Add some simple_offboard tests for testing with SITL

* Rework assigning hostname and service files

* docs: small fix in hostname article

* Correct path to setup.bash in clever.service

* docs: correct ip in hostname article

* init_rpi: put normal and .local hostname on one line in hosts

* docs: add English version of hostname article

* clever.service: use sh instead of bash

* docs: Spellcheck english version, add note about hostname vs SSID

* clever.service: return roscore requirement back

.markdownlint.json

@@ -13,17 +13,32 @@
     "MD040": false,
     "MD044": {
         "names": [
+            "COEX",
+            "Copter Express",
+            "Коптер Экспресс",
+            "Клевер",
             "MAVLink",
             "ROS",
             "ROS Kinetic",
             "OpenCV",
+            "Gazebo",
             "GitHub",
             "FPV",
             "PPM",
             "PWM",
             "Python",
             "C++",
+            "JavaScript",
+            "Node.js",
+            "Django",
+            "Flask",
+            "HTTP",
+            "HTTPS",
+            "WebSocket",
+            "RPC",
             "PX4",
+            "ArduPilot",
+            "jMAVSim",
             "px4.io",
             "logs.px4.io",
             "QGroundControl",
@@ -31,16 +46,23 @@
             "WireShark",
             "FlightPlot",
             "OFFBOARD",
+            "ACRO",
+            "RPY",
             "LPE",
             "EKF2",
+            "IMU",
+            "VPE",
             "SITL",
             "PID",
             "Wi-Fi",
             "Raspberry Pi",
             "RPi",
             "Linux",
+            "GNU",
+            "GNU/Linux",
             "Windows",
             "Docker",
+            "RFC",
             "Travis",
             "travis-ci.org",
             "travis-ci.com",
@@ -51,6 +73,7 @@
             "Raspbian",
             "Raspbian Jesse",
             "Raspbian Stretch",
+            "Raspbian Buster",
             "Pixhawk",
             "Pixracer",
             "Arduino",
@@ -59,12 +82,19 @@
             "LIRC",
             "GPIO",
             "HC-SR04",
+            "RCW-0001",
+            "RealSense",
+            "NUC",
+            "NVIDIA",
+            "Jetson",
+            "Jetson Nano",
             "STM",
             "LED",
             "USB",
             "FAT32",
             "uORB",
             "SSH",
+            "PuTTY",
             "API",
             "UART",
             "GND",

.travis.yml

@@ -62,6 +62,7 @@ jobs:
         - markdownlint -V
       script:
         - markdownlint docs
+        - ./check_files_size.py
         - gitbook install
         - gitbook build
       deploy:
@@ -84,6 +85,14 @@ jobs:
         - pip install GitPython PyGithub
       script:
         - PYTHONUNBUFFERED=1 python ./gen_changelog.py
+    - stage: Build
+      name: Editorconfig-lint
+      language: generic
+      before_script:
+        - wget https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
+        - chmod +x ec-linux-amd64
+      script:
+        - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt"
 stages:
   - Build
   - Annotate

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 +30,70 @@ 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
+```
+
+You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
+
+```bash
+cd ~/catkin_ws/src/clever/clever/config
+sudo cp 99-px4fmu.rules /lib/udev/rules.d
+```
+
+Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.
+
+## 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
+roslaunch clever sitl.launch
-sudo systemctl start clever
 ```
 
-### Dependencies
+To start connection to the flight controller, use:
 
-[ROS Kinetic](http://wiki.ros.org/kinetic).
+```bash
+roslaunch clever clever.launch
+```
 
-Necessary ROS packages:
+> Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.
 
-* `opencv3`
+Also, you can enable and start the systemd service:
-* `mavros`
+
-* `rosbridge_suite`
+```bash
-* `web_video_server`
+sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/clever.service
-* `cv_camera`
+sudo systemctl start clever
-* `nodelet`
+```
-* `dynamic_reconfigure`
-* `bondcpp`, branch `master`
-* `roslint`
-* `rosserial`

apps/android/app/src/main/assets/main.js

@@ -23,19 +23,18 @@ function throttle(func, ms) {
 }
 
 function postAppMessage(msg) {
-    if (window.webkit != undefined) {
+	if (window.webkit != undefined) {
-        if (window.webkit.messageHandlers.appInterface != undefined) {
+		if (window.webkit.messageHandlers.appInterface != undefined) {
-            window.webkit.messageHandlers.appInterface.postMessage(JSON.stringify(msg));
+			window.webkit.messageHandlers.appInterface.postMessage(JSON.stringify(msg));
-        }
+		}
-    }
+	} else if (window.appInterface != undefined) {
-    else if (window.appInterface != undefined) {
+		window.appInterface.postMessage(JSON.stringify(msg));
-        window.appInterface.postMessage(JSON.stringify(msg));
+	}
-    }
 }
 
 function callNativeApp(name, msg) {
 	try {
-        postAppMessage(msg);
+		postAppMessage(msg);
 		return true;
 	} catch(err) {
 		console.warn('The native context does not exist yet');
@@ -109,12 +108,12 @@ function stickTouchStart(e) {
 
 function stickTouchMove(e) {
 	for (touch of e.changedTouches) {
-            onStickTouchMove(touch);
+		onStickTouchMove(touch);
-        }
+	}
-    	//onStickTouchMove(e.changedTouches[0]);
+	//onStickTouchMove(e.changedTouches[0]);
-    	rcPublishThrottled();
+	rcPublishThrottled();
-    	e.stopPropagation();
+	e.stopPropagation();
-    	e.preventDefault();
+	e.preventDefault();
 }
 
 function stickTouchEnd(e) {
@@ -136,4 +135,4 @@ stickRight.addEventListener('touchmove', stickTouchMove);
 stickLeft.addEventListener('touchstart', stickTouchStart);
 stickRight.addEventListener('touchstart', stickTouchStart);
 stickLeft.addEventListener('touchend', stickTouchEnd);
-stickRight.addEventListener('touchend', stickTouchEnd);
+stickRight.addEventListener('touchend', stickTouchEnd);

aruco_pose/CMakeLists.txt

@@ -173,7 +173,7 @@ target_link_libraries(aruco_pose
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
 ## Mark executable scripts (Python etc.) for installation
- ## in contrast to setup.py, you can choose the destination
+## in contrast to setup.py, you can choose the destination
 # install(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -219,4 +219,5 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_parser_pass.test)
   add_rostest(test/test_parser_empty_map.test)
   add_rostest(test/test_node_failure.test)
+  add_rostest(test/largemap.test)
 endif()

aruco_pose/README.md

@@ -110,7 +110,7 @@ See examples in [`map`](map/) directory.
 Command for running tests:
 
 ```bash
-rostest aruco_pose basic.test
+catkin_make run_tests && catkin_test_results
 ```
 
 ## Copyright

aruco_pose/package.xml

@@ -30,6 +30,7 @@
   <depend>rostest</depend>
 
   <test_depend>image_publisher</test_depend>
+  <test_depend>ros_pytest</test_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

aruco_pose/src/aruco_detect.cpp

@@ -185,9 +185,13 @@ private:
 					// TODO: check IDs are unique
 					if (send_tf_) {
 						transform.child_frame_id = getChildFrameId(ids[i]);
-						transform.transform.rotation = marker.pose.orientation;
+
-						fillTranslation(transform.transform.translation, tvecs[i]);
+						// check if such static transform exists
-						br_.sendTransform(transform);
+						if (!tf_buffer_.canTransform(transform.header.frame_id, transform.child_frame_id, transform.header.stamp)) {
+							transform.transform.rotation = marker.pose.orientation;
+							fillTranslation(transform.transform.translation, tvecs[i]);
+							br_.sendTransform(transform);
+						}
 					}
 				}
 				array_.markers.push_back(marker);

aruco_pose/src/aruco_map.cpp

@@ -18,6 +18,7 @@
 #include <string>
 #include <vector>
 #include <fstream>
+#include <algorithm>
 #include <ros/ros.h>
 #include <nodelet/nodelet.h>
 #include <pluginlib/class_list_macros.h>
@@ -27,6 +28,7 @@
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
@@ -36,7 +38,6 @@
 #include <sensor_msgs/Image.h>
 #include <visualization_msgs/Marker.h>
 #include <visualization_msgs/MarkerArray.h>
-#include <algorithm>
 
 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/Marker.h>
@@ -68,13 +69,15 @@ private:
 	Mat camera_matrix_, dist_coeffs_;
 	geometry_msgs::TransformStamped transform_;
 	geometry_msgs::PoseWithCovarianceStamped pose_;
+	vector<geometry_msgs::TransformStamped> markers_transforms_;
 	tf2_ros::TransformBroadcaster br_;
+	tf2_ros::StaticTransformBroadcaster static_br_;
 	tf2_ros::Buffer tf_buffer_;
 	tf2_ros::TransformListener tf_listener_{tf_buffer_};
 	visualization_msgs::MarkerArray vis_array_;
-	std::string known_tilt_;
+	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool auto_flip_;
+	bool auto_flip_, image_axis_;
 
 public:
 	virtual void onInit()
@@ -101,6 +104,9 @@ public:
 		nh_priv_.param("image_width", image_width_, 2000);
 		nh_priv_.param("image_height", image_height_, 2000);
 		nh_priv_.param("image_margin", image_margin_, 200);
+		nh_priv_.param("image_axis", image_axis_, true);
+		nh_priv_.param<std::string>("markers/frame_id", markers_parent_frame_, transform_.child_frame_id);
+		nh_priv_.param<std::string>("markers/child_frame_id_prefix", markers_frame_, "");
 
 		// createStripLine();
 
@@ -125,6 +131,7 @@ public:
 		sync_.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(10), image_sub_, info_sub_, markers_sub_));
 		sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));
 
+		publishMarkersFrames();
 		publishMapImage();
 		vis_markers_pub_.publish(vis_array_);
 
@@ -422,6 +429,15 @@ publish_debug:
 		board_->ids.push_back(id);
 		board_->objPoints.push_back(obj_points);
 
+		// Add marker's static transform
+		if (!markers_frame_.empty()) {
+			geometry_msgs::TransformStamped marker_transform;
+			marker_transform.header.frame_id = markers_parent_frame_;
+			marker_transform.child_frame_id = markers_frame_ + std::to_string(id);
+			tf::transformTFToMsg(transform, marker_transform.transform);
+			markers_transforms_.push_back(marker_transform);
+		}
+
 		// Add visualization marker
 		visualization_msgs::Marker marker;
 		marker.header.frame_id = transform_.child_frame_id;
@@ -452,6 +468,13 @@ publish_debug:
 		// vis_array_.markers.at(0).points.push_back(p);
 	}
 
+	void publishMarkersFrames()
+	{
+		if (!markers_transforms_.empty()) {
+			static_br_.sendTransform(markers_transforms_);
+		}
+	}
+
 	void publishMapImage()
 	{
 		cv::Size size(image_width_, image_height_);
@@ -459,14 +482,15 @@ publish_debug:
 		cv_bridge::CvImage msg;
 
 		if (!board_->ids.empty()) {
-			_drawPlanarBoard(board_, size, image, image_margin_, 1);
+			_drawPlanarBoard(board_, size, image, image_margin_, 1, image_axis_);
+			msg.encoding = image_axis_ ? sensor_msgs::image_encodings::RGB8 : sensor_msgs::image_encodings::MONO8;
 		} else {
 			// empty map
 			image.create(size, CV_8UC1);
 			image.setTo(cv::Scalar::all(255));
+			msg.encoding = sensor_msgs::image_encodings::MONO8;
 		}
 
-		msg.encoding = sensor_msgs::image_encodings::MONO8;
 		msg.image = image;
 		img_pub_.publish(msg.toImageMsg());
 	}

aruco_pose/src/draw.cpp

@@ -23,12 +23,12 @@ static void _projectPoints( InputArray objectPoints,
 
 
 void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
-                      int borderBits) {
+                      int borderBits, bool drawAxis) {
 
 	CV_Assert(outSize.area() > 0);
 	CV_Assert(marginSize >= 0);
 
-	_img.create(outSize, CV_8UC1);
+	_img.create(outSize, drawAxis ? CV_8UC3 : CV_8UC1);
 	Mat out = _img.getMat();
 	out.setTo(Scalar::all(255));
 	out.adjustROI(-marginSize, -marginSize, -marginSize, -marginSize);
@@ -87,8 +87,12 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
 		// dst_sz.width = dst_sz.height = std::min(dst_sz.width, dst_sz.height); //marker should be square
 		double diag = std::round(std::hypot(dst_sz.width, dst_sz.height));
 		int side = std::round(diag / std::sqrt(2));
+		side = std::max(side, 10);
 
 		dictionary.drawMarker(_board->ids[m], side, marker, borderBits);
+		if (drawAxis) {
+			cvtColor(marker, marker, COLOR_GRAY2RGB);
+		}
 
 		// interpolate tiny marker to marker position in markerZone
 		inCorners[0] = Point2f(-0.5f, -0.5f);
@@ -100,74 +104,81 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
 		warpAffine(marker, out, transformation, out.size(), INTER_LINEAR,
 						BORDER_TRANSPARENT);
 	}
+
+	// draw axis
+	if (drawAxis) {
+		Size wholeSize; Point ofs;
+		out.locateROI(wholeSize, ofs);
+		auto out_copy = _img.getMat();
+
+		cv::Point center(ofs.x - minX / sizeX * float(out.cols), ofs.y + out.rows + minY / sizeY * float(out.rows));
+		line(out_copy, center, center + Point(300, 0), Scalar(255, 0, 0), 10); // x axis
+		line(out_copy, center, center + Point(0, -300), Scalar(0, 255, 0), 10); // y axis
+		line(out_copy, center, center + Point(-200, 200), Scalar(0, 0, 255), 10); // z axis
+	}
 }
 
 /* Draw a (potentially partially visible) line. */
 static void linePartial(InputOutputArray image, Point3f p1, Point3f p2, const Scalar& color,
-        int thickness = 1, int lineType = LINE_8, int shift = 0)
+                        int thickness = 1, int lineType = LINE_8, int shift = 0)
 {
-    // If both points are behind the screen, don't draw anything
+	// If both points are behind the screen, don't draw anything
-    if (p1.z <= 0 && p2.z <= 0)
+	if (p1.z <= 0 && p2.z <= 0) {
-    {
+		return;
-        return;
+	}
-    }
+	Point2f p1p{p1.x, p1.y};
-    Point2f p1p{p1.x, p1.y};
+	Point2f p2p{p2.x, p2.y};
-    Point2f p2p{p2.x, p2.y};
+	// If points are on the different sides of the plane, compute intersection point
-    // If points are on the different sides of the plane, compute intersection point
+	if (p1.z * p2.z < 0) {
-    if (p1.z * p2.z < 0)
+		// Compute intersection point with the screen
-    {
+		// We denote alpha as such:
-        // Compute intersection point with the screen
+		// xi = (1 - alpha) * x1 + alpha * x2
-        // We denote alpha as such:
+		// yi = (1 - alpha) * y1 + alpha * y2
-        // xi = (1 - alpha) * x1 + alpha * x2
+		// zi = (1 - alpha) * z1 + alpha * z2 = 0
-        // yi = (1 - alpha) * y1 + alpha * y2
+		// Thus, alpha can be expressed as
-        // zi = (1 - alpha) * z1 + alpha * z2 = 0
+		// alpha = z1 / (z1 - z2)
-        // Thus, alpha can be expressed as
+		float alpha = p1.z / (p1.z - p2.z);
-        // alpha = z1 / (z1 - z2)
+		Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
-        float alpha = p1.z / (p1.z - p2.z);
+		// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
-        Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
+		if (p1.z < 0) {
-        // Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
+			p1p = pi;
-        if (p1.z < 0)
+		} else {
-        {
+			p2p = pi;
-            p1p = pi;
+		}
-        }
+	}
-        else
+	line(image, p1p, p2p, color, thickness, lineType, shift);
-        {
-            p2p = pi;
-        }
-    }
-    line(image, p1p, p2p, color, thickness, lineType, shift);
 }
 
 void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
               InputArray _rvec, InputArray _tvec, float length) {
 
-    CV_Assert(_image.getMat().total() != 0 &&
+	CV_Assert(_image.getMat().total() != 0 &&
-              (_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
+			  (_image.getMat().channels() == 1 || _image.getMat().channels() == 3));
-    CV_Assert(length > 0);
+	CV_Assert(length > 0);
 
-    // project axis points
+	// project axis points
-    std::vector< Point3f > axisPoints;
+	std::vector<Point3f> axisPoints;
-    axisPoints.push_back(Point3f(0, 0, 0));
+	axisPoints.push_back(Point3f(0, 0, 0));
-    axisPoints.push_back(Point3f(length, 0, 0));
+	axisPoints.push_back(Point3f(length, 0, 0));
-    axisPoints.push_back(Point3f(0, length, 0));
+	axisPoints.push_back(Point3f(0, length, 0));
-    axisPoints.push_back(Point3f(0, 0, length));
+	axisPoints.push_back(Point3f(0, 0, length));
-    std::vector< Point3f > imagePointsZ;
+	std::vector<Point3f> imagePointsZ;
-    _projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
+	_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
 
-    // draw axis lines
+	// draw axis lines
-    linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
+	linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
-    linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
+	linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
-    linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
+	linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
 }
 
 static CvMat _cvMat(const cv::Mat& m)
 {
-    CvMat self;
+	CvMat self;
-    CV_DbgAssert(m.dims <= 2);
+	CV_DbgAssert(m.dims <= 2);
-    self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
+	self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
-    self.step = (int)m.step[0];
+	self.step = (int)m.step[0];
-    self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
+	self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
-    return self;
+	return self;
 }
 
 static void _projectPoints( InputArray _opoints,
@@ -179,47 +190,47 @@ static void _projectPoints( InputArray _opoints,
                         OutputArray _jacobian,
                         double aspectRatio )
 {
-    Mat opoints = _opoints.getMat();
+	Mat opoints = _opoints.getMat();
-    int npoints = opoints.checkVector(3), depth = opoints.depth();
+	int npoints = opoints.checkVector(3), depth = opoints.depth();
-    CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
+	CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
 
-    CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
+	CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
-    CvMat *pdpdrot=0, *pdpdt=0, *pdpdf=0, *pdpdc=0, *pdpddist=0;
+	CvMat *pdpdrot = 0, *pdpdt = 0, *pdpdf = 0, *pdpdc = 0, *pdpddist = 0;
 
-    CV_Assert( _ipoints.needed() );
+	CV_Assert(_ipoints.needed());
 
-    _ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
+	_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
-    Mat imagePoints = _ipoints.getMat();
+	Mat imagePoints = _ipoints.getMat();
-    CvMat c_imagePoints = _cvMat(imagePoints);
+	CvMat c_imagePoints = _cvMat(imagePoints);
-    CvMat c_objectPoints = _cvMat(opoints);
+	CvMat c_objectPoints = _cvMat(opoints);
-    Mat cameraMatrix = _cameraMatrix.getMat();
+	Mat cameraMatrix = _cameraMatrix.getMat();
 
-    Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
+	Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
-    CvMat c_cameraMatrix = _cvMat(cameraMatrix);
+	CvMat c_cameraMatrix = _cvMat(cameraMatrix);
-    CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
+	CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
 
-    double dc0buf[5]={0};
+	double dc0buf[5] = {0};
-    Mat dc0(5,1,CV_64F,dc0buf);
+	Mat dc0(5, 1, CV_64F, dc0buf);
-    Mat distCoeffs = _distCoeffs.getMat();
+	Mat distCoeffs = _distCoeffs.getMat();
-    if( distCoeffs.empty() )
+	if (distCoeffs.empty())
-        distCoeffs = dc0;
+		distCoeffs = dc0;
-    CvMat c_distCoeffs = _cvMat(distCoeffs);
+	CvMat c_distCoeffs = _cvMat(distCoeffs);
-    int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
+	int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
 
-    Mat jacobian;
+	Mat jacobian;
-    if( _jacobian.needed() )
+	if (_jacobian.needed())
-    {
+	{
-        _jacobian.create(npoints*2, 3+3+2+2+ndistCoeffs, CV_64F);
+		_jacobian.create(npoints * 2, 3 + 3 + 2 + 2 + ndistCoeffs, CV_64F);
-        jacobian = _jacobian.getMat();
+		jacobian = _jacobian.getMat();
-        pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
+		pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
-        pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
+		pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
-        pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
+		pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
-        pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
+		pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
-        pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10+ndistCoeffs)));
+		pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10 + ndistCoeffs)));
-    }
+	}
 
-    _cvProjectPoints2( &c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
+	_cvProjectPoints2(&c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
-                      &c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio );
+					  &c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio);
 }
 
 namespace _detail

aruco_pose/src/draw.h

@@ -3,6 +3,7 @@
 #include <opencv2/opencv.hpp>
 #include <opencv2/aruco.hpp>
 
-void _drawPlanarBoard(cv::aruco::Board *_board, cv::Size outSize, cv::OutputArray _img, int marginSize, int borderBits);
+void _drawPlanarBoard(cv::aruco::Board *_board, cv::Size outSize, cv::OutputArray _img,
+                      int marginSize, int borderBits, bool drawAxis); // editorconfig-checker-disable-line
 void _drawAxis(cv::InputOutputArray image, cv::InputArray cameraMatrix, cv::InputArray distCoeffs,
-              cv::InputArray rvec, cv::InputArray tvec, float length);
+               cv::InputArray rvec, cv::InputArray tvec, float length); // editorconfig-checker-disable-line

aruco_pose/src/utils.h

@@ -30,8 +30,7 @@ static void param(ros::NodeHandle nh, const std::string& param_name, T& param_va
 	}
 }
 
-static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo,
+static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo, cv::Mat& matrix, cv::Mat& dist)
-                     cv::Mat& matrix, cv::Mat& dist)
 {
 	for (unsigned int i = 0; i < 3; ++i)
 		for (unsigned int j = 0; j < 3; ++j)

aruco_pose/test/basic.py

@@ -1,101 +1,149 @@
-#!/usr/bin/env python
-import sys
-import unittest
-import json
 import rospy
-import rostest
+import pytest
 
+import tf2_ros
+import tf2_geometry_msgs
 from geometry_msgs.msg import PoseWithCovarianceStamped
 from sensor_msgs.msg import Image
 from aruco_pose.msg import MarkerArray
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
 
 
-class TestArucoPose(unittest.TestCase):
+@pytest.fixture
-    def setUp(self):
+def node():
-        rospy.init_node('test_aruco_detect', anonymous=True)
+    return rospy.init_node('aruco_pose_test', anonymous=True)
 
-    def test_markers(self):
+@pytest.fixture
-        markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=5)
+def tf_buffer():
-        self.assertEqual(len(markers.markers), 4)
+    buf = tf2_ros.Buffer()
-        self.assertEqual(markers.header.frame_id, 'main_camera_optical')
+    tf2_ros.TransformListener(buf)
+    return buf
 
-        self.assertEqual(markers.markers[0].id, 2)
+def approx(expected):
-        self.assertAlmostEqual(markers.markers[0].length, 0.33, places=4)
+    return pytest.approx(expected, abs=1e-4) # compare floats more roughly
-        self.assertAlmostEqual(markers.markers[0].pose.position.x, 0.36706567854, places=4)
-        self.assertAlmostEqual(markers.markers[0].pose.position.y, 0.290484516644, places=4)
-        self.assertAlmostEqual(markers.markers[0].pose.position.z, 2.18787602301, places=4)
-        self.assertAlmostEqual(markers.markers[0].pose.orientation.x, 0.993997406299, places=4)
-        self.assertAlmostEqual(markers.markers[0].pose.orientation.y, -0.00532003481626, places=4)
-        self.assertAlmostEqual(markers.markers[0].pose.orientation.z, -0.107390951553, places=4)
-        self.assertAlmostEqual(markers.markers[0].pose.orientation.w, 0.0201999263402, places=4)
-        self.assertAlmostEqual(markers.markers[0].c1.x, 415.557739258, places=4)
-        self.assertAlmostEqual(markers.markers[0].c1.y, 335.557739258, places=4)
-        self.assertAlmostEqual(markers.markers[0].c2.x, 509.442260742, places=4)
-        self.assertAlmostEqual(markers.markers[0].c2.y, 335.557739258, places=4)
-        self.assertAlmostEqual(markers.markers[0].c3.x, 509.442260742, places=4)
-        self.assertAlmostEqual(markers.markers[0].c3.y, 429.442260742, places=4)
-        self.assertAlmostEqual(markers.markers[0].c4.x, 415.557739258, places=4)
-        self.assertAlmostEqual(markers.markers[0].c4.y, 429.442260742, places=4)
 
-        self.assertEqual(markers.markers[3].id, 3)
+def test_markers(node):
-        self.assertAlmostEqual(markers.markers[3].length, 0.1, places=4)
+    markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=5)
-        self.assertAlmostEqual(markers.markers[3].pose.position.x, -0.1805169666, places=4)
+    assert len(markers.markers) == 5
-        self.assertAlmostEqual(markers.markers[3].pose.position.y, -0.200697302327, places=4)
+    assert markers.header.frame_id == 'main_camera_optical'
-        self.assertAlmostEqual(markers.markers[3].pose.position.z, 0.585767514823, places=4)
-        self.assertAlmostEqual(markers.markers[3].pose.orientation.x, -0.961738074009, places=4)
-        self.assertAlmostEqual(markers.markers[3].pose.orientation.y, -0.0375180244707, places=4)
-        self.assertAlmostEqual(markers.markers[3].pose.orientation.z, -0.0115387773672, places=4)
-        self.assertAlmostEqual(markers.markers[3].pose.orientation.w, 0.271144115664, places=4)
-        self.assertAlmostEqual(markers.markers[3].c1.x, 129.557723999, places=4)
-        self.assertAlmostEqual(markers.markers[3].c1.y, 49.557723999, places=4)
-        self.assertAlmostEqual(markers.markers[3].c2.x, 223.442276001, places=4)
-        self.assertAlmostEqual(markers.markers[3].c2.y, 49.557723999, places=4)
-        self.assertAlmostEqual(markers.markers[3].c3.x, 223.442276001, places=4)
-        self.assertAlmostEqual(markers.markers[3].c3.y, 143.442276001, places=4)
-        self.assertAlmostEqual(markers.markers[3].c4.x, 129.557723999, places=4)
-        self.assertAlmostEqual(markers.markers[3].c4.y, 143.442276001, places=4)
 
-        self.assertEqual(markers.markers[1].id, 1)
+    assert markers.markers[0].id == 2
-        self.assertAlmostEqual(markers.markers[1].length, 0.33, places=4)
+    assert markers.markers[0].length == approx(0.33)
-        self.assertEqual(markers.markers[2].id, 4)
+    assert markers.markers[0].pose.position.x == approx(0.36706567854)
-        self.assertAlmostEqual(markers.markers[2].length, 0.33, places=4)
+    assert markers.markers[0].pose.position.y == approx(0.290484516644)
+    assert markers.markers[0].pose.position.z == approx(2.18787602301)
+    assert markers.markers[0].pose.orientation.x == approx(0.993997406299)
+    assert markers.markers[0].pose.orientation.y == approx(-0.00532003481626)
+    assert markers.markers[0].pose.orientation.z == approx(-0.107390951553)
+    assert markers.markers[0].pose.orientation.w == approx(0.0201999263402)
+    assert markers.markers[0].c1.x == approx(415.557739258)
+    assert markers.markers[0].c1.y == approx(335.557739258)
+    assert markers.markers[0].c2.x == approx(509.442260742)
+    assert markers.markers[0].c2.y == approx(335.557739258)
+    assert markers.markers[0].c3.x == approx(509.442260742)
+    assert markers.markers[0].c3.y == approx(429.442260742)
+    assert markers.markers[0].c4.x == approx(415.557739258)
+    assert markers.markers[0].c4.y == approx(429.442260742)
 
-    def test_visualization(self):
+    assert markers.markers[4].id == 3
-        vis = rospy.wait_for_message('aruco_detect/visualization', VisMarkerArray, timeout=5)
+    assert markers.markers[4].length == approx(0.1)
-        self.assertEqual(len(vis.markers), 9)
+    assert markers.markers[4].pose.position.x == approx(-0.1805169666)
+    assert markers.markers[4].pose.position.y == approx(-0.200697302327)
+    assert markers.markers[4].pose.position.z == approx(0.585767514823)
+    assert markers.markers[4].pose.orientation.x == approx(-0.961738074009)
+    assert markers.markers[4].pose.orientation.y == approx(-0.0375180244707)
+    assert markers.markers[4].pose.orientation.z == approx(-0.0115387773672)
+    assert markers.markers[4].pose.orientation.w == approx(0.271144115664)
+    assert markers.markers[4].c1.x == approx(129.557723999)
+    assert markers.markers[4].c1.y == approx(49.557723999)
+    assert markers.markers[4].c2.x == approx(223.442276001)
+    assert markers.markers[4].c2.y == approx(49.557723999)
+    assert markers.markers[4].c3.x == approx(223.442276001)
+    assert markers.markers[4].c3.y == approx(143.442276001)
+    assert markers.markers[4].c4.x == approx(129.557723999)
+    assert markers.markers[4].c4.y == approx(143.442276001)
 
-    def test_debug(self):
+    assert markers.markers[1].id == 1
-        img = rospy.wait_for_message('aruco_detect/debug', Image, timeout=5)
+    assert markers.markers[1].length == approx(0.33)
-        self.assertEqual(img.width, 640)
+    assert markers.markers[3].id == 4
-        self.assertEqual(img.height, 480)
+    assert markers.markers[3].length == approx(0.33)
-        self.assertEqual(img.header.frame_id, 'main_camera_optical')
 
-    def test_map(self):
+    assert markers.markers[2].id == 100
-        pose = rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=5)
+    assert markers.markers[2].length == approx(0.33)
-        self.assertEqual(pose.header.frame_id, 'main_camera_optical')
+    assert markers.markers[2].pose.position.x == approx(-1.37600105389)
-        self.assertAlmostEqual(pose.pose.pose.position.x, -0.629167753342, places=4)
+    assert markers.markers[2].pose.position.y == approx(-0.323028530991)
-        self.assertAlmostEqual(pose.pose.pose.position.y, 0.293822650809, places=4)
+    assert markers.markers[2].pose.position.z == approx(2.94611272668)
-        self.assertAlmostEqual(pose.pose.pose.position.z, 2.12641343155, places=4)
+    assert markers.markers[2].pose.orientation.x == approx(-0.955543925678)
-        self.assertAlmostEqual(pose.pose.pose.orientation.x, -0.998383794799, places=4)
+    assert markers.markers[2].pose.orientation.y == approx(0.0458801909197)
-        self.assertAlmostEqual(pose.pose.pose.orientation.y, -5.20919098575e-06, places=4)
+    assert markers.markers[2].pose.orientation.z == approx(-0.249604946264)
-        self.assertAlmostEqual(pose.pose.pose.orientation.z, -0.0300861070302, places=4)
+    assert markers.markers[2].pose.orientation.w == approx(-0.150093920537)
-        self.assertAlmostEqual(pose.pose.pose.orientation.w, 0.0482143590507, places=4)
+    assert markers.markers[2].c1.x == approx(52.557723999)
+    assert markers.markers[2].c1.y == approx(205.557723999)
+    assert markers.markers[2].c2.x == approx(113.442276001)
+    assert markers.markers[2].c2.y == approx(205.557723999)
+    assert markers.markers[2].c3.x == approx(113.442276001)
+    assert markers.markers[2].c3.y == approx(265.442260742)
+    assert markers.markers[2].c4.x == approx(52.557723999)
+    assert markers.markers[2].c4.y == approx(265.442260742)
 
-    def test_map_image(self):
+def test_markers_frames(node, tf_buffer):
-        img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
+    marker_2 = tf_buffer.lookup_transform('main_camera_optical', 'aruco_2', rospy.Time(), rospy.Duration(5))
-        self.assertEqual(img.width, 2000)
+    assert marker_2.transform.translation.x == approx(0.36706567854)
-        self.assertEqual(img.height, 2000)
+    assert marker_2.transform.translation.y == approx(0.290484516644)
-        self.assertEqual(img.encoding, 'mono8')
+    assert marker_2.transform.translation.z == approx(2.18787602301)
+    assert marker_2.transform.rotation.x == approx(0.993997406299)
+    assert marker_2.transform.rotation.y == approx(-0.00532003481626)
+    assert marker_2.transform.rotation.z == approx(-0.107390951553)
+    assert marker_2.transform.rotation.w == approx(0.0201999263402)
 
-    def test_map_visualization(self):
+def test_map_markers_frames(node, tf_buffer):
-        vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+    stamp = rospy.get_rostime()
+    timeout = rospy.Duration(5)
 
-    def test_map_debug(self):
+    marker_1 = tf_buffer.lookup_transform('aruco_map', 'aruco_in_map_1', stamp, timeout)
-        img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)
+    assert marker_1.transform.translation.x == approx(0)
+    assert marker_1.transform.translation.y == approx(0)
+    assert marker_1.transform.translation.z == approx(0)
 
-    # def test_transforms(self):
+    marker_4 = tf_buffer.lookup_transform('aruco_map', 'aruco_in_map_4', stamp, timeout)
-    #     pass
+    assert marker_4.transform.translation.x == approx(1)
+    assert marker_4.transform.translation.y == approx(1)
+    assert marker_4.transform.translation.z == approx(0)
 
+    marker_12 = tf_buffer.lookup_transform('aruco_map', 'aruco_in_map_12', stamp, timeout)
+    assert marker_12.transform.translation.x == approx(0.2)
+    assert marker_12.transform.translation.y == approx(0.5)
+    assert marker_12.transform.translation.z == approx(0)
 
-rostest.rosrun('aruco_pose', 'test_aruco_detect', TestArucoPose, sys.argv)
+def test_visualization(node):
+    vis = rospy.wait_for_message('aruco_detect/visualization', VisMarkerArray, timeout=5)
+    assert len(vis.markers) == 11
+
+def test_debug(node):
+    img = rospy.wait_for_message('aruco_detect/debug', Image, timeout=5)
+    assert img.width == 640
+    assert img.height == 480
+    assert img.header.frame_id == 'main_camera_optical'
+
+def test_map(node):
+    pose = rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=5)
+    assert pose.header.frame_id == 'main_camera_optical'
+    assert pose.pose.pose.position.x == approx(-0.629167753342)
+    assert pose.pose.pose.position.y == approx(0.293822650809)
+    assert pose.pose.pose.position.z == approx(2.12641343155)
+    assert pose.pose.pose.orientation.x == approx(-0.998383794799)
+    assert pose.pose.pose.orientation.y == approx(-5.20919098575e-06)
+    assert pose.pose.pose.orientation.z == approx(-0.0300861070302)
+    assert pose.pose.pose.orientation.w == approx(0.0482143590507)
+
+def test_map_image(node):
+    img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
+    assert img.width == 2000
+    assert img.height == 2000
+    assert img.encoding == 'mono8'
+
+def test_map_visualization(node):
+    vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+
+def test_map_debug(node):
+    img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)

aruco_pose/test/basic.test

@@ -5,23 +5,27 @@
         <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
     </node>
 
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
 
-    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager">
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager" required="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="length" value="0.33"/>
         <param name="length_override/3" value="0.1"/>
         <param name="estimate_poses" value="true"/>
+        <param name="send_tf" value="true"/>
     </node>
 
-    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true" required="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
         <param name="type" value="map"/>
         <param name="map" value="$(find aruco_pose)/test/basic.txt"/>
+        <param name="markers/frame_id" value="aruco_map"/>
+        <param name="markers/child_frame_id_prefix" value="aruco_in_map_"/>
     </node>
 
-    <test test-name="test_aruco_pose" pkg="aruco_pose" type="basic.py"/>
+    <param name="test_module" value="$(find aruco_pose)/test/basic.py"/>
+    <test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

aruco_pose/test/largemap.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python
+import sys
+import unittest
+import json
+import rospy
+import rostest
+
+from sensor_msgs.msg import Image
+from visualization_msgs.msg import MarkerArray as VisMarkerArray
+
+
+class TestArucoPose(unittest.TestCase):
+    def setUp(self):
+        rospy.init_node('test_aruco_largemap', anonymous=True)
+
+    def test_map_image(self):
+        img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
+        self.assertEqual(img.width, 2000)
+        self.assertEqual(img.height, 2000)
+        self.assertEqual(img.encoding, 'mono8')
+
+    def test_map_visualization(self):
+        vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+
+
+rostest.rosrun('aruco_pose', 'test_aruco_largemap', TestArucoPose, sys.argv)

aruco_pose/test/largemap.test

@@ -0,0 +1,13 @@
+<launch>
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
+
+    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true" required="true">
+        <remap from="image_raw" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="markers" to="aruco_detect/markers"/>
+        <param name="type" value="map"/>
+        <param name="map" value="$(find aruco_pose)/test/largemap.txt"/>
+    </node>
+
+    <test test-name="test_aruco_pose_largemap" pkg="aruco_pose" type="largemap.py"/>
+</launch>

aruco_pose/test/largemap.txt

@@ -0,0 +1,11 @@
+0 0.2 0 0 0 0 0 0
+1 0.2 10 0 0 0 0 0
+2 0.2 20 0 0 0 0 0
+3 0.2 30 0 0 0 0 0
+4 0.2 40 0 0 0 0 0
+5 0.2 50 0 0 0 0 0
+6 0.2 60 0 0 0 0 0
+7 0.2 70 0 0 0 0 0
+8 0.2 80 0 0 0 0 0
+9 0.2 90 0 0 0 0 0
+10 0.2 100 0 0 0 0 0

aruco_pose/test/test_node_failure.py

@@ -1,27 +1,13 @@
-#!/usr/bin/env python
-import sys
-import unittest
-import json
 import rospy
-import rostest
+import pytest
 
-from geometry_msgs.msg import PoseWithCovarianceStamped
-from sensor_msgs.msg import Image
-from aruco_pose.msg import MarkerArray
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
 
 
-class TestArucoMapPass(unittest.TestCase):
+@pytest.fixture
-    def setUp(self):
+def node():
-        rospy.init_node('test_parser_fail', anonymous=True)
+    return rospy.init_node('aruco_pose_test', anonymous=True)
 
-    def test_node_failure(self):
+def test_node_failure(node):
-        try:
+    with pytest.raises(rospy.exceptions.ROSException):
-            markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+        rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-            did_post_message = True
-        except rospy.exceptions.ROSException:
-            did_post_message = False
-        self.assertFalse(did_post_message)
-
-
-rostest.rosrun('aruco_pose', 'test_aruco_map', TestArucoMapPass, sys.argv)

aruco_pose/test/test_node_failure.test

@@ -9,5 +9,6 @@
         <param name="map" value="$(find aruco_pose)/test/test_node_failure.txt"/>
     </node>
 
-    <test test-name="test_aruco_map_fail_dict" pkg="aruco_pose" type="test_node_failure.py"/>
+    <param name="test_module" value="$(find aruco_pose)/test/test_node_failure.py"/>
+    <test test-name="test_node_failure" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

aruco_pose/test/test_parser_empty_map.py

@@ -1,24 +1,13 @@
-#!/usr/bin/env python
-import sys
-import unittest
-import json
 import rospy
-import rostest
+import pytest
 
-from geometry_msgs.msg import PoseWithCovarianceStamped
-from sensor_msgs.msg import Image
-from aruco_pose.msg import MarkerArray
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
 
 
-class TestArucoMapPass(unittest.TestCase):
+@pytest.fixture
-    def setUp(self):
+def node():
-        rospy.init_node('test_parser_fail', anonymous=True)
+    return rospy.init_node('aruco_pose_test_empty_map', anonymous=True)
 
-
+def test_empty_map(node):
-    def test_node_failure(self):
+    markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-        markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+    assert len(markers.markers) == 0
-        self.assertEquals(len(markers.markers), 0)
-
-
-rostest.rosrun('aruco_pose', 'test_aruco_map', TestArucoMapPass, sys.argv)

aruco_pose/test/test_parser_empty_map.test

@@ -9,5 +9,6 @@
         <param name="map" value="$(find aruco_pose)/test/test_parser_empty_map.txt"/>
     </node>
 
-    <test test-name="test_aruco_map_incomplete" pkg="aruco_pose" type="test_parser_empty_map.py"/>
+    <param name="test_module" value="$(find aruco_pose)/test/test_parser_empty_map.py"/>
+    <test test-name="test_node_empty_map" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

aruco_pose/test/test_parser_pass.py

@@ -1,75 +1,61 @@
-#!/usr/bin/env python
-import sys
-import unittest
-import json
 import rospy
-import rostest
+import pytest
 
-from geometry_msgs.msg import PoseWithCovarianceStamped
 from sensor_msgs.msg import Image
 from aruco_pose.msg import MarkerArray
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
 
 
-class TestArucoMapPass(unittest.TestCase):
+@pytest.fixture
-    def setUp(self):
+def node():
-        rospy.init_node('test_parser_pass', anonymous=True)
+    return rospy.init_node('aruco_pose_test', anonymous=True)
 
-    def test_markers(self):
+def approx(expected):
-        markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+    return pytest.approx(expected, abs=1e-4) # compare floats more roughly
-        
-        self.assertEqual(len(markers.markers), 6)
-# FIXME: visual marker id is not ArUco marker id
-#        self.assertEqual(markers.markers[0].id, 1)
-#        self.assertEqual(markers.markers[1].id, 2)
-#        self.assertEqual(markers.markers[2].id, 3)
-#        self.assertEqual(markers.markers[3].id, 4)
 
-        self.assertAlmostEqual(markers.markers[0].pose.position.x, 0, places=7)
+def test_markers(node):
-        self.assertAlmostEqual(markers.markers[0].pose.position.y, 0, places=7)
+    markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-        self.assertAlmostEqual(markers.markers[0].pose.position.z, 0, places=7)
+    assert len(markers.markers) == 6
-        
-        self.assertAlmostEqual(markers.markers[1].pose.position.x, 1, places=7)
-        self.assertAlmostEqual(markers.markers[1].pose.position.y, 1, places=7)
-        self.assertAlmostEqual(markers.markers[1].pose.position.z, 1, places=7)
-        
-        self.assertAlmostEqual(markers.markers[2].pose.position.x, 1, places=7)
-        self.assertAlmostEqual(markers.markers[2].pose.position.y, 0, places=7)
-        self.assertAlmostEqual(markers.markers[2].pose.position.z, 0.5, places=7)
-        
-        self.assertAlmostEqual(markers.markers[3].pose.position.x, 0, places=7)
-        self.assertAlmostEqual(markers.markers[3].pose.position.y, 1, places=7)
-        self.assertAlmostEqual(markers.markers[3].pose.position.z, 0, places=7)
-        
-        self.assertAlmostEqual(markers.markers[4].pose.position.x, 1, places=7)
-        self.assertAlmostEqual(markers.markers[4].pose.position.y, 0.5, places=7)
-        self.assertAlmostEqual(markers.markers[4].pose.position.z, 0, places=7)
-        
-        self.assertAlmostEqual(markers.markers[5].pose.position.x, 2.2, places=7)
-        self.assertAlmostEqual(markers.markers[5].pose.position.y, 0.2, places=7)
-        self.assertAlmostEqual(markers.markers[5].pose.position.z, 0, places=7)
 
-        self.assertAlmostEqual(markers.markers[0].scale.x, 0.33, places=7)
+    assert markers.markers[0].pose.position.x == approx(0)
-        self.assertAlmostEqual(markers.markers[0].scale.y, 0.33, places=7)
+    assert markers.markers[0].pose.position.y == approx(0)
-        self.assertAlmostEqual(markers.markers[1].scale.x, 0.225, places=7)
+    assert markers.markers[0].pose.position.z == approx(0)
-        self.assertAlmostEqual(markers.markers[1].scale.y, 0.225, places=7)
-        self.assertAlmostEqual(markers.markers[2].scale.x, 0.45, places=7)
-        self.assertAlmostEqual(markers.markers[2].scale.y, 0.45, places=7)
-        self.assertAlmostEqual(markers.markers[3].scale.x, 0.15, places=7)
-        self.assertAlmostEqual(markers.markers[3].scale.y, 0.15, places=7)
-        self.assertAlmostEqual(markers.markers[4].scale.x, 0.25, places=7)
-        self.assertAlmostEqual(markers.markers[4].scale.y, 0.25, places=7)
-        self.assertAlmostEqual(markers.markers[5].scale.x, 0.35, places=7)
-        self.assertAlmostEqual(markers.markers[5].scale.y, 0.35, places=7)
 
-    def test_map_image(self):
+    assert markers.markers[1].pose.position.x == approx(1)
-        img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
+    assert markers.markers[1].pose.position.y == approx(1)
-        self.assertEqual(img.width, 2000)
+    assert markers.markers[1].pose.position.z == approx(1)
-        self.assertEqual(img.height, 2000)
-        self.assertEqual(img.encoding, 'mono8')
 
-    # def test_transforms(self):
+    assert markers.markers[2].pose.position.x == approx(1)
-    #     pass
+    assert markers.markers[2].pose.position.y == approx(0)
+    assert markers.markers[2].pose.position.z == approx(0.5)
 
+    assert markers.markers[3].pose.position.x == approx(0)
+    assert markers.markers[3].pose.position.y == approx(1)
+    assert markers.markers[3].pose.position.z == approx(0)
 
-rostest.rosrun('aruco_pose', 'test_aruco_map', TestArucoMapPass, sys.argv)
+    assert markers.markers[4].pose.position.x == approx(1)
+    assert markers.markers[4].pose.position.y == approx(0.5)
+    assert markers.markers[4].pose.position.z == approx(0)
+
+    assert markers.markers[5].pose.position.x == approx(2.2)
+    assert markers.markers[5].pose.position.y == approx(0.2)
+    assert markers.markers[5].pose.position.z == approx(0)
+
+    assert markers.markers[0].scale.x == approx(0.33)
+    assert markers.markers[0].scale.y == approx(0.33)
+    assert markers.markers[1].scale.x == approx(0.225)
+    assert markers.markers[1].scale.y == approx(0.225)
+    assert markers.markers[2].scale.x == approx(0.45)
+    assert markers.markers[2].scale.y == approx(0.45)
+    assert markers.markers[3].scale.x == approx(0.15)
+    assert markers.markers[3].scale.y == approx(0.15)
+    assert markers.markers[4].scale.x == approx(0.25)
+    assert markers.markers[4].scale.y == approx(0.25)
+    assert markers.markers[5].scale.x == approx(0.35)
+    assert markers.markers[5].scale.y == approx(0.35)
+
+def test_map_image(node):
+    img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
+    assert img.width == 2000
+    assert img.height == 2000
+    assert img.encoding == 'mono8'

aruco_pose/test/test_parser_pass.test

@@ -1,7 +1,7 @@
 <launch>
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
 
-    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true" required="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
@@ -9,5 +9,6 @@
         <param name="map" value="$(find aruco_pose)/test/test_parser_pass.txt"/>
     </node>
 
-    <test test-name="test_aruco_map" pkg="aruco_pose" type="test_parser_pass.py"/>
+    <param name="test_module" value="$(find aruco_pose)/test/test_parser_pass.py"/>
+    <test test-name="test_node_pass" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

builder/assets/clever.service

@@ -1,12 +1,12 @@
 [Unit]
 Description=Clever ROS package
 Requires=roscore.service
-After=roscore.service
+After=network.target
 
 [Service]
 User=pi
-EnvironmentFile=/lib/systemd/system/roscore.env
+ExecStart=/bin/sh -c ". /home/pi/catkin_ws/devel/setup.sh; \
-ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch --wait --screen
+                      ROS_HOSTNAME=`hostname`.local exec roslaunch clever clever.launch --wait --screen --skip-log-check"
 Restart=on-failure
 RestartSec=3
 

builder/assets/clever_rename

@@ -1,35 +0,0 @@
-#!/usr/bin/env bash
-
-# Set Clever hostname to the specified value
-
-set -e
-
-NEW_NAME_OPT=$1
-
-if [[ -z ${NEW_NAME_OPT} ]]; then
-  echo "Please specify new name for this Clever"
-  exit 1
-fi
-
-NEW_NAME=$(echo ${NEW_NAME_OPT} | tr '[:upper:]' '[:lower:]')
-
-echo "Setting name to ${NEW_NAME}"
-
-echo "Backing up /etc/hostname"
-cp /etc/hostname /etc/hostname.bak
-echo "Writing new /etc/hostname"
-echo ${NEW_NAME} > /etc/hostname
-
-echo "Backing up /etc/hosts"
-cp /etc/hosts /etc/hosts.bak
-echo "Rewriting /etc/hosts with new values"
-sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_NAME}'/g' /etc/hosts
-
-echo "Changing hostname in /lib/systemd/system/roscore.env"
-sed -i 's/ROS_HOSTNAME=.*/ROS_HOSTNAME='${NEW_NAME}'.local/g' /lib/systemd/system/roscore.env
-
-echo "Changing hostname in .bashrc"
-sed -i 's/export ROS_HOSTNAME=.*/export ROS_HOSTNAME='${NEW_NAME}'.local/g' /home/pi/.bashrc
-
-echo "Done, reboot your Clever to see the results"
-

builder/assets/init_rpi.sh

@@ -38,7 +38,11 @@ echo_stamp() {
 echo_stamp "Rename SSID"
 NEW_SSID='CLEVER-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
 sudo sed -i.OLD "s/CLEVER/${NEW_SSID}/" /etc/wpa_supplicant/wpa_supplicant.conf
-clever_rename ${NEW_SSID}
+
+echo_stamp "Rename hostname to $NEW_SSID"
+hostnamectl set-hostname $NEW_SSID
+sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_SSID}' '${NEW_SSID}'.local/g' /etc/hosts
+# .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces down
 
 echo_stamp "Harware setup"
 /root/hardware_setup.sh

builder/assets/kinetic-rosdep-clever.yaml

@@ -550,3 +550,6 @@ ddynamic_reconfigure:
 realsense2_camera:
   debian:
     stretch: [ros-kinetic-realsense2-camera]
+ros_pytest:
+  debian:
+    stretch: [ros-kinetic-ros-pytest]

builder/assets/roscore.env

@@ -1,10 +0,0 @@
-ROS_ROOT=/opt/ros/kinetic/share/ros
-ROS_DISTRO=kinetic
-ROS_PACKAGE_PATH=/home/pi/catkin_ws/src:/opt/ros/kinetic/share
-ROS_PORT=11311
-ROS_MASTER_URI=http://localhost:11311
-CMAKE_PREFIX_PATH=/home/pi/catkin_ws/devel:/opt/ros/kinetic
-PATH=/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
-LD_LIBRARY_PATH=/opt/ros/kinetic/lib
-PYTHONPATH=/home/pi/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages
-ROS_HOSTNAME=raspberrypi.local

builder/assets/roscore.service

@@ -4,8 +4,7 @@ After=network.target
 
 [Service]
 User=pi
-EnvironmentFile=/lib/systemd/system/roscore.env
+ExecStart=/bin/sh -c ". /opt/ros/kinetic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
-ExecStart=/opt/ros/kinetic/bin/roscore
 Restart=on-failure
 RestartSec=3
 

builder/image-build.sh

@@ -109,16 +109,14 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
 # Clever
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.env' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add PX4 udev rules
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/99-px4fmu.rules' '/lib/udev/rules.d/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clever/config/99-px4fmu.rules' '/lib/udev/rules.d/'
 # Add rename script
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever_rename' '/usr/local/bin/clever_rename'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
 

builder/image-ros.sh

@@ -155,8 +155,6 @@ echo_stamp "Installing CLEVER" \
 && my_travis_retry pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
 && source /opt/ros/kinetic/setup.bash \
 && catkin_make -j2 -DCMAKE_BUILD_TYPE=Release \
-&& catkin_make run_tests \
-&& catkin_test_results \
 && systemctl enable roscore \
 && systemctl enable clever \
 && echo_stamp "All CLEVER was installed!" "SUCCESS" \
@@ -171,7 +169,6 @@ gitbook build
 echo_stamp "Installing additional ROS packages"
 apt-get install -y --no-install-recommends \
     ros-kinetic-dynamic-reconfigure \
-    ros-kinetic-tf2-web-republisher \
     ros-kinetic-compressed-image-transport \
     ros-kinetic-rosbridge-suite \
     ros-kinetic-rosserial \
@@ -181,9 +178,12 @@ apt-get install -y --no-install-recommends \
     ros-kinetic-rosshow
 
 # TODO move GeographicLib datasets to Mavros debian package
-echo_stamp "Install GeographicLib datasets (needs for mavros)" \
+echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
 
+echo_stamp "Running tests"
+catkin_make run_tests && catkin_test_results
+
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
@@ -192,7 +192,7 @@ cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
 ROS_DISTRO='kinetic'
-export ROS_HOSTNAME='raspberrypi.local'
+export ROS_HOSTNAME=\`hostname\`.local
 source /opt/ros/kinetic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 EOF

builder/image-software.sh

@@ -108,16 +108,17 @@ 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)
 
 echo_stamp "Updating kernel to fix camera bug"
 apt-get install --no-install-recommends -y \
-	raspberrypi-kernel=1.20190517-1 \
+	raspberrypi-kernel=1.20190709~stretch-1 \
-	raspberrypi-bootloader=1.20190517-1 \
+	raspberrypi-bootloader=1.20190709~stretch-1 \
-	libraspberrypi-bin=1.20190517-1 \
+	libraspberrypi-bin=1.20190709~stretch-1 \
-	libraspberrypi-dev=1.20190517-1 \
+	libraspberrypi-dev=1.20190709~stretch-1 \
-	libraspberrypi0=1.20190517-1 \
+	libraspberrypi0=1.20190709~stretch-1 \
 	wireless-regdb=2018.05.09-0~rpt1 \
 	wpasupplicant=2:2.6-21~bpo9~rpt1
 

builder/test/tests.sh

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

check_files_size.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+
+def human_size(num, suffix='B'):
+    for unit in ['', 'Ki', 'Mi', 'Gi', 'Ti', 'Pi', 'Ei', 'Zi']:
+        if abs(num) < 1024.0:
+            return "%3.1f %s%s" % (num, unit, suffix)
+        num /= 1024.0
+    return "%.1f %s%s" % (num, 'Yi', suffix)
+
+SIZE_LIMIT = 600 * 1024
+EXCLUDE = 'rviz.png', 'ssid.png', 'sitl_docker_demo.png', 'qgc-params.png', 'butterfly.png', \
+    'Clever main.png', 'fpv_3.png', '1_4.png', 'fpv_4.png', 'detal1.png', 'lockradio.png', \
+    'qground.png', 'allElements.png', 'download-log.png', 'explosion.png', 'rqt.png', \
+    'cl3_mountBEC.JPG', 'cl3_mountRpiCamera.JPG'
+
+code = 0
+
+for root, dirs, files in os.walk('docs/'):
+    for f in files:
+        if f not in EXCLUDE:
+            path = os.path.join(root, f)
+            size = os.path.getsize(path)
+            if size > SIZE_LIMIT:
+                print('\x1b[1;31mFile too large ({}): {}\x1b[0m'.format(human_size(size), path), \
+                    file=sys.stderr)
+                code = 1
+
+sys.exit(code)

clever/CMakeLists.txt

@@ -227,6 +227,19 @@ target_link_libraries(clever
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+# Only install udev rules when building a Debian package
+# FIXME: Other operating systems may have other prefixes
+string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)
+if (${_PREFIX_INDEX} EQUAL 0)
+  message(STATUS "Building as a Debian package - adding udev rules as installable files")
+  install(FILES
+    config/99-px4fmu.rules
+    DESTINATION /lib/udev/rules.d
+  )
+else()
+  message(STATUS "Building in a user workspace - not adding udev rules")
+endif()
+
 #############
 ## Testing ##
 #############
@@ -239,3 +252,8 @@ target_link_libraries(clever
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(test/basic.test)
+endif()

clever/launch/aruco.launch

@@ -22,8 +22,11 @@
         <remap from="markers" to="aruco_detect/markers"/>
         <param name="map" value="$(find aruco_pose)/map/map.txt"/>
         <param name="known_tilt" value="map"/>
+        <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
+        <param name="markers/frame_id" value="aruco_map"/>
+        <param name="markers/child_frame_id_prefix" value="aruco_"/>
     </node>
 
     <!-- vpe publisher from aruco markers -->

clever/launch/mavros.launch

@@ -56,7 +56,7 @@
     <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
 
     <!-- Copter visualization -->
-    <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
+    <node name="visualization" pkg="mavros_extras" type="visualization" if="$(arg viz)">
         <remap to="mavros/local_position/pose" from="local_position"/>
         <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
         <param name="fixed_frame_id" value="map"/>

clever/package.xml

@@ -30,13 +30,13 @@
   <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>
+  <depend>tf2_web_republisher</depend>
+  <depend>python-lxml</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->

clever/requirements.txt

@@ -1,4 +1,4 @@
-flask==0.12.3
+flask==1.1.1
 docopt==0.6.2
 geopy==1.11.0
 smbus2==0.2.1

clever/src/selfcheck.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# coding=utf-8
 
 # Copyright (C) 2018 Copter Express Technologies
 #
@@ -144,6 +145,45 @@ def mavlink_exec(cmd, timeout=3.0):
     return mavlink_recv
 
 
+BOARD_ROTATIONS = {
+    0: 'no rotation',
+    1: 'yaw 45°',
+    2: 'yaw 90°',
+    3: 'yaw 135°',
+    4: 'yaw 180°',
+    5: 'yaw 225°',
+    6: 'yaw 270°',
+    7: 'yaw 315°',
+    8: 'roll 180°',
+    9: 'roll 180°, yaw 45°',
+    10: 'roll 180°, yaw 90°',
+    11: 'roll 180°, yaw 135°',
+    12: 'pitch 180°',
+    13: 'roll 180°, yaw 225°',
+    14: 'roll 180°, yaw 270°',
+    15: 'roll 180°, yaw 315°',
+    16: 'roll 90°',
+    17: 'roll 90°, yaw 45°',
+    18: 'roll 90°, yaw 90°',
+    19: 'roll 90°, yaw 135°',
+    20: 'roll 270°',
+    21: 'roll 270°, yaw 45°',
+    22: 'roll 270°, yaw 90°',
+    23: 'roll 270°, yaw 135°',
+    24: 'pitch 90°',
+    25: 'pitch 270°',
+    26: 'roll 270°, yaw 270°',
+    27: 'roll 180°, pitch 270°',
+    28: 'pitch 90°, yaw 180',
+    29: 'pitch 90°, roll 90°',
+    30: 'yaw 293°, pitch 68°, roll 90°',
+    31: 'pitch 90°, roll 270°',
+    32: 'pitch 9°, yaw 180°',
+    33: 'pitch 45°',
+    34: 'pitch 315°',
+}
+
+
 @check('FCU')
 def check_fcu():
     try:
@@ -189,6 +229,13 @@ def check_fcu():
         else:
             failure('unknown selected estimator: %s', est)
 
+        rot = get_param('SENS_BOARD_ROT')
+        if rot is not None:
+            try:
+                info('board rotation: %s', BOARD_ROTATIONS[rot])
+            except KeyError:
+                failure('unknown board rotation %s', rot)
+
     except rospy.ROSException:
         failure('no MAVROS state (check wiring)')
 
@@ -240,7 +287,7 @@ def check_camera(name):
         if not optical or not cable:
             info('%s: custom camera orientation detected', name)
         else:
-           info('camera is oriented %s, camera cable goes %s', optical, cable)
+            info('camera is oriented %s, camera cable goes %s', optical, cable)
 
     except tf2_ros.TransformException:
         failure('cannot transform from base_link to camera frame')
@@ -350,8 +397,8 @@ def check_vpe():
         if delay != 0:
             failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
         info('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
-                      get_param('EKF2_EVA_NOISE'),
+            get_param('EKF2_EVA_NOISE'),
-                      get_param('EKF2_EVP_NOISE'))
+            get_param('EKF2_EVP_NOISE'))
 
     if not vis:
         return
@@ -559,10 +606,16 @@ def check_cpu_usage():
 
 @check('clever.service')
 def check_clever_service():
-    output = subprocess.check_output('systemctl show -p ActiveState --value clever.service'.split())
+    try:
+        output = subprocess.check_output('systemctl show -p ActiveState --value clever.service'.split(),
+                                         stderr=subprocess.STDOUT)
+    except subprocess.CalledProcessError as e:
+        failure('systemctl returned %s: %s', e.returncode, e.output)
+        return
     if 'inactive' in output:
         failure('clever.service is not running, try sudo systemctl restart clever')
         return
+
     j = journal.Reader()
     j.this_boot()
     j.add_match(_SYSTEMD_UNIT='clever.service')
@@ -585,7 +638,10 @@ def check_clever_service():
 
 @check('Image')
 def check_image():
-    info('version: %s', open('/etc/clever_version').read().strip())
+    try:
+        info('version: %s', open('/etc/clever_version').read().strip())
+    except IOError:
+        info('no /etc/clever_version file, not the Clever image?')
 
 
 @check('Preflight status')
@@ -594,7 +650,7 @@ def check_preflight_status():
     mavlink_exec('\n')
     cmdr_output = mavlink_exec('commander check')
     if cmdr_output == '':
-        failure('No data from FCU')
+        failure('no data from FCU')
         return
     cmdr_lines = cmdr_output.split('\n')
     r = re.compile(r'^(.*)(Preflight|Prearm) check: (.*)')

clever/src/simple_offboard.cpp

@@ -123,7 +123,7 @@ TwistStamped velocity;
 NavSatFix global_position;
 BatteryState battery;
 
-// Common subcriber callback template that stores message to the variable
+// Common subscriber callback template that stores message to the variable
 template<typename T, T& STORAGE>
 void handleMessage(const T& msg)
 {
@@ -155,9 +155,9 @@ void handleLocalPosition(const PoseStamped& pose)
 
 // wait for transform without interrupting publishing setpoints
 inline bool waitTransform(const string& target, const string& source,
-                          const ros::Time& stamp, const ros::Duration& timeout)
+                          const ros::Time& stamp, const ros::Duration& timeout) // editorconfig-checker-disable-line
 {
-	ros::Rate r(10);
+	ros::Rate r(100);
 	auto start = ros::Time::now();
 	while (ros::ok()) {
 		if (ros::Time::now() - start > timeout) return false;
@@ -201,31 +201,29 @@ bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 		res.mode = state.mode;
 	}
 
-	waitTransform(local_frame, req.frame_id, stamp, telemetry_transform_timeout);
+	try {
+		waitTransform(req.frame_id, fcu_frame, stamp, telemetry_transform_timeout);
+		auto transform = tf_buffer.lookupTransform(req.frame_id, fcu_frame, stamp);
+		res.x = transform.transform.translation.x;
+		res.y = transform.transform.translation.y;
+		res.z = transform.transform.translation.z;
 
-	if (!TIMEOUT(local_position, local_position_timeout)) {
+		double yaw, pitch, roll;
-		try {
+		tf2::getEulerYPR(transform.transform.rotation, yaw, pitch, roll);
-			// transform pose
+		res.yaw = yaw;
-			PoseStamped pose;
+		res.pitch = pitch;
-			tf_buffer.transform(local_position, pose, req.frame_id);
+		res.roll = roll;
-			res.x = pose.pose.position.x;
+	} catch (const tf2::TransformException& e) {
-			res.y = pose.pose.position.y;
+		ROS_DEBUG("simple_offboard: %s", e.what());
-			res.z = pose.pose.position.z;
-
-			// Tait-Bryan angles, order z-y-x
-			double yaw, pitch, roll;
-			tf2::getEulerYPR(pose.pose.orientation, yaw, pitch, roll);
-			res.yaw = yaw;
-			res.pitch = pitch;
-			res.roll = roll;
-		} catch (const tf2::TransformException& e) {}
 	}
 
 	if (!TIMEOUT(velocity, velocity_timeout)) {
 		try {
 			// transform velocity
+			waitTransform(req.frame_id, fcu_frame, velocity.header.stamp, telemetry_transform_timeout);
 			Vector3Stamped vec, vec_out;
-			vec.header = velocity.header;
+			vec.header.stamp = velocity.header.stamp;
+			vec.header.frame_id = velocity.header.frame_id;
 			vec.vector = velocity.twist.linear;
 			tf_buffer.transform(vec, vec_out, req.frame_id);
 
@@ -351,6 +349,10 @@ PoseStamped globalToLocal(double lat, double lon)
 	x_offset = distance * sin(azimuth_radians);
 	y_offset = distance * cos(azimuth_radians);
 
+	if (!waitTransform(local_frame, fcu_frame, global_position.header.stamp, ros::Duration(0.2))) {
+		throw std::runtime_error("No local position");
+	}
+
 	auto local = tf_buffer.lookupTransform(local_frame, fcu_frame, global_position.header.stamp);
 
 	PoseStamped pose;
@@ -479,10 +481,12 @@ inline void checkState()
 		throw std::runtime_error("No connection to FCU, https://clever.copterexpress.com/connection.html");
 }
 
+#define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
+
 bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, float vy, float vz,
-           float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate,
+           float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate, // editorconfig-checker-disable-line
-           float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm,
+           float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm, // editorconfig-checker-disable-line
-           uint8_t& success, string& message)
+           uint8_t& success, string& message) // editorconfig-checker-disable-line
 {
 	auto stamp = ros::Time::now();
 
@@ -490,6 +494,20 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		if (busy)
 			throw std::runtime_error("Busy");
 
+		ENSURE_FINITE(x);
+		ENSURE_FINITE(y);
+		ENSURE_FINITE(z);
+		ENSURE_FINITE(vx);
+		ENSURE_FINITE(vy);
+		ENSURE_FINITE(vz);
+		ENSURE_FINITE(pitch);
+		ENSURE_FINITE(roll);
+		ENSURE_FINITE(pitch_rate);
+		ENSURE_FINITE(roll_rate);
+		ENSURE_FINITE(lat);
+		ENSURE_FINITE(lon);
+		ENSURE_FINITE(thrust);
+
 		busy = true;
 
 		// Checks
@@ -539,7 +557,9 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 
 		if (sp_type == NAVIGATE_GLOBAL) {
 			// Calculate x and from lat and lot in request's frame
-			auto xy_in_req_frame = tf_buffer.transform(globalToLocal(lat, lon), frame_id);
+			auto pose_local = globalToLocal(lat, lon);
+			pose_local.header.stamp = stamp; // TODO: fix
+			auto xy_in_req_frame = tf_buffer.transform(pose_local, frame_id);
 			x = xy_in_req_frame.pose.position.x;
 			y = xy_in_req_frame.pose.position.y;
 		}
@@ -743,7 +763,7 @@ int main(int argc, char **argv)
 
 	// Telemetry subscribers
 	auto state_sub = nh.subscribe("mavros/state", 1, &handleMessage<mavros_msgs::State, state>);
-	auto velocity_sub = nh.subscribe("mavros/local_position/velocity", 1, &handleMessage<TwistStamped, velocity>);
+	auto velocity_sub = nh.subscribe("mavros/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
 	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
 	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);

clever/test/basic.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+import rospy
+import pytest
+from mavros_msgs.msg import State
+
+@pytest.fixture()
+def node():
+    return rospy.init_node('clever_test', anonymous=True)
+
+def test_state(node):
+    state = rospy.wait_for_message('mavros/state', State, timeout=10)
+    assert state.connected == False
+    assert state.armed == False
+    assert state.guided == False
+    assert state.mode == ''
+
+def test_simple_offboard_services_available():
+    rospy.wait_for_service('get_telemetry', timeout=5)
+    rospy.wait_for_service('navigate', timeout=5)
+    rospy.wait_for_service('navigate_global', timeout=5)
+    rospy.wait_for_service('set_position', timeout=5)
+    rospy.wait_for_service('set_velocity', timeout=5)
+    rospy.wait_for_service('set_attitude', timeout=5)
+    rospy.wait_for_service('set_rates', timeout=5)
+    rospy.wait_for_service('land', timeout=5)
+
+def test_web_video_server(node):
+    import urllib2
+    urllib2.urlopen("http://localhost:8080").read()

clever/test/basic.test

@@ -0,0 +1,37 @@
+<launch>
+    <!-- Verify all the required nodes basically work -->
+
+    <node pkg="mavros" type="mavros_node" name="mavros" required="true" output="screen">
+        <param name="fcu_url" value="udp://@127.0.1:14557"/>
+        <rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
+    </node>
+
+    <node name="visualization" pkg="mavros_extras" type="visualization" required="true">
+        <remap to="mavros/local_position/pose" from="local_position"/>
+        <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
+        <param name="fixed_frame_id" value="map"/>
+        <param name="child_frame_id" value="base_link"/>
+        <param name="marker_scale" value="1"/>
+        <param name="max_track_size" value="20"/>
+        <param name="num_rotors" value="4"/>
+    </node>
+
+    <node name="web_video_server" pkg="web_video_server" type="web_video_server" required="true" output="screen">
+        <param name="default_stream_type" value="ros_compressed"/>
+        <param name="publish_rate" value="1.0"/>
+    </node>
+
+    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped" required="true"/>
+
+    <node name="simple_offboard" pkg="clever" type="simple_offboard" required="true" output="screen">
+        <param name="reference_frames/body" value="map"/>
+        <param name="reference_frames/base_link" value="map"/>
+    </node>
+
+    <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" required="true"/>
+
+    <node name="rc" pkg="clever" type="rc" required="true" output="screen"/>
+
+    <param name="test_module" value="$(find clever)/test/basic.py"/>
+    <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
+</launch>

clever/test/sitl.py

@@ -0,0 +1,197 @@
+#!/usr/bin/env python
+
+import math
+import rospy
+import pytest
+from pytest import approx
+from numpy import isfinite
+from geometry_msgs.msg import PoseStamped
+from mavros_msgs.msg import State
+from sensor_msgs.msg import NavSatFix
+from clever import srv
+from std_srvs.srv import Trigger
+
+import tf2_ros
+import tf2_geometry_msgs
+
+def roughly(expected):
+    return approx(expected, abs=1e-1)
+
+def very_roughly(expected):
+    return approx(expected, abs=1)
+
+@pytest.fixture()
+def node():
+    return rospy.init_node('clever_test', anonymous=True)
+
+def wait_service(name, service_class):
+    res = rospy.ServiceProxy(name, service_class)
+    res.wait_for_service(5)
+    return res
+
+@pytest.fixture
+def get_telemetry():
+    return wait_service('get_telemetry', srv.GetTelemetry)
+
+@pytest.fixture
+def navigate():
+    return wait_service('navigate', srv.Navigate)
+
+@pytest.fixture
+def navigate():
+    res = rospy.ServiceProxy('navigate', srv.Navigate)
+    res.wait_for_service(5)
+    return res
+
+@pytest.fixture
+def land():
+    return wait_service('land', Trigger)
+
+@pytest.fixture
+def tf_buffer():
+    buf = tf2_ros.Buffer()
+    tf2_ros.TransformListener(buf)
+    return buf
+
+def wait_connection():
+    start = rospy.get_rostime()
+    while rospy.get_rostime() - start <= rospy.Duration(15):
+        state = rospy.wait_for_message('mavros/state', State, timeout=10)
+        if state.connected:
+            return True
+    assert False, "no connection to SITL"
+
+def minimal_rate(func, rate):
+    start = rospy.get_rostime()
+    i = 0
+    while rospy.get_rostime() - start <= rospy.Duration(2):
+        func()
+        i += 1
+    result_rate = i / 2
+    assert result_rate >= rate, 'Rate too low: %s Hz' % result_rate
+
+def test_state_initial(node):
+    wait_connection()
+    state = rospy.wait_for_message('mavros/state', State, timeout=10)
+    assert state.connected == True
+    assert state.armed == False
+
+def test_telem_initial(node, get_telemetry):
+    # wait for local position
+    rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=15)
+    rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=30)
+
+    telem = get_telemetry()
+    assert telem.frame_id == 'map'
+    assert telem.connected == True
+    assert telem.armed == False
+    assert telem.mode != ''
+    assert telem.x == roughly(0.0)
+    assert telem.y == roughly(0.0)
+    assert telem.z == roughly(0.0)
+    assert telem.lat == approx(47.397742)
+    assert telem.lon == approx(8.545594)
+    assert telem.vx == roughly(0.0)
+    assert telem.vy == roughly(0.0)
+    assert telem.vz == roughly(0.0)
+    assert telem.pitch == roughly(0.0)
+    assert telem.roll == roughly(0.0)
+    assert telem.yaw == roughly(1.56)
+    assert isfinite(telem.voltage)
+    assert isfinite(telem.cell_voltage)
+
+def test_telem_rate(node, get_telemetry):
+    minimal_rate(lambda: get_telemetry(), 20)
+    minimal_rate(lambda: get_telemetry(frame_id='body'), 20)
+    minimal_rate(lambda: get_telemetry(frame_id='base_link'), 200)
+
+def test_takeoff_without_auto_arm(node, navigate):
+    res = navigate(z=2, frame_id='body')
+    assert res.success == False
+    assert res.message == 'Copter is not in OFFBOARD mode, use auto_arm?'
+
+def test_takeoff(node, navigate, get_telemetry, tf_buffer):
+    res = navigate(z=2, speed=1, frame_id='body', auto_arm=True)
+    assert res.success == True, res.message
+    rospy.sleep(5)
+    telem = get_telemetry()
+    assert telem.z == very_roughly(2.0)
+    assert telem.x == very_roughly(0.0)
+    assert telem.y == very_roughly(0.0)
+    assert telem.pitch == roughly(0.0)
+    assert telem.roll == roughly(0.0)
+    assert telem.yaw == roughly(1.56)
+
+def test_navigate_nans(node, navigate):
+    res = navigate(x=float('nan'))
+    assert res.success == False
+    assert res.message == 'x argument cannot be NaN or Inf'
+    res = navigate(y=float('nan'))
+    assert res.success == False
+    assert res.message == 'y argument cannot be NaN or Inf'
+    res = navigate(z=float('nan'))
+    assert res.success == False
+    assert res.message == 'z argument cannot be NaN or Inf'
+    res = navigate(x=float('inf'))
+    assert res.success == False
+    assert res.message == 'x argument cannot be NaN or Inf'
+    res = navigate(y=float('inf'))
+    assert res.success == False
+    assert res.message == 'y argument cannot be NaN or Inf'
+    res = navigate(z=float('inf'))
+    assert res.success == False
+    assert res.message == 'z argument cannot be NaN or Inf'
+    res = navigate(x=float('-inf'))
+    assert res.success == False
+    assert res.message == 'x argument cannot be NaN or Inf'
+    res = navigate(y=float('-inf'))
+    assert res.success == False
+    assert res.message == 'y argument cannot be NaN or Inf'
+    res = navigate(z=float('-inf'))
+    assert res.success == False
+    assert res.message == 'z argument cannot be NaN or Inf'
+
+def test_navigate(node, navigate, get_telemetry, tf_buffer):
+    res = navigate(x=1, y=2, z=3, speed=1)
+    assert res.success == True, res.message
+    nav_target = tf_buffer.lookup_transform('map', 'navigate_target', rospy.get_rostime(), rospy.Duration(0.2))
+    assert nav_target.transform.translation.x == approx(1)
+    assert nav_target.transform.translation.y == approx(2)
+    assert nav_target.transform.translation.z == approx(3)
+    rospy.sleep(10)
+    telem = get_telemetry()
+    assert telem.x == very_roughly(1.0)
+    assert telem.y == very_roughly(2.0)
+    assert telem.z == very_roughly(3.0)
+    assert telem.pitch == roughly(0.0)
+    assert telem.roll == roughly(0.0)
+    assert telem.yaw == roughly(0.0)
+
+    res = navigate(x=-1, y=-2, z=-1, frame_id='body', speed=1)
+    assert res.success == True, res.message
+    nav_target = tf_buffer.lookup_transform('map', 'navigate_target', rospy.get_rostime(), rospy.Duration(0.2))
+    assert nav_target.transform.translation.x == very_roughly(0)
+    assert nav_target.transform.translation.y == very_roughly(0)
+    assert nav_target.transform.translation.z == very_roughly(2)
+    rospy.sleep(10)
+    telem = get_telemetry()
+    assert telem.x == very_roughly(0)
+    assert telem.y == very_roughly(0)
+    assert telem.z == very_roughly(2)
+    assert telem.pitch == roughly(0)
+    assert telem.roll == roughly(0)
+    assert telem.yaw == roughly(0)
+
+# TODO
+# test navigate_global, set_velocity, set_attitude, set_rates
+
+def test_land(node, get_telemetry, land):
+    res = land()
+    assert res.success, res.message
+    telem = get_telemetry()
+    assert telem.mode == 'AUTO.LAND'
+    assert telem.armed == True, 'Drone unexpectedly disarmed while landing'
+    rospy.sleep(12)
+    telem = get_telemetry()
+    assert telem.mode == 'AUTO.LAND'
+    assert telem.armed == False, 'Drone is not disarmed after landing'

clever/test/sitl.test

@@ -0,0 +1,20 @@
+<launch>
+    <arg name="ip" default="127.0.0.1"/>
+
+    <!-- mavros -->
+    <include file="$(find clever)/launch/mavros.launch">
+        <arg name="fcu_conn" value="udp"/>
+        <arg name="fcu_ip" value="$(arg ip)"/>
+        <arg name="gcs_bridge" value="false"/>
+        <arg name="viz" value="false"/>
+        <arg name="respawn" default="false"/>
+    </include>
+
+    <node name="simple_offboard" pkg="clever" type="simple_offboard" required="true" output="screen">
+        <param name="reference_frames/body" value="map"/>
+        <param name="reference_frames/base_link" value="map"/>
+    </node>
+
+    <param name="test_module" value="$(find clever)/test/sitl.py"/>
+    <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner" time-limit="120.0"/>
+</launch>

clever/www/js/gcs.js

@@ -3,7 +3,7 @@ var titleEl = document.querySelector('title');
 var modeEl = document.querySelector('.mode');
 var batteryEl = document.querySelector('.battery');
 
-var url = 'ws://' + location.host + ':9090';
+var url = 'ws://' + location.hostname + ':9090';
 var ros = new ROSLIB.Ros({ url: url });
 
 function speak(txt) {

clever/www/js/viz.js

@@ -1,5 +1,5 @@
 var ros = new ROSLIB.Ros({
-	url : 'ws://' + location.host + ':9090'
+	url : 'ws://' + location.hostname + ':9090'
 });
 
 var titleEl = document.querySelector('title');

docs/assets/Clever2LPE_160118.params

@@ -1,735 +0,0 @@
-# Onboard parameters for Vehicle 1
-#
-# Stack: PX4 Pro
-# Vehicle: Multi-Rotor
-# Version: 1.7.0 
-# Git Revision: cbdb08bb6109c1ea
-#
-# Vehicle-Id Component-Id Name Value Type
-1	1	ATT_ACC_COMP	1	6
-1	1	ATT_BIAS_MAX	0.050000000745058060	9
-1	1	ATT_EXT_HDG_M	0	6
-1	1	ATT_MAG_DECL	0.000000000000000000	9
-1	1	ATT_MAG_DECL_A	1	6
-1	1	ATT_W_ACC	0.200000002980232239	9
-1	1	ATT_W_EXT_HDG	0.100000001490116119	9
-1	1	ATT_W_GYRO_BIAS	0.100000001490116119	9
-1	1	ATT_W_MAG	0.100000001490116119	9
-1	1	BAT_A_PER_V	15.391030311584472656	9
-1	1	BAT_CAPACITY	-1.000000000000000000	9
-1	1	BAT_CNT_V_CURR	0.000805664050858468	9
-1	1	BAT_CNT_V_VOLT	0.000805664050858468	9
-1	1	BAT_CRIT_THR	0.070000000298023224	9
-1	1	BAT_EMERGEN_THR	0.050000000745058060	9
-1	1	BAT_LOW_THR	0.150000005960464478	9
-1	1	BAT_N_CELLS	4	6
-1	1	BAT_R_INTERNAL	-1.000000000000000000	9
-1	1	BAT_SOURCE	0	6
-1	1	BAT_V_CHARGED	4.199999809265136719	9
-1	1	BAT_V_DIV	10.887768745422363281	9
-1	1	BAT_V_EMPTY	3.400000095367431641	9
-1	1	BAT_V_LOAD_DROP	0.300000011920928955	9
-1	1	BAT_V_OFFS_CURR	0.000000000000000000	9
-1	1	CAL_ACC0_EN	1	6
-1	1	CAL_ACC0_ID	1246218	6
-1	1	CAL_ACC0_XOFF	0.081070423126220703	9
-1	1	CAL_ACC0_XSCALE	0.996176421642303467	9
-1	1	CAL_ACC0_YOFF	-0.182177066802978516	9
-1	1	CAL_ACC0_YSCALE	1.000774979591369629	9
-1	1	CAL_ACC0_ZOFF	0.506614208221435547	9
-1	1	CAL_ACC0_ZSCALE	0.991645038127899170	9
-1	1	CAL_ACC1_EN	1	6
-1	1	CAL_ACC1_ID	1114634	6
-1	1	CAL_ACC1_XOFF	0.864228248596191406	9
-1	1	CAL_ACC1_XSCALE	1.004844427108764648	9
-1	1	CAL_ACC1_YOFF	0.980560302734375000	9
-1	1	CAL_ACC1_YSCALE	0.980703771114349365	9
-1	1	CAL_ACC1_ZOFF	0.873121738433837891	9
-1	1	CAL_ACC1_ZSCALE	0.989114820957183838	9
-1	1	CAL_ACC2_XOFF	0.000000000000000000	9
-1	1	CAL_ACC2_XSCALE	1.000000000000000000	9
-1	1	CAL_ACC2_YOFF	0.000000000000000000	9
-1	1	CAL_ACC2_YSCALE	1.000000000000000000	9
-1	1	CAL_ACC2_ZOFF	0.000000000000000000	9
-1	1	CAL_ACC2_ZSCALE	1.000000000000000000	9
-1	1	CAL_AIR_CMODEL	0	6
-1	1	CAL_AIR_TUBED_MM	1.500000000000000000	9
-1	1	CAL_AIR_TUBELEN	0.200000002980232239	9
-1	1	CAL_GYRO0_EN	1	6
-1	1	CAL_GYRO0_ID	2163722	6
-1	1	CAL_GYRO0_XOFF	0.013700588606297970	9
-1	1	CAL_GYRO0_XSCALE	1.000000000000000000	9
-1	1	CAL_GYRO0_YOFF	0.049494847655296326	9
-1	1	CAL_GYRO0_YSCALE	1.000000000000000000	9
-1	1	CAL_GYRO0_ZOFF	-0.032555881887674332	9
-1	1	CAL_GYRO0_ZSCALE	1.000000000000000000	9
-1	1	CAL_GYRO1_EN	1	6
-1	1	CAL_GYRO1_ID	2228490	6
-1	1	CAL_GYRO1_XOFF	-0.007464688271284103	9
-1	1	CAL_GYRO1_XSCALE	1.000000000000000000	9
-1	1	CAL_GYRO1_YOFF	0.008172192610800266	9
-1	1	CAL_GYRO1_YSCALE	1.000000000000000000	9
-1	1	CAL_GYRO1_ZOFF	-0.010663406923413277	9
-1	1	CAL_GYRO1_ZSCALE	1.000000000000000000	9
-1	1	CAL_GYRO2_XOFF	0.000000000000000000	9
-1	1	CAL_GYRO2_XSCALE	1.000000000000000000	9
-1	1	CAL_GYRO2_YOFF	0.000000000000000000	9
-1	1	CAL_GYRO2_YSCALE	1.000000000000000000	9
-1	1	CAL_GYRO2_ZOFF	0.000000000000000000	9
-1	1	CAL_GYRO2_ZSCALE	1.000000000000000000	9
-1	1	CAL_MAG0_EN	1	6
-1	1	CAL_MAG0_ID	131594	6
-1	1	CAL_MAG0_ROT	-1	6
-1	1	CAL_MAG0_XOFF	-0.020210459828376770	9
-1	1	CAL_MAG0_XSCALE	1.033145427703857422	9
-1	1	CAL_MAG0_YOFF	0.100117556750774384	9
-1	1	CAL_MAG0_YSCALE	1.017574071884155273	9
-1	1	CAL_MAG0_ZOFF	-0.113783776760101318	9
-1	1	CAL_MAG0_ZSCALE	0.933741152286529541	9
-1	1	CAL_MAG1_ID	0	6
-1	1	CAL_MAG1_ROT	-1	6
-1	1	CAL_MAG1_XOFF	0.000000000000000000	9
-1	1	CAL_MAG1_XSCALE	1.000000000000000000	9
-1	1	CAL_MAG1_YOFF	0.000000000000000000	9
-1	1	CAL_MAG1_YSCALE	1.000000000000000000	9
-1	1	CAL_MAG1_ZOFF	0.000000000000000000	9
-1	1	CAL_MAG1_ZSCALE	1.000000000000000000	9
-1	1	CAL_MAG2_ID	0	6
-1	1	CAL_MAG2_ROT	-1	6
-1	1	CAL_MAG2_XOFF	0.000000000000000000	9
-1	1	CAL_MAG2_XSCALE	1.000000000000000000	9
-1	1	CAL_MAG2_YOFF	0.000000000000000000	9
-1	1	CAL_MAG2_YSCALE	1.000000000000000000	9
-1	1	CAL_MAG2_ZOFF	0.000000000000000000	9
-1	1	CAL_MAG2_ZSCALE	1.000000000000000000	9
-1	1	CAL_MAG3_ID	0	6
-1	1	CAL_MAG3_ROT	-1	6
-1	1	CAL_MAG3_XOFF	0.000000000000000000	9
-1	1	CAL_MAG3_XSCALE	1.000000000000000000	9
-1	1	CAL_MAG3_YOFF	0.000000000000000000	9
-1	1	CAL_MAG3_YSCALE	1.000000000000000000	9
-1	1	CAL_MAG3_ZOFF	0.000000000000000000	9
-1	1	CAL_MAG3_ZSCALE	1.000000000000000000	9
-1	1	CAL_MAG_SIDES	63	6
-1	1	CBRK_AIRSPD_CHK	0	6
-1	1	CBRK_ENGINEFAIL	284953	6
-1	1	CBRK_FLIGHTTERM	121212	6
-1	1	CBRK_GPSFAIL	240024	6
-1	1	CBRK_IO_SAFETY	22027	6
-1	1	CBRK_RATE_CTRL	0	6
-1	1	CBRK_SUPPLY_CHK	894281	6
-1	1	CBRK_USB_CHK	197848	6
-1	1	CBRK_VELPOSERR	0	6
-1	1	COM_ARM_AUTH	256010	6
-1	1	COM_ARM_EKF_AB	0.004999999888241291	9
-1	1	COM_ARM_EKF_GB	0.000869999988935888	9
-1	1	COM_ARM_EKF_HGT	1.000000000000000000	9
-1	1	COM_ARM_EKF_POS	0.500000000000000000	9
-1	1	COM_ARM_EKF_VEL	0.500000000000000000	9
-1	1	COM_ARM_EKF_YAW	0.500000000000000000	9
-1	1	COM_ARM_IMU_ACC	0.699999988079071045	9
-1	1	COM_ARM_IMU_GYR	0.200000002980232239	9
-1	1	COM_ARM_MIS_REQ	0	6
-1	1	COM_ARM_SWISBTN	0	6
-1	1	COM_ARM_WO_GPS	1	6
-1	1	COM_DISARM_LAND	1	6
-1	1	COM_DL_LOSS_T	10	6
-1	1	COM_DL_REG_T	0	6
-1	1	COM_EF_C2T	5.000000000000000000	9
-1	1	COM_EF_THROT	0.500000000000000000	9
-1	1	COM_EF_TIME	10.000000000000000000	9
-1	1	COM_FLIGHT_UUID	34	6
-1	1	COM_FLTMODE1	8	6
-1	1	COM_FLTMODE2	-1	6
-1	1	COM_FLTMODE3	-1	6
-1	1	COM_FLTMODE4	1	6
-1	1	COM_FLTMODE5	-1	6
-1	1	COM_FLTMODE6	2	6
-1	1	COM_HOME_H_T	5.000000000000000000	9
-1	1	COM_HOME_V_T	10.000000000000000000	9
-1	1	COM_LOW_BAT_ACT	2	6
-1	1	COM_OBL_ACT	0	6
-1	1	COM_OBL_RC_ACT	0	6
-1	1	COM_OF_LOSS_T	0.000000000000000000	9
-1	1	COM_POSCTL_NAVL	0	6
-1	1	COM_POS_FS_DELAY	1	6
-1	1	COM_POS_FS_GAIN	10	6
-1	1	COM_POS_FS_PROB	30	6
-1	1	COM_RC_ARM_HYST	1000	6
-1	1	COM_RC_IN_MODE	0	6
-1	1	COM_RC_LOSS_T	0.500000000000000000	9
-1	1	COM_RC_OVERRIDE	0	6
-1	1	COM_RC_STICK_OV	12.000000000000000000	9
-1	1	FW_CLMBOUT_DIFF	10.000000000000000000	9
-1	1	FW_MAN_P_SC	1.000000000000000000	9
-1	1	FW_MAN_R_SC	1.000000000000000000	9
-1	1	FW_MAN_Y_SC	1.000000000000000000	9
-1	1	GF_ACTION	1	6
-1	1	GF_ALTMODE	0	6
-1	1	GF_COUNT	-1	6
-1	1	GF_MAX_HOR_DIST	0.000000000000000000	9
-1	1	GF_MAX_VER_DIST	0.000000000000000000	9
-1	1	GF_SOURCE	0	6
-1	1	GPS_DUMP_COMM	0	6
-1	1	GPS_UBX_DYNMODEL	7	6
-1	1	IMU_ACCEL_CUTOFF	30.000000000000000000	9
-1	1	IMU_GYRO_CUTOFF	30.000000000000000000	9
-1	1	LED_RGB_MAXBRT	15	6
-1	1	LNDMC_ALT_MAX	10000.000000000000000000	9
-1	1	LNDMC_FFALL_THR	2.000000000000000000	9
-1	1	LNDMC_FFALL_TTRI	0.300000011920928955	9
-1	1	LNDMC_ROT_MAX	20.000000000000000000	9
-1	1	LNDMC_THR_RANGE	0.100000001490116119	9
-1	1	LNDMC_XY_VEL_MAX	1.500000000000000000	9
-1	1	LNDMC_Z_VEL_MAX	0.500000000000000000	9
-1	1	LND_FLIGHT_T_HI	0	6
-1	1	LND_FLIGHT_T_LO	959960540	6
-1	1	LPE_ACC_XY	0.012000000104308128	9
-1	1	LPE_ACC_Z	0.019999999552965164	9
-1	1	LPE_BAR_Z	3.000000000000000000	9
-1	1	LPE_EPH_MAX	3.000000000000000000	9
-1	1	LPE_EPV_MAX	5.000000000000000000	9
-1	1	LPE_FAKE_ORIGIN	1	6
-1	1	LPE_FGYRO_HP	0.001000000047497451	9
-1	1	LPE_FLW_OFF_Z	0.000000000000000000	9
-1	1	LPE_FLW_QMIN	150	6
-1	1	LPE_FLW_R	7.000000000000000000	9
-1	1	LPE_FLW_RR	7.000000000000000000	9
-1	1	LPE_FLW_SCALE	1.299999952316284180	9
-1	1	LPE_FUSION	28	6
-1	1	LPE_GPS_DELAY	0.289999991655349731	9
-1	1	LPE_GPS_VXY	0.250000000000000000	9
-1	1	LPE_GPS_VZ	0.250000000000000000	9
-1	1	LPE_GPS_XY	1.000000000000000000	9
-1	1	LPE_GPS_Z	3.000000000000000000	9
-1	1	LPE_LAND_VXY	0.050000000745058060	9
-1	1	LPE_LAND_Z	0.029999999329447746	9
-1	1	LPE_LAT	47.397743225097656250	9
-1	1	LPE_LDR_OFF_Z	0.000000000000000000	9
-1	1	LPE_LDR_Z	0.029999999329447746	9
-1	1	LPE_LON	8.545594215393066406	9
-1	1	LPE_PN_B	0.001000000047497451	9
-1	1	LPE_PN_P	0.100000001490116119	9
-1	1	LPE_PN_T	0.001000000047497451	9
-1	1	LPE_PN_V	0.100000001490116119	9
-1	1	LPE_SNR_OFF_Z	0.000000000000000000	9
-1	1	LPE_SNR_Z	0.050000000745058060	9
-1	1	LPE_T_MAX_GRADE	1.000000000000000000	9
-1	1	LPE_VIC_P	0.001000000047497451	9
-1	1	LPE_VIS_DELAY	0.000000000000000000	9
-1	1	LPE_VIS_XY	0.100000001490116119	9
-1	1	LPE_VIS_Z	0.100000001490116119	9
-1	1	LPE_VXY_PUB	0.300000011920928955	9
-1	1	LPE_X_LP	5.000000000000000000	9
-1	1	LPE_Z_PUB	1.000000000000000000	9
-1	1	MAV_BROADCAST	0	6
-1	1	MAV_COMP_ID	1	6
-1	1	MAV_FWDEXTSP	1	6
-1	1	MAV_PROTO_VER	0	6
-1	1	MAV_RADIO_ID	0	6
-1	1	MAV_SYS_ID	1	6
-1	1	MAV_TEST_PAR	1	6
-1	1	MAV_TYPE	2	6
-1	1	MAV_USEHILGPS	0	6
-1	1	MC_ACRO_EXPO	0.689999997615814209	9
-1	1	MC_ACRO_P_MAX	360.000000000000000000	9
-1	1	MC_ACRO_R_MAX	360.000000000000000000	9
-1	1	MC_ACRO_SUPEXPO	0.699999988079071045	9
-1	1	MC_ACRO_Y_MAX	360.000000000000000000	9
-1	1	MC_BAT_SCALE_EN	0	6
-1	1	MC_PITCHRATE_D	0.003000000026077032	9
-1	1	MC_PITCHRATE_FF	0.000000000000000000	9
-1	1	MC_PITCHRATE_I	0.045000001788139343	9
-1	1	MC_PITCHRATE_MAX	220.000000000000000000	9
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-1	1	MC_PITCH_P	6.500000000000000000	9
-1	1	MC_PITCH_TC	0.200000002980232239	9
-1	1	MC_PR_INT_LIM	0.300000011920928955	9
-1	1	MC_RATT_TH	0.800000011920928955	9
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-1	1	MC_ROLL_P	6.500000000000000000	9
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docs/en/3dscan.md

@@ -0,0 +1,23 @@
+# 3D-scanning drone
+
+<img src="../assets/3d_drone_1.jpg" title="3D-scanning drone">
+
+The project was created in collaboration with Texel inc. that develops 3D-scanners for scanning people.
+
+Our fellows from Texel provided a module consisting of a Raspberry Pi and a PrimeSense 3D-sensor.
+
+We provided a Clever 3 drone that's capable of autonomous flight and wrote a flight program.
+
+To make it all work we conducted many tests, made changes in the drone's design and tuned the drone properly.
+
+## Video
+
+<iframe width="966" height="543" src="https://www.youtube.com/embed/aqBION3TVhg" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+## Team
+
+The project was made by:
+
+* Timofei Kondratiev [Copter Express] - drone assembly, writing and debugging the program, conducting tests;
+* Anton Maltsev [Copter Express] - modeling of the protection of the propellers;
+* Andrei Poskonin [Texel] - modifying the Texel's software to work on Raspberry Pi.

docs/en/SUMMARY.md

@@ -45,16 +45,20 @@
   * [Computer vision basics](camera.md)
   * [LED strip](leds.md)
   * [Using rviz and rqt](rviz.md)
+  * [Working with GPIO](gpio.md)
   * [Interfacing with a sonar](sonar.md)
   * [Interfacing with a laser rangefinder](laser.md)
   * [PX4 Simulation](sitl.md)
   * [Software autorun](autolaunch.md)
+  * [Hostname](hostname.md)
   * [Controlling the copter from Arduino](arduino.md)
   * [Using an external 3G modem](3g.md)
 * Clever-based projects
   * [Copter spheric guard](shield.md)
   * [Face recognition system](face_recognition.md)
   * [Android RC app](android.md)
+  * [3D-scanning drone](3dscan.md)
+  * [Human pose estimation drone control](human_pose_estimation_drone_control.md)
   * [Copter Hack 2018](copterhack2018.md)
   * [Copter Hack 2017](copterhack2017.md)
 * Supplementary materials

docs/en/aruco_map.md

@@ -10,6 +10,12 @@
 
 ## Configuration
 
+Set the `aruco` argument in `~/catkin_ws/src/clever/clever/launch/aruco.launch` to `true`:
+
+```xml
+<arg name="aruco" default="true"/>
+```
+
 In order to enable map detection set `aruco_map` and `aruco_detect` arguments to `true` in `~/catkin_ws/src/clever/clever/launch/aruco.launch`:
 
 ```xml

docs/en/aruco_marker.md

@@ -10,7 +10,13 @@ Using this module along with [map-based navigation](aruco_map.md) is also possib
 
 ## Setup
 
-Set the `aruco_detect` argument in `~/catkin_ws/src/clever/clever/launch/aruco.launch` to `true` to automatically launch the module:
+Set the `aruco` argument in `~/catkin_ws/src/clever/clever/launch/aruco.launch` to `true`:
+
+```xml
+<arg name="aruco" default="true"/>
+```
+
+For enabling detection set the `aruco_detect` argument in `~/catkin_ws/src/clever/clever/launch/aruco.launch` to `true`:
 
 ```xml
 <arg name="aruco_detect" default="true"/>

docs/en/gloss.md

@@ -11,7 +11,7 @@ An unmanned aerial vehicle with an electronic stabilization system and the numbe
 ## Flight controller / autopilot
 
 **1\.** A specialized circuit-board designed for controlling a multicopter, an aircraft or another apparatus. Examples:
-Pixhawk, Ardupilot, Naze32, CC3D.
+Pixhawk, ArduPilot, Naze32, CC3D.
 
 **2\.** Software for the multicopter control circuit-board. Examples: PX4, APM, CleanFlight.
 
@@ -41,7 +41,7 @@ Clever may also be [controlled from a smartphone](rc.md).
 
 ## Arming
 
-Armed is the state of copter readiness for the fligh. When the gas stick is lifted, or when an external command with the target point is sent, the copter will fly. Usually, a copter starts rotating its propellers when it is switched to the "armed" state, even if the gas stick is down.
+Armed is the state of copter readiness for the flight. When the gas stick is lifted, or when an external command with the target point is sent, the copter will fly. Usually, a copter starts rotating its propellers when it is switched to the "armed" state, even if the gas stick is down.
 
 The opposite state is Disarmed.
 

docs/en/gpio.md

@@ -0,0 +1,98 @@
+# Working with GPIO
+
+A GPIO (General-Purpose Input/Output) pin is a programmable digital signal pin on a circuit board or a microcontroller that may act as an input or an output. Raspberry Pi has a set of easily accessible GPIO pins, some of which have hardware <abbr title="Pulse-width modulation">PWM</abbr>.
+
+> **Info** Use the [pinout](https://pinout.xyz) for figuring out, which Raspberry Pi's pins support GPIO and PWM.
+
+The [`pigpio`](http://abyz.me.uk/rpi/pigpio) library for interfacing with the GPIO pins is already preinstalled on [the RPi image](microsd_images.md). To interact with this library, run the appropriate daemon:
+
+```bash
+sudo systemctl start pigpiod.service
+```
+
+To enable automatic launch of the daemon, run:
+
+```bash
+sudo systemctl enable pigpiod.service
+```
+
+Example of working with the library:
+
+```python
+import time
+import pigpio
+
+# initializing connection to pigpiod
+pi = pigpio.pi()
+
+# set pin 11 mode for output
+pi.set_mode(11, pigpio.OUTPUT)
+
+# set signal of pin 11 to high
+pi.write(11, 1)
+
+time.sleep(2)
+
+# set signal on pin 11 to low
+pi.write(11, 0)
+
+# ...
+
+# setting pin 12 mode for input
+pi.set_mode(12, pigpio.INPUT)
+
+# read the state of pin 12
+level = pi.read(12)
+```
+
+To find out the pins' numbers, consult the [Raspberry Pi pinout](https://pinout.xyz).
+
+## Connecting servos
+
+Servo motors are typically controlled with PWM signal. Extreme positions of servos are reached with signal widths approximately equal to 1000 and 2000 µs. Values for a specific servo can be determined experimentally.
+
+Connect the signal wire of the servo to one of GPIO-pins of the Raspberry. To control a servo connected to the pin 13 use a code like this:
+
+```python
+import time
+import pigpio
+
+pi = pigpio.pi()
+
+# set mode of pin 13 to output
+pi.set_mode(13, pigpio.OUTPUT)
+
+# set pin 13 to output PWM signal 1000 us
+pi.set_servo_pulsewidth(13, 1000)
+
+time.sleep(2)
+
+# set pin 13 to output PWM signal 2000 us
+pi.set_servo_pulsewidth(13, 2000)
+```
+
+## Connecting an electromagnet
+
+![GPIO Mosfet Magnet Connection](../assets/gpio_mosfet_magnet.png)
+
+To connect an electromagnet use a field-effect transistor (MOSFET). Connect the MOSFET to one of GPIO-pins of the Raspberry Pi. To control the magnet connected to the pin 15 use a code like this:
+
+```python
+import time
+import pigpio
+
+pi = pigpio.pi()
+
+# set mode of pin 15 for output
+pi.set_mode(15, pigpio.OUTPUT)
+
+# enable the magnet
+pi.write(15, 1)
+
+time.sleep(2)
+
+# disable the magnet
+pi.write(15, 0)
+```
+
+> **Note** A more [comprehensive description](https://elinux.org/RPi_Low-level_peripherals) of the Raspberry Pi GPIO pins and [additional examples](https://elinux.org/RPi_GPIO_Interface_Circuits) of circuits are available at the [Embedded Linux wiki](https://elinux.org/RPi_Hub).

docs/en/hostname.md

@@ -0,0 +1,31 @@
+# Hostname
+
+[By default](microsd_images.md) the hostname of the Clever drone is set to `clever-xxxx`, where `xxxx` are random numbers. These numbers are the same as in the [Wi-Fi SSID](wifi.md).
+
+Thus, Clever is accessible on machines that support mDNS as `clever-xxxx.local`. You can use this name to access Clever over SSH:
+
+```bash
+ssh pi@clever-xxxx.local
+```
+
+Also, this name can be used in place of IP-address to open Clever web pages in browser, accessing ROS master, etc.
+
+## Changing hostname
+
+In some situations it is necessary to change Clever's hostname. You can use the `hostnamectl` utility for that:
+
+```bash
+sudo hostnamectl set-hostname newname
+```
+
+Where `newname` is the new name of the machine. `hostnamectl` utility will change the name in `/etc/hostname` file.
+
+You should also put the new name to `/etc/hosts` file:
+
+```txt
+127.0.1.1	newname newname.local
+```
+
+Setting `newname.local` is necessary to allow ROS to resolve this name in situations where all the network interfaces are down (when Wi-Fi is turned off or disconnected).
+
+> **Note** Changing the hostname does not affect the Wi-Fi SSID (and vice versa, changing the Wi-Fi SSID won't affect the hostname).

docs/en/human_pose_estimation_drone_control.md

@@ -0,0 +1,152 @@
+# Human Pose Estimation drone control
+
+## Introduction
+
+Human pose estimation is one of the computer vision applications in order to estimate all the joints and the different poses of the human body through a special camera and a special hardware or process the images from a regular camera by machine learning and deep learning techniques. This project is about controlling the drone through the poses of a person in front of regular camera without needing to an external hardware or hard build dependencies on your computer.
+
+## Demo
+
+<iframe width="770" height="421" src="https://www.youtube.com/embed/ucPONeHg2lk" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+<iframe width="853" height="480" src="https://www.youtube.com/embed/EDcTtPLxzoU" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+In the demo video, we were using Ubuntu 18.04 and clever4 drone.
+
+## Development
+
+We used posenet from tensorflow.js as our human pose estimation module because it is easier to use, build, fast and compatible with different environments(Hardware and OS). You can find the work of posenet for this project [here](https://github.com/hany606/tfjs-posenet). Websockets were used as communication protocol between the browser and a running server on the drone.
+
+## Architecture
+
+The image below is a visualization of our architecture for the project.
+
+![Architecture](../assets/human_pose_estimation_project_architecture.png)
+
+This figure is made from [here](https://www.draw.io/)
+
+## Dependencies
+
+Before you test it you need to install on your laptop:
+
+- Install Nodejs from [here](https://nodejs.org/en/download/). For [Ubuntu installation](https://tecadmin.net/install-latest-nodejs-npm-on-ubuntu/)
+- Install Yarn package manager from [here](https://yarnpkg.com/lang/en/docs/install/). [Usual problem](https://github.com/yarnpkg/yarn/issues/3189) while installing and using yarn with Ubuntu.
+- Have an experience in manual control on the drone in case of any weird behavior happen.
+- Worked before with COEX drones, if this is your first time to work with COEX drones check [this](https://clever.copterexpress.com/en/).
+
+and you are ready to build and use the required codes.
+
+## Setup & installation
+
+### In your main laptop
+
+#### (It has been tested until now only on Ubuntu 18.04)
+
+- Clone the repo of posenet in your computer or download it if you are using Windows without GitHub
+
+```sh
+git clone https://github.com/hany606/tfjs-posenet.git
+```
+
+- Do the steps of running and setup as it is described in the README [here](https://github.com/hany606/tfjs-posenet/tree/master/posenet)
+
+### In the Raspberry Pi of the drone (Main controller)
+
+- Access the Raspberry Pi
+- [Switch to Client mode](https://clever.copterexpress.com/en/network.html) and ensure that the network has internet connection.
+
+Notice: I have already made a bash script based on that tutorial, it is in COEX-Internship19/helpers/ called .to_client.bash
+To run it:
+
+```sh
+chmod +x .to_client.bash
+./.to_client <NAME_OF_NETWORK> <PASSWORD>
+```
+
+- Install the tornado library to make a WebSocket server
+
+```sh
+sudo pip install tornado
+```
+
+- Clone the main repo on the Raspberry Pi of the drone
+
+```sh
+git clone https://github.com/hany606/COEX-Internship19.git
+```
+
+- Go to the project directory
+
+```sh
+cd COEX-Internship19/projects/Human_pose_estimation_drone_control/
+```
+
+- Run the server to test that everything is correct and run the posenet, you should see a lot of data is printed in the terminal (if you are running the human pose estimation code on your main computer, just refresh the page in the browser after running the below command in Raspberry Pi)
+
+```sh
+python websocket_server_test.py
+```
+
+- Close the server using Ctrl+C
+- To run the main file
+
+```sh
+python main_drone.py
+```
+
+## How to use it
+
+- Run the server first from the Raspberry Pi from the correct directory
+
+```sh
+python main_drone.py
+```
+
+- Run Human pose estimation module on your laptop with WebSocket by
+
+```sh
+yarn websocket
+```
+
+Or refresh the page if you already run it.
+
+- You should see the instructions on the screen of the terminal of the Raspberry Pi right now.
+- Firstly, you should be visible for the camera and it is better to have a clear background without many details.
+- Secondly, you should do initial pose as it is described in the images below.
+- You can perform any pose and try to keep it until your drone finish doing this move that is corresponding to the pose.
+- After you do the pose return to the initial pose in order to give the drone the command to listen to another pose.
+- If you want to stop the program, land the drone and don't return to the initial pose and press Ctrl+C to stop the drone.
+
+## Poses
+
+![Poses](../assets/human_pose_estimation_project_poses.jpg)
+
+Animation is created by [this](https://justsketchme.web.app/)
+
+## Notes
+
+- Websockets are used to communicate between the page on the browser that runs posenet and the drone.
+- As the model of posenet is already pre-trained and using tensorflow.js. So, it is quite fast and can run on different computers without any problems thanks to yarn, parcel and tensorflow.js, and we have configured the code of posenet to the minimal configuration to not require a lot of computation power.
+- This project has been built in 1 week of working, it took a lot of time trying to make openpose and google colab working but unfortunately I had many errors and one I decided to move to posenet everything was pretty easy.
+- If you have any comments about the codes to try to improve it, I will be happy if you can contact me through telegram: @hany606 or email: h.hamed.elanwar@gmail.com or do pull requests.
+- If you have implemented any of the applications below, or do some improvements, we will be very happy for that.
+
+## Future application
+
+- [Drone wars](https://web.facebook.com/COEXDrones/photos/pcb.1129309377266616/1129308437266710/?type=3&theater): Control the drone during the drones battle using human poses. It requires high speed interaction and more precise control.
+- Control a drone that draw graffiti using human poses and draw in real-time.
+- Playing with balls like ping pong game with the drones. It may require 3D Human Pose estimation Algorithms.
+- Control two drones by your arms and do some task together.
+
+## Acknowledgments
+
+- This project was part of an internship in COEX in July 2019. if you found any bugs or problems, you can contact me through telegram: @hany606 or email: h.hamed.elanwar@gmail.com.
+- The above applications were thought by me and my internship supervisor Timofey.
+
+## References
+
+- [Human pose estimation guide](https://blog.nanonets.com/human-pose-estimation-2d-guide/)
+- [Clever drones tutorials](https://clever.copterexpress.com/en/)
+- [Posenet GitHub repo](https://github.com/tensorflow/tfjs-models/tree/master/posenet)
+- [Posenet meduim article](https://medium.com/tensorflow/real-time-human-pose-estimation-in-the-browser-with-tensorflow-js-7dd0bc881cd5)
+- [Tensorflow.js demos](https://www.tensorflow.org/js/demos)
+- [Posenet overview](https://www.tensorflow.org/lite/models/pose_estimation/overview)

docs/en/mavros.md

@@ -52,4 +52,4 @@ Messages published in the topics may be viewed with the `rostopic` utility, e.g.
 
 `/mavros/setpoint_raw/attitude` — sends [SET\_ATTITUDE\_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) message. Allows setting the target attitude /angular velocity and throttle level. The values to be set are selected using the `type_mask` field
 
-`/mavros/setpoint_raw/global` — sends [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed. **May not be supported in earlier releases of PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\).
+`/mavros/setpoint_raw/global` — sends [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed. **Not supported in PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\).

docs/en/network.md

@@ -1,22 +1,21 @@
 # Configuring Wi-Fi
 
-The Raspberry Pi Wi-Fi adapter of has two main operating modes:
+The Raspberry Pi Wi-Fi adapter has two main operating modes:
 
 1. **Client mode** – RPi connects to an existing Wi-Fi network.
-
 2. **Access point mode** – RPi creates a Wi-Fi network that you can connect to.
 
-When using [the RPi image](microsd_images.md), the Wi-Fi adapter works in the [access point mode] by default (Wi-Fi.md).
+On our [RPi image](microsd_images.md) the Wi-Fi adapter is confuigured to use the [access point mode](Wi-Fi.md) by default.
 
 ## Changing the password or SSID (of the network name)
 
-1. Edit file `/etc/wpa_supplicant/wpa_supplicant.conf` (using [SSH connection](ssh.md)):
+1. Edit the `/etc/wpa_supplicant/wpa_supplicant.conf` file (using [SSH connection](ssh.md)):
 
     ```bash
     sudo nano /etc/wpa_supplicant/wpa_supplicant.conf
     ```
 
-    To change the name of the Wi-Fi network, change the value of parameter `ssid`, to change the password, change parameter `psk`. For example:
+    In order to change the name of the Wi-Fi network, change the value of the `ssid` parameter; to change the password, change the `psk` parameter. For example:
 
     ```txt
     network={
@@ -33,9 +32,9 @@ When using [the RPi image](microsd_images.md), the Wi-Fi adapter works in the [a
 
 2. Restart Raspberry Pi.
 
-> **Caution** The length of the password for the Wi-Fi network should be **at least** 8 characters.
+> **Caution** The Wi-Fi network password should be **at least** 8 characters.
 >
-> In case of incorrect settings `wpa_supplicant.conf`, Raspberry Pi will stop distributing Wi-Fi!
+> If your `wpa_supplicant.conf` is not valid, Raspberry Pi will not allow Wi-Fi connections!
 
 ## Switching adapter to the client mode
 
@@ -46,39 +45,27 @@ When using [the RPi image](microsd_images.md), the Wi-Fi adapter works in the [a
     sudo systemctl disable dnsmasq
     ```
 
-2. Enable obtaining IP address on the wireless interface by the DHCP client.
+2. Enable DHCP client on the wireless interface to obtain IP address. In order to do this, remove the following lines from the `etc/dhcpcd.conf` file:
-
-    For this purpose, remove the following lines
 
     ```conf
     interface wlan0
     static ip_address=192.168.11.1/24
     ```
 
-    from file `/etc/dhcpcd.conf` manually, or run the following commands.
+3. Configure `wpa_supplicant` to connect to an existing access point. Change your `/etc/wpa_supplicant/wpa_supplicant.conf` to contain the following:
 
-    ```bash
-    sudo sed -i 's/interface wlan0//' /etc/dhcpcd.conf
-    sudo sed -i 's/static ip_address=192.168.11.1\/24//' /etc/dhcpcd.conf
     ```
-
-3. Configure `wpa_supplicant` to connect to an existing access point.
-
-    ```bash
-    cat << EOF | sudo tee /etc/wpa_supplicant/wpa_supplicant.conf
     ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
     update_config=1
     country=GB
 
     network={
-        ssid="CLEVER"
+        ssid="SSID"
-        psk="cleverwifi"
+        psk="password"
     }
-
-    EOF
     ```
 
-    where `CLEVER` is the name of the network, and `cleverwifi` is the password.
+    where `SSID` is the name of the network, and `password` is its password.
 
 4. Restart the `dhcpcd` service.
 
@@ -88,35 +75,22 @@ When using [the RPi image](microsd_images.md), the Wi-Fi adapter works in the [a
 
 ## Switching the adapter to the access point mode
 
-1. Enable the static IP address in the wireless interface.
+1. Enable the static IP address in the wireless interface. Add the following lines to your `/etc/dhcpcd.conf` file:
-
-    For this purpose, add the following lines
 
     ```conf
     interface wlan0
     static ip_address=192.168.11.1/24
     ```
 
-    to file `/etc/dhcpcd.conf` manually, or run the following command.
+2. Configure wpa_supplicant to work in the access point mode. Change your `/etc/wpa_supplicant/wpa_supplicant.conf` file to contain the following:
 
-    ```bash
-    cat << EOF | sudo tee -a /etc/dhcpcd.conf
-    interface wlan0
-    static ip_address=192.168.11.1/24
-
-    EOF
     ```
-
-2. Configure wpa_supplicant to work in the access point mode.
-
-    ```bash
-    cat << EOF | sudo tee /etc/wpa_supplicant/wpa_supplicant.conf
     ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
     update_config=1
     country=GB
 
     network={
-        ssid="CLEVER-$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)"
+        ssid="CLEVER-1234"
         psk="cleverwifi"
         mode=2
         proto=RSN
@@ -125,23 +99,23 @@ When using [the RPi image](microsd_images.md), the Wi-Fi adapter works in the [a
         group=CCMP
         auth_alg=OPEN
     }
-
-    EOF
     ```
 
-3. Restart the `dhcpcd` service.
+    where `CLEVER-1234` is the network name and `cleverwifi` is the password.
 
-    ```bash
+3. Enable the `dnsmasq` service.
-    sudo systemctl restart dhcpcd
-    ```
-
-4. Enable the `dnsmasq` service.
 
     ```bash
     sudo systemctl enable dnsmasq
     sudo systemctl start dnsmasq
     ```
 
+4. Restart the `dhcpcd` service.
+
+    ```bash
+    sudo systemctl restart dhcpcd
+    ```
+
 ___
 
 Below you can read more about how RPi networking is organized.
@@ -150,16 +124,16 @@ Below you can read more about how RPi networking is organized.
 
 Network operation in the [image](microsd_images.md) is supported by two pre-installed services:
 
-* **networking** — the service enables all network interfaces at the moment of start [5].
+* **networking** — the service enables all network interfaces at startup [5].
-* **dhcpcd** — the service ensures configuration of addressing and routing on the interfaces obtained dynamically, or specified statically in the config file.
+* **dhcpcd** — the service ensures that configuration of addressing and routing on the interfaces is obtained dynamically or specified statically in the config file.
 
-To work in the router (access point) mode, RPi requires a DHCP server. It is used to automatically send the settings of the current network to connected clients. `isc-dhcp-server` or `dnsmasq` may be used as such server.
+To work in the router (access point) mode, RPi requires a DHCP server. It is used to automatically send the settings of the current network to connected clients. `isc-dhcp-server` or `dnsmasq` may be used for this.
 
 ### dhcpcd
 
-Starting with Raspbian Jessy, network settings are no longer defined in the `/etc/network/interfaces` file. Now `dhcpcd` is used for sending addressing and routing settings[4].
+Starting with Raspbian Jessie, network settings are no longer defined in the `/etc/network/interfaces` file. Now `dhcpcd` is used for sending addressing and routing settings[4].
 
-By default, a dhcp client is enabled in all interfaces. Settings of the interfaces are changed in the `/etc/dhcpcd.conf` file. To start an access point, specify a static IP address. To do this, add the following lines to the end of the file:
+By default, a dhcp client is enabled in all interfaces. Settings for network interfaces are changed in the `/etc/dhcpcd.conf` file. An access point should have a static IP address. To specify one, add the following lines to the end of the file:
 
 ```
 interface wlan0
@@ -170,9 +144,9 @@ static ip_address=192.168.11.1/24
 
 ### wpa_supplicant
 
-**wpa_supplicant** — the service configures the Wi-Fi adapter. The `wpa_supplicant` service runs not as standalone (although it exists as such), and runs as a `dhcpcd` child process.
+**wpa_supplicant** — the service configures the Wi-Fi adapter. The `wpa_supplicant` service does not run as a standalone service (although it exists as such), but is instead launched as a `dhcpcd` child process.
 
-By default, the config file should contain path `/etc/wpa_supplicant/wpa_supplicant.conf`.
+By default the config file is `/etc/wpa_supplicant/wpa_supplicant.conf`.
 An example of the configuration file:
 
 ```conf
@@ -192,7 +166,7 @@ network={
 }
 ```
 
-Inside the config file, general `wpa_supplicant` settings, and the settings for the adapter configuration are specified. The configuration file also contains `network` section with the basic settings of the Wi-Fi network, such as network SSID, password, adapter operating mode. There may be several such sections, but only the first one is the working one. For example, if the first section contains connection to an unavailable network, the adapter will be configured according to a next valid section, if there is one. Read more about the syntax of `wpa_supplicant.conf` [TODO WIKI].
+Inside the config file, general `wpa_supplicant` settings, and the settings for the adapter configuration are specified. The configuration file also contains `network` section with the basic settings of the Wi-Fi network, such as network SSID, password, adapter operating mode. There may be several `network` sections, but only the first valid one is used. For example, if the first section contains a connection to an unavailable network, the adapter will be configured according to a next valid section, if there is one. Read more about the syntax of `wpa_supplicant.conf` [TODO WIKI].
 
 #### wpa_passphrase
 

docs/en/rviz.md

@@ -23,7 +23,7 @@ ROS_MASTER_URI=http://192.168.11.1:11311 rviz
 If connection is not established, make sure the `.bashrc` of Clever contains line:
 
 ```(bash)
-export ROS_IP=192.168.11.1
+export ROS_HOSTNAME=`hostname`.local
 ```
 
 Using rviz

docs/en/setup.md

@@ -180,7 +180,7 @@ To unlock the copter, disable the safety button
 
 1. Go to the Power menu.
 2. Set the Number of cells — 4S.
-3. Set parameter Full Voltage (per cell) - 4.20 V.
+3. Set parameter Full Voltage (per cell) - 4.20 V; Empty Voltage (per cell) - 3.50V.
 
     To save the changes, restart Pihxawk:
 

docs/en/sitl.md

@@ -3,9 +3,9 @@ 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://pixhawk.org/dev/hil/jmavsim) 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.
+jMAVSim is a lightweight environment intended only for testing multi-rotor aircraft systems; Gazebo is a versatile environment for all types of robots.
 
 Launching PX4 SITL
 --
@@ -17,12 +17,12 @@ git clone https://github.com/PX4/Firmware.git
 cd Firmware
 ```
 
-jMavSim
+jMAVSim
 --
 
 Main article: https://dev.px4.io/en/simulation/jmavsim.html
 
-For simulation using the jMavSim lightweight environment, use the following command:
+For simulation using the jMAVSim lightweight environment, use the following command:
 
 ```(bash)
 make posix_sitl_default jmavsim

docs/en/snippets.md

@@ -4,15 +4,6 @@ Code examples
 Python
 ---
 
-<!-- markdownlint-disable MD031 -->
-
-> **Note** When using cyrillic simbols with UTF-8 encoding, specify the encoding in the beginning of the program:
-> ```python
-> # -*- coding: utf-8 -*-
-> ```
-
-<!-- markdownlint-enable MD031 -->
-
 ### # {#distance}
 
 Calculating the distance between two points (**important**: the points are to be in the same [system of coordinates](frames.md)):
@@ -46,7 +37,7 @@ start = get_telemetry()
 print navigate(z=z, speed=0.5, frame_id='body', auto_arm=True)
 
 # Waiting for takeoff
-while True:
+while not rospy.is_shutdown():
     # Checking current altitude
     if get_telemetry().z - start.z + z < tolerance:
         # Takeoff complete
@@ -54,6 +45,20 @@ while True:
     rospy.sleep(0.2)
 ```
 
+This code can be wrapped in a function:
+
+```python
+def takeoff_wait(alt, speed=0.5, tolerance=0.2):
+    start = get_telemetry()
+    print navigate(z=alt, speed=speed, frame_id='body', auto_arm=True)
+
+    while not rospy.is_shutdown():
+        if get_telemetry().z - start.z + z < tolerance:
+            break
+
+        rospy.sleep(0.2)
+```
+
 ### # {#block-nav}
 
 Flying towards a point and waiting for copter's arrival:
@@ -66,7 +71,7 @@ frame_id='aruco_map'
 print navigate(frame_id=frame_id, x=1, y=2, z=3, speed=0.5)
 
 # Wait for the copter to arrive at the requested point
-while True:
+while not rospy.is_shutdown():
     telem = get_telemetry(frame_id=frame_id)
     # Calculating the distance to the requested point
     if get_distance(1, 2, 3, telem.x, telem.y, telem.z) < tolerance:
@@ -75,6 +80,25 @@ while True:
     rospy.sleep(0.2)
 ```
 
+### # {#block-land}
+
+Landing and waiting until the copter lands:
+
+```python
+land()
+while get_telemetry().armed:
+    rospy.sleep(0.2)
+```
+
+This code can be wrapped in a function:
+
+```python
+def land_wait():
+    land()
+    while get_telemetry().armed:
+        rospy.sleep(0.2)
+```
+
 ### # {#disarm}
 
 Quadcopter disarm (disabling propellers **the copter will fall down**):

docs/ru/3dscan.md

@@ -0,0 +1,23 @@
+# Дрон для 3D-сканирования человека
+
+<img src="../assets/3d_drone_1.jpg" title="Сканирующий дрон">
+
+Проект был создан совместно с компанией Texel, которая разрабатывает стационарные 3D-сканеры для создания модели человека.
+
+Коллеги из Texel предоставили модуль, состоящий из Raspberry Pi с установленным ПО для сканирования и камеры для захвата 3D-изображения PrimeSense.
+
+С нашей стороны был предоставлен квадрокоптер Клевер 3 с установленным оборудованием для автономного полета, а также написана полетная программа.
+
+Мы провели множество тестов и настроек, внесли много изменений в конструкции дрона, чтобы в итоге добиться результата.
+
+## Видео
+
+<iframe width="966" height="543" src="https://www.youtube.com/embed/aqBION3TVhg" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+## Команда
+
+Над проектом работали:
+
+* Тимофей Кондратьев [Copter Express] - сборка дрона, написание и отладка программы, проведение тестов;
+* Антон Мальцев [Copter Express] - моделирование защиты пропеллеров;
+* Андрей Посконин [Texel] - импорт ПО Texel на Raspberr Pi, совместные тесты;

docs/ru/SUMMARY.md

@@ -54,18 +54,22 @@
   * [Работа с SITL](sitl.md)
   * [Контейнер с симулятором](sitl_docker.md)
   * [Автозапуск ПО](autolaunch.md)
+  * [Имя хоста](hostname.md)
   * [Взаимодействие с Arduino](arduino.md)
   * [3G-модем](3g.md)
   * [Установка ROS Kinetic](ros-install.md)
 * Проекты на базе Клевера
   * [Генератор ArUco карт](arucogenmap.md)
+  * [Модель аэротакси в городе](bigchallenges.md)
   * [Шаровая защита коптера](shield.md)
   * [Распознавание лиц](face_recognition.md)
   * [Подсчет количества объектов c камеры](object_counting.md)
   * [Пульт на Андроид](android.md)
   * [Блочный конструктор полета](clever_blocks.md)
+  * [Дрон для 3D-сканирования человека](3dscan.md)
   * [CopterHack-2018](copterhack2018.md)
   * [CopterHack-2017](copterhack2017.md)
+  * [Робокросс-2019](robocross2019.md)
 * Дополнительные материалы
   * [Олимпиада НТИ 2019](nti2019.md)
   * [Вклад в Клевер](contributing.md)

docs/ru/aruco_map.md

@@ -10,6 +10,12 @@
 
 ## Конфигурирование
 
+Аргумент `aruco` в файле `~/catkin_ws/src/clever/clever/launch/clever.launch` должен быть в значении `true`:
+
+```xml
+<arg name="aruco" default="true"/>
+```
+
 Для включения распознавания карт маркеров аргументы `aruco_map` и `aruco_detect` в файле `~/catkin_ws/src/clever/clever/launch/aruco.launch` должны быть в значении `true`:
 
 ```xml
@@ -55,7 +61,7 @@ rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/cle
 rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clever/aruco_pose/map/test_map.txt
 ```
 
-Также, можно создать карту в специальном [конструкторе](arucogenmap.md)
+Также, можно создать карту в специальном [конструкторе](arucogenmap.md).
 
 ### Проверка
 

docs/ru/aruco_marker.md

@@ -10,7 +10,13 @@
 
 ## Настройка
 
-Для включения модуля аргумент `aruco_detect` в файле `~/catkin_ws/src/clever/clever/launch/aruco.launch` должен быть в значении `true`:
+Аргумент `aruco` в файле `~/catkin_ws/src/clever/clever/launch/clever.launch` должен быть в значении `true`:
+
+```xml
+<arg name="aruco" default="true"/>
+```
+
+Для включения распознавания маркеров аргумент `aruco_detect` в файле `~/catkin_ws/src/clever/clever/launch/aruco.launch` должен быть в значении `true`:
 
 ```xml
 <arg name="aruco_detect" default="true"/>

docs/ru/bigchallenges.md

@@ -0,0 +1,246 @@
+
+# Аэротакси
+
+Проект команды Human Express на проектной программе "Большие Вызовы"
+
+## Суть проекта
+
+Крупные города страдают из-за пробок и перегруженности транспорта. Пробки на дорогах и перегруженность транспорта влечёт за собой многие неудобства. Одной из таких проблем является отсутствие возможности быстро добраться из точки А в точку Б. При этом воздушное пространство практически не используется. Предлагаемое решение заключается в создании системы, которая в режиме реального времени наблюдает и контролирует движение беспилотных летательных аппаратов. Такое решение приводит к полной автоматизации процесса полёта и исключает возможность воздушно-транспортных происшествий. В результате проделанной работы удалось сделать систему, которая состоит из нескольких дронов и сервера. Сервер прокладывает маршрут дронам из начальной точки в заданную по проложенным дорогам. Также в работу сервера входит логистика, благодаря которой беспилотники не сталкиваются в полёте.
+
+<iframe width="966" height="543" src="https://www.youtube.com/embed/nq1DKjacs6U" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+<iframe width="966" height="543" src="https://www.youtube.com/embed/QdgZ4lzPmwQ" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+## Настройка сервера
+
+Чтобы скачать проект на сервер выполните команду
+
+```bash
+git clone https://github.com/Tennessium/HUEX
+```
+
+Перед началом работы с системой необходимо подключить устройство к сети WiFi (например, раздать со смартфона) установить на него необходимые библиотеки
+
+```bash
+cd HUEX/server
+pip install -r requirements.txt
+```
+
+В случае необходимости вы можете изменить высоту эшелонов и разрешенные IP-адреса для доступа к Центру управления полетами в файле *server/consts.py* и настроить поле с метками в *server/static/map.txt*.
+Теперь можно запустить сервер написав в командную строку
+
+```bash
+python manage.py runserver 0.0.0.0:8000
+```
+
+Чтобы перейти на веб страницу наберите в адресной строке ip адрес сервера в локальной сети и укажите порт 8000 (`http://ip:8000`).  
+[Как узнать ip адрес устройства](https://remontka.pro/ip-adres/)
+
+## Настройка коптеров
+
+В первую очередь подготовьте SD-карту с образом Clever ([Инструкция](https://clever.copterexpress.com/ru/microsd_images.html))
+
+Чтобы скачать проект на Raspberry Pi в коптере выполните команду
+
+```bash
+git clone https://github.com/Tennessium/HUEX
+```
+
+Перед началом работы с системой необходимо перевести коптеры в режим клиента и подключить к сети WiFi. Вы можете воспользоваться [этим мануалом](https://clever.copterexpress.com/ru/network.html#переключение-адаптера-в-режим-клиента)
+
+Однако, для упрощения развертывания системы на нескольких коптреах, рекомендуется использование нашего скрипта, лежащего в папке *copter/setup/*
+
+- Перейдите в папку
+
+```bash
+cd HUEX/copter/setup/
+```
+
+- Используя любой редактор, в файле *networkData.txt* измените SSID и пароль сети
+- Запустите скрипт
+
+```bash
+sudo bash networkEdit.sh
+```
+
+- Перезагрузите Raspberry Pi
+
+Произведите установку и настройку ROS-пакета для LED-ленты
+
+```bash
+cd ~/catkin_ws/src
+git clone https://github.com/bart02/ros-led-lib.git led
+cd led
+```
+
+Воспользовавшись nano ledsub.py, измените переменную LED_COUNT на число светодиодов на вашей ленте
+
+```bash
+chmod +x ledsub.py
+cd ~/catkin_ws
+catkin_make
+sudo systemctl enable /home/pi/catkin_ws/src/led/led.service
+sudo systemctl start led
+```
+
+Установите необходимые пакеты
+
+```bash
+cd HUEX/clever
+pip install -r requirements.txt
+```
+
+В файле *copter/consts.py* укажите IP-адрес сервера.
+
+Для запуска основного скрипта воспользуйтсь нашим systemd-сервисом.
+
+```bash
+sudo systemctl enable /home/pi/HUEX/clever/setup/taxi.service
+sudo systemctl start taxi.service
+```
+
+Скрипт будет запускаться автоматически при старте системы.
+Для остановки можно воспользоваться командой
+
+```bash
+sudo systemctl stop taxi.service
+```
+
+## Веб-интерфейс центра управления полётами
+
+<img src="../assets/cup.png" alt=""/>
+В данном веб интерфейсе можно следить за полётами всех дронов на карте (масштабировать с помощью колёсика, передвигаять с помощью Alt). При нажатии на лебедя в правом верхнем углу все коптеры аварийно садятся, А при нажатии на значок "обновить" все коптеры автоматически удаляются, что приводит к удалению всех комманд и посадке активных на текущий момент коптеров.
+С помощью инструментов в правом нижнем углу можно строить новые основания и рёбра.
+
+## Веб-интерфейс заказа
+
+Чтобы перейти на веб страницу наберите в адресной строке `http://ip:8000/m`, где *ip* - адрес сервера в сети.
+
+## Визуализатор
+
+Для наглядности работы системы был разработан 3D-визуализатор воздушного пространства. Он отображает систему эшелонов, поле ArUco-маркеров; позиции коптеров и направления их движения в real-time.
+
+Запускать визуализатор можно после старта сервера. Компьютер должен быть подключен к той же сети, что и сервер.
+
+```bash
+cd viz
+python main.py
+```
+
+Программа автоматически подгрузит карты маркеров и эшелонов. Если одна из них изменяется в процессе эксплуатации, перезагрузите программу для внесения изменений.
+
+<img src="../assets/viz.png" alt=""/>
+
+>Камеру можно передвигать при помощи клавиш *WASD* и поворачивать при помощи стрелок.
+
+## DDoS-скрипт
+
+Во время смены был написан простой скрипт, предназначенный для тестирования логистики. Его суть заключается в бесконечном заказе такси между случайными точками. Перед тем как запустить программу [*DDos.py*](https://github.com/Tennessium/HUEX/blob/master/DDos.py) замените параметр *static_path* в пятой строке на *ip* вашего сервера.
+
+## API
+
+На случай если вы захотите реализовать свою "обёртку" вы можете реализовать взаимодействие с сервером по средствам *HTTP/HTTPS* запросов
+
+### /get
+
+Возвращает телеметрию всех доступных коптеров.
+Пример:
+
+```json
+{
+  "message": "OK",
+  "drones": [
+    {
+      "ip": "192.168.1.101",
+      "led": "#FF0000",
+      "status": "land",
+      "pose": {
+        "x": 0.24,
+        "y": 0.38,
+        "z": 0,
+        "yaw": 0
+      },
+      "voltage": 4.12,
+      "nextp": {
+        "led": "#FF0000",
+        "status": "land",
+        "pose": {
+          "x": 0.24,
+          "y": 0.38,
+          "z": 1.5,
+          "yaw": 0
+        }
+      }
+    }
+  ]
+}
+```
+
+Где
+
+- **ip** - ip адрес коптера
+<!-- markdownlint-disable MD044 -->
+- **led** - цвет светодиодной ленты
+<!-- markdownlint-restore MD044 -->
+- **status** - *fly* или *land* - текущий статус коптера
+- **pose** - позиция коптера (*x*, *y*, *z*,  и *yaw*)
+- **voltage** - напряжение на одной банке
+<!-- markdownlint-disable MD044 -->
+- **nextp** - отдаваемая коптеру команда на полёт (*led*, *status*, *pose* как выше)
+<!-- markdownlint-restore MD044 -->
+
+### /static/roads.json
+
+Текущая карта дорог первого эшелона
+Пример:
+
+```json
+{
+  "points": [
+    {
+      "x": 2.1,
+      "y": 3.5
+    },
+    {
+      "x": 0.6,
+      "y": 0.4
+    },
+    {
+      "x": 2.4,
+      "y": 0.5
+    }
+  ],
+  "lines": [
+    {
+      "1": 2,
+      "2": 1
+    },
+    {
+      "1": 1,
+      "2": 0
+    }
+  ]
+}
+```
+
+Где
+
+- **poits** - массив вершин графа и их координат
+- **lines** - массив рёбер графа (*1* - точка из которой выходит ребро, *2* - точка куда это ребро направлено)
+
+### /ask_taxi?o=x&t=y
+
+Заказ такси из точки под номером *x* в точку под номером *y*. Точки *x* и *y* берутся  из **/static/roads.json**
+
+### /get_dist?o=x&t=y
+
+Возвращает расстояние и цену за пролёт между точками.
+Пример:
+
+```json
+{"dist": 5.3, "cost": 309}
+```
+
+Где
+
+- **dist** - Дистанция в метрах
+- **cost** - Цена в рублях (150₽ + 30₽ * *n* метров)

docs/ru/calibration.md

@@ -1,79 +1,99 @@
 # Калибровка камеры
 
-Компьютерное зрение получает все более широкое распространение. Зачастую, алгоритмы компьютерного зрения работают неточно, получая искаженное изображение с камеры, что особенно характерно для fisheye-камер.
+Для точной работы систем компьютерного зрения (например, для навигации по ArUco-маркерам) используемая камера должна быть откалибрована.  
 
-![img](../assets/img1.jpg)
+![distorted](../assets/img1.jpg)
 
 > Изображение "скруглено" ближе к краям.
+Какой-либо алгоритм компьютерного зрения будет воспринимать информацию с этой картинки неправильно.
 
-Какой-либо алгоритм компьютерного зрения будет воспринимать информацию с этой картинки неправильно. Для устранения подобных искажений камера, получающая изображения, должна быть откалибрована в соответствии со своими особенностями.
+## Установка приложения
-
-## Установка скрипта
 
 Для начала, необходимо установить необходимые библиотеки:
 
-```
+```bash
-pip install numpy
+pip install numpy  
-pip install opencv-python
+pip install opencv-python  
-pip install glob
+pip install pyyaml  
-pip install pyyaml
+pip install urllib2
-pip install urllib.request
+pip install flask, flask-wtf
 ```
 
-Затем скачиваем скрипт из репозитория:
+Затем скачиваем исходный код из репозитория и проводим установку:
 
 ```bash
-git clone https://github.com/tinderad/clever_cam_calibration.git
+git clone https://github.com/tinderad/calibration_web_2.7.git
-```
+cd calibration_web_2.7.git
-
-Переходим в скачанную папку и устанавливаем скрипт:
-
-```bash
-cd clever_cam_calibration
 sudo python setup.py build
 sudo python setup.py install
 ```
 
-Если вы используете Windows, тогда скачайте архив из [репозитория](https://github.com/tinderad/clever_cam_calibration/archive/master.zip), распакуйте его и установите:
-
-```bash
-cd path\to\archive\clever_cam_calibration\
-python setup.py build
-python setup.py install
-```
-
-> path\to\archive - путь до распакованного архива.
-
 ## Подготовка к калибровке
 
-Вам необходимо подготовить калибровочную мишень. Она представляет собой «шахматную доску». Файл можно взять [отсюда](https://www.oreilly.com/library/view/learning-opencv-3/9781491937983/assets/lcv3_ac01.png).
+Вам необходимо подготовить калибровочную мишень. Она представляет собой «шахматную доску». Файл можно взять [отсюда](https://www.oreilly.com/library/view/learning-opencv-3/9781491937983/assets/lcv3_ac01.png).  
-Наклейте распечатанную мишень на любую твердую поверхность. Посчитайте количество пересечений в длину и в ширину доски, измерьте размер клетки (в мм).
+Наклейте распечатанную мишень на любую твердую поверхность. Посчитайте количество пересечений в длину и в ширину доски, измерьте размер клетки (в мм), как указано на изображении.
 
-![img](../assets/chessboard.jpg)
+![asd](../assets/chessboard.jpg)
 
-Включите Клевер и подключитесь к его Wi-Fi.
+Включите Клевер и подключитесь к его Wifi.
 
-> Перейдите на 192.168.11.1:8080 и проверьте, получает ли компьютер изображения из топика image_raw.
+> Перейдите на _192.168.11.1:8080_ и проверьте, получает ли компьютер изображения из топика _image_raw_.
 
 ## Калибровка
 
-Запустите скрипт **_calibrate_cam_**:
+Подключитесь к Клеверу по протоколу SSH (например, при помощи PuTTY).
 
-**Windows:**
+Запустите приложение:
 
- ```bash
+```bash
->path\to\python\Scripts\calibrate_cam.exe
+>cd calibration_web_2.7/ccc_server
+>python app.py
 ```
 
-> path\to\Python - путь до директории Python
+Далее вам необходимо на компьютере открыть в браузере страницу по адресу _192.168.11.1:8081_
 
-**Linux:**
+> Порт можно настроить в файле _ccc_server/config.py_.
+
+На открытой странице необходимо ввести параметры калибровочной мишени: количество перекрестий в длину и ширину, длину ребра квадрата. Для начала калибровки нажмите кнопку  **_Start Calibration_**.
+
+![asd](../assets/cam_calib1.png)
+
+На следующей странице при помощи кнопки **_Catch photo_** можно делать фотографии калибровочной мишени.
+
+![asd](../assets/cam_calib2.png)
+
+Если программа нашла на изображении указанную мишень, откроется страница, на которой вам необходимо подтвердить корректность найденных перекрестий.
+
+![asd](../assets/cam_calib3.png)
+
+Если перекрестия были распознаныы правильно, нажмите на клавишу **_Add_**, и перейдите к получению новых фотографий. В противном же случае, ели перекристия были распознаны некорректно, пропустите данную фотографию при помощи клавиши **_Skip_**.
+
+>В большинстве случаев найденные углы будут подсвечиваться разными цветами, но иногда подсветка будет становиться красной. это происходит в том случае, если углы распознаны, но неточно.
+
+Чтобы откалибровать камеру, вам требуется сделать как минимум 25 фото шахматной доски с различных ракурсов. После преодоления данного порога появится кнопка **_Finish_**, по нажатию на которую начнется генерация калибровочного файла.
+
+>Это может занять некоторое время.
+
+На открывшейся странице выведется информация о результате калибровки: имя файла и re-projection error.
+>re-projection error - отклонение от стандартной математической модели. Чем эта величина меньше, тем точнее проведена калибровка.
+
+![asd](../assets/cam_calib4.png)
+
+Программа обработает все полученные фотографии, и создаст **_.yaml_** файл в нынешней директории. При помощи этого файла можно будет выравнивать искажения на изображениях, полученных с этой камеры.
+
+> Если вы поменяете разрешение получаемого изображения, вам нужно будет снова калибровать камеру.
+
+## Предыдущая версия
+
+Также вы можете воспользоваться предыдущей версией программы, не имеющей web-интерфейса.
+
+Запустите скрипт **_calibrate_cam_**:
 
 ```bash
 >calibrate_cam
 ```
 
-Задайте параметры доски:
+Задайте параметры мишени:
 
 ```bash
 >calibrate_cam
@@ -95,8 +115,6 @@ help, catch (key: Enter), delete, restart, stop, finish
 
 Чтобы откалибровать камеру, вам требуется сделать как минимум 25 фото шахматной доски с различных ракурсов.
 
-![img](../assets/calibration.jpg)
-
 Чтобы сделать фото, введите команду **_catch_**.
 
 ```bash
@@ -125,10 +143,10 @@ Calibration successful!
 
 **Калибровка по существующим изображениям:**
 
-Если же у вас уже есть изображения, то вы можете откалибровать камеру по ним при помощи скрипта **_calibrate_cam_ex_**.
+Если же у вас уже есть изображения, то вы можете откалибровать камеру по ним при помощи скрипта **_calibrate_from_dir_**.
 
 ```bash
->calibrate_cam_ex
+>calibrate_from_dir
 ```
 
 Указываем характеристики мишени, а так же путь до папки с изображениями:
@@ -145,32 +163,31 @@ Path:  # Путь до папки с изображениями
 
 Программа обработает все полученные фотографии, и создаст файл **_camera_info_****_._****_yaml_** в нынешней директории. При помощи этого файла можно будет выравнивать искажения на изображениях, полученных с этой камеры.
 
-> Если вы поменяете разрешение получаемого изображения, вам нужно будет снова калибровать камеру.
-
 ## Исправление искажений
 
-За получение исправленного изображения отвечает функция **_get_undistorted_image(cv2_image, camera_info)_**:
+За получение исправленного изображения отвечает функция
+**clever_cam_calibration._get_undistorted_image(cv2_image, camera_info)_**:
 
 * **_cv2_image_**: Закодированное в массив cv2 изображение.
 * **_camera_****_­__****_info_**: Путь до файла калибровки.
 
 Функция возвращает массив cv2, в котором закодировано исправленное изображение.
 
-> Если вы используете fisheye-камеру, поставляемую вместе с Клевером, то для обработки изображений разрешением 320x240 или 640x480 вы можете использовать уже существующие параметры калибровки. Для этого в качестве аргумента **_camera_info_** передайте параметры **_clever_cam_calibration.clevercamcalib.CLEVER_FISHEYE_CAM_320_** или **_clever_cam_calibration.clevercamcalib.CLEVER_FISHEYE_CAM_640_** соответственно.
+> Если вы используете fisheye-камеру, поставляемую вместе с Клевером, то для обработки изображений разрешением 320x240 или 640x480 вы можете использовать уже существующие параметры калибровки. Для этого в качестве аргумента **_camera_info_** передайте параметры **_clever_cam_calibration.CLEVER_FISHEYE_CAM_320_** или **_clever_cam_calibration.CLEVER_FISHEYE_CAM_640_** соответственно.
 
 ## Примеры работы
 
 Изначальные изображения:
 
-![img](../assets/img1.jpg)
+![asd](../assets/img1.jpg)
 
-![img](../assets/img2.jpg)
+![asd](../assets/img2.jpg)
 
 Иcправленные изображения:
 
-![img](../assets/calibresult.jpg)
+![asd](../assets/calibresult.jpg)
 
-![img](../assets/calibresult1.jpg)
+![asd](../assets/calibresult1.jpg)
 
 ## Пример использования
 
@@ -179,17 +196,17 @@ Path:  # Путь до папки с изображениями
 Данная программа получает изображения с камеры Клевера и выводит их на экран в исправленном виде, используя существующий калибровочный файл.
 
 ```python
-import clevercamcalib.clevercamcalib as ccc
+import clever_cam_calibration as ccc  
-import cv2
+import cv2  
-import urllib.request
+import urllib.request  
-import numpy as np
+import numpy as np  
-while True:
+while True:  
-	req = urllib.request.urlopen('http://192.168.11.1:8080/snapshot?topic=/main_camera/image_raw')
+	req = urllib.request.urlopen('http://192.168.11.1:8080/snapshot?topic=/main_camera/image_raw')  
-    arr = np.asarray(bytearray(req.read()), dtype=np.uint8)
+    arr = np.asarray(bytearray(req.read()), dtype=np.uint8)  
-    image = cv2.imdecode(arr, -1)
+    image = cv2.imdecode(arr, -1)  
-    undistorted_img = ccc.get_undistorted_image(image, ccc.CLEVER_FISHEYE_CAM_640)
+    undistorted_img = ccc.get_undistorted_image(image, ccc.CLEVER_FISHEYE_CAM_640)  
-    cv2.imshow("undistort", undistorted_img)
+    cv2.imshow("undistort", undistorted_img)  
-    cv2.waitKey(33)
+    cv2.waitKey(33)  
 cv2.destroyAllWindows()
 ```
 
@@ -198,13 +215,11 @@ cv2.destroyAllWindows()
 Чтобы применить параметры калибровки к системе ArUco-навигации, требуется перенести калибровочный .yaml файл на Raspberry Pi Клевера и инициализировать его.
 
 > Не забудьте подключиться к WiFI Клевера.
-
 Для передачи файла используется протокол SFTP. В данном примере используется программа WinSCP.
 
 Подключимся к Raspberry Pi по SFTP:
 
 > Пароль: _**raspberry**_
-
 ![img](../assets/wcp1.png)
 
 Нажимаем “Войти”. Переходим в _**/home/pi/catkin_ws/src/clever/clever/camera_info/**_ и копируем туда калибровочный .yaml файл:
@@ -225,4 +240,4 @@ cv2.destroyAllWindows()
 
 ![img](../assets/pty3.jpg)
 
-> Не забудьте изменить разрешение камеры.
+> Не забудьте изменить разрешение камеры в *main_camera.launch*.

docs/ru/contributing.md

@@ -34,10 +34,61 @@
 
 Более подробную информацию о Pull Request'ах смотрите [на GitHub](https://help.github.com/articles/about-pull-requests/) (англ.) или в [документации по git](https://git-scm.com/book/ru/v2/GitHub-Внесение-собственного-вклада-в-проекты) (русск.).
 
-## Ваш проект с Клевером
+## Добавление статьи в GitBook
 
-Если вы реализовали собственный интересный проект на Клевере, вы можете добавить статью о нем в раздел "Проекты на базе Клевера".
+> **Note** Если вы реализовали собственный интересный проект на Клевере, вы можете добавить статью о нем в раздел "Проекты на базе Клевера".
 
-Подготовьте вашу статью и пришлите Pull Request с ней в [репозиторий Клевера](– https://github.com/CopterExpress/clever).
+Подготовьте вашу статью и пришлите Pull Request с ней в [репозиторий Клевера](https://github.com/CopterExpress/clever).
 
-<!-- TODO -->
+1. Сделайте форк репозитория Клевера:
+
+    <img src="../assets/github-fork.png" alt="GitHub Fork">
+
+2. Склонируйте форк на компьютер:
+
+    ```bash
+    git clone https://github.com/<USERNAME>/clever.git
+    ```
+
+3. Перейдите в директорию с форком и создайте новую ветку с названием вашей статьи (например `new-article`):
+
+    ```bash
+    git checkout -b new-article
+    ```
+
+4. Напишите новую статью в разделе `docs/ru` или `docs/en` в формате [Markdown](https://ru.wikipedia.org/wiki/Markdown) (например `docs/ru/new_article.md`).
+5. Поместите дополнительные визуальные материалы в папку `docs/assets` и оформите на них ссылки в вашей статье.
+6. Добавьте статью в файл оглавления `SUMMARY.md` в том разделе, где вы её написали (например в `docs/ru/SUMMARY.md`):
+
+    ```bash
+    ...
+    * Дополнительные материалы
+      * [Олимпиада НТИ 2019](nti2019.md)
+      * [Вклад в Клевер](contributing.md)
+      * [Новая статья](new_article.md)
+      * [Сборка и модификация образа Клевера](image_building.md)
+      * [Прошивка ESC контроллеров](esc_firmware.md)
+    ...
+    ```
+
+7. Сохраните состояние ваших изменений локально:
+
+    ```bash
+    git add docs/
+    git commit -m "Add new article for Clever"
+    ```
+
+8. Загрузите вашу новую ветку с изменениями на ваш GitHub репозиторий с форком Клевера:
+
+    ```bash
+    git push -u origin new-article
+    ```
+
+9. Перейдите на web страницу вашего форка и сделайте `pull request` вашей ветки в master Клевера:
+
+    <img src="../assets/github-pull-request.png" alt="GitHub Pull Request">
+
+    <img src="../assets/github-pull-request-create.png" alt="GitHub Create Pull">
+
+10. Дождитесь комментариев на свою статью, сделайте правки, если потребуется.
+11. Порадуйтесь своей новой полезной статье, опубликованной на https://clever.copterexpress.com!

docs/ru/gloss.md

@@ -11,7 +11,7 @@
 ## Полетный контроллер / автопилот
 
 **1\.** Специализированная плата, спроектированная для управления мультикоптером, самолетом или другим аппаратом. Примеры:
-Pixhawk, Ardupilot, Naze32, CC3D.
+Pixhawk, ArduPilot, Naze32, CC3D.
 
 **2\.** Программное обеспечение для платы управления мультикоптером. Примеры: PX4, APM, CleanFlight.
 

docs/ru/hostname.md

@@ -0,0 +1,31 @@
+# Имя хоста
+
+[По умолчанию](microsd_images.md) на Клевере установлено имя хоста (hostname) `clever-xxxx`, где `xxxx` – случайные цифры. Имя хоста соответствует SSID [точки доступа Wi-Fi](wifi.md).
+
+Таким образом, Клевер доступен на машинах, поддерживающих mDNS, под именем `clever-xxxx.local`. Вы можете использовать это имя для SSH-доступа на Клевер:
+
+```bash
+ssh pi@clever-xxxx.local
+```
+
+Также это имя может быть использовано вместо IP-адреса для открытия страницы Клевера в браузере и т. д.
+
+## Изменение имени хоста
+
+В некоторых ситуациях необходимо изменение имени хоста Клевера. Для это используйте утилиту `hostnamectl`:
+
+```bash
+sudo hostnamectl set-hostname newname
+```
+
+Где `newname` – новое имя машины. Утилита `hostnamectl` поменяет имя в файле `/etc/hostname`.
+
+Также необходимо прописывание нового имени в файл `/etc/hosts`:
+
+```txt
+127.0.1.1	newname newname.local
+```
+
+Прописывание `newname.local` необходимо, чтобы ROS смог разрешить это имя в ситуациях, когда все сетевые интерфейсы неактивны (отключение/разрыв связи Wi-Fi).
+
+> **Note** Изменение имени хоста не повлечёт за собой изменений SSID точки доступа Wi-Fi (и наоборот, изменение SSID точки доступа не поменяет имя хоста).

docs/ru/mavros.md

@@ -48,8 +48,8 @@ MAVROS подписывается на определенные ROS-топики
 
 ### Топики для посылки raw-пакетов
 
-`/mavros/setpoint_raw/local` — отправка пакета [SET\_POSITION\_TARGET\_LOCAL\_NED](https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_LOCAL_NED). Позволяет установить целевую позицию/целевую скорость и целевое рысканье/угловую скорость по рысканью. Выбор устанавливаемых величин осуществляется с помощью поля `type_mask`.
+`/mavros/setpoint_raw/local` — отправка пакета [SET\_POSITION\_TARGET\_LOCAL\_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED). Позволяет установить целевую позицию/целевую скорость и целевое рысканье/угловую скорость по рысканью. Выбор устанавливаемых величин осуществляется с помощью поля `type_mask`.
 
-`/mavros/setpoint_raw/attitude` — отправка пакета [SET\_ATTITUDE\_TARGET](https://pixhawk.ethz.ch/mavlink/#SET_ATTITUDE_TARGET). Позвлояет установить целевую ориенатацию /угловые скорости и уровень газа. Выбор устанавливаемых величин осуществляется с помощью поля `type_mask`
+`/mavros/setpoint_raw/attitude` — отправка пакета [SET\_ATTITUDE\_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET). Позвлояет установить целевую ориенатацию /угловые скорости и уровень газа. Выбор устанавливаемых величин осуществляется с помощью поля `type_mask`
 
-`/mavros/setpoint_raw/global` — отправка пакета [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT). Позволяет установить целевую позицию в глобальных координатах \(ширина, долгота, высота\), а также скорости полета. **Не поддерживается в PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\).
+`/mavros/setpoint_raw/global` — отправка пакета [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT). Позволяет установить целевую позицию в глобальных координатах \(ширина, долгота, высота\), а также скорости полета. **Не поддерживается в PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\).

docs/ru/network.md

@@ -103,23 +103,17 @@ Wi-Fi адаптер на Raspberry Pi имеет два основных реж
 
     где `CLEVER-1234` – название сети, а `cleverwifi` – пароль.
 
-3. Перезагрузите `systemd`.
+3. Включите службу `dnsmasq`.
-
-    ```bash
-    sudo systemctl daemon-reload
-    ```
-
-4. Включите службу `dnsmasq`.
 
     ```bash
     sudo systemctl enable dnsmasq
     sudo systemctl start dnsmasq
     ```
 
-5. Перезагрузите службу `dhcpcd`.
+4. Перезапустите службу `dhcpcd`.
 
     ```bash
-    sudo systemctl restart dhcpcd
+    sudo systemctl start dhcpcd
     ```
 
 ___
@@ -137,7 +131,7 @@ ___
 
 ### dhcpcd
 
-Начиная с Raspbian Jesse настройки сети больше не задаются в файле `/etc/network/interfaces`. Теперь за выдачу адресации и настройку маршрутизации отвечает `dhcpcd` [4].
+Начиная с Raspbian Jessie настройки сети больше не задаются в файле `/etc/network/interfaces`. Теперь за выдачу адресации и настройку маршрутизации отвечает `dhcpcd` [4].
 
 По умолчанию на всех интерфейсах включен dhcp-клиент. Настройки интерфейсов меняются в файле `/etc/dhcpcd.conf`. Для того, чтобы поднять точку доступа необходимо прописать статический ip-адрес. Для этого в конец файла необходимо добавить следующие строки:
 

docs/ru/robocross2019.md

@@ -0,0 +1,25 @@
+# Робокросс-2019
+
+В июле 2019 команда Коптер Экспресс в 4-й раз подряд одержала победу на ежегодных испытаниях беспилотных транспортных средств "[Робокросс](http://russianrobotics.ru/activities/robokross-2019/)". Испытания проводятся на полигоне ГАЗ под Нижним Новгородом.
+
+Основной задачей испытаний в категории БПЛА было локализовать и уничтожить цель — красный воздушный шар — в автономном режиме.
+
+## Видео
+
+<iframe width="560" height="315" src="https://www.youtube.com/embed/zMh5THdHuX8" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+## Реализация
+
+Команда использовала квадрокоптер на базе рамы F450 и [платформу Клевер](https://github.com/CopterExpress/clever). Полный итоговый исходный код доступен для изучения [на GitHub](https://github.com/CopterExpress/robocross2019/).
+
+Разработанный пакет `robocross2019` разбит на модули: ROS-нодлет `red_dead_detection` распознает красный шар, `balloon.py` реализует высокоуровневую логику полета коптера.
+
+## red_dead_detection
+
+Нодлет `red_dead_detection` обеспечивает обнаружение красного шара на изображении с камеры квадрокоптера, смотрящей вперед (топики `/front_camera/image_raw` и `/front_camera/camera_info`). Используется простейший метод фильтрации изображения по цвету. Затем вычисляется геометрический центр полученных участков и производится компенсация искажений камеры (`cv::undistortPoints`).
+
+Используя известное фокусное расстояние камеры (из топика `camera_info`) вычисляется вектор, направленный в сторону цели. Полученный вектор публикуется в топик `/red_dead_detection/direction`, причем его система координат (`frame_id` связана с расположением передней камеры `front_camera_optical`).
+
+## balloon.py
+
+Для полета к шару используется вектор направления `red_dead_detection/direction`, который используется как setpoint по скорости дрона. Угол по рысканью также устанавливается по направлению к шару. Цель считается уничтоженной, когда на протяжении заданного количества кадров общая площадь участка с красными пикселями меньше определенного порога.

docs/ru/rviz.md

@@ -23,7 +23,7 @@ ROS_MASTER_URI=http://192.168.11.1:11311 rviz
 Если соединение не устанавливается, необходимо убедиться, что в `.bashrc` Клевера присутствует строка:
 
 ```bash
-export ROS_HOSTNAME=raspberrypi.local
+export ROS_HOSTNAME=`hostname`.local
 ```
 
 Использование rviz

docs/ru/setup.md

@@ -182,7 +182,7 @@
 
 1. Заходим в меню Power.
 2. Устанавливаем количество банок Number of cells - 4S.
-3. Устанавливаем параметр Full Voltage (per cell) - 4.20V.
+3. Устанавливаем параметры: Full Voltage (per cell) - 4.20V; Empty Voltage (per cell) - 3.50V.
 
     Чтобы изменения сохранились, необходимо перезагрузить Pixhawk:
 

docs/ru/sitl.md

@@ -4,9 +4,9 @@
 
 Основная статья: https://dev.px4.io/en/simulation/
 
-Симуляция PX4 возможна в ОС 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://pixhawk.org/dev/hil/jmavsim) и [Gazebo](http://gazebosim.org).
 
-jMavSim является легковесной средой, предназначенной только для тестирование мультироторных летательных систем; Gazebo – универсальная среда для любых типов роботов.
+jMAVSim является легковесной средой, предназначенной только для тестирование мультироторных летательных систем; Gazebo – универсальная среда для любых типов роботов.
 
 ## Запуск PX4 SITL
 
@@ -17,11 +17,11 @@ git clone https://github.com/PX4/Firmware.git
 cd Firmware
 ```
 
-## jMavSim
+## jMAVSim
 
 Основная статья: https://dev.px4.io/en/simulation/jmavsim.html
 
-Для симуляции с использованием легковесной среды jMavSim используйте команду:
+Для симуляции с использованием легковесной среды jMAVSim используйте команду:
 
 ```bash
 make posix_sitl_default jmavsim

docs/ru/snippets.md

@@ -54,7 +54,7 @@ start = get_telemetry()
 print navigate(z=z, speed=0.5, frame_id='body', auto_arm=True)
 
 # Ожидаем взлета
-while True:
+while not rospy.is_shutdown():
     # Проверяем текущую высоту
     if get_telemetry().z - start.z + z < tolerance:
         # Взлет завершен
@@ -62,6 +62,20 @@ while True:
     rospy.sleep(0.2)
 ```
 
+Вышеприведенный код может быть обернут в функцию:
+
+```python
+def takeoff_wait(alt, speed=0.5, tolerance=0.2):
+    start = get_telemetry()
+    print navigate(z=alt, speed=speed, frame_id='body', auto_arm=True)
+
+    while not rospy.is_shutdown():
+        if get_telemetry().z - start.z + z < tolerance:
+            break
+
+        rospy.sleep(0.2)
+```
+
 ### # {#block-nav}
 
 Лететь в точку и ждать пока коптер долетит в нее:
@@ -74,7 +88,7 @@ frame_id='aruco_map'
 print navigate(frame_id=frame_id, x=1, y=2, z=3, speed=0.5)
 
 # Ждем, пока коптер долетит до запрошенной точки
-while True:
+while not rospy.is_shutdown():
     telem = get_telemetry(frame_id=frame_id)
     # Вычисляем расстояние до заданной точки
     if get_distance(1, 2, 3, telem.x, telem.y, telem.z) < tolerance:
@@ -89,7 +103,7 @@ while True:
 def navigate_wait(x, y, z, speed, frame_id, tolerance=0.2):
     navigate(x=x, y=y, z=z, speed=speed, frame_id=frame_id)
 
-    while True:
+    while not rospy.is_shutdown():
         telem = get_telemetry(frame_id=frame_id)
         if get_distance(x, y, z, telem.x, telem.y, telem.z) < tolerance:
             break
@@ -102,7 +116,7 @@ def navigate_wait(x, y, z, speed, frame_id, tolerance=0.2):
 def navigate_wait(x, y, z, speed, frame_id, tolerance=0.2):
     navigate(x=x, y=y, z=z, speed=speed, frame_id=frame_id)
 
-    while True:
+    while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
         if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
             break
@@ -110,6 +124,25 @@ def navigate_wait(x, y, z, speed, frame_id, tolerance=0.2):
 
 Такой код может быть использован для полета в том числе с использованием фрейма `body`.
 
+### # {#block-land}
+
+Посадка и ожидание окончания посадки:
+
+```python
+land()
+while get_telemetry().armed:
+    rospy.sleep(0.2)
+```
+
+Вышеприведенный код может быть обернут в функцию:
+
+```python
+def land_wait():
+    land()
+    while get_telemetry().armed:
+        rospy.sleep(0.2)
+```
+
 ### # {#disarm}
 
 Дизарм коптера (выключение винтов, **коптер упадет**):
@@ -327,7 +360,7 @@ def flip():
     while True:
         telem = get_telemetry()
 
-        if -math.pi + 0.1 < telem.roll < -0.2:
+        if abs(telem.roll) > math.pi/2:
             break
 
     rospy.loginfo('finish flip')

docs/ru/ssh.md

@@ -5,7 +5,7 @@
 
 Для доступа по SSH необходимо [подключиться к Raspberry Pi по Wi-Fi](wifi.md) (также возможно подключение через Ethernet-кабель).
 
-В Linux или macOS необходимо запустить Терминал и выполнить команду:
+В GNU/Linux или macOS необходимо запустить Терминал и выполнить команду:
 
 ```bash
 ssh pi@192.168.11.1