CI: monitor the website

2026-06-01 07:29:32 +00:00 · 2021-06-03 13:34:53 +03:00
516 changed files with 134325 additions and 13744 deletions
--- a/.gitattributes
+++ b/.gitattributes
@@ -3,7 +3,6 @@ roslib.js linguist-vendored
 eventemitter2.js linguist-vendored
 ros3d.js linguist-vendored
 three.min.js linguist-vendored
-json-to-pretty-yaml.js linguist-vendored
 aruco_pose/vendor/* linguist-vendored
 blockly/* linguist-vendored
 highlight/* linguist-vendored
--- a/.github/workflows/build-image.yaml
+++ b/.github/workflows/build-image.yaml
@@ -1,4 +1,4 @@
-name: RPi image
+name: Build RPi image

 on:
  push:
@@ -7,34 +7,23 @@ on:
    branches: [ master ]
  release:
    types: [ created ]
-  workflow_dispatch:

 jobs:
-  build:
+  build-image:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
      - name: Build image
        run: |
          docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${{ github.event.release.tag_name }}" sfalexrog/img-tool:qemu-update
-      # - name: Compress image
-      #   run: |
-      #     cd images && sudo chmod -R 777 . && zip -9 $(echo clover_*).zip clover_* && ls -lh . && unzip -l clover_*.zip
-      - name: Compress image using 7-Zip
+      - name: Compress image
        run: |
-          cd images && sudo chmod -R 777 . && 7z a -mx=9 $(echo *_*).7z *_* && ls -lh . && 7z l *_*.7z
+          sudo chmod -R 777 images && zip -9 $(echo images/clover_*).zip images/clover_* && ls -l images
      - name: Upload image
        uses: softprops/action-gh-release@v1
        if: ${{ github.event_name == 'release' }}
        with:
-          files: images/*_*.zip
+          files: images/clover_*.zip
          prerelease: true
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      - name: Upload image to artifacts
-        if: ${{ github.event_name == 'workflow_dispatch' || github.ref != 'refs/heads/master' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: image
-          path: images/*_*.7z
-          retention-days: 1
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -5,48 +5,12 @@ on:
    branches: [ '*' ]
  pull_request:
    branches: [ master ]
-  workflow_dispatch:

 jobs:
-  # melodic:
-  #   runs-on: ubuntu-latest
-  #   steps:
-  #     - uses: actions/checkout@v2
-  #     - name: Native Melodic build
-  #       run: |
-  #         docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
-  noetic:
+  build-melodic:
    runs-on: ubuntu-latest
-    container: ros:noetic-ros-base
-    defaults:
-      run:
-        working-directory: catkin_ws
-        shell: bash
    steps:
-    - uses: actions/checkout@v2
-      with:
-        path: catkin_ws/src/clover
-    - name: Install requirements
-      run: apt-get update && apt-get -y install python3-pip fakeroot python3-bloom debhelper dpkg-dev
-    - name: Install dependencies
-      run: rosdep update && rosdep install --from-paths src --ignore-src -y
-    - name: Install GeographicLib datasets
-      run: wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
-    - name: catkin_make
-      run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
-    - name: Run tests
-      run: source devel/setup.bash && catkin_make run_tests && catkin_test_results
-    - name: Build Debian packages
-      run: |
-        source devel/setup.bash
-        for file in `find . -name "package.xml"`; do
-          cd $(dirname ${file})
-          bloom-generate rosdebian --os-name ubuntu --os-version $(lsb_release -cs) --ros-distro $ROS_DISTRO  
-          fakeroot debian/rules binary
-          cd -
-        done
-    - uses: actions/upload-artifact@v3
-      with:
-        name: debian-packages
-        path: catkin_ws/src/clover/*.deb
-        retention-days: 1
+      - uses: actions/checkout@v2
+      - name: Native Melodic build
+        run: |
+          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -4,21 +4,11 @@ on:
  push:
    branches: [ '*' ]
  pull_request:
-    branches: [ '*' ]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-defaults:
-  run:
-    shell: bash
+    branches: [ master ]

 jobs:
-  docs:
-    runs-on: ubuntu-22.04
+  documentation:
+    runs-on: ubuntu-18.04
    steps:
      - uses: actions/checkout@v2
      - name: Use Node.js
@@ -28,8 +18,9 @@ jobs:
        run: |
          sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
          sudo apt-get update && sudo apt-get install -y calibre msttcorefonts
-          builder/assets/install_gitbook.sh
-          npm install markdownlint-cli@0.28.1 -g # FIXME: https://github.com/DavidAnson/markdownlint/issues/435
+          npm install gitbook-cli -g
+          gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
+          npm install markdownlint-cli -g
          npm install svgexport -g
          gitbook -V
          markdownlint -V
@@ -44,11 +35,7 @@ jobs:
         gitbook install
         gitbook build
      - name: Generate PDF
-        id: generate-pdf
-        env:
-          GITBOOK_SKIP_PDF: ${{ secrets.GITBOOK_SKIP_PDF }}
-        continue-on-error: ${{ env.GITBOOK_SKIP_PDF != '' }}
-        if: ${{ github.event_name == 'push' }}
+        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
        run: |
          for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
          sudo apt-get -q install ghostscript
@@ -57,33 +44,11 @@ jobs:
          rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf
          rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf
          ls -lah _book/clover*.pdf
-          echo '::set-output name=GITBOOK_PDF_OK::1'
-      - name: Download older PDFs
-        if: ${{ !steps.generate-pdf.outputs.GITBOOK_PDF_OK }}
-        run: |
-          rm -f _book/clover*.pdf
-          wget --no-verbose https://clover.coex.tech/clover_ru.pdf -P _book/
-          wget --no-verbose https://clover.coex.tech/clover_en.pdf -P _book/
-      - name: Upload artifact
-        # if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-        uses: actions/upload-pages-artifact@v1
+      - name: Deploy
+        uses: JamesIves/github-pages-deploy-action@4.1.3
+        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
        with:
-          path: _book
-
-  deploy-docs:
-    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-    concurrency:
-        group: "pages"
-        cancel-in-progress: true
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-    runs-on: ubuntu-latest
-    needs: docs
-    steps:
-      - name: Deploy to GitHub Pages
-        env:
-          FREEZE_DOCS: ${{ secrets.FREEZE_DOCS }}
-        if: ${{ !env.FREEZE_DOCS }}
-        id: deployment
-        uses: actions/deploy-pages@v1
+          branch: gh-pages
+          folder: _book
+          clean: true
+          single-commit: true # to avoid multiple copies of large pdf files
--- a/.github/workflows/editorconfig.yaml
+++ b/.github/workflows/editorconfig.yaml
@@ -1,11 +1,10 @@
-name: Editorconfig
+name: Editorconfig lint

 on:
  push:
    branches: [ '*' ]
  pull_request:
    branches: [ master ]
-  workflow_dispatch:

 jobs:
  editorconfig:
@@ -16,4 +15,4 @@ jobs:
        run: |
          wget --no-verbose https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
          chmod +x ec-linux-amd64
-          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|json-to-pretty-yaml.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae|\.material"
+          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
--- a/.github/workflows/monitor.yaml
+++ b/.github/workflows/monitor.yaml
@@ -0,0 +1,32 @@
+name: Monitor
+
+on:
+  schedule:
+    - cron: '0 0 * * *' # At 00:00 every day
+  workflow_dispatch:
+
+jobs:
+  check-urls:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check website links accessibility
+        run: |
+          curl -ILf https://clover.coex.tech
+          curl -ILf https://clover.coex.tech/clover_en.pdf
+          curl -ILf https://clover.coex.tech/clover_ru.pdf
+          curl -ILf https://clover.coex.tech/connection
+          curl -ILf https://clover.coex.tech/aruco
+          curl -ILf https://clover.coex.tech/programming
+          curl -ILf https://clover.coex.tech/led
+          curl -ILf https://clover.coex.tech/en/snippets.html
+          curl -ILf https://clover.coex.tech/en/simulation.html
+          curl -ILf https://clover.coex.tech/aruco
+          curl -ILf https://clover.coex.tech/led
+          curl -ILf https://clover.coex.tech/camera_setup
+          curl -ILf https://clover.coex.tech/firmware
+          curl -ILf https://clover.coex.tech/power
+          curl -ILf https://clover.coex.tech/hostname
+          curl -ILf https://clover.coex.tech/en/blocks.html
+          curl -ILf https://clover.coex.tech/en/gpio.html
+          curl -ILf https://clover.coex.tech/en/leds.html
+          curl -ILf https://clover.coex.tech/en/simple_offboard.html
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,3 @@ _book/
 package-lock.json
 clover_blocks/programs/*.*
 !clover_blocks/programs/examples/*
-/.vscode/
--- a/.markdownlint.json
+++ b/.markdownlint.json
@@ -21,7 +21,6 @@
            "ROS",
            "ROS Kinetic",
            "ROS Melodic",
-            "ROS Noetic",
            "OpenCV",
            "OpenVPN",
            "Gazebo",
@@ -113,9 +112,7 @@
            "VMware",
            "DuoCam"
        ],
-        "code_blocks": false,
-        "html_elements": false
+        "code_blocks": false
    },
-    "MD045": false,
-    "MD051": false
+    "MD045": false
 }
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # clover🍀: create autonomous drones easily

-<img src="docs/assets/clover42-main-margin.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clover42-main.png" align="right" width="400px" alt="COEX Clover Drone">

 Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.

@@ -20,13 +20,13 @@ Clover drone is used on a wide range of educational events, including [Copter Ha

 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).

-![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/CopterExpress/clover/build-image.yaml?branch=master)
+![GitHub Workflow Status](https://img.shields.io/github/workflow/status/CopterExpress/clover/CI)
 ![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)

 Image features:

 * Raspbian Buster
-* [ROS Noetic](http://wiki.ros.org/noetic)
+* [ROS Melodic](http://wiki.ros.org/melodic)
 * Configured networking
 * OpenCV
 * [`mavros`](http://wiki.ros.org/mavros)
--- a/apps/ios/cleverrc/README.md
+++ b/apps/ios/cleverrc/README.md
@@ -1,4 +1,5 @@
-# iOS-приложение для управления Клевером
+iOS-приложение для управления Клевером
+--------------------------------------

 Для установки зависимостей необходим [CocoaPods](https://cocoapods.org):

--- a/aruco_pose/CMakeLists.txt
+++ b/aruco_pose/CMakeLists.txt
@@ -22,21 +22,13 @@ find_package(catkin REQUIRED COMPONENTS
  dynamic_reconfigure
 )

-# Workaround for OpenCV 3/4 support
-set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET COMPONENTS core imgproc calib3d)
-if (NOT OpenCV_FOUND)
-  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
-  set(_opencv_version 3)
-endif()
-
-find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS core imgproc calib3d)
+find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
 if ("${OpenCV_VERSION_MINOR}" LESS "9")
  message(STATUS "OpenCV version too low, using vendored ArUco package")
  include(vendor/VendorOpenCV.cmake)
 else()
  message(STATUS "Using system OpenCV ArUco package")
-  find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS aruco)
+  find_package(OpenCV 3 REQUIRED COMPONENTS aruco)
 endif()
 message(STATUS "OpenCV include dirs: ${OpenCV_INCLUDE_DIRS}")
 message(STATUS "OpenCV libraries: ${OpenCV_LIBRARIES}")
@@ -83,10 +75,11 @@ add_message_files(
 )

 ## Generate services in the 'srv' folder
-add_service_files(
-  FILES
-  SetMarkers.srv
-)
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )

 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -119,7 +112,6 @@ generate_messages(
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
  cfg/Detector.cfg
-  cfg/Map.cfg
 )

 ###################################
@@ -180,13 +172,6 @@ target_link_libraries(aruco_pose
  ${OpenCV_LIBRARIES}
 )

-# Prevent aruco_pose from having undefined symbols
-set_property(TARGET aruco_pose
-  APPEND
-  PROPERTY LINK_FLAGS
-  -Wl,--no-undefined
-)
-
 #############
 ## Install ##
 #############
@@ -202,11 +187,11 @@ set_property(TARGET aruco_pose
 # )

 ## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )

 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -222,14 +207,6 @@ install(TARGETS ${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )

-catkin_install_python(PROGRAMS src/genmap.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY map DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
 #############
 ## Testing ##
 #############
@@ -251,5 +228,4 @@ if (CATKIN_ENABLE_TESTING)
  add_rostest(test/test_node_failure.test)
  add_rostest(test/largemap.test)
  add_rostest(test/crash_opencv.test)
-  add_rostest(test/duplicate.test)
 endif()
--- a/aruco_pose/README.md
+++ b/aruco_pose/README.md
@@ -43,8 +43,7 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 * `~frame_id_prefix` (*string*) – prefix for TF transforms names, marker's ID is appended (default: `aruco_`)
 * `~length` (*double*) – markers' sides length
 * `~length_override` (*map*) – lengths of markers with specified ids
-* `~known_vertical` (*string*) – known vertical (Z axis) of all the markers as a frame
-* `~flip_vertical` – flip vertical vector
+* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame

 ### Topics

@@ -52,7 +51,6 @@ It's recommended to run it within the same nodelet manager with the camera nodel

 * `image_raw` (*sensor_msgs/Image*) – camera image
 * `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info
-* `map_markers` (*aruco_pose/MarkerArray*) – list of markers to disable TF transform publishing

 #### Published

@@ -72,12 +70,10 @@ It's recommended to run it within the same nodelet manager with the camera nodel

 * `~map` – path to text file with markers list
 * `~frame_id` – published frame id (default: `aruco_map`)
-* `~known_vertical` – known vertical (Z axis) of markers map as a frame
-* `~flip_vertical` – flip vertical vector
+* `~known_tilt` – debug image width
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)
-* `~image_axis` – whether debug image should contain axis (default: true)
 * `~dictionary` (*int*) – ArUco dictionary (default: 2) - should be the same as `dictionary` parameter of `aruco_detect` nodelet

 Map file has one marker per line with the following line format:
@@ -101,7 +97,6 @@ See examples in [`map`](map/) directory.
 #### Published

 * `~pose` (*geometry_msgs/PoseWithCovarianceStamped*) – estimated map pose
-* `~map` (*aruco_pose/MarkerArray*) – list of markers in the loaded map
 * `~image` (*sensor_msgs/Image*) – planarized map image
 * `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz
 * `~debug` (*sensor_msgs/Image*) – debug image with detected markers and map axis
--- a/aruco_pose/cfg/Detector.cfg
+++ b/aruco_pose/cfg/Detector.cfg
@@ -4,17 +4,12 @@ PACKAGE = "aruco_pose"
 from dynamic_reconfigure.parameter_generator_catkin import *
 import cv2.aruco

-try:
-        p = cv2.aruco.DetectorParameters_create()
-except AttributeError:
-        p = cv2.aruco.DetectorParameters()
+p = cv2.aruco.DetectorParameters_create()

 gen = ParameterGenerator()

 gen.add("enabled", bool_t, 0, "if detection enabled", True)

-gen.add("length", double_t, 0, "markers' side length", min=0, max=10)
-
 gen.add("adaptiveThreshConstant",                 double_t, 0,
        "Constant for adaptive thresholding before finding contours",
         p.adaptiveThreshConstant, 0, 100)
--- a/aruco_pose/cfg/Map.cfg
+++ b/aruco_pose/cfg/Map.cfg
@@ -1,14 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "aruco_pose"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-gen.add("enabled", bool_t, 0, "if map detection enabled", True)
-
-gen.add("map", str_t, 0, "full path for the map file")
-
-gen.add("image_axis", bool_t, 0, "debug image axis", default=True)
-
-exit(gen.generate(PACKAGE, "aruco_pose", "Map"))
--- a/aruco_pose/map/cmit.txt
+++ b/aruco_pose/map/cmit.txt
@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 0	0.33	0.0	9.0	0	0	0	0	
 1	0.33	1.0	9.0	0	0	0	0	
 2	0.33	2.0	9.0	0	0	0	0	
--- a/aruco_pose/map/office.txt
+++ b/aruco_pose/map/office.txt
@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 107	0.33	0	0	0	0	0	0
 106	0.33	0.77	0	0	0	0	0
 105	0.33	0	0.77	0	0	0	0
--- a/aruco_pose/map/office_ceiling.txt
+++ b/aruco_pose/map/office_ceiling.txt
@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 14	0.365	0.000	0.0	0	0	0	0
 15	0.365	1.335	0.0	0	0	0	0
 30	0.365	2.865	0.0	0	0	0	0
--- a/aruco_pose/package.xml
+++ b/aruco_pose/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package format="3">
+<package format="2">
  <name>aruco_pose</name>
-  <version>0.24.0</version>
+  <version>0.21.1</version>
  <description>Positioning with ArUco markers</description>

  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -28,9 +28,6 @@
  <depend>sensor_msgs</depend>
  <depend>rostest</depend>
  <depend>dynamic_reconfigure</depend>
-  <depend>pluginlib</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>

  <test_depend>image_publisher</test_depend>
  <test_depend>ros_pytest</test_depend>
--- a/aruco_pose/src/aruco_detect.cpp
+++ b/aruco_pose/src/aruco_detect.cpp
@@ -48,9 +48,7 @@
 #include <aruco_pose/Marker.h>
 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/DetectorConfig.h>
-#include <aruco_pose/SetMarkers.h>

-#include "draw.h"
 #include "utils.h"
 #include <memory>
 #include <functional>
@@ -71,13 +69,10 @@ private:
 	image_transport::CameraSubscriber img_sub_;
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
-	ros::ServiceServer set_markers_srv_;
-	bool estimate_poses_, send_tf_, flip_vertical_, auto_flip_, use_map_markers_;
-	bool waiting_for_map_;
+	bool estimate_poses_, send_tf_, auto_flip_;
 	double length_;
-	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
-	std::string frame_id_prefix_, known_vertical_;
+	std::string frame_id_prefix_, known_tilt_;
 	Mat camera_matrix_, dist_coeffs_;
 	aruco_pose::MarkerArray array_;
 	std::unordered_set<int> map_markers_ids_;
@@ -97,17 +92,13 @@ public:
 		dictionary = nh_priv_.param("dictionary", 2);
 		estimate_poses_ = nh_priv_.param("estimate_poses", true);
 		send_tf_ = nh_priv_.param("send_tf", true);
-		use_map_markers_ = nh_priv_.param("use_map_markers", false);
-		waiting_for_map_ = use_map_markers_;
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
 			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
 		}
 		readLengthOverride(nh_priv_);
-		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));

-		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
-		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);

 		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
@@ -120,16 +111,17 @@ public:
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);

-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
-		dyn_srv_->setCallback(std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2));
-
-		set_markers_srv_ = nh_priv_.advertiseService("set_length_override", &ArucoDetect::setMarkers, this);
-
+		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
 		debug_pub_ = it_priv.advertise("debug", 1);
 		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
 		img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
-		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
+
+		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
+		dynamic_reconfigure::Server<aruco_pose::DetectorConfig>::CallbackType cb;
+
+		cb = std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
+		dyn_srv_->setCallback(cb);

 		NODELET_INFO("ready");
 	}
@@ -138,15 +130,14 @@ private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
 		if (!enabled_) return;
-		if (waiting_for_map_) return;

-		Mat image = cv_bridge::toCvShare(msg)->image;
+		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;

 		vector<int> ids;
 		vector<vector<cv::Point2f>> corners, rejected;
 		vector<cv::Vec3d> rvecs, tvecs;
 		vector<cv::Point3f> obj_points;
-		geometry_msgs::TransformStamped vertical;
+		geometry_msgs::TransformStamped snap_to;

 		// Detect markers
 		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
@@ -181,20 +172,18 @@ private:
 					}
 				}

-				if (!known_vertical_.empty()) {
+				if (!known_tilt_.empty()) {
 					try {
-						vertical = tf_buffer_->lookupTransform(msg->header.frame_id, known_vertical_,
-						                                       msg->header.stamp, transform_timeout_);
+						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
+						                                      msg->header.stamp, ros::Duration(0.02));
 					} catch (const tf2::TransformException& e) {
-						NODELET_WARN_THROTTLE(5, "can't retrieve known vertical: %s", e.what());
+						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
 				}
 			}

 			array_.markers.reserve(ids.size());
 			aruco_pose::Marker marker;
-			vector<geometry_msgs::TransformStamped> transforms;
-			transforms.reserve(ids.size());
 			geometry_msgs::TransformStamped transform;
 			transform.header.stamp = msg->header.stamp;
 			transform.header.frame_id = msg->header.frame_id;
@@ -207,38 +196,25 @@ private:
 				if (estimate_poses_) {
 					fillPose(marker.pose, rvecs[i], tvecs[i]);

-					// apply known vertical (if enabled and vertical frame available)
-					if (!known_vertical_.empty() && !vertical.header.frame_id.empty()) {
-						applyVertical(marker.pose.orientation, vertical.transform.rotation, false, auto_flip_);
+					// snap orientation (if enabled and snap frame available)
+					if (!known_tilt_.empty() && !snap_to.header.frame_id.empty()) {
+						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
 					}

+					// TODO: check IDs are unique
 					if (send_tf_) {
 						transform.child_frame_id = getChildFrameId(ids[i]);

 						// check if such static transform is in the map
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
-							// check if a markers with that id is already added
-							bool send = true;
-							for (auto &t : transforms) {
-								if (t.child_frame_id == transform.child_frame_id) {
-									send = false;
-									break;
-								}
-							}
-							if (send) {
-								transform.transform.rotation = marker.pose.orientation;
-								fillTranslation(transform.transform.translation, tvecs[i]);
-								transforms.push_back(transform);
-							}
+							transform.transform.rotation = marker.pose.orientation;
+							fillTranslation(transform.transform.translation, tvecs[i]);
+							br_->sendTransform(transform);
 						}
 					}
 				}
 				array_.markers.push_back(marker);
 			}
-
-			if (send_tf_) {
-				br_->sendTransform(transforms);
-			}
 		}

 		markers_pub_.publish(array_);
@@ -265,7 +241,8 @@ private:
 			cv::aruco::drawDetectedMarkers(debug, corners, ids); // draw markers
 			if (estimate_poses_)
 				for (unsigned int i = 0; i < ids.size(); i++)
-					_drawAxis(debug, camera_matrix_, dist_coeffs_, rvecs[i], tvecs[i], getMarkerLength(ids[i]));
+					cv::aruco::drawAxis(debug, camera_matrix_, dist_coeffs_,
+					                    rvecs[i], tvecs[i], getMarkerLength(ids[i]));

 			cv_bridge::CvImage out_msg;
 			out_msg.header.frame_id = msg->header.frame_id;
@@ -372,47 +349,17 @@ private:
 		}
 	}

-	bool setMarkers(aruco_pose::SetMarkers::Request& req, aruco_pose::SetMarkers::Response& res)
-	{
-		for (auto const& marker : req.markers) {
-			if (marker.id > 999) {
-				res.message = "Invalid marker id: " + std::to_string(marker.id);
-				ROS_ERROR("%s", res.message.c_str());
-				return true;
-			}
-			if (!std::isfinite(marker.length) || marker.length <= 0) {
-				res.message = "Invalid marker " + std::to_string(marker.id) + " length: " + std::to_string(marker.length);
-				ROS_ERROR("%s", res.message.c_str());
-				return true;
-			}
-		}
-
-		for (auto const& marker : req.markers) {
-			length_override_[marker.id] = marker.length;
-		}
-
-		res.success = true;
-		return true;
-	}
-
 	void mapMarkersCallback(const aruco_pose::MarkerArray& msg)
 	{
 		map_markers_ids_.clear();
 		for (auto const& marker : msg.markers) {
 			map_markers_ids_.insert(marker.id);
-			if (use_map_markers_) {
-				if (length_override_.find(marker.id) == length_override_.end()) {
-					length_override_[marker.id] = marker.length;
-				}
-			}
 		}
-		waiting_for_map_ = false;
 	}

 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
 	{
-		enabled_ = config.enabled && config.length > 0;
-		length_ = config.length;
+		enabled_ = config.enabled;
 		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
 		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
 		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;
--- a/aruco_pose/src/aruco_map.cpp
+++ b/aruco_pose/src/aruco_map.cpp
@@ -19,13 +19,11 @@
 #include <vector>
 #include <fstream>
 #include <algorithm>
-#include <memory>
 #include <ros/ros.h>
 #include <nodelet/nodelet.h>
 #include <pluginlib/class_list_macros.h>
 #include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
-#include <dynamic_reconfigure/server.h>
 #include <tf/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
@@ -43,7 +41,6 @@

 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/Marker.h>
-#include <aruco_pose/MapConfig.h>

 #include <opencv2/opencv.hpp>
 #include <opencv2/aruco.hpp>
@@ -77,13 +74,10 @@ private:
 	tf2_ros::StaticTransformBroadcaster static_br_;
 	tf2_ros::Buffer tf_buffer_;
 	tf2_ros::TransformListener tf_listener_{tf_buffer_};
-	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::MapConfig>> dyn_srv_;
-	bool enabled_ = true;
-	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
-	std::string known_vertical_, map_, markers_frame_, markers_parent_frame_;
+	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool flip_vertical_, auto_flip_, image_axis_, put_markers_count_to_covariance_;
+	bool auto_flip_, image_axis_;

 public:
 	virtual void onInit()
@@ -95,35 +89,34 @@ public:

 		// TODO: why image_transport doesn't work here?
 		img_pub_ = nh_priv_.advertise<sensor_msgs::Image>("image", 1, true);
-		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("map", 1, true);
+		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1, true);

 		board_ = cv::makePtr<cv::aruco::Board>();
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
 			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);

-		type_ = nh_priv_.param<std::string>("type", "map");
+		std::string type, map;
+		type = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
-		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 		image_width_ = nh_priv_.param("image_width" , 2000);
 		image_height_ = nh_priv_.param("image_height", 2000);
 		image_margin_ = nh_priv_.param("image_margin", 200);
 		image_axis_ = nh_priv_.param("image_axis", true);
-		put_markers_count_to_covariance_ = nh_priv_.param("put_markers_count_to_covariance", false);
 		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
 		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");

 		// createStripLine();

-		if (type_ == "map") {
-			map_ = nh_priv_.param<std::string>("map" , "");
-			loadMap(map_);
-		} else if (type_ == "gridboard") {
+		if (type == "map") {
+			param(nh_priv_, "map", map);
+			loadMap(map);
+		} else if (type == "gridboard") {
 			createGridBoard(nh_priv_);
 		} else {
-			NODELET_FATAL("unknown type: %s", type_.c_str());
+			NODELET_FATAL("unknown type: %s", type.c_str());
 			ros::shutdown();
 		}

@@ -131,8 +124,6 @@ public:
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1, true);
 		debug_pub_ = it_priv.advertise("debug", 1);

-		publishMap();
-
 		image_sub_.subscribe(nh_, "image_raw", 1);
 		info_sub_.subscribe(nh_, "camera_info", 1);
 		markers_sub_.subscribe(nh_, "markers", 1);
@@ -140,11 +131,10 @@ 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));

-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::MapConfig>>(nh_priv_);
-		dynamic_reconfigure::Server<aruco_pose::MapConfig>::CallbackType cb;
-
-		cb = std::bind(&ArucoMap::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
-		dyn_srv_->setCallback(cb);
+		publishMarkersFrames();
+		publishMarkers();
+		publishMapImage();
+		vis_markers_pub_.publish(vis_array_);

 		NODELET_INFO("ready");
 	}
@@ -153,9 +143,6 @@ public:
 	              const sensor_msgs::CameraInfoConstPtr& cinfo,
 	              const aruco_pose::MarkerArrayConstPtr& markers)
 	{
-		if (!enabled_) return;
-		if (markers->markers.empty()) return; // map not loaded
-
 		int valid = 0;
 		int count = markers->markers.size();
 		std::vector<int> ids;
@@ -179,21 +166,7 @@ public:
 			corners.push_back(marker_corners);
 		}

-		if (put_markers_count_to_covariance_) {
-			// HACK: pass markers count using covariance field
-			int valid_markers = 0;
-			for (auto const &marker : markers->markers) {
-				for (auto const &board_marker : board_->ids) {
-					if (board_marker == marker.id) {
-						valid_markers++;
-						break;
-					}
-				}
-			}
-			pose_.pose.covariance[0] = valid_markers;
-		}
-
-		if (known_vertical_.empty()) {
+		if (known_tilt_.empty()) {
 			// simple estimation
 			valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
 			                                     rvec, tvec, false);
@@ -207,7 +180,7 @@ public:

 		} else {
 			Mat obj_points, img_points;
-			// estimation with known vertical
+			// estimation with "snapping"
 			cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
 			if (obj_points.empty()) goto publish_debug;

@@ -219,11 +192,11 @@ public:

 			fillTransform(transform_.transform, rvec, tvec);
 			try {
-				geometry_msgs::TransformStamped vertical = tf_buffer_.lookupTransform(markers->header.frame_id,
-				                                           known_vertical_, markers->header.stamp, ros::Duration(0.02));
-				applyVertical(transform_.transform.rotation, vertical.transform.rotation, flip_vertical_, auto_flip_);
+				geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers->header.frame_id,
+				                                          known_tilt_, markers->header.stamp, ros::Duration(0.02));
+				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation, auto_flip_);
 			} catch (const tf2::TransformException& e) {
-				NODELET_WARN_THROTTLE(1, "can't retrieve known vertical: %s", e.what());
+				NODELET_WARN_THROTTLE(1, "can't snap: %s", e.what());
 			}

 			geometry_msgs::TransformStamped shift;
@@ -295,17 +268,9 @@ publish_debug:
 		std::ifstream f(filename);
 		std::string line;

-		clearMarkers();
-
-		if (map_ == "") {
-			NODELET_INFO("No map loaded");
-			return;
-		}
-
 		if (!f.good()) {
-			NODELET_ERROR("%s - %s", strerror(errno), filename.c_str());
-			map_ = "";
-			return;
+			NODELET_FATAL("%s - %s", strerror(errno), filename.c_str());
+			ros::shutdown();
 		}

 		while (std::getline(f, line)) {
@@ -331,10 +296,9 @@ publish_debug:
 				s.putback(first);
 			} else {
 				// Probably garbage data; inform user and throw an exception, possibly killing nodelet
-				NODELET_ERROR("Malformed input: %s", line.c_str());
-				map_ = "";
-				clearMarkers();
-				return;
+				NODELET_FATAL("Malformed input: %s", line.c_str());
+				ros::shutdown();
+				throw std::runtime_error("Malformed input");
 			}

 			if (!(s >> id >> length >> x >> y)) {
@@ -365,14 +329,6 @@ publish_debug:
 		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}

-	void publishMap()
-	{
-		publishMarkersFrames();
-		publishMarkers();
-		publishMapImage();
-		vis_markers_pub_.publish(vis_array_);
-	}
-
 	void createGridBoard(ros::NodeHandle& nh)
 	{
 		NODELET_INFO("generate gridboard");
@@ -414,15 +370,6 @@ publish_debug:
 		}
 	}

-	void clearMarkers()
-	{
-		board_->ids.clear();
-		board_->objPoints.clear();
-		markers_.markers.clear();
-		vis_array_.markers.clear();
-		markers_transforms_.clear();
-	}
-
 	// void createStripLine()
 	// {
 	// 	visualization_msgs::Marker marker;
@@ -519,7 +466,7 @@ publish_debug:
 		vis_marker.pose.position.x = x;
 		vis_marker.pose.position.y = y;
 		vis_marker.pose.position.z = z;
-		tf::quaternionTFToMsg(q, vis_marker.pose.orientation);
+		tf::quaternionTFToMsg(q, marker.pose.orientation);
 		vis_marker.frame_locked = true;
 		vis_array_.markers.push_back(vis_marker);

@@ -562,22 +509,6 @@ publish_debug:
 		msg.image = image;
 		img_pub_.publish(msg.toImageMsg());
 	}
-
-	void paramCallback(aruco_pose::MapConfig &config, uint32_t level)
-	{
-		// https://github.com/CopterExpress/clover/commit/2cd334c474e3ed04ef65ca1ba7f08ab535a3dc6d#diff-942723f9452c398ae93f1a91427f9a7b614be5e5871f8a3e590f324d804f0d58R356
-		enabled_ = config.enabled;
-		if (type_ == "map" && config.map != map_) {
-			map_ = config.map;
-			loadMap(map_);
-			publishMap();
-		}
-
-		if (config.image_axis != image_axis_) {
-			image_axis_ = config.image_axis;
-			publishMapImage();
-		}
-	}
 };

 PLUGINLIB_EXPORT_CLASS(ArucoMap, nodelet::Nodelet)
--- a/aruco_pose/src/draw.cpp
+++ b/aruco_pose/src/draw.cpp
@@ -3,11 +3,26 @@

 #include "draw.h"
 #include <math.h>
-#include <vector>

 using namespace cv;
 using namespace cv::aruco;

+static void _cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
+                       const CvMat* translation_vector, const CvMat* camera_matrix,
+                       const CvMat* distortion_coeffs, CvMat* image_points,
+                       CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
+                       CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
+                       CvMat* dpddist CV_DEFAULT(NULL),
+                       double aspect_ratio CV_DEFAULT(0));
+
+static void _projectPoints( InputArray objectPoints,
+                    InputArray rvec, InputArray tvec,
+                    InputArray cameraMatrix, InputArray distCoeffs,
+                    OutputArray imagePoints,
+                    OutputArray jacobian = noArray(),
+                    double aspectRatio = 0 );
+
+
 void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
                      int borderBits, bool drawAxis) {

@@ -127,194 +142,35 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
 	}
 }

-/**
- * @brief Convert point coordinates from world space to camera space.
- *
- * @param points A vector of points in world space.
- * @param rvec Rotation matrix or Rodrigues rotation vector.
- * @param tvec Translation vector from world to camera space.
- *
- * @return A vector of points in camera space.
- */
-template<typename CvPointType>
-static std::vector<CvPointType> worldToCamera(const std::vector<CvPointType>& points,
-                                              const cv::Mat& rvec, const cv::Mat& tvec)
+/* 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)
 {
-	// We operate with CV_64F matrices internally to avoid precision loss
-	cv::Mat rvec_64f;
-	cv::Mat tvec_64f;
-	rvec.convertTo(rvec_64f, CV_64F);
-	tvec.convertTo(tvec_64f, CV_64F);
-
-	// Convert Rodrigues vector to rotation matrix
-	cv::Mat rmat;
-	if ((rvec_64f.cols == 3 && rvec_64f.rows == 1) ||
-	    (rvec_64f.cols == 1 && rvec_64f.rows == 3))
-	{
-		Rodrigues(rvec_64f, rmat);
+	// If both points are behind the screen, don't draw anything
+	if (p1.z <= 0 && p2.z <= 0) {
+		return;
 	}
-	else
-	{
-		rmat = rvec_64f.clone();
+	Point2f p1p{p1.x, p1.y};
+	Point2f p2p{p2.x, p2.y};
+	// If points are on the different sides of the plane, compute intersection point
+	if (p1.z * p2.z < 0) {
+		// Compute intersection point with the screen
+		// We denote alpha as such:
+		// xi = (1 - alpha) * x1 + alpha * x2
+		// yi = (1 - alpha) * y1 + alpha * y2
+		// zi = (1 - alpha) * z1 + alpha * z2 = 0
+		// Thus, alpha can be expressed as
+		// alpha = z1 / (z1 - z2)
+		float alpha = p1.z / (p1.z - p2.z);
+		Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
+		// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
+		if (p1.z < 0) {
+			p1p = pi;
+		} else {
+			p2p = pi;
+		}
 	}
-	// Make sure tvec has a size of (3, 1)
-	if (tvec_64f.rows == 1)
-	{
-		tvec_64f = tvec_64f.t();
-	}
-	std::vector<CvPointType> result;
-	result.reserve(points.size());
-	for(const auto& point : points)
-	{
-		// Calculate point coordinates in camera frame
-		// static_casts are here to silence potential narrowing conversion warnings
-		CvPointType camPoint{
-			static_cast<decltype(CvPointType::x)>(point.x * rmat.at<double>(0,0) + point.y * rmat.at<double>(0,1) + point.z * rmat.at<double>(0,2) + tvec_64f.at<double>(0)),
-			static_cast<decltype(CvPointType::y)>(point.x * rmat.at<double>(1,0) + point.y * rmat.at<double>(1,1) + point.z * rmat.at<double>(1,2) + tvec_64f.at<double>(1)),
-			static_cast<decltype(CvPointType::z)>(point.x * rmat.at<double>(2,0) + point.y * rmat.at<double>(2,1) + point.z * rmat.at<double>(2,2) + tvec_64f.at<double>(2))
-		};
-		result.push_back(camPoint);
-	}
-	return result;
-}
-
-/**
- * @brief Project points from camera space to screen space, applying distortion in the process.
- *
- * @param points A vector of points in camera space.
- * @param cameraMatrix OpenCV intrinsic camera matrix.
- * @param distCoeffs OpenCV distortion model coefficients.
- *
- * @return A vector of points in screen space.
- */
-template<typename CvPointType>
-static std::vector<CvPointType> cameraToScreen(const std::vector<CvPointType>& points,
-                                               const cv::Mat& cameraMatrix,
-                                               const cv::Mat& distCoeffs)
-{
-	// We operate with CV_64F matrices internally to avoid precision loss
-	cv::Mat cm_64f; // camera matrix, CV_64F
-	cv::Mat dc_64f; // distortion coefficients, CV_64F
-	cameraMatrix.convertTo(cm_64f, CV_64F);
-	distCoeffs.convertTo(dc_64f, CV_64F);
-
-	// Make sure distortion vector has a size of (N, 1)
-	if (dc_64f.rows == 1)
-	{
-		dc_64f = dc_64f.t();
-	}
-
-	// We will always use 12 distortion coefficients,
-	// and we can safely pad missing ones with zeroes
-	dc_64f.resize(12, 0.0);
-
-	std::vector<CvPointType> result;
-	result.reserve(points.size());
-
-	for(const auto& point : points)
-	{
-		// Apply perspective projection, preserving initial Z coordinate
-		// Always use double-precision
-		cv::Point3d camPoint{
-			point.x / point.z,
-			point.y / point.z,
-			point.z
-		};
-
-		// Apply distortion
-		// Note that we do not consider tilted sensor distortion
-		// r^2 - distance from the image center squared
-		double r2 = camPoint.x * camPoint.x + camPoint.y * camPoint.y;
-		// r^4 - same, but to the 4th power
-		double r4 = r2 * r2;
-		// r^6 - same, but to the 6th power
-		double r6 = r4 * r2;
-		// tg1 - first tangential shift factor (2 * x * y)
-		double tg1 = 2 * camPoint.x * camPoint.y;
-		// tg2 - second tangential shift factor (r^2 + 2 * x^2)
-		double tg2 = r2 + 2 * camPoint.x * camPoint.x;
-		// tg3 - third tangential shift factor (r^2 + 2 * y^2)
-		double tg3 = r2 + 2 * camPoint.y * camPoint.y;
-		// polynomial distortion factor (numerator)
-		double pndist = 1 + dc_64f.at<double>(0) * r2 + dc_64f.at<double>(1) * r4 + dc_64f.at<double>(4) * r6;
-		// polynomial distortion factror (denominator)
-		double pddist = 1.0 / (1 + dc_64f.at<double>(5) * r2 + dc_64f.at<double>(6) * r4 + dc_64f.at<double>(7) * r6);
-		// Distorted point coordinates (always double-precision)
-		cv::Point3d distortedPoint{
-			camPoint.x * pndist * pddist + dc_64f.at<double>(2) * tg1 + dc_64f.at<double>(3) * tg2 + dc_64f.at<double>(8) * r2 + dc_64f.at<double>(9) * r4,
-			camPoint.y * pndist * pddist + dc_64f.at<double>(2) * tg3 + dc_64f.at<double>(3) * tg1 + dc_64f.at<double>(10) * r2 + dc_64f.at<double>(11) * r4,
-			camPoint.z
-		};
-
-		// Convert to screen space
-		// We use static_cast here to silence potential warnings about narrowing conversions
-		// (we expect that to be the case)
-		CvPointType screenPoint{
-			static_cast<decltype(CvPointType::x)>(distortedPoint.x * cm_64f.at<double>(0, 0) + cm_64f.at<double>(0, 2)),
-			static_cast<decltype(CvPointType::y)>(distortedPoint.y * cm_64f.at<double>(1, 1) + cm_64f.at<double>(1, 2)),
-			static_cast<decltype(CvPointType::z)>(distortedPoint.z)
-		};
-
-		result.push_back(screenPoint);
-	}
-	return result;
-}
-
-/**
- * @brief Clip a line against a clip plane.
- *
- * This function "clips" a line (described by two points in *camera space*)
- * against a clip plane that is `clipPlaneDistance` meters away from the
- * camera focal point. If both points are further away from the focal point
- * than `clipPlaneDistance`, they will be returned unmodified. If one of the
- * points is behind the clipping plane, a point *on* the clipping plane will
- * be computed and returned as one of the points.
- *
- * If none of the points are visible, an empty vector will be returned.
- *
- * @param p1 First point on the line, in camera space.
- * @param p2 Second point on the line, in camera space.
- * @param clipPlaneDistance Distance from the focal point to the clipping plane.
- * @return A vector of zero or two points on the clipped line, in camera space.
- */
-static std::vector<Point3f> lineClip(Point3f p1, Point3f p2, float clipPlaneDistance = 0.1f)
-{
-	// We don't need to compute an intersection if both points are
-	// behind us
-	if (p1.z < clipPlaneDistance && p2.z < clipPlaneDistance)
-	{
-		return {};
-	}
-	// We don't need to compute an intersection if both points are
-	// in front of us
-	if (p1.z > clipPlaneDistance && p2.z > clipPlaneDistance)
-	{
-		return {p1, p2};
-	}
-	// We don't really want to compute an intersection if both Z coordinates
-	// are sufficiently close to each other
-	if (std::abs(p1.z - p2.z) < 0.0001) // The number here is chosen arbitrarily
-	{
-		return {p1, p2};
-	}
-	// We compute the intersection as such:
-	// zi = (1 - alpha) * p1.z + alpha * p2.z = clipPlaneDistance
-	// alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z)
-	double alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z);
-	Point3f clipPlanePoint{
-		static_cast<float>((1 - alpha) * p1.x + alpha * p2.x),
-		static_cast<float>((1 - alpha) * p1.y + alpha * p2.y),
-		clipPlaneDistance
-	};
-	if (p1.z < clipPlaneDistance)
-	{
-		return {clipPlanePoint, p2};
-	}
-	else
-	{
-		return {p1, clipPlanePoint};
-	}
-	// Unreachable?
+	line(image, p1p, p2p, color, thickness, lineType, shift);
 }

 void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
@@ -330,23 +186,647 @@ void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _di
 	axisPoints.push_back(Point3f(length, 0, 0));
 	axisPoints.push_back(Point3f(0, length, 0));
 	axisPoints.push_back(Point3f(0, 0, length));
-	auto camAxisPoints = worldToCamera(axisPoints, _rvec.getMat(), _tvec.getMat());
-	auto axisX = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[1]), _cameraMatrix.getMat(), _distCoeffs.getMat());
-	auto axisY = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[2]), _cameraMatrix.getMat(), _distCoeffs.getMat());
-	auto axisZ = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[3]), _cameraMatrix.getMat(), _distCoeffs.getMat());
-	if (axisX.size() > 0)
-	{
-		line(_image, Point2f{axisX[0].x, axisX[0].y}, Point2f{axisX[1].x, axisX[1].y},
-			Scalar(0, 0, 255), 3);
-	}
-	if (axisY.size() > 0)
-	{
-		line(_image, Point2f{axisY[0].x, axisY[0].y}, Point2f{axisY[1].x, axisY[1].y},
-			Scalar(0, 255, 0), 3);
-	}
-	if (axisZ.size() > 0)
-	{
-		line(_image, Point2f{axisZ[0].x, axisZ[0].y}, Point2f{axisZ[1].x, axisZ[1].y},
-			Scalar(255, 0, 0), 3);
-	}
+	std::vector<Point3f> imagePointsZ;
+	_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
+
+	// draw axis lines
+	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[3], Scalar(255, 0, 0), 3);
+}
+
+static CvMat _cvMat(const cv::Mat& m)
+{
+	CvMat self;
+	CV_DbgAssert(m.dims <= 2);
+	self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
+	self.step = (int)m.step[0];
+	self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
+	return self;
+}
+
+static void _projectPoints( InputArray _opoints,
+                        InputArray _rvec,
+                        InputArray _tvec,
+                        InputArray _cameraMatrix,
+                        InputArray _distCoeffs,
+                        OutputArray _ipoints,
+                        OutputArray _jacobian,
+                        double aspectRatio )
+{
+	Mat opoints = _opoints.getMat();
+	int npoints = opoints.checkVector(3), depth = opoints.depth();
+	CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
+
+	CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
+	CvMat *pdpdrot = 0, *pdpdt = 0, *pdpdf = 0, *pdpdc = 0, *pdpddist = 0;
+
+	CV_Assert(_ipoints.needed());
+
+	_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
+	Mat imagePoints = _ipoints.getMat();
+	CvMat c_imagePoints = _cvMat(imagePoints);
+	CvMat c_objectPoints = _cvMat(opoints);
+	Mat cameraMatrix = _cameraMatrix.getMat();
+
+	Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
+	CvMat c_cameraMatrix = _cvMat(cameraMatrix);
+	CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
+
+	double dc0buf[5] = {0};
+	Mat dc0(5, 1, CV_64F, dc0buf);
+	Mat distCoeffs = _distCoeffs.getMat();
+	if (distCoeffs.empty())
+		distCoeffs = dc0;
+	CvMat c_distCoeffs = _cvMat(distCoeffs);
+	int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
+
+	Mat jacobian;
+	if (_jacobian.needed())
+	{
+		_jacobian.create(npoints * 2, 3 + 3 + 2 + 2 + ndistCoeffs, CV_64F);
+		jacobian = _jacobian.getMat();
+		pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
+		pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
+		pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
+		pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
+		pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10 + ndistCoeffs)));
+	}
+
+	_cvProjectPoints2(&c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
+					  &c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio);
+}
+
+namespace _detail
+{
+    template <typename FLOAT>
+    void computeTiltProjectionMatrix(FLOAT tauX,
+                                     FLOAT tauY,
+                                     Matx<FLOAT, 3, 3>* matTilt = 0,
+                                     Matx<FLOAT, 3, 3>* dMatTiltdTauX = 0,
+                                     Matx<FLOAT, 3, 3>* dMatTiltdTauY = 0,
+                                     Matx<FLOAT, 3, 3>* invMatTilt = 0)
+    {
+        FLOAT cTauX = cos(tauX);
+        FLOAT sTauX = sin(tauX);
+        FLOAT cTauY = cos(tauY);
+        FLOAT sTauY = sin(tauY);
+        Matx<FLOAT, 3, 3> matRotX = Matx<FLOAT, 3, 3>(1,0,0,0,cTauX,sTauX,0,-sTauX,cTauX);
+        Matx<FLOAT, 3, 3> matRotY = Matx<FLOAT, 3, 3>(cTauY,0,-sTauY,0,1,0,sTauY,0,cTauY);
+        Matx<FLOAT, 3, 3> matRotXY = matRotY * matRotX;
+        Matx<FLOAT, 3, 3> matProjZ = Matx<FLOAT, 3, 3>(matRotXY(2,2),0,-matRotXY(0,2),0,matRotXY(2,2),-matRotXY(1,2),0,0,1);
+        if (matTilt)
+        {
+            // Matrix for trapezoidal distortion of tilted image sensor
+            *matTilt = matProjZ * matRotXY;
+        }
+        if (dMatTiltdTauX)
+        {
+            // Derivative with respect to tauX
+            Matx<FLOAT, 3, 3> dMatRotXYdTauX = matRotY * Matx<FLOAT, 3, 3>(0,0,0,0,-sTauX,cTauX,0,-cTauX,-sTauX);
+            Matx<FLOAT, 3, 3> dMatProjZdTauX = Matx<FLOAT, 3, 3>(dMatRotXYdTauX(2,2),0,-dMatRotXYdTauX(0,2),
+                                                                 0,dMatRotXYdTauX(2,2),-dMatRotXYdTauX(1,2),0,0,0);
+            *dMatTiltdTauX = (matProjZ * dMatRotXYdTauX) + (dMatProjZdTauX * matRotXY);
+        }
+        if (dMatTiltdTauY)
+        {
+            // Derivative with respect to tauY
+            Matx<FLOAT, 3, 3> dMatRotXYdTauY = Matx<FLOAT, 3, 3>(-sTauY,0,-cTauY,0,0,0,cTauY,0,-sTauY) * matRotX;
+            Matx<FLOAT, 3, 3> dMatProjZdTauY = Matx<FLOAT, 3, 3>(dMatRotXYdTauY(2,2),0,-dMatRotXYdTauY(0,2),
+                                                                 0,dMatRotXYdTauY(2,2),-dMatRotXYdTauY(1,2),0,0,0);
+            *dMatTiltdTauY = (matProjZ * dMatRotXYdTauY) + (dMatProjZdTauY * matRotXY);
+        }
+        if (invMatTilt)
+        {
+            FLOAT inv = 1./matRotXY(2,2);
+            Matx<FLOAT, 3, 3> invMatProjZ = Matx<FLOAT, 3, 3>(inv,0,inv*matRotXY(0,2),0,inv,inv*matRotXY(1,2),0,0,1);
+            *invMatTilt = matRotXY.t()*invMatProjZ;
+        }
+    }
+}
+
+static const char* cvDistCoeffErr = "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8, 8x1, 1x12, 12x1, 1x14 or 14x1 floating-point vector";
+
+static void _cvProjectPoints2Internal( const CvMat* objectPoints,
+                                      const CvMat* r_vec,
+                                      const CvMat* t_vec,
+                                      const CvMat* A,
+                                      const CvMat* distCoeffs,
+                                      CvMat* imagePoints, CvMat* dpdr CV_DEFAULT(NULL),
+                                      CvMat* dpdt CV_DEFAULT(NULL), CvMat* dpdf CV_DEFAULT(NULL),
+                                      CvMat* dpdc CV_DEFAULT(NULL), CvMat* dpdk CV_DEFAULT(NULL),
+                                      CvMat* dpdo CV_DEFAULT(NULL),
+                                      double aspectRatio CV_DEFAULT(0) )
+{
+    Ptr<CvMat> matM, _m;
+    Ptr<CvMat> _dpdr, _dpdt, _dpdc, _dpdf, _dpdk;
+    Ptr<CvMat> _dpdo;
+
+    int i, j, count;
+    int calc_derivatives;
+    const CvPoint3D64f* M;
+    CvPoint3D64f* m;
+    double r[3], R[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
+    Matx33d matTilt = Matx33d::eye();
+    Matx33d dMatTiltdTauX(0,0,0,0,0,0,0,-1,0);
+    Matx33d dMatTiltdTauY(0,0,0,0,0,0,1,0,0);
+    CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
+    CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
+    double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
+    double* dpdo_p = 0;
+    int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
+    int dpdo_step = 0;
+    bool fixedAspectRatio = aspectRatio > FLT_EPSILON;
+
+    if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(r_vec) ||
+        !CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
+        /*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) )
+        CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" );
+
+    int total = objectPoints->rows * objectPoints->cols * CV_MAT_CN(objectPoints->type);
+    if(total % 3 != 0)
+    {
+        //we have stopped support of homogeneous coordinates because it cause ambiguity in interpretation of the input data
+        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
+    }
+    count = total / 3;
+
+    if( CV_IS_CONT_MAT(objectPoints->type) &&
+        (CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
+        ((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
+         (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3) ||
+         (objectPoints->rows == 3 && CV_MAT_CN(objectPoints->type) == 1 && objectPoints->cols == count)))
+    {
+        matM.reset(cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) ));
+        cvConvert(objectPoints, matM);
+    }
+    else
+    {
+//        matM = cvCreateMat( 1, count, CV_64FC3 );
+//        cvConvertPointsHomogeneous( objectPoints, matM );
+        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
+    }
+
+    if( CV_IS_CONT_MAT(imagePoints->type) &&
+        (CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
+        ((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 3) ||
+         (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 3) ||
+         (imagePoints->rows == 3 && CV_MAT_CN(imagePoints->type) == 1 && imagePoints->cols == count)))
+    {
+        _m.reset(cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) ));
+        cvConvert(imagePoints, _m);
+    }
+    else
+    {
+//        _m = cvCreateMat( 1, count, CV_64FC2 );
+        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
+    }
+
+    M = (CvPoint3D64f*)matM->data.db;
+    m = (CvPoint3D64f*)_m->data.db;
+
+    if( (CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F) ||
+        (((r_vec->rows != 1 && r_vec->cols != 1) ||
+          r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
+         ((r_vec->rows != 3 && r_vec->cols != 3) || CV_MAT_CN(r_vec->type) != 1)))
+        CV_Error( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
+                                "floating-point rotation vector, or 3x3 rotation matrix" );
+
+    if( r_vec->rows == 3 && r_vec->cols == 3 )
+    {
+        _r = cvMat( 3, 1, CV_64FC1, r );
+        cvRodrigues2( r_vec, &_r );
+        cvRodrigues2( &_r, &matR, &_dRdr );
+        cvCopy( r_vec, &matR );
+    }
+    else
+    {
+        _r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
+        cvConvert( r_vec, &_r );
+        cvRodrigues2( &_r, &matR, &_dRdr );
+    }
+
+    if( (CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F) ||
+        (t_vec->rows != 1 && t_vec->cols != 1) ||
+        t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
+        CV_Error( CV_StsBadArg,
+                  "Translation vector must be 1x3 or 3x1 floating-point vector" );
+
+    _t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
+    cvConvert( t_vec, &_t );
+
+    if( (CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1) ||
+        A->rows != 3 || A->cols != 3 )
+        CV_Error( CV_StsBadArg, "Instrinsic parameters must be 3x3 floating-point matrix" );
+
+    cvConvert( A, &_a );
+    fx = a[0]; fy = a[4];
+    cx = a[2]; cy = a[5];
+
+    if( fixedAspectRatio )
+        fx = fy*aspectRatio;
+
+    if( distCoeffs )
+    {
+        if( !CV_IS_MAT(distCoeffs) ||
+            (CV_MAT_DEPTH(distCoeffs->type) != CV_64F &&
+             CV_MAT_DEPTH(distCoeffs->type) != CV_32F) ||
+            (distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
+            (distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 12 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 14) )
+            CV_Error( CV_StsBadArg, cvDistCoeffErr );
+
+        _k = cvMat( distCoeffs->rows, distCoeffs->cols,
+                    CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k );
+        cvConvert( distCoeffs, &_k );
+        if(k[12] != 0 || k[13] != 0)
+        {
+            _detail::computeTiltProjectionMatrix(k[12], k[13],
+                                                &matTilt, &dMatTiltdTauX, &dMatTiltdTauY);
+        }
+    }
+
+    if( dpdr )
+    {
+        if( !CV_IS_MAT(dpdr) ||
+            (CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
+             CV_MAT_TYPE(dpdr->type) != CV_64FC1) ||
+            dpdr->rows != count*2 || dpdr->cols != 3 )
+            CV_Error( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
+        {
+            _dpdr.reset(cvCloneMat(dpdr));
+        }
+        else
+            _dpdr.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
+        dpdr_p = _dpdr->data.db;
+        dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
+    }
+
+    if( dpdt )
+    {
+        if( !CV_IS_MAT(dpdt) ||
+            (CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
+             CV_MAT_TYPE(dpdt->type) != CV_64FC1) ||
+            dpdt->rows != count*2 || dpdt->cols != 3 )
+            CV_Error( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
+        {
+            _dpdt.reset(cvCloneMat(dpdt));
+        }
+        else
+            _dpdt.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
+        dpdt_p = _dpdt->data.db;
+        dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
+    }
+
+    if( dpdf )
+    {
+        if( !CV_IS_MAT(dpdf) ||
+            (CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1) ||
+            dpdf->rows != count*2 || dpdf->cols != 2 )
+            CV_Error( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
+        {
+            _dpdf.reset(cvCloneMat(dpdf));
+        }
+        else
+            _dpdf.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
+        dpdf_p = _dpdf->data.db;
+        dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
+    }
+
+    if( dpdc )
+    {
+        if( !CV_IS_MAT(dpdc) ||
+            (CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1) ||
+            dpdc->rows != count*2 || dpdc->cols != 2 )
+            CV_Error( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
+        {
+            _dpdc.reset(cvCloneMat(dpdc));
+        }
+        else
+            _dpdc.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
+        dpdc_p = _dpdc->data.db;
+        dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
+    }
+
+    if( dpdk )
+    {
+        if( !CV_IS_MAT(dpdk) ||
+            (CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
+            dpdk->rows != count*2 || (dpdk->cols != 14 && dpdk->cols != 12 && dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
+            CV_Error( CV_StsBadArg, "dp/df must be 2Nx14, 2Nx12, 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
+
+        if( !distCoeffs )
+            CV_Error( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
+
+        if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
+        {
+            _dpdk.reset(cvCloneMat(dpdk));
+        }
+        else
+            _dpdk.reset(cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
+        dpdk_p = _dpdk->data.db;
+        dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
+    }
+
+    if( dpdo )
+    {
+        if( !CV_IS_MAT( dpdo ) || ( CV_MAT_TYPE( dpdo->type ) != CV_32FC1
+                                    && CV_MAT_TYPE( dpdo->type ) != CV_64FC1 )
+            || dpdo->rows != count * 2 || dpdo->cols != count * 3 )
+            CV_Error( CV_StsBadArg, "dp/do must be 2Nx3N floating-point matrix" );
+
+        if( CV_MAT_TYPE( dpdo->type ) == CV_64FC1 )
+        {
+            _dpdo.reset( cvCloneMat( dpdo ) );
+        }
+        else
+            _dpdo.reset( cvCreateMat( 2 * count, 3 * count, CV_64FC1 ) );
+        cvZero(_dpdo);
+        dpdo_p = _dpdo->data.db;
+        dpdo_step = _dpdo->step / sizeof( dpdo_p[0] );
+    }
+
+    calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk || dpdo;
+
+    for( i = 0; i < count; i++ )
+    {
+        double X = M[i].x, Y = M[i].y, Z = M[i].z;
+        double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
+        double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
+        double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
+        double r2, r4, r6, a1, a2, a3, cdist, icdist2;
+        double xd, yd, xd0, yd0, invProj;
+        Vec3d vecTilt;
+        Vec3d dVecTilt;
+        Matx22d dMatTilt;
+        Vec2d dXdYd;
+
+        double z0 = z;
+        z = z ? 1./z : 1;
+        x *= z; y *= z;
+
+        r2 = x*x + y*y;
+        r4 = r2*r2;
+        r6 = r4*r2;
+        a1 = 2*x*y;
+        a2 = r2 + 2*x*x;
+        a3 = r2 + 2*y*y;
+        cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
+        icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
+        xd0 = x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
+        yd0 = y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
+
+        // additional distortion by projecting onto a tilt plane
+        vecTilt = matTilt*Vec3d(xd0, yd0, 1);
+        invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
+        xd = invProj * vecTilt(0);
+        yd = invProj * vecTilt(1);
+
+        m[i].x = xd*fx + cx;
+        m[i].y = yd*fy + cy;
+        m[i].z = z; // Just put the projected Z coordinate here, we mainly care about the sign
+
+        if( calc_derivatives )
+        {
+            if( dpdc_p )
+            {
+                dpdc_p[0] = 1; dpdc_p[1] = 0; // dp_xdc_x; dp_xdc_y
+                dpdc_p[dpdc_step] = 0;
+                dpdc_p[dpdc_step+1] = 1;
+                dpdc_p += dpdc_step*2;
+            }
+
+            if( dpdf_p )
+            {
+                if( fixedAspectRatio )
+                {
+                    dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio; // dp_xdf_x; dp_xdf_y
+                    dpdf_p[dpdf_step] = 0;
+                    dpdf_p[dpdf_step+1] = yd;
+                }
+                else
+                {
+                    dpdf_p[0] = xd; dpdf_p[1] = 0;
+                    dpdf_p[dpdf_step] = 0;
+                    dpdf_p[dpdf_step+1] = yd;
+                }
+                dpdf_p += dpdf_step*2;
+            }
+            for (int row = 0; row < 2; ++row)
+                for (int col = 0; col < 2; ++col)
+                    dMatTilt(row,col) = matTilt(row,col)*vecTilt(2)
+                                        - matTilt(2,col)*vecTilt(row);
+            double invProjSquare = (invProj*invProj);
+            dMatTilt *= invProjSquare;
+            if( dpdk_p )
+            {
+                dXdYd = dMatTilt*Vec2d(x*icdist2*r2, y*icdist2*r2);
+                dpdk_p[0] = fx*dXdYd(0);
+                dpdk_p[dpdk_step] = fy*dXdYd(1);
+                dXdYd = dMatTilt*Vec2d(x*icdist2*r4, y*icdist2*r4);
+                dpdk_p[1] = fx*dXdYd(0);
+                dpdk_p[dpdk_step+1] = fy*dXdYd(1);
+                if( _dpdk->cols > 2 )
+                {
+                    dXdYd = dMatTilt*Vec2d(a1, a3);
+                    dpdk_p[2] = fx*dXdYd(0);
+                    dpdk_p[dpdk_step+2] = fy*dXdYd(1);
+                    dXdYd = dMatTilt*Vec2d(a2, a1);
+                    dpdk_p[3] = fx*dXdYd(0);
+                    dpdk_p[dpdk_step+3] = fy*dXdYd(1);
+                    if( _dpdk->cols > 4 )
+                    {
+                        dXdYd = dMatTilt*Vec2d(x*icdist2*r6, y*icdist2*r6);
+                        dpdk_p[4] = fx*dXdYd(0);
+                        dpdk_p[dpdk_step+4] = fy*dXdYd(1);
+
+                        if( _dpdk->cols > 5 )
+                        {
+                            dXdYd = dMatTilt*Vec2d(
+                                    x*cdist*(-icdist2)*icdist2*r2, y*cdist*(-icdist2)*icdist2*r2);
+                            dpdk_p[5] = fx*dXdYd(0);
+                            dpdk_p[dpdk_step+5] = fy*dXdYd(1);
+                            dXdYd = dMatTilt*Vec2d(
+                                    x*cdist*(-icdist2)*icdist2*r4, y*cdist*(-icdist2)*icdist2*r4);
+                            dpdk_p[6] = fx*dXdYd(0);
+                            dpdk_p[dpdk_step+6] = fy*dXdYd(1);
+                            dXdYd = dMatTilt*Vec2d(
+                                    x*cdist*(-icdist2)*icdist2*r6, y*cdist*(-icdist2)*icdist2*r6);
+                            dpdk_p[7] = fx*dXdYd(0);
+                            dpdk_p[dpdk_step+7] = fy*dXdYd(1);
+                            if( _dpdk->cols > 8 )
+                            {
+                                dXdYd = dMatTilt*Vec2d(r2, 0);
+                                dpdk_p[8] = fx*dXdYd(0); //s1
+                                dpdk_p[dpdk_step+8] = fy*dXdYd(1); //s1
+                                dXdYd = dMatTilt*Vec2d(r4, 0);
+                                dpdk_p[9] = fx*dXdYd(0); //s2
+                                dpdk_p[dpdk_step+9] = fy*dXdYd(1); //s2
+                                dXdYd = dMatTilt*Vec2d(0, r2);
+                                dpdk_p[10] = fx*dXdYd(0);//s3
+                                dpdk_p[dpdk_step+10] = fy*dXdYd(1); //s3
+                                dXdYd = dMatTilt*Vec2d(0, r4);
+                                dpdk_p[11] = fx*dXdYd(0);//s4
+                                dpdk_p[dpdk_step+11] = fy*dXdYd(1); //s4
+                                if( _dpdk->cols > 12 )
+                                {
+                                    dVecTilt = dMatTiltdTauX * Vec3d(xd0, yd0, 1);
+                                    dpdk_p[12] = fx * invProjSquare * (
+                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
+                                    dpdk_p[dpdk_step+12] = fy*invProjSquare * (
+                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
+                                    dVecTilt = dMatTiltdTauY * Vec3d(xd0, yd0, 1);
+                                    dpdk_p[13] = fx * invProjSquare * (
+                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
+                                    dpdk_p[dpdk_step+13] = fy * invProjSquare * (
+                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
+                                }
+                            }
+                        }
+                    }
+                }
+                dpdk_p += dpdk_step*2;
+            }
+
+            if( dpdt_p )
+            {
+                double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
+                for( j = 0; j < 3; j++ )
+                {
+                    double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
+                    double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt + 3*k[4]*r4*dr2dt;
+                    double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
+                    double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
+                    double dmxdt = (dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
+                                    k[2]*da1dt + k[3]*(dr2dt + 4*x*dxdt[j]) + k[8]*dr2dt + 2*r2*k[9]*dr2dt);
+                    double dmydt = (dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
+                                    k[2]*(dr2dt + 4*y*dydt[j]) + k[3]*da1dt + k[10]*dr2dt + 2*r2*k[11]*dr2dt);
+                    dXdYd = dMatTilt*Vec2d(dmxdt, dmydt);
+                    dpdt_p[j] = fx*dXdYd(0);
+                    dpdt_p[dpdt_step+j] = fy*dXdYd(1);
+                }
+                dpdt_p += dpdt_step*2;
+            }
+
+            if( dpdr_p )
+            {
+                double dx0dr[] =
+                        {
+                                X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
+                                X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
+                                X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
+                        };
+                double dy0dr[] =
+                        {
+                                X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
+                                X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
+                                X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
+                        };
+                double dz0dr[] =
+                        {
+                                X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
+                                X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
+                                X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
+                        };
+                for( j = 0; j < 3; j++ )
+                {
+                    double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
+                    double dydr = z*(dy0dr[j] - y*dz0dr[j]);
+                    double dr2dr = 2*x*dxdr + 2*y*dydr;
+                    double dcdist_dr = (k[0] + 2*k[1]*r2 + 3*k[4]*r4)*dr2dr;
+                    double dicdist2_dr = -icdist2*icdist2*(k[5] + 2*k[6]*r2 + 3*k[7]*r4)*dr2dr;
+                    double da1dr = 2*(x*dydr + y*dxdr);
+                    double dmxdr = (dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
+                                    k[2]*da1dr + k[3]*(dr2dr + 4*x*dxdr) + (k[8] + 2*r2*k[9])*dr2dr);
+                    double dmydr = (dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
+                                    k[2]*(dr2dr + 4*y*dydr) + k[3]*da1dr + (k[10] + 2*r2*k[11])*dr2dr);
+                    dXdYd = dMatTilt*Vec2d(dmxdr, dmydr);
+                    dpdr_p[j] = fx*dXdYd(0);
+                    dpdr_p[dpdr_step+j] = fy*dXdYd(1);
+                }
+                dpdr_p += dpdr_step*2;
+            }
+
+            if( dpdo_p )
+            {
+                double dxdo[] = { z * ( R[0] - x * z * z0 * R[6] ),
+                                  z * ( R[1] - x * z * z0 * R[7] ),
+                                  z * ( R[2] - x * z * z0 * R[8] ) };
+                double dydo[] = { z * ( R[3] - y * z * z0 * R[6] ),
+                                  z * ( R[4] - y * z * z0 * R[7] ),
+                                  z * ( R[5] - y * z * z0 * R[8] ) };
+                for( j = 0; j < 3; j++ )
+                {
+                    double dr2do = 2 * x * dxdo[j] + 2 * y * dydo[j];
+                    double dr4do = 2 * r2 * dr2do;
+                    double dr6do = 3 * r4 * dr2do;
+                    double da1do = 2 * y * dxdo[j] + 2 * x * dydo[j];
+                    double da2do = dr2do + 4 * x * dxdo[j];
+                    double da3do = dr2do + 4 * y * dydo[j];
+                    double dcdist_do
+                            = k[0] * dr2do + k[1] * dr4do + k[4] * dr6do;
+                    double dicdist2_do = -icdist2 * icdist2
+                                         * ( k[5] * dr2do + k[6] * dr4do + k[7] * dr6do );
+                    double dxd0_do = cdist * icdist2 * dxdo[j]
+                                     + x * icdist2 * dcdist_do + x * cdist * dicdist2_do
+                                     + k[2] * da1do + k[3] * da2do + k[8] * dr2do
+                                     + k[9] * dr4do;
+                    double dyd0_do = cdist * icdist2 * dydo[j]
+                                     + y * icdist2 * dcdist_do + y * cdist * dicdist2_do
+                                     + k[2] * da3do + k[3] * da1do + k[10] * dr2do
+                                     + k[11] * dr4do;
+                    dXdYd = dMatTilt * Vec2d( dxd0_do, dyd0_do );
+                    dpdo_p[i * 3 + j] = fx * dXdYd( 0 );
+                    dpdo_p[dpdo_step + i * 3 + j] = fy * dXdYd( 1 );
+                }
+                dpdo_p += dpdo_step * 2;
+            }
+        }
+    }
+
+    if( _m != imagePoints )
+        cvConvert( _m, imagePoints );
+
+    if( _dpdr != dpdr )
+        cvConvert( _dpdr, dpdr );
+
+    if( _dpdt != dpdt )
+        cvConvert( _dpdt, dpdt );
+
+    if( _dpdf != dpdf )
+        cvConvert( _dpdf, dpdf );
+
+    if( _dpdc != dpdc )
+        cvConvert( _dpdc, dpdc );
+
+    if( _dpdk != dpdk )
+        cvConvert( _dpdk, dpdk );
+
+    if( _dpdo != dpdo )
+        cvConvert( _dpdo, dpdo );
+}
+
+static void _cvProjectPoints2( const CvMat* objectPoints,
+                        const CvMat* r_vec,
+                        const CvMat* t_vec,
+                        const CvMat* A,
+                        const CvMat* distCoeffs,
+                        CvMat* imagePoints, CvMat* dpdr,
+                        CvMat* dpdt, CvMat* dpdf,
+                        CvMat* dpdc, CvMat* dpdk,
+                        double aspectRatio )
+{
+    _cvProjectPoints2Internal( objectPoints, r_vec, t_vec, A, distCoeffs, imagePoints, dpdr, dpdt,
+                               dpdf, dpdc, dpdk, NULL, aspectRatio );
 }
--- a/aruco_pose/src/genmap.py
+++ b/aruco_pose/src/genmap.py
@@ -13,7 +13,7 @@
 Generate map file for aruco_map nodelet.

 Usage:
-  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left] [-o <filename>]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left]
  genmap.py (-h | --help)

 Options:
@@ -27,16 +27,13 @@ Options:
  <y0>           Y coordinate for the first marker [default: 0]
  --top-left     First marker is on top-left (default)
  --bottom-left  First marker is on bottom-left
-  -o <filename>  Output map file name in the 'map' subdirectory of aruco_pose package

 Example:
-  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
+  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
 """

 from __future__ import print_function

-import sys
-from os import path
 from docopt import docopt


@@ -52,19 +49,14 @@ dist_x = float(arguments['<dist_x>'])
 dist_y = float(arguments['<dist_y>'])
 bottom_left = arguments['--bottom-left']

-if arguments['-o'] is None:
-    output = sys.stdout
-else:
-    output = open(path.join(path.dirname(__file__), '..', 'map', arguments['-o']), 'w')
-
 max_y = y0 + (markers_y - 1) * dist_y

-output.write('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x\n')
+print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
 for y in range(markers_y):
    for x in range(markers_x):
        pos_x = x0 + x * dist_x
        pos_y = y0 + y * dist_y
        if not bottom_left:
            pos_y = max_y - pos_y
-        output.write('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\n'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
+        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
        first += 1
--- a/aruco_pose/src/utils.h
+++ b/aruco_pose/src/utils.h
@@ -106,25 +106,26 @@ inline bool isFlipped(tf::Quaternion& q)
 	return (abs(pitch) > M_PI / 2) || (abs(roll) > M_PI / 2);
 }

-/* Apply a vertical to an orientation */
-inline void applyVertical(geometry_msgs::Quaternion& orientation, const geometry_msgs::Quaternion& vertical,
-                          bool flip_vertical = false, bool auto_flip = false) // editorconfig-checker-disable-line
+/* Set roll and pitch from "from" to "to", keeping yaw */
+inline void snapOrientation(geometry_msgs::Quaternion& to, const geometry_msgs::Quaternion& from, bool auto_flip = false)
 {
-	tf::Quaternion _vertical, _orientation;
-	tf::quaternionMsgToTF(vertical, _vertical);
-	tf::quaternionMsgToTF(orientation, _orientation);
+	tf::Quaternion _from, _to;
+	tf::quaternionMsgToTF(from, _from);
+	tf::quaternionMsgToTF(to, _to);

-	if (flip_vertical || (auto_flip && !isFlipped(_orientation))) {
-		static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
-		_vertical *= flip; // flip vertical
+	if (auto_flip) {
+		if (!isFlipped(_from)) {
+			static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
+			_from *= flip; // flip "from"
+		}
 	}

-	auto diff = tf::Matrix3x3(_orientation).transposeTimes(tf::Matrix3x3(_vertical));
+	auto diff = tf::Matrix3x3(_to).transposeTimes(tf::Matrix3x3(_from));
 	double _, yaw;
 	diff.getRPY(_, _, yaw);
 	auto q = tf::createQuaternionFromRPY(0, 0, -yaw);
-	_vertical = _vertical * q; // set yaw from orientation to vertical
-	tf::quaternionTFToMsg(_vertical, orientation); // set vertical to orientation
+	_from = _from * q; // set yaw from "to" to "from"
+	tf::quaternionTFToMsg(_from, to); // set "from" to "to"
 }

 inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)
--- a/aruco_pose/srv/SetMarkers.srv
+++ b/aruco_pose/srv/SetMarkers.srv
@@ -1,7 +0,0 @@
-# * Add or change markers in the map
-# * Change markers' properties, e. g. lengths
-
-Marker[] markers # if length or pose is nan - remove from map
---
-bool success
-string message
--- a/aruco_pose/test/basic.py
+++ b/aruco_pose/test/basic.py
@@ -6,7 +6,7 @@ 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, Marker as VisMarker
+from visualization_msgs.msg import MarkerArray as VisMarkerArray


@pytest.fixture
@@ -143,7 +143,7 @@ def test_map_image(node):
    assert img.encoding in ('mono8', 'rgb8')

 def test_map_markers(node):
-    markers = rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=5)
+    markers = rospy.wait_for_message('aruco_map/markers', MarkerArray, timeout=5)
    assert markers.markers[0].id == 1
    assert markers.markers[1].id == 2
    assert markers.markers[2].id == 3
@@ -199,36 +199,6 @@ def test_map_markers(node):

 def test_map_visualization(node):
    vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-    assert len(vis.markers) == 7
-    assert vis.markers[0].header.frame_id == 'aruco_map'
-    assert vis.markers[0].type == VisMarker.CUBE
-    assert vis.markers[0].action == VisMarker.ADD
-    assert vis.markers[0].pose.position.x == 0
-    assert vis.markers[0].pose.position.y == 0
-    assert vis.markers[0].pose.position.z == 0
-    assert vis.markers[0].pose.orientation.x == 0
-    assert vis.markers[0].pose.orientation.y == 0
-    assert vis.markers[0].pose.orientation.z == 0
-    assert vis.markers[0].pose.orientation.w == 1
-    assert vis.markers[0].scale.x == approx(0.33)
-    assert vis.markers[0].scale.y == approx(0.33)
-    assert vis.markers[0].scale.z == approx(0.001)
-    assert vis.markers[1].pose.position.x == 1
-    assert vis.markers[1].pose.position.y == 0
-    assert vis.markers[1].pose.position.z == 0
-    assert vis.markers[1].pose.orientation.x == 0
-    assert vis.markers[1].pose.orientation.y == 0
-    assert vis.markers[1].pose.orientation.z == 0
-    assert vis.markers[1].pose.orientation.w == 1
-    # non-zero yaw marker:
-    assert vis.markers[4].scale.x == approx(0.5)
-    assert vis.markers[4].pose.position.x == approx(0.5)
-    assert vis.markers[4].pose.position.y == 2
-    assert vis.markers[4].pose.position.z == 0
-    assert vis.markers[4].pose.orientation.x == 0
-    assert vis.markers[4].pose.orientation.y == 0
-    assert vis.markers[4].pose.orientation.z == approx(0.5646424733950354)
-    assert vis.markers[4].pose.orientation.w == approx(0.8253356149096783)

 def test_map_debug(node):
    img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)
--- a/aruco_pose/test/duplicate.png
+++ b/aruco_pose/test/duplicate.png
--- a/aruco_pose/test/duplicate.py
+++ b/aruco_pose/test/duplicate.py
@@ -1,8 +0,0 @@
-import pytest
-import subprocess
-
-def test_no_tf_repeated_data():
-    # `/rosout` acts weirdly inside rostest, so using a subprocess
-    cmd = """python -c 'import rospy, tf; rospy.init_node("foo"); listener = tf.TransformListener(); rospy.sleep(2)'"""
-    output = str(subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT))
-    assert 'TF_REPEATED_DATA' not in output, 'TF_REPEATED_DATA was logged on duplicate markers'
--- a/aruco_pose/test/duplicate.test
+++ b/aruco_pose/test/duplicate.test
@@ -1,21 +0,0 @@
-<launch>
-    <node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/duplicate.png">
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="publish_rate" value="10"/>
-        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
-
-    <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="estimate_poses" value="true"/>
-        <param name="send_tf" value="true"/>
-        <param name="cornerRefinementMethod" value="1"/>
-    </node>
-
-	<param name="test_module" value="$(find aruco_pose)/test/duplicate.py"/>
-    <test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
-</launch>
--- a/aruco_pose/test/test_node_failure.py
+++ b/aruco_pose/test/test_node_failure.py
@@ -2,7 +2,6 @@ import rospy
 import pytest

 from visualization_msgs.msg import MarkerArray as VisMarkerArray
-from aruco_pose.msg import MarkerArray


@pytest.fixture
@@ -10,5 +9,5 @@ def node():
    return rospy.init_node('aruco_pose_test', anonymous=True)

 def test_node_failure(node):
-    assert rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5).markers == []
-    assert rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=5).markers == []
+    with pytest.raises(rospy.exceptions.ROSException):
+        rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
--- a/aruco_pose/vendor/VendorOpenCV.cmake
+++ b/aruco_pose/vendor/VendorOpenCV.cmake
@@ -7,7 +7,6 @@ endif()

 message(STATUS "Adding vendored aruco_pose OpenCV module")
 add_library(_opencv_aruco STATIC
-  vendor/aruco/src/apriltag_quad_thresh.cpp
  vendor/aruco/src/aruco.cpp
  vendor/aruco/src/charuco.cpp
  vendor/aruco/src/dictionary.cpp
@@ -24,7 +23,7 @@ target_compile_definitions(_opencv_aruco PRIVATE
  CV_OVERRIDE=override
 )
 target_compile_options(_opencv_aruco PRIVATE
-  -fpic -fPIC -fvisibility=hidden
+  -fpic -fPIC
 )

 target_include_directories(_opencv_aruco PUBLIC
--- a/aruco_pose/vendor/aruco/src/apriltag_quad_thresh.cpp
+++ b/aruco_pose/vendor/aruco/src/apriltag_quad_thresh.cpp
@@ -94,7 +94,7 @@ void ptsort_(struct pt *pts, int sz)

    // Use stack storage if it's not too big.
    cv::AutoBuffer<struct pt, 1024> _tmp_stack(sz);
-    memcpy(_tmp_stack, pts, sizeof(struct pt) * sz);
+    memcpy(_tmp_stack.data(), pts, sizeof(struct pt) * sz);

    int asz = sz/2;
    int bsz = sz - asz;
@@ -470,11 +470,11 @@ int quad_segment_agg(int sz, struct line_fit_pt *lfps, int indices[4]){
    int rvalloc_pos = 0;
    int rvalloc_size = 3*sz;
    cv::AutoBuffer<struct remove_vertex, 0> rvalloc_(std::max(1, rvalloc_size));
-    memset(rvalloc_, 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
-    struct remove_vertex *rvalloc = rvalloc_;
+    memset(rvalloc_.data(), 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
+    struct remove_vertex *rvalloc = rvalloc_.data();
    cv::AutoBuffer<struct segment, 0> segs_(std::max(1, sz)); // TODO Add AutoBuffer zero fill
-    memset(segs_, 0, sizeof(segs_[0]) * segs_.size());
-    struct segment *segs = segs_;
+    memset(segs_.data(), 0, sizeof(segs_[0]) * segs_.size());
+    struct segment *segs = segs_.data();

    // populate with initial entries
    for (int i = 0; i < sz; i++) {
@@ -753,8 +753,8 @@ int fit_quad(const Ptr<DetectorParameters> &_params, const Mat im, zarray_t *clu
    // efficiently computed for any contiguous range of indices.

    cv::AutoBuffer<struct line_fit_pt, 64> lfps_(sz);
-    memset(lfps_, 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
-    struct line_fit_pt *lfps = lfps_;
+    memset(lfps_.data(), 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
+    struct line_fit_pt *lfps = lfps_.data();

    for (int i = 0; i < sz; i++) {
        struct pt *p;
--- a/book.json
+++ b/book.json
@@ -10,7 +10,7 @@
        "yametrika",
        "anchors",
        "collapsible-menu",
-        "validate-links@https://github.com/okalachev/gitbook-plugin-validate-links.git",
+        "validate-links",
        "bulk-redirect@https://github.com/okalachev/gitbook-plugin-bulk-redirect.git",
        "sitemap@https://github.com/okalachev/plugin-sitemap.git",
        "toolbar@https://github.com/hamishwillee/gitbook-plugin-toolbar.git",
--- a/builder/assets/clever/setup.py
+++ b/builder/assets/clever/setup.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 from distutils.core import setup

--- a/builder/assets/clover.service
+++ b/builder/assets/clover.service
@@ -5,12 +5,8 @@ Requires=roscore.service
 [Service]
 User=pi
 ExecStart=/bin/bash -c ". /home/pi/catkin_ws/devel/setup.sh; \
-                      ROS_HOSTNAME=`hostname`.local ROS_OS_OVERRIDE=debian:bookworm exec stdbuf -o L roslaunch clover clover.launch --wait --screen --skip-log-check \
+                      ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clover clover.launch --wait --screen --skip-log-check \
                      2> >(tee /tmp/clover.err)"

-ExecStartPre=+rm /var/log/clover.log
-StandardOutput=file:/var/log/clover.log
-StandardError=file:/var/log/clover.log
-
 [Install]
 WantedBy=multi-user.target
--- a/builder/assets/examples/flight.py
+++ b/builder/assets/examples/flight.py
@@ -15,17 +15,17 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)

-print('Take off and hover 1 m above the ground')
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Fly forward 1 m')
+# Fly forward 1 m
 navigate(x=1, y=0, z=0, frame_id='body')

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Perform landing')
+# Perform landing
 land()
--- a/builder/assets/examples/flight_marker.py
+++ b/builder/assets/examples/flight_marker.py
@@ -15,23 +15,23 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)

-print('Take off and hover 1 m above the ground')
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Fly 1 meter above ArUco marker 0')
+# Fly 1 meter above ArUco marker 0
 navigate(x=0, y=0, z=1, frame_id='aruco_0')

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Fly to x=1 y=1 z=1 relative to ArUco markers map')
+# Fly to x=1 y=1 z=1 relative to ArUco markers map
 navigate(x=1, y=1, z=1, frame_id='aruco_map')

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Perform landing')
+# Perform landing
 land()
--- a/builder/assets/examples/get_telemetry.py
+++ b/builder/assets/examples/get_telemetry.py
--- a/builder/assets/examples/leds.py
+++ b/builder/assets/examples/leds.py
--- a/builder/assets/examples/navigate_wait.py
+++ b/builder/assets/examples/navigate_wait.py
@@ -16,8 +16,11 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)

-def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)

    if not res.success:
        return res
@@ -28,11 +31,11 @@ def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', toler
            return res
        rospy.sleep(0.2)

-print('Take off 1 meter')
+# Take off 1 meter
 navigate_wait(z=1, frame_id='body', auto_arm=True)

-print('Fly forward 1 m')
+# Fly forward 1 m
 navigate_wait(x=1, frame_id='body')

-print('Land')
+# Land
 land()
--- a/builder/assets/hardware_setup.sh
+++ b/builder/assets/hardware_setup.sh
@@ -13,38 +13,70 @@
 # copies or substantial portions of the Software.
 #

-# https://www.raspberrypi.com/documentation/computers/configuration.html
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}

 ##################################################
 # Configure hardware interfaces
 ##################################################

-echo "--- Enable sshd"
-/usr/bin/raspi-config nonint do_ssh 0
+# 1. Enable sshd
+echo_stamp "#1 Turn on sshd"
+touch /boot/ssh
+# /usr/bin/raspi-config nonint do_ssh 0

-echo "--- GPIO enabled by default"
+# 2. Enable GPIO
+echo_stamp "#2 GPIO enabled by default"

-echo "--- Enable I2C"
+# 3. Enable I2C
+echo_stamp "#3 Turn on I2C"
 /usr/bin/raspi-config nonint do_i2c 0

-echo "--- Enable SPI"
+# 4. Enable SPI
+echo_stamp "#4 Turn on SPI"
 /usr/bin/raspi-config nonint do_spi 0

-echo  "--- Enable raspicam"
+# 5. Enable raspicam
+echo_stamp "#5 Turn on raspicam"
 /usr/bin/raspi-config nonint do_camera 0

-echo "--- Setup UART"
+# 6. Enable hardware UART
+echo_stamp "#6 Turn on UART"
 # Temporary solution
 # https://github.com/RPi-Distro/raspi-config/pull/75
-/usr/bin/raspi-config nonint do_serial_hw 0
-/usr/bin/raspi-config nonint do_serial_cons 1
-
-echo dtoverlay=pi3-disable-bt >> /boot/firmware/config.txt
+/usr/bin/raspi-config nonint do_serial 1
+/usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt
+echo dtoverlay=pi3-disable-bt >> /boot/config.txt
 systemctl disable hciuart.service

-echo "--- Enable v4l2 driver"
-# http://robocraft.ru/blog/electronics/3158.html
+# After adding to Raspbian OS
+# https://github.com/RPi-Distro/raspi-config/commit/d6d9ecc0d9cbe4aaa9744ae733b9cb239e79c116
+#/usr/bin/raspi-config nonint do_serial 2
+
+# 7. Enable V4L driver http://robocraft.ru/blog/electronics/3158.html
 #echo "bcm2835-v4l2" >> /etc/modules
+echo_stamp "#7 Turn on v4l2 driver"
 if ! grep -q "^bcm2835-v4l2" /etc/modules;
 then printf "bcm2835-v4l2\n" >> /etc/modules
 fi
+
+echo_stamp "#8 End of configure hardware interfaces"
--- a/builder/assets/init_rpi.sh
+++ b/builder/assets/init_rpi.sh
@@ -13,31 +13,63 @@
 # copies or substantial portions of the Software.
 #

-echo "--- Fix home directory permissions"
-chmod +rx /home/pi
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}

 NEW_SSID='clover-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
-echo "--- Creating Wi-Fi AP with SSID=${NEW_SSID}"
-nmcli con add type wifi ifname wlan0 mode ap con-name clover ssid $NEW_SSID autoconnect true \
-&& nmcli con modify clover 802-11-wireless.band bg \
-&& nmcli con modify clover ipv4.method shared ipv4.address 192.168.11.1/24 \
-&& nmcli con modify clover ipv6.method disabled \
-&& nmcli con modify clover wifi-sec.key-mgmt wpa-psk \
-&& nmcli con modify clover wifi-sec.psk "cloverwifi" \
-&& systemctl disable dnsmasq # disable dnsmasq to avoid conflicts with NetworkManager's dnsmasq
+echo_stamp "Setting SSID to ${NEW_SSID}"
+# TODO: Use wpa_cli insted direct file edit
+# FIXME: We rely on raspberrypi-net-mods to copy our file to /etc/wpa_supplicant.
+# This is not very reliable, but seems to fix our rfkill problem.
+cat << EOF >> /boot/wpa_supplicant.conf
+ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
+update_config=1
+country=GB
+network={
+    ssid="${NEW_SSID}"
+    psk="cloverwifi"
+    mode=2
+    proto=WPA RSN
+    key_mgmt=WPA-PSK
+    pairwise=CCMP
+    group=CCMP
+    auth_alg=OPEN
+}
+EOF

 NEW_HOSTNAME=$(echo ${NEW_SSID} | tr '[:upper:]' '[:lower:]')
-echo "--- Setting hostname to $NEW_HOSTNAME"
-hostnamectl set-hostname $NEW_HOSTNAME \
-&& sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_HOSTNAME}' '${NEW_HOSTNAME}'.local/g' /etc/hosts
+echo_stamp "Setting hostname to $NEW_HOSTNAME"
+hostnamectl set-hostname $NEW_HOSTNAME
+sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_HOSTNAME}' '${NEW_HOSTNAME}'.local/g' /etc/hosts
 # .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces are down

-echo "--- Enable ROS services"
+echo_stamp "Enable ROS services"
 systemctl enable roscore
 systemctl enable clover

-echo "--- Harware setup"
+echo_stamp "Harware setup"
 /root/hardware_setup.sh

-echo "--- Remove init scripts"
+echo_stamp "Remove init scripts"
 rm /root/init_rpi.sh /root/hardware_setup.sh
+
+echo_stamp "End of initialization of the image"
--- a/builder/assets/install_gitbook.sh
+++ b/builder/assets/install_gitbook.sh
@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# GitBook CLI is deprecated, its installation is broken.
-# This script fixes it until we stop using GitBook.
-
-export NPM_CONFIG_UNSAFE_PERM=1
-
-npm install gitbook-cli -g
-gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
--- a/builder/assets/noetic-rosdep-clover.yaml
+++ b/builder/assets/noetic-rosdep-clover.yaml
--- a/builder/assets/roscore.service
+++ b/builder/assets/roscore.service
@@ -3,7 +3,7 @@ Description=Launcher for the ROS master, parameter server and rosout logging nod

 [Service]
 User=pi
-ExecStart=/bin/sh -c ". /opt/ros/noetic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
+ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
 Restart=on-failure
 RestartSec=3

--- a/builder/image-build-ros.sh
+++ b/builder/image-build-ros.sh
@@ -1,122 +0,0 @@
-#! /usr/bin/env bash
-
-#
-# Script for building ROS packages from scratch
-#
-# Copyright (C) 2022 Copter Express Technologies
-#
-# Author: Oleg Kalachev <okalachev@gmail.com>
-#
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
-
-set -ex # exit on error, echo commands
-
-# http://wiki.ros.org/Installation/Source
-
-export ROS_DISTRO=noetic
-. /etc/os-release # set $VERSION_CODENAME to Debian release code name
-export ROS_OS_OVERRIDE=debian:$VERSION_CODENAME
-export ROS_PYTHON_VERSION=3
-export CLOVER_DEPS="tf tf2 tf2_ros tf2_geometry_msgs geometry_msgs sensor_msgs visualization_msgs libgeographiclib-dev mavros mavros_extras cv_camera cv_bridge rosbridge_server web_video_server tf2_web_republisher libxml2 libxslt python3-lxml dynamic_reconfigure image_transport image_proc image_geometry python-pymavlink ros_pytest"
-export CLOVER_DEPS="$CLOVER_DEPS rostest python3-docopt image_publisher"
-
-echo "=== Building ROS from scratch"
-
-#echo "--- Adding sources"
-# echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
-# curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-
-#cp /etc/apt/trusted.gpg /etc/apt/trusted.gpg.d # https://askubuntu.com/a/1408456
-apt-get update
-apt-get install -y python3-distutils build-essential cmake git python3-pip python3-rosinstall-generator python3-vcstools python3-empy libpoco-dev
-
-# install vcstool using pip
-# curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py && python3 get-pip.py && rm get-pip.py
-pip3 install -U --break-system-packages vcstool rosdep rosinstall-generator catkin-pkg future
-
-# sudo rosdep init
-# rm /etc/ros/rosdep/sources.list.d/20-default.list
-rosdep init
-rosdep update --os=debian:bullseye
-
-# rm /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init
-# rosdep --os=debian:$VERSION_CODENAME update
-
-echo "--- Create Catkin workspace to build ROS package"
-mkdir ~/ros_catkin_ws
-cd ~/ros_catkin_ws
-
-echo "--- Download ROS sources"
-rosinstall_generator ros_base $CLOVER_DEPS --rosdistro $ROS_DISTRO --deps --tar > noetic.rosinstall
-mkdir ./src
-vcs import --input noetic.rosinstall ./src
-
-# https://answers.ros.org/question/343367/catkin-package-dependencies-issue-when-installing-ros-melodic-on-raspberry-pi-4/
-#sudo apt remove python-rospkg
-#sudo apt remove python-catkin-pkg
-##sudo apt --fix-broken install
-#sudo apt-get autoremove
-
-#echo "--- Install catkin_pkg"
-#cd
-#git clone https://github.com/ros-infrastructure/catkin_pkg.git
-#cd catkin_pkg
-#python3 setup.py install
-#cd ~/ros_catkin_ws
-
-echo "--- Resolve dependencies"
-rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro $ROS_DISTRO -y --os=debian:bullseye --skip-keys="python3-catkin-pkg-modules libboost-thread python3-rosdep-modules" || true
-
-echo "--- Install missing dependencies"
-apt-get install -y liborocos-kdl1.5 geographiclib-tools libgeographiclib-dev
-
-echo "-- Install geographiclib datasets"
-wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
-chmod +x install_geographiclib_datasets.sh
-./install_geographiclib_datasets.sh
-
-echo "--- Apply patches"
-wget https://github.com/ros/rosconsole/pull/58.patch
-patch -p1 -d src/rosconsole < 58.patch
-
-wget https://github.com/ros/ros_comm/pull/2353.patch
-patch -p2 -d src/ros_comm < 2353.patch
-
-wget https://github.com/AJahueyM/web_video_server/commit/5b722eb0822bcc3fe45fefe7b393b87bfe004417.patch
-patch -p1 -d src/web_video_server < 5b722eb0822bcc3fe45fefe7b393b87bfe004417.patch
-
-echo "--- Build ROS"
-# https://github.com/ros/catkin/issues/863#issuecomment-290392074
-./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
-#	-DSETUPTOOLS_DEB_LAYOUT=OFF \
-#	--install-space=/opt/ros/$ROS_DISTRO
-
-# source ~/ros_catkin_ws/install_isolated/setup.bash
-#source /opt/ros/$ROS_DISTRO/setup.bash
-#
-#echo "--- List built ROS packages"
-#set +x
-#rospack list-names | while read line; do echo $line `rosversion $line`; done
-#set -x
-#
-#echo "--- Build Debian packages"
-#apt-get install -y python3-bloom debhelper dpkg-dev libtinyxml-dev
-#
-## add rosdep file to help bloom-generate resolve missing bookworm dependencies
-#echo "yaml file:///etc/ros/rosdep/noetic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
-#rosdep update
-#
-#pip3 install setuptools==45.2.0 # https://github.com/ros/catkin/issues/863#issuecomment-1000446018
-#
-#for file in `find . -name "package.xml" -not -path "*/debian/*"`; do
-#	cd $(dirname ${file})
-#	rm -rf debian
-#	bloom-generate rosdebian --os-name debian --os-version $VERSION_CODENAME --ros-distro $ROS_DISTRO --debug
-#	debian/rules binary # fakeroot is not needed as we are root
-#	cd -
-#done
-
-ls
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -13,22 +13,41 @@
 # copies or substantial portions of the Software.
 #

-set -ex # exit on error, echo commands
+set -e # Exit immidiately on non-zero result

-# https://www.raspberrypi.org/software/operating-systems/#raspberry-pi-os-32-bit
-SOURCE_IMAGE="https://downloads.raspberrypi.com/raspios_lite_armhf/images/raspios_lite_armhf-2024-03-15/2024-03-15-raspios-bookworm-armhf-lite.img.xz"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-01-12/2021-01-11-raspios-buster-armhf-lite.zip"

 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
 export LC_ALL=${LC_ALL:='C.UTF-8'}

+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
 BUILDER_DIR="/builder"
 REPO_DIR="${BUILDER_DIR}/repo"
 SCRIPTS_DIR="${REPO_DIR}/builder"
 IMAGES_DIR="${REPO_DIR}/images"

-[[ ! -d ${SCRIPTS_DIR} ]] && (echo "Error: directory ${SCRIPTS_DIR} doesn't exist"; exit 1)
-[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo "Directory ${IMAGES_DIR} was created successful"
+[[ ! -d ${SCRIPTS_DIR} ]] && (echo_stamp "Directory ${SCRIPTS_DIR} doesn't exist" "ERROR"; exit 1)
+[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo_stamp "Directory ${IMAGES_DIR} was created successful" "SUCCESS"

 if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="$(cd ${REPO_DIR}; git log --format=%h -1)"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
 # IMAGE_VERSION="${TRAVIS_TAG:=$(cd ${REPO_DIR}; git log --format=%h -1)}"
@@ -44,17 +63,15 @@ get_image() {
  local RPI_IMAGE_NAME=$(echo ${RPI_ZIP_NAME} | sed 's/zip/img/')

  if [ ! -e "${BUILD_DIR}/${RPI_ZIP_NAME}" ]; then
-    echo "--- Downloading original Linux distribution"
+    echo_stamp "Downloading original Linux distribution"
    wget --progress=dot:giga -O ${BUILD_DIR}/${RPI_ZIP_NAME} $2
-    echo "--- Downloading complete" "SUCCESS"
-  else
-    echo "Linux distribution already downloaded"
-  fi
+    echo_stamp "Downloading complete" "SUCCESS" \
+  else echo_stamp "Linux distribution already donwloaded"; fi

-  echo "--- Unzipping Linux distribution image"
-  apt-get update --allow-releaseinfo-change
-  apt-get install -y xz-utils
-  unxz --stdout ${BUILD_DIR}/${RPI_ZIP_NAME} > $1
+  echo_stamp "Unzipping Linux distribution image" \
+  && unzip -p ${BUILD_DIR}/${RPI_ZIP_NAME} ${RPI_IMAGE_NAME} > $1 \
+  && echo_stamp "Unzipping complete" "SUCCESS" \
+  || (echo_stamp "Unzipping was failed!" "ERROR"; exit 1)
 }

 get_image ${IMAGE_PATH} ${SOURCE_IMAGE}
@@ -87,6 +104,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
+# examples
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -95,14 +114,17 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
 # Clover
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.service' '/lib/systemd/system/'
+${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/melodic-rosdep-clover.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/launch.nanorc' '/usr/share/nano/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
+# Add PX4 udev rules
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clover/config/99-px4fmu.rules' '/lib/udev/rules.d/'
 # Add rename script
 ${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-build-ros.sh'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'

 ${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}
--- a/builder/image-init.sh
+++ b/builder/image-init.sh
@@ -12,33 +12,50 @@
 # copies or substantial portions of the Software.
 #

-set -ex # exit on error, echo commands
+set -e # Exit immidiately on non-zero result

-echo "--- Move /etc/ld.so.preload out of the way"
-mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO

-echo "--- Create pi user"
-echo 'pi:$6$c70VpvPsVNCG0YR5$l5vWWLsLko9Kj65gcQ8qvMkuOoRkEagI90qi3F/Y7rm8eNYZHW8CY6BOIKwMH7a3YYzZYL90zf304cAHLFaZE0' > /boot/userconf.txt
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+echo_stamp "Write Clover information"

-echo "--- Write Clover information"
 # Clover image version
 echo "$1" >> /etc/clover_version
 # Origin image file name
 echo "${2%.*}" >> /etc/clover_origin

-echo "--- Write magic script to /etc/rc.local"
+echo_stamp "Write magic script to /etc/rc.local"
 MAGIC_SCRIPT="sudo /root/init_rpi.sh; sudo sed -i '/sudo \\\/root\\\/init_rpi.sh/d' /etc/rc.local && sudo reboot"
 sed -i "19a${MAGIC_SCRIPT}" /etc/rc.local
-# TODO: remake to oneshot systemd service

 # It needs for autosizer.sh & maybe that is correct
-echo "--- Change boot partition"
+echo_stamp "Change boot partition"
 sed -i 's/root=[^ ]*/root=\/dev\/mmcblk0p2/' /boot/cmdline.txt
-sed -i 's/.*  \/boot\/firmware  vfat    defaults          0       2$/\/dev\/mmcblk0p1  \/boot\/firmware  vfat  defaults          0       2/' /etc/fstab
+sed -i 's/.*  \/boot           vfat    defaults          0       2$/\/dev\/mmcblk0p1  \/boot           vfat    defaults          0       2/' /etc/fstab
 sed -i 's/.*  \/               ext4    defaults,noatime  0       1$/\/dev\/mmcblk0p2  \/               ext4    defaults,noatime  0       1/' /etc/fstab
-cat /boot/cmdline.txt
-cat /etc/fstab

-echo "--- Set max space for syslogs"
+echo_stamp "Set max space for syslogs"
 # https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
 sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
+
+echo_stamp "Move /etc/ld.so.preload out of the way"
+mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
+
+echo_stamp "End of init image"
--- a/builder/image-network.sh
+++ b/builder/image-network.sh
@@ -12,20 +12,43 @@
 # copies or substantial portions of the Software.
 #

-set -ex # exit on error, echo commands
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+echo_stamp "#1 Write STATIC to /etc/dhcpcd.conf"

-echo "--- Write static to /etc/dhcpcd.conf"
 cat << EOF >> /etc/dhcpcd.conf
 interface wlan0
 static ip_address=192.168.11.1/24
 EOF

-echo "--- Set wpa_supplicant country"
+echo_stamp "#2 Set wpa_supplicant country"
+
 cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
 country=GB
 EOF

-echo "--- Write dhcp-config to /etc/dnsmasq.conf"
+echo_stamp "#3 Write dhcp-config to /etc/dnsmasq.conf"
+
 cat << EOF >> /etc/dnsmasq.conf
 interface=wlan0
 address=/clover/coex/192.168.11.1
@@ -36,3 +59,5 @@ bogus-priv
 domain-needed
 quiet-dhcp6
 EOF
+
+echo_stamp "#4 End of network installation"
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -13,22 +13,43 @@
 # copies or substantial portions of the Software.
 #

-set -ex # exit on error, echo commands
+set -e # Exit immidiately on non-zero result

-# Current ROS distribution
-ROS_DISTRO=noetic
-. /etc/os-release # set $VERSION_CODENAME to Debian release code name
-export ROS_OS_OVERRIDE=debian:$VERSION_CODENAME
+REPO=$1
+REF=$2
+INSTALL_ROS_PACK_SOURCES=$3
+DISCOVER_ROS_PACK=$4
+NUMBER_THREADS=$5
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}

 # https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
 # https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
 my_travis_retry() {
  local result=0
  local count=1
-  local max_count=5
+  local max_count=50
  while [ $count -le $max_count ]; do
    [ $result -ne 0 ] && {
-      echo -e "\nThe command \"$*\" failed. Retrying, $count of $max_count.\n" >&2
+      echo -e "\nThe command \"$@\" failed. Retrying, $count of $max_count.\n" >&2
    }
    # ! { } ignores set -e, see https://stackoverflow.com/a/4073372
    ! { "$@"; result=$?; }
@@ -38,136 +59,98 @@ my_travis_retry() {
  done

  [ $count -gt $max_count ] && {
-    echo -e "\nThe command \"$*\" failed $max_count times.\n" >&2
+    echo -e "\nThe command \"$@\" failed $max_count times.\n" >&2
  }

  return $result
 }

-echo "--- Install rosdep"
-my_travis_retry pip3 install -U rosdep
-
 # TODO: 'kinetic-rosdep-clover.yaml' should add only if we use our repo?
-echo "--- Init rosdep"
+echo_stamp "Init rosdep"
 my_travis_retry rosdep init
-
-echo "--- Update rosdep"
-echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/10-clover.list
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
 my_travis_retry rosdep update

-echo "--- Populate rosdep for ROS user"
-my_travis_retry sudo -u pi ROS_OS_OVERRIDE=debian:$VERSION_CODENAME rosdep update
+echo_stamp "Populate rosdep for ROS user"
+my_travis_retry sudo -u pi rosdep update

-# echo "Reconfiguring Clover repository for simplier unshallowing"
-cd /home/pi/catkin_ws/src/clover
-git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
+export ROS_IP='127.0.0.1' # needed for running tests

-# This is sort of a hack to force "custom" packages to be installed - the ones built by COEX, linked against OpenCV 4.2
-# I **wish** OpenCV would not be such a mess, but, well, here we are.
-# echo "--- Installing OpenCV 4.2-compatible ROS packages"
-# apt install -y --no-install-recommends \
-# ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
-# ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
-# ros-${ROS_DISTRO}-cv-camera=0.5.1-0buster \
-# ros-${ROS_DISTRO}-image-publisher=1.15.3-0buster \
-# ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
-# apt-mark hold \
-# ros-${ROS_DISTRO}-compressed-image-transport \
-# ros-${ROS_DISTRO}-cv-bridge \
-# ros-${ROS_DISTRO}-cv-camera \
-# ros-${ROS_DISTRO}-image-publisher \
-# ros-${ROS_DISTRO}-web-video-server
+# echo_stamp "Reconfiguring Clover repository for simplier unshallowing" # TODO: bring back
+# cd /home/pi/catkin_ws/src/clover
+# git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
+echo_stamp "Remove .git from Clover to reduce the size"
+rm -rf /home/pi/catkin_ws/src/clover/.git # TODO: remove

-#echo "--- Installing libboost-dev" # https://travis-ci.org/github/CopterExpress/clover/jobs/766318908#L6536
-#my_travis_retry apt-get install -y --no-install-recommends libboost-dev libboost-all-dev
-
-echo "--- Build and install Clover"
+echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
 # Don't try to install gazebo_ros
-my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=debian:$VERSION_CODENAME \
-  --skip-keys="gazebo_ros gazebo_plugins"
-my_travis_retry pip3 install wheel
-my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
-source /opt/ros/${ROS_DISTRO}/setup.bash
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
-source devel/setup.bash
+my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro melodic --os=debian:buster \
+  --skip-keys=gazebo_ros --skip-keys=gazebo_plugins
+my_travis_retry pip install wheel
+my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
+source /opt/ros/melodic/setup.bash
+# Don't build simulation plugins for actual drone
+catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins

-echo "--- Install clever package (for backwards compatibility)"
+echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
 ./setup.py install
 rm -rf build  # remove build artifacts

-echo "--- Build Clover documentation"
+echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
-builder/assets/install_gitbook.sh
-gitbook install
+NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
+NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
+NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
-# replace assets copy to assets symlink to save space
-rm -rf _book/assets && ln -s ../docs/assets _book/assets
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
-npm cache clean --force

-echo "--- Installing additional ROS packages"
+echo_stamp "Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-rosbridge-suite \
-    ros-${ROS_DISTRO}-rosserial \
-    ros-${ROS_DISTRO}-usb-cam \
-    ros-${ROS_DISTRO}-vl53l1x \
-    ros-${ROS_DISTRO}-ws281x \
-    ros-${ROS_DISTRO}-libcamera-ros \
-    ros-${ROS_DISTRO}-rosshow \
-    ros-${ROS_DISTRO}-cmake-modules \
-    ros-${ROS_DISTRO}-image-view \
-    ros-${ROS_DISTRO}-nodelet-topic-tools \
-    ros-${ROS_DISTRO}-stereo-msgs \
-    ros-${ROS_DISTRO}-vision-msgs
+    ros-melodic-dynamic-reconfigure \
+    ros-melodic-compressed-image-transport \
+    ros-melodic-rosbridge-suite \
+    ros-melodic-rosserial \
+    ros-melodic-usb-cam \
+    ros-melodic-vl53l1x \
+    ros-melodic-ws281x \
+    ros-melodic-rosshow

 # TODO move GeographicLib datasets to Mavros debian package
-echo "--- Install GeographicLib datasets (needed 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 "--- Running tests"
-export ROS_IP='127.0.0.1' # needed for running tests
+# FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
+# (note that Python 3 will still have a more recent version)
+pip install tornado==4.2.1
+
+echo_stamp "Running tests"
 cd /home/pi/catkin_ws
 # FIXME: Investigate failing tests
 catkin_make run_tests #&& catkin_test_results

-echo "--- Change permissions for catkin_ws"
+echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws

-echo "--- Update www"
-sudo -u pi sh -c ". devel/setup.sh && rosrun clover www"
-
-echo "--- Make \$HOME/examples symlink"
-ln -s "$(catkin_find clover examples --first-only)" /home/pi
+echo_stamp "Change permissions for examples"
 chown -Rf pi:pi /home/pi/examples

-echo "--- Make systemd services symlinks"
-ln -s /home/pi/catkin_ws/src/clover/builder/assets/clover.service /lib/systemd/system/
-ln -s /home/pi/catkin_ws/src/clover/builder/assets/roscore.service /lib/systemd/system/
-# validate
-[ -f /lib/systemd/system/clover.service ]
-[ -f /lib/systemd/system/roscore.service ]
-
-echo "--- Make udev rules symlink"
-ln -s "$(catkin_find clover udev --first-only)"/* /lib/udev/rules.d/
-
-echo "--- Setup ROS environment"
+echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
 export ROS_HOSTNAME=\`hostname\`.local
-export ROS_OS_OVERRIDE=debian:bookworm
-source /opt/ros/${ROS_DISTRO}/setup.bash
+source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 EOF

-echo "--- Cleanup apt"
-apt-get autoremove --purge -y
-apt-get clean
+#echo_stamp "Removing local apt mirror"
+# Restore original sources.list
+#mv /var/sources.list.bak /etc/apt/sources.list
+# Clean apt cache
+apt-get clean -qq > /dev/null
+# Remove local mirror repository key
+#apt-key del COEX-MIRROR

-echo "--- Cleanup pip"
-pip3 cache purge
-
-echo "--- Cleanup /tmp"
-rm -rf /tmp/*
+echo_stamp "END of ROS INSTALLATION"
--- a/builder/image-software.sh
+++ b/builder/image-software.sh
@@ -12,9 +12,27 @@
 # copies or substantial portions of the Software.
 #

-set -ex # exit on error, echo commands
+set -e # Exit immidiately on non-zero result

-. /etc/os-release # set $VERSION_CODENAME to Debian release code name
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m${TEXT}\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}

 # https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
 # https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
@@ -23,7 +41,7 @@ my_travis_retry() {
  local count=1
  while [ $count -le 3 ]; do
    [ $result -ne 0 ] && {
-      echo -e "\n${ANSI_RED}The command \"$*\" failed. Retrying, $count of 3.${ANSI_RESET}\n" >&2
+      echo -e "\n${ANSI_RED}The command \"$@\" failed. Retrying, $count of 3.${ANSI_RESET}\n" >&2
    }
    # ! { } ignores set -e, see https://stackoverflow.com/a/4073372
    ! { "$@"; result=$?; }
@@ -33,39 +51,42 @@ my_travis_retry() {
  done

  [ $count -gt 3 ] && {
-    echo -e "\n${ANSI_RED}The command \"$*\" failed 3 times.${ANSI_RESET}\n" >&2
+    echo -e "\n${ANSI_RED}The command \"$@\" failed 3 times.${ANSI_RESET}\n" >&2
  }

  return $result
 }

-echo "--- Increase apt retries"
+echo_stamp "Increase apt retries"
+
 echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries

-echo "--- Install apt keys & repos"
+echo_stamp "Install apt keys & repos"

 # TODO: This STDOUT consist 'OK'
+curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 apt-get update \
 && apt-get install --no-install-recommends -y dirmngr > /dev/null \
 && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

-# echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
+echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
+echo "deb http://deb.coex.tech/opencv3 buster main" > /etc/apt/sources.list.d/opencv3.list
+echo "deb http://deb.coex.tech/rpi-ros-melodic buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list

-wget -O - 'http://packages.coex.tech/key.asc' | apt-key add -
-echo "deb http://packages.coex.tech $VERSION_CODENAME main" >> /etc/apt/sources.list
-
-echo "--- Update apt cache"
+echo_stamp "Update apt cache"

 # TODO: FIX ERROR: /usr/bin/apt-key: 596: /usr/bin/apt-key: cannot create /dev/null: Permission denied
 apt-get update
 # && apt upgrade -y

 # Let's retry fetching those packages several times, just in case
-echo "--- Install software"
-my_travis_retry apt-get install --no-install-recommends -y cmake-data cmake
+echo_stamp "Software installing"
+my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1 # FIXME: using older CMake due to https://travis-ci.org/github/CopterExpress/clover/jobs/764367665#L6984
 my_travis_retry apt-get install --no-install-recommends -y \
 unzip \
 zip \
+ipython \
 ipython3 \
 screen \
 byobu  \
@@ -76,57 +97,62 @@ dnsmasq  \
 tmux \
 tree \
 vim \
+libjpeg8 \
 tcpdump \
+ltrace \
 libpoco-dev \
 libzbar0 \
-python3-rosinstall-generator \
-python3-wstool \
-python3-rosinstall \
+python-rosdep \
+python-rosinstall-generator \
+python-wstool \
+python-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
-pigpio python3-pigpio \
+pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python3-espeak \
 ntpdate \
-mjpg-streamer \
-xxd \
+python-dev \
 python3-dev \
-python3-systemd \
-python3-opencv \
-python3-pip
-#libjpeg8 \
+python-systemd \
+mjpg-streamer \
+python3-opencv

 # Deny byobu to check available updates
 sed -i "s/updates_available//" /usr/share/byobu/status/status
 # sed -i "s/updates_available//" /home/pi/.byobu/status

-echo "--- Make sure pip is installed"
+echo_stamp "Installing pip"
+curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
+curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip2.py
+python3 get-pip.py
+python get-pip2.py
+rm get-pip.py get-pip2.py
+#my_travis_retry pip install --upgrade pip
+#my_travis_retry pip3 install --upgrade pip
+
+echo_stamp "Make sure both pip and pip3 are installed"
 pip --version
 pip3 --version

-echo "--- Enable installing packages with pip"
-mv /usr/lib/python3.11/EXTERNALLY-MANAGED /usr/lib/python3.11/EXTERNALLY-MANAGED.old
-
-echo "--- Install and enable Butterfly (web terminal)"
+echo_stamp "Install and enable Butterfly (web terminal)"
+echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
 export CRYPTOGRAPHY_DONT_BUILD_RUST=1
-my_travis_retry pip3 install cryptography==3.4.6 # https://stackoverflow.com/a/68472128/6850197
-#my_travis_retry pip3 install pyOpenSSL==20.0.1
-#my_travis_retry pip3 install tornado==5.1.1
+my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
 systemctl enable butterfly.socket

-echo "--- Install ws281x library"
-my_travis_retry pip3 install --prefer-binary rpi_ws281x
+echo_stamp "Install ws281x library"
+my_travis_retry pip install --prefer-binary rpi_ws281x

-echo "--- Setup Monkey"
+echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
 sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
 systemctl enable monkey.service

-echo "--- Install Node.js"
+echo_stamp "Install Node.js"
 cd /home/pi
 wget --no-verbose https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
 tar -xzf node-v10.15.0-linux-armv6l.tar.gz
@@ -134,24 +160,28 @@ cp -R node-v10.15.0-linux-armv6l/* /usr/local/
 rm -rf node-v10.15.0-linux-armv6l/
 rm node-v10.15.0-linux-armv6l.tar.gz

-echo "--- Installing debugpy"
-my_travis_retry pip3 install debugpy
+echo_stamp "Installing ptvsd"
+my_travis_retry pip install ptvsd
+my_travis_retry pip3 install ptvsd

-echo "--- Installing pyzbar"
+echo_stamp "Installing pyzbar"
+my_travis_retry pip install pyzbar
 my_travis_retry pip3 install pyzbar

-echo "--- Add .vimrc"
+echo_stamp "Add .vimrc"
 cat << EOF > /home/pi/.vimrc
 set mouse-=a
 syntax on
 autocmd BufNewFile,BufRead *.launch set syntax=xml
 EOF

-echo "--- Change default keyboard layout to US"
+echo_stamp "Change default keyboard layout to US"
 sed -i 's/XKBLAYOUT="gb"/XKBLAYOUT="us"/g' /etc/default/keyboard

-echo "--- Attempting to kill dirmngr"
+echo_stamp "Attempting to kill dirmngr"
 gpgconf --kill dirmngr
 # dirmngr is only used by apt-key, so we can safely kill it.
 # We ignore pkill's exit value as well.
 pkill -9 -f dirmngr || true
+
+echo_stamp "End of software installation"
--- a/builder/image-validate.sh
+++ b/builder/image-validate.sh
@@ -12,33 +12,20 @@
 # copies or substantial portions of the Software.
 #

-set -ex # exit on error, echo commands
+set -ex

+echo "Run image tests"

-echo "--- Run image tests"
-
-export ROS_DISTRO='noetic'
+export ROS_DISTRO='melodic'
 export ROS_IP='127.0.0.1'
-source /opt/ros/${ROS_DISTRO}/setup.bash
+source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash

 cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.sh
 ./tests.py
-[[ $(./test_qr.py) == "Found QRCODE with data Проверка Unicode with center at x=66.0, y=66.0" ]] 
+./tests_py3.py
 [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility

-# check documented packages available
-apt-cache show gst-rtsp-launch
-apt-cache show openvpn
-
-echo "Largest packages installed"
-sudo -E sh -c 'apt-get install -y debian-goodies'
-dpigs -H -n 100
-
-echo "Cleanup apt"
-apt-get autoremove --purge -y
-apt-get clean
-
 echo "Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload
--- a/builder/standalone-install.sh
+++ b/builder/standalone-install.sh
@@ -6,40 +6,21 @@ set -e
 apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 # https://github.com/osrf/docker_images/issues/535
 apt-get update
 apt-get install -y curl
-if [ "x${ROS_PYTHON_VERSION}" = "x3" ]; then
-  PYTHON=python3
-  curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-else
-  PYTHON=python
-  curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
-fi
-${PYTHON} ./get-pip.py
+curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
+python ./get-pip.py

 # Step 1.5: Add deb.coex.tech to apt
 curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 echo "deb http://deb.coex.tech/ros xenial main" > /etc/apt/sources.list.d/coex.tech.list
 echo "yaml file:///etc/ros/rosdep/coex.yaml" > /etc/ros/rosdep/sources.list.d/99-coex.list
-CODENAME=$(lsb_release -sc)
-
 cat <<EOF > /etc/ros/rosdep/coex.yaml
 led_msgs:
  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-led-msgs]
-async_web_server_cpp:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-async-web-server-cpp]
-ros_pytest:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-ros-pytest]
-tf2_web_republisher:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-tf2-web-republisher]
-web_video_server:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-web-video-server]
-ws281x:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-ws281x]
+    xenial: ros-kinetic-led-msgs
+    bionic: ros-melodic-led-msgs
+  debian:
+    stretch: ros-kinetic-led-msgs
+    buster: ros-melodic-led-msgs
 EOF
 apt-get update
 rosdep update
@@ -57,7 +38,7 @@ cd /root/catkin_ws
 catkin_make

 # Step 4: Run tests
-${PYTHON} -m pip install --upgrade pytest
+pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
--- a/builder/test/qr.png
+++ b/builder/test/qr.png
--- a/builder/test/test_qr.py
+++ b/builder/test/test_qr.py
@@ -1,42 +0,0 @@
-#!/usr/bin/env python3
-
-# Test QG recognition example
-# Should be synced with the documentation: /docs/en/camera.md, /docs/ru/camera.md
-# TODO: use real ROS topics
-
-import rospy
-from pyzbar import pyzbar
-from cv_bridge import CvBridge
-from sensor_msgs.msg import Image
-
-bridge = CvBridge()
-
-# rospy.init_node('barcode_test')
-
-# Image subscriber callback function
-def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
-    barcodes = pyzbar.decode(cv_image)
-    for barcode in barcodes:
-        b_data = barcode.data.decode("utf-8")
-        b_type = barcode.type
-        (x, y, w, h) = barcode.rect
-        xc = x + w/2
-        yc = y + h/2
-        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
-    # rospy.signal_shutdown('done')
-
-# image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-
-# ==============================================================================
-# Publish test image
-# rospy.sleep(2)
-
-import cv2
-img = cv2.imread('qr.png')
-image_callback(bridge.cv2_to_imgmsg(img, 'bgr8'))
-
-# image_pub = rospy.Publisher('/main_camera/image_raw', Image, queue_size=1, latch=True)
-# image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
-
-# rospy.spin()
--- a/builder/test/tests.py
+++ b/builder/test/tests.py
@@ -1,35 +1,21 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 # validate all required modules installed

-import os
 import rospy
 from geometry_msgs.msg import PoseStamped
-from sensor_msgs.msg import Range, BatteryState

 import cv2
 import cv2.aruco
-from sensor_msgs.msg import Image
-from cv_bridge import CvBridge

 import numpy
 import mavros
-from mavros_msgs.msg import State, StatusText, ExtendedState, RCIn, Mavlink
+from mavros_msgs.msg import State, StatusText, ExtendedState
 from mavros_msgs.srv import CommandBool, CommandLong, SetMode

 from std_srvs.srv import Trigger
 from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
    SetAttitude, SetRates, SetLEDEffect
-from led_msgs.srv import SetLEDs
-from led_msgs.msg import LEDStateArray, LEDState
-from aruco_pose.msg import Marker, MarkerArray, Point2D
-from vision_msgs.msg import BoundingBox2D, BoundingBox2DArray, BoundingBox3D, BoundingBox3DArray, \
-    Classification2D, Classification3D, Detection2D, Detection2DArray, Detection3D, Detection3DArray, \
-    ObjectHypothesis, ObjectHypothesisWithPose, VisionInfo
-
-from clover import long_callback
-
-import dynamic_reconfigure.client

 import tf2_ros
 import tf2_geometry_msgs
@@ -37,15 +23,9 @@ import tf2_geometry_msgs
 import VL53L1X
 import pymavlink
 from pymavlink import mavutil
-from image_geometry import PinholeCameraModel, StereoCameraModel
+import rpi_ws281x
+import pigpio
 # from espeak import espeak
 from pyzbar import pyzbar
-import docopt
-import geopy
-import flask

-print(cv2.getBuildInformation())
-
-if not os.environ.get('VM'):
-    import rpi_ws281x
-    import pigpio
+print cv2.getBuildInformation()
--- a/builder/test/tests.sh
+++ b/builder/test/tests.sh
@@ -1,14 +1,21 @@
 #!/usr/bin/env bash

-set -ex # exit on error, echo commands
+set -ex

 # TODO: validate versions

 # validate required software is installed

+python --version
+python2 --version
 python3 --version
+ipython --version
 ipython3 --version

+# ptvsd does not have a stand-alone binary
+python -m ptvsd --version
+python3 -m ptvsd --version
+
 node -v
 npm -v

@@ -18,75 +25,35 @@ lsof -v
 git --version
 vim --version
 pip --version
+pip2 --version
 pip3 --version
 tcpdump --version
 monkey --version
-espeak --version
-xxd --version
-systemctl --version
-
-if [ -z $VM ]; then
-	# rpi only software
-	python --version
-	[[ $(python -c 'import sys;print(sys.version_info.major)') == "3" ]]
-
-	python -m debugpy --version
-	python3 -m debugpy --version
-
-	pigpiod -v
-	i2cdetect -V
-	/usr/local/bin/butterfly.server.py --help
-	mjpg_streamer --version
-fi
+pigpiod -v
+i2cdetect -V
+butterfly -h
+# espeak --version
+mjpg_streamer --version

 # ros stuff

 roscore -h
-catkin_find
 rosversion clover
 rosversion aruco_pose
+rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
 rosversion ws281x
 rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
-rosversion rosbridge_server
+rosversion compressed_image_transport
+rosversion rosbridge_suite
+rosversion rosserial
 rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
-rosversion nodelet
-rosversion image_view
-
-[[ $(rosversion ws281x) == "0.0.15" ]]
-
-if [ -z $VM ]; then
-	# rosversion compressed_image_transport
-	rosversion rosshow
-	rosversion vl53l1x
-	rosversion rosserial
-	[[ $(rosversion cv_camera) == "0.6.1" ]] # patched version with init fix
-fi
-
-# determine user home directory
-[ $VM ] && H="/home/clover" || H="/home/pi"
-
-# test basic ros tool work
-source $H/catkin_ws/devel/setup.bash
-roscd
-rosrun
-rosmsg
-rossrv
-rosnode || [ $? -eq 64 ] # usage output code is 64
-rostopic || [ $? -eq 64 ]
-rosservice || [ $? -eq 64 ]
-rosparam
-roslaunch -h
+rosversion rosshow

 # validate examples are present
-[[ $(ls $H/examples/*) ]]
-
-# validate web tools present
-[ -d $H/.ros/www ]
-[ "$(readlink $H/.ros/www/clover)" = "$H/catkin_ws/src/clover/clover/www" ]
-[ "$(readlink $H/.ros/www/clover_blocks)" = "$H/catkin_ws/src/clover/clover_blocks/www" ]
+[[ $(ls /home/pi/examples/*) ]]
--- a/builder/test/tests_clever.py
+++ b/builder/test/tests_clever.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 # test backwards compatibility

--- a/builder/test/tests_py3.py
+++ b/builder/test/tests_py3.py
@@ -0,0 +1,8 @@
+#!/usr/bin/env python3
+
+# Make sure our Python 3 software is installed
+
+import cv2
+from pyzbar import pyzbar
+
+print(cv2.getBuildInformation())
--- a/check_assets_size.py
+++ b/check_assets_size.py
@@ -18,7 +18,7 @@ EXCLUDE = 'rviz.png', 'ssid.png', 'sitl_docker_demo.png', 'qgc-params.png', 'but
    'qgc-battery.png', 'qgc-radio.png', 'qgc-cal-acc.png', 'qgc-esc.png', 'qgc-cal-compass.png', \
    'qgc.png', 'qgc-parameters.png', 'clever4-front-white-large.png', 'qgc-modes.png', \
    'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png', 'battery_holder.stl', \
-    'camera_case.stl', 'camera_mount.stl', 'grip_right.stl', 'grip_left.stl'
+    'camera_case.stl', 'camera_mount.stl'

 code = 0

--- a/check_unused_assets.py
+++ b/check_unused_assets.py
@@ -5,7 +5,7 @@ import sys
 import subprocess

 EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
-    'clever4-front-black-large.png','clover42-black.png', 'clover42-main-margin.png')
+    'clever4-front-black-large.png','clover42-black.png')

 code = 0

--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8.3)
 project(clover)

 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -17,7 +17,6 @@ find_package(catkin REQUIRED COMPONENTS
  message_generation
  geometry_msgs
  sensor_msgs
-  led_msgs
  geographic_msgs
  tf
  tf2
@@ -25,24 +24,13 @@ find_package(catkin REQUIRED COMPONENTS
  tf2_ros
  image_transport
  cv_bridge
-  dynamic_reconfigure
 )

 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")

-# https://github.com/mavlink/mavros/blob/7f1a8/mavros/CMakeLists.txt#L42
-set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
 find_package(GeographicLib REQUIRED)

-# Workaround for OpenCV 3/4 support
-set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET COMPONENTS calib3d imgproc)
-if (NOT OpenCV_FOUND)
-  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
-  set(_opencv_version 3)
-endif()
-
-find_package(OpenCV ${_opencv_version} REQUIRED
+find_package(OpenCV 3 REQUIRED
  COMPONENTS
    calib3d
    imgproc
@@ -55,7 +43,7 @@ find_package(OpenCV ${_opencv_version} REQUIRED
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-catkin_python_setup()
+# catkin_python_setup()

 ################################################
 ## Declare ROS messages, services and actions ##
@@ -82,10 +70,11 @@ catkin_python_setup()
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

 ## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  State.msg
-)
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )

 ## Generate services in the 'srv' folder
 add_service_files(
@@ -93,9 +82,6 @@ add_service_files(
  GetTelemetry.srv
  Navigate.srv
  NavigateGlobal.srv
-  SetAltitude.srv
-  SetYaw.srv
-  SetYawRate.srv
  SetPosition.srv
  SetVelocity.srv
  SetAttitude.srv
@@ -132,9 +118,10 @@ generate_messages(
 ##     and list every .cfg file to be processed

 ## Generate dynamic reconfigure parameters in the 'cfg' folder
-generate_dynamic_reconfigure_options(
-  cfg/Flow.cfg
-)
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )

 ###################################
 ## catkin specific configuration ##
@@ -216,8 +203,6 @@ add_dependencies(clover_led ${PROJECT_NAME}_generate_messages_cpp)

 add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)

-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
-
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
@@ -248,12 +233,12 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )

-# Mark executables and/or libraries for installation
-install(TARGETS simple_offboard clover_rc camera_markers vpe_publisher clover_led shell clover
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )

 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -269,25 +254,13 @@ install(TARGETS simple_offboard clover_rc camera_markers vpe_publisher clover_le
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )

-catkin_install_python(PROGRAMS src/selfcheck.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY examples DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-# TODO: install www
-
 # 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
-    udev/99-px4fmu.rules
+    config/99-px4fmu.rules
    DESTINATION /lib/udev/rules.d
  )
 else()
@@ -310,5 +283,4 @@ endif()
 if (CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)
  add_rostest(test/basic.test)
-  add_rostest(test/offboard.test)
 endif()
--- a/clover/README.md
+++ b/clover/README.md
@@ -4,7 +4,7 @@ A bundle for autonomous navigation and drone control.

 ## Manual installation

-Install ROS Noetic according to the [documentation](http://wiki.ros.org/noetic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
+Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).

 Clone this repo to directory `~/catkin_ws/src/clover`:

@@ -36,7 +36,7 @@ curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/inst
 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/clover/clover/udev
+cd ~/catkin_ws/src/clover/clover/config
 sudo cp 99-px4fmu.rules /lib/udev/rules.d
 ```

--- a/clover/camera_info/fisheye_cam_1280x720.yaml
+++ b/clover/camera_info/fisheye_cam_1280x720.yaml
@@ -1,65 +0,0 @@
-# Generated from fisheye_cam.yaml by rescale_camera_info.py
-camera_matrix:
-  cols: 3
-  data:
-  - 415.5985593268293
-  - 0.0
-  - 400.0
-  - 0.0
-  - 312.35267324512984
-  - 225.0
-  - 0.0
-  - 0.0
-  - 1.0
-  rows: 3
-camera_name: main_camera_optical
-distortion_coefficients:
-  cols: 8
-  data:
-  - 0.215356885
-  - -0.117472846
-  - -0.000306197672
-  - -0.000109444025
-  - -0.00453657258
-  - 0.573090623
-  - -0.127574577
-  - -0.0286125589
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  rows: 1
-distortion_model: plumb_bob
-image_height: 720
-image_width: 1280
-projection_matrix:
-  cols: 4
-  data:
-  - 415.5985593268293
-  - 0.0
-  - 405.4752811707317
-  - 0.0
-  - 0.0
-  - 312.35267324512984
-  - 205.91677004464282
-  - 0.0
-  - 0.0
-  - 0.0
-  - 1.0
-  - 0.0
-  rows: 3
-rectification_matrix:
-  cols: 3
-  data:
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  rows: 3
--- a/clover/camera_info/fisheye_cam_1920x1080.yaml
+++ b/clover/camera_info/fisheye_cam_1920x1080.yaml
@@ -1,65 +0,0 @@
-# Generated from fisheye_cam.yaml by rescale_camera_info.py
-camera_matrix:
-  cols: 3
-  data:
-  - 1246.7956779804879
-  - 0.0
-  - 1200.0
-  - 0.0
-  - 702.7935148015422
-  - 506.25
-  - 0.0
-  - 0.0
-  - 1.0
-  rows: 3
-camera_name: main_camera_optical
-distortion_coefficients:
-  cols: 8
-  data:
-  - 0.215356885
-  - -0.117472846
-  - -0.000306197672
-  - -0.000109444025
-  - -0.00453657258
-  - 0.573090623
-  - -0.127574577
-  - -0.0286125589
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  rows: 1
-distortion_model: plumb_bob
-image_height: 1080
-image_width: 1920
-projection_matrix:
-  cols: 4
-  data:
-  - 1246.7956779804879
-  - 0.0
-  - 1216.4258435121951
-  - 0.0
-  - 0.0
-  - 702.7935148015422
-  - 463.31273260044634
-  - 0.0
-  - 0.0
-  - 0.0
-  - 1.0
-  - 0.0
-  rows: 3
-rectification_matrix:
-  cols: 3
-  data:
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  rows: 3
--- a/clover/camera_info/fisheye_cam_2592x1944.yaml
+++ b/clover/camera_info/fisheye_cam_2592x1944.yaml
@@ -1,65 +0,0 @@
-# Generated from fisheye_cam.yaml by rescale_camera_info.py
-camera_matrix:
-  cols: 3
-  data:
-  - 5049.522495820976
-  - 0.0
-  - 4860.0
-  - 0.0
-  - 2846.313734946246
-  - 2050.3125
-  - 0.0
-  - 0.0
-  - 1.0
-  rows: 3
-camera_name: main_camera_optical
-distortion_coefficients:
-  cols: 8
-  data:
-  - 0.215356885
-  - -0.117472846
-  - -0.000306197672
-  - -0.000109444025
-  - -0.00453657258
-  - 0.573090623
-  - -0.127574577
-  - -0.0286125589
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  rows: 1
-distortion_model: plumb_bob
-image_height: 1944
-image_width: 2592
-projection_matrix:
-  cols: 4
-  data:
-  - 5049.522495820976
-  - 0.0
-  - 4926.52466622439
-  - 0.0
-  - 0.0
-  - 2846.313734946246
-  - 1876.4165670318075
-  - 0.0
-  - 0.0
-  - 0.0
-  - 1.0
-  - 0.0
-  rows: 3
-rectification_matrix:
-  cols: 3
-  data:
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  rows: 3
--- a/clover/camera_info/fisheye_cam_320x240.yaml
+++ b/clover/camera_info/fisheye_cam_320x240.yaml
@@ -1,65 +0,0 @@
-# Generated from fisheye_cam.yaml by rescale_camera_info.py
-camera_matrix:
-  cols: 3
-  data:
-  - 166.23942373073172
-  - 0.0
-  - 160.0
-  - 0.0
-  - 166.5880923974026
-  - 120.0
-  - 0.0
-  - 0.0
-  - 1.0
-  rows: 3
-camera_name: main_camera_optical
-distortion_coefficients:
-  cols: 8
-  data:
-  - 0.215356885
-  - -0.117472846
-  - -0.000306197672
-  - -0.000109444025
-  - -0.00453657258
-  - 0.573090623
-  - -0.127574577
-  - -0.0286125589
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  rows: 1
-distortion_model: plumb_bob
-image_height: 240
-image_width: 320
-projection_matrix:
-  cols: 4
-  data:
-  - 166.23942373073172
-  - 0.0
-  - 162.19011246829268
-  - 0.0
-  - 0.0
-  - 166.5880923974026
-  - 109.82227735714285
-  - 0.0
-  - 0.0
-  - 0.0
-  - 1.0
-  - 0.0
-  rows: 3
-rectification_matrix:
-  cols: 3
-  data:
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  rows: 3
--- a/clover/camera_info/fisheye_cam_3840x2160.yaml
+++ b/clover/camera_info/fisheye_cam_3840x2160.yaml
@@ -1,65 +0,0 @@
-# Generated from fisheye_cam.yaml by rescale_camera_info.py
-camera_matrix:
-  cols: 3
-  data:
-  - 30297.13497492585
-  - 0.0
-  - 29160.0
-  - 0.0
-  - 12808.411807258106
-  - 9226.40625
-  - 0.0
-  - 0.0
-  - 1.0
-  rows: 3
-camera_name: main_camera_optical
-distortion_coefficients:
-  cols: 8
-  data:
-  - 0.215356885
-  - -0.117472846
-  - -0.000306197672
-  - -0.000109444025
-  - -0.00453657258
-  - 0.573090623
-  - -0.127574577
-  - -0.0286125589
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  rows: 1
-distortion_model: plumb_bob
-image_height: 2160
-image_width: 3840
-projection_matrix:
-  cols: 4
-  data:
-  - 30297.13497492585
-  - 0.0
-  - 29559.14799734634
-  - 0.0
-  - 0.0
-  - 12808.411807258106
-  - 8443.874551643134
-  - 0.0
-  - 0.0
-  - 0.0
-  - 1.0
-  - 0.0
-  rows: 3
-rectification_matrix:
-  cols: 3
-  data:
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  rows: 3
--- a/clover/camera_info/fisheye_cam_4056x3040.yaml
+++ b/clover/camera_info/fisheye_cam_4056x3040.yaml
@@ -1,65 +0,0 @@
-# Generated from fisheye_cam.yaml by rescale_camera_info.py
-camera_matrix:
-  cols: 3
-  data:
-  - 192008.0929035926
-  - 0.0
-  - 184801.5
-  - 0.0
-  - 81119.941445968
-  - 58433.90625
-  - 0.0
-  - 0.0
-  - 1.0
-  rows: 3
-camera_name: main_camera_optical
-distortion_coefficients:
-  cols: 8
-  data:
-  - 0.215356885
-  - -0.117472846
-  - -0.000306197672
-  - -0.000109444025
-  - -0.00453657258
-  - 0.573090623
-  - -0.127574577
-  - -0.0286125589
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  rows: 1
-distortion_model: plumb_bob
-image_height: 3040
-image_width: 4056
-projection_matrix:
-  cols: 4
-  data:
-  - 192008.0929035926
-  - 0.0
-  - 187331.10043318244
-  - 0.0
-  - 0.0
-  - 81119.941445968
-  - 53477.87216040651
-  - 0.0
-  - 0.0
-  - 0.0
-  - 1.0
-  - 0.0
-  rows: 3
-rectification_matrix:
-  cols: 3
-  data:
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  rows: 3
--- a/clover/camera_info/fisheye_cam_640x480.yaml
+++ b/clover/camera_info/fisheye_cam_640x480.yaml
@@ -1,65 +0,0 @@
-# Generated from fisheye_cam.yaml by rescale_camera_info.py
-camera_matrix:
-  cols: 3
-  data:
-  - 166.23942373073172
-  - 0.0
-  - 160.0
-  - 0.0
-  - 166.5880923974026
-  - 120.0
-  - 0.0
-  - 0.0
-  - 1.0
-  rows: 3
-camera_name: main_camera_optical
-distortion_coefficients:
-  cols: 8
-  data:
-  - 0.215356885
-  - -0.117472846
-  - -0.000306197672
-  - -0.000109444025
-  - -0.00453657258
-  - 0.573090623
-  - -0.127574577
-  - -0.0286125589
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  rows: 1
-distortion_model: plumb_bob
-image_height: 480
-image_width: 640
-projection_matrix:
-  cols: 4
-  data:
-  - 166.23942373073172
-  - 0.0
-  - 162.19011246829268
-  - 0.0
-  - 0.0
-  - 166.5880923974026
-  - 109.82227735714285
-  - 0.0
-  - 0.0
-  - 0.0
-  - 1.0
-  - 0.0
-  rows: 3
-rectification_matrix:
-  cols: 3
-  data:
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  rows: 3
--- a/clover/camera_info/fisheye_cam_800x600.yaml
+++ b/clover/camera_info/fisheye_cam_800x600.yaml
@@ -1,65 +0,0 @@
-# Generated from fisheye_cam.yaml by rescale_camera_info.py
-camera_matrix:
-  cols: 3
-  data:
-  - 207.79927966341464
-  - 0.0
-  - 200.0
-  - 0.0
-  - 208.23511549675322
-  - 150.0
-  - 0.0
-  - 0.0
-  - 1.0
-  rows: 3
-camera_name: main_camera_optical
-distortion_coefficients:
-  cols: 8
-  data:
-  - 0.215356885
-  - -0.117472846
-  - -0.000306197672
-  - -0.000109444025
-  - -0.00453657258
-  - 0.573090623
-  - -0.127574577
-  - -0.0286125589
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  rows: 1
-distortion_model: plumb_bob
-image_height: 600
-image_width: 800
-projection_matrix:
-  cols: 4
-  data:
-  - 207.79927966341464
-  - 0.0
-  - 202.73764058536585
-  - 0.0
-  - 0.0
-  - 208.23511549675322
-  - 137.27784669642855
-  - 0.0
-  - 0.0
-  - 0.0
-  - 1.0
-  - 0.0
-  rows: 3
-rectification_matrix:
-  cols: 3
-  data:
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  - 0
-  - 0
-  - 0
-  - 1
-  rows: 3
--- a/clover/cfg/Flow.cfg
+++ b/clover/cfg/Flow.cfg
@@ -1,10 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "clover"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-gen.add("enabled", bool_t, 0, "if optical flow enabled", True)
-
-exit(gen.generate(PACKAGE, "clover", "Flow"))
--- a/clover/cmake/FindGeographicLib.cmake
+++ b/clover/cmake/FindGeographicLib.cmake
@@ -0,0 +1,18 @@
+# taken from: https://github.com/mavlink/mavros/blob/master/libmavconn/cmake/Modules/FindGeographicLib.cmake
+
+# Look for GeographicLib
+#
+# Set
+#  GEOGRAPHICLIB_FOUND = TRUE
+#  GeographicLib_INCLUDE_DIRS = /usr/local/include
+#  GeographicLib_LIBRARIES = /usr/local/lib/libGeographic.so
+#  GeographicLib_LIBRARY_DIRS = /usr/local/lib
+
+find_path (GeographicLib_INCLUDE_DIRS NAMES GeographicLib/Config.h)
+
+find_library (GeographicLib_LIBRARIES NAMES Geographic)
+
+include (FindPackageHandleStandardArgs)
+find_package_handle_standard_args (GeographicLib DEFAULT_MSG
+  GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
+mark_as_advanced (GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
--- a/clover/config/99-px4fmu.rules
+++ b/clover/config/99-px4fmu.rules
@@ -0,0 +1,15 @@
+# PixHawk (px4fmu-v2), px4fmu-v3
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", ATTRS{product}=="PX4 FMU v2.x", SYMLINK+="px4fmu"
+# PixRacer (px4fmu-v4)
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU v4.x", SYMLINK+="px4fmu"
+# px4fmu-v5
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0032", ATTRS{product}=="PX4 FMU v5.x", SYMLINK+="px4fmu"
+# auav
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV x2.1", SYMLINK+="px4fmu"
+# crazyflie
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
+# px4fmu-v4pro
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
+# Omnibus
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
+
--- a/clover/examples/camera.py
+++ b/clover/examples/camera.py
@@ -1,64 +0,0 @@
-# Information: https://clover.coex.tech/camera
-
-# Example on basic working with the camera and image processing:
-
-# - cuts out a central square from the camera image;
-# - publishes this cropped image to the topic `/cv/center`;
-# - computes the average color of it;
-# - prints its name to the console.
-
-import rospy
-import cv2
-from sensor_msgs.msg import Image
-from cv_bridge import CvBridge
-from clover import long_callback
-
-rospy.init_node('cv')
-bridge = CvBridge()
-
-printed_color = None
-center_pub = rospy.Publisher('~center', Image, queue_size=1)
-
-def get_color_name(h):
-    if h < 15: return 'red'
-    elif h < 30: return 'orange'
-    elif h < 60: return 'yellow'
-    elif h < 90: return 'green'
-    elif h < 120: return 'cyan'
-    elif h < 150: return 'blue'
-    elif h < 170: return 'magenta'
-    else: return 'red'
-
-
-@long_callback
-def image_callback(msg):
-    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
-
-    # convert to HSV to work with color hue
-    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
-
-    # cut out a central square
-    w = img.shape[1]
-    h = img.shape[0]
-    r = 20
-    center = img_hsv[h // 2 - r:h // 2 + r, w // 2 - r:w // 2 + r]
-
-    # compute and print the average hue
-    mean_hue = center[:, :, 0].mean()
-    color = get_color_name(mean_hue)
-    global printed_color
-    if color != printed_color:
-        print(color)
-        printed_color = color
-
-    # publish the cropped image
-    center = cv2.cvtColor(center, cv2.COLOR_HSV2BGR)
-    center_pub.publish(bridge.cv2_to_imgmsg(center, 'bgr8'))
-
-# process every frame:
-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-
-# process 5 frames per second:
-# image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
-
-rospy.spin()
--- a/clover/examples/gps.py
+++ b/clover/examples/gps.py
@@ -1,47 +0,0 @@
-# Information: https://clover.coex.tech/en/simple_offboard.html#navigateglobal
-
-import rospy
-from clover import srv
-from std_srvs.srv import Trigger
-import math
-
-rospy.init_node('flight')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = rospy.ServiceProxy('navigate', srv.Navigate)
-navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
-set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
-set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
-set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
-land = rospy.ServiceProxy('land', Trigger)
-
-# https://clover.coex.tech/en/snippets.html#wait_arrival
-def wait_arrival(tolerance=0.2):
-    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
-        rospy.sleep(0.2)
-
-start = get_telemetry()
-
-if math.isnan(start.lat):
-    raise Exception('No global position, install and configure GPS sensor: https://clover.coex.tech/gps')
-
-print('Start point global position: lat={}, lon={}'.format(start.lat, start.lon))
-
-print('Take off 3 meters')
-navigate(x=0, y=0, z=3, frame_id='body', auto_arm=True)
-wait_arrival()
-
-print('Fly 1 arcsecond to the North (approx. 30 meters)')
-navigate_global(lat=start.lat+1.0/60/60, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
-wait_arrival()
-
-print('Fly to home position')
-navigate_global(lat=start.lat, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
-wait_arrival()
-
-print('Land')
-land()
--- a/clover/examples/red_circle.py
+++ b/clover/examples/red_circle.py
@@ -1,91 +0,0 @@
-# This example makes the drone find and follow the red circle.
-# To test in the simulator, place 'Red Circle' model on the floor.
-# More information: https://clover.coex.tech/red_circle
-
-# Input topic: main_camera/image_raw (camera image)
-# Output topics:
-#   cv/mask (red color mask)
-#   cv/red_circle (position of the center of the red circle in 3D space)
-
-import rospy
-import cv2
-import numpy as np
-from math import nan
-from sensor_msgs.msg import Image, CameraInfo
-from geometry_msgs.msg import PointStamped, Point
-from cv_bridge import CvBridge
-from clover import long_callback, srv
-import tf2_ros
-import tf2_geometry_msgs
-import image_geometry
-
-rospy.init_node('cv', disable_signals=True) # disable signals to allow interrupting with ctrl+c
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-
-bridge = CvBridge()
-
-tf_buffer = tf2_ros.Buffer()
-tf_listener = tf2_ros.TransformListener(tf_buffer)
-
-mask_pub = rospy.Publisher('~mask', Image, queue_size=1)
-point_pub = rospy.Publisher('~red_circle', PointStamped, queue_size=1)
-
-# read camera info
-camera_model = image_geometry.PinholeCameraModel()
-camera_model.fromCameraInfo(rospy.wait_for_message('main_camera/camera_info', CameraInfo))
-
-
-def img_xy_to_point(xy, dist):
-    xy_rect = camera_model.rectifyPoint(xy)
-    ray = camera_model.projectPixelTo3dRay(xy_rect)
-    return Point(x=ray[0] * dist, y=ray[1] * dist, z=dist)
-
-def get_center_of_mass(mask):
-    M = cv2.moments(mask)
-    if M['m00'] == 0:
-        return None
-    return M['m10'] // M['m00'], M['m01'] // M['m00']
-
-follow_red_circle = False
-
-@long_callback
-def image_callback(msg):
-    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
-    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
-
-    # we need to use two ranges for red color
-    mask1 = cv2.inRange(img_hsv, (0, 150, 150), (15, 255, 255))
-    mask2 = cv2.inRange(img_hsv, (160, 150, 150), (180, 255, 255))
-
-    # combine two masks using bitwise OR
-    mask = cv2.bitwise_or(mask1, mask2)
-
-    # publish the mask
-    if mask_pub.get_num_connections() > 0:
-        mask_pub.publish(bridge.cv2_to_imgmsg(mask, 'mono8'))
-
-    # calculate x and y of the circle
-    xy = get_center_of_mass(mask)
-    if xy is None:
-        return
-
-    # calculate and publish the position of the circle in 3D space
-    altitude = get_telemetry('terrain').z
-    xy3d = img_xy_to_point(xy, altitude)
-    target = PointStamped(header=msg.header, point=xy3d)
-    point_pub.publish(target)
-
-    if follow_red_circle:
-        # follow the target
-        setpoint = tf_buffer.transform(target, 'map', timeout=rospy.Duration(0.2))
-        set_position(x=setpoint.point.x, y=setpoint.point.y, z=nan, yaw=nan, frame_id=setpoint.header.frame_id)
-
-# process each camera frame:
-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-
-rospy.loginfo('Hit enter to follow the red circle')
-input()
-follow_red_circle = True
-rospy.spin()
--- a/clover/examples/subscriber.py
+++ b/clover/examples/subscriber.py
@@ -1,15 +0,0 @@
-# Information: https://clover.coex.tech/en/laser.html
-
-import rospy
-from sensor_msgs.msg import Range
-
-rospy.init_node('process_rangefinder')
-
-def range_callback(msg):
-    # Process data from the rangefinder
-    print('Rangefinder distance:', msg.range)
-
-# Subscribe to laser rangefinder data
-rospy.Subscriber('rangefinder/range', Range, range_callback)
-
-rospy.spin()
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -2,43 +2,30 @@
    <arg name="aruco_detect" default="true"/>
    <arg name="aruco_map" default="false"/>
    <arg name="aruco_vpe" default="false"/>
-    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
-    <arg name="length" default="0.22"/> <!-- not-in-map markers length, m -->
-    <arg name="map" default="map.txt"/> <!-- markers map file name -->

    <!-- For additional help go to https://clover.coex.tech/aruco -->

-    <arg name="force_init" default="false"/>
-    <arg name="disable" default="false"/> <!-- only force init -->
-
    <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(eval aruco_detect and not disable)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
        <remap from="image_raw" to="main_camera/image_raw"/>
        <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="map_markers" to="aruco_map/map"/>
-        <param name="dictionary" value="2"/> <!-- DICT_4X4_250 -->
+        <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
        <param name="estimate_poses" value="true"/>
        <param name="send_tf" value="true"/>
-        <param name="use_map_markers" value="$(arg aruco_map)"/>
-        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
-        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
-        <param name="length" value="$(arg length)"/>
-        <param name="transform_timeout" value="0.1"/>
+        <param name="known_tilt" value="map"/>
+        <param name="length" value="0.33"/>
        <!-- aruco detector parameters -->
        <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
        <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
-        <!-- length override example: -->
-        <!-- <param name="length_override/3" value="0.1"/> -->
    </node>

    <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(eval aruco_map and not disable)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="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="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
-        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
+        <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)"/>
@@ -47,11 +34,11 @@
    </node>

    <!-- vpe publisher from aruco markers -->
-    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(eval aruco_vpe or force_init)" output="screen" clear_params="true">
-        <remap from="~pose_cov" to="aruco_map/pose" if="$(arg aruco_vpe)"/>
+    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
+        <remap from="~pose_cov" to="aruco_map/pose"/>
        <remap from="~vpe" to="mavros/vision_pose/pose"/>
-        <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
-        <param name="force_init" value="$(arg force_init)"/>
+        <param name="frame_id" value="aruco_map_detected"/>
+        <param name="publish_zero" value="true"/>
        <param name="offset_frame_id" value="aruco_map"/>
    </node>
 </launch>
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -12,7 +12,6 @@
    <arg name="led" default="true"/>
    <arg name="blocks" default="false"/>
    <arg name="rc" default="false"/>
-    <arg name="force_init" default="true"/> <!-- force estimator to init by publishing zero pose -->

    <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->

@@ -34,24 +33,29 @@
    </node>

    <!-- aruco markers -->
-    <include file="$(find clover)/launch/aruco.launch" if="$(eval aruco or force_init)">
-        <arg name="force_init" value="$(arg force_init)"/>
-        <arg name="disable" value="$(eval not aruco)"/>
-    </include>
+    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>

    <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow main_camera_nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
        <remap from="image_raw" to="main_camera/image_raw"/>
        <remap from="camera_info" to="main_camera/camera_info"/>
        <param name="calc_flow_gyro" value="true"/>
        <param name="roi_rad" value="0.8"/>
-        <param name="disable_on_vpe" value="true"/>
    </node>

+    <!-- main nodelet manager -->
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
+        <param name="num_worker_threads" value="2"/>
+    </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"/>
+
    <!-- simplified offboard control -->
    <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
+        <param name="reference_frames/body" value="map"/>
+        <param name="reference_frames/base_link" value="map"/>
+        <param name="reference_frames/navigate_target" value="map"/>
        <param name="reference_frames/main_camera_optical" value="map"/>
-        <param name="terrain_frame_mode" value="range"/>
    </node>

    <!-- main camera -->
@@ -72,9 +76,6 @@
        <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
    </node>

-    <!-- rangefinder's frame -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder" if="$(arg rangefinder_vl53l1x)"/>
-
    <!-- led strip -->
    <include file="$(find clover)/launch/led.launch" if="$(arg led)">
        <arg name="simulator" value="$(arg simulator)"/>
@@ -89,4 +90,8 @@
        <param name="use_fake_gcs" value="false"/>
    </node>

+    <!-- Update static directory -->
+    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
+        <param name="default_package" value="clover"/>
+    </node>
 </launch>
--- a/clover/launch/led.launch
+++ b/clover/launch/led.launch
@@ -21,8 +21,7 @@
    </node>

    <!-- high level led effects control, events notification with leds -->
-    <node pkg="clover" name="led_effect" type="led" clear_params="true" output="screen" if="$(arg led_effect)">
-        <param name="led" value="led"/>
+    <node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
        <param name="blink_rate" value="2"/>
        <param name="fade_period" value="0.5"/>
        <param name="rainbow_period" value="5"/>
--- a/clover/launch/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -3,15 +3,6 @@

    <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
    <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
-    <arg name="type" default="libcamera"/> <!-- camera interface: libcamera, v4l2 -->
-    <arg name="camera_id" default="0"/> <!-- libcamera camera id -->
-    <arg name="device" default="/dev/video0"/> <!-- v4l2 device path -->
-    <arg name="width" default="320"/>
-    <arg name="height" default="240"/>
-    <arg name="fps" default="40"/>
-    <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
-    <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
-    <arg name="rectify" default="false"/> <!-- enable rectification -->
    <arg name="simulator" default="false"/>

    <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -26,54 +17,24 @@
    <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->

-    <!-- camera nodelet manager -->
-    <node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
-        <param name="num_worker_threads" value="2"/>
-    </node>
-
-    <!-- camera node using libcamera -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load libcamera_ros/LibcameraRos main_camera_nodelet_manager" output="screen" clear_params="true" if="$(eval not simulator and type == 'libcamera')" respawn="true">
-        <param name="camera_name" value=""/>
-        <param name="camera_id" value="$(arg camera_id)"/>
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="calib_url" type="string" value="file://$(find clover)/camera_info/fisheye_cam_$(arg width)x$(arg height).yaml"/>
-        <param name="stream_role" value="still"/>
-        <param name="pixel_format" value="RGB888"/>
-        <param name="use_ros_time" value="true"/>
-        <param name="resolution/width" value="$(arg width)"/>
-        <param name="resolution/height" value="$(arg height)"/>
-
-        <!-- see: https://github.com/ctu-mrs/libcamera_ros/blob/b3645/config/param.yaml#L19 -->
-        <param name="control/fps" value="$(arg fps)"/>
-    </node>
-
-    <!-- old camera node for v4l2 (cv_camera) -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet main_camera_nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" if="$(eval not simulator and type == 'v4l2')" respawn="true">
-        <param name="device_path" value="$(arg device)"/>
+    <!-- camera node -->
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)">
+        <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
        <param name="frame_id" value="main_camera_optical"/>
        <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>

        <param name="rate" value="100"/> <!-- poll rate -->
-        <param name="cv_cap_prop_fps" value="$(arg fps)"/> <!-- camera FPS -->
+        <param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
        <param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
        <param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
-        <param name="image_width" value="$(arg width)"/>
-        <param name="image_height" value="$(arg height)"/>
+
+        <!-- camera resolution -->
+        <param name="image_width" value="320"/>
+        <param name="image_height" value="240"/>
    </node>

    <!-- camera visualization markers -->
    <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
        <param name="scale" value="3.0"/>
    </node>
-
-    <!-- image topic throttled -->
-    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
-        args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
-
-    <!-- rectified image topic -->
-    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" if="$(arg rectify)">
-        <remap from="image_mono" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="image_rect" to="main_camera/image_rect"/>
-    </node>
 </launch>
--- a/clover/launch/mavros.launch
+++ b/clover/launch/mavros.launch
@@ -1,5 +1,5 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl, hitl -->
+    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
    <arg name="fcu_ip" default="127.0.0.1"/>
    <arg name="fcu_sys_id" default="1"/>
    <arg name="gcs_bridge" default="tcp"/>
@@ -23,9 +23,6 @@
        <!-- sitl since PX4 1.9.0 -->
        <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>

-        <!-- hitl connection (to gazebo_mavlink_interface plugin) -->
-        <param name="fcu_url" value="udp://$(arg fcu_ip):14540@" if="$(eval fcu_conn == 'hitl')"/>
-
        <!-- set target_system_id -->
        <param name="target_system_id" value="$(arg fcu_sys_id)" />

@@ -42,7 +39,7 @@
        <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>

        <!-- remap rangefinder -->
-        <remap from="mavros/distance_sensor/rangefinder_sub" to="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))"/>
+        <remap from="mavros/distance_sensor/rangefinder_sub" to="rangefinder/range"/>

        <rosparam param="plugin_whitelist">
            - altitude
@@ -77,6 +74,9 @@
        covariance: 1  # cm
    </rosparam>

+    <!-- Rangefinders frame -->
+    <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="visualization" pkg="mavros_extras" type="visualization" if="$(arg viz)">
        <remap to="mavros/local_position/pose" from="local_position"/>
--- a/clover/launch/mavros_config.yaml
+++ b/clover/launch/mavros_config.yaml
@@ -1,11 +1,11 @@
 # Config file for mavros
 # Based on https://raw.githubusercontent.com/mavlink/mavros/master/mavros/launch/px4_config.yaml

-startup_px4_usb_quirk: false
+startup_px4_usb_quirk: true

 conn:
-  heartbeat_rate: 1.0    # send heartbeat rate in Hertz
-  timeout: 10.0          # heartbeat timeout in seconds
+  heartbeat_rate: 1.0    # send hertbeat rate in Hertz
+  timeout: 10.0          # hertbeat timeout in seconds
  timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
  system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)

@@ -13,7 +13,6 @@ time:
  time_ref_source: "fcu"  # time_reference source
  timesync_mode: MAVLINK
  timesync_avg_alpha: 0.6 # timesync averaging factor
-  publish_sim_time: false # don't publish /clock

 global_position:
  frame_id: "map"             # origin frame
@@ -78,9 +77,6 @@ distance_sensor:
      field_of_view: 0.5
  rangefinder_sub:
      subscriber: true
-      id: 1
-      orientation: PITCH_270
-      covariance: 1  # cm

 # fake_gps
 fake_gps:
--- a/clover/launch/simulator.launch
+++ b/clover/launch/simulator.launch
@@ -1,4 +0,0 @@
-<launch>
-    <!-- shortcut for running the simulation (`roslaunch clover simulator.launch`) -->
-    <include file="$(find clover_simulation)/launch/simulator.launch"/>
-</launch>
--- a/clover/msg/State.msg
+++ b/clover/msg/State.msg
@@ -1,38 +0,0 @@
-uint8 MODE_NONE = 0
-uint8 MODE_NAVIGATE = 1
-uint8 MODE_NAVIGATE_GLOBAL = 2
-uint8 MODE_POSITION = 3
-uint8 MODE_VELOCITY = 4
-uint8 MODE_ATTITUDE = 5
-uint8 MODE_RATES = 6
-
-uint8 YAW_MODE_YAW = 0
-uint8 YAW_MODE_YAW_RATE = 1
-uint8 YAW_MODE_YAW_TOWARDS = 2
-
-# type of offboard control
-uint8 mode
-uint8 yaw_mode
-
-# targets
-float32 x
-float32 y
-float32 z
-float32 speed
-float32 lat
-float32 lon
-float32 vx
-float32 vy
-float32 vz
-float32 roll
-float32 pitch
-float32 yaw
-float32 roll_rate
-float32 pitch_rate
-float32 yaw_rate
-float32 thrust
-
-# frames of reference
-string xy_frame_id
-string z_frame_id
-string yaw_frame_id
--- a/clover/package.xml
+++ b/clover/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package format="3">
+<package format="2">
  <name>clover</name>
-  <version>0.24.0</version>
+  <version>0.21.1</version>
  <description>The Clover package</description>

  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -37,15 +37,10 @@
  <depend>rosbridge_server</depend>
  <depend>web_video_server</depend>
  <depend>tf2_web_republisher</depend>
-  <depend>libxml2</depend>
-  <depend>libxslt</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
-  <depend>dynamic_reconfigure</depend>
-  <depend>image_proc</depend>
-  <depend>image_geometry</depend>
+  <depend>python-lxml</depend>
  <exec_depend>python-pymavlink</exec_depend>
-  <test_depend>ros_pytest</test_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->

  <!-- The export tag contains other, unspecified, tags -->
  <export>
--- a/clover/requirements.txt
+++ b/clover/requirements.txt
@@ -1,4 +1,5 @@
-flask
-geopy
-smbus2
-VL53L1X
+flask==1.1.1
+docopt==0.6.2
+geopy==1.11.0
+smbus2==0.3.0
+VL53L1X==0.0.5
--- a/clover/setup.py
+++ b/clover/setup.py
@@ -1,11 +0,0 @@
-## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
-
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-# fetch values from package.xml
-setup_args = generate_distutils_setup(
-    packages=['clover'],
-    package_dir={'': 'src'})
-
-setup(**setup_args)
--- a/clover/src/autotest/autotest_aruco.py
+++ b/clover/src/autotest/autotest_aruco.py
@@ -1,90 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-import math
-import signal
-import sys
-import dynamic_reconfigure.client
-from clover import srv
-from std_srvs.srv import Trigger
-from sensor_msgs.msg import Range
-from aruco_pose.msg import MarkerArray
-from util import handle_response
-
-rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c
-
-try:
-    flow_client = dynamic_reconfigure.client.Client('optical_flow', timeout=2)
-except rospy.ROSException:
-    flow_client = None
-    print('Cannot configure optical flow, skip')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
-land = handle_response(rospy.ServiceProxy('land', Trigger))
-
-def interrupt(sig, frame):
-    print('\nInterrupted, landing...')
-    land()
-    sys.exit(0)
-
-signal.signal(signal.SIGINT, interrupt)
-
-def print_current_map_position():
-    telem = get_telemetry()
-    dist = rospy.wait_for_message('rangefinder/range', Range).range
-    print('Map position:\tx={:.1f}\ty={:.1f}\tz={:.1f}\tyaw={:.1f}\tdist={:.2f}'.format(telem.x, telem.y, telem.z, telem.yaw, dist))
-
-def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
-
-    if not res.success:
-        return res
-
-    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:
-            return res
-        rospy.sleep(0.2)
-
-markers = rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=3)
-left = min(marker.pose.position.x for marker in markers.markers)
-bottom = min(marker.pose.position.y for marker in markers.markers)
-width = max(marker.pose.position.x for marker in markers.markers)
-height = max(marker.pose.position.y for marker in markers.markers)
-center_x = left + width / 2
-center_y = bottom + height / 2
-
-print('Map rect: %g %g - %g %g' % (left, bottom, width, height))
-
-input('Take off and hover 1 m [enter] ')
-navigate_wait(x=0, y=0, z=1, frame_id='body', auto_arm=True)
-print_current_map_position()
-
-input('Go to corner %g %g 1.5 speed 1 [enter] ' % (width, height))
-navigate_wait(x=width, y=height, z=1.5, speed=1, frame_id='aruco_map')
-print_current_map_position()
-
-input('Go to center %g %g 1.5 speed 5 [enter] ' % (center_x, center_y))
-navigate_wait(x=center_x, y=center_y, z=1.5, speed=5, frame_id='aruco_map')
-print_current_map_position()
-
-if flow_client:
-    input('Disable optical flow and keep hovering [enter] ')
-    flow_client.update_configuration({'enabled': False})
-    rospy.sleep(5)
-
-    input('Enable optical flow back [enter] ')
-    flow_client.update_configuration({'enabled': True})
-
-input('Go to side 1 %g 2 heading top [enter] ' % (center_y))
-navigate_wait(x=1, y=center_y, z=2, yaw=1.57, frame_id='aruco_map')
-print_current_map_position()
-
-marker_id = markers.markers[0].id
-input('Go to marker %d z=1.5 [enter] ' % marker_id)
-navigate_wait(x=0, y=0, z=1.5, yaw=0, frame_id='aruco_%d' % marker_id)
-print_current_map_position()
-
-input('Perform landing [enter] ')
-land()
--- a/clover/src/autotest/autotest_flight.py
+++ b/clover/src/autotest/autotest_flight.py
@@ -1,99 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-import math
-from math import nan, inf
-import signal
-import sys
-from clover import srv
-from std_srvs.srv import Trigger
-from sensor_msgs.msg import Range
-from util import handle_response
-
-rospy.init_node('autotest_flight', disable_signals=True) # disable signals to allow interrupting with ctrl+c
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
-navigate_global = handle_response(rospy.ServiceProxy('navigate_global', srv.NavigateGlobal))
-set_yaw = handle_response(rospy.ServiceProxy('set_yaw', srv.SetYaw))
-set_yaw_rate = handle_response(rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate))
-set_position = handle_response(rospy.ServiceProxy('set_position', srv.SetPosition))
-set_velocity = handle_response(rospy.ServiceProxy('set_velocity', srv.SetVelocity))
-set_attitude = handle_response(rospy.ServiceProxy('set_attitude', srv.SetAttitude))
-set_rates = handle_response(rospy.ServiceProxy('set_rates', srv.SetRates))
-land = handle_response(rospy.ServiceProxy('land', Trigger))
-
-def interrupt(sig, frame):
-    print('\nInterrupted, landing...')
-    land()
-    sys.exit(0)
-
-signal.signal(signal.SIGINT, interrupt)
-
-def navigate_wait(x=0, y=0, z=0, yaw=nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
-
-    if not res.success:
-        return res
-
-    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:
-            return res
-        rospy.sleep(0.2)
-
-def print_distance():
-    dist = rospy.wait_for_message('rangefinder/range', Range).range
-    print('Distance: {:.2f}'.format(dist))
-
-input('Take off and hover 1 m [enter] ')
-navigate_wait(z=1, frame_id='body', auto_arm=True)
-print_distance()
-start = get_telemetry()
-
-input('Fly forward 2 m [enter] ')
-navigate_wait(x=2, frame_id='navigate_target')
-print_distance()
-
-input('Climb 0.5 m [enter] ')
-navigate_wait(z=0.5, frame_id='navigate_target')
-print_distance()
-
-input('Rotate left 90° [enter] ')
-navigate(yaw=math.pi / 2, frame_id='navigate_target')
-rospy.sleep(3)
-
-input('Use set_velocity to fly forward 2 m speed 1 [enter]')
-set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
-rospy.sleep(2)
-set_position(frame_id='body')
-
-input('Rotate right 90° using set_yaw [enter] ')
-set_yaw(yaw=-math.pi / 2, frame_id='navigate_target')
-rospy.sleep(3)
-
-input('Use set_attitude to fly backwards [enter]')
-set_attitude(roll=0, pitch=-0.3, yaw=0, thrust=0.5, frame_id='body')
-rospy.sleep(0.3)
-set_position(frame_id='body')
-
-input('Use set_attitude to fly right [enter]')
-set_attitude(roll=0.3, pitch=0, yaw=0, thrust=0.5, frame_id='body')
-rospy.sleep(0.5)
-set_position(frame_id='body')
-
-input('Use set_rates to fly right [enter]')
-set_rates(roll_rate=1.2, thrust=0.5)
-rospy.sleep(0.4)
-set_position(frame_id='body')
-
-input('Rotate 360° to the right using set_yaw_rate [enter]')
-set_yaw_rate(yaw_rate=-1)
-rospy.sleep(2 * math.pi)
-set_position(frame_id='body')
-
-input('Return to start point heading forward [enter]')
-navigate_wait(x=start.x, y=start.y, z=start.z, yaw=inf, speed=1, frame_id='map')
-
-input('Land [enter]')
-land()
--- a/clover/src/autotest/autotest_led.py
+++ b/clover/src/autotest/autotest_led.py
@@ -1,72 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-import functools
-from clover.srv import SetLEDEffect
-from led_msgs.srv import SetLEDs
-from led_msgs.msg import LEDStateArray, LEDState
-from util import handle_response
-
-rospy.init_node('autotest_led', disable_signals=True)
-
-set_leds = handle_response(rospy.ServiceProxy('led/set_leds', SetLEDs))
-set_effect = handle_response(rospy.ServiceProxy('led/set_effect', SetLEDEffect))
-
-led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
-print('LED count =', led_count)
-
-print('== Testing effects ==')
-
-input('Fill red [enter] ')
-set_effect(r=255, g=0, b=0)
-
-input('Fill green [enter] ')
-set_effect(r=0, g=100, b=0)
-
-input('Blink white [enter] ')
-set_effect(effect='blink', r=255, g=255, b=255)
-rospy.sleep(3)
-
-input('Blink fast violet [enter] ')
-set_effect(effect='blink_fast', r=220, g=20, b=250)
-rospy.sleep(3)
-
-input('Fade to blue [enter] ')
-set_effect(effect='fade', r=0, g=0, b=255)
-
-input('Wipe to yellow [enter] ')
-set_effect(effect='wipe', r=255, g=255, b=40)
-
-input('Flash red [enter] ')
-set_effect(effect='flash', r=255, g=0, b=0)
-rospy.sleep(1)
-
-input('Rainbow [enter] ')
-set_effect(effect='rainbow')
-rospy.sleep(4)
-
-input('Rainbow fill [enter] ')
-set_effect(effect='rainbow_fill')
-rospy.sleep(4)
-
-input('Turn off [enter] ')
-set_effect()
-
-print('== Testing low-level control ==')
-
-input('Fill orange [enter] ')
-set_leds(leds=[LEDState(index=i, r=245, g=155, b=0) for i in range(led_count)])
-
-input('Fill blue gradient [enter] ')
-set_leds(leds=[LEDState(index=i, r=0, g=20, b=int(255 * i / led_count)) for i in range(led_count)])
-
-input('Animate green dot [enter] ')
-set_effect()
-for i in range(led_count):
-    if i > 0:
-        set_leds(leds=[LEDState(index=i - 1, r=0, g=0, b=0)])
-    set_leds(leds=[LEDState(index=i, r=0, g=255, b=0)])
-    rospy.sleep(0.05)
-
-input('Turn off [enter] ')
-set_effect()
--- a/clover/src/autotest/util.py
+++ b/clover/src/autotest/util.py
@@ -1,11 +0,0 @@
-import functools
-
-# decorator to handle response and print error message
-def handle_response(fn):
-    @functools.wraps(fn)
-    def wrapper(*args, **kwargs):
-        res = fn(*args, **kwargs)
-        if not res.success:
-            print('\033[91mError:\033[0m {}'.format(res.message))
-        return res
-    return wrapper
--- a/clover/src/clover/init.py
+++ b/clover/src/clover/init.py
@@ -1,35 +0,0 @@
-import rospy
-from threading import Thread, Event
-
-def long_callback(fn):
-    """
-    Decorator fixing a rospy issue for long-running topic callbacks, primarily
-    for image processing.
-
-    See: https://github.com/ros/ros_comm/issues/1901.
-
-    Usage example:
-
-    @long_callback
-    def image_callback(msg):
-        # perform image processing
-        # ...
-
-    rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-    """
-    e = Event()
-
-    def thread():
-        while not rospy.is_shutdown():
-            e.wait()
-            e.clear()
-            fn(thread.current_msg)
-
-    thread.current_msg = None
-    Thread(target=thread, daemon=True).start()
-
-    def wrapper(msg):
-        thread.current_msg = msg
-        e.set()
-
-    return wrapper
--- a/clover/src/led.cpp
+++ b/clover/src/led.cpp
@@ -31,6 +31,7 @@ ros::Time start_time;
 double blink_rate, blink_fast_rate, flash_delay, fade_period, wipe_period, rainbow_period;
 double low_battery_threshold;
 std::vector<std::string> error_ignore;
+bool blink_state;
 led_msgs::SetLEDs set_leds;
 led_msgs::LEDStateArray state, start_state;
 ros::ServiceClient set_leds_srv;
@@ -86,8 +87,9 @@ void proceed(const ros::TimerEvent& event)
 	set_leds.request.leds.resize(led_count);

 	if (current_effect.effect == "blink" || current_effect.effect == "blink_fast") {
-		// enable on odd counter
-		if (counter % 2 != 0) {
+		blink_state = !blink_state;
+		// toggle all leds
+		if (blink_state) {
 			fill(current_effect.r, current_effect.g, current_effect.b);
 		} else {
 			fill(0, 0, 0);
@@ -220,7 +222,6 @@ bool setEffect(clover::SetLEDEffect::Request& req, clover::SetLEDEffect::Respons
 	counter = 0;
 	start_state = state;
 	start_time = ros::Time::now();
-	proceed({ .current_real = start_time });

 	return true;
 }
@@ -309,22 +310,18 @@ int main(int argc, char **argv)
 	nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7);
 	nh_priv.param("notify/error/ignore", error_ignore, {});

-	std::string led; // led namespace
-	nh_priv.param("led", led, std::string("led"));
-	if (!led.empty()) led += "/";
-
-	ros::service::waitForService(led + "set_leds"); // cannot work without set_leds service
-	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>(led + "set_leds", true);
+	ros::service::waitForService("set_leds"); // cannot work without set_leds service
+	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>("set_leds", true);

 	// wait for leds count info
-	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>(led + "state", nh));
+	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>("state", nh));

-	auto state_sub = nh.subscribe(led + "state", 1, &handleState);
+	auto state_sub = nh.subscribe("state", 1, &handleState);

-	auto set_effect = nh.advertiseService(led + "set_effect", &setEffect);
+	auto set_effect = nh.advertiseService("set_effect", &setEffect);

-	auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState);
-	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery);
+	auto mavros_state_sub = nh.subscribe("/mavros/state", 1, &handleMavrosState);
+	auto battery_sub = nh.subscribe("/mavros/battery", 1, &handleBattery);
 	auto rosout_sub = nh.subscribe("/rosout_agg", 1, &handleLog);

 	timer = nh.createTimer(ros::Duration(0), &proceed, false, false);
--- a/clover/src/optical_flow.cpp
+++ b/clover/src/optical_flow.cpp
@@ -22,14 +22,11 @@
 #include <tf2/utils.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <dynamic_reconfigure/server.h>
 #include <mavros_msgs/OpticalFlowRad.h>
 #include <sensor_msgs/Imu.h>
-#include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/TwistStamped.h>
-#include <clover/FlowConfig.h>

 using cv::Mat;

@@ -41,7 +38,6 @@ public:
 	{}

 private:
-	bool enabled_;
 	ros::Publisher flow_pub_, velo_pub_, shift_pub_;
 	ros::Time prev_stamp_;
 	std::string fcu_frame_id_, local_frame_id_;
@@ -57,11 +53,6 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
-	float flow_gyro_default_;
-	bool disable_on_vpe_;
-	ros::Subscriber vpe_sub_;
-	ros::Time last_vpe_time_;
-	std::shared_ptr<dynamic_reconfigure::Server<clover::FlowConfig>> dyn_srv_;

 	void onInit()
 	{
@@ -78,30 +69,20 @@ private:
 		roi_px_ = nh_priv.param("roi", 128);
 		roi_rad_ = nh_priv.param("roi_rad", 0.0);
 		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
-		flow_gyro_default_ = nh_priv.param("flow_gyro_default", NAN);

+		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
 		flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
 		velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
 		shift_pub_ = nh_priv.advertise<geometry_msgs::Vector3Stamped>("shift", 1);

+		flow_.integrated_xgyro = NAN; // no IMU available
+		flow_.integrated_ygyro = NAN;
+		flow_.integrated_zgyro = NAN;
 		flow_.time_delta_distance_us = 0;
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;

-		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
-
-		disable_on_vpe_ = nh_priv.param("disable_on_vpe", false);
-		if (disable_on_vpe_) {
-			vpe_sub_ = nh.subscribe("mavros/vision_pose/pose", 1, &OpticalFlow::vpeCallback, this);
-		}
-
-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<clover::FlowConfig>>(nh_priv);
-		dynamic_reconfigure::Server<clover::FlowConfig>::CallbackType cb;
-
-		cb = std::bind(&OpticalFlow::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
-		dyn_srv_->setCallback(cb);
-
 		NODELET_INFO("Optical Flow initialized");
 	}

@@ -128,14 +109,6 @@ private:

 	void flow(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cinfo)
 	{
-		if (!enabled_) return;
-
-		if (disable_on_vpe_ &&
-			!last_vpe_time_.isZero() &&
-			(msg->header.stamp - last_vpe_time_).toSec() < 0.1) {
-			return;
-		}
-
 		parseCameraInfo(cinfo);

 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
@@ -169,7 +142,7 @@ private:

 		img.convertTo(curr_, CV_32F);

-		if (prev_.empty() || (msg->header.stamp - prev_stamp_).toSec() > 0.1) { // outdated previous frame
+		if (prev_.empty()) {
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;
 			cv::createHanningWindow(hann_, curr_.size(), CV_32F);
@@ -205,7 +178,7 @@ private:
 			double flow_x = atan2(points_undist[0].x, focal_length_x);
 			double flow_y = atan2(points_undist[0].y, focal_length_y);

-			// Convert to FCU frame
+			// // Convert to FCU frame
 			geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
 			flow_camera.header.frame_id = msg->header.frame_id;
 			flow_camera.header.stamp = msg->header.stamp;
@@ -222,11 +195,6 @@ private:
 			ros::Duration integration_time = msg->header.stamp - prev_stamp_;
 			uint32_t integration_time_us = integration_time.toSec() * 1.0e6;

-			// Calculate flow gyro
-			flow_.integrated_xgyro = flow_gyro_default_;
-			flow_.integrated_ygyro = flow_gyro_default_;
-			flow_.integrated_zgyro = flow_gyro_default_;
-
 			if (calc_flow_gyro_) {
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
@@ -236,7 +204,9 @@ private:
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
 				} catch (const tf2::TransformException& e) {
-					// Transform not available, keep NANs in flow gyro
+					// Invalidate previous frame
+					prev_.release();
+					goto publish_debug;
 				}
 			}

@@ -251,14 +221,6 @@ private:
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;

-			// Publish estimated angular velocity
-			geometry_msgs::TwistStamped velo;
-			velo.header.stamp = msg->header.stamp;
-			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
-			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
-			velo_pub_.publish(velo);
-
 publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
@@ -271,6 +233,14 @@ publish_debug:
 				out_msg.image = img;
 				img_pub_.publish(out_msg.toImageMsg());
 			}
+
+			// Publish estimated angular velocity
+			geometry_msgs::TwistStamped velo;
+			velo.header.stamp = msg->header.stamp;
+			velo.header.frame_id = fcu_frame_id_;
+			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
+			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
+			velo_pub_.publish(velo);
 		}
 	}

@@ -291,18 +261,6 @@ publish_debug:

 		return flow;
 	}
-
-	void paramCallback(clover::FlowConfig &config, uint32_t level)
-	{
-		enabled_ = config.enabled;
-		if (!enabled_) {
-			prev_ = Mat(); // clear previous frame
-		}
-	}
-
-	void vpeCallback(const geometry_msgs::PoseStamped& vpe) {
-		last_vpe_time_ = vpe.header.stamp;
-	}
 };

 PLUGINLIB_EXPORT_CLASS(OpticalFlow, nodelet::Nodelet)
--- a/clover/src/rc.cpp
+++ b/clover/src/rc.cpp
@@ -91,7 +91,7 @@ private:
 	void fakeGCSThread()
 	{
 		// Awful workaround for fixing PX4 not sending STATUSTEXTs
-		// if there is no GCS heartbeats.
+		// if there is no GCS hearbeats.
 		// TODO: use timer
 		// TODO: remove, when PX4 get this fixed.
 		ros::Publisher mavlink_pub = nh.advertise<mavros_msgs::Mavlink>("mavlink/to", 1);
--- a/clover/src/selfcheck.py
+++ b/clover/src/selfcheck.py
@@ -9,14 +9,13 @@
 # The above copyright notice and this permission notice shall be included in all
 # copies or substantial portions of the Software.

-import os, sys
+import os
 import math
 import subprocess
 import re
 from collections import OrderedDict
 import traceback
-import threading
-from threading import Event, Thread, Lock
+from threading import Event
 import numpy
 import rospy
 import tf2_ros
@@ -28,86 +27,67 @@ from mavros_msgs.msg import State, OpticalFlowRad, Mavlink
 from mavros_msgs.srv import ParamGet
 from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped, Vector3Stamped
 from visualization_msgs.msg import MarkerArray as VisualizationMarkerArray
-from diagnostic_msgs.msg import DiagnosticArray
 import tf.transformations as t
 from aruco_pose.msg import MarkerArray
 from mavros import mavlink
-import locale
+
+
+# TODO: check attitude is present
+# TODO: disk free space
+# TODO: map, base_link, body
+# TODO: rc service
+# TODO: perform commander check, ekf2 status on PX4
+# TODO: check if FCU params setter succeed
+# TODO: selfcheck ROS service (with blacklists for checks)


 rospy.init_node('selfcheck')

-os.environ['ROSCONSOLE_FORMAT']='${message}'
-
-# use user's locale to convert numbers, etc
-locale.setlocale(locale.LC_ALL, '')

 tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)


-thread_local = threading.local()
-reports_lock = Lock()
-
-
-# formatting colors
-if sys.stdout.isatty():
-    GREY = '\033[90m'
-    GREEN = '\033[92m'
-    RED = '\033[31m'
-    END = '\033[0m'
-else:
-    GREY = GREEN = RED = END = ''
+failures = []
+infos = []
+current_check = None


 def failure(text, *args):
    msg = text % args
-    thread_local.reports += [{'failure': msg}]
+    rospy.logwarn('%s: %s', current_check, msg)
+    failures.append(msg)


 def info(text, *args):
    msg = text % args
-    thread_local.reports += [{'info': msg}]
+    rospy.loginfo('%s: %s', current_check, msg)
+    infos.append(msg)


 def check(name):
    def inner(fn):
        def wrapper(*args, **kwargs):
-            start = rospy.get_time()
-            thread_local.reports = []
+            failures[:] = []
+            infos[:] = []
+            global current_check
+            current_check = name
            try:
                fn(*args, **kwargs)
            except Exception as e:
                traceback.print_exc()
                rospy.logerr('%s: exception occurred', name)
-            with reports_lock:
-                for report in thread_local.reports:
-                    if 'failure' in report:
-                        rospy.logerr('%s: %s', name, report['failure'])
-                    elif 'info' in report:
-                        rospy.loginfo(GREY + name + END + ': ' + report['info'])
-                if not thread_local.reports:
-                    rospy.loginfo(GREY + name + END + ': ' + GREEN + 'OK' + END)
-                if rospy.get_param('~time', False):
-                    rospy.loginfo('%s: %.1f sec', name, rospy.get_time() - start)
+                return
+            if not failures and not infos:
+                rospy.loginfo('%s: OK', name)
        return wrapper
    return inner


-def ff(value, precision=2):
-    # safely format float or int
-    if value is None:
-        return RED + '???' + END
-    if isinstance(value, float):
-        return ('{:.' + str(precision + 1) + '}').format(value)
-    elif isinstance(value, int):
-        return str(value)
-
-
 param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)


-def get_param(name, default=None, strict=True):
+def get_param(name):
    try:
        res = param_get(param_id=name)
    except rospy.ServiceException as e:
@@ -115,19 +95,13 @@ def get_param(name, default=None, strict=True):
        return None

    if not res.success:
-        if strict:
-            failure('unable to retrieve PX4 parameter %s', name)
-        return default
+        failure('unable to retrieve PX4 parameter %s', name)
    else:
        if res.value.integer != 0:
            return res.value.integer
        return res.value.real


-def get_paramf(name, precision=2):
-    return ff(get_param(name), precision)
-
-
 recv_event = Event()
 link = mavutil.mavlink.MAVLink('', 255, 1)
 mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
@@ -164,7 +138,7 @@ def mavlink_exec(cmd, timeout=3.0):
        timeout=3,
        baudrate=0,
        count=len(cmd),
-        data=[ord(c) for c in cmd.ljust(70, '\0')])
+        data=map(ord, cmd.ljust(70, '\0')))
    msg.pack(link)
    ros_msg = mavlink.convert_to_rosmsg(msg)
    mavlink_pub.publish(ros_msg)
@@ -172,24 +146,6 @@ def mavlink_exec(cmd, timeout=3.0):
    return mavlink_recv


-def read_diagnostics(name, key):
-    e = Event()
-    def cb(msg):
-        for status in msg.status:
-            if status.name.lower() == name.lower():
-                for value in status.values:
-                    if value.key.lower() == key.lower():
-                        cb.value = value.value
-                        e.set()
-                        return
-
-    cb.value = None
-    sub = rospy.Subscriber('/diagnostics', DiagnosticArray, cb)
-    e.wait(1.0)  # wait to read all the diagnostics from nodes publishing them
-    sub.unregister()
-    return cb.value
-
-
 BOARD_ROTATIONS = {
    0: 'no rotation',
    1: 'yaw 45°',
@@ -235,36 +191,31 @@ def check_fcu():
        state = rospy.wait_for_message('mavros/state', State, timeout=3)
        if not state.connected:
            failure('no connection to the FCU (check wiring)')
-            info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
            return

-        if not is_process_running('px4', exact=True): # can't use px4 console in SITL
-            clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
-            clover_fw = False
+        # Make sure the console is available to us
+        mavlink_exec('\n')
+        version_str = mavlink_exec('ver all')
+        if version_str == '':
+            info('no version data available from SITL')

-            # Make sure the console is available to us
-            mavlink_exec('\n')
-            version_str = mavlink_exec('ver all')
-            if version_str == '':
-                info('no version data available from SITL')
+        r = re.compile(r'^FW (git tag|version): (v?\d\.\d\.\d.*)$')
+        is_clover_firmware = False
+        for ver_line in version_str.split('\n'):
+            match = r.search(ver_line)
+            if match is not None:
+                field, version = match.groups()
+                info('firmware %s: %s' % (field, version))
+                if 'clover' in version or 'clever' in version:
+                    is_clover_firmware = True

-            for line in version_str.split('\n'):
-                if line.startswith('FW version: '):
-                    info(line[len('FW version: '):])
-                elif line.startswith('FW git tag: '): # only Clover's firmware
-                    tag = line[len('FW git tag: '):]
-                    clover_fw = clover_tag.search(tag)
-                    info(tag)
-                elif line.startswith('HW arch: '):
-                    info(line[len('HW arch: '):])
-
-            if not clover_fw:
-                info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')
+        if not is_clover_firmware:
+            failure('not running Clover PX4 firmware, https://clover.coex.tech/firmware')

        est = get_param('SYS_MC_EST_GROUP')
        if est == 1:
            info('selected estimator: LPE')
-            fuse = int(get_param('LPE_FUSION'))
+            fuse = get_param('LPE_FUSION')
            if fuse & (1 << 4):
                info('LPE_FUSION: land detector fusion is enabled')
            else:
@@ -296,43 +247,21 @@ def check_fcu():
        if cbrk_usb_chk != 197848:
            failure('set parameter CBRK_USB_CHK to 197848 for flying with USB connected')

-        if not is_process_running('px4', exact=True): # skip battery check in SITL
-            try:
-                battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
-                if not battery.cell_voltage:
-                    failure('cell voltage is not available, https://clover.coex.tech/power')
-                else:
-                    cell = battery.cell_voltage[0]
-                    # number of cells 1 means this is overall voltage
-                    if len(battery.cell_voltage) == 1:
-                        n_cells = get_param('BAT1_N_CELLS', strict=False)
-                        if n_cells is None:
-                            # older PX4
-                            n_cells = get_param('BAT_N_CELLS', strict=True)
-                        cell /= n_cells
-
-                    if cell > 4.3 or cell < 3.0:
-                        failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
-                    elif cell < 3.7:
-                        failure('critically low cell voltage: %.2f V, recharge battery', cell)
-            except rospy.ROSException:
-                failure('no battery state')
-
-        # time sync check
        try:
-            info('time sync offset: %.2f s', float(read_diagnostics('mavros: Time Sync', 'Estimated time offset (s)')))
-        except:
-            failure('cannot read time sync offset')
+            battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
+            if not battery.cell_voltage:
+                failure('cell voltage is not available, https://clover.coex.tech/power')
+            else:
+                cell = battery.cell_voltage[0]
+                if cell > 4.3 or cell < 3.0:
+                    failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
+                elif cell < 3.7:
+                    failure('critically low cell voltage: %.2f V, recharge battery', cell)
+        except rospy.ROSException:
+            failure('no battery state')

    except rospy.ROSException:
-        failure('no MAVROS state')
-        fcu_url = rospy.get_param('mavros/fcu_url', '?')
-        if fcu_url == '/dev/px4fmu':
-            if not os.path.exists('/lib/udev/rules.d/99-px4fmu.rules'):
-                info('udev rules are not installed, install udev rules or change usb_device to /dev/ttyACM0 in mavros.launch')
-            else:
-                info('udev did\'t recognize px4fmu device, check wiring or change usb_device to /dev/ttyACM0 in mavros.launch')
-        info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
+        failure('no MAVROS state (check wiring)')


 def describe_direction(v):
@@ -399,7 +328,7 @@ def is_process_running(binary, exact=False, full=False):
        if exact:
            args.append('-x')  # match exactly with the command name
        if full:
-            args.append('-f')  # use full command line (including arguments) to match
+            args.append('-f')  # use full process name to match
        args.append(binary)
        subprocess.check_output(args)
        return True
@@ -409,24 +338,19 @@ def is_process_running(binary, exact=False, full=False):

@check('ArUco markers')
 def check_aruco():
-    markers = None
-
    if is_process_running('aruco_detect', full=True):
        try:
-            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length', '?'))
+            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
        except KeyError:
            failure('aruco_detect/length parameter is not set')
-        known_vertical = rospy.get_param('aruco_detect/known_vertical', '')
-        flip_vertical = rospy.get_param('aruco_detect/flip_vertical', False)
-        description = ''
-        if known_vertical == 'map' and not flip_vertical:
-            description = ' (all markers are on the floor)'
-        elif known_vertical == 'map' and flip_vertical:
-            description = ' (all markers are on the ceiling)'
-        info('aruco_detect/known_vertical = %s', known_vertical)
-        info('aruco_detect/flip_vertical = %s%s', flip_vertical, description)
+        known_tilt = rospy.get_param('aruco_detect/known_tilt', '')
+        if known_tilt == 'map':
+            known_tilt += ' (ALL markers are on the floor)'
+        elif known_tilt == 'map_flipped':
+            known_tilt += ' (ALL markers are on the ceiling)'
+        info('aruco_detector/known_tilt = %s', known_tilt)
        try:
-            markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
+            rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
        except rospy.ROSException:
            failure('no markers detection')
            return
@@ -435,61 +359,42 @@ def check_aruco():
        return

    if is_process_running('aruco_map', full=True):
-        known_vertical = rospy.get_param('aruco_map/known_vertical', '')
-        flip_vertical = rospy.get_param('aruco_map/flip_vertical', False)
-        description = ''
-        if known_vertical == 'map' and not flip_vertical:
-            description += ' (markers map is on the floor)'
-        elif known_vertical == 'map' and flip_vertical:
-            description += ' (markers map is on the ceiling)'
-        info('aruco_map/known_vertical = %s', known_vertical)
-        info('aruco_map/flip_vertical = %s%s', flip_vertical, description)
+        known_tilt = rospy.get_param('aruco_map/known_tilt', '')
+        if known_tilt == 'map':
+            known_tilt += ' (marker\'s map is on the floor)'
+        elif known_tilt == 'map_flipped':
+            known_tilt += ' (marker\'s map is on the ceiling)'
+        info('aruco_map/known_tilt = %s', known_tilt)

        try:
-            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)
+            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=1)
            info('map has %s markers', len(visualization.markers))
        except:
            failure('cannot read aruco_map/visualization topic')

        try:
-            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=0.8)
+            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1)
        except rospy.ROSException:
-            if not markers:
-                info('no map detection as no markers detection')
-            elif not markers.markers:
-                info('no map detection as no markers detected')
-            else:
-                failure('no map detection')
+            failure('no map detection')
    else:
        info('aruco_map is not running')


-def is_on_the_floor():
-    try:
-        dist = rospy.wait_for_message('rangefinder/range', Range, timeout=1)
-        return dist.range < 0.3
-    except rospy.ROSException:
-        return False
-
-
@check('Vision position estimate')
 def check_vpe():
    vis = None
    try:
-        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=0.8)
+        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
    except rospy.ROSException:
        try:
-            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=0.8)
+            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
        except rospy.ROSException:
-            if not is_process_running('vpe_publisher', full=True):
-                info('no vision position estimate, vpe_publisher is not running')
-            elif rospy.get_param('aruco_map/known_vertical', '') == 'map' \
-                   and rospy.get_param('aruco_map/flip_vertical', False):
-                failure('no vision position estimate, markers are on the ceiling')
-            elif is_on_the_floor():
-                info('no vision position estimate, the drone is on the floor')
-            else:
-                failure('no vision position estimate')
+            failure('no VPE or MoCap messages')
+            # check if vpe_publisher is running
+            try:
+                subprocess.check_output(['pgrep', '-x', 'vpe_publisher'])
+            except subprocess.CalledProcessError:
+                return  # it's not running, skip following checks

    # check PX4 settings
    est = get_param('SYS_MC_EST_GROUP')
@@ -501,37 +406,26 @@ def check_vpe():
        if vision_yaw_w == 0:
            failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter')
        else:
-            info('vision yaw weight: %s', ff(vision_yaw_w))
-        fuse = int(get_param('LPE_FUSION'))
+            info('Vision yaw weight: %.2f', vision_yaw_w)
+        fuse = get_param('LPE_FUSION')
        if not fuse & (1 << 2):
            failure('vision position fusion is disabled, change LPE_FUSION parameter')
        delay = get_param('LPE_VIS_DELAY')
        if delay != 0:
-            failure('LPE_VIS_DELAY = %s, but it should be zero', delay)
-        info('LPE_VIS_XY = %s m, LPE_VIS_Z = %s m', get_paramf('LPE_VIS_XY'), get_paramf('LPE_VIS_Z'))
+            failure('LPE_VIS_DELAY parameter is %s, but it should be zero', delay)
+        info('LPE_VIS_XY is %.2f m, LPE_VIS_Z is %.2f m', get_param('LPE_VIS_XY'), get_param('LPE_VIS_Z'))
    elif est == 2:
-        ev_ctrl = get_param('EKF2_EV_CTRL', strict=False)
-        if ev_ctrl is not None: # PX4 after v1.14
-            ev_ctrl = int(ev_ctrl)
-            if not ev_ctrl & (1 << 0):
-                failure('vision horizontal position fusion is disabled, change EKF2_EV_CTRL parameter')
-            if not ev_ctrl & (1 << 1):
-                failure('vision vertical position fusion is disabled, change EKF2_EV_CTRL parameter')
-            if not ev_ctrl & (1 << 3):
-                failure('vision yaw fusion is disabled, change EKF2_EV_CTRL parameter')
-        else: # PX4 before v1.14
-            fuse = int(get_param('EKF2_AID_MASK'))
-            if not fuse & (1 << 3):
-                failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
-            if not fuse & (1 << 4):
-                failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
-
+        fuse = get_param('EKF2_AID_MASK')
+        if not fuse & (1 << 3):
+            failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
+        if not fuse & (1 << 4):
+            failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
        delay = get_param('EKF2_EV_DELAY')
        if delay != 0:
-            failure('EKF2_EV_DELAY = %.2f, but it should be zero', delay)
-        info('EKF2_EVA_NOISE = %s, EKF2_EVP_NOISE = %s',
-            get_paramf('EKF2_EVA_NOISE', 3),
-            get_paramf('EKF2_EVP_NOISE', 3))
+            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_EVP_NOISE'))

    if not vis:
        return
@@ -589,12 +483,6 @@ def check_local_position():
            failure('roll is %.2f deg; place copter horizontally or redo level horizon calib',
                    math.degrees(roll))

-        if not tf_buffer.can_transform('base_link', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
-            failure('can\'t transform from %s to base_link (timeout 0.5 s): is TF enabled?', pose.header.frame_id)
-
-        if not tf_buffer.can_transform('body', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
-            failure('can\'t transform from %s to body (timeout 0.5 s)', pose.header.frame_id)
-
    except rospy.ROSException:
        failure('no local position')

@@ -629,25 +517,13 @@ def check_velocity():
@check('Global position (GPS)')
 def check_global_position():
    try:
-        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
+        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
    except rospy.ROSException:
        info('no global position')
-        if get_param('SYS_MC_EST_GROUP') == 2:
-            gps_ctrl = get_param('EKF2_GPS_CTRL', strict=False)
-            if gps_ctrl is not None: # PX4 after v1.14
-                if int(gps_ctrl) & (1 << 0):
-                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_GPS_CTRL')
-            else: # PX4 before v1.14
-                if int(get_param('EKF2_AID_MASK', 0)) & (1 << 0):
-                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_AID_MASK')


@check('Optical flow')
 def check_optical_flow():
-    if not is_process_running('optical_flow', full=True):
-        info('optical_flow is not running')
-        return
-
    # TODO:check FPS!
    try:
        rospy.wait_for_message('mavros/px4flow/raw/send', OpticalFlowRad, timeout=0.5)
@@ -655,49 +531,40 @@ def check_optical_flow():
        # check PX4 settings
        rot = get_param('SENS_FLOW_ROT')
        if rot != 0:
-            failure('SENS_FLOW_ROT = %s, but it should be zero', rot)
+            failure('SENS_FLOW_ROT parameter is %s, but it should be zero', rot)
        est = get_param('SYS_MC_EST_GROUP')
        if est == 1:
-            fuse = int(get_param('LPE_FUSION'))
+            fuse = get_param('LPE_FUSION')
            if not fuse & (1 << 1):
                failure('optical flow fusion is disabled, change LPE_FUSION parameter')
            if not fuse & (1 << 1):
                failure('flow gyro compensation is disabled, change LPE_FUSION parameter')
-            scale = get_param('LPE_FLW_SCALE', 1)
+            scale = get_param('LPE_FLW_SCALE')
            if not numpy.isclose(scale, 1.0):
-                failure('LPE_FLW_SCALE = %.2f, but it should be 1.0', scale)
+                failure('LPE_FLW_SCALE parameter is %.2f, but it should be 1.0', scale)

-            info('LPE_FLW_QMIN = %s, LPE_FLW_R = %s, LPE_FLW_RR = %s',
-                          get_paramf('LPE_FLW_QMIN'),
-                          get_paramf('LPE_FLW_R', 4),
-                          get_paramf('LPE_FLW_RR', 4))
+            info('LPE_FLW_QMIN is %s, LPE_FLW_R is %.4f, LPE_FLW_RR is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+                          get_param('LPE_FLW_QMIN'),
+                          get_param('LPE_FLW_R'),
+                          get_param('LPE_FLW_RR'),
+                          get_param('SENS_FLOW_MINHGT'),
+                          get_param('SENS_FLOW_MAXHGT'))
        elif est == 2:
-            of_ctrl = get_param('EKF2_OF_CTRL', strict=False)
-            if of_ctrl is not None: # PX4 after v1.14
-                if of_ctrl == 0:
-                    failure('optical flow fusion is disabled, change EKF2_OF_CTRL')
-            else: # PX4 before v1.14
-                fuse = int(get_param('EKF2_AID_MASK', 0))
-                if not fuse & (1 << 1):
-                    failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
-            delay = get_param('EKF2_OF_DELAY', 0)
+            fuse = get_param('EKF2_AID_MASK')
+            if not fuse & (1 << 1):
+                failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
+            delay = get_param('EKF2_OF_DELAY')
            if delay != 0:
-                failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay)
-            info('EKF2_OF_QMIN = %s, EKF2_OF_N_MIN = %s, EKF2_OF_N_MAX = %s',
-                          get_paramf('EKF2_OF_QMIN'),
-                          get_paramf('EKF2_OF_N_MIN', 4),
-                          get_paramf('EKF2_OF_N_MAX', 4))
-        info('SENS_FLOW_MINHGT = %s, SENS_FLOW_MAXHGT = %s', get_paramf('SENS_FLOW_MINHGT', 3), get_paramf('SENS_FLOW_MAXHGT', 3))
+                failure('EKF2_OF_DELAY is %.2f, but it should be zero', delay)
+            info('EKF2_OF_QMIN is %s, EKF2_OF_N_MIN is %.4f, EKF2_OF_N_MAX is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+                          get_param('EKF2_OF_QMIN'),
+                          get_param('EKF2_OF_N_MIN'),
+                          get_param('EKF2_OF_N_MAX'),
+                          get_param('SENS_FLOW_MINHGT'),
+                          get_param('SENS_FLOW_MAXHGT'))

    except rospy.ROSException:
-        if rospy.get_param('optical_flow/disable_on_vpe', False):
-            try:
-                rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
-                info('no optical flow as disable_on_vpe is true')
-            except:
-                failure('no optical flow on RPi, disable_on_vpe is true, but no vision pose also')
-        else:
-            failure('no optical flow on RPi')
+        failure('no optical flow data (from Raspberry)')


@check('Rangefinder')
@@ -721,65 +588,55 @@ def check_rangefinder():

    est = get_param('SYS_MC_EST_GROUP')
    if est == 1:
-        fuse = int(get_param('LPE_FUSION', 0))
+        fuse = get_param('LPE_FUSION')
        if not fuse & (1 << 5):
            info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
        else:
            info('"pub agl as lpos down" in LPE_FUSION is enabled, operating over flat surface')

    elif est == 2:
-        hgt = get_param('EKF2_HGT_REF', strict=False)
-        if hgt is None: # PX4 before v1.14
-            hgt = get_param('EKF2_HGT_MODE')
+        hgt = get_param('EKF2_HGT_MODE')
        if hgt != 2:
            info('EKF2_HGT_MODE != Range sensor, NOT operating over flat surface')
        else:
            info('EKF2_HGT_MODE = Range sensor, operating over flat surface')
-        aid = get_param('EKF2_RNG_AID', strict=False)
-        if aid is not None: # PX4 before v1.14
-            if aid != 1:
-                info('EKF2_RNG_AID != 1, range sensor aiding disabled')
-            else:
-                info('EKF2_RNG_AID = 1, range sensor aiding enabled')
+        aid = get_param('EKF2_RNG_AID')
+        if aid != 1:
+            info('EKF2_RNG_AID != 1, range sensor aiding disabled')
+        else:
+            info('EKF2_RNG_AID = 1, range sensor aiding enabled')


@check('Boot duration')
 def check_boot_duration():
-    if not os.path.exists('/etc/clover_version'):
-        info('skip check')
-        return # Don't check not on Clover's image
-
-    output = subprocess.check_output('systemd-analyze').decode()
+    output = subprocess.check_output('systemd-analyze')
    r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
    duration = float(r.search(output).groups()[0])
-    if duration > 20:
+    if duration > 15:
        failure('long Raspbian boot duration: %ss (systemd-analyze for analyzing)', duration)


@check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet', 'gzclient', 'gzserver', 'selfcheck.py'
+    WHITELIST = 'nodelet',
    CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
-    output = subprocess.check_output(CMD, shell=True).decode()
+    output = subprocess.check_output(CMD, shell=True)
    processes = output.split('\n')
    for process in processes:
        if not process:
            continue
        pid, cpu, cmd = process.split('\t')

-        if cmd.strip() not in WHITELIST and locale.atof(cpu) > 30:
+        if cmd.strip() not in WHITELIST and float(cpu) > 30:
            failure('high CPU usage (%s%%) detected: %s (PID %s)',
                    cpu.strip(), cmd.strip(), pid.strip())


@check('clover.service')
 def check_clover_service():
-    if not os.path.exists('/etc/clover_version'):
-        return # Don't check not on Clover's image
-
    try:
        output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
-                                         stderr=subprocess.STDOUT).decode()
+                                         stderr=subprocess.STDOUT)
    except subprocess.CalledProcessError as e:
        failure('systemctl returned %s: %s', e.returncode, e.output)
        return
@@ -789,22 +646,13 @@ def check_clover_service():
    elif 'failed' in output:
        failure('service failed to run, check your launch-files')

-    BLACKLIST = 'Unexpected command 520', 'Time jump detected', 'different index:'
-
-    r = re.compile(r'^(.*)\[(FATAL|ERROR| WARN)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
+    r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
    error_count = OrderedDict()
    try:
        for line in open('/tmp/clover.err', 'r'):
-            skip = False
-            for substr in BLACKLIST:
-                if substr in line:
-                    skip = True
-            if skip:
-                continue
-
            node_error = r.search(line)
            if node_error:
-                msg = node_error.groups()[1].strip() + ': ' + node_error.groups()[2]
+                msg = node_error.groups()[1] + ': ' + node_error.groups()[2]
                if msg in error_count:
                    error_count[msg] += 1
                else:
@@ -827,18 +675,11 @@ def check_image():
    try:
        info('version: %s', open('/etc/clover_version').read().strip())
    except IOError:
-        try:
-            info('VM version: %s', open('/etc/clover_vm_version').read().strip())
-        except IOError:
-            info('no /etc/clover_version file, not the Clover image?')
+        info('no /etc/clover_version file, not the Clover image?')


@check('Preflight status')
 def check_preflight_status():
-    if is_process_running('px4', exact=True):
-        info('can\'t check in SITL')
-        return
-
    # Make sure the console is available to us
    mavlink_exec('\n')
    cmdr_output = mavlink_exec('commander check')
@@ -860,10 +701,6 @@ def check_preflight_status():

@check('Network')
 def check_network():
-    if not os.path.exists('/etc/clover_version'):
-        # TODO:
-        return # Don't check not on Clover's image
-
    ros_hostname = os.environ.get('ROS_HOSTNAME', '').strip()

    if not ros_hostname:
@@ -886,14 +723,6 @@ def check_network():

@check('RPi health')
 def check_rpi_health():
-    try:
-        import shutil
-        total, used, free = shutil.disk_usage('/')
-        if free < 1024 * 1024 * 1024:
-            failure('disk space is less than 1 GB; consider removing logs (~/.ros/log/)')
-    except Exception as e:
-        info('could not check the disk free space: %s', str(e))
-
    # `vcgencmd get_throttled` output codes taken from
    # https://github.com/raspberrypi/documentation/blob/JamesH65-patch-vcgencmd-vcdbg-docs/raspbian/applications/vcgencmd.md#get_throttled
    # TODO: support more base platforms?
@@ -922,9 +751,9 @@ def check_rpi_health():
        # <parameter>=<value>
        # In case of `get_throttled`, <value> is a hexadecimal number
        # with some of the FLAGs OR'ed together
-        output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
+        output = subprocess.check_output(['vcgencmd', 'get_throttled'])
    except OSError:
-        info('could not call vcgencmd binary; not a Raspberry Pi?')
+        failure('could not call vcgencmd binary; not a Raspberry Pi?')
        return

    throttle_mask = int(output.split('=')[1], base=16)
@@ -941,47 +770,26 @@ def check_board():
        info('could not open /proc/device-tree/model, not a Raspberry Pi?')


-def parallel_for(fns):
-    threads = []
-    for fn in fns:
-        thread = Thread(target=fn)
-        thread.start()
-        threads.append(thread)
-    for thread in threads:
-        thread.join()
-
-
-def consequentially_for(fns):
-    for fn in fns:
-        fn()
-
-
 def selfcheck():
-    checks = [
-        check_image,
-        check_board,
-        check_clover_service,
-        check_network,
-        check_fcu,
-        check_imu,
-        check_local_position,
-        check_velocity,
-        check_global_position,
-        check_preflight_status,
-        check_main_camera,
-        check_aruco,
-        check_simpleoffboard,
-        check_optical_flow,
-        check_vpe,
-        check_rangefinder,
-        check_rpi_health,
-        check_cpu_usage,
-        check_boot_duration,
-    ]
-    if rospy.get_param('~parallel', False):
-        parallel_for(checks)
-    else:
-        consequentially_for(checks)
+    check_image()
+    check_board()
+    check_clover_service()
+    check_network()
+    check_fcu()
+    check_imu()
+    check_local_position()
+    check_velocity()
+    check_global_position()
+    check_preflight_status()
+    check_main_camera()
+    check_aruco()
+    check_simpleoffboard()
+    check_optical_flow()
+    check_vpe()
+    check_rangefinder()
+    check_rpi_health()
+    check_cpu_usage()
+    check_boot_duration()


 if __name__ == '__main__':
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
--- a/clover/src/vpe_publisher.cpp
+++ b/clover/src/vpe_publisher.cpp
@@ -11,14 +11,12 @@

 #include <string>
 #include <ros/ros.h>
-#include <tf/transform_datatypes.h>
 #include <tf2/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <geometry_msgs/TransformStamped.h>
-#include <geometry_msgs/Quaternion.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 #include <std_srvs/Trigger.h>
@@ -27,7 +25,7 @@
 using std::string;
 using namespace geometry_msgs;

-bool reset_flag = true; // offset should be reset on the start
+bool reset_flag = false;
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;
@@ -35,14 +33,14 @@ ros::Subscriber local_position_sub;
 ros::Timer zero_timer;
 PoseStamped vpe, pose;
 ros::Time got_local_pos(0);
-ros::Duration publish_zero_timeout, publish_zero_duration, offset_timeout;
+ros::Duration publish_zero_timout, publish_zero_duration, offset_timeout;
 TransformStamped offset;

 void publishZero(const ros::TimerEvent& e)
 {
-	if (!vpe.header.stamp.isZero() && e.current_real - vpe.header.stamp < publish_zero_timeout) return; // have vpe
+	if (e.current_real - vpe.header.stamp < publish_zero_timout) return; // have vpe

-	if (!pose.header.stamp.isZero() && e.current_real - pose.header.stamp < publish_zero_timeout) { // have local position
+	if (e.current_real - pose.header.stamp < publish_zero_timout) { // have local position
 		if (got_local_pos.isZero()) {
 			ROS_INFO("got local position");
 			got_local_pos = e.current_real;
@@ -68,13 +66,6 @@ inline Pose getPose(const PoseStampedConstPtr& pose) { return pose->pose; }

 inline Pose getPose(const PoseWithCovarianceStampedConstPtr& pose) { return pose->pose.pose; }

-inline void keepYaw(Quaternion& quaternion)
-{
-	tf::Quaternion q;
-	q.setRPY(0, 0, tf::getYaw(quaternion));
-	tf::quaternionTFToMsg(q, quaternion);
-}
-
 template <typename T>
 void callback(const T& msg)
 {
@@ -97,29 +88,10 @@ void callback(const T& msg)
 		if (!offset_frame_id.empty()) {
 			if (reset_flag || msg->header.stamp - vpe.header.stamp > offset_timeout) {
 				// calculate the offset
-				if (!frame_id.empty()) {
-					// calculate from TF
-					offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
-					                                   msg->header.stamp, ros::Duration(0.02));
-					// offset.header.frame_id = vpe.header.frame_id;
-					offset.child_frame_id = offset_frame_id;
-
-				} else {
-					// calculate transform between pose in vpe frame and pose in local frame
-					TransformStamped local_pose = tf_buffer.lookupTransform(local_frame_id, child_frame_id,
-					                                                        msg->header.stamp, ros::Duration(0.02));
-					keepYaw(local_pose.transform.rotation);
-
-					tf::Transform vpeTransform, poseTransform;
-					tf::poseMsgToTF(vpe.pose, vpeTransform);
-					tf::transformMsgToTF(local_pose.transform, poseTransform);
-					tf::Transform offset_tf = vpeTransform.inverseTimes(poseTransform);
-					tf::transformTFToMsg(offset_tf, offset.transform);
-					offset.header.frame_id = local_frame_id;
-					offset.header.stamp = msg->header.stamp;
-					offset.child_frame_id = offset_frame_id;
-				}
-
+				offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
+				                                   msg->header.stamp, ros::Duration(0.02));
+				// offset.header.frame_id = vpe.header.frame_id;
+				offset.child_frame_id = offset_frame_id;
 				br.sendTransform(offset);
 				reset_flag = false;
 				ROS_INFO("offset reset");
@@ -150,11 +122,10 @@ int main(int argc, char **argv) {

 	tf2_ros::TransformListener tf_listener(tf_buffer);

-	nh_priv.param<string>("frame_id", frame_id, ""); // name for used visual pose frame
-	nh_priv.param<string>("offset_frame_id", offset_frame_id, ""); // name for published offset frame
-
-	nh.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
-	nh.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
+	nh_priv.param<string>("frame_id", frame_id, "");
+	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
+	nh_priv.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
+	nh_priv.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));

 	if (!frame_id.empty()) {
@@ -170,11 +141,11 @@ int main(int argc, char **argv) {
 	vpe_pub = nh_priv.advertise<PoseStamped>("vpe", 1);
 	//vpe_cov_pub = nh_priv_.advertise<PoseStamped>("pose_cov_pub", 1);

-	if (nh_priv.param("force_init", false) || nh_priv.param("publish_zero", false)) { // publish_zero is old name
+	if (nh_priv.param("publish_zero", false)) {
 		// publish zero to initialize the local position
 		zero_timer = nh.createTimer(ros::Duration(0.1), &publishZero);
-		publish_zero_timeout = ros::Duration(nh_priv.param("force_init_timeout", 5.0));
-		publish_zero_duration = ros::Duration(nh_priv.param("force_init_duration", 5.0));
+		publish_zero_timout = ros::Duration(nh_priv.param("publish_zero_timout", 5.0));
+		publish_zero_duration = ros::Duration(nh_priv.param("publish_zero_duration", 5.0));
 		local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
 	}

--- a/clover/src/www
+++ b/clover/src/www
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-
-export ROSWWW_DEFAULT=clover
-rosrun roswww_static update
--- a/Show More
+++ b/Show More