Merge pull request #330 from deadln/melodic-devel

Preparations for release in rosdistro

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

builder/assets/hardware_setup.sh

@@ -79,14 +79,4 @@ if ! grep -q "^bcm2835-v4l2" /etc/modules;
 then printf "bcm2835-v4l2\n" >> /etc/modules
 fi
 
-echo_stamp "#8 Check if Compute Module 4"
-if grep -q "Compute Module 4" "/proc/device-tree/model"; then
-  echo_stamp "Enable USB on Compute Module 4"
-  echo "dtoverlay=dwc2,dr_mode=host" >> /boot/config.txt
-
-  echo_stamp "Enable OV7251 camera overlay"
-  echo "#dtoverlay=ov7251 # OV7251 camera on CAM1" >> /boot/config.txt
-  echo "dtoverlay=ov7251cam0 # OV7251 camera on CAM0" >> /boot/config.txt
-fi
-
-echo_stamp "#9 End of configure hardware interfaces"
+echo_stamp "#8 End of configure hardware interfaces"

builder/assets/ov7251cam0-overlay.dts

@@ -1,111 +0,0 @@
-// SPDX-License-Identifier: GPL-2.0-only
-// Definitions for OV7251 camera module on VC I2C bus
-/dts-v1/;
-/plugin/;
-
-//#include <dt-bindings/gpio/gpio.h>
-
-/{
-	compatible = "brcm,bcm2835";
-
-	fragment@0 {
-		target = <&i2c_vc>;
-		__overlay__ {
-			#address-cells = <1>;
-			#size-cells = <0>;
-			status = "okay";
-
-			ov7251: ov7251@60 {
-				compatible = "ovti,ov7251";
-				reg = <0x60>;
-				status = "okay";
-
-				clocks = <&ov7251_clk>;
-				clock-names = "xclk";
-				clock-frequency = <24000000>;
-
-				vdddo-supply = <&ov7251_dovdd>;
-				vdda-supply = <&ov7251_avdd>;
-				vddd-supply = <&ov7251_dvdd>;
-
-				enable-gpios = <&gpio 41 0>;
-
-				port {
-					ov7251_0: endpoint {
-						remote-endpoint = <&csi0_ep>;
-						clock-lanes = <0>;
-						data-lanes = <1>;
-						clock-noncontinuous;
-						link-frequencies =
-							/bits/ 64 <456000000>;
-					};
-				};
-			};
-		};
-	};
-
-	fragment@1 {
-		target = <&csi0>;
-		__overlay__ {
-			status = "okay";
-
-			port {
-				csi0_ep: endpoint {
-					remote-endpoint = <&ov7251_0>;
-					data-lanes = <1>;
-				};
-			};
-		};
-	};
-
-	fragment@2 {
-		target = <&i2c0if>;
-		__overlay__ {
-			status = "okay";
-		};
-	};
-
-	fragment@3 {
-		target-path="/";
-		__overlay__ {
-			ov7251_avdd: fixedregulator@0 {
-				compatible = "regulator-fixed";
-				regulator-name = "ov7251_avdd";
-				regulator-min-microvolt = <2800000>;
-				regulator-max-microvolt = <2800000>;
-			};
-			ov7251_dovdd: fixedregulator@1 {
-				compatible = "regulator-fixed";
-				regulator-name = "ov7251_dovdd";
-				regulator-min-microvolt = <1800000>;
-				regulator-max-microvolt = <1800000>;
-			};
-			ov7251_dvdd: fixedregulator@2 {
-				compatible = "regulator-fixed";
-				regulator-name = "ov7251_dvdd";
-				regulator-min-microvolt = <1200000>;
-				regulator-max-microvolt = <1200000>;
-			};
-			ov7251_clk: ov7251-clk {
-				compatible = "fixed-clock";
-				#clock-cells = <0>;
-				clock-frequency = <24000000>;
-			};
-		};
-	};
-
-	fragment@4 {
-		target = <&i2c0mux>;
-		__overlay__ {
-			status = "okay";
-		};
-	};
-
-	fragment@5 {
-		target-path="/__overrides__";
-		__overlay__ {
-			cam0-pwdn-ctrl = <&ov7251>,"enable-gpios:0";
-			cam0-pwdn      = <&ov7251>,"enable-gpios:4";
-		};
-	};
-};

builder/image-build.sh

@@ -15,8 +15,7 @@
 
 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.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-03-25/2021-03-04-raspios-buster-armhf-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-01-12/2021-01-11-raspios-buster-armhf-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -103,8 +102,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/rsysrot
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
-# build hardware drivers
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-hardware.sh'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # examples

builder/image-hardware.sh

@@ -1,9 +0,0 @@
-#! /usr/bin/env bash
-
-set -ex
-
-echo "Build overlay for OV7251 camera on CAM0"
-
-# TODO: check Raspberry Pi OS version /boot/issue.txt
-
-dtc -I dts -O dtb -o /boot/overlays/ov7251cam0.dtbo /home/pi/catkin_ws/src/clover/builder/assets/ov7251cam0-overlay.dts

builder/image-network.sh

@@ -60,24 +60,4 @@ domain-needed
 quiet-dhcp6
 EOF
 
-echo_stamp "#4 Build the RTL8814AU Wi-Fi adapter driver"
-cd /home/pi
-git clone https://github.com/aircrack-ng/rtl8812au.git --depth=1
-cd rtl8812au
-echo kernel version: $(uname -r)
-echo kernel version from procfs: $(cat /proc/version)
-echo version: $(git describe --tags --always)
-sed -i 's/CONFIG_PLATFORM_I386_PC = y/CONFIG_PLATFORM_I386_PC = n/g' Makefile # https://github.com/aircrack-ng/rtl8812au#for-raspberry-rpi
-sed -i 's/CONFIG_PLATFORM_ARM_RPI = n/CONFIG_PLATFORM_ARM_RPI = y/g' Makefile
-# sed -i 's/CONFIG_PLATFORM_ARM64_RPI = n/CONFIG_PLATFORM_ARM64_RPI = y/g' Makefile
-apt-cache policy raspberrypi-kernel-headers
-apt-get install -y raspberrypi-kernel-headers dkms
-ls /lib/modules
-KERNEL_VERSION=$(cd /lib/modules && echo *-v7l+) # can't use `uname` as it gives incorrect value in emulated environment
-echo make
-make KERNEL_VER=$KERNEL_VERSION KVER=$KERNEL_VERSION
-echo make install
-make install KERNEL_VER=$KERNEL_VERSION KVER=$KERNEL_VERSION
-# TODO: rm -rf /home/pi/rtl8812au
-
-echo_stamp "#5 End of network installation"
+echo_stamp "#4 End of network installation"

clover/CMakeLists.txt

@@ -24,6 +24,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_ros
   image_transport
   cv_bridge
+  catkin_virtualenv
 )
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -132,6 +133,16 @@ generate_messages(
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
+
+# Generate the virtualenv
+catkin_generate_virtualenv(INPUT_REQUIREMENTS requirements.in)
+
+# Make sure your python executables are installed using `catkin_install_python`:
+catkin_install_python(
+  PROGRAMS
+    src/selfcheck.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
 catkin_package(
 #  INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
@@ -248,11 +259,8 @@ target_link_libraries(${PROJECT_NAME}
 # )
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+ install(FILES requirements.in
+       	 DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes

clover/camera_info/ov7251.yaml

@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-distortion_model: rational_polynomial
-camera_name: main_camera_optical
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [ 279.33, 0, 304.288, 0, 280.417, 268.697, 0, 0, 1, ]
-distortion_coefficients:
-  rows: 1
-  cols: 14
-  data: [ 0.155023, -0.0432218, 0.00152622, 6.48563e-05, 0.00390709, 0.495321, -0.0748121, 0.00553976, 0, 0, 0, 0, 0, 0, ]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [ 1, 0, 0, 0, 1, 0, 0, 0, 1, ]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [ 279.33, 0, 304.288, 0, 0, 280.417, 268.697, 0, 0, 0, 1, 0, ]

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -15,6 +15,7 @@
 
   <!-- Package format specifier version 2.0 allows specifying dependencies for both
    build- and runtime in a single <depend> element -->
+  <build_depend>catkin_virtualenv</build_depend>
   <depend>message_generation</depend>
   <depend>roscpp</depend>
   <depend>rospy</depend>
@@ -38,7 +39,8 @@
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
   <depend>python-lxml</depend>
-  <exec_depend>python-pymavlink</exec_depend>
+  <test_depend>ros_pytest</test_depend>
+  <!-- <exec_depend>python-pymavlink</exec_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
 
@@ -46,5 +48,6 @@
   <export>
     <nodelet plugin="${prefix}/nodelet_plugins.xml" />
     <!-- Other tools can request additional information be placed here -->
+    <pip_requirements>requirements.in</pip_requirements>
   </export>
 </package>

clover/requirements.in

@@ -0,0 +1,13 @@
+click>=7.1.2
+docopt>=0.6.2
+flask>=1.1.1
+future>=0.18.2
+geopy>=1.11.0
+itsdangerous>=1.1.0
+jinja2>=2.11.3
+lxml>=4.6.3
+markupsafe>=1.1.1
+pymavlink>=2.4.14
+smbus2>=0.3.0
+vl53l1x>=0.0.5
+werkzeug>=1.0.1

clover/requirements.txt

@@ -1,5 +0,0 @@
-flask==1.1.1
-docopt==0.6.2
-geopy==1.11.0
-smbus2==0.3.0
-VL53L1X==0.0.5

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_simulation/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
     <name>clover_simulation</name>
-    <version>0.21.1</version>
+    <version>0.21.2</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
 
     <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

roswww_static/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>roswww_static</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>Static web pages for ROS packages</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>