
+geopy==1.11.0
+smbus2==0.3.0
+VL53L1X==0.0.5

clover/test/basic.py

@@ -28,3 +28,19 @@ def test_simple_offboard_services_available():
 def test_web_video_server(node):
     import urllib2
     urllib2.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 == ''

clover/www/clover_version

@@ -1 +0,0 @@
-/etc/clover_version

clover/www/index.html

@@ -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
-	fetch('clover_version').then(function(response) {
-		if (response.status !== 200) return;
-		response.text().then(function(text) {
-			document.querySelector('.version').innerHTML = 'Version: ' + text;
-		});
+	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;
 	});
 </script>

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.21.2</version>
+  <version>0.21.1</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.21.2</version>
+  <version>0.21.1</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_simulation/CMakeLists.txt

@@ -52,7 +52,7 @@ target_compile_options(throttling_camera PRIVATE -std=c++11)
 add_dependencies(throttling_camera ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 catkin_install_python(PROGRAMS scripts/aruco_gen

clover_simulation/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
     <name>clover_simulation</name>
-    <version>0.21.2</version>
+    <version>0.21.1</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
 
     <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

docs/en/copterhack2021.md

@@ -1,6 +1,6 @@
 # CopterHack 2021
 
-CopterHack 2021 is a team competition for the development of open source projects for the Clover quadcopter platform. Fifty-four teams from 12 countries took part in the competition.
+CopterHack 2021 is a team competition for the development of open source projects for the Clover quadcopter platform.
 
 All information about the event can be found on the official website: https://coex.tech/copterhack.
 

docs/en/models.md

@@ -96,16 +96,6 @@ This page contains models and drawings of some of the drone parts. They can be u
         </td>
         <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/big_leg.dxf"><code>big_leg.dxf</code></a></td>
     </tr>
-    <tr>
-        <td><img src="../assets/dxf/4.2/grip_spacer.png"></td>
-        <td>
-            <b>Grip spacer</b>.<br>
-            Function: spacer for the gripper plates.<br>
-            Material: monolithic polycarbonate 2mm.<br>
-            Quantity: 1 pcs.
-        </td>
-        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/grip_spacer.dxf"><code>grip_spacer.dxf</code></a></td>
-    </tr>
 </table>
 
 ## Clover 4

docs/en/programming.md

@@ -34,15 +34,7 @@ Read more in the [GPS connection](gps.md) article.
 
 > **Info** For studying Python programming language, see [tutorial](https://www.learnpython.org/en/Welcome).
 
-After you've configured your positioning system, you can start writing programs for autonomous flights. Use the [SSH connection to the Raspberry Pi](ssh.md) to run your scripts.
-
-Before the first flight it's recommended to check the Clover's configuration with [selfcheck.py utility](selfcheck.md):
-
-```bash
-rosrun clover selfcheck.py
-```
-
-In order to run a Python script use the `python` command:
+After you've configured your positioning system, you can start writing programs for autonomous flights. Use the [SSH connection to the Raspberry Pi](ssh.md) to run your scripts. In order to run a Python script use the `python` command:
 
 ```bash
 python flight.py

docs/en/snippets.md

@@ -359,28 +359,3 @@ calibrate_gyro()
 ```
 
 > **Note** In process of calibration the drone should not be moved.
-
-<!-- markdownlint-disable MD044 -->
-
-### # {#aruco-detect-enabled}
-
-<!-- markdownlint-enable MD044 -->
-
-Enable and disable [ArUco markers recognition](aruco_marker.md) dynamically (for example, for saving CPU resources):
-
-```python
-import rospy
-import dynamic_reconfigure.client
-
-# ...
-
-client = dynamic_reconfigure.client.Client('aruco_detect')
-
-# Turn markers recognition off
-client.update_configuration({'enabled': False})
-
-rospy.sleep(5)
-
-# Turn markers recognition on
-client.update_configuration({'enabled': True})
-```

docs/ru/copterhack2021.md

@@ -1,6 +1,6 @@
 # CopterHack 2021
 
-CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер". В конкурсе приняло участие 54 команды из 12 стран.
+CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер".
 
 Все информацию о мероприятии смотрите на официальном сайте: https://ru.coex.tech/copterhack.
 

docs/ru/models.md

@@ -96,16 +96,6 @@
         </td>
         <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/big_leg.dxf"><code>big_leg.dxf</code></a></td>
     </tr>
-    <tr>
-        <td><img src="../assets/dxf/4.2/grip_spacer.png"></td>
-        <td>
-            <b>Проставка для захвата</b>.<br>
-            Функция: Опорный элемент для механического захвата.<br>
-            Материал: Монолитный поликарбонат 2мм.<br>
-            Количество: 1 шт.
-        </td>
-        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/grip_spacer.dxf"><code>grip_spacer.dxf</code></a></td>
-    </tr>
 </table>
 
 ## Клевер 4

docs/ru/programming.md

@@ -32,17 +32,9 @@
 
 ## Автономный полет {#flight}
 
-> **Info** Для изучения языка программирования Python вы можете обратиться к [самоучителю](https://pythonworld.ru/samouchitel-python).
+> **Info** Для изучения языка программирования Python обращайтесь к [самоучителю](https://pythonworld.ru/samouchitel-python).
 
-После настройки системы позиционирования становится возможным написание скриптов для автономных полетов. Для выполнения скриптов [подключитесь в Raspberry Pi по SSH](ssh.md).
-
-Перед первым полетом рекомендуется проверить конфигурацию Клевера при помощи [утилиты selfcheck.py](selfcheck.md):
-
-```bash
-rosrun clover selfcheck.py
-```
-
-Для того, чтобы запустить Python-скрипт, используйте команду `python`:
+После настройки системы позиционирования становится возможным написание скриптов для автономных полетов. Для выполнения скриптов [подключитесь в Raspberry Pi по SSH](ssh.md). Для того, чтобы запустить Python-скрипт, используйте команду `python`:
 
 ```bash
 python flight.py

docs/ru/snippets.md

@@ -377,28 +377,3 @@ calibrate_gyro()
 ```
 
 > **Note** В процессе калибровки гироскопов дрон нельзя двигать.
-
-<!-- markdownlint-disable MD044 -->
-
-### # {#aruco-detect-enabled}
-
-<!-- markdownlint-enable MD044 -->
-
-Динамически включать и отключать [распознавание ArUco-маркеров](aruco_marker.md) (например, для экономии ресурсов процессора):
-
-```python
-import rospy
-import dynamic_reconfigure.client
-
-# ...
-
-client = dynamic_reconfigure.client.Client('aruco_detect')
-
-# Turn markers recognition off
-client.update_configuration({'enabled': False})
-
-rospy.sleep(5)
-
-# Turn markers recognition on
-client.update_configuration({'enabled': True})
-```

redirects.json

@@ -49,8 +49,7 @@
 
         { "from": "modes/", "to": "ru/modes.html" },
         { "from": "firmware/", "to": "en/firmware.html" },
-        { "from": "simple_offboard/", "to": "en/simple_offboard.html" },
-        { "from": "offboard/", "to": "en/simple_offboard.html" },
+        { "from": "simple_offboard/", "to": "ru/simple_offboard.html" },
         { "from": "camera/", "to": "ru/camera.html" },
         { "from": "snippets/", "to": "ru/snippets.html" },
         { "from": "optical_flow/", "to": "ru/optical_flow.html" },
@@ -62,7 +61,6 @@
         { "from": "camera_setup/", "to": "en/camera_setup.html" },
         { "from": "power/", "to": "en/power.html" },
         { "from": "connection/", "to": "en/connection.html" },
-        { "from": "clover_vm/", "to": "en/simulation_vm.html" },
 
         { "from": "ru/microsd_images.html", "to": "image.html" },
         { "from": "en/microsd_images.html", "to": "image.html" }

roswww_static/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>roswww_static</name>
-  <version>0.21.2</version>
+  <version>0.21.1</version>
   <description>Static web pages for ROS packages</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>