Adjust aruco.launch arguments

clover/launch/aruco.launch

@@ -1,7 +1,10 @@
 <launch>
-    <arg name="aruco_detect" default="true"/>
-    <arg name="aruco_map" default="false"/>
-    <arg name="aruco_vpe" default="false"/>
+    <arg name="aruco_detect" default="false"/> <!-- markers recognition enabled -->
+    <arg name="aruco_map" default="false"/> <!-- markers map recognition enabled -->
+    <arg name="aruco_vpe" default="false"/> <!-- markers map positioning enabled -->
+    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
+    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
+    <arg name="map" default="map.txt"/> <!-- markers map file name -->
 
     <!-- For additional help go to https://clover.coex.tech/aruco -->
 
@@ -12,8 +15,9 @@
         <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
-        <param name="known_tilt" value="map"/>
-        <param name="length" value="0.33"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval position == 'ceiling')"/>
+        <param name="length" value="$(arg length)"/>
         <!-- aruco detector parameters -->
         <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
         <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
@@ -24,8 +28,9 @@
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
-        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
-        <param name="known_tilt" value="map"/>
+        <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>

clover/launch/clover.launch

@@ -1,16 +1,15 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/>
-    <arg name="fcu_ip" default="127.0.0.1"/>
-    <arg name="fcu_sys_id" default="1"/>
-    <arg name="gcs_bridge" default="tcp"/>
-    <arg name="web_video_server" default="true"/>
-    <arg name="rosbridge" default="true"/>
-    <arg name="main_camera" default="true"/>
-    <arg name="optical_flow" default="true"/>
-    <arg name="aruco" default="false"/>
-    <arg name="rangefinder_vl53l1x" default="true"/>
-    <arg name="led" default="true"/>
-    <arg name="rc" default="true"/>
+    <arg name="fcu_conn" default="usb"/> <!-- FCU connection type: usb, uart, tcp, udp, sitl -->
+    <arg name="fcu_ip" default="127.0.0.1"/> <!-- FCU IP adddress (if using TCP/UDP) -->
+    <arg name="fcu_sys_id" default="1"/> <!-- MAVLink system ID, noeditor -->
+    <arg name="gcs_bridge" default="tcp"/> <!-- GCS bridge type: tcp, udp, udp-b, udp-pb -->
+    <arg name="web_video_server" default="true"/> <!-- web video server enabled -->
+    <arg name="rosbridge" default="true"/> <!-- rosbridge_suite enabled, noeditor -->
+    <arg name="main_camera" default="true"/> <!-- main camera enabled -->
+    <arg name="optical_flow" default="true"/> <!-- optical flow enabled -->
+    <arg name="rangefinder_vl53l1x" default="true"/> <!-- VL53l1X rangefinder enabled -->
+    <arg name="led" default="true"/> <!-- LED strip driver enabled -->
+    <arg name="rc" default="true"/> <!-- support for mobile RC enabled -->
     <arg name="shell" default="true"/>
 
     <!-- log formatting -->
@@ -31,7 +30,7 @@
     </node>
 
     <!-- aruco markers -->
-    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
+    <include file="$(find clover)/launch/aruco.launch"/>
 
     <!-- optical flow -->
     <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
@@ -87,4 +86,11 @@
     <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
         <param name="default_package" value="clover"/>
     </node>
+
+    <!-- roslaunch editor parameters -->
+    <group ns="roslaunch_editor">
+        <param name="items" type="yaml" value="[clover/clover.launch, clover/main_camera.launch, clover/aruco.launch, clover/led.launch]"/>
+        <param name="apply_command" value="sudo systemctl restart clover"/>
+        <param name="hide_uncommented" value="true"/>
+    </group>
 </launch>

clover/launch/led.launch

@@ -1,7 +1,7 @@
 <launch>
-    <arg name="ws281x" default="true"/>
-    <arg name="led_effect" default="true"/>
-    <arg name="led_notify" default="true"/>
+    <arg name="ws281x" default="true"/> <!-- LED strip driver enabled -->
+    <arg name="led_effect" default="true"/> <!-- LED effect API enabled -->
+    <arg name="led_notify" default="all"/> <!-- LED strip notifications: all, battery, none -->
 
     <!-- For additional help go to https://clover.coex.tech/led -->
 
@@ -22,7 +22,7 @@
         <param name="fade_period" value="0.5"/>
         <param name="rainbow_period" value="5"/>
         <!-- events effects table -->
-        <rosparam param="notify" if="$(arg led_notify)">
+        <rosparam param="notify" if="$(eval led_notify == 'all')">
             startup: { r: 255, g: 255, b: 255 }
             connected: { effect: rainbow }
             disconnected: { effect: blink, r: 255, g: 50, b: 50 }
@@ -34,5 +34,8 @@
             low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
             error: { effect: flash, r: 255, g: 0, b: 0 }
         </rosparam>
+        <rosparam param="notify" if="$(eval led_notify == 'battery')">
+            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
+        </rosparam>
     </node>
 </launch>

roslaunch_editor/CMakeLists.txt

@@ -0,0 +1,82 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(roslaunch_editor)
+
+find_package(catkin REQUIRED COMPONENTS message_generation)
+
+add_message_files(
+  FILES
+  LaunchFile.msg
+)
+
+add_service_files(
+  FILES
+  ReadLaunchFiles.srv
+  WriteLaunchFiles.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+  # std_msgs  # Or other packages containing msgs
+)
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES roslaunch_editor
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_roslaunch_editor.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

roslaunch_editor/README.md

@@ -0,0 +1,28 @@
+# roslaunch_editor
+
+Web-based ROS launch-files editor, created for making configuration of your robot more user-friendly for novices.
+
+<img src="roslaunch_editor.jpg" width=450>
+
+## Quick launch
+
+```bash
+roslaunch roslaunch_editor example.launch
+```
+
+Then, open `http://localhost:8085/roslaunch_editor/` and edit the test launch file.
+
+## Modes
+
+`roslaunch_editor` works in two modes: standalone mode (where running `editor` node is required), and Clover mode (where `clover`'s `shell` node, `roswww_static` and `rosbridge_suite` are utilized). The editor will read and write launch-files and restart the nodes (if configured) using one of these nodes.
+
+The mode is determined automatically, based on advertised ROS-services.
+
+## Parameters
+
+* `items` (`string` or `list`) – launch files to edit, format: `package_name/launch_file_name.launch`.
+* `hide_uncommented` (`boolean`, default: `false`) – don't show arguments without comments.
+* `apply_command` (`string`, default: `''`) – shell command to execute after writing launch-files (e. g. to restart the systemd service).
+* `backup` (`boolean`, default: `false`) – backup overwritten launch-files (backup is written to `file_name.launch.bak`).
+
+Some parameters (`items`, `hide_uncommented`) can be overwritten over GET-parameters, e. g. `?items=package/foo.launch,package/bar.launch&hide_uncommented=1`.

roslaunch_editor/launch/example.launch

@@ -0,0 +1,11 @@
+<launch>
+    <include file="$(find roswww)/launch/roswww.launch"/>
+
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
+
+    <node name="roslaunch_editor" pkg="roslaunch_editor" type="editor">
+        <param name="items" type="yaml" value="[roslaunch_editor/test.launch]"/>
+        <param name="reference_frames/base_link" value="map"/>
+        <param name="reference_frames/navigate_target" value="map"/>
+    </node>
+</launch>

roslaunch_editor/msg/LaunchFile.msg

@@ -0,0 +1,3 @@
+string package
+string name
+string content

roslaunch_editor/package.xml

@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>roslaunch_editor</name>
+  <version>0.0.0</version>
+  <description>Web based roslaunch files editor</description>
+  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
+  <license>MIT</license>
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="repository">https://github.com/CopterExpress/clover</url>
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <author email="okalachev@gmail.com">Oleg Kalachev</author>
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>message_generation</depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

roslaunch_editor/src/editor

@@ -0,0 +1,73 @@
+#!/usr/bin/env python
+
+import rospy
+import os
+import shutil
+import rospkg
+
+from std_srvs.srv import Trigger
+from roslaunch_editor.srv import ReadLaunchFiles, ReadLaunchFilesResponse, WriteLaunchFiles
+from roslaunch_editor.msg import LaunchFile
+
+rospy.init_node('roslaunch_editor')
+rospack = rospkg.RosPack()
+backup = rospy.get_param('~backup', True)
+apply_command = rospy.get_param('~apply_command', '')
+
+
+def get_launch_file_path(package, name):
+    path = rospack.get_path(package)
+    for root, dirnames, filenames in os.walk(path):
+        if name in filenames:
+            return os.path.join(root, name)
+    raise Exception('Launch file %s/%s not found' % (package, name))
+
+
+def read(req):
+    try:
+        res = ReadLaunchFilesResponse()
+        for launch_file in req.files:
+            path = get_launch_file_path(launch_file.package, launch_file.name)
+            rospy.loginfo('read file %s', path)
+            launch_file.content = open(path, 'r').read()
+            res.files.append(launch_file)
+        res.success = True
+        return res
+    except Exception as e:
+        rospy.logerr(str(e))
+        return {'success': False, 'message': str(e)}
+
+
+def write(req):
+    try:
+        # write files
+        for launch_file in req.files:
+            if not launch_file.name.endswith('.launch'):
+                raise Exception('Launch file name should end with .launch')
+            path = get_launch_file_path(launch_file.package, launch_file.name)
+            rospy.loginfo('write file %s', path)
+            if backup:
+                shutil.copyfile(path, path + '.bak.launch')
+            with open(path, 'w') as f:
+                f.write(launch_file.content)
+
+        # restart the system
+        if not apply_command:
+            return {'success': True}
+
+        rospy.loginfo('apply: %s', apply_command)
+        res = os.system(apply_command)
+        if res == 0:
+            return {'success': True}
+        else:
+            return {'success': False, 'message': 'Error invoking %s' % apply_command}
+    except Exception as e:
+        rospy.logerr(str(e))
+        return {'success': False, 'message': str(e)}
+
+
+rospy.Service('~read', ReadLaunchFiles, read)
+rospy.Service('~write', WriteLaunchFiles, write)
+
+
+rospy.spin()

roslaunch_editor/srv/ReadLaunchFiles.srv

@@ -0,0 +1,7 @@
+# Read launch-files
+
+LaunchFile[] files # content field is ignored
+---
+bool success
+string message
+LaunchFile[] files

roslaunch_editor/srv/WriteLaunchFiles.srv

@@ -0,0 +1,6 @@
+# Write launch-files and apply (restart the system)
+
+LaunchFile[] files
+---
+bool success
+string message

roslaunch_editor/test/test.launch

@@ -0,0 +1,34 @@
+<launch>
+    <arg name="string" default="value"/> <!-- simple string value -->
+    <arg name="no_comment" default="value"/>
+    <arg name="boolean" default="true"/> <!-- simple boolean -->
+    <arg name="hidden" default="value"/> <!-- hiddent arg, noeditor -->
+    <arg name="without_default"/> <!-- without default -->
+
+    <arg name="options" default="bar"/> <!-- simple options: foo, bar, baz, killa, gorilla -->
+    <arg name="options_extra" default="extra"/> <!-- options with extra value: foo, bar, baz -->
+
+    <!-- arg with preceding comment -->
+    <arg name="preceding_comment" default="value"/>
+
+    <arg name="dirty_string" default="hello &quot;quotes&quot; and &lt;tags&gt;"/> <!-- "dirty" <arg>'s and comment value -->
+
+    <arg name="long_long_long_long_long_arg" default="very long long long long long long long long value"/> <!-- long_long_long_long_long_arg is loooooooooooooooooooooooooooooooooooooooooooooong -->
+
+    <arg name="no_subseqent_comment" default="value"/>
+    <!-- this comment should not be displayed -->
+
+    <arg name="integer" default="-245"/> <!-- integer value -->
+
+    <arg name="float" default="-0.045"/> <!-- float value -->
+
+    <arg name="float_dot" default=".2"/> <!-- float without leading zero -->
+
+    <arg name="float_scientific" default="-1e-5"/> <!-- scientific float value -->
+
+    <arg name="nan" default="nan"/> <!-- nan value -->
+
+    <arg name="inf" default="inf"/> <!-- inf value -->
+
+    <arg name="null" default="null"/> <!-- null value -->
+</launch>

roslaunch_editor/www/index.html

@@ -0,0 +1,140 @@
+<html>
+	<head>
+		<script src="roslib.js"></script>
+		<style>
+			body {
+				font-family: sans-serif;
+				font-size: 14px;
+				background: white;
+				padding: 0;
+				margin: 0;
+			}
+			body.connected {
+				background: white;
+			}
+			h1 {
+				margin-top: 20px;
+				text-align: center;
+			}
+			.editor {
+				margin: 0px auto;
+				width: 800px;
+				overflow: hidden;
+				text-align: center;
+			}
+			.editor label code {
+				width: 200px;
+				overflow: hidden;
+				text-overflow: ellipsis;
+				display: inline-block;
+				white-space: nowrap;
+				vertical-align: middle;
+			}
+			fieldset {
+				border: 1px solid rgb(232, 232, 232);
+				padding: 20px;
+				text-align: left;
+				margin: 20px 0;
+			}
+			.editor label {
+				display: block;
+				padding: 10px 0;
+				-webkit-user-select: none;
+				user-select: none;
+				/* margin-bottom: 20px; */
+				border-bottom: 1px solid rgb(232, 232, 232);
+				white-space: nowrap;
+			}
+			.editor label:last-of-type {
+				border-bottom: none;
+			}
+			.editor label input, select {
+				font-size: 15px;
+				font-family: monospace;
+				width: 200px;
+				vertical-align: middle;
+			}
+			.editor .switch {
+				width: 200px;
+				vertical-align: middle;
+				display: inline-block;
+			}
+			.editor .comment {
+				margin-left: 10px;
+				vertical-align: middle;
+				display: inline-block;
+				overflow: hidden;
+				text-overflow: ellipsis;
+				white-space: nowrap;
+				vertical-align: middle;
+				max-width: 320px;
+			}
+			button {
+				font-size: 20px;
+				border-radius: 5px;
+				padding: 10px;
+				border: none;
+				cursor: pointer;
+				margin: 20px;
+				width: 200px;
+				background: #4b9dd7;
+				color: white;
+				visibility: hidden;
+			}
+			body.loaded button {
+				visibility: visible;
+			}
+			textarea {
+				margin-left: 50px;
+				font-family: monospace;
+				vertical-align: top;
+				font-size: 15px;
+				white-space: nowrap;
+				overflow: auto;
+				font-size: 10px;
+				position: absolute;
+				top: 0;
+				right: 0;
+			}
+			.panel {
+				text-align: center;
+				position: sticky;
+				bottom: 0;
+				width: 100%;
+				background: rgba(255, 255, 255, 0.9);
+			}
+			.loader-overlay {
+				background: rgba(0,0,0,0.5);
+				position: fixed;
+				left: 0;
+				top: 0;
+				bottom: 0;
+				right: 0;
+			}
+			.loader {
+				position: fixed;
+				top: 50%;
+				left: 50%;
+				transform: translate(-50%, -50%);
+			}
+			body.loaded.connected .loader-overlay {
+				display: none;
+			}
+		</style>
+		<link rel="stylesheet" href="switch.css">
+		<link rel="stylesheet" href="loader.css">
+		<title>roslaunch editor</title>
+	</head>
+	<body>
+		<form class="editor">
+		</form>
+		<div class="panel">
+			<button id=applybtn onclick="apply()">Apply</button>
+		</div>
+		<div class="loader-overlay">
+			<div class="loader lds-grid"><div></div><div></div><div></div><div></div><div></div><div></div><div></div><div></div><div></div></div>
+		</div>
+	</body>
+	<script src="ros.js"></script>
+	<script src="main.js"></script>
+</html>

roslaunch_editor/www/loader.css

@@ -0,0 +1,67 @@
+.lds-grid {
+	display: inline-block;
+	position: relative;
+	width: 80px;
+	height: 80px;
+}
+.lds-grid div {
+	position: absolute;
+	width: 15px;
+	height: 15px;
+	border-radius: 50%;
+	background: #fff;
+	animation: lds-grid 1.2s linear infinite;
+}
+.lds-grid div:nth-child(1) {
+	top: 8px;
+	left: 8px;
+	animation-delay: 0s;
+}
+.lds-grid div:nth-child(2) {
+	top: 8px;
+	left: 32px;
+	animation-delay: -0.4s;
+}
+.lds-grid div:nth-child(3) {
+	top: 8px;
+	left: 56px;
+	animation-delay: -0.8s;
+}
+.lds-grid div:nth-child(4) {
+	top: 32px;
+	left: 8px;
+	animation-delay: -0.4s;
+}
+.lds-grid div:nth-child(5) {
+	top: 32px;
+	left: 32px;
+	animation-delay: -0.8s;
+}
+.lds-grid div:nth-child(6) {
+	top: 32px;
+	left: 56px;
+	animation-delay: -1.2s;
+}
+.lds-grid div:nth-child(7) {
+	top: 56px;
+	left: 8px;
+	animation-delay: -0.8s;
+}
+.lds-grid div:nth-child(8) {
+	top: 56px;
+	left: 32px;
+	animation-delay: -1.2s;
+}
+.lds-grid div:nth-child(9) {
+	top: 56px;
+	left: 56px;
+	animation-delay: -1.6s;
+}
+@keyframes lds-grid {
+	0%, 100% {
+		opacity: 1;
+	}
+	50% {
+		opacity: 0.5;
+	}
+}

roslaunch_editor/www/main.js

@@ -0,0 +1,287 @@
+var editorElem = document.querySelector('form.editor');
+
+// escape html
+function esc(unsafe) {
+	return unsafe
+		.replace(/&/g, "&")
+		.replace(/</g, "&lt;")
+		.replace(/>/g, "&gt;")
+		.replace(/"/g, "&quot;")
+		.replace(/'/g, "&#039;");
+ }
+
+function getType(value) {
+	if (value == 'true' || value == 'false') {
+		return 'bool';
+	} else if (Number.isInteger(Number(value))) {
+		return 'int';
+	} else if (!isNaN(Number(value))) {
+		return 'float'
+	} else {
+		return 'string';
+	}
+}
+
+var items = {};
+
+function generateForm(item, content) {
+	var parser = new DOMParser();
+	var doc = items[item].doc = parser.parseFromString(content, 'text/xml');
+	var html = '';
+
+	// go though all arg tags
+	var args = doc.querySelectorAll('launch > arg');
+	for (var arg of args) {
+		var name = arg.getAttribute('name');
+		var comment = '';
+		var value = arg.getAttribute('default');
+		if (value === null) value = '';
+		var type = getType(value);
+
+		// get comment from previous sibling comment with no more than one line break in-between -->
+		var prev = arg.previousSibling;
+		if (prev && prev.nodeType == Node.TEXT_NODE && prev.textContent.split('\n').length <= 2) {
+			prev = arg.previousSibling.previousSibling;
+			if (prev && prev.nodeType == Node.COMMENT_NODE && prev != next /* don't use one comment twice */) {
+				prevArgPrevComment = prev;
+				comment = prev.textContent;
+			}
+		}
+
+		// get comment from next sibling comment without line breaks in-between (more priority)
+		var next = arg.nextSibling;
+		if (next.nodeType == Node.TEXT_NODE && next.textContent.indexOf('\n') == -1) {
+			next = next.nextSibling;
+		}
+		if (next.nodeType == Node.COMMENT_NODE) {
+			comment = next.textContent;
+		}
+
+		// get options
+		var options = comment.match(/^(.*?): ((.*), (.*))$/);
+		if (options) {
+			comment = options[1];
+			options = options[2].split(',');
+			options = options.map(function(option) { return option.trim(); });
+		}
+
+		if (comment.indexOf('noeditor') != -1) continue;
+
+		if (p.hide_uncommented && !comment) continue;
+
+		var path = `launch > arg[name=${name}]`;
+		html += `<label><code title="${name}">${name}</code>`;
+
+		if (type == 'bool') {
+			html += `<span class=switch><input data-item="${esc(item)}" data-path="${path}" type=checkbox ${value == 'true' ? 'checked' : ''}><i></i></span>`;
+			// html += `<label>${unslugName}<input value=${value} list=bool></label>`;
+		} else if (type == 'int') {
+			html += `<input data-item="${esc(item)}" data-path="${path}" type=number value="${esc(value)}">`;
+		} else if (type == 'float') {
+			let step = '0.1';
+			try { step = '0.' + '0'.repeat(value.match(/\.(.*)$/)[1].length - 1) + '1'; } catch {}; // TODO: scientific
+			html += `<input data-item="${esc(item)}" data-path="${path}" type=number step="${step}" value="${esc(value)}">`;
+		} else if (options) {
+			if (!options.includes(value)) {
+				options.unshift(value);
+			}
+			var optionsHTML = options.map(function(option) {
+				return `<option${option == value ? ' selected' : ''}>${esc(option)}</option>`;
+			}).join('');
+			html += `<select data-item="${esc(item)}" data-path="${path}">${optionsHTML}</select>`;
+		} else {
+			html += `<input data-item="${esc(item)}" data-path="${path}" value="${esc(value)}">`;
+		}
+
+		html += `<span class=comment title="${esc(comment)}">${esc(comment)}</span></label>`
+	}
+
+	return html;
+}
+
+function updateDocs() {
+	editorElem.querySelectorAll('input, select').forEach(function(elem) {
+		var type = elem.getAttribute('type');
+		if (type == 'checkbox') {
+			var value = String(elem.checked);
+		} else {
+			var value = elem.value;
+		}
+		var path = elem.getAttribute('data-path');
+		var item = elem.getAttribute('data-item');
+		var element = items[item].doc.querySelector(path);
+		if (element.getAttribute('default') === null && value == '') {
+			// don't add empty default if it's not set
+			return;
+		}
+		element.setAttribute('default', value);
+	});
+}
+
+editorElem.addEventListener('change', updateDocs);
+
+function addLaunchFile(name, content) {
+	html = `<fieldset><legend><code>${name}</code></legend>`;
+	html += generateForm(name, content);
+	html += '</fieldset>'
+	editorElem.innerHTML += html;
+}
+
+function parseItem(str) {
+	var parsed = str.match(/(.*?)\/(.*)/);
+	var package = parsed[1];
+	var name = parsed[2];
+	return items[str] = { package, name };
+}
+
+var clover;
+
+function determineMode() {
+	return new Promise(function(resolve, reject) {
+		function errcb(err) {
+			alert(err);
+			reject();
+		}
+		// check roslaunch_editor's read service
+		ros.getServiceType('/roslaunch_editor/read', function(t) {
+			if (t == 'roslaunch_editor/ReadLaunchFiles') {
+				clover = false;
+				resolve();
+				return;
+			}
+			// check clover's exec service
+			ros.getServiceType('/exec', function(t) {
+				if (t == 'clover/Execute') {
+					clover = true;
+					resolve();
+					return;
+				}
+				alert('Neither /roslaunch_editor/read nor /exec service not found');
+				reject();
+			}, errcb);
+		}, errcb);
+	});
+}
+
+function errCallback(err) {
+	alert('Error calling service: ' + err);
+}
+
+function loadItems() {
+	editorElem.innerHTML = '';
+
+	if (typeof p.items == 'string') {
+		p.items = p.items.split(',');
+	}
+
+	if (clover) {
+		const boundary = '===BOUNDARY===';
+		var cmd = 'bash -ic "' + p.items.map(function(item) {
+			parseItem(item);
+			return `roscat ${items[item].package} ${items[item].name}`;
+		}).join(` && echo -n ${boundary} && `) + '"';
+		exec.callService(new ROSLIB.ServiceRequest({ cmd }), function(res) {
+			if (res.code != 0) {
+				alert('Error reading launch-files');
+				return;
+			}
+			res.output.split(boundary).forEach(function(content, i) {
+				addLaunchFile(p.items[i], content);
+			});
+			document.body.classList.add('loaded');
+		}, errCallback);
+
+	} else {
+		var req = new ROSLIB.ServiceRequest();
+		req.files = p.items.map(function(item) {
+			parseItem(item);
+			return { 'package': items[item].package, 'name': items[item].name }
+		});
+		readLaunchFiles.callService(req, function(res) {
+			res.files.forEach(function(item, i) {
+				addLaunchFile(p.items[i], item.content);
+			});
+			document.body.classList.add('loaded');
+		}, errCallback);
+	}
+}
+
+// load params
+Promise.all([
+	determineMode(),
+	readParam('apply_command', false, ''),
+	readParam('items', true),
+	readParam('hide_uncommented', true, false),
+	readParam('standalone', false, false),
+]).then(() => loadItems());
+
+function shellEscape(a) {
+	// https://github.com/xxorax/node-shell-escape
+	var ret = [];
+
+	a.forEach(function (s) {
+		if (!['&&', '||', '|', '>', '<', '>>', '<<'].includes(s) && /[^A-Za-z0-9_\/:=-]/.test(s)) {
+			s = "'" + s.replace(/'/g, "'\\''") + "'";
+			s = s.replace(/^(?:'')+/g, '') // unduplicate single-quote at the beginning
+				.replace(/\\'''/g, "\\'"); // remove non-escaped single-quote if there are enclosed between 2 escaped
+		}
+		ret.push(s);
+	});
+
+	return ret.join(' ');
+}
+
+var applying = false;
+
+// TODO: reread launch file on connected
+function apply() {
+	applying = true;
+	document.body.classList.remove('loaded');
+
+	updateDocs();
+
+	if (clover) {
+		var script = '';
+		for (item in items) {
+			if (script) script += ' && ';
+			var content = items[item].doc.documentElement.outerHTML;
+			script += `_roscmd ${items[item].package} ${items[item].name} && echo ${shellEscape([content])} > $arg`;
+		}
+		if (p.apply_command) {
+			script + ' && ' + p.apply_command;
+		}
+
+		var cmd = shellEscape(['bash', '-ic', script]);
+
+		exec.callService(new ROSLIB.ServiceRequest({ cmd: cmd }), function(res) {
+			if (res.code != 0) {
+				alert('Error');
+				return;
+			}
+			document.body.classList.add('loaded');
+		});
+	} else {
+
+		var req = new ROSLIB.ServiceRequest();
+		req.files = Object.keys(items).map(function(key) {
+			var item = items[key];
+			return { package: item.package, name: item.name, content: item.doc.documentElement.outerHTML }
+		});
+
+		writeLaunchFiles.callService(req, function(res) {
+			if (!res.success) {
+				alert('Error writing files ' + res.message);
+			}
+			document.body.classList.add('loaded');
+			applying = false;
+		}, errCallback);
+	}
+}
+
+ros.on('connection', function() {
+	if (applying) {
+		// connection after applying tells that system restarted
+		document.body.classList.add('loaded');
+		applying = false;
+	}
+})

roslaunch_editor/www/ros.js

@@ -0,0 +1,46 @@
+var url = 'ws://' + location.hostname + ':9090';
+var ros = new ROSLIB.Ros({ url });
+
+ros.on('connection', function () {
+	document.body.classList.add('connected');
+});
+
+ros.on('close', function () {
+	document.body.classList.remove('connected');
+	setTimeout(function() {
+		try {
+			ros.connect(url);
+		} catch (e) {}
+	}, 2000);
+});
+
+var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
+var readLaunchFiles = new ROSLIB.Service({ ros: ros, name: '/roslaunch_editor/read', serviceType: 'roslaunch_editor/ReadLaunchFiles' });
+var writeLaunchFiles = new ROSLIB.Service({ ros: ros, name: '/roslaunch_editor/write', serviceType: 'roslaunch_editor/WriteLaunchFiles' });
+
+var p = {}; // parameters storage
+
+function readParam(name, fromUrl, _default) {
+	return new Promise(function(resolve, reject) {
+		// read from url
+		if (fromUrl && ((p[name] = new URL(window.location.href).searchParams.get(name)) !== null)) {
+			resolve();
+			return;
+		}
+		// read from ROS params
+		new ROSLIB.Param({ ros: ros, name: '/roslaunch_editor/' + name }).get(function(val) {
+			if (val === null) {
+				if (_default === undefined) {
+					alert('Cannot read required parameter ' + name);
+					reject();
+				} else {
+					p[name] = _default;
+					resolve();
+				}
+				return;
+			}
+			p[name] = val;
+			resolve();
+		})
+	});
+}

roslaunch_editor/www/switch.css

@@ -0,0 +1,57 @@
+.switch {
+	display: inline-block;
+	cursor: pointer;
+	-webkit-tap-highlight-color: transparent;
+}
+
+.switch i {
+	position: relative;
+	display: inline-block;
+	margin-right: .5rem;
+	width: 46px;
+	height: 26px;
+	background-color: #e6e6e6;
+	border-radius: 23px;
+	vertical-align: text-bottom;
+	transition: all 0.3s linear;
+}
+
+.switch i::before {
+	content: "";
+	position: absolute;
+	left: 0;
+	width: 42px;
+	height: 22px;
+	background-color: #fff;
+	border-radius: 11px;
+	transform: translate3d(2px, 2px, 0) scale3d(1, 1, 1);
+	transition: all 0.25s linear;
+}
+
+.switch i::after {
+	content: "";
+	position: absolute;
+	left: 0;
+	width: 22px;
+	height: 22px;
+	background-color: #fff;
+	border-radius: 11px;
+	box-shadow: 0 2px 2px rgba(0, 0, 0, 0.24);
+	transform: translate3d(2px, 2px, 0);
+	transition: all 0.2s ease-in-out;
+}
+
+.switch:active i::after {
+	width: 28px;
+	transform: translate3d(2px, 2px, 0);
+}
+
+.switch:active input:checked + i::after { transform: translate3d(16px, 2px, 0); }
+
+.switch input { display: none; }
+
+.switch input:checked + i { background-color: #4B9DD7; }
+
+.switch input:checked + i::before { transform: translate3d(18px, 2px, 0) scale3d(0, 0, 0); }
+
+.switch input:checked + i::after { transform: translate3d(22px, 2px, 0); }