Try to fix

This reverts commit f25816f2d5.

.travis.yml

@@ -77,7 +77,6 @@ jobs:
         - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
         - sudo apt update && sudo apt install -y calibre msttcorefonts
         - npm install gitbook-cli -g
-        - gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
         - npm install markdownlint-cli -g
         - npm install svgexport -g
         - gitbook -V
@@ -88,13 +87,7 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
-        - for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
-        - sudo apt-get install ghostscript
-        - 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
-        - ls -lah _book/clover*.pdf
+        - gitbook pdf ./ _book/clover.pdf
       deploy:
         provider: pages
         local_dir: _book

README.md

@@ -21,7 +21,6 @@ Clover drone is used on a wide range of educational events, including [Copter Ha
 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
 [![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
-![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:
 

aruco_pose/CMakeLists.txt

@@ -111,7 +111,7 @@ generate_messages(
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
-  cfg/Detector.cfg
+  cfg/DetectorParams.cfg
 )
 
 ###################################

builder/assets/examples/get_telemetry.py

@@ -1,11 +0,0 @@
-# Information: https://clover.coex.tech/en/simple_offboard.html#gettelemetry
-
-import rospy
-from clover import srv
-
-rospy.init_node('flight')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-
-# Print drone's state
-print(get_telemetry())

builder/assets/hardware_setup.sh

@@ -65,7 +65,7 @@ echo_stamp "#6 Turn on UART"
 # https://github.com/RPi-Distro/raspi-config/pull/75
 /usr/bin/raspi-config nonint do_serial 1
 /usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt
-echo dtoverlay=pi3-disable-bt >> /boot/config.txt
+/usr/bin/raspi-config nonint set_config_var dtoverlay pi3-disable-bt /boot/config.txt
 systemctl disable hciuart.service
 
 # After adding to Raspbian OS
@@ -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"

builder/image-ros.sh

@@ -13,7 +13,7 @@
 # copies or substantial portions of the Software.
 #
 
-set -e # Exit immidiately on non-zero result
+set -ex # Exit immidiately on non-zero result
 
 REPO=$1
 REF=$2
@@ -76,11 +76,9 @@ my_travis_retry sudo -u pi rosdep update
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-# echo_stamp "Reconfiguring Clover repository for simplier unshallowing" # TODO: bring back
-# cd /home/pi/catkin_ws/src/clover
-# git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
-echo_stamp "Remove .git from Clover to reduce the size"
-rm -rf /home/pi/catkin_ws/src/clover/.git # TODO: remove
+echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
+cd /home/pi/catkin_ws/src/clover
+git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
@@ -101,7 +99,6 @@ rm -rf build  # remove build artifacts
 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
 NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
-NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
 NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin

builder/image-software.sh

@@ -82,7 +82,9 @@ apt-get update
 
 # Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
-my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1 # FIXME: using older CMake due to https://travis-ci.org/github/CopterExpress/clover/jobs/764367665#L6984
+apt-cache policy cmake
+apt-cache policy cmake-data
+my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1
 my_travis_retry apt-get install --no-install-recommends -y \
 unzip \
 zip \
@@ -95,7 +97,6 @@ lsof \
 git \
 dnsmasq  \
 tmux \
-tree \
 vim \
 libjpeg8 \
 tcpdump \
@@ -128,7 +129,7 @@ curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip2.py
 python3 get-pip.py
 python get-pip2.py
 rm get-pip.py get-pip2.py
-#my_travis_retry pip install --upgrade pip
+my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
 
 echo_stamp "Make sure both pip and pip3 are installed"
@@ -149,7 +150,6 @@ my_travis_retry pip install --prefer-binary rpi_ws281x
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
-sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
 systemctl enable monkey.service
 
 echo_stamp "Install Node.js"

builder/standalone-install.sh

@@ -41,6 +41,3 @@ pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
-
-# Step 5: Install packages
-catkin_make install

builder/test/tests.sh

@@ -43,8 +43,6 @@ rosversion aruco_pose
 rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
-rosversion ws281x
-rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
 rosversion compressed_image_transport

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/launch/clover.launch

@@ -12,6 +12,7 @@
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
     <arg name="rc" default="true"/>
+    <arg name="shell" default="true"/>
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 
@@ -90,6 +91,9 @@
         <param name="use_fake_gcs" value="false"/>
     </node>
 
+    <!-- Shell access through ROS service -->
+    <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
+
     <!-- Update static directory -->
     <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
         <param name="default_package" value="clover"/>

clover/launch/mavros.launch

@@ -6,15 +6,13 @@
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
     <arg name="distance_sensor_remap" default="rangefinder/range"/>
-    <arg name="usb_device" default="/dev/px4fmu"/>
-    <arg name="prefix" default="bash -c 'while [ ! -e $(arg usb_device) ]; do sleep 1; done; $0 $@'" if="$(eval fcu_conn == 'usb')"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->
         <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
         <!-- USB connection -->
-        <param name="fcu_url" value="$(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
+        <param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
 
         <!-- sitl before PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>

clover/test/basic.py

@@ -28,3 +28,19 @@ def test_simple_offboard_services_available():
 def test_web_video_server(node):
     import urllib2
     urllib2.urlopen("http://localhost:8080").read()
+
+def test_shell(node):
+    execute = rospy.ServiceProxy('exec', srv.Execute)
+    execute.wait_for_service(5)
+
+    res = execute(cmd='echo foo')
+    assert res.code == 0
+    assert res.output == 'foo\n'
+
+    res = execute(cmd='foo')
+    assert res.code == 32512
+    assert res.output == ''
+
+    res = execute(cmd='ls foo')
+    assert res.code == 512
+    assert res.output == ''

clover/www/clover_version

@@ -1 +0,0 @@
-/etc/clover_version

clover/www/index.html

@@ -13,15 +13,15 @@
 
 <div class="version"></div>
 
+<script src="js/roslib.js"></script>
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
 	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
-	fetch('clover_version').then(function(response) {
-		if (response.status !== 200) return;
-		response.text().then(function(text) {
-			document.querySelector('.version').innerHTML = 'Version: ' + text;
-		});
+	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });
+	var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
+	exec.callService(new ROSLIB.ServiceRequest({ cmd: 'cat /etc/clover_version' }), function(result) {
+		document.querySelector('.version').innerHTML = 'Version: ' + result.output;
 	});
 </script>

clover_simulation/CMakeLists.txt

@@ -52,7 +52,7 @@ target_compile_options(throttling_camera PRIVATE -std=c++11)
 add_dependencies(throttling_camera ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 catkin_install_python(PROGRAMS scripts/aruco_gen