Redesign web part a bit

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>

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

@@ -11,7 +11,7 @@
     <arg name="rangefinder_vl53l1x" default="true"/>
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
-    <arg name="rc" default="true"/>
+    <arg name="rc" default="false"/>
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 

clover/launch/mavros.launch

@@ -7,7 +7,8 @@
     <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')"/>
+    <arg name="prefix" default="" unless="$(eval fcu_conn == 'usb')"/>
+    <arg name="prefix" default="rosrun clover waitfile $(arg usb_device)" if="$(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">
         <!-- UART connection -->

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/src/optical_flow.cpp

@@ -206,7 +206,7 @@ private:
 				} catch (const tf2::TransformException& e) {
 					// Invalidate previous frame
 					prev_.release();
-					return;
+					goto publish_debug;
 				}
 			}
 
@@ -218,6 +218,10 @@ private:
 			flow_.quality = (uint8_t)(response * 255);
 			flow_pub_.publish(flow_);
 
+			prev_ = curr_.clone();
+			prev_stamp_ = msg->header.stamp;
+
+publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
 				// publish debug image
@@ -234,12 +238,9 @@ private:
 			static geometry_msgs::TwistStamped velo;
 			velo.header.stamp = msg->header.stamp;
 			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_.integrated_x / integration_time.toSec();
-			velo.twist.angular.y = flow_.integrated_y / integration_time.toSec();
+			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
+			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
 			velo_pub_.publish(velo);
-
-			prev_ = curr_.clone();
-			prev_stamp_ = msg->header.stamp;
 		}
 	}
 

clover/src/waitfile

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+
+# $ ./waitfile <file> <command> <args...> 
+# wait until <file> appears and then invoke <command> with <args>
+
+echo "wait for file $1"
+while [ ! -e "$1" ]; do sleep 1; done;
+echo "file $1 appeared"
+"${@:2}"

clover/www/clover.err

@@ -0,0 +1 @@
+/tmp/clover.err

clover/www/index.html

@@ -1,17 +1,25 @@
+<style>
+	body { font-family: sans-serif; }
+	main { max-width: 600px; margin: 50px auto; }
+</style>
+
 <title>Clover Drone Kit Tools</title>
 
-<h1>Clover Drone Kit Tools</h1>
+<main>
+	<h1>Clover Drone Kit Tools</h1>
 
-<ul>
-	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
-	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
-	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
-	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
-	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
-	<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
-</ul>
+	<ul>
+		<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
+		<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
+		<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
+		<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
+		<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
+		<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
+		<li><a href="clover.err">Clover console</a> (<code>/tmp/clover.err</code>)</li>
+	</ul>
 
-<div class="version"></div>
+	<div class="version"></div>
+</main>
 
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
@@ -21,7 +29,7 @@
 	fetch('clover_version').then(function(response) {
 		if (response.status !== 200) return;
 		response.text().then(function(text) {
-			document.querySelector('.version').innerHTML = 'Version: ' + text;
+			document.querySelector('.version').innerHTML = 'Version: <code>' + text + '</code>';
 		});
 	});
 </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_blocks/src/clover_blocks

@@ -11,7 +11,8 @@
 from __future__ import print_function
 
 import rospy
-import os
+import os, sys
+import traceback
 import threading
 import re
 import uuid
@@ -116,7 +117,12 @@ def run(req):
                 rospy.loginfo('Program forced to stop')
             except Exception as e:
                 rospy.logerr(str(e))
-                error_pub.publish(str(e))
+                traceback.print_exc()
+                etype, value, tb = sys.exc_info()
+                fmt = traceback.format_exception(etype, value, tb)
+                fmt.pop(1) # remove 'clover_blocks' file frame
+                exc_info = ''.join(fmt)
+                error_pub.publish(str(e) + '\n\n' + exc_info)
 
             rospy.loginfo('Program terminated')
             running_lock.release()

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/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>

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>