Merge branch 'master' into terrain-frame

Co-authored-by: Oleg Kalachev <okalachev@gmail.com>

.github/workflows/build.yml

@@ -16,8 +16,36 @@ 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
-      - name: Native Noetic build
-        run: |
-          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:noetic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
+    - uses: actions/checkout@v2
+      with:
+        path: catkin_ws/src/clover
+    - name: Install requirements
+      run: apt-get update && apt-get -y install python3-pip fakeroot python3-bloom debhelper dpkg-dev
+    - name: Install dependencies
+      run: rosdep update && rosdep install --from-paths src --ignore-src -y
+    - name: Install GeographicLib datasets
+      run: wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
+    - name: catkin_make
+      run: source /opt/ros/$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

.github/workflows/docs-docker.yaml

@@ -1,23 +0,0 @@
-name: Build docs Docker image
-
-on:
-  workflow_dispatch:
-  push:
-    branches: [ '*' ]
-
-jobs:
-  docs-docker:
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v2
-
-      - name: Build Docker image
-        run: docker build -t clover-docs:latest docs
-
-      - name: Test Docker image
-        run: docker run -t --rm -v `pwd`:/clover clover-docs:latest
-
-      - name: Show results
-        run: |
-          ls -lh _book
-          ls -lh *.pdf

aruco_pose/CMakeLists.txt

@@ -251,4 +251,5 @@ 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/src/aruco_detect.cpp

@@ -187,6 +187,8 @@ 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;
@@ -204,20 +206,33 @@ 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()) {
-							transform.transform.rotation = marker.pose.orientation;
-							fillTranslation(transform.transform.translation, tvecs[i]);
-							br_->sendTransform(transform);
+							// 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);
+							}
 						}
 					}
 				}
 				array_.markers.push_back(marker);
 			}
+
+			if (send_tf_) {
+				br_->sendTransform(transforms);
+			}
 		}
 
 		markers_pub_.publish(array_);

aruco_pose/test/duplicate.py

@@ -0,0 +1,8 @@
+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

@@ -0,0 +1,21 @@
+<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>

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

clover/launch/main_camera.launch

@@ -4,6 +4,8 @@
     <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
     <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
     <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
+    <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
+    <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
     <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -43,4 +45,8 @@
     <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
         <param name="scale" value="3.0"/>
     </node>
+
+    <!-- image topic throttled -->
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
 </launch>

clover/launch/mavros.launch

@@ -1,5 +1,5 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
+    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl, hitl -->
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
@@ -23,6 +23,9 @@
         <!-- 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/package.xml

@@ -37,6 +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>

clover/src/optical_flow.cpp

@@ -154,7 +154,7 @@ private:
 
 		img.convertTo(curr_, CV_32F);
 
-		if (prev_.empty()) {
+		if (prev_.empty() || (msg->header.stamp - prev_stamp_).toSec() > 0.1) { // outdated previous frame
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;
 			cv::createHanningWindow(hann_, curr_.size(), CV_32F);

clover/src/selfcheck.py

@@ -625,6 +625,10 @@ 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])

clover/src/simple_offboard.cpp

@@ -37,6 +37,7 @@
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
 #include <mavros_msgs/ManualControl.h>
+#include <mavros_msgs/Altitude.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -54,6 +55,7 @@ using namespace clover;
 using mavros_msgs::PositionTarget;
 using mavros_msgs::AttitudeTarget;
 using mavros_msgs::Thrust;
+using mavros_msgs::Altitude;
 
 // tf2
 tf2_ros::Buffer tf_buffer;
@@ -96,10 +98,12 @@ Thrust thrust_msg;
 TwistStamped rates_msg;
 TransformStamped target, setpoint;
 geometry_msgs::TransformStamped body;
+geometry_msgs::TransformStamped terrain;
 
 // State
 PoseStamped nav_start;
 PoseStamped setpoint_position, setpoint_position_transformed;
+Vector3Stamped setpoint_z, setpoint_z_transformed; // for z-only commands
 Vector3Stamped setpoint_velocity, setpoint_velocity_transformed;
 QuaternionStamped setpoint_attitude, setpoint_attitude_transformed;
 float setpoint_yaw_rate;
@@ -122,6 +126,8 @@ enum setpoint_type_t setpoint_type = NONE;
 
 enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 
+bool setpoint_z_valid = false;
+
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
@@ -173,6 +179,15 @@ void handleLocalPosition(const PoseStamped& pose)
 	// TODO: terrain?, home?
 }
 
+void handleAltitude(const Altitude& alt)
+{
+	// publish terrain frame
+	if (!std::isfinite(alt.bottom_clearance)) return;
+	terrain.header.stamp = alt.header.stamp;
+	terrain.transform.translation.z = -alt.bottom_clearance;
+	transform_broadcaster->sendTransform(terrain);
+}
+
 // wait for transform without interrupting publishing setpoints
 inline bool waitTransform(const string& target, const string& source,
                           const ros::Time& stamp, const ros::Duration& timeout) // editorconfig-checker-disable-line
@@ -421,6 +436,18 @@ void publish(const ros::Time stamp)
 		}
 	}
 
+	if (setpoint_z_valid && setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+		setpoint_z.header.stamp = stamp;
+		try {
+			tf_buffer.transform(setpoint_z, setpoint_z_transformed, local_frame, ros::Duration(0.05));
+			setpoint_position_transformed.pose.position.z = setpoint_z_transformed.vector.z;
+
+		} catch (const tf2::TransformException& e) {
+			ROS_WARN_THROTTLE(10, "can't transform z coordinate from %s to %s, ignoring z coordinate", 
+			                  setpoint_z.header.frame_id.c_str(), local_frame.c_str());
+		}
+	}
+
 	if (setpoint_type == POSITION) {
 		position_msg = setpoint_position_transformed;
 	}
@@ -556,7 +583,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 
 		// look up for reference frame
 		auto search = reference_frames.find(frame_id);
-		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
+		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second; // when not found it's the same frame
 
 		// Serve "partial" commands
 
@@ -583,22 +610,33 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			}
 		}
 
-		if (!auto_arm && std::isfinite(yaw_rate) &&
-		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
+		if (!auto_arm && std::isfinite(z) &&
+		    isnan(x) && isnan(y) && isnan(vx) && isnan(vy) && isnan(vz) &&
+		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
 		    isnan(lat) && isnan(lon)) {
-			// change only the yaw rate
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
-				message = "Changing yaw rate only";
+			// set only the z
+			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
+				if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))
+					throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
 
-				setpoint_yaw_type = YAW_RATE;
-				setpoint_yaw_rate = yaw_rate;
+				message = "Changing z only";
+
+				setpoint_z.header.frame_id = frame_id;
+				setpoint_z.header.stamp = stamp;
+				setpoint_z.vector.z = z;
+				setpoint_z_valid = true;
 				goto publish_setpoint;
+
 			} else {
-				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
+				throw std::runtime_error("Setting z is possible only when position setpoint active");
 			}
 		}
 
+		// commands without z
+		if (isnan(z) && setpoint_z_valid && (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION)) {
+			z = 0;
+		}
+
 		// Serve normal commands
 
 		if (sp_type == NAVIGATE || sp_type == POSITION) {
@@ -860,6 +898,13 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 	return false;
 }
 
+bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
+{
+	setpoint_timer.stop();
+	res.success = true;
+	return true;
+}
+
 int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "simple_offboard");
@@ -881,6 +926,7 @@ int main(int argc, char **argv)
 	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
+	nh_priv.param<string>("terrain_frame", terrain.child_frame_id, "terrain");
 	nh_priv.getParam("reference_frames", reference_frames);
 
 	// Default reference frames
@@ -916,6 +962,13 @@ int main(int argc, char **argv)
 	auto manual_control_sub = nh.subscribe(mavros + "/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe(mavros + "/local_position/pose", 1, &handleLocalPosition);
 
+	ros::Subscriber altitude_sub;
+	if (!body.child_frame_id.empty() && !terrain.child_frame_id.empty()) {
+		terrain.header.frame_id = body.child_frame_id;
+		terrain.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, 0);
+		altitude_sub = nh.subscribe(mavros + "/altitude", 1, &handleAltitude);
+	}
+
 	// Setpoint publishers
 	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
 	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
@@ -933,6 +986,7 @@ int main(int argc, char **argv)
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
 	auto sr_serv = nh.advertiseService("set_rates", &setRates);
 	auto ld_serv = nh.advertiseService("land", &land);
+	auto rl_serv = nh_priv.advertiseService("release", &release);
 
 	// Setpoint timer
 	setpoint_timer = nh.createTimer(ros::Duration(1 / nh_priv.param("setpoint_rate", 30.0)), &publishSetpoint, false, false);

clover/test/basic.py

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

clover/test/basic.test

@@ -37,6 +37,9 @@
 
     <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
 
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw 5.0 image_raw_throttled" required="true"/>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clover/www/js/topics.js

@@ -40,6 +40,7 @@ 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';
@@ -51,10 +52,11 @@ function viewTopic(topic) {
 	});
 
 	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
+		counter++;
 		document.title = topic;
 		if (mouseDown) return;
 
-		if (msg.header.stamp) {
+		if (msg.header && 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();
@@ -62,7 +64,8 @@ function viewTopic(topic) {
 			}
 		}
 
-		topicMessage.innerHTML = yamlStringify(msg); // JSON.stringify(msg, null, 4);
+		let txt = `<div class=counter>${counter} received</div>${yamlStringify(msg)}`; // JSON.stringify(msg, null, 4);
+		topicMessage.innerHTML = txt;
 	});
 }
 

clover/www/topics.html

@@ -15,6 +15,7 @@
 				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_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. **Note**: The default value, *clover*, requires you to use [Clover-specific PX4 branch](https://github.com/CopterExpress/Firmware/tree/v1.10.1-clever);
+* `vehicle` (*string*, default: *clover*) - PX4 vehicle name. Depending on this parameter, different PX4 presets will be loaded.
 * `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;

docs/Dockerfile

@@ -1,36 +0,0 @@
-# Build: sudo docker build -t clover-docs:latest .
-
-# Run: docker run -it --rm -v ~/clover:/clover clover-docs:latest
-
-# Save image: sudo docker save clover-docs:latest | gzip > clover-docs.tar.gz
-
-FROM ubuntu:22.04
-
-ENV DEBIAN_FRONTEND=noninteractive
-
-RUN apt-get update && apt-get install -y curl git
-
-RUN curl https://raw.githubusercontent.com/creationix/nvm/master/install.sh | bash
-RUN . $HOME/.nvm/nvm.sh && nvm install 10.15 && nvm use 10.15 && npm --version
-
-RUN echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections \
-  && apt-get update \
-  && apt-get install -y calibre msttcorefonts ghostscript
-
-RUN . $HOME/.nvm/nvm.sh && curl https://raw.githubusercontent.com/CopterExpress/clover/master/builder/assets/install_gitbook.sh | bash
-
-# RUN . $HOME/.nvm/nvm.sh && npm install markdownlint-cli@0.28.1 -g && PUPPETEER_SKIP_DOWNLOAD=1 npm install svgexport -g
-RUN . $HOME/.nvm/nvm.sh && npm install markdownlint-cli@0.28.1 -g && npm install svgexport -g --unsafe-perm
-
-RUN . $HOME/.nvm/nvm.sh && node -v && gitbook -V && markdownlint -V
-
-RUN curl https://raw.githubusercontent.com/CopterExpress/clover/master/book.json > book.json
-
-RUN . $HOME/.nvm/nvm.sh && gitbook install
-
-CMD . $HOME/.nvm/nvm.sh && export QTWEBENGINE_DISABLE_SANDBOX=1 && cp -r node_modules /clover && cd /clover && gitbook build \
-  && gitbook pdf ./ _book/clover.pdf && \
-  gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_ru_compressed.pdf _book/clover_ru.pdf && \
-  gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_en_compressed.pdf _book/clover_en.pdf && \
-  rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf && \
-  rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf

docs/en/camera.md

@@ -1,7 +1,5 @@
 # Working with the camera
 
-> **Note** In the image version **0.20** `clever` package was renamed to `clover`. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/camera.md) for older images.
-
 Make sure the camera is enabled in the `~/catkin_ws/src/clover/clover/launch/clover.launch` file:
 
 ```xml
@@ -147,6 +145,8 @@ rospy.spin()
 
 The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
 
+> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
+
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
     args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>

docs/en/connection.md

@@ -20,15 +20,14 @@ USB connection is the preferred way to connect to the flight controller.
 
 ## UART connection
 
-> **Note** In the image version **0.20** `clever` package and service was renamed to `clover`. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/connection.md) for older images.
-
 <!-- TODO: Connection scheme -->
 
 UART connection is another way for the Raspberry Pi and FCU to communicate.
 
-1. Connect Raspberry Pi to your FCU using a UART cable.
-2. [Connect to the Raspberry Pi over SSH](ssh.md).
-3. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
+1. Connect the TELEM 2 port on the flight controller using a UART cable to the Raspberry Pi pins following this instruction: the black cable (*GND*) to Ground, the green cable (*UART_RX*) to *GPIO14*, the yellow cable (*UART_TX*) to *GPIO15*. Do not connect the red cable (*5V*).
+2. Set the PX4 parameters: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version prior to v1.10.0 the parameter `SYS_COMPANION` should be set to 921600.
+3. [Connect to the Raspberry Pi over SSH](ssh.md).
+4. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
 
     ```xml
     <arg name="fcu_conn" default="uart"/>
@@ -40,15 +39,4 @@ UART connection is another way for the Raspberry Pi and FCU to communicate.
     sudo systemctl restart clover
     ```
 
-> **Hint** Set the `SYS_COMPANION` PX4 parameter to 921600 to enable UART on the FCU.
-
-## SITL connection
-
-In order to connect to a local or a remote [SITL](sitl.md) instance set the `fcu_conn` parameter to `udp` and `fcu_ip` to the IP address of the SITL instance (`127.0.0.1` if you are running the instance locally):
-
-```xml
-<arg name="fcu_conn" default="udp"/>
-<arg name="fcu_ip" default="127.0.0.1"/>
-```
-
 **Next**: [Using QGroundControl over Wi-Fi](gcs_bridge.md)

docs/en/mavros.md

@@ -40,6 +40,8 @@ Messages published in the topics may be viewed with the `rostopic` utility, e.g.
 
 `/mavros/setpoint_position/local` — set target position and yaw of the drone \(in the ENU coordinate system\).
 
+`/mavros/setpoint_position/global` – set target position in global coordinates (latitude, longitude, altitude) and yaw of the drone.
+
 `/mavros/setpoint_position/cmd_vel` — set target linear velocity of the drone.
 
 `/mavros/setpoint_attitude/attitude` and `/mavros/setpoint_attitude/att_throttle` — set target attitude and throttle level.
@@ -52,4 +54,4 @@ Messages published in the topics may be viewed with the `rostopic` utility, e.g.
 
 `/mavros/setpoint_raw/attitude` — sends [SET\_ATTITUDE\_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) message. Allows setting the target attitude /angular velocity and throttle level. The values to be set are selected using the `type_mask` field
 
-`/mavros/setpoint_raw/global` — sends [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed. **Not supported in PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\).
+`/mavros/setpoint_raw/global` — sends [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed.

docs/en/simple_offboard.md

@@ -305,6 +305,16 @@ rosservice call /land "{}"
 
 > **Caution** In recent PX4 versions, the vehicle will be switched out of LAND mode to manual mode, if the remote control sticks are moved significantly.
 
+### release
+
+If it's necessary to pause sending setpoint messages, use the `simple_offboard/release` service:
+
+```python
+release = rospy.ServiceProxy('simple_offboard/release', Trigger)
+
+release()
+```
+
 ## Additional materials
 
 * [ArUco-based position estimation and navigation](aruco.md).

docs/en/simulation_native.md

@@ -2,7 +2,7 @@
 
 Setting up the simulation environment from scratch requires some effort, but results in the most performant setup, with less chance of driver issues.
 
-> **Hint** See up-to-date commands set for installation Clover simulation software in the script, that builds the virtual machine image with the simulator: [`install_software.sh`](https://github.com/CopterExpress/clover_vm/blob/master/scripts/install_software.sh).
+<!-- > **Hint** See up-to-date commands set for installation Clover simulation software in the script, that builds the virtual machine image with the simulator: [`install_software.sh`](https://github.com/CopterExpress/clover_vm/blob/master/scripts/install_software.sh). -->
 
 Prerequisites: **Ubuntu 20.04**.
 
@@ -66,7 +66,7 @@ PX4 will be built along with the other packages in our workspace. You may clone
 Clone PX4 sources and make the required symlinks:
 
 ```bash
-git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
+git clone --recursive --depth 1 --branch v1.12.3 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
 ln -s ~/PX4-Autopilot ~/catkin_ws/src/
 ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/
 ln -s ~/PX4-Autopilot/mavlink ~/catkin_ws/src/

docs/en/simulation_usage.md

@@ -97,3 +97,13 @@ PX4_SIM_SPEED_FACTOR=0.42 roslaunch clover_simulation simulator.launch
 The virtual machine may benefit from several CPU cores, especially if the cores are not very performant. In our tests, a four-core machine with only a single core allocated to the VM was unable to run the simulation, with constant interface freezes and dropped ROS messages. The same machine with all four cores available to the VM was able to run the simulation at 0.25 real-time speed.
 
 Do note that you should not allocate more resources than you have on your host hardware.
+
+### Changing the map of ArUco-markers in the simulator
+
+In order to change the map of ArUco-markers in the simulator, you can use the following command:
+
+```bash
+rosrun clover_simulation aruco_gen --single-model --source-world=$(catkin_find clover_simulation resources/worlds/clover.world) $(catkin_find aruco_pose map/map.txt) > $(catkin_find clover_simulation resources/worlds/clover_aruco.world)
+```
+
+In this example, `map.txt` is the name of markers name.

docs/en/snippets.md

@@ -240,6 +240,30 @@ ros_msg = mavlink.convert_to_rosmsg(msg)
 mavlink_pub.publish(ros_msg)
 ```
 
+<!-- markdownlint-disable MD044 -->
+
+### # {#mavlink-receive}
+
+<!-- markdownlint-enable MD044 -->
+
+Subscribe to all MAVLink messages from the flight controller and decode them:
+
+```python
+from mavros_msgs.msg import Mavlink
+from mavros import mavlink
+from pymavlink import mavutil
+
+link = mavutil.mavlink.MAVLink('', 255, 1)
+
+def mavlink_cb(msg):
+    mav_msg = link.decode(mavlink.convert_to_bytes(msg))
+    print('msgid =', msg.msgid, mav_msg) # print message id and parsed message
+
+mavlink_sub = rospy.Subscriber('mavlink/from', Mavlink, mavlink_cb)
+
+rospy.spin()
+```
+
 ### # {#rc-sub}
 
 React to the drone's mode switching (may be used for starting an autonomous flight, see [example](https://gist.github.com/okalachev/b709f04522d2f9af97e835baedeb806b)):

docs/ru/camera.md

@@ -1,7 +1,5 @@
 # Работа с камерой
 
-> **Note** В версии образа **0.20** пакет и сервис `clever` был переименован в `clover`. Для более ранних версий см. документацию для версии [**0.19**](https://github.com/CopterExpress/clover/blob/v0.19/docs/ru/camera.md).
-
 <!-- TODO: физическое подключение -->
 
 Для работы с основной камерой необходимо убедиться что она включена в файле `~/catkin_ws/src/clover/clover/launch/clover.launch`:
@@ -149,6 +147,8 @@ rospy.spin()
 
 Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`):
 
+> **Note** Начиная с версии [образа](image.md) **0.24** топик `image_raw_throttled` доступен без дополнительной конфигурации.
+
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
     args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>

docs/ru/connection.md

@@ -20,15 +20,14 @@
 
 ## Подключение по UART
 
-> **Note** В версии образа **0.20** пакет и сервис `clever` был переименован в `clover`. Для более ранних версий см. документацию для версии [**0.19**](https://github.com/CopterExpress/clover/blob/v0.19/docs/ru/connection.md).
-
 <!-- TODO схема подключения -->
 
 Дополнительным способом подключения является подключение подключение по интерфейсу UART.
 
-1. Подключите Raspberry Pi к полетному контроллеру по UART.
-2. [Подключитесь в Raspberry Pi по SSH](ssh.md).
-3. Поменяйте в launch-файле Клевера (`~/catkin_ws/src/clover/clover/launch/clover.launch`) тип подключения на UART:
+1. Подключите Raspberry Pi к полетному контроллеру по UART. Для этого соедините кабелем порт TELEM 2 на полетном контроллере к пинам на Raspberry Pi следующем образом: черный провод (GND) к Ground, зеленый (*UART_RX*) к *GPIO14*, желтый (*UART_TX*) к *GPIO15*. Красный провод (*5V*) подключать не нужно.
+2. Измените значения параметров PX4: `MAV_1_CONFIG` на TELEM 2, `SER_TEL2_BAUND` на 921600 8N1. В PX4 до версии v1.10.0 необходима установка параметра `SYS_COMPANION` в значение 921600.
+3. [Подключитесь в Raspberry Pi по SSH](ssh.md).
+4. Поменяйте в launch-файле Клевера (`~/catkin_ws/src/clover/clover/launch/clover.launch`) тип подключения на UART:
 
     ```xml
     <arg name="fcu_conn" default="uart"/>
@@ -40,15 +39,4 @@
     sudo systemctl restart clover
     ```
 
-> **Hint** Для корректной работы подключения Raspberry Pi и полетного контроллера по UART необходимо установить значение параметра `SYS_COMPANION` на 921600.
-
-## Подключение к SITL
-
-Для того, чтобы подсоединиться к локально/удаленно запущенному [SITL](sitl.md), необходимо установить аргумент `fcu_conn` в `udp`, и `fcu_ip` в IP-адрес машины, где запущен SITL (`127.0.0.1` для локального):
-
-```xml
-<arg name="fcu_conn" default="udp"/>
-<arg name="fcu_ip" default="127.0.0.1"/>
-```
-
 **Далее**: [Подключение QGroundControl по Wi-Fi](gcs_bridge.md).

docs/ru/mavros.md

@@ -40,6 +40,8 @@ MAVROS подписывается на определенные ROS-топики
 
 `/mavros/setpoint_position/local` — установить целевую позицию  и рысканье \(yaw\) беспилотника \(в системе координат ENU\).
 
+`/mavros/setpoint_position/global` – установить целевую позицию в глобальных координатах (ширина, долгота и высота) и рысканье беспилотника.
+
 `/mavros/setpoint_velocity/cmd_vel` — установить целевую линейную скорость беспилотника.
 
 `/mavros/setpoint_attitude/attitude` и `/mavros/setpoint_attitude/att_throttle` — установить целевую ориентацию \(Attitude\) и уровень газа.
@@ -52,4 +54,4 @@ MAVROS подписывается на определенные ROS-топики
 
 `/mavros/setpoint_raw/attitude` — отправка пакета [SET\_ATTITUDE\_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET). Позволяет установить целевую ориентацию / угловые скорости и уровень газа. Выбор устанавливаемых величин осуществляется с помощью поля `type_mask`
 
-`/mavros/setpoint_raw/global` — отправка пакета [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT). Позволяет установить целевую позицию в глобальных координатах \(ширина, долгота, высота\), а также скорости полета. **Не поддерживается в PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\).
+`/mavros/setpoint_raw/global` — отправка пакета [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT). Позволяет установить целевую позицию в глобальных координатах \(ширина, долгота, высота\), а также скорости полета.

docs/ru/simple_offboard.md

@@ -305,6 +305,16 @@ rosservice call /land "{}"
 
 > **Caution** В более новых версиях PX4 коптер выйдет из режима LAND в ручной режим, если сильно перемещать стики.
 
+### release
+
+В случае необходимости приостановки отправки setpoint-сообщений, используйте сервис `simple_offboard/release`:
+
+```python
+release = rospy.ServiceProxy('simple_offboard/release', Trigger)
+
+release()
+```
+
 ## Дополнительные материалы
 
 * [Полеты в поле ArUco-маркеров](aruco.md).

docs/ru/simulation_native.md

@@ -2,7 +2,7 @@
 
 Настройка среды для симуляции с нуля требует некоторых усилий, однако это приведет к улучшению производительности и к уменьшению вероятности появления проблем с драйверами.
 
-> **Hint** Смотрите актуальный набор команд установки необходимого ПО для запуска симулятора Клевера в скрипте сборки виртуальной машины с симулятором: [`install_software.sh`](https://github.com/CopterExpress/clover_vm/blob/master/scripts/install_software.sh).
+<!-- > **Hint** Смотрите актуальный набор команд установки необходимого ПО для запуска симулятора Клевера в скрипте сборки виртуальной машины с симулятором: [`install_software.sh`](https://github.com/CopterExpress/clover_vm/blob/master/scripts/install_software.sh). -->
 
 Требования для сборки: **Ubuntu 20.04**.
 
@@ -66,7 +66,7 @@ sudo /usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requiremen
 Склонируйте исходный код PX4 и создайте необходимые симлинки:
 
 ```bash
-git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
+git clone --recursive --depth 1 --branch v1.12.3 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
 ln -s ~/PX4-Autopilot ~/catkin_ws/src/
 ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/
 ln -s ~/PX4-Autopilot/mavlink ~/catkin_ws/src/

docs/ru/simulation_usage.md

@@ -99,3 +99,13 @@ PX4_SIM_SPEED_FACTOR=0.42 roslaunch clover_simulation simulator.launch
 Выделение нескольких процессорных ядер для виртуальной машины может значительно повысить производительность симуляции. В наших испытаниях виртуальная машина, для которой было выделено одно ядро, не позволяла работать в симуляторе: окно Gazebo не реагировало на пользовательский ввод, сообщения ROS терялись. После выделения четырёх ядер для этой же виртуальной машины симуляция стала работать со скоростью 0.25 от реального времени.
 
 При этом не следует пытаться выделить для виртуальной машины больше ресурсов, чем доступно на основной системе.
+
+### Изменение карты ArUco-меток в симуляторе
+
+Для того, чтобы изменить карту ArUco-меток в симуляторе, можно использовать следующую команду:
+
+```bash
+rosrun clover_simulation aruco_gen --single-model --source-world=$(catkin_find clover_simulation resources/worlds/clover.world) $(catkin_find aruco_pose map/map.txt) > $(catkin_find clover_simulation resources/worlds/clover_aruco.world)
+```
+
+В данном примере `map.txt` – имя карты меток.

docs/ru/snippets.md

@@ -251,6 +251,30 @@ ros_msg = mavlink.convert_to_rosmsg(msg)
 mavlink_pub.publish(ros_msg)
 ```
 
+<!-- markdownlint-disable MD044 -->
+
+### # {#mavlink-receive}
+
+<!-- markdownlint-enable MD044 -->
+
+Подписка на все MAVLink-сообщения от полетного контроллера и их декодирование:
+
+```python
+from mavros_msgs.msg import Mavlink
+from mavros import mavlink
+from pymavlink import mavutil
+
+link = mavutil.mavlink.MAVLink('', 255, 1)
+
+def mavlink_cb(msg):
+    mav_msg = link.decode(mavlink.convert_to_bytes(msg))
+    print('msgid =', msg.msgid, mav_msg) # print message id and parsed message
+
+mavlink_sub = rospy.Subscriber('mavlink/from', Mavlink, mavlink_cb)
+
+rospy.spin()
+```
+
 ### # {#rc-sub}
 
 Реакция на переключение режима на пульте радиоуправления (может быть использовано для запуска автономного полета, см. [пример](https://gist.github.com/okalachev/b709f04522d2f9af97e835baedeb806b)):