sitemap config

Syntax: # Header {#header-id}

.gitattributes

@@ -3,7 +3,6 @@ roslib.js linguist-vendored
 eventemitter2.js linguist-vendored
 ros3d.js linguist-vendored
 three.min.js linguist-vendored
-json-to-pretty-yaml.js linguist-vendored
 aruco_pose/vendor/* linguist-vendored
 blockly/* linguist-vendored
 highlight/* linguist-vendored

.github/workflows/build.yml

@@ -16,36 +16,8 @@ jobs:
   #         docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
   noetic:
     runs-on: ubuntu-latest
-    container: ros:noetic-ros-base
-    defaults:
-      run:
-        working-directory: catkin_ws
-        shell: bash
     steps:
-    - uses: actions/checkout@v2
-      with:
-        path: catkin_ws/src/clover
-    - name: Install requirements
-      run: apt-get update && apt-get -y install python3-pip fakeroot python3-bloom debhelper dpkg-dev
-    - name: Install dependencies
-      run: rosdep update && rosdep install --from-paths src --ignore-src -y
-    - name: Install GeographicLib datasets
-      run: wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
-    - name: catkin_make
-      run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
-    - name: Run tests
-      run: source devel/setup.bash && catkin_make run_tests && catkin_test_results
-    - name: Build Debian packages
-      run: |
-        source devel/setup.bash
-        for file in `find . -name "package.xml"`; do
-          cd $(dirname ${file})
-          bloom-generate rosdebian --os-name ubuntu --os-version $(lsb_release -cs) --ros-distro $ROS_DISTRO  
-          fakeroot debian/rules binary
-          cd -
-        done
-    - uses: actions/upload-artifact@v3
-      with:
-        name: debian-packages
-        path: catkin_ws/src/clover/*.deb
-        retention-days: 1
+      - uses: actions/checkout@v2
+      - name: Native Noetic build
+        run: |
+          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:noetic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh

.github/workflows/docs.yml

@@ -4,25 +4,16 @@ on:
   push:
     branches: [ '*' ]
   pull_request:
-    branches: [ '*' ]
-
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-concurrency:
-  group: "pages"
-  cancel-in-progress: true
-
-defaults:
-  run:
-    shell: bash
+    branches: [ master ]
 
 jobs:
   docs:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-18.04
     steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.9.1
+        with:
+          access_token: ${{ github.token }}
       - uses: actions/checkout@v2
       - name: Use Node.js
         uses: actions/setup-node@v1
@@ -64,23 +55,14 @@ jobs:
       - name: Download older PDFs
         if: ${{ !steps.generate-pdf.outputs.GITBOOK_PDF_OK }}
         run: |
-          rm -f _book/clover*.pdf
+          rm _book/clover*.pdf
           wget --no-verbose https://clover.coex.tech/clover_ru.pdf -P _book/
           wget --no-verbose https://clover.coex.tech/clover_en.pdf -P _book/
-      - name: Upload artifact
-        # if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-        uses: actions/upload-pages-artifact@v1
+      - name: Deploy
+        uses: JamesIves/github-pages-deploy-action@4.1.3
+        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
         with:
-          path: _book
-
-  deploy-docs:
-    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-    runs-on: ubuntu-latest
-    needs: docs
-    steps:
-      - name: Deploy to GitHub Pages
-        id: deployment
-        uses: actions/deploy-pages@v1
+          branch: gh-pages
+          folder: _book
+          clean: true
+          single-commit: true # to avoid multiple copies of large pdf files

.gitignore

@@ -7,3 +7,6 @@ package-lock.json
 clover_blocks/programs/*.*
 !clover_blocks/programs/examples/*
 /.vscode/
+docs/.vuepress/.cache/
+docs/.vuepress/.temp/
+docs/.vuepress/dist

aruco_pose/CMakeLists.txt

@@ -83,10 +83,11 @@ add_message_files(
 )
 
 ## Generate services in the 'srv' folder
-add_service_files(
-  FILES
-  SetMarkers.srv
-)
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -119,7 +120,6 @@ generate_messages(
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
   cfg/Detector.cfg
-  cfg/Map.cfg
 )
 
 ###################################
@@ -251,5 +251,4 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
   add_rostest(test/crash_opencv.test)
-  add_rostest(test/duplicate.test)
 endif()

aruco_pose/README.md

@@ -51,7 +51,6 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 
 * `image_raw` (*sensor_msgs/Image*) – camera image
 * `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info
-* `map_markers` (*aruco_pose/MarkerArray*) – list of markers to disable TF transform publishing
 
 #### Published
 
@@ -75,7 +74,6 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)
-* `~image_axis` – whether debug image should contain axis (default: true)
 * `~dictionary` (*int*) – ArUco dictionary (default: 2) - should be the same as `dictionary` parameter of `aruco_detect` nodelet
 
 Map file has one marker per line with the following line format:
@@ -99,7 +97,6 @@ See examples in [`map`](map/) directory.
 #### Published
 
 * `~pose` (*geometry_msgs/PoseWithCovarianceStamped*) – estimated map pose
-* `~map` (*aruco_pose/MarkerArray*) – list of markers in the loaded map
 * `~image` (*sensor_msgs/Image*) – planarized map image
 * `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz
 * `~debug` (*sensor_msgs/Image*) – debug image with detected markers and map axis

aruco_pose/cfg/Detector.cfg

@@ -10,8 +10,6 @@ gen = ParameterGenerator()
 
 gen.add("enabled", bool_t, 0, "if detection enabled", True)
 
-gen.add("length", double_t, 0, "markers' side length", min=0, max=10)
-
 gen.add("adaptiveThreshConstant",                 double_t, 0,
         "Constant for adaptive thresholding before finding contours",
          p.adaptiveThreshConstant, 0, 100)

aruco_pose/cfg/Map.cfg

@@ -1,14 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "aruco_pose"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-gen.add("enabled", bool_t, 0, "if map detection enabled", True)
-
-gen.add("map", str_t, 0, "full path for the map file")
-
-gen.add("image_axis", bool_t, 0, "debug image axis", default=True)
-
-exit(gen.generate(PACKAGE, "aruco_pose", "Map"))

aruco_pose/map/cmit.txt

@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 0	0.33	0.0	9.0	0	0	0	0	
 1	0.33	1.0	9.0	0	0	0	0	
 2	0.33	2.0	9.0	0	0	0	0	

aruco_pose/map/office.txt

@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 107	0.33	0	0	0	0	0	0
 106	0.33	0.77	0	0	0	0	0
 105	0.33	0	0.77	0	0	0	0

aruco_pose/map/office_ceiling.txt

@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 14	0.365	0.000	0.0	0	0	0	0
 15	0.365	1.335	0.0	0	0	0	0
 30	0.365	2.865	0.0	0	0	0	0

aruco_pose/src/aruco_detect.cpp

@@ -48,7 +48,6 @@
 #include <aruco_pose/Marker.h>
 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/DetectorConfig.h>
-#include <aruco_pose/SetMarkers.h>
 
 #include "utils.h"
 #include <memory>
@@ -70,10 +69,8 @@ private:
 	image_transport::CameraSubscriber img_sub_;
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
-	ros::ServiceServer set_markers_srv_;
 	bool estimate_poses_, send_tf_, auto_flip_;
 	double length_;
-	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
 	std::string frame_id_prefix_, known_tilt_;
 	Mat camera_matrix_, dist_coeffs_;
@@ -100,7 +97,6 @@ public:
 			ros::shutdown();
 		}
 		readLengthOverride(nh_priv_);
-		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));
 
 		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
@@ -118,8 +114,6 @@ public:
 		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
 		dyn_srv_->setCallback(std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2));
 
-		set_markers_srv_ = nh_priv_.advertiseService("set_length_override", &ArucoDetect::setMarkers, this);
-
 		debug_pub_ = it_priv.advertise("debug", 1);
 		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
@@ -178,7 +172,7 @@ private:
 				if (!known_tilt_.empty()) {
 					try {
 						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                      msg->header.stamp, transform_timeout_);
+						                                      msg->header.stamp, ros::Duration(0.02));
 					} catch (const tf2::TransformException& e) {
 						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
@@ -187,8 +181,6 @@ private:
 
 			array_.markers.reserve(ids.size());
 			aruco_pose::Marker marker;
-			vector<geometry_msgs::TransformStamped> transforms;
-			transforms.reserve(ids.size());
 			geometry_msgs::TransformStamped transform;
 			transform.header.stamp = msg->header.stamp;
 			transform.header.frame_id = msg->header.frame_id;
@@ -206,33 +198,20 @@ private:
 						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
 					}
 
+					// TODO: check IDs are unique
 					if (send_tf_) {
 						transform.child_frame_id = getChildFrameId(ids[i]);
 
 						// check if such static transform is in the map
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
-							// check if a markers with that id is already added
-							bool send = true;
-							for (auto &t : transforms) {
-								if (t.child_frame_id == transform.child_frame_id) {
-									send = false;
-									break;
-								}
-							}
-							if (send) {
-								transform.transform.rotation = marker.pose.orientation;
-								fillTranslation(transform.transform.translation, tvecs[i]);
-								transforms.push_back(transform);
-							}
+							transform.transform.rotation = marker.pose.orientation;
+							fillTranslation(transform.transform.translation, tvecs[i]);
+							br_->sendTransform(transform);
 						}
 					}
 				}
 				array_.markers.push_back(marker);
 			}
-
-			if (send_tf_) {
-				br_->sendTransform(transforms);
-			}
 		}
 
 		markers_pub_.publish(array_);
@@ -367,29 +346,6 @@ private:
 		}
 	}
 
-	bool setMarkers(aruco_pose::SetMarkers::Request& req, aruco_pose::SetMarkers::Response& res)
-	{
-		for (auto const& marker : req.markers) {
-			if (marker.id > 999) {
-				res.message = "Invalid marker id: " + std::to_string(marker.id);
-				ROS_ERROR("%s", res.message.c_str());
-				return true;
-			}
-			if (!std::isfinite(marker.length) || marker.length <= 0) {
-				res.message = "Invalid marker " + std::to_string(marker.id) + " length: " + std::to_string(marker.length);
-				ROS_ERROR("%s", res.message.c_str());
-				return true;
-			}
-		}
-
-		for (auto const& marker : req.markers) {
-			length_override_[marker.id] = marker.length;
-		}
-
-		res.success = true;
-		return true;
-	}
-
 	void mapMarkersCallback(const aruco_pose::MarkerArray& msg)
 	{
 		map_markers_ids_.clear();
@@ -400,8 +356,7 @@ private:
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
 	{
-		enabled_ = config.enabled && config.length > 0;
-		length_ = config.length;
+		enabled_ = config.enabled;
 		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
 		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
 		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;

aruco_pose/src/aruco_map.cpp

@@ -19,13 +19,11 @@
 #include <vector>
 #include <fstream>
 #include <algorithm>
-#include <memory>
 #include <ros/ros.h>
 #include <nodelet/nodelet.h>
 #include <pluginlib/class_list_macros.h>
 #include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
-#include <dynamic_reconfigure/server.h>
 #include <tf/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
@@ -43,7 +41,6 @@
 
 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/Marker.h>
-#include <aruco_pose/MapConfig.h>
 
 #include <opencv2/opencv.hpp>
 #include <opencv2/aruco.hpp>
@@ -77,9 +74,6 @@ private:
 	tf2_ros::StaticTransformBroadcaster static_br_;
 	tf2_ros::Buffer tf_buffer_;
 	tf2_ros::TransformListener tf_listener_{tf_buffer_};
-	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::MapConfig>> dyn_srv_;
-	bool enabled_ = true;
-	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
 	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
@@ -95,14 +89,15 @@ public:
 
 		// TODO: why image_transport doesn't work here?
 		img_pub_ = nh_priv_.advertise<sensor_msgs::Image>("image", 1, true);
-		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("map", 1, true);
+		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1, true);
 
 		board_ = cv::makePtr<cv::aruco::Board>();
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
 			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
 
-		type_ = nh_priv_.param<std::string>("type", "map");
+		std::string type, map;
+		type = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
 		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
@@ -115,13 +110,13 @@ public:
 
 		// createStripLine();
 
-		if (type_ == "map") {
-			map_ = nh_priv_.param<std::string>("map" , "");
-			loadMap(map_);
-		} else if (type_ == "gridboard") {
+		if (type == "map") {
+			param(nh_priv_, "map", map);
+			loadMap(map);
+		} else if (type == "gridboard") {
 			createGridBoard(nh_priv_);
 		} else {
-			NODELET_FATAL("unknown type: %s", type_.c_str());
+			NODELET_FATAL("unknown type: %s", type.c_str());
 			ros::shutdown();
 		}
 
@@ -129,7 +124,10 @@ public:
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1, true);
 		debug_pub_ = it_priv.advertise("debug", 1);
 
-		publishMap();
+		publishMarkersFrames();
+		publishMarkers();
+		publishMapImage();
+		vis_markers_pub_.publish(vis_array_);
 
 		image_sub_.subscribe(nh_, "image_raw", 1);
 		info_sub_.subscribe(nh_, "camera_info", 1);
@@ -138,12 +136,6 @@ public:
 		sync_.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(10), image_sub_, info_sub_, markers_sub_));
 		sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));
 
-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::MapConfig>>(nh_priv_);
-		dynamic_reconfigure::Server<aruco_pose::MapConfig>::CallbackType cb;
-
-		cb = std::bind(&ArucoMap::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
-		dyn_srv_->setCallback(cb);
-
 		NODELET_INFO("ready");
 	}
 
@@ -151,9 +143,6 @@ public:
 	              const sensor_msgs::CameraInfoConstPtr& cinfo,
 	              const aruco_pose::MarkerArrayConstPtr& markers)
 	{
-		if (!enabled_) return;
-		if (markers->markers.empty()) return; // map not loaded
-
 		int valid = 0;
 		int count = markers->markers.size();
 		std::vector<int> ids;
@@ -279,17 +268,9 @@ publish_debug:
 		std::ifstream f(filename);
 		std::string line;
 
-		clearMarkers();
-
-		if (map_ == "") {
-			NODELET_INFO("No map loaded");
-			return;
-		}
-
 		if (!f.good()) {
-			NODELET_ERROR("%s - %s", strerror(errno), filename.c_str());
-			map_ = "";
-			return;
+			NODELET_FATAL("%s - %s", strerror(errno), filename.c_str());
+			ros::shutdown();
 		}
 
 		while (std::getline(f, line)) {
@@ -315,10 +296,9 @@ publish_debug:
 				s.putback(first);
 			} else {
 				// Probably garbage data; inform user and throw an exception, possibly killing nodelet
-				NODELET_ERROR("Malformed input: %s", line.c_str());
-				map_ = "";
-				clearMarkers();
-				return;
+				NODELET_FATAL("Malformed input: %s", line.c_str());
+				ros::shutdown();
+				throw std::runtime_error("Malformed input");
 			}
 
 			if (!(s >> id >> length >> x >> y)) {
@@ -349,14 +329,6 @@ publish_debug:
 		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}
 
-	void publishMap()
-	{
-		publishMarkersFrames();
-		publishMarkers();
-		publishMapImage();
-		vis_markers_pub_.publish(vis_array_);
-	}
-
 	void createGridBoard(ros::NodeHandle& nh)
 	{
 		NODELET_INFO("generate gridboard");
@@ -398,15 +370,6 @@ publish_debug:
 		}
 	}
 
-	void clearMarkers()
-	{
-		board_->ids.clear();
-		board_->objPoints.clear();
-		markers_.markers.clear();
-		vis_array_.markers.clear();
-		markers_transforms_.clear();
-	}
-
 	// void createStripLine()
 	// {
 	// 	visualization_msgs::Marker marker;
@@ -546,22 +509,6 @@ publish_debug:
 		msg.image = image;
 		img_pub_.publish(msg.toImageMsg());
 	}
-
-	void paramCallback(aruco_pose::MapConfig &config, uint32_t level)
-	{
-		// https://github.com/CopterExpress/clover/commit/2cd334c474e3ed04ef65ca1ba7f08ab535a3dc6d#diff-942723f9452c398ae93f1a91427f9a7b614be5e5871f8a3e590f324d804f0d58R356
-		enabled_ = config.enabled;
-		if (type_ == "map" && config.map != map_) {
-			map_ = config.map;
-			loadMap(map_);
-			publishMap();
-		}
-
-		if (config.image_axis != image_axis_) {
-			image_axis_ = config.image_axis;
-			publishMapImage();
-		}
-	}
 };
 
 PLUGINLIB_EXPORT_CLASS(ArucoMap, nodelet::Nodelet)

aruco_pose/srv/SetMarkers.srv

@@ -1,7 +0,0 @@
-# * Add or change markers in the map
-# * Change markers' properties, e. g. lengths
-
-Marker[] markers # if length or pose is nan - remove from map
----
-bool success
-string message

aruco_pose/test/basic.py

@@ -143,7 +143,7 @@ def test_map_image(node):
     assert img.encoding in ('mono8', 'rgb8')
 
 def test_map_markers(node):
-    markers = rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=5)
+    markers = rospy.wait_for_message('aruco_map/markers', MarkerArray, timeout=5)
     assert markers.markers[0].id == 1
     assert markers.markers[1].id == 2
     assert markers.markers[2].id == 3

aruco_pose/test/duplicate.py

@@ -1,8 +0,0 @@
-import pytest
-import subprocess
-
-def test_no_tf_repeated_data():
-    # `/rosout` acts weirdly inside rostest, so using a subprocess
-    cmd = """python -c 'import rospy, tf; rospy.init_node("foo"); listener = tf.TransformListener(); rospy.sleep(2)'"""
-    output = str(subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT))
-    assert 'TF_REPEATED_DATA' not in output, 'TF_REPEATED_DATA was logged on duplicate markers'

aruco_pose/test/duplicate.test

@@ -1,21 +0,0 @@
-<launch>
-    <node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/duplicate.png">
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="publish_rate" value="10"/>
-        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
-
-    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager" required="true">
-        <remap from="image_raw" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <param name="length" value="0.33"/>
-        <param name="estimate_poses" value="true"/>
-        <param name="send_tf" value="true"/>
-        <param name="cornerRefinementMethod" value="1"/>
-    </node>
-
-	<param name="test_module" value="$(find aruco_pose)/test/duplicate.py"/>
-    <test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
-</launch>

aruco_pose/test/test_node_failure.py

@@ -2,7 +2,6 @@ import rospy
 import pytest
 
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
-from aruco_pose.msg import MarkerArray
 
 
 @pytest.fixture
@@ -10,5 +9,5 @@ def node():
     return rospy.init_node('aruco_pose_test', anonymous=True)
 
 def test_node_failure(node):
-    assert rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5).markers == []
-    assert rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=5).markers == []
+    with pytest.raises(rospy.exceptions.ROSException):
+        rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)

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]

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

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}

builder/test/tests.sh

@@ -60,7 +60,7 @@ rosversion image_view
 
 # validate some versions
 [[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
-[[ $(rosversion ws281x) == "0.0.13" ]]
+[[ $(rosversion ws281x) == "0.0.12" ]]
 
 # validate examples are present
 [[ $(ls /home/pi/examples/*) ]]

clover/CMakeLists.txt

@@ -17,7 +17,6 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
   geometry_msgs
   sensor_msgs
-  led_msgs
   geographic_msgs
   tf
   tf2
@@ -25,7 +24,6 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_ros
   image_transport
   cv_bridge
-  dynamic_reconfigure
 )
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -128,9 +126,10 @@ generate_messages(
 ##     and list every .cfg file to be processed
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
-generate_dynamic_reconfigure_options(
-  cfg/Flow.cfg
-)
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
 
 ###################################
 ## catkin specific configuration ##
@@ -212,8 +211,6 @@ add_dependencies(clover_led ${PROJECT_NAME}_generate_messages_cpp)
 
 add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
 
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
-
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use

clover/cfg/Flow.cfg

@@ -1,10 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "clover"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-gen.add("enabled", bool_t, 0, "if optical flow enabled", True)
-
-exit(gen.generate(PACKAGE, "clover", "Flow"))

clover/launch/aruco.launch

@@ -15,13 +15,12 @@
     <node name="aruco_detect" pkg="nodelet" if="$(eval aruco_detect and not disable)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="map_markers" to="aruco_map/map"/>
+        <remap from="map_markers" to="aruco_map/markers"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
         <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="length" value="$(arg length)"/>
-        <param name="transform_timeout" value="0.1"/>
         <!-- aruco detector parameters -->
         <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
         <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->

clover/launch/clover.launch

@@ -12,7 +12,7 @@
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
     <arg name="rc" default="false"/>
-    <arg name="force_init" default="true"/> <!-- force estimator to init by publishing zero pose -->
+    <arg name="force_init" value="true"/> <!-- force estimator to init by publishing zero pose -->
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 

clover/launch/mavros.launch

@@ -1,5 +1,5 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl, hitl -->
+    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
@@ -23,9 +23,6 @@
         <!-- sitl since PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
 
-        <!-- hitl connection (to gazebo_mavlink_interface plugin) -->
-        <param name="fcu_url" value="udp://$(arg fcu_ip):14540@" if="$(eval fcu_conn == 'hitl')"/>
-
         <!-- set target_system_id -->
         <param name="target_system_id" value="$(arg fcu_sys_id)" />
 

clover/launch/simulator.launch

@@ -1,4 +0,0 @@
-<launch>
-    <!-- shurtcut for running the simulation (`roslaunch clover simulator.launch`) -->
-    <include file="$(find clover_simulation)/launch/simulator.launch"/>
-</launch>

clover/package.xml

@@ -37,11 +37,8 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>libxml2</depend>
-  <depend>libxslt</depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
-  <depend>dynamic_reconfigure</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->

clover/src/autotest/autotest_aruco.py

@@ -1,87 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-import math
-import signal
-import sys
-import dynamic_reconfigure.client
-from clover import srv
-from std_srvs.srv import Trigger
-from sensor_msgs.msg import Range
-from aruco_pose.msg import MarkerArray
-from util import handle_response
-
-rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c
-
-flow_client = dynamic_reconfigure.client.Client('optical_flow')
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
-land = handle_response(rospy.ServiceProxy('land', Trigger))
-
-def interrupt(sig, frame):
-    print('\nInterrupted, landing...')
-    land()
-    sys.exit(0)
-
-signal.signal(signal.SIGINT, interrupt)
-
-def print_current_map_position():
-    telem = get_telemetry()
-    dist = rospy.wait_for_message('rangefinder/range', Range).range
-    print('Map position:\tx={:.1f}\ty={:.1f}\tz={:.1f}\tyaw={:.1f}\tdist={:.2f}'.format(telem.x, telem.y, telem.z, telem.yaw, dist))
-
-def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
-        frame_id='body', tolerance=0.2, auto_arm=False):
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
-
-    if not res.success:
-        return res
-
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
-            return res
-        rospy.sleep(0.2)
-
-markers = rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=3)
-left = min(marker.pose.position.x for marker in markers.markers)
-bottom = min(marker.pose.position.y for marker in markers.markers)
-width = max(marker.pose.position.x for marker in markers.markers)
-height = max(marker.pose.position.y for marker in markers.markers)
-center_x = left + width / 2
-center_y = bottom + height / 2
-
-print('Map rect: %g %g - %g %g' % (left, bottom, width, height))
-
-input('Take off and hover 1 m [enter] ')
-navigate_wait(x=0, y=0, z=1, frame_id='body', auto_arm=True)
-print_current_map_position()
-
-input('Go to corner %g %g 1.5 speed 1 [enter] ' % (width, height))
-navigate_wait(x=width, y=height, z=1.5, speed=1, frame_id='aruco_map')
-print_current_map_position()
-
-input('Go to center %g %g 1.5 speed 5 [enter] ' % (center_x, center_y))
-navigate_wait(x=center_x, y=center_y, z=1.5, speed=5, frame_id='aruco_map')
-print_current_map_position()
-
-input('Disable optical flow and keep hovering [enter] ')
-flow_client.update_configuration({'enabled': False})
-rospy.sleep(5)
-
-input('Enable optical flow back [enter] ')
-flow_client.update_configuration({'enabled': True})
-
-input('Go to side 1 %g 2 heading top [enter] ' % (center_y))
-navigate_wait(x=1, y=center_y, z=2, yaw=1.57, frame_id='aruco_map')
-print_current_map_position()
-
-marker_id = markers.markers[0].id
-input('Go to marker %d z=1.5 [enter] ' % marker_id)
-navigate_wait(x=0, y=0, z=1.5, yaw=0, frame_id='aruco_%d' % marker_id)
-print_current_map_position()
-
-input('Perform landing [enter] ')
-land()

clover/src/autotest/autotest_flight.py

@@ -1,100 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-import math
-from math import nan
-import signal
-import sys
-from clover import srv
-from std_srvs.srv import Trigger
-from sensor_msgs.msg import Range
-from util import handle_response
-
-rospy.init_node('autotest_flight', disable_signals=True) # disable signals to allow interrupting with ctrl+c
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
-navigate_global = handle_response(rospy.ServiceProxy('navigate_global', srv.NavigateGlobal))
-set_position = handle_response(rospy.ServiceProxy('set_position', srv.SetPosition))
-set_velocity = handle_response(rospy.ServiceProxy('set_velocity', srv.SetVelocity))
-set_attitude = handle_response(rospy.ServiceProxy('set_attitude', srv.SetAttitude))
-set_rates = handle_response(rospy.ServiceProxy('set_rates', srv.SetRates))
-land = handle_response(rospy.ServiceProxy('land', Trigger))
-
-def interrupt(sig, frame):
-    print('\nInterrupted, landing...')
-    land()
-    sys.exit(0)
-
-signal.signal(signal.SIGINT, interrupt)
-
-def navigate_wait(x=0, y=0, z=0, yaw=nan, yaw_rate=0, speed=0.5, \
-        frame_id='body', tolerance=0.2, auto_arm=False):
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
-
-    if not res.success:
-        return res
-
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
-            return res
-        rospy.sleep(0.2)
-
-def print_distance():
-    dist = rospy.wait_for_message('rangefinder/range', Range).range
-    print('Distance: {:.2f}'.format(dist))
-
-input('Take off and hover 1 m [enter] ')
-navigate_wait(z=1, frame_id='body', auto_arm=True)
-print_distance()
-start = get_telemetry()
-
-input('Fly forward 2 m [enter] ')
-navigate_wait(x=2, frame_id='navigate_target')
-print_distance()
-
-input('Climb 0.5 m [enter] ')
-navigate_wait(z=0.5, frame_id='navigate_target')
-print_distance()
-
-input('Rotate left 90° [enter] ')
-navigate(yaw=math.pi / 2, frame_id='navigate_target')
-rospy.sleep(3)
-
-input('Use set_velocity to fly forward 2 m speed 1 [enter]')
-set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
-rospy.sleep(2)
-set_position(frame_id='body')
-
-input('Rotate right 90° [enter] ')
-navigate(yaw=-math.pi / 2, frame_id='navigate_target')
-rospy.sleep(3)
-
-input('Use set_attitude to fly backwards [enter]')
-set_attitude(pitch=-0.3, roll=0, yaw=0, thrust=0.5, frame_id='body')
-rospy.sleep(0.3)
-set_position(frame_id='body')
-
-input('Use set_attitude to fly right [enter]')
-set_attitude(pitch=0, roll=0.3, yaw=0, thrust=0.5, frame_id='body')
-rospy.sleep(0.5)
-set_position(frame_id='body')
-
-input('Use set_rates to fly right [enter]')
-set_rates(roll_rate=1.2, thrust=0.5)
-rospy.sleep(0.4)
-set_position(frame_id='body')
-
-input('Rotate 360° to the right using yaw_rate [enter]')
-set_position(x=nan, y=nan, z=nan, frame_id='body', yaw=nan, yaw_rate=-1)
-rospy.sleep(2 * math.pi)
-set_position(frame_id='body')
-
-input('Return to start point [enter]')
-navigate_wait(x=start.x, y=start.y, z=start.z, yaw=start.yaw, speed=1, frame_id='map')
-
-input('Land [enter]')
-land()

clover/src/autotest/autotest_led.py

@@ -1,72 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-import functools
-from clover.srv import SetLEDEffect
-from led_msgs.srv import SetLEDs
-from led_msgs.msg import LEDStateArray, LEDState
-from util import handle_response
-
-rospy.init_node('autotest_led', disable_signals=True)
-
-set_leds = handle_response(rospy.ServiceProxy('led/set_leds', SetLEDs))
-set_effect = handle_response(rospy.ServiceProxy('led/set_effect', SetLEDEffect))
-
-led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
-print('LED count =', led_count)
-
-print('== Testing effects ==')
-
-input('Fill red [enter] ')
-set_effect(r=255, g=0, b=0)
-
-input('Fill green [enter] ')
-set_effect(r=0, g=100, b=0)
-
-input('Blink white [enter] ')
-set_effect(effect='blink', r=255, g=255, b=255)
-rospy.sleep(3)
-
-input('Blink fast violet [enter] ')
-set_effect(effect='blink_fast', r=220, g=20, b=250)
-rospy.sleep(3)
-
-input('Fade to blue [enter] ')
-set_effect(effect='fade', r=0, g=0, b=255)
-
-input('Wipe to yellow [enter] ')
-set_effect(effect='wipe', r=255, g=255, b=40)
-
-input('Flash red [enter] ')
-set_effect(effect='flash', r=255, g=0, b=0)
-rospy.sleep(1)
-
-input('Rainbow [enter] ')
-set_effect(effect='rainbow')
-rospy.sleep(4)
-
-input('Rainbow fill [enter] ')
-set_effect(effect='rainbow_fill')
-rospy.sleep(4)
-
-input('Turn off [enter] ')
-set_effect()
-
-print('== Testing low-level control ==')
-
-input('Fill orange [enter] ')
-set_leds(leds=[LEDState(index=i, r=245, g=155, b=0) for i in range(led_count)])
-
-input('Fill blue gradient [enter] ')
-set_leds(leds=[LEDState(index=i, r=0, g=20, b=int(255 * i / led_count)) for i in range(led_count)])
-
-input('Animate green dot [enter] ')
-set_effect()
-for i in range(led_count):
-    if i > 0:
-        set_leds(leds=[LEDState(index=i - 1, r=0, g=0, b=0)])
-    set_leds(leds=[LEDState(index=i, r=0, g=255, b=0)])
-    rospy.sleep(0.05)
-
-input('Turn off [enter] ')
-set_effect()

clover/src/autotest/util.py

@@ -1,11 +0,0 @@
-import functools
-
-# decorator to handle response and print error message
-def handle_response(fn):
-    @functools.wraps(fn)
-    def wrapper(*args, **kwargs):
-        res = fn(*args, **kwargs)
-        if not res.success:
-            print('\033[91mError:\033[0m {}'.format(res.message))
-        return res
-    return wrapper

clover/src/led.cpp

@@ -31,6 +31,7 @@ ros::Time start_time;
 double blink_rate, blink_fast_rate, flash_delay, fade_period, wipe_period, rainbow_period;
 double low_battery_threshold;
 std::vector<std::string> error_ignore;
+bool blink_state;
 led_msgs::SetLEDs set_leds;
 led_msgs::LEDStateArray state, start_state;
 ros::ServiceClient set_leds_srv;
@@ -86,8 +87,9 @@ void proceed(const ros::TimerEvent& event)
 	set_leds.request.leds.resize(led_count);
 
 	if (current_effect.effect == "blink" || current_effect.effect == "blink_fast") {
-		// enable on odd counter
-		if (counter % 2 != 0) {
+		blink_state = !blink_state;
+		// toggle all leds
+		if (blink_state) {
 			fill(current_effect.r, current_effect.g, current_effect.b);
 		} else {
 			fill(0, 0, 0);
@@ -220,7 +222,6 @@ bool setEffect(clover::SetLEDEffect::Request& req, clover::SetLEDEffect::Respons
 	counter = 0;
 	start_state = state;
 	start_time = ros::Time::now();
-	proceed({ .current_real = start_time });
 
 	return true;
 }

clover/src/optical_flow.cpp

@@ -22,13 +22,11 @@
 #include <tf2/utils.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <dynamic_reconfigure/server.h>
 #include <mavros_msgs/OpticalFlowRad.h>
 #include <sensor_msgs/Imu.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/TwistStamped.h>
-#include <clover/FlowConfig.h>
 
 using cv::Mat;
 
@@ -40,7 +38,6 @@ public:
 	{}
 
 private:
-	bool enabled_;
 	ros::Publisher flow_pub_, velo_pub_, shift_pub_;
 	ros::Time prev_stamp_;
 	std::string fcu_frame_id_, local_frame_id_;
@@ -57,7 +54,6 @@ private:
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
 	float flow_gyro_default_;
-	std::shared_ptr<dynamic_reconfigure::Server<clover::FlowConfig>> dyn_srv_;
 
 	void onInit()
 	{
@@ -87,12 +83,6 @@ private:
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 
-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<clover::FlowConfig>>(nh_priv);
-		dynamic_reconfigure::Server<clover::FlowConfig>::CallbackType cb;
-
-		cb = std::bind(&OpticalFlow::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
-		dyn_srv_->setCallback(cb);
-
 		NODELET_INFO("Optical Flow initialized");
 	}
 
@@ -119,8 +109,6 @@ private:
 
 	void flow(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cinfo)
 	{
-		if (!enabled_) return;
-
 		parseCameraInfo(cinfo);
 
 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
@@ -154,7 +142,7 @@ private:
 
 		img.convertTo(curr_, CV_32F);
 
-		if (prev_.empty() || (msg->header.stamp - prev_stamp_).toSec() > 0.1) { // outdated previous frame
+		if (prev_.empty()) {
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;
 			cv::createHanningWindow(hann_, curr_.size(), CV_32F);
@@ -276,14 +264,6 @@ publish_debug:
 
 		return flow;
 	}
-
-	void paramCallback(clover::FlowConfig &config, uint32_t level)
-	{
-		enabled_ = config.enabled;
-		if (!enabled_) {
-			prev_ = Mat(); // clear previous frame
-		}
-	}
 };
 
 PLUGINLIB_EXPORT_CLASS(OpticalFlow, nodelet::Nodelet)

clover/src/rc.cpp

@@ -91,7 +91,7 @@ private:
 	void fakeGCSThread()
 	{
 		// Awful workaround for fixing PX4 not sending STATUSTEXTs
-		// if there is no GCS heartbeats.
+		// if there is no GCS hearbeats.
 		// TODO: use timer
 		// TODO: remove, when PX4 get this fixed.
 		ros::Publisher mavlink_pub = nh.advertise<mavros_msgs::Mavlink>("mavlink/to", 1);

clover/src/selfcheck.py

@@ -336,7 +336,7 @@ def is_process_running(binary, exact=False, full=False):
         if exact:
             args.append('-x')  # match exactly with the command name
         if full:
-            args.append('-f')  # use full command line (including arguments) to match
+            args.append('-f')  # use full process name to match
         args.append(binary)
         subprocess.check_output(args)
         return True
@@ -534,8 +534,6 @@ def check_global_position():
         rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
     except rospy.ROSException:
         info('no global position')
-        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK') & (1 << 0)):
-            failure('enabled GPS fusion may suppress vision position aiding')
 
 
 @check('Optical flow')
@@ -625,10 +623,6 @@ def check_rangefinder():
 
 @check('Boot duration')
 def check_boot_duration():
-    if not os.path.exists('/etc/clover_version'):
-        info('skip check')
-        return # Don't check not on Clover's image
-
     output = subprocess.check_output('systemd-analyze').decode()
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
@@ -654,9 +648,6 @@ def check_cpu_usage():
 
 @check('clover.service')
 def check_clover_service():
-    if not os.path.exists('/etc/clover_version'):
-        return # Don't check not on Clover's image
-
     try:
         output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
                                          stderr=subprocess.STDOUT).decode()
@@ -712,10 +703,6 @@ def check_image():
 
 @check('Preflight status')
 def check_preflight_status():
-    if is_process_running('px4', exact=True):
-        info('can\'t check in SITL')
-        return
-
     # Make sure the console is available to us
     mavlink_exec('\n')
     cmdr_output = mavlink_exec('commander check')
@@ -737,10 +724,6 @@ def check_preflight_status():
 
 @check('Network')
 def check_network():
-    if not os.path.exists('/etc/clover_version'):
-        # TODO:
-        return # Don't check not on Clover's image
-
     ros_hostname = os.environ.get('ROS_HOSTNAME', '').strip()
 
     if not ros_hostname:

clover/src/simple_offboard.cpp

@@ -150,9 +150,6 @@ void handleState(const mavros_msgs::State& s)
 inline void publishBodyFrame()
 {
 	if (body.child_frame_id.empty()) return;
-	if (!body.header.stamp.isZero() && body.header.stamp == local_position.header.stamp) {
-		return; // avoid TF_REPEATED_DATA warnings
-	}
 
 	tf::Quaternion q;
 	q.setRPY(0, 0, tf::getYaw(local_position.pose.orientation));
@@ -694,7 +691,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// }
 
 		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
-			// destination point and/or attitude
+			// destination point and/or yaw
 			PoseStamped ps;
 			ps.header.frame_id = frame_id;
 			ps.header.stamp = stamp;
@@ -703,12 +700,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			ps.pose.position.z = z;
 			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
 
-			if (sp_type == ATTITUDE) {
-				ps.pose.position.x = 0;
-				ps.pose.position.y = 0;
-				ps.pose.position.z = 0;
-				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
-			} else if (std::isnan(yaw)) {
+			if (std::isnan(yaw)) {
 				setpoint_yaw_type = YAW_RATE;
 				setpoint_yaw_rate = yaw_rate;
 			} else if (std::isinf(yaw) && yaw > 0) {

clover/src/vpe_publisher.cpp

@@ -33,14 +33,14 @@ ros::Subscriber local_position_sub;
 ros::Timer zero_timer;
 PoseStamped vpe, pose;
 ros::Time got_local_pos(0);
-ros::Duration publish_zero_timeout, publish_zero_duration, offset_timeout;
+ros::Duration publish_zero_timout, publish_zero_duration, offset_timeout;
 TransformStamped offset;
 
 void publishZero(const ros::TimerEvent& e)
 {
-	if (!vpe.header.stamp.isZero() && e.current_real - vpe.header.stamp < publish_zero_timeout) return; // have vpe
+	if (e.current_real - vpe.header.stamp < publish_zero_timout) return; // have vpe
 
-	if (!pose.header.stamp.isZero() && e.current_real - pose.header.stamp < publish_zero_timeout) { // have local position
+	if (e.current_real - pose.header.stamp < publish_zero_timout) { // have local position
 		if (got_local_pos.isZero()) {
 			ROS_INFO("got local position");
 			got_local_pos = e.current_real;
@@ -124,8 +124,8 @@ int main(int argc, char **argv) {
 
 	nh_priv.param<string>("frame_id", frame_id, "");
 	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
-	nh.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
-	nh.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
+	nh_priv.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
+	nh_priv.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));
 
 	if (!frame_id.empty()) {
@@ -144,7 +144,7 @@ int main(int argc, char **argv) {
 	if (nh_priv.param("force_init", false) || nh_priv.param("publish_zero", false)) { // publish_zero is old name
 		// publish zero to initialize the local position
 		zero_timer = nh.createTimer(ros::Duration(0.1), &publishZero);
-		publish_zero_timeout = ros::Duration(nh_priv.param("force_init_timeout", 5.0));
+		publish_zero_timout = ros::Duration(nh_priv.param("force_init_timeout", 5.0));
 		publish_zero_duration = ros::Duration(nh_priv.param("force_init_duration", 5.0));
 		local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
 	}

clover/www/js/topics.js

@@ -40,7 +40,6 @@ function viewTopicsList() {
 let rosdistro;
 
 function viewTopic(topic) {
-	let counter = 0;
 	let index = '<a href=topics.html>Topics</a>';
 	title.innerHTML = `${index}: ${topic}`;
 	topicMessage.style.display = 'block';
@@ -52,11 +51,10 @@ function viewTopic(topic) {
 	});
 
 	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
-		counter++;
 		document.title = topic;
 		if (mouseDown) return;
 
-		if (msg.header && msg.header.stamp) {
+		if (msg.header.stamp) {
 			if (params.date || params.offset) {
 				let date = new Date(msg.header.stamp.secs * 1e3 + msg.header.stamp.nsecs * 1e-6);
 				if (params.date) msg.header.date = date.toISOString();
@@ -64,8 +62,7 @@ function viewTopic(topic) {
 			}
 		}
 
-		let txt = `<div class=counter>${counter} received</div>${yamlStringify(msg)}`; // JSON.stringify(msg, null, 4);
-		topicMessage.innerHTML = txt;
+		topicMessage.innerHTML = yamlStringify(msg); // JSON.stringify(msg, null, 4);
 	});
 }
 

clover/www/topics.html

@@ -15,7 +15,6 @@
 				white-space: pre;
 				font-family: monospace;
 			}
-			.counter { color: #b9b9b9; margin-bottom: 1em; }
 			#topic-type { font-family: monospace; font-size: 0.5em; vertical-align: super; font-weight: normal; }
 			.topic { font-family: monospace; }
 			body.closed { background-color: rgb(207, 207, 207); }

clover_blocks/README.md

@@ -19,7 +19,7 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 ### Services
 
 * `~run` ([*clover_blocks/Run*](srv/Run.srv)) – run Blockly-generated program (in Python).
-* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/noetic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
+* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/melodic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
 * `~store` ([*clover_blocks/load*](srv/Store.srv)) – store a user program (to `<package_path>/programs` by default).
 * `~load` ([*clover_blocks/load*](srv/Load.srv)) – load all the stored programs.
 
@@ -45,11 +45,11 @@ http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
 
 #### Published
 
-* `~running` ([*std_msgs/Bool*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
-* `~block` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
-* `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
+* `~running` ([*std_msgs/Bool*](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
+* `~block` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
+* `~error` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
 * `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
 
 This topic is published from the frontend side:
 
-* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user input response.
+* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user input response.

clover_simulation/README.md

@@ -10,7 +10,7 @@ The simulation may be configured by a set of arguments:
 
 * `mav_id` (*integer*, default: *0*) - MAVLink identifier of the vehicle. **Note**: Multi-vehicle simulation is possible, but requires extensive changes to launch files;
 * `est` (*string*, default: *lpe*, possible values: *lpe*, *ekf2*) - PX4 estimator selection. Note that this may be overriden in the startup scripts for your craft;
-* `vehicle` (*string*, default: *clover*) - PX4 vehicle name. Depending on this parameter, different PX4 presets will be loaded.
+* `vehicle` (*string*, default: *clover*) - PX4 vehicle name. Depending on this parameter, different PX4 presets will be loaded. **Note**: The default value, *clover*, requires you to use [Clover-specific PX4 branch](https://github.com/CopterExpress/Firmware/tree/v1.10.1-clever);
 * `main_camera` (*boolean*, default: *true*) - controls whether the drone will have a vision position estimation camera;
 * `rangefinder` (*boolean*, default: *true*) - controls whether the drone will have a laser rangefinder;
 * `led` (*boolean*, default: *true*) - controls whether the drone will have a programmable LED strip;

clover_simulation/airframes/4500_clover

@@ -7,31 +7,30 @@
 
 . ${R}etc/init.d-posix/airframes/10016_iris # base on iris
 
-param set-default ATT_W_EXT_HDG 0.5
-param set-default ATT_EXT_HDG_M 1 # 0 = none, 1 = vision, 2 = mocap
+param set ATT_W_EXT_HDG 0.5
+param set ATT_EXT_HDG_M 1
 
-param set-default COM_DISARM_LAND 1.0
-param set-default COM_RCL_EXCEPT 4 # enable offboard flights without rc
+param set COM_DISARM_LAND 1.0
 
-param set-default LPE_FLW_SCALE 1.0
-param set-default LPE_FLW_R 0.2
-param set-default LPE_FLW_RR 0.0
-param set-default LPE_FLW_QMIN 10
-param set-default LPE_VIS_DELAY 0.0
-param set-default LPE_VIS_Z 0.1
-param set-default LPE_FUSION 86 # flow + vis + land detector + gyro comp
+param set LPE_FLW_SCALE 1.0
+param set LPE_FLW_R 0.2
+param set LPE_FLW_RR 0.0
+param set LPE_FLW_QMIN 10
+param set LPE_VIS_DELAY 0.0
+param set LPE_VIS_Z 0.1
+param set LPE_FUSION 86
 
-param set-default SENS_FLOW_ROT 0
-param set-default SENS_FLOW_MINHGT 0.0
-param set-default SENS_FLOW_MAXHGT 4.0
-param set-default SENS_FLOW_MAXR 10.0
+param set SENS_FLOW_ROT 0
+param set SENS_FLOW_MINHGT 0.0
+param set SENS_FLOW_MAXHGT 4.0
+param set SENS_FLOW_MAXR 10.0
 
-param set-default EKF2_AID_MASK 26 # flow + vis pos + vis yaw
-param set-default EKF2_OF_DELAY 0
-param set-default EKF2_OF_QMIN 10
-param set-default EKF2_OF_N_MIN 0.05
-param set-default EKF2_OF_N_MAX 0.2
-param set-default EKF2_HGT_MODE 2 # 0 = baro, 1 = gps, 2 = range, 3 = vision
-param set-default EKF2_EVA_NOISE 0.1
-param set-default EKF2_EVP_NOISE 0.1
-param set-default EKF2_EV_DELAY 0
+param set EKF2_AID_MASK 27 # gps + flow + vis pos + vis yaw
+param set EKF2_OF_DELAY 0
+param set EKF2_OF_QMIN 10
+param set EKF2_OF_N_MIN 0.05
+param set EKF2_OF_N_MAX 0.2
+param set EKF2_HGT_MODE 2
+param set EKF2_EVA_NOISE 0.1
+param set EKF2_EVP_NOISE 0.1
+param set EKF2_EV_DELAY 0

clover_simulation/launch/simulator.launch

@@ -21,7 +21,7 @@
     </include>
 
     <!-- PX4 instance -->
-    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" required="true" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
+    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
         <env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
         <env name="PX4_ESTIMATOR" value="$(arg est)"/>
     </node>
@@ -36,7 +36,7 @@
         <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
     </include>
 
-    <node name="jmavsim" pkg="px4" required="true" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')">
+    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')">
         <env name="HEADLESS" value="1" if="$(eval not gui)"/>
     </node>
 

docs/.vuepress/config.js

@@ -0,0 +1,83 @@
+const sidebar = require('./sidebar');
+
+const hostname = 'https://clover.coex.tech/';
+const allowedTags = ['font', 'center', 'nobr']; // allow using some deprecated and non-standard html tags
+
+module.exports = {
+	lang: 'en-US',
+	title: 'Clover',
+	description: 'Clover Drone Kit',
+	// theme and its config
+	theme: '@vuepress/theme-default',
+	themeConfig: {
+		logo: 'clover-logo.png',
+		sidebar: {
+			'/ru/': sidebar.readSummary("./ru/SUMMARY.md"),
+			'/en/': sidebar.readSummary("./en/SUMMARY.md"),
+		},
+		sidebarDepth: 0,
+		locales: {
+			'/en/': {
+				selectLanguageName: 'English',
+				navbar: [
+					{ text: 'Official Site', link: 'https://coex.tech' },
+					{ text: 'Support Chat', link: 'https://t.me/COEXHelpdesk' },
+				]
+			},
+			'/ru/': {
+				selectLanguageName: 'Русский',
+				tip: 'СОВЕТ',
+				warning: 'ВНИМАНИЕ',
+				danger: 'ОПАСНО',
+				toggleDarkMode: 'Переключить темную тему',
+				navbar: [
+					{ text: 'Сайт', link: 'https://coex.tech' },
+					{ text: 'Чат поддержки', link: 'https://t.me/COEXHelpdesk' },
+				]
+			},
+		},
+		toggleSidebar: true,
+		repo: 'CopterExpress/clover',
+		docsBranch: 'master',
+		docsDir: 'docs',
+		lastUpdated: false,
+		contributors: false
+	},
+	pagePatterns: ['**/*.md', '!.vuepress', '!node_modules', '!ru/metodmaterials.md'],
+	locales: {
+		'/en/': {
+			lang: 'en',
+			title: 'Clover',
+			description: 'Clover Drone Kit'
+		},
+		'/ru/': {
+			lang: 'ru',
+			title: 'Клевер',
+			description: 'Конструктор квадрокоптера «Клевер»'
+		}
+	},
+	markdown: {
+		code: {
+			lineNumbers: false
+		},
+		linkify: true,
+	},
+	extendsMarkdown(md) {
+		md.use(require('markdown-it-attrs')); // to use custom headers anchors
+	},
+	bundlerConfig: {
+		vuePluginOptions: {
+			template: {
+				compilerOptions: {
+					isCustomElement: tag => allowedTags.includes(tag)
+				}
+			}
+		}
+	},
+	plugins: [
+		'@vuepress/plugin-search',
+		'vuepress-plugin-copy-code2',
+		['sitemap2', { hostname, excludeUrls: ['/', '/LANGS.html'] }],
+		require('./rich-quotes')
+	]
+}

docs/.vuepress/rich-quotes.js

@@ -0,0 +1,37 @@
+// Plugin to convert GitBook rich quotes to custom containers
+
+const types = {
+	info: 'tip',
+	note: 'tip',
+	tag: 'tip',
+	comment: 'tip',
+	hint: 'tip',
+	success: 'tip',
+	warning: 'warning',
+	caution: 'warning',
+	danger: 'danger',
+	quote: 'tip'
+}
+
+function replace(src) {
+	return src.replace(/^> \*\*(.*?)\*\* (.*\n(>.*\n)*)/gm, function (match, type, text) {
+		text = text.replace(/^>/gm, '');
+		return `::: ${types[type.toLowerCase()]}\n${text}\n:::`;
+	});
+}
+
+module.exports = {
+	name: 'vuepress-plugin-rich-quotes',
+	extendsMarkdown: (md) => {
+		var _render = md.render;
+
+		// TODO: a rough hack to replace rich quotes
+		// TODO: use proper plugin api
+
+		md.render = function(src, env) {
+			src = replace(src);
+			return _render.call(md, src, env);
+		}
+	},
+	
+};

docs/.vuepress/sidebar.js

@@ -0,0 +1,50 @@
+const fs = require('fs')
+
+const regex = /(\s*?)\*\s\[(.*?)\]\((.*?)\)/;
+
+exports.readSummary = function (path) {
+	let sidebar = [];
+	let lines = fs.readFileSync(path).toString().split('\n');
+	let item = {};
+
+	for (let line of lines) {
+		if (line.startsWith('#')) continue;
+		if (!line.trim()) continue;
+
+		let match = regex.exec(line);
+		if (!match) {
+			console.log('cannot parse', line);
+			continue;
+		}
+		level = match[1].length / 2;
+		text = match[2];
+		path = match[3].trim();
+
+		if (level == 0) {
+			if (item.path) {
+				// push new item
+				if (item.children) {
+					sidebar.push(item);
+				} else {
+					sidebar.push(item.path)
+				}
+				item = {};
+			}
+			item.text = text;
+			item.path = path;
+			item.collapsible = true;
+
+		} else if (level == 1 || level == 2) {
+			if (!item.children) {
+				item.children = [];
+				if (item.path) item.children.push(item.path);
+			}
+			item.children.push(path);
+
+		} else {
+			console.log('skip', text);
+		}
+	}
+
+	return sidebar;
+}

docs/.vuepress/styles/index.scss

@@ -0,0 +1,49 @@
+.big-clover {
+	max-width: 80% !important;
+	display: block;
+	margin-left: auto;
+	margin-right: auto;
+}
+
+/* change image for dark theme */
+html .big-clover.dark { display: none; }
+html.dark .big-clover { display: none; }
+html.dark .big-clover.dark { display: block; }
+
+img.logo {
+	transform: scale(2.5) translateX(-5%);
+}
+
+/* Centered images */
+img.center {
+	display: block;
+	margin-left: auto;
+	margin-right: auto;
+}
+
+/* Images with border */
+img.border {
+	border: 1px #e9e9e9 solid;
+	border-radius: 5px;
+}
+
+html.dark img.border {
+	border: none;
+	background: #fffffa;
+}
+
+table.versions td {
+	text-align: center;
+	background: white;
+}
+table.versions .subversion {
+	font-size: 80%;
+}
+
+.circle {
+	width: 0.8em;
+	height: 0.8em;
+	border-radius: 50%;
+	display: inline-block;
+	margin-right: 0.5em;
+}

docs/README.md

@@ -0,0 +1,4 @@
+# Languages
+
+* [English](en/)
+* [Русский](ru/)

docs/assets/copter_cat/logo.svg

@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
-<!-- Creator: CorelDRAW 2019 (64-Bit) -->
-<svg xmlns="http://www.w3.org/2000/svg" xml:space="preserve" width="255.858mm" height="78.1171mm" version="1.1" style="shape-rendering:geometricPrecision; text-rendering:geometricPrecision; image-rendering:optimizeQuality; fill-rule:evenodd; clip-rule:evenodd"
-viewBox="0 0 5794.02 1769"
- xmlns:xlink="http://www.w3.org/1999/xlink"
- xmlns:xodm="http://www.corel.com/coreldraw/odm/2003">
- <defs>
-  <style type="text/css">
-   <![CDATA[
-    .fil1 {fill:#1F1B20}
-    .fil0 {fill:#1F1B20;fill-rule:nonzero}
-   ]]>
-  </style>
- </defs>
- <g id="Слой_x0020_1">
-  <metadata id="CorelCorpID_0Corel-Layer"/>
-  <polygon class="fil0" points="3293.37,1768.99 2509.06,1768.97 2507.86,1661.12 3292.17,1660.65 "/>
-  <polygon class="fil0" points="3133.99,231.57 2664.24,231.57 2556.99,123.72 3237.05,123.23 "/>
-  <path class="fil0" d="M3647.51 123.72l1925.38 0 0 381.38 -107.85 -8.69 0 -264.84 -1809.74 0 -7.79 -107.85zm1925.38 676.77l0 968.51 -1653.42 0 -1.5 -108.34 1547.07 0.49 0 -850.17 107.85 -10.48z"/>
-  <path class="fil0" d="M2142.36 123.72l-1925.38 0 0 381.38 107.85 -8.69 0 -264.84 1809.74 0 7.79 -107.85zm-1925.38 676.77l0 968.51 1654.08 0 1.5 -108.34 -1547.73 0.49 0 -850.17 -107.85 -10.48z"/>
-  <path class="fil1" d="M2887.45 1229.18c-100.66,0 -189.34,-87.18 -244.46,-111.14 -55.12,-23.96 -215.7,-63.51 -215.7,-63.51 0,0 -88.67,-131.81 -110.24,-196.52 -21.57,-64.71 -38.35,-225.29 -38.35,-225.29 0,0 -28.76,-59.92 -38.35,-86.28 -9.59,-26.36 -19.17,-79.09 -19.17,-79.09l67.11 -59.92 -71.9 -21.57c0,0 -9.59,-131.82 -9.59,-184.54 0,-52.73 28.76,-201.32 28.76,-201.32 0,0 143.8,76.69 242.06,148.59 98.26,71.9 201.32,220.49 201.32,220.49 0,0 97.96,-32.96 220.19,-32.96 122.23,0 212.4,32.96 212.4,32.96 0,0 103.06,-148.59 201.32,-220.49 98.26,-71.9 242.06,-148.59 242.06,-148.59 29.86,154.29 35.16,239.28 25.77,366.69 -7.33,99.38 -20.22,164.6 -68.91,266.02 0,0 -16.78,146.2 -38.35,225.29 -21.57,79.09 -110.24,196.52 -110.24,196.52 0,0 -165.37,25.17 -221.69,53.92 -56.32,28.76 -153.38,120.73 -254.04,120.73zm-260.11 -471.35c0,0 -32.95,31.4 -32.95,71.54 0,40.15 29.36,76.45 29.36,76.45 0,0 30.97,-38.24 30.97,-73.59 0,-35.35 -27.38,-74.4 -27.38,-74.4zm-164.17 -37.15c0,0 84.84,-18.88 192.09,33.85 107.25,52.73 163.22,135.12 163.22,135.12 0,0 -122.28,71.58 -245.11,36.23 -122.83,-35.35 -110.2,-205.2 -110.2,-205.2zm687.07 37.15c0,0 32.95,31.4 32.95,71.54 0,40.15 -29.36,76.45 -29.36,76.45 0,0 -30.97,-38.24 -30.97,-73.59 0,-35.35 27.38,-74.4 27.38,-74.4zm164.17 -37.15c0,0 -84.84,-18.88 -192.09,33.85 -107.25,52.73 -163.22,135.12 -163.22,135.12 0,0 122.28,71.58 245.11,36.23 122.83,-35.35 110.2,-205.2 110.2,-205.2z"/>
-  <path class="fil1" d="M2895.05 1398.42c0,0 -216.07,-1.19 -337.7,-47.93 -121.63,-46.74 -147.39,-68.91 -147.39,-68.91l-149.64 380.47 134.66 0 1.2 105.45 -411.02 0 0 -105.45 154.43 0 105.6 -464.95c0,0 -226.48,-22.77 -424.21,-81.49 -197.72,-58.72 -354.7,-127.02 -492.51,-133.01 -137.81,-5.99 -114.44,-2.99 -198.32,-7.79 -83.88,-4.79 -142.6,-47.92 -142.6,-82.68 0,-34.75 1.2,-59.32 1.2,-97.66 0,-38.35 32.36,-46.74 32.36,-46.74l-1.2 -29.96 -22.77 0c0,-8.09 12.58,-46.74 -53.93,-46.74 -66.51,0 -175.67,58.19 -233.67,77.89 -58,19.71 -552.43,-15.58 -644.7,-41.94 -92.27,-26.36 -64.71,-77.89 -45.54,-94.67 19.17,-16.78 539.25,-63.51 645.9,-56.32 106.65,7.19 329.54,44.34 329.54,44.34l0 -26.36 25.76 0 0 -25.76 12.58 0c0,0 2.39,-94.67 2.39,-134.21 0,-39.54 37.23,-60.33 65.31,-59.9 28.08,0.43 63.2,25.75 63.2,61.1 0,35.35 2.7,128.82 2.7,128.82l7.49 -0.15 0 25.02 32.95 0 0 27.56c0,0 253.15,-39.85 361,-45.84 107.85,-5.99 594.37,37.15 617.14,58.72 22.77,21.57 35.95,77.89 -39.55,100.66 -75.5,22.77 -581.19,57.52 -639.91,46.74 -58.72,-10.79 -173.73,-77.7 -243.26,-76.69 -69.53,1.01 -56.62,35.95 -56.62,45.54l-22.78 -0.9 -0.16 18.87c0,0 83.07,-1.13 121.42,16.84 38.35,17.97 115.72,50.26 168.44,62.24 52.72,11.98 568.01,-14.38 636.31,-28.76 68.3,-14.38 115.48,-40.16 115.48,-40.16 0,0 16.34,115.66 47.5,189.95 31.16,74.3 86.28,147.39 109.05,164.17 22.77,16.78 156.98,45.54 196.52,59.92 39.55,14.38 110.24,58.72 149.79,86.28 39.55,27.56 112.97,44.34 172.89,44.34 59.92,0 126.57,-16.78 166.12,-44.34 39.55,-27.56 110.24,-71.9 149.79,-86.28 39.55,-14.38 173.76,-43.14 196.52,-59.92 22.77,-16.78 77.89,-89.88 109.05,-164.17 31.16,-74.3 47.5,-189.95 47.5,-189.95 0,0 47.17,25.78 115.48,40.16 68.3,14.38 583.59,40.74 636.31,28.76 52.72,-11.98 130.1,-44.27 168.44,-62.24 38.35,-17.97 121.42,-16.84 121.42,-16.84l-0.16 -18.87 -22.78 0.9c0,-9.59 12.91,-44.53 -56.62,-45.54 -69.53,-1.01 -184.54,65.91 -243.26,76.69 -58.72,10.79 -564.41,-23.97 -639.91,-46.74 -75.5,-22.77 -62.31,-79.09 -39.55,-100.66 22.77,-21.57 509.29,-64.71 617.14,-58.72 107.85,5.99 361,45.84 361,45.84l0 -27.56 32.95 0 0 -25.02 7.49 0.15c0,0 2.7,-93.47 2.7,-128.82 0,-35.35 35.12,-60.67 63.2,-61.1 28.08,-0.43 65.31,20.36 65.31,59.9 0,39.54 2.39,134.21 2.39,134.21l12.58 0 0 25.76 25.76 0 0 26.36c0,0 222.89,-37.15 329.54,-44.34 106.65,-7.19 626.73,39.54 645.9,56.32 19.17,16.78 46.74,68.3 -45.54,94.67 -92.27,26.36 -586.7,61.65 -644.7,41.94 -58,-19.71 -167.17,-77.89 -233.67,-77.89 -66.51,0 -53.93,38.65 -53.93,46.74l-22.77 0 -1.2 29.96c0,0 32.36,8.4 32.36,46.74 0,38.35 1.2,62.91 1.2,97.66 0,34.75 -58.72,77.88 -142.6,82.68 -83.88,4.79 -60.52,1.79 -198.32,7.79 -137.81,5.99 -294.79,74.3 -492.51,133.01 -197.72,58.72 -424.21,81.49 -424.21,81.49l105.6 464.95 154.43 0 0 105.45 -411.02 0 1.2 -105.45 134.66 0 -149.64 -380.47c0,0 -25.76,22.17 -147.39,68.91 -121.63,46.74 -341.62,47.93 -341.62,47.93z"/>
- </g>
-</svg>

docs/assets/copterhack2023.svg

@@ -1,61 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 23.0.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
-<svg version="1.1" id="Слой_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 850.39 283.46" style="enable-background:new 0 0 850.39 283.46;" xml:space="preserve">
-<style type="text/css">
-	.st0{fill:#333333;}
-	.st1{fill:#FFFFFF;}
-	.st2{fill:#CCCCCC;}
-	.st3{fill:#1E1183;}
-	.st4{fill:#F71523;}
-	.st5{fill:url(#SVGID_1_);}
-	.st6{fill:url(#SVGID_2_);}
-	.st7{fill:url(#SVGID_3_);}
-	.st8{opacity:0.05;fill:#FFFFFF;}
-	.st9{opacity:0.05;fill:#CCCCCC;}
-	.st10{opacity:0.05;fill:url(#SVGID_4_);}
-	.st11{opacity:0.05;fill:url(#SVGID_5_);}
-	.st12{opacity:0.05;fill:url(#SVGID_6_);}
-	.st13{opacity:0.05;fill:url(#SVGID_7_);}
-	.st14{opacity:0.05;fill:url(#SVGID_8_);}
-	.st15{opacity:0.05;fill:url(#SVGID_9_);}
-	.st16{opacity:0.05;fill:url(#SVGID_10_);}
-	.st17{opacity:0.05;fill:url(#SVGID_11_);}
-	.st18{opacity:0.05;fill:url(#SVGID_12_);}
-</style>
-<g>
-	<polygon class="st3" points="559.36,2.05 433.46,2.05 433.46,36.37 479.25,36.37 479.25,128.02 513.57,128.02 513.57,36.37 
-		559.36,36.37 	"/>
-	<polygon class="st3" points="702.71,36.37 702.71,2.05 576.81,2.05 576.81,2.12 576.75,2.12 576.75,128.02 576.81,128.02 
-		611.07,128.02 702.71,128.02 702.71,93.7 611.07,93.7 611.07,82.23 668.45,82.23 668.45,47.91 611.07,47.91 611.07,36.37 	"/>
-	<polygon class="st3" points="559.45,179.72 559.38,155.4 535.19,155.45 489.34,201.3 467.68,201.3 467.68,155.45 433.37,155.45 
-		433.37,281.35 467.68,281.35 467.68,235.62 489.46,235.62 535.19,281.35 559.38,281.41 559.45,257.09 520.77,218.4 	"/>
-	<path class="st3" d="M67.26,36.87h63.01V2.05H67.26c-34.8,0-63.01,28.21-63.01,63.01s28.21,63.01,63.01,63.01h63.01V93.25H67.26
-		c-15.57,0-28.19-12.62-28.19-28.19C39.07,49.49,51.69,36.87,67.26,36.87z"/>
-	<path class="st3" d="M238.36,218.4v63.01h34.82V218.4c0-34.8-28.21-63.01-63.01-63.01s-63.01,28.21-63.01,63.01v63.01h34.82V218.4
-		c0-15.57,12.62-28.19,28.19-28.19C225.74,190.21,238.36,202.83,238.36,218.4z"/>
-	<path class="st3" d="M353.08,190.21h63.01V155.4h-63.01c-34.8,0-63.01,28.21-63.01,63.01s28.21,63.01,63.01,63.01h63.01v-34.82
-		h-63.01c-15.57,0-28.19-12.62-28.19-28.19C324.88,202.83,337.51,190.21,353.08,190.21z"/>
-	<polygon class="st3" points="95.79,155.4 95.79,200.82 39.41,200.82 39.41,155.4 4.25,155.4 4.25,281.41 39.41,281.41 
-		39.41,235.98 95.79,235.98 95.79,281.41 130.27,281.41 130.27,155.4 	"/>
-	<path class="st4" d="M737.06,200.43c-0.42-25.12-21.44-45.04-46.57-45.04h-45.07v34.32l45.49,0c6.19,0,11.52,4.76,11.81,10.95
-		c0.31,6.61-4.95,12.06-11.49,12.06h-11.5c-18.95,0-34.32,15.36-34.32,34.32v0v34.26h91.64v-34.26h-45.82
-		C716.81,247.03,737.49,226.1,737.06,200.43z"/>
-	<path class="st3" d="M272.4,55.19c-5.46-34.37-37.74-57.8-72.11-52.35c-34.37,5.46-57.8,37.74-52.35,72.11
-		c5.46,34.37,37.74,57.8,72.11,52.35C254.42,121.84,277.85,89.56,272.4,55.19z M210.17,93.26c-15.57,0-28.19-12.62-28.19-28.19
-		c0-15.57,12.62-28.19,28.19-28.19c15.57,0,28.19,12.62,28.19,28.19C238.36,80.64,225.74,93.26,210.17,93.26z"/>
-	
-		<rect x="593.74" y="155.4" transform="matrix(-1 -1.224647e-16 1.224647e-16 -1 1221.7888 356.6999)" class="st4" width="34.32" height="45.91"/>
-	<path class="st3" d="M370.51,2.12V2.05h-60.96v0.07h-19.48v125.9h34.32V93.26h46.13c25.17,0,45.57-20.4,45.57-45.57
-		C416.08,22.52,395.68,2.12,370.51,2.12z M364.98,64.71h-40.6V31.12h40.6v0.02c9.27,0,16.78,7.51,16.78,16.78
-		C381.77,57.19,374.25,64.71,364.98,64.71z"/>
-	<path class="st3" d="M846.12,47.69c0-25.17-20.4-45.57-45.57-45.57V2.05h-60.96v0.01h-19.48v126.02h34.32V93.26h32.67l34.76,34.76
-		l24.19,0.06l0.07-24.32l-19.03-19.03C838.61,76.45,846.12,62.95,846.12,47.69z M795.02,64.71
-		C795.02,64.71,795.02,64.71,795.02,64.71h-40.6V31.12h40.6v0.03c0,0,0,0,0,0c9.27,0,16.78,7.51,16.78,16.78
-		C811.8,57.19,804.29,64.71,795.02,64.71z"/>
-	<path class="st4" d="M846.1,195.54c0.31-22.05-18.25-40.09-40.3-40.09h-51.34v34.32h51.59v0.01c2.71,0,5.17,1.93,5.66,4.78
-		c0.33,1.96-0.48,3.98-1.98,5.29c-1.19,1.04-2.46,1.39-3.68,1.39v0.01h-27.06v34.32h27.06v0.01c2.71,0,5.17,1.93,5.66,4.78
-		c0.33,1.96-0.48,3.98-1.98,5.29c-1.19,1.04-2.46,1.39-3.68,1.39v0.01h-51.59v34.32h51.34c22.05,0,40.61-18.04,40.3-40.09
-		c-0.12-8.55-2.96-16.44-7.68-22.86C843.14,211.99,845.98,204.1,846.1,195.54z"/>
-</g>
-</svg>