Merge branch 'master' into roswww-static-target

image: check rosserial version only on rpi image
Add a basic example script on working with the camera
2026-05-31 23:19:32 +00:00 · 2022-11-08 02:28:16 +06:00 · 2022-11-07 20:47:18 +06:00 · 2022-11-07 20:09:15 +06:00 · 2022-11-07 19:00:02 +06:00 · 2022-11-07 18:30:54 +06:00
38 changed files with 562 additions and 1034 deletions
--- a/aruco_pose/src/aruco_detect.cpp
+++ b/aruco_pose/src/aruco_detect.cpp
@@ -71,7 +71,8 @@ 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_, auto_flip_, use_map_markers_;
+	bool waiting_for_map_;
 	double length_;
 	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
@@ -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();
@@ -133,6 +136,7 @@ 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;

@@ -395,7 +399,13 @@ 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
@@ -503,7 +503,7 @@ 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/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 ${IMAGE_PATH}
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -112,7 +112,7 @@ my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
+sudo -E -u pi sh -c '. /opt/ros/${ROS_DISTRO}/setup.sh && catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo'
 source devel/setup.bash

 echo_stamp "Install clever package (for backwards compatibility)"
--- 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 +33,11 @@ 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

 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 +19,64 @@ 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
+
+[ $VM ] && H="/home/clover" || H="/home/pi"
+
 # 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 ##
@@ -230,6 +230,9 @@ target_link_libraries(${PROJECT_NAME}
  ${OpenCV_LIBRARIES}
 )

+# Set Clover to default www page
+set(ROSWWW_STATIC_DEFAULT ${PROJECT_NAME})
+
 #############
 ## Install ##
 #############
--- 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'
+    if 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
@@ -18,6 +18,7 @@
        <remap from="map_markers" to="aruco_map/map"/>
        <param name="estimate_poses" value="true"/>
        <param name="send_tf" value="true"/>
+        <param name="use_map_markers" value="true"/>
        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
        <param name="length" value="$(arg length)"/>
@@ -52,4 +53,8 @@
        <param name="force_init" value="$(arg force_init)"/>
        <param name="offset_frame_id" value="aruco_map"/>
    </node>
+
+    <!-- run map_flipped frame if placement is ceiling -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame"
+        args="0 0 0 3.1415926 3.1415926 0 map map_flipped" if="$(eval placement == 'ceiling')"/>
 </launch>
--- 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"/>
@@ -85,9 +84,4 @@
        <!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
        <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/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/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
@@ -15,7 +15,8 @@ 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 +46,58 @@ tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)


-failures = []
-infos = []
-current_check = None
+thread_local = threading.local()
+reports_lock = Lock()


 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('\033[90m%s\033[0m: %s', name, report['info'])
+                if not thread_local.reports:
+                    rospy.loginfo('\033[90m%s\033[0m: \033[92mOK\033[0m', name)
+                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 '\033[31m???\033[0m'
+    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 +106,17 @@ 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 +161,24 @@ 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°',
@@ -198,27 +226,28 @@ def check_fcu():
            failure('no connection to the FCU (check wiring)')
            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:
@@ -255,18 +284,25 @@ 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)')
@@ -346,6 +382,8 @@ 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'))
@@ -356,9 +394,9 @@ def check_aruco():
            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)
+        info('aruco_detect/known_tilt = %s', known_tilt)
        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
@@ -375,34 +413,49 @@ def check_aruco():
        info('aruco_map/known_tilt = %s', known_tilt)

        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_tilt') == 'map_flipped':
+                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 +467,14 @@ 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 +483,10 @@ 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
@@ -531,10 +584,10 @@ 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')


@@ -547,7 +600,7 @@ 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 +608,36 @@ 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 +661,7 @@ 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 +695,7 @@ 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 +764,10 @@ 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 +878,47 @@ 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/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/www/index.html
+++ b/clover/www/index.html
@@ -12,6 +12,10 @@
 	<li><a href="console.html">Clover console</a> (<code>/var/log/clover.log</code>)</li>
 </ul>

+<p>
+	Update www using <code>rosrun roswww_static update</code>.
+</p>
+
 <div class="version"></div>

 <script type="text/javascript">
--- 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/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/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/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/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/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 +5,19 @@ find_package(catkin REQUIRED)

 catkin_package()

+macro(roswww_static_make_default)
+  message(STATUS "roswww_static: make ${PROJECT_NAME} package default")
+  set(ROSWWW_STATIC_DEFAULT ${PROJECT_NAME} CACHE STRING "Default roswww_static package")
+endmacro()
+
 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}
 )
+
+message(status "CATKIN_ENV: ${CATKIN_ENV}")
+
+add_custom_target(roswww_static ALL
+    COMMAND ${CMAKE_COMMAND} -E env ROSWWW_STATIC_DEFAULT=${ROSWWW_STATIC_DEFAULT}
+    ${CATKIN_ENV} ${CMAKE_CURRENT_SOURCE_DIR}/src/update)
--- a/roswww_static/README.md
+++ b/roswww_static/README.md
@@ -6,12 +6,12 @@ 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.
+* `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.
--- a/roswww_static/launch/example.launch
+++ b/roswww_static/launch/example.launch
@@ -1,5 +1,5 @@
 <launch>
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true" output="screen">
+    <node pkg="roswww_static" name="roswww_static" type="update" clear_params="true" output="screen">
        <!-- <param name="index" value="$(find my_package)/www/index.html"/> -->
        <!-- <param name="default_package" value="my_package"/> -->
    </node>
--- a/roswww_static/src/update
+++ b/roswww_static/src/update
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3

 # Copyright (C) 2020 Copter Express Technologies
 #
@@ -16,13 +16,16 @@ import shutil
 import rospy
 import rospkg

-rospy.init_node('roswww_static')
+#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 = None # rospy.get_param('~index_file', None)
+default_package = os.environ.get('ROSWWW_STATIC_DEFAULT') # rospy.get_param('~default_package', None)
+
+print('roswww_static: destination directory:', www)
+print('roswww_static: default package:', default_package)

 shutil.rmtree(www, ignore_errors=True)  # reset www directory content
 os.mkdir(www)
@@ -34,7 +37,7 @@ 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('roswww_static: found www path for package', name)
        os.symlink(path + '/www', www + '/' + name)
        index += '<li><a href="{name}/">{name}</a></li>'.format(name=name)

@@ -42,7 +45,7 @@ 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('roswww_static: symlinking index file')
    os.symlink(index_file, www + '/index.html')
 else:
    open(www + '/index.html', 'w').write(index)
Author	SHA1	Message	Date
Oleg Kalachev	d34f98f8c6	Merge branch 'master' into roswww-static-target	2022-11-08 02:28:16 +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	a42ee2ab1e	Minor update	2022-11-05 22:15:19 +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	209d5dde2f	Another fix	2022-11-05 04:09:12 +06:00
Oleg Kalachev	27ee253234	Fix	2022-11-05 04:08:19 +06:00
Oleg Kalachev	a2639204e4	Use sh for sudo	2022-11-05 01:41:09 +06:00
Oleg Kalachev	7a8b5585c1	Updates	2022-11-05 01:29:22 +06:00
Oleg Kalachev	06a4478b5e	Fix	2022-11-05 00:52:18 +06:00
Oleg Kalachev	71f2d69139	Preserve environment	2022-11-05 00:14:10 +06:00
Oleg Kalachev	b2c98ba502	Move update to src	2022-11-04 22:10:36 +06:00
Oleg Kalachev	49338e6f58	Run catkin_make from pi	2022-11-04 22:08:07 +06:00
Oleg Kalachev	d5baa0b1e1	Revert image-ros.sh	2022-11-04 21:06:35 +06:00
Oleg Kalachev	ee81586fa5	Debug	2022-11-04 19:31:17 +06:00
Oleg Kalachev	5da20d4ac5	Make update not a node	2022-11-04 16:41:44 +06:00
Oleg Kalachev	d2e886d952	Fix	2022-11-04 05:50:13 +06:00
Oleg Kalachev	0a1c98d5f0	Try to fix	2022-11-04 05:22:28 +06:00
Oleg Kalachev	ee7da701e6	Merge remote-tracking branch 'origin/roswww-static-target' into roswww-static-target	2022-11-04 03:54:06 +06:00
Oleg Kalachev	873a08865e	Merge branch 'master' into roswww-static-target	2022-11-04 03:51:51 +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	9461e2120f	Trigger build	2022-11-03 05:44:24 +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
Oleg Kalachev	9cae4c9064	Debug	2021-12-17 10:48:34 +03:00
Oleg Kalachev	87361c3499	builder: initialize catkin workspace berfore building everything	2021-12-17 09:18:57 +03:00
Oleg Kalachev	9aa5a7e447	Merge branch 'master' into roswww-static-target	2021-12-17 09:18:19 +03:00
Oleg Kalachev	cd08dba827	Debug	2021-12-16 15:19:18 +03:00
Oleg Kalachev	f960e5e662	Fix	2021-12-11 00:25:49 +03:00
Oleg Kalachev	a82736f041	Rename roswww_static main.py to update	2021-12-10 21:27:43 +03:00
Oleg Kalachev	278aa7b58b	Minor fix	2021-12-10 21:23:52 +03:00
Oleg Kalachev	08f6d82fd2	Info on updating roswww in index.html	2021-12-10 21:23:46 +03:00
Oleg Kalachev	8a8dc8b78f	Update www directory only on catkin_make	2021-12-10 21:23:30 +03:00