Fix editorconfig

selfcheck.py: fix known_vertical description
aruco_pose: document flip_vertical parameter
2026-05-31 23:19:32 +00:00 · 2022-11-11 14:57:18 +06:00 · 2022-11-11 06:22:54 +06:00 · 2022-11-11 06:00:18 +06:00 · 2022-11-11 05:59:02 +06:00 · 2022-11-11 05:58:49 +06:00
51 changed files with 683 additions and 1113 deletions
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -11,10 +11,6 @@ permissions:
  pages: write
  id-token: write

-concurrency:
-  group: "pages"
-  cancel-in-progress: true
-
 defaults:
  run:
    shell: bash
@@ -75,6 +71,9 @@ jobs:

  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 }}
--- a/aruco_pose/README.md
+++ b/aruco_pose/README.md
@@ -43,7 +43,8 @@ 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_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame
+* `~known_vertical` (*string*) – known vertical (Z axis) of all the markers as a frame
+* `~flip_vertical` – flip vertical vector

 ### Topics

@@ -71,7 +72,8 @@ 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_tilt` – known tilt (pitch and roll) of markers map as a frame
+* `~known_vertical` – known vertical (Z axis) of markers map as a frame
+* `~flip_vertical` – flip vertical vector
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)
--- a/aruco_pose/package.xml
+++ b/aruco_pose/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
  <name>aruco_pose</name>
  <version>0.23.0</version>
  <description>Positioning with ArUco markers</description>
@@ -28,6 +28,8 @@
  <depend>sensor_msgs</depend>
  <depend>rostest</depend>
  <depend>dynamic_reconfigure</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
@@ -71,11 +71,12 @@ private:
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
 	ros::ServiceServer set_markers_srv_;
-	bool estimate_poses_, send_tf_, auto_flip_;
+	bool estimate_poses_, send_tf_, flip_vertical_, auto_flip_, use_map_markers_;
+	bool waiting_for_map_;
 	double length_;
 	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
-	std::string frame_id_prefix_, known_tilt_;
+	std::string frame_id_prefix_, known_vertical_;
 	Mat camera_matrix_, dist_coeffs_;
 	aruco_pose::MarkerArray array_;
 	std::unordered_set<int> map_markers_ids_;
@@ -95,6 +96,8 @@ 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();
@@ -102,7 +105,8 @@ public:
 		readLengthOverride(nh_priv_);
 		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));

-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		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);
 		auto_flip_ = nh_priv_.param("auto_flip", false);

 		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
@@ -133,6 +137,7 @@ 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, "bgr8")->image;

@@ -140,7 +145,7 @@ private:
 		vector<vector<cv::Point2f>> corners, rejected;
 		vector<cv::Vec3d> rvecs, tvecs;
 		vector<cv::Point3f> obj_points;
-		geometry_msgs::TransformStamped snap_to;
+		geometry_msgs::TransformStamped vertical;

 		// Detect markers
 		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
@@ -175,12 +180,12 @@ private:
 					}
 				}

-				if (!known_tilt_.empty()) {
+				if (!known_vertical_.empty()) {
 					try {
-						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                      msg->header.stamp, transform_timeout_);
+						vertical = tf_buffer_->lookupTransform(msg->header.frame_id, known_vertical_,
+						                                       msg->header.stamp, transform_timeout_);
 					} catch (const tf2::TransformException& e) {
-						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
+						NODELET_WARN_THROTTLE(5, "can't retrieve known vertical: %s", e.what());
 					}
 				}
 			}
@@ -201,9 +206,9 @@ private:
 				if (estimate_poses_) {
 					fillPose(marker.pose, rvecs[i], tvecs[i]);

-					// 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_);
+					// 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_);
 					}

 					if (send_tf_) {
@@ -395,7 +400,13 @@ private:
 		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)
--- a/aruco_pose/src/aruco_map.cpp
+++ b/aruco_pose/src/aruco_map.cpp
@@ -81,9 +81,9 @@ private:
 	bool enabled_ = true;
 	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
-	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
+	std::string known_vertical_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool auto_flip_, image_axis_;
+	bool flip_vertical_, auto_flip_, image_axis_;

 public:
 	virtual void onInit()
@@ -104,7 +104,8 @@ public:

 		type_ = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		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);
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 		image_width_ = nh_priv_.param("image_width" , 2000);
 		image_height_ = nh_priv_.param("image_height", 2000);
@@ -177,7 +178,7 @@ public:
 			corners.push_back(marker_corners);
 		}

-		if (known_tilt_.empty()) {
+		if (known_vertical_.empty()) {
 			// simple estimation
 			valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
 			                                     rvec, tvec, false);
@@ -191,7 +192,7 @@ public:

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

@@ -203,11 +204,11 @@ public:

 			fillTransform(transform_.transform, rvec, tvec);
 			try {
-				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_);
+				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_);
 			} catch (const tf2::TransformException& e) {
-				NODELET_WARN_THROTTLE(1, "can't snap: %s", e.what());
+				NODELET_WARN_THROTTLE(1, "can't retrieve known vertical: %s", e.what());
 			}

 			geometry_msgs::TransformStamped shift;
@@ -503,7 +504,7 @@ publish_debug:
 		vis_marker.pose.position.x = x;
 		vis_marker.pose.position.y = y;
 		vis_marker.pose.position.z = z;
-		tf::quaternionTFToMsg(q, marker.pose.orientation);
+		tf::quaternionTFToMsg(q, vis_marker.pose.orientation);
 		vis_marker.frame_locked = true;
 		vis_array_.markers.push_back(vis_marker);

--- a/aruco_pose/src/utils.h
+++ b/aruco_pose/src/utils.h
@@ -106,26 +106,25 @@ inline bool isFlipped(tf::Quaternion& q)
 	return (abs(pitch) > M_PI / 2) || (abs(roll) > M_PI / 2);
 }

-/* 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)
+/* 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
 {
-	tf::Quaternion _from, _to;
-	tf::quaternionMsgToTF(from, _from);
-	tf::quaternionMsgToTF(to, _to);
+	tf::Quaternion _vertical, _orientation;
+	tf::quaternionMsgToTF(vertical, _vertical);
+	tf::quaternionMsgToTF(orientation, _orientation);

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

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

 inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)
--- 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
+from visualization_msgs.msg import MarkerArray as VisMarkerArray, Marker as VisMarker


@pytest.fixture
@@ -199,6 +199,36 @@ 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/builder/assets/noetic-bullseye.yaml
+++ b/builder/assets/noetic-bullseye.yaml
@@ -1,735 +0,0 @@
-catkin:
-  debian:
-    bullseye: [ros-noetic-catkin]
-genmsg:
-  debian:
-    bullseye: [ros-noetic-genmsg]
-gencpp:
-  debian:
-    bullseye: [ros-noetic-gencpp]
-geneus:
-  debian:
-    bullseye: [ros-noetic-geneus]
-genlisp:
-  debian:
-    bullseye: [ros-noetic-genlisp]
-gennodejs:
-  debian:
-    bullseye: [ros-noetic-gennodejs]
-genpy:
-  debian:
-    bullseye: [ros-noetic-genpy]
-bond_core:
-  debian:
-    bullseye: [ros-noetic-bond-core]
-cmake_modules:
-  debian:
-    bullseye: [ros-noetic-cmake-modules]
-class_loader:
-  debian:
-    bullseye: [ros-noetic-class-loader]
-common_msgs:
-  debian:
-    bullseye: [ros-noetic-common-msgs]
-common_tutorials:
-  debian:
-    bullseye: [ros-noetic-common-tutorials]
-cpp_common:
-  debian:
-    bullseye: [ros-noetic-cpp-common]
-desktop:
-  debian:
-    bullseye: [ros-noetic-desktop]
-diagnostics:
-  debian:
-    bullseye: [ros-noetic-diagnostics]
-executive_smach:
-  debian:
-    bullseye: [ros-noetic-executive-smach]
-geometry:
-  debian:
-    bullseye: [ros-noetic-geometry]
-geometry_tutorials:
-  debian:
-    bullseye: [ros-noetic-geometry-tutorials]
-gl_dependency:
-  debian:
-    bullseye: [ros-noetic-gl-dependency]
-image_common:
-  debian:
-    bullseye: [ros-noetic-image-common]
-image_pipeline:
-  debian:
-    bullseye: [ros-noetic-image-pipeline]
-image_transport_plugins:
-  debian:
-    bullseye: [ros-noetic-image-transport-plugins]
-laser_pipeline:
-  debian:
-    bullseye: [ros-noetic-laser-pipeline]
-mavlink:
-  debian:
-    bullseye: [ros-noetic-mavlink]
-media_export:
-  debian:
-    bullseye: [ros-noetic-media-export]
-message_generation:
-  debian:
-    bullseye: [ros-noetic-message-generation]
-message_runtime:
-  debian:
-    bullseye: [ros-noetic-message-runtime]
-mk:
-  debian:
-    bullseye: [ros-noetic-mk]
-nodelet_core:
-  debian:
-    bullseye: [ros-noetic-nodelet-core]
-orocos_kdl:
-  debian:
-    bullseye: [ros-noetic-orocos-kdl]
-perception:
-  debian:
-    bullseye: [ros-noetic-perception]
-perception_pcl:
-  debian:
-    bullseye: [ros-noetic-perception-pcl]
-python_orocos_kdl:
-  debian:
-    bullseye: [ros-noetic-python-orocos-kdl]
-qt_dotgraph:
-  debian:
-    bullseye: [ros-noetic-qt-dotgraph]
-qt_gui:
-  debian:
-    bullseye: [ros-noetic-qt-gui]
-qt_gui_py_common:
-  debian:
-    bullseye: [ros-noetic-qt-gui-py-common]
-qwt_dependency:
-  debian:
-    bullseye: [ros-noetic-qwt-dependency]
-robot:
-  debian:
-    bullseye: [ros-noetic-robot]
-ros:
-  debian:
-    bullseye: [ros-noetic-ros]
-ros_base:
-  debian:
-    bullseye: [ros-noetic-ros-base]
-ros_comm:
-  debian:
-    bullseye: [ros-noetic-ros-comm]
-ros_core:
-  debian:
-    bullseye: [ros-noetic-ros-core]
-ros_environment:
-  debian:
-    bullseye: [ros-noetic-ros-environment]
-ros_tutorials:
-  debian:
-    bullseye: [ros-noetic-ros-tutorials]
-rosapi:
-  debian:
-    bullseye: [ros-noetic-rosapi]
-rosbag_migration_rule:
-  debian:
-    bullseye: [ros-noetic-rosbag-migration-rule]
-rosbash:
-  debian:
-    bullseye: [ros-noetic-rosbash]
-rosboost_cfg:
-  debian:
-    bullseye: [ros-noetic-rosboost-cfg]
-rosbridge_server:
-  debian:
-    bullseye: [ros-noetic-rosbridge-server]
-rosbridge_suite:
-  debian:
-    bullseye: [ros-noetic-rosbridge-suite]
-rosbuild:
-  debian:
-    bullseye: [ros-noetic-rosbuild]
-rosclean:
-  debian:
-    bullseye: [ros-noetic-rosclean]
-roscpp_core:
-  debian:
-    bullseye: [ros-noetic-roscpp-core]
-roscpp_traits:
-  debian:
-    bullseye: [ros-noetic-roscpp-traits]
-roscreate:
-  debian:
-    bullseye: [ros-noetic-roscreate]
-rosgraph:
-  debian:
-    bullseye: [ros-noetic-rosgraph]
-roslang:
-  debian:
-    bullseye: [ros-noetic-roslang]
-roslint:
-  debian:
-    bullseye: [ros-noetic-roslint]
-roslisp:
-  debian:
-    bullseye: [ros-noetic-roslisp]
-rosmake:
-  debian:
-    bullseye: [ros-noetic-rosmake]
-rosmaster:
-  debian:
-    bullseye: [ros-noetic-rosmaster]
-rospack:
-  debian:
-    bullseye: [ros-noetic-rospack]
-roslib:
-  debian:
-    bullseye: [ros-noetic-roslib]
-rosparam:
-  debian:
-    bullseye: [ros-noetic-rosparam]
-rospy:
-  debian:
-    bullseye: [ros-noetic-rospy]
-rosserial:
-  debian:
-    bullseye: [ros-noetic-rosserial]
-rosserial_msgs:
-  debian:
-    bullseye: [ros-noetic-rosserial-msgs]
-rosserial_python:
-  debian:
-    bullseye: [ros-noetic-rosserial-python]
-rosservice:
-  debian:
-    bullseye: [ros-noetic-rosservice]
-rostime:
-  debian:
-    bullseye: [ros-noetic-rostime]
-roscpp_serialization:
-  debian:
-    bullseye: [ros-noetic-roscpp-serialization]
-python_qt_binding:
-  debian:
-    bullseye: [ros-noetic-python-qt-binding]
-roslaunch:
-  debian:
-    bullseye: [ros-noetic-roslaunch]
-rosunit:
-  debian:
-    bullseye: [ros-noetic-rosunit]
-angles:
-  debian:
-    bullseye: [ros-noetic-angles]
-libmavconn:
-  debian:
-    bullseye: [ros-noetic-libmavconn]
-rosconsole:
-  debian:
-    bullseye: [ros-noetic-rosconsole]
-pluginlib:
-  debian:
-    bullseye: [ros-noetic-pluginlib]
-qt_gui_cpp:
-  debian:
-    bullseye: [ros-noetic-qt-gui-cpp]
-resource_retriever:
-  debian:
-    bullseye: [ros-noetic-resource-retriever]
-rosconsole_bridge:
-  debian:
-    bullseye: [ros-noetic-rosconsole-bridge]
-roslz4:
-  debian:
-    bullseye: [ros-noetic-roslz4]
-rosserial_client:
-  debian:
-    bullseye: [ros-noetic-rosserial-client]
-rostest:
-  debian:
-    bullseye: [ros-noetic-rostest]
-rqt_action:
-  debian:
-    bullseye: [ros-noetic-rqt-action]
-rqt_bag:
-  debian:
-    bullseye: [ros-noetic-rqt-bag]
-rqt_bag_plugins:
-  debian:
-    bullseye: [ros-noetic-rqt-bag-plugins]
-rqt_common_plugins:
-  debian:
-    bullseye: [ros-noetic-rqt-common-plugins]
-rqt_console:
-  debian:
-    bullseye: [ros-noetic-rqt-console]
-rqt_dep:
-  debian:
-    bullseye: [ros-noetic-rqt-dep]
-rqt_graph:
-  debian:
-    bullseye: [ros-noetic-rqt-graph]
-rqt_gui:
-  debian:
-    bullseye: [ros-noetic-rqt-gui]
-rqt_logger_level:
-  debian:
-    bullseye: [ros-noetic-rqt-logger-level]
-rqt_moveit:
-  debian:
-    bullseye: [ros-noetic-rqt-moveit]
-rqt_msg:
-  debian:
-    bullseye: [ros-noetic-rqt-msg]
-rqt_nav_view:
-  debian:
-    bullseye: [ros-noetic-rqt-nav-view]
-rqt_plot:
-  debian:
-    bullseye: [ros-noetic-rqt-plot]
-rqt_pose_view:
-  debian:
-    bullseye: [ros-noetic-rqt-pose-view]
-rqt_publisher:
-  debian:
-    bullseye: [ros-noetic-rqt-publisher]
-rqt_py_console:
-  debian:
-    bullseye: [ros-noetic-rqt-py-console]
-rqt_reconfigure:
-  debian:
-    bullseye: [ros-noetic-rqt-reconfigure]
-rqt_robot_dashboard:
-  debian:
-    bullseye: [ros-noetic-rqt-robot-dashboard]
-rqt_robot_monitor:
-  debian:
-    bullseye: [ros-noetic-rqt-robot-monitor]
-rqt_robot_plugins:
-  debian:
-    bullseye: [ros-noetic-rqt-robot-plugins]
-rqt_robot_steering:
-  debian:
-    bullseye: [ros-noetic-rqt-robot-steering]
-rqt_runtime_monitor:
-  debian:
-    bullseye: [ros-noetic-rqt-runtime-monitor]
-rqt_service_caller:
-  debian:
-    bullseye: [ros-noetic-rqt-service-caller]
-rqt_shell:
-  debian:
-    bullseye: [ros-noetic-rqt-shell]
-rqt_srv:
-  debian:
-    bullseye: [ros-noetic-rqt-srv]
-rqt_tf_tree:
-  debian:
-    bullseye: [ros-noetic-rqt-tf-tree]
-rqt_top:
-  debian:
-    bullseye: [ros-noetic-rqt-top]
-rqt_topic:
-  debian:
-    bullseye: [ros-noetic-rqt-topic]
-rqt_web:
-  debian:
-    bullseye: [ros-noetic-rqt-web]
-smach:
-  debian:
-    bullseye: [ros-noetic-smach]
-smclib:
-  debian:
-    bullseye: [ros-noetic-smclib]
-std_msgs:
-  debian:
-    bullseye: [ros-noetic-std-msgs]
-actionlib_msgs:
-  debian:
-    bullseye: [ros-noetic-actionlib-msgs]
-bond:
-  debian:
-    bullseye: [ros-noetic-bond]
-diagnostic_msgs:
-  debian:
-    bullseye: [ros-noetic-diagnostic-msgs]
-geometry_msgs:
-  debian:
-    bullseye: [ros-noetic-geometry-msgs]
-eigen_conversions:
-  debian:
-    bullseye: [ros-noetic-eigen-conversions]
-kdl_conversions:
-  debian:
-    bullseye: [ros-noetic-kdl-conversions]
-nav_msgs:
-  debian:
-    bullseye: [ros-noetic-nav-msgs]
-rosbridge_msgs:
-  debian:
-    bullseye: [ros-noetic-rosbridge-msgs]
-rosgraph_msgs:
-  debian:
-    bullseye: [ros-noetic-rosgraph-msgs]
-rosmsg:
-  debian:
-    bullseye: [ros-noetic-rosmsg]
-rqt_py_common:
-  debian:
-    bullseye: [ros-noetic-rqt-py-common]
-shape_msgs:
-  debian:
-    bullseye: [ros-noetic-shape-msgs]
-smach_msgs:
-  debian:
-    bullseye: [ros-noetic-smach-msgs]
-std_srvs:
-  debian:
-    bullseye: [ros-noetic-std-srvs]
-tf2_msgs:
-  debian:
-    bullseye: [ros-noetic-tf2-msgs]
-tf2:
-  debian:
-    bullseye: [ros-noetic-tf2]
-tf2_eigen:
-  debian:
-    bullseye: [ros-noetic-tf2-eigen]
-trajectory_msgs:
-  debian:
-    bullseye: [ros-noetic-trajectory-msgs]
-control_msgs:
-  debian:
-    bullseye: [ros-noetic-control-msgs]
-urdf_parser_plugin:
-  debian:
-    bullseye: [ros-noetic-urdf-parser-plugin]
-urdfdom_py:
-  debian:
-    bullseye: [ros-noetic-urdfdom-py]
-uuid_msgs:
-  debian:
-    bullseye: [ros-noetic-uuid-msgs]
-geographic_msgs:
-  debian:
-    bullseye: [ros-noetic-geographic-msgs]
-vision_opencv:
-  debian:
-    bullseye: [ros-noetic-vision-opencv]
-visualization_msgs:
-  debian:
-    bullseye: [ros-noetic-visualization-msgs]
-visualization_tutorials:
-  debian:
-    bullseye: [ros-noetic-visualization-tutorials]
-viz:
-  debian:
-    bullseye: [ros-noetic-viz]
-webkit_dependency:
-  debian:
-    bullseye: [ros-noetic-webkit-dependency]
-xmlrpcpp:
-  debian:
-    bullseye: [ros-noetic-xmlrpcpp]
-roscpp:
-  debian:
-    bullseye: [ros-noetic-roscpp]
-bondcpp:
-  debian:
-    bullseye: [ros-noetic-bondcpp]
-bondpy:
-  debian:
-    bullseye: [ros-noetic-bondpy]
-nodelet:
-  debian:
-    bullseye: [ros-noetic-nodelet]
-nodelet_tutorial_math:
-  debian:
-    bullseye: [ros-noetic-nodelet-tutorial-math]
-pluginlib_tutorials:
-  debian:
-    bullseye: [ros-noetic-pluginlib-tutorials]
-roscpp_tutorials:
-  debian:
-    bullseye: [ros-noetic-roscpp-tutorials]
-rosout:
-  debian:
-    bullseye: [ros-noetic-rosout]
-async_web_server_cpp:
-  debian:
-    bullseye: [ros-noetic-async-web-server-cpp]
-camera_calibration:
-  debian:
-    bullseye: [ros-noetic-camera-calibration]
-diagnostic_aggregator:
-  debian:
-    bullseye: [ros-noetic-diagnostic-aggregator]
-diagnostic_updater:
-  debian:
-    bullseye: [ros-noetic-diagnostic-updater]
-diagnostic_common_diagnostics:
-  debian:
-    bullseye: [ros-noetic-diagnostic-common-diagnostics]
-dynamic_reconfigure:
-  debian:
-    bullseye: [ros-noetic-dynamic-reconfigure]
-filters:
-  debian:
-    bullseye: [ros-noetic-filters]
-joint_state_publisher:
-  debian:
-    bullseye: [ros-noetic-joint-state-publisher]
-message_filters:
-  debian:
-    bullseye: [ros-noetic-message-filters]
-ros_pytest:
-  debian:
-    bullseye: [ros-noetic-ros-pytest]
-rosauth:
-  debian:
-    bullseye: [ros-noetic-rosauth]
-rosbag_storage:
-  debian:
-    bullseye: [ros-noetic-rosbag-storage]
-rosnode:
-  debian:
-    bullseye: [ros-noetic-rosnode]
-rospy_tutorials:
-  debian:
-    bullseye: [ros-noetic-rospy-tutorials]
-rosshow:
-  debian:
-    bullseye: [ros-noetic-rosshow]
-rostopic:
-  debian:
-    bullseye: [ros-noetic-rostopic]
-rqt_gui_cpp:
-  debian:
-    bullseye: [ros-noetic-rqt-gui-cpp]
-rqt_gui_py:
-  debian:
-    bullseye: [ros-noetic-rqt-gui-py]
-self_test:
-  debian:
-    bullseye: [ros-noetic-self-test]
-smach_ros:
-  debian:
-    bullseye: [ros-noetic-smach-ros]
-tf2_py:
-  debian:
-    bullseye: [ros-noetic-tf2-py]
-topic_tools:
-  debian:
-    bullseye: [ros-noetic-topic-tools]
-rosbag:
-  debian:
-    bullseye: [ros-noetic-rosbag]
-actionlib:
-  debian:
-    bullseye: [ros-noetic-actionlib]
-actionlib_tutorials:
-  debian:
-    bullseye: [ros-noetic-actionlib-tutorials]
-diagnostic_analysis:
-  debian:
-    bullseye: [ros-noetic-diagnostic-analysis]
-nodelet_topic_tools:
-  debian:
-    bullseye: [ros-noetic-nodelet-topic-tools]
-roswtf:
-  debian:
-    bullseye: [ros-noetic-roswtf]
-rqt_launch:
-  debian:
-    bullseye: [ros-noetic-rqt-launch]
-sensor_msgs:
-  debian:
-    bullseye: [ros-noetic-sensor-msgs]
-camera_calibration_parsers:
-  debian:
-    bullseye: [ros-noetic-camera-calibration-parsers]
-cv_bridge:
-  debian:
-    bullseye: [ros-noetic-cv-bridge]
-image_geometry:
-  debian:
-    bullseye: [ros-noetic-image-geometry]
-image_transport:
-  debian:
-    bullseye: [ros-noetic-image-transport]
-camera_info_manager:
-  debian:
-    bullseye: [ros-noetic-camera-info-manager]
-compressed_depth_image_transport:
-  debian:
-    bullseye: [ros-noetic-compressed-depth-image-transport]
-compressed_image_transport:
-  debian:
-    bullseye: [ros-noetic-compressed-image-transport]
-cv_camera:
-  debian:
-    bullseye: [ros-noetic-cv-camera]
-image_proc:
-  debian:
-    bullseye: [ros-noetic-image-proc]
-image_publisher:
-  debian:
-    bullseye: [ros-noetic-image-publisher]
-map_msgs:
-  debian:
-    bullseye: [ros-noetic-map-msgs]
-mavros_msgs:
-  debian:
-    bullseye: [ros-noetic-mavros-msgs]
-pcl_msgs:
-  debian:
-    bullseye: [ros-noetic-pcl-msgs]
-pcl_conversions:
-  debian:
-    bullseye: [ros-noetic-pcl-conversions]
-polled_camera:
-  debian:
-    bullseye: [ros-noetic-polled-camera]
-rqt_image_view:
-  debian:
-    bullseye: [ros-noetic-rqt-image-view]
-stereo_msgs:
-  debian:
-    bullseye: [ros-noetic-stereo-msgs]
-image_view:
-  debian:
-    bullseye: [ros-noetic-image-view]
-rosbridge_library:
-  debian:
-    bullseye: [ros-noetic-rosbridge-library]
-stereo_image_proc:
-  debian:
-    bullseye: [ros-noetic-stereo-image-proc]
-tf2_ros:
-  debian:
-    bullseye: [ros-noetic-tf2-ros]
-depth_image_proc:
-  debian:
-    bullseye: [ros-noetic-depth-image-proc]
-mavros:
-  debian:
-    bullseye: [ros-noetic-mavros]
-tf:
-  debian:
-    bullseye: [ros-noetic-tf]
-interactive_markers:
-  debian:
-    bullseye: [ros-noetic-interactive-markers]
-interactive_marker_tutorials:
-  debian:
-    bullseye: [ros-noetic-interactive-marker-tutorials]
-laser_geometry:
-  debian:
-    bullseye: [ros-noetic-laser-geometry]
-laser_assembler:
-  debian:
-    bullseye: [ros-noetic-laser-assembler]
-laser_filters:
-  debian:
-    bullseye: [ros-noetic-laser-filters]
-pcl_ros:
-  debian:
-    bullseye: [ros-noetic-pcl-ros]
-tf2_geometry_msgs:
-  debian:
-    bullseye: [ros-noetic-tf2-geometry-msgs]
-image_rotate:
-  debian:
-    bullseye: [ros-noetic-image-rotate]
-tf2_kdl:
-  debian:
-    bullseye: [ros-noetic-tf2-kdl]
-tf2_web_republisher:
-  debian:
-    bullseye: [ros-noetic-tf2-web-republisher]
-tf_conversions:
-  debian:
-    bullseye: [ros-noetic-tf-conversions]
-theora_image_transport:
-  debian:
-    bullseye: [ros-noetic-theora-image-transport]
-turtlesim:
-  debian:
-    bullseye: [ros-noetic-turtlesim]
-turtle_actionlib:
-  debian:
-    bullseye: [ros-noetic-turtle-actionlib]
-turtle_tf:
-  debian:
-    bullseye: [ros-noetic-turtle-tf]
-turtle_tf2:
-  debian:
-    bullseye: [ros-noetic-turtle-tf2]
-urdf:
-  debian:
-    bullseye: [ros-noetic-urdf]
-kdl_parser:
-  debian:
-    bullseye: [ros-noetic-kdl-parser]
-kdl_parser_py:
-  debian:
-    bullseye: [ros-noetic-kdl-parser-py]
-mavros_extras:
-  debian:
-    bullseye: [ros-noetic-mavros-extras]
-robot_state_publisher:
-  debian:
-    bullseye: [ros-noetic-robot-state-publisher]
-rviz:
-  debian:
-    bullseye: [ros-noetic-rviz]
-librviz_tutorial:
-  debian:
-    bullseye: [ros-noetic-librviz-tutorial]
-rqt_rviz:
-  debian:
-    bullseye: [ros-noetic-rqt-rviz]
-rviz_plugin_tutorials:
-  debian:
-    bullseye: [ros-noetic-rviz-plugin-tutorials]
-rviz_python_tutorial:
-  debian:
-    bullseye: [ros-noetic-rviz-python-tutorial]
-urdf_tutorial:
-  debian:
-    bullseye: [ros-noetic-urdf-tutorial]
-usb_cam:
-  debian:
-    bullseye: [ros-noetic-usb-cam]
-visualization_marker_tutorials:
-  debian:
-    bullseye: [ros-noetic-visualization-marker-tutorials]
-vl53l1x:
-  debian:
-    bullseye: [ros-noetic-vl53l1x]
-web_video_server:
-  debian:
-    bullseye: [ros-noetic-web-video-server]
-xacro:
-  debian:
-    bullseye: [ros-noetic-xacro]
-led_msgs:
-  debian:
-    bullseye: [ros-noetic-led-msgs]
-ws281x:
-  debian:
-    bullseye: [ros-noetic-ws281x]
-ddynamic_reconfigure:
-  debian:
-    bullseye: [ros-noetic-ddynamic-reconfigure]
-librealsense2:
-  debian:
-    bullseye: [ros-noetic-librealsense2]
-realsense2_camera:
-  debian:
-    bullseye: [ros-noetic-realsense2-camera]
-realsense2_description:
-  debian:
-    bullseye: [ros-noetic-realsense2-description]
--- a/builder/image-build-ros.sh
+++ b/builder/image-build-ros.sh
@@ -1,100 +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 $VERSION_CODENAME to Debian release code name
-export ROS_OS_OVERRIDE=debian:11:$VERSION_CODENAME
-
-echo "=== Building ROS from scratch"
-
-#echo "--- Adding sources"
-#echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
-#curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-
-apt-get update
-apt-get install -y python3-distutils python3-rosdep python3-rosinstall-generator build-essential git # python3-vcstool
-
-# install vcstool using pip
-curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py && python3 get-pip.py && rm get-pip.py
-pip3 install -U vcstool
-
-# sudo rosdep init
-rm /etc/ros/rosdep/sources.list.d/20-default.list
-rosdep init
-rosdep update
-
-# rm /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init
-# rosdep --os=debian:$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 --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 $ROS_DISTRO -y --os=debian:$VERSION_CODENAME --skip-keys="python3-catkin-pkg python3-catkin-pkg-modules python3-rosdep-modules"
-
-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 bullseye dependencies
-echo "yaml file:///etc/ros/rosdep/noetic-bullseye.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
@@ -16,7 +16,7 @@
 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-2023-12-11/2023-12-11-raspios-bookworm-armhf-lite.img.xz"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-05-28/2021-05-07-raspios-buster-armhf-lite.zip"

 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -104,7 +104,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
 ${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 ${SCRIPTS_DIR}'/image-software.sh'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -113,14 +113,13 @@ ${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 ${SCRIPTS_DIR}'/assets/noetic-bullseye.yaml' '/etc/ros/rosdep/'
+${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/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 ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add rename script
-#${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-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'

 ${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -151,6 +151,9 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws

+echo_stamp "Update www"
+sudo -u pi sh -c ". devel/setup.sh && rosrun clover www"
+
 echo_stamp "Make \$HOME/examples symlink"
 ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples
--- a/builder/test/tests.py
+++ b/builder/test/tests.py
@@ -2,6 +2,7 @@

 # validate all required modules installed

+import os
 import rospy
 from geometry_msgs.msg import PoseStamped
 from sensor_msgs.msg import Range, BatteryState
@@ -22,6 +23,7 @@ from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetV
 from led_msgs.srv import SetLEDs
 from led_msgs.msg import LEDStateArray, LEDState
 from aruco_pose.msg import Marker, MarkerArray, Point2D
+from clover import long_callback

 import dynamic_reconfigure.client

@@ -31,9 +33,12 @@ import tf2_geometry_msgs
 import VL53L1X
 import pymavlink
 from pymavlink import mavutil
-import rpi_ws281x
-import pigpio
 # from espeak import espeak
 from pyzbar import pyzbar
+import docopt

 print(cv2.getBuildInformation())
+
+if not os.environ.get('VM'):
+    import rpi_ws281x
+    import pigpio
--- a/builder/test/tests.sh
+++ b/builder/test/tests.sh
@@ -6,16 +6,10 @@ set -ex

 # 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

@@ -25,42 +19,77 @@ lsof -v
 git --version
 vim --version
 pip --version
-pip2 --version
 pip3 --version
 tcpdump --version
 monkey --version
-pigpiod -v
-i2cdetect -V
-butterfly -h
 # espeak --version
-mjpg_streamer --version
 systemctl --version

+if [ -z $VM ]; then
+	# rpi only software
+	python --version
+	ipython --version
+	pip2 --version
+	# `python` is python2 for now
+	[[ $(python -c 'import sys;print(sys.version_info.major)') == "2" ]]
+
+	# ptvsd does not have a stand-alone binary
+	python -m ptvsd --version
+	python3 -m ptvsd --version
+
+	pigpiod -v
+	i2cdetect -V
+	butterfly -h
+	mjpg_streamer --version
+fi
+
 # ros stuff

 roscore -h
 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 compressed_image_transport
-rosversion rosbridge_suite
-rosversion rosserial
+rosversion rosbridge_server
 rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
-rosversion rosshow
 rosversion nodelet
 rosversion image_view

-# validate some versions
-[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
 [[ $(rosversion ws281x) == "0.0.13" ]]

+if [ -z $VM ]; then
+	rosversion compressed_image_transport
+	rosversion rosshow
+	rosversion vl53l1x
+	rosversion rosserial
+	[[ $(rosversion cv_camera) == "0.5.1" ]] # 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
+
 # validate examples are present
-[[ $(ls /home/pi/examples/*) ]]
+[[ $(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" ]
--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -53,7 +53,7 @@ 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 ##
--- a/clover/examples/camera.py
+++ b/clover/examples/camera.py
@@ -0,0 +1,64 @@
+# 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/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -18,8 +18,9 @@
        <remap from="map_markers" to="aruco_map/map"/>
        <param name="estimate_poses" value="true"/>
        <param name="send_tf" value="true"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="use_map_markers" value="true"/>
+        <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="$(arg length)"/>
        <param name="transform_timeout" value="0.1"/>
        <!-- aruco detector parameters -->
@@ -35,8 +36,8 @@
        <remap from="camera_info" to="main_camera/camera_info"/>
        <remap from="markers" to="aruco_detect/markers"/>
        <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
+        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
        <param name="image_axis" value="true"/>
        <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
        <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -45,10 +45,9 @@
        <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="false"/>
    </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/main_camera_optical" value="map"/>
@@ -86,8 +85,4 @@
        <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/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -4,6 +4,8 @@
    <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="device" default="/dev/video0"/> <!-- v4l2 device -->
+    <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
+    <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
    <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"/>
@@ -43,4 +45,8 @@
    <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)"/>
 </launch>
--- a/clover/package.xml
+++ b/clover/package.xml
@@ -43,8 +43,7 @@
  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
  <depend>dynamic_reconfigure</depend>
  <exec_depend>python-pymavlink</exec_depend>
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
+  <test_depend>ros_pytest</test_depend>

  <!-- The export tag contains other, unspecified, tags -->
  <export>
--- a/clover/requirements.txt
+++ b/clover/requirements.txt
@@ -1,5 +1,4 @@
 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
@@ -0,0 +1,11 @@
+## ! 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
@@ -13,7 +13,12 @@ from util import handle_response

 rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c

-flow_client = dynamic_reconfigure.client.Client('optical_flow')
+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))
@@ -67,12 +72,13 @@ 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()

-input('Disable optical flow and keep hovering [enter] ')
-flow_client.update_configuration({'enabled': False})
-rospy.sleep(5)
+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('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')
--- a/clover/src/clover/init.py
+++ b/clover/src/clover/init.py
@@ -0,0 +1,35 @@
+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
@@ -319,8 +319,8 @@ int main(int argc, char **argv)

 	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
@@ -25,6 +25,7 @@
 #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>
@@ -57,6 +58,9 @@ private:
 	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()
@@ -87,6 +91,11 @@ private:

 		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;

@@ -121,6 +130,12 @@ private:
 	{
 		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;
@@ -236,6 +251,14 @@ 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) {
@@ -248,14 +271,6 @@ 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);
 		}
 	}

@@ -284,6 +299,10 @@ publish_debug:
 			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/selfcheck.py
+++ b/clover/src/selfcheck.py
@@ -9,13 +9,14 @@
 # The above copyright notice and this permission notice shall be included in all
 # copies or substantial portions of the Software.

-import os
+import os, sys
 import math
 import subprocess
 import re
 from collections import OrderedDict
 import traceback
-from threading import Event
+import threading
+from threading import Event, Thread, Lock
 import numpy
 import rospy
 import tf2_ros
@@ -27,24 +28,16 @@ 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']='[${severity}]: ${message}'
+os.environ['ROSCONSOLE_FORMAT']='${message}'

 # use user's locale to convert numbers, etc
 locale.setlocale(locale.LC_ALL, '')
@@ -53,46 +46,68 @@ tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)


-failures = []
-infos = []
-current_check = None
+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 = ''


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


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


 def check(name):
    def inner(fn):
        def wrapper(*args, **kwargs):
-            failures[:] = []
-            infos[:] = []
-            global current_check
-            current_check = name
+            start = rospy.get_time()
+            thread_local.reports = []
            try:
                fn(*args, **kwargs)
            except Exception as e:
                traceback.print_exc()
                rospy.logerr('%s: exception occurred', name)
-                return
-            if not failures and not infos:
-                rospy.loginfo('%s: OK', 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 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):
+def get_param(name, default=None):
    try:
        res = param_get(param_id=name)
    except rospy.ServiceException as e:
@@ -101,12 +116,17 @@ def get_param(name):

    if not res.success:
        failure('unable to retrieve PX4 parameter %s', name)
+        return default
    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)
@@ -151,6 +171,24 @@ 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°',
@@ -196,29 +234,31 @@ 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

-        clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
-        clover_fw = False
+        if not is_process_running('px4', exact=True): # can't use px4 console in SITL
+            clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
+            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')

-        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: '):])
+            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 clover_fw:
+                info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')

        est = get_param('SYS_MC_EST_GROUP')
        if est == 1:
@@ -255,21 +295,29 @@ 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]
+                    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:
-            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')
+            info('time sync offset: %.2f s', float(read_diagnostics('mavros: Time Sync', 'Estimated time offset (s)')))
+        except:
+            failure('cannot read time sync offset')

    except rospy.ROSException:
        failure('no MAVROS state (check wiring)')
+        info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))


 def describe_direction(v):
@@ -346,19 +394,24 @@ 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_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)
+        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)
        try:
-            rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
+            markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
        except rospy.ROSException:
            failure('no markers detection')
            return
@@ -367,42 +420,61 @@ def check_aruco():
        return

    if is_process_running('aruco_map', full=True):
-        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)
+        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)

        try:
-            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=1)
+            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)
            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=1)
+            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=0.8)
        except rospy.ROSException:
-            failure('no map detection')
+            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')
    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=1)
+        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=0.8)
    except rospy.ROSException:
        try:
-            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
+            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=0.8)
        except rospy.ROSException:
-            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
+            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')

    # check PX4 settings
    est = get_param('SYS_MC_EST_GROUP')
@@ -414,14 +486,14 @@ 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: %.2f', vision_yaw_w)
+            info('vision yaw weight: %s', ff(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 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'))
+            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'))
    elif est == 2:
        fuse = get_param('EKF2_AID_MASK')
        if not fuse & (1 << 3):
@@ -430,10 +502,10 @@ def check_vpe():
            failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
        delay = get_param('EKF2_EV_DELAY')
        if delay != 0:
-            failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
-        info('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
-            get_param('EKF2_EVA_NOISE'),
-            get_param('EKF2_EVP_NOISE'))
+            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))

    if not vis:
        return
@@ -531,15 +603,19 @@ def check_velocity():
@check('Global position (GPS)')
 def check_global_position():
    try:
-        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
+        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
    except rospy.ROSException:
        info('no global position')
-        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK') & (1 << 0)):
+        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK', 0) & (1 << 0)):
            failure('enabled GPS fusion may suppress vision position aiding')


@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)
@@ -547,7 +623,7 @@ def check_optical_flow():
        # check PX4 settings
        rot = get_param('SENS_FLOW_ROT')
        if rot != 0:
-            failure('SENS_FLOW_ROT parameter is %s, but it should be zero', rot)
+            failure('SENS_FLOW_ROT = %s, but it should be zero', rot)
        est = get_param('SYS_MC_EST_GROUP')
        if est == 1:
            fuse = get_param('LPE_FUSION')
@@ -555,32 +631,36 @@ def check_optical_flow():
                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')
+            scale = get_param('LPE_FLW_SCALE', 1)
            if not numpy.isclose(scale, 1.0):
-                failure('LPE_FLW_SCALE parameter is %.2f, but it should be 1.0', scale)
+                failure('LPE_FLW_SCALE = %.2f, but it should be 1.0', scale)

-            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'))
+            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))
        elif est == 2:
-            fuse = get_param('EKF2_AID_MASK')
+            fuse = 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')
+            delay = get_param('EKF2_OF_DELAY', 0)
            if delay != 0:
-                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'))
+                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))

    except rospy.ROSException:
-        failure('no optical flow data (from Raspberry)')
+        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')


@check('Rangefinder')
@@ -604,7 +684,7 @@ def check_rangefinder():

    est = get_param('SYS_MC_EST_GROUP')
    if est == 1:
-        fuse = get_param('LPE_FUSION')
+        fuse = get_param('LPE_FUSION', 0)
        if not fuse & (1 << 5):
            info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
        else:
@@ -638,7 +718,7 @@ def check_boot_duration():

@check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet', 'gzclient', 'gzserver'
+    WHITELIST = 'nodelet', 'gzclient', 'gzserver', 'selfcheck.py'
    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()
    processes = output.split('\n')
@@ -707,7 +787,10 @@ def check_image():
    try:
        info('version: %s', open('/etc/clover_version').read().strip())
    except IOError:
-        info('no /etc/clover_version file, not the Clover image?')
+        try:
+            info('VM version: %s', open('/etc/clover_vm_version').read().strip())
+        except IOError:
+            info('no /etc/clover_version file, not the Clover image?')


@check('Preflight status')
@@ -818,26 +901,47 @@ 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():
-    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()
+    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)


 if __name__ == '__main__':
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
@@ -860,6 +860,13 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 	return false;
 }

+bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
+{
+	setpoint_timer.stop();
+	res.success = true;
+	return true;
+}
+
 int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "simple_offboard");
@@ -933,6 +940,7 @@ int main(int argc, char **argv)
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
 	auto sr_serv = nh.advertiseService("set_rates", &setRates);
 	auto ld_serv = nh.advertiseService("land", &land);
+	auto rl_serv = nh_priv.advertiseService("release", &release);

 	// Setpoint timer
 	setpoint_timer = nh.createTimer(ros::Duration(1 / nh_priv.param("setpoint_rate", 30.0)), &publishSetpoint, false, false);
--- a/clover/src/vpe_publisher.cpp
+++ b/clover/src/vpe_publisher.cpp
@@ -25,7 +25,7 @@
 using std::string;
 using namespace geometry_msgs;

-bool reset_flag = false;
+bool reset_flag = true; // offset should be reset on the start
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;
--- a/clover/src/www
+++ b/clover/src/www
@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+
+export ROSWWW_DEFAULT=clover
+rosrun roswww_static update
--- a/clover/test/basic.py
+++ b/clover/test/basic.py
@@ -3,6 +3,7 @@ import rospy
 import pytest
 from mavros_msgs.msg import State
 from clover import srv
+import time

@pytest.fixture()
 def node():
@@ -24,6 +25,7 @@ def test_simple_offboard_services_available():
    rospy.wait_for_service('set_attitude', timeout=5)
    rospy.wait_for_service('set_rates', timeout=5)
    rospy.wait_for_service('land', timeout=5)
+    rospy.wait_for_service('simple_offboard/release', timeout=5)

 def test_web_video_server(node):
    try:
@@ -59,3 +61,18 @@ def test_blocks(node):

    t.join()
    assert wait_print.result == 'test'
+
+def test_long_callback():
+    from clover import long_callback
+    from time import sleep
+
+    # very basic test for long_callback
+    @long_callback
+    def cb(i):
+        cb.counter += i
+    cb.counter = 0
+    cb(2)
+    sleep(0.1)
+    cb(3)
+    sleep(1)
+    assert cb.counter == 5
--- a/clover/test/basic.test
+++ b/clover/test/basic.test
@@ -37,6 +37,9 @@

    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>

+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw 5.0 image_raw_throttled" required="true"/>
+
    <param name="test_module" value="$(find clover)/test/basic.py"/>
    <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>
--- a/clover_description/urdf/sensors/distance_sensor.urdf.xacro
+++ b/clover_description/urdf/sensors/distance_sensor.urdf.xacro
@@ -2,7 +2,7 @@
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="../camera_sensor.urdf.xacro"/>

-  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10">
+  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10 fov:=0.471239">
    <joint name="${name}_joint" type="fixed">
      <origin xyz="${x} ${y} ${z}"
              rpy="${roll} ${pitch} ${yaw}"/>
@@ -58,7 +58,7 @@
          <topicName>/rangefinder/range</topicName>
          <frameName>rangefinder</frameName>
          <radiation>infrared</radiation>
-          <fov>0.01</fov>
+          <fov>${fov}</fov>
          <gaussianNoise>0.001</gaussianNoise>
          <updateRate>${rate}</updateRate>
          <min_distance>${range_min}</min_distance>
--- a/clover_simulation/package.xml
+++ b/clover_simulation/package.xml
@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
    <name>clover_simulation</name>
    <version>0.23.0</version>
    <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
@@ -22,6 +22,8 @@
    <depend>gazebo_ros</depend>
    <depend>gazebo_plugins</depend>
    <depend>rospy</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>

    <export>
        <gazebo_ros gazebo_media_path="${prefix}"/>
--- a/clover_simulation/src/sim_leds.cpp
+++ b/clover_simulation/src/sim_leds.cpp
@@ -65,7 +65,8 @@ public:
 		}

 		role = (ros::this_node::getName() == "/gazebo") ? Role::Server : Role::Client;
-		ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s)", role == Role::Client ? "client" : "server");
+		ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s) in namespace '%s'",
+			role == Role::Client ? "client" : "server", robotNamespace.c_str());

 		nh.reset(new ros::NodeHandle(robotNamespace));

@@ -109,7 +110,6 @@ LedController& get(std::string robotNamespace)
 	std::lock_guard<std::mutex> lock(controllerMutex);
 	auto it = controllers.find(robotNamespace);
 	if (it == controllers.end()) {
-		gzwarn << "Creating new LED controller for namespace " << robotNamespace << "\n";
 		controllers[robotNamespace].reset(new LedController(robotNamespace));
 		return *controllers[robotNamespace];
 	}
--- a/docs/en/camera.md
+++ b/docs/en/camera.md
@@ -145,6 +145,8 @@ rospy.spin()

 The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):

+> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
+
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
--- a/docs/en/educational_contests.md
+++ b/docs/en/educational_contests.md
@@ -20,7 +20,7 @@ The main goal of the contest is aerial robotics popularization  and community de
 * Third parties can provide technical support for recording a lecture.
 * The status of the participant is unlimited (student, representative of a general education institution, representative of the industry, amateur).

-Applications deadline: September 1, 2022.
+Applications deadline: November 30, 2022.

 ### How to apply?

@@ -64,7 +64,7 @@ The main goal of the contest is aerial robotics popularization  and community de

 The application to the contest is performed via the [Google Form](https://docs.google.com/forms/d/e/1FAIpQLSdelVy6yQ1iN6u88KeiEIKGj7gGaM0xccSt2tiYKB46ICmjkQ/viewform).

-Applications deadline: September 1, 2022.
+Applications deadline: November 30, 2022.

 ### Prizes

@@ -105,7 +105,7 @@ The course is evaluated according to a separate, publicly available lesson submi

 The application to the contest is performed via the [Google Form](https://docs.google.com/forms/d/e/1FAIpQLSdf2Q68X4hPnFE9f3EP95AxPNnzHKqIsFHtTRT6EBKiH93wzg/viewform) where the link to the video course should be attached.

-Applications deadline: September 1, 2022.
+Applications deadline: November 30, 2022.

 ### Prizes

--- a/docs/en/simple_offboard.md
+++ b/docs/en/simple_offboard.md
@@ -103,7 +103,7 @@ Parameters:
 * `yaw_rate` – angular yaw velocity (will be used if yaw is set to `NaN`) *(rad/s)*;
 * `speed` – flight speed (setpoint speed) *(m/s)*;
 * `auto_arm` – switch the drone to `OFFBOARD` mode and arm automatically (**the drone will take off**);
-* `frame_id` – [coordinate system](frames.md) for values `x`, `y`, `z`, `vx`, `vy`, `vz`. Example: `map`, `body`, `aruco_map`. Default value: `map`.
+* `frame_id` – [coordinate system](frames.md) for values `x`, `y`, `z` and `yaw`. Example: `map`, `body`, `aruco_map`. Default value: `map`.

 > **Note** If you don't want to change your current yaw set the `yaw` parameter to `NaN` (angular velocity by default is 0).

@@ -305,6 +305,16 @@ rosservice call /land "{}"

 > **Caution** In recent PX4 versions, the vehicle will be switched out of LAND mode to manual mode, if the remote control sticks are moved significantly.

+### release
+
+If it's necessary to pause sending setpoint messages, use the `simple_offboard/release` service:
+
+```python
+release = rospy.ServiceProxy('simple_offboard/release', Trigger)
+
+release()
+```
+
 ## Additional materials

 * [ArUco-based position estimation and navigation](aruco.md).
--- a/docs/en/simulation_native.md
+++ b/docs/en/simulation_native.md
@@ -147,6 +147,8 @@ sudo systemctl enable roscore
 sudo systemctl start roscore
 ```

+### Web tools setup
+
 Install any web server to serve Clover's web tools (`~/.ros/www` directory), e. g. Monkey:

 ```bash
@@ -158,3 +160,11 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system
 sudo systemctl enable monkey
 sudo systemctl start monkey
 ```
+
+Create `~/.ros/www` using the following command:
+
+```bash
+rosrun clover www
+```
+
+If the set of packages containing a web part (through `www` directory) is changed, the above command also must be run.
--- a/docs/en/snippets.md
+++ b/docs/en/snippets.md
@@ -207,9 +207,9 @@ def pose_update(pose):
    # Processing new data of copter's position
    pass

-rospy.Subscriber('/mavros/local_position/pose', PoseStamped, pose_update)
-rospy.Subscriber('/mavros/local_position/velocity', TwistStamped, velocity_update)
-rospy.Subscriber('/mavros/battery', BatteryState, battery_update)
+rospy.Subscriber('mavros/local_position/pose', PoseStamped, pose_update)
+rospy.Subscriber('mavros/local_position/velocity', TwistStamped, velocity_update)
+rospy.Subscriber('mavros/battery', BatteryState, battery_update)
 rospy.Subscriber('mavros/rc/in', RCIn, rc_callback)

 rospy.spin()
@@ -349,7 +349,7 @@ from pymavlink import mavutil
 from mavros_msgs.srv import CommandLong
 from mavros_msgs.msg import State

-send_command = rospy.ServiceProxy('/mavros/cmd/command', CommandLong)
+send_command = rospy.ServiceProxy('mavros/cmd/command', CommandLong)

 def calibrate_gyro():
    rospy.loginfo('Calibrate gyro')
@@ -480,3 +480,11 @@ param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
 # Set parameter of type FLOAT:
 param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
 ```
+
+### # {#is-simulation}
+
+Check, if the code is running inside a [Gazebo simulation](simulation.md):
+
+```python
+is_simulation = rospy.get_param('/use_sim_time', False)
+```
--- a/docs/en/wall_aruco.md
+++ b/docs/en/wall_aruco.md
@@ -49,10 +49,10 @@ If you are using the marker map, where the markers have equal distances along th

 After you fill out the map, you need to apply it. To do it, edit the file `aruco.launch`, located in `~/catkin_ws/src/clover/clover/launch/`. Change the line `<param name="map" value="$(find aruco_pose)/map/map_name.txt"/>`, where `map_name.txt` is the name of your map file.

-If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must disable the parameter `known_tilt` both in the module `aruco_detect` and `aruco_map` in the same file. To do it automatically, enter:
+If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must blank the `placement` argument in the same file:

-```bash
-sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch
+```xml
+<arg name="placement" default=""/>
 ```

 After all the settings, call `sudo systemctl restart clover` to restart the `clover` service.
--- a/docs/ru/camera.md
+++ b/docs/ru/camera.md
@@ -147,6 +147,8 @@ rospy.spin()

 Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`):

+> **Note** Начиная с версии [образа](image.md) **0.24** топик `image_raw_throttled` доступен без дополнительной конфигурации.
+
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
--- a/docs/ru/educational_contests.md
+++ b/docs/ru/educational_contests.md
@@ -26,7 +26,7 @@

 Прием заявок осуществляется через [Google Форму](https://docs.google.com/forms/d/e/1FAIpQLScE2kN5dO2OYNSM8hOYzOa5Qvh2uDdd9Fjx8OnL1W93bfEBgw/viewform).

-Дедлайн подачи заявок: 1 сентября 2022 года.
+Дедлайн подачи заявок: 30 ноября 2022 года.

 ### Призы

@@ -64,7 +64,7 @@

 Прием заявок осуществляется через [Google Форму](https://docs.google.com/forms/d/e/1FAIpQLSdelVy6yQ1iN6u88KeiEIKGj7gGaM0xccSt2tiYKB46ICmjkQ/viewform).

-Дедлайн подачи заявок: 1 сентября 2022 года.
+Дедлайн подачи заявок: 30 ноября 2022 года.

 ### Призы

@@ -106,7 +106,7 @@

 Прием заявок осуществляется через [Google Форму](https://docs.google.com/forms/d/e/1FAIpQLSdf2Q68X4hPnFE9f3EP95AxPNnzHKqIsFHtTRT6EBKiH93wzg/viewform).

-Дедлайн подачи заявок: 1 сентября 2022 года
+Дедлайн подачи заявок: 30 ноября 2022 года

 ### Призы

--- a/docs/ru/simple_offboard.md
+++ b/docs/ru/simple_offboard.md
@@ -305,6 +305,16 @@ rosservice call /land "{}"

 > **Caution** В более новых версиях PX4 коптер выйдет из режима LAND в ручной режим, если сильно перемещать стики.

+### release
+
+В случае необходимости приостановки отправки setpoint-сообщений, используйте сервис `simple_offboard/release`:
+
+```python
+release = rospy.ServiceProxy('simple_offboard/release', Trigger)
+
+release()
+```
+
 ## Дополнительные материалы

 * [Полеты в поле ArUco-маркеров](aruco.md).
--- a/docs/ru/simulation_native.md
+++ b/docs/ru/simulation_native.md
@@ -147,6 +147,8 @@ sudo systemctl enable roscore
 sudo systemctl start roscore
 ```

+### Конфигурация веб-инструментов
+
 Установите любой веб-сервер, чтобы раздавать веб-инструменты Клевера (директория `~/.ros/www`), например, Monkey:

 ```bash
@@ -158,3 +160,11 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system
 sudo systemctl enable monkey
 sudo systemctl start monkey
 ```
+
+Создайте директорию `~/.ros/www` следующей командой:
+
+```bash
+rosrun clover www
+```
+
+При обновлении набора пакетов, содержащих веб-часть (через каталог `www`), также необходимо выполнение данной команды.
--- a/docs/ru/snippets.md
+++ b/docs/ru/snippets.md
@@ -217,9 +217,9 @@ def pose_update(pose):
    # Обработка новых данных о позиции коптера
    pass

-rospy.Subscriber('/mavros/local_position/pose', PoseStamped, pose_update)
-rospy.Subscriber('/mavros/local_position/velocity', TwistStamped, velocity_update)
-rospy.Subscriber('/mavros/battery', BatteryState, battery_update)
+rospy.Subscriber('mavros/local_position/pose', PoseStamped, pose_update)
+rospy.Subscriber('mavros/local_position/velocity', TwistStamped, velocity_update)
+rospy.Subscriber('mavros/battery', BatteryState, battery_update)
 rospy.Subscriber('mavros/rc/in', RCIn, rc_callback)

 rospy.spin()
@@ -360,7 +360,7 @@ from pymavlink import mavutil
 from mavros_msgs.srv import CommandLong
 from mavros_msgs.msg import State

-send_command = rospy.ServiceProxy('/mavros/cmd/command', CommandLong)
+send_command = rospy.ServiceProxy('mavros/cmd/command', CommandLong)

 def calibrate_gyro():
    rospy.loginfo('Calibrate gyro')
@@ -491,3 +491,11 @@ param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
 # Изменить параметр типа FLOAT:
 param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
 ```
+
+### # {#is-simulation}
+
+Проверить, что код запущен в [симуляции Gazebo](simulation.md):
+
+```python
+is_simulation = rospy.get_param('/use_sim_time', False)
+```
--- a/docs/ru/wall_aruco.md
+++ b/docs/ru/wall_aruco.md
@@ -51,10 +51,10 @@ sed -i "/direction_y/s/default=\".*\"/default=\"\"/" /home/pi/catkin_ws/src/clov

 После того, как вы заполните карту, необходимо применить ее — для этого отредактируйте файл `aruco.launch`, расположенный в `~/catkin_ws/src/clover/clover/launch/`. Измените в нем строку `<param name="map" value="$(find aruco_pose)/map/map_name.txt"/>`, где `map_name.txt` название вашего файла с картой.

-При использовании маркеров,  не привязанных к горизонтальным плоскостям(пол, потолок), необходимо отключить параметр `known_tilt` как в модуле `aruco_detect`, так и в модуле `aruco_map` в том же файле. Для того, чтобы сделать это автоматически, введите:
+При использовании маркеров, не привязанных к горизонтальным плоскостям (пол, потолок), необходимо также сделать пустым значение аргумента `placement` в том же файле:

-```bash
-sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch
+```xml
+<arg name="placement" default=""/>
 ```

 После всех настроек вызовите `sudo systemctl restart clover` для перезагрузки сервиса `clover`.
--- a/redirects.json
+++ b/redirects.json
@@ -35,7 +35,7 @@
        { "from": "snippets.html", "to": "ru/snippets.html" },
        { "from": "camera_frame.html", "to": "ru/camera_setup.html" },
        { "from": "ru/camera_frame.html", "to": "camera_setup.html" },
-        { "from": "camera.html", "to": "ru/camera.html" },
+        { "from": "camera.html", "to": "en/camera.html" },
        { "from": "led.html", "to": "en/leds.html" },
        { "from": "leds.html", "to": "ru/leds.html" },
        { "from": "rviz.html", "to": "ru/rviz.html" },
@@ -51,7 +51,7 @@
        { "from": "firmware/", "to": "en/firmware.html" },
        { "from": "simple_offboard/", "to": "en/simple_offboard.html" },
        { "from": "offboard/", "to": "en/simple_offboard.html" },
-        { "from": "camera/", "to": "ru/camera.html" },
+        { "from": "camera/", "to": "en/camera.html" },
        { "from": "snippets/", "to": "ru/snippets.html" },
        { "from": "optical_flow/", "to": "ru/optical_flow.html" },
        { "from": "laser/", "to": "ru/laser.html" },
--- a/roswww_static/CMakeLists.txt
+++ b/roswww_static/CMakeLists.txt
@@ -5,8 +5,6 @@ find_package(catkin REQUIRED)

 catkin_package()

-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-catkin_install_python(PROGRAMS main.py
+catkin_install_python(PROGRAMS src/update
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
--- a/roswww_static/README.md
+++ b/roswww_static/README.md
@@ -6,12 +6,14 @@ Note: you should configure your web server to make it follow symlinks.

 ## Instructions

-* Run `main.py` node and it will generate the symlinks and index file.
+* Run `update` script and it will generate the symlinks and index file: `rosrun roswww_static update`.
 * Point your static web server path to `~/.ros/www`.

-You can rerun `main.py` if the list of installed packages changes.
+You can rerun `update` if the list of installed packages changes.

 ## Parameters

-* `index` – path for index page, otherwise packages list would be generated.
-* `default_package` – if set then the index page would redirect to this package's page.
+Parameters are passed through environment variables:
+
+* `ROSWWW_INDEX` – path for index page, otherwise packages list would be generated.
+* `ROSWWW_DEFAULT` – if set then the index page would redirect to this package's page.
--- a/roswww_static/launch/example.launch
+++ b/roswww_static/launch/example.launch
@@ -1,6 +0,0 @@
-<launch>
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true" output="screen">
-        <!-- <param name="index" value="$(find my_package)/www/index.html"/> -->
-        <!-- <param name="default_package" value="my_package"/> -->
-    </node>
-</launch>
--- a/roswww_static/src/update
+++ b/roswww_static/src/update
@@ -13,17 +13,15 @@

 import os
 import shutil
-import rospy
 import rospkg

-rospy.init_node('roswww_static')
-
 rospack = rospkg.RosPack()

 www = rospkg.get_ros_home() + '/www'
-index_file = rospy.get_param('~index_file', None)
-default_package = rospy.get_param('~default_package', None)
+index_file = os.environ.get('ROSWWW_INDEX')
+default_package = os.environ.get('ROSWWW_DEFAULT')

+print('using www dir: ' + www)
 shutil.rmtree(www, ignore_errors=True)  # reset www directory content
 os.mkdir(www)

@@ -34,7 +32,7 @@ index = '<h1>Packages list</h1>\n<ul>\n'
 for name in packages:
    path = rospack.get_path(name)
    if os.path.exists(path + '/www'):
-        rospy.loginfo('found www path for %s package', name)
+        print('found www path for %s package' % name)
        os.symlink(path + '/www', www + '/' + name)
        index += '<li><a href="{name}/">{name}</a></li>'.format(name=name)

@@ -42,7 +40,7 @@ if default_package is not None:
    redirect_html = '<meta http-equiv=refresh content="0; url={name}/">'.format(name=default_package)
    open(www + '/index.html', 'w').write(redirect_html)
 elif index_file is not None:
-    rospy.loginfo('symlinking index file')
+    print('symlinking index file')
    os.symlink(index_file, www + '/index.html')
 else:
    open(www + '/index.html', 'w').write(index)
Author	SHA1	Message	Date
Oleg Kalachev	a72cb67d03	Fix editorconfig	2022-11-11 14:57:18 +06:00
Oleg Kalachev	8ac757598d	selfcheck.py: fix known_vertical description	2022-11-11 06:22:54 +06:00
Oleg Kalachev	25c3f25642	aruco_pose: document flip_vertical parameter	2022-11-11 06:00:18 +06:00
Oleg Kalachev	4877d0101b	Merge branch 'master' into known_vertical	2022-11-11 05:59:02 +06:00
Oleg Kalachev	d4a83bdf58	autotest: run aruco test without optical flow	2022-11-11 05:58:49 +06:00
Oleg Kalachev	8fd69e4ea5	selfcheck.py: support flip_vertical parameter	2022-11-11 05:58:09 +06:00
Oleg Kalachev	c3625490b2	Merge branch 'master' into known_vertical	2022-11-11 05:47:12 +06:00
Oleg Kalachev	cb1773b708	selfcheck.py: skip optical_flow check if it's not running	2022-11-11 05:46:58 +06:00
Oleg Kalachev	5afbcff949	vpe_publisher: fix a bug when the first pose arrives at the start of clock (simulation)	2022-11-11 05:43:16 +06:00
Oleg Kalachev	cf62364ac7	aruco_pose: add flip_vertical parameter and get rid of map_flipped	2022-11-11 05:41:46 +06:00
Oleg Kalachev	c7bf964ea5	More clean variable names	2022-11-11 02:33:37 +06:00
Oleg Kalachev	f719406c8b	Remove www directory update from clover.launch and update it on demand only (#475 )	2022-11-10 22:25:44 +06:00
Oleg Kalachev	72f8d901d5	ci: set cancel-in-progress only for deploy job not the whole docs wf	2022-11-10 20:04:05 +06:00
Oleg Kalachev	5ec04bbefa	Merge branch 'master' into known_vertical	2022-11-10 19:58:01 +06:00
Oleg Kalachev	393801b023	Fix ROS tools tests considering some of them exit with 64 on usage	2022-11-10 19:57:02 +06:00
Oleg Kalachev	275023b455	Merge branch 'master' into known_vertical	2022-11-10 18:04:56 +06:00
Oleg Kalachev	a0322c55f2	Fix ROS tools tests	2022-11-10 17:56:23 +06:00
Oleg Kalachev	b3b530c1c7	aruco_pose: rename parameter known_tilt to known_vertical	2022-11-10 05:12:59 +06:00
Oleg Kalachev	3662f512a7	docs: update in wall aruco article	2022-11-10 05:06:46 +06:00
Oleg Kalachev	277eb7297f	image: test basic ros tools work	2022-11-10 04:37:30 +06:00
Oleg Kalachev	e719b0f1e2	selfcheck.py: print fcu_url value if no connection to fcu	2022-11-09 23:46:05 +06:00
Oleg Kalachev	e65d380b4b	Minor camera example fix	2022-11-08 22:43:08 +06:00
Oleg Kalachev	8fe34e90e6	Depend on docopt in package.xml instead of requirements.txt	2022-11-08 16:07:36 +06:00
Oleg Kalachev	54ab5ab4b5	selfcheck.py: make output colored only in a tty	2022-11-08 06:47:01 +06:00
Oleg Kalachev	2cda68ae4a	selfcheck.py: don't fall if aruco_detect/length is not set	2022-11-08 06:46:29 +06:00
Oleg Kalachev	d24b6617a4	selfcheck.py: don't fall when aruco_map/known_tilt is not set	2022-11-08 06:41:21 +06:00
Oleg Kalachev	640ec1ee1a	Add clover package dependency on pytest	2022-11-08 03:37:12 +06:00
Oleg Kalachev	96ea78f141	image: check rosserial version only on rpi image	2022-11-07 20:47:18 +06:00
Oleg Kalachev	5e3b07ff5e	Add a basic example script on working with the camera	2022-11-07 20:09:15 +06:00
Oleg Kalachev	92748a760b	simulation: remove redundant warning on creating a new LedController	2022-11-07 19:00:02 +06:00
Oleg Kalachev	8512e8a045	image: check rosshow version only on rpi image	2022-11-07 18:30:54 +06:00
Oleg Kalachev	8b1b365e67	image: check compressed_image_transport on rpi image only	2022-11-07 18:21:55 +06:00
Oleg Kalachev	2cd77662df	image: check version of rosbridge_server which clover package depends on instead of rosbridge_suite	2022-11-07 18:21:32 +06:00
Oleg Kalachev	64f939d7ed	image: updates to tests for VM image	2022-11-06 04:15:32 +06:00
Oleg Kalachev	9a8aa00bc7	Run map_flipped frame only when markers placement is ceiling	2022-11-06 02:02:43 +06:00
Oleg Kalachev	3f3d1cd220	image: don’t test mjpg_streamer on vm image	2022-11-06 01:43:03 +06:00
Oleg Kalachev	9c34d7722c	image: don’t test butterfly on vm image	2022-11-06 00:25:23 +06:00
Oleg Kalachev	19e0d725b0	image: test ptvsd on the RPi image only	2022-11-05 22:47:39 +06:00
Oleg Kalachev	6fafaf3184	Fix Python tests for VM	2022-11-05 20:48:38 +06:00
Oleg Kalachev	8f09df6b34	Optimize shell tests for vm image	2022-11-05 17:45:10 +06:00
Oleg Kalachev	c5d01c678a	image and vm image: validate `python` is python2 (for now)	2022-11-05 17:26:19 +06:00
Oleg Kalachev	2b13aa02eb	docs: make /camera redirect to English version of the article	2022-11-04 03:10:56 +06:00
Oleg Kalachev	ec9ddf5fd2	selfcheck.py: read VM image version from /etc/clover_vm_version	2022-11-03 18:36:18 +06:00
Oleg Kalachev	c5399868cb	selfcheck.py: remove obsolete todos	2022-11-03 18:28:22 +06:00
Oleg Kalachev	a6cee773ab	selfcheck.py: fix reading diagnostics considering there might be multiple nodes publishing them	2022-11-03 18:23:54 +06:00
Oleg Kalachev	d03cfe00ca	selfcheck.py: handle inability to read time sync offset	2022-11-03 17:53:59 +06:00
Oleg Kalachev	0fb101cc59	selfcheck.py: add time sync offset report	2022-11-03 17:47:53 +06:00
Oleg Kalachev	0d44ff3993	selfcheck.py: handle nicely when a PX4 parameter cannot be retrieved	2022-11-03 17:47:34 +06:00
Oleg Kalachev	dc5da00abd	selfcheck.py: print reports when there was exception in check	2022-11-03 06:56:07 +06:00
Oleg Kalachev	4f00960db3	Minor fix to long_callback decorator example	2022-11-02 16:09:56 +06:00
Oleg Kalachev	ce0b4eb428	Implement long_callback Python decorator addressing #218 Clover package Python library added.	2022-11-02 06:38:36 +06:00
Oleg Kalachev	ccbd1cbad9	selfcheck.py: make output colored	2022-10-31 04:24:13 +06:00
Oleg Kalachev	4b397670a1	selfcheck.py: make report more compact by removing severity levels The severity level is visible from the color	2022-10-31 03:08:30 +06:00
Oleg Kalachev	89bfc150f3	selfcheck.py: split up estimator's and flow sensor's parameters reports	2022-10-31 02:41:21 +06:00
Oleg Kalachev	6b05cb34e5	optical_flow: add disable_on_vpe parameter (#461 )	2022-10-31 02:31:47 +06:00
Oleg Kalachev	22293c2220	aruco.launch: set use_map_markers parameter to true	2022-10-31 02:30:19 +06:00
Oleg Kalachev	38a3f656ab	selfcheck.py: add parameter to print the time spent on each check Usage: rosrun clover selfcheck.py _time:=1	2022-10-31 02:28:02 +06:00
Oleg Kalachev	2e79979411	selfcheck.py: implement experimental parameter for parallel checks run Run: rosrun clover selfcheck.py _parallel:=1	2022-10-31 02:25:53 +06:00
Oleg Kalachev	b165e154f5	selfcheck.py: decrease some timeouts to speed up check	2022-10-31 02:14:02 +06:00
Oleg Kalachev	99fad312c5	aruco_detect: wait util map is published to avoid race condition	2022-10-31 01:37:06 +06:00
Elena Seliverstova	ee17a3bada	docs: update course contest deadline	2022-10-30 21:38:40 +03:00
Elena Seliverstova	1461dd22f4	Update deadline	2022-10-30 21:22:04 +03:00
Oleg Kalachev	2c07bbffe3	aruco_map: fix visualization markers' orientation Was by mistake uninitialized	2022-10-30 23:16:03 +06:00
Oleg Kalachev	0b62f677af	aruco_detect: consider markers size from markers map `use_map_markers` parameter added	2022-10-30 22:28:33 +06:00
Oleg Kalachev	070c23be53	selfcheck.py: shorten some reports replacing 'is' with '='	2022-10-30 21:00:45 +06:00
Oleg Kalachev	c907e6041a	selfcheck.py: skip battery check in simulation	2022-10-30 20:44:13 +06:00
Oleg Kalachev	69d5d1e521	selfcheck.py: don't fail when there is no vpe and vpe_publisher is not running	2022-10-30 19:48:42 +06:00
Oleg Kalachev	1700ad24df	selfcheck.py: don't failure when no vpe and drone is on the floor	2022-10-30 19:21:42 +06:00
Oleg Kalachev	6361984794	selfcheck.py: don't fail when marker's map not detected	2022-10-30 19:21:10 +06:00
Oleg Kalachev	7f31fdd320	docs: minor cleanup in snippets	2022-10-30 18:39:51 +06:00
Oleg Kalachev	f9450fe03d	selfcheck.py: skip px4 version check in SITL	2022-10-30 05:34:57 +06:00
Oleg Kalachev	b41cb6b581	selfcheck.py: minor fix	2022-10-30 05:10:54 +06:00
Oleg Kalachev	b855c4586a	led: allow to use namespaced mavros (from #439 ) rosout_agg cannot be namespaced: `f5fa3a1687/tools/rosout/rosout.cpp (L127)` Co-Authored-By: Playergeek181 <93044104+Playergeek181@users.noreply.github.com>	2022-10-30 04:05:53 +06:00
Oleg Kalachev	26245dfb42	docs: add snippet on how to check if code is running inside simulation	2022-10-26 03:31:00 +06:00
Oleg Kalachev	d6f9327ede	simulation: set distance sensor's fov to 27 deg As vl53l1x rangefinder specification stances	2022-10-25 05:10:25 +06:00
Oleg Kalachev	0f5f111f46	docs: minor fix	2022-10-13 02:05:56 +06:00
Oleg Kalachev	4e9d8a64d0	simple_offboard: test for simple_offboard/release service presence	2022-10-13 00:08:35 +06:00
Oleg Kalachev	94171d51ac	simple_offboard: implement simple_offboard/release service	2022-10-13 00:07:27 +06:00
Oleg Kalachev	eb448ae0e7	main_camera.launch: run image_raw_throttled topic by default (#248 )	2022-10-12 00:25:12 +06:00