Remove apt-cache clean call

---------

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

.github/workflows/build-image.yaml

@@ -7,6 +7,7 @@ on:
     branches: [ master ]
   release:
     types: [ created ]
+  workflow_dispatch:
 
 jobs:
   build:
@@ -27,3 +28,10 @@ jobs:
           prerelease: true
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: Upload image to artifacts
+        if: ${{ github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v3
+        with:
+          name: image
+          path: images/clover_*.zip
+          retention-days: 1

.github/workflows/build.yml

@@ -5,6 +5,7 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ master ]
+  workflow_dispatch:
 
 jobs:
   # melodic:
@@ -16,8 +17,36 @@ 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
+    - uses: actions/checkout@v2
-      - name: Native Noetic build
+      with:
-        run: |
+        path: catkin_ws/src/clover
-          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:noetic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
+    - name: Install requirements
+      run: apt-get update && apt-get -y install python3-pip fakeroot python3-bloom debhelper dpkg-dev
+    - name: Install dependencies
+      run: rosdep update && rosdep install --from-paths src --ignore-src -y
+    - name: Install GeographicLib datasets
+      run: wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
+    - name: catkin_make
+      run: source /opt/ros/$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.yml

@@ -5,16 +5,13 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ '*' ]
+  workflow_dispatch:
 
 permissions:
   contents: read
   pages: write
   id-token: write
 
-concurrency:
-  group: "pages"
-  cancel-in-progress: true
-
 defaults:
   run:
     shell: bash
@@ -75,6 +72,9 @@ jobs:
 
   deploy-docs:
     if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+    concurrency:
+        group: "pages"
+        cancel-in-progress: true
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}
@@ -82,5 +82,8 @@ jobs:
     needs: docs
     steps:
       - name: Deploy to GitHub Pages
+        env:
+          FREEZE_DOCS: ${{ secrets.FREEZE_DOCS }}
+        if: ${{ !env.FREEZE_DOCS }}
         id: deployment
         uses: actions/deploy-pages@v1

.github/workflows/editorconfig.yaml

@@ -5,6 +5,7 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ master ]
+  workflow_dispatch:
 
 jobs:
   editorconfig:

README.md

@@ -20,7 +20,7 @@ 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).
 
-![GitHub Workflow Status](https://img.shields.io/github/workflow/status/CopterExpress/clover/CI)
+![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/CopterExpress/clover/build-image.yaml?branch=master)
 ![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:

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/README.md

@@ -43,7 +43,8 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 * `~frame_id_prefix` (*string*) – prefix for TF transforms names, marker's ID is appended (default: `aruco_`)
 * `~length` (*double*) – markers' sides length
 * `~length_override` (*map*) – lengths of markers with specified ids
-* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame
+* `~known_vertical` (*string*) – known vertical (Z axis) of all the markers as a frame
+* `~flip_vertical` – flip vertical vector
 
 ### Topics
 
@@ -71,7 +72,8 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 
 * `~map` – path to text file with markers list
 * `~frame_id` – published frame id (default: `aruco_map`)
-* `~known_tilt` – known tilt (pitch and roll) of markers map as a frame
+* `~known_vertical` – known vertical (Z axis) of markers map as a frame
+* `~flip_vertical` – flip vertical vector
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)

aruco_pose/cfg/Detector.cfg

@@ -4,7 +4,10 @@ PACKAGE = "aruco_pose"
 from dynamic_reconfigure.parameter_generator_catkin import *
 import cv2.aruco
 
-p = cv2.aruco.DetectorParameters_create()
+try:
+        p = cv2.aruco.DetectorParameters_create()
+except AttributeError:
+        p = cv2.aruco.DetectorParameters()
 
 gen = ParameterGenerator()
 

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>aruco_pose</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -28,6 +28,8 @@
   <depend>sensor_msgs</depend>
   <depend>rostest</depend>
   <depend>dynamic_reconfigure</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
   <test_depend>image_publisher</test_depend>
   <test_depend>ros_pytest</test_depend>

aruco_pose/src/aruco_detect.cpp

@@ -50,6 +50,7 @@
 #include <aruco_pose/DetectorConfig.h>
 #include <aruco_pose/SetMarkers.h>
 
+#include "draw.h"
 #include "utils.h"
 #include <memory>
 #include <functional>
@@ -71,11 +72,12 @@ private:
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
 	ros::ServiceServer set_markers_srv_;
-	bool estimate_poses_, send_tf_, auto_flip_;
+	bool estimate_poses_, send_tf_, flip_vertical_, auto_flip_, use_map_markers_;
+	bool waiting_for_map_;
 	double length_;
 	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
-	std::string frame_id_prefix_, known_tilt_;
+	std::string frame_id_prefix_, known_vertical_;
 	Mat camera_matrix_, dist_coeffs_;
 	aruco_pose::MarkerArray array_;
 	std::unordered_set<int> map_markers_ids_;
@@ -95,6 +97,8 @@ public:
 		dictionary = nh_priv_.param("dictionary", 2);
 		estimate_poses_ = nh_priv_.param("estimate_poses", true);
 		send_tf_ = nh_priv_.param("send_tf", true);
+		use_map_markers_ = nh_priv_.param("use_map_markers", false);
+		waiting_for_map_ = use_map_markers_;
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
 			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
@@ -102,7 +106,8 @@ public:
 		readLengthOverride(nh_priv_);
 		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));
 
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
+		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 
 		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
@@ -133,14 +138,15 @@ private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
 		if (!enabled_) return;
+		if (waiting_for_map_) return;
 
-		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
+		Mat image = cv_bridge::toCvShare(msg)->image;
 
 		vector<int> ids;
 		vector<vector<cv::Point2f>> corners, rejected;
 		vector<cv::Vec3d> rvecs, tvecs;
 		vector<cv::Point3f> obj_points;
-		geometry_msgs::TransformStamped snap_to;
+		geometry_msgs::TransformStamped vertical;
 
 		// Detect markers
 		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
@@ -175,18 +181,20 @@ private:
 					}
 				}
 
-				if (!known_tilt_.empty()) {
+				if (!known_vertical_.empty()) {
 					try {
-						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
+						vertical = tf_buffer_->lookupTransform(msg->header.frame_id, known_vertical_,
-						                                      msg->header.stamp, transform_timeout_);
+						                                       msg->header.stamp, transform_timeout_);
 					} catch (const tf2::TransformException& e) {
-						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
+						NODELET_WARN_THROTTLE(5, "can't retrieve known vertical: %s", e.what());
 					}
 				}
 			}
 
 			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;
@@ -199,25 +207,38 @@ private:
 				if (estimate_poses_) {
 					fillPose(marker.pose, rvecs[i], tvecs[i]);
 
-					// snap orientation (if enabled and snap frame available)
+					// apply known vertical (if enabled and vertical frame available)
-					if (!known_tilt_.empty() && !snap_to.header.frame_id.empty()) {
+					if (!known_vertical_.empty() && !vertical.header.frame_id.empty()) {
-						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
+						applyVertical(marker.pose.orientation, vertical.transform.rotation, false, 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;
+							// check if a markers with that id is already added
-							fillTranslation(transform.transform.translation, tvecs[i]);
+							bool send = true;
-							br_->sendTransform(transform);
+							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_);
@@ -244,8 +265,7 @@ private:
 			cv::aruco::drawDetectedMarkers(debug, corners, ids); // draw markers
 			if (estimate_poses_)
 				for (unsigned int i = 0; i < ids.size(); i++)
-					cv::aruco::drawAxis(debug, camera_matrix_, dist_coeffs_,
+					_drawAxis(debug, camera_matrix_, dist_coeffs_, rvecs[i], tvecs[i], getMarkerLength(ids[i]));
-					                    rvecs[i], tvecs[i], getMarkerLength(ids[i]));
 
 			cv_bridge::CvImage out_msg;
 			out_msg.header.frame_id = msg->header.frame_id;
@@ -380,7 +400,13 @@ private:
 		map_markers_ids_.clear();
 		for (auto const& marker : msg.markers) {
 			map_markers_ids_.insert(marker.id);
+			if (use_map_markers_) {
+				if (length_override_.find(marker.id) == length_override_.end()) {
+					length_override_[marker.id] = marker.length;
+				}
+			}
 		}
+		waiting_for_map_ = false;
 	}
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)

aruco_pose/src/aruco_map.cpp

@@ -81,9 +81,9 @@ private:
 	bool enabled_ = true;
 	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
-	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
+	std::string known_vertical_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool auto_flip_, image_axis_;
+	bool flip_vertical_, auto_flip_, image_axis_, put_markers_count_to_covariance_;
 
 public:
 	virtual void onInit()
@@ -104,12 +104,14 @@ public:
 
 		type_ = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
+		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 		image_width_ = nh_priv_.param("image_width" , 2000);
 		image_height_ = nh_priv_.param("image_height", 2000);
 		image_margin_ = nh_priv_.param("image_margin", 200);
 		image_axis_ = nh_priv_.param("image_axis", true);
+		put_markers_count_to_covariance_ = nh_priv_.param("put_markers_count_to_covariance", false);
 		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
 		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
 
@@ -177,7 +179,21 @@ public:
 			corners.push_back(marker_corners);
 		}
 
-		if (known_tilt_.empty()) {
+		if (put_markers_count_to_covariance_) {
+			// HACK: pass markers count using covariance field
+			int valid_markers = 0;
+			for (auto const &marker : markers->markers) {
+				for (auto const &board_marker : board_->ids) {
+					if (board_marker == marker.id) {
+						valid_markers++;
+						break;
+					}
+				}
+			}
+			pose_.pose.covariance[0] = valid_markers;
+		}
+
+		if (known_vertical_.empty()) {
 			// simple estimation
 			valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
 			                                     rvec, tvec, false);
@@ -191,7 +207,7 @@ public:
 
 		} else {
 			Mat obj_points, img_points;
-			// estimation with "snapping"
+			// estimation with known vertical
 			cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
 			if (obj_points.empty()) goto publish_debug;
 
@@ -203,11 +219,11 @@ public:
 
 			fillTransform(transform_.transform, rvec, tvec);
 			try {
-				geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers->header.frame_id,
+				geometry_msgs::TransformStamped vertical = tf_buffer_.lookupTransform(markers->header.frame_id,
-				                                          known_tilt_, markers->header.stamp, ros::Duration(0.02));
+				                                           known_vertical_, markers->header.stamp, ros::Duration(0.02));
-				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation, auto_flip_);
+				applyVertical(transform_.transform.rotation, vertical.transform.rotation, flip_vertical_, auto_flip_);
 			} catch (const tf2::TransformException& e) {
-				NODELET_WARN_THROTTLE(1, "can't snap: %s", e.what());
+				NODELET_WARN_THROTTLE(1, "can't retrieve known vertical: %s", e.what());
 			}
 
 			geometry_msgs::TransformStamped shift;
@@ -503,7 +519,7 @@ publish_debug:
 		vis_marker.pose.position.x = x;
 		vis_marker.pose.position.y = y;
 		vis_marker.pose.position.z = z;
-		tf::quaternionTFToMsg(q, marker.pose.orientation);
+		tf::quaternionTFToMsg(q, vis_marker.pose.orientation);
 		vis_marker.frame_locked = true;
 		vis_array_.markers.push_back(vis_marker);
 

aruco_pose/src/utils.h

@@ -106,26 +106,25 @@ inline bool isFlipped(tf::Quaternion& q)
 	return (abs(pitch) > M_PI / 2) || (abs(roll) > M_PI / 2);
 }
 
-/* Set roll and pitch from "from" to "to", keeping yaw */
+/* Apply a vertical to an orientation */
-inline void snapOrientation(geometry_msgs::Quaternion& to, const geometry_msgs::Quaternion& from, bool auto_flip = false)
+inline void applyVertical(geometry_msgs::Quaternion& orientation, const geometry_msgs::Quaternion& vertical,
+                          bool flip_vertical = false, bool auto_flip = false) // editorconfig-checker-disable-line
 {
-	tf::Quaternion _from, _to;
+	tf::Quaternion _vertical, _orientation;
-	tf::quaternionMsgToTF(from, _from);
+	tf::quaternionMsgToTF(vertical, _vertical);
-	tf::quaternionMsgToTF(to, _to);
+	tf::quaternionMsgToTF(orientation, _orientation);
 
-	if (auto_flip) {
+	if (flip_vertical || (auto_flip && !isFlipped(_orientation))) {
-		if (!isFlipped(_from)) {
+		static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
-			static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
+		_vertical *= flip; // flip vertical
-			_from *= flip; // flip "from"
-		}
 	}
 
-	auto diff = tf::Matrix3x3(_to).transposeTimes(tf::Matrix3x3(_from));
+	auto diff = tf::Matrix3x3(_orientation).transposeTimes(tf::Matrix3x3(_vertical));
 	double _, yaw;
 	diff.getRPY(_, _, yaw);
 	auto q = tf::createQuaternionFromRPY(0, 0, -yaw);
-	_from = _from * q; // set yaw from "to" to "from"
+	_vertical = _vertical * q; // set yaw from orientation to vertical
-	tf::quaternionTFToMsg(_from, to); // set "from" to "to"
+	tf::quaternionTFToMsg(_vertical, orientation); // set vertical to orientation
 }
 
 inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)

aruco_pose/test/basic.py

@@ -6,7 +6,7 @@ import tf2_geometry_msgs
 from geometry_msgs.msg import PoseWithCovarianceStamped
 from sensor_msgs.msg import Image
 from aruco_pose.msg import MarkerArray
-from visualization_msgs.msg import MarkerArray as VisMarkerArray
+from visualization_msgs.msg import MarkerArray as VisMarkerArray, Marker as VisMarker
 
 
 @pytest.fixture
@@ -199,6 +199,36 @@ def test_map_markers(node):
 
 def test_map_visualization(node):
     vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+    assert len(vis.markers) == 7
+    assert vis.markers[0].header.frame_id == 'aruco_map'
+    assert vis.markers[0].type == VisMarker.CUBE
+    assert vis.markers[0].action == VisMarker.ADD
+    assert vis.markers[0].pose.position.x == 0
+    assert vis.markers[0].pose.position.y == 0
+    assert vis.markers[0].pose.position.z == 0
+    assert vis.markers[0].pose.orientation.x == 0
+    assert vis.markers[0].pose.orientation.y == 0
+    assert vis.markers[0].pose.orientation.z == 0
+    assert vis.markers[0].pose.orientation.w == 1
+    assert vis.markers[0].scale.x == approx(0.33)
+    assert vis.markers[0].scale.y == approx(0.33)
+    assert vis.markers[0].scale.z == approx(0.001)
+    assert vis.markers[1].pose.position.x == 1
+    assert vis.markers[1].pose.position.y == 0
+    assert vis.markers[1].pose.position.z == 0
+    assert vis.markers[1].pose.orientation.x == 0
+    assert vis.markers[1].pose.orientation.y == 0
+    assert vis.markers[1].pose.orientation.z == 0
+    assert vis.markers[1].pose.orientation.w == 1
+    # non-zero yaw marker:
+    assert vis.markers[4].scale.x == approx(0.5)
+    assert vis.markers[4].pose.position.x == approx(0.5)
+    assert vis.markers[4].pose.position.y == 2
+    assert vis.markers[4].pose.position.z == 0
+    assert vis.markers[4].pose.orientation.x == 0
+    assert vis.markers[4].pose.orientation.y == 0
+    assert vis.markers[4].pose.orientation.z == approx(0.5646424733950354)
+    assert vis.markers[4].pose.orientation.w == approx(0.8253356149096783)
 
 def test_map_debug(node):
     img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)

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>

builder/assets/noetic-rosdep-clover.yaml

@@ -16,3 +16,726 @@ web_video_server:
 ws281x:
   debian:
     buster: [ros-noetic-ws281x]
+catkin:
+  debian:
+    buster: [ros-noetic-catkin]
+genmsg:
+  debian:
+    buster: [ros-noetic-genmsg]
+gencpp:
+  debian:
+    buster: [ros-noetic-gencpp]
+geneus:
+  debian:
+    buster: [ros-noetic-geneus]
+genlisp:
+  debian:
+    buster: [ros-noetic-genlisp]
+gennodejs:
+  debian:
+    buster: [ros-noetic-gennodejs]
+genpy:
+  debian:
+    buster: [ros-noetic-genpy]
+bond_core:
+  debian:
+    buster: [ros-noetic-bond-core]
+cmake_modules:
+  debian:
+    buster: [ros-noetic-cmake-modules]
+class_loader:
+  debian:
+    buster: [ros-noetic-class-loader]
+common_msgs:
+  debian:
+    buster: [ros-noetic-common-msgs]
+common_tutorials:
+  debian:
+    buster: [ros-noetic-common-tutorials]
+cpp_common:
+  debian:
+    buster: [ros-noetic-cpp-common]
+desktop:
+  debian:
+    buster: [ros-noetic-desktop]
+diagnostics:
+  debian:
+    buster: [ros-noetic-diagnostics]
+executive_smach:
+  debian:
+    buster: [ros-noetic-executive-smach]
+geometry:
+  debian:
+    buster: [ros-noetic-geometry]
+geometry_tutorials:
+  debian:
+    buster: [ros-noetic-geometry-tutorials]
+gl_dependency:
+  debian:
+    buster: [ros-noetic-gl-dependency]
+image_common:
+  debian:
+    buster: [ros-noetic-image-common]
+image_pipeline:
+  debian:
+    buster: [ros-noetic-image-pipeline]
+image_transport_plugins:
+  debian:
+    buster: [ros-noetic-image-transport-plugins]
+laser_pipeline:
+  debian:
+    buster: [ros-noetic-laser-pipeline]
+mavlink:
+  debian:
+    buster: [ros-noetic-mavlink]
+media_export:
+  debian:
+    buster: [ros-noetic-media-export]
+message_generation:
+  debian:
+    buster: [ros-noetic-message-generation]
+message_runtime:
+  debian:
+    buster: [ros-noetic-message-runtime]
+mk:
+  debian:
+    buster: [ros-noetic-mk]
+nodelet_core:
+  debian:
+    buster: [ros-noetic-nodelet-core]
+orocos_kdl:
+  debian:
+    buster: [ros-noetic-orocos-kdl]
+perception:
+  debian:
+    buster: [ros-noetic-perception]
+perception_pcl:
+  debian:
+    buster: [ros-noetic-perception-pcl]
+python_orocos_kdl:
+  debian:
+    buster: [ros-noetic-python-orocos-kdl]
+qt_dotgraph:
+  debian:
+    buster: [ros-noetic-qt-dotgraph]
+qt_gui:
+  debian:
+    buster: [ros-noetic-qt-gui]
+qt_gui_py_common:
+  debian:
+    buster: [ros-noetic-qt-gui-py-common]
+qwt_dependency:
+  debian:
+    buster: [ros-noetic-qwt-dependency]
+robot:
+  debian:
+    buster: [ros-noetic-robot]
+ros:
+  debian:
+    buster: [ros-noetic-ros]
+ros_base:
+  debian:
+    buster: [ros-noetic-ros-base]
+ros_comm:
+  debian:
+    buster: [ros-noetic-ros-comm]
+ros_core:
+  debian:
+    buster: [ros-noetic-ros-core]
+ros_environment:
+  debian:
+    buster: [ros-noetic-ros-environment]
+ros_tutorials:
+  debian:
+    buster: [ros-noetic-ros-tutorials]
+rosapi:
+  debian:
+    buster: [ros-noetic-rosapi]
+rosbag_migration_rule:
+  debian:
+    buster: [ros-noetic-rosbag-migration-rule]
+rosbash:
+  debian:
+    buster: [ros-noetic-rosbash]
+rosboost_cfg:
+  debian:
+    buster: [ros-noetic-rosboost-cfg]
+rosbridge_server:
+  debian:
+    buster: [ros-noetic-rosbridge-server]
+rosbridge_suite:
+  debian:
+    buster: [ros-noetic-rosbridge-suite]
+rosbuild:
+  debian:
+    buster: [ros-noetic-rosbuild]
+rosclean:
+  debian:
+    buster: [ros-noetic-rosclean]
+roscpp_core:
+  debian:
+    buster: [ros-noetic-roscpp-core]
+roscpp_traits:
+  debian:
+    buster: [ros-noetic-roscpp-traits]
+roscreate:
+  debian:
+    buster: [ros-noetic-roscreate]
+rosgraph:
+  debian:
+    buster: [ros-noetic-rosgraph]
+roslang:
+  debian:
+    buster: [ros-noetic-roslang]
+roslint:
+  debian:
+    buster: [ros-noetic-roslint]
+roslisp:
+  debian:
+    buster: [ros-noetic-roslisp]
+rosmake:
+  debian:
+    buster: [ros-noetic-rosmake]
+rosmaster:
+  debian:
+    buster: [ros-noetic-rosmaster]
+rospack:
+  debian:
+    buster: [ros-noetic-rospack]
+roslib:
+  debian:
+    buster: [ros-noetic-roslib]
+rosparam:
+  debian:
+    buster: [ros-noetic-rosparam]
+rospy:
+  debian:
+    buster: [ros-noetic-rospy]
+rosserial:
+  debian:
+    buster: [ros-noetic-rosserial]
+rosserial_msgs:
+  debian:
+    buster: [ros-noetic-rosserial-msgs]
+rosserial_python:
+  debian:
+    buster: [ros-noetic-rosserial-python]
+rosservice:
+  debian:
+    buster: [ros-noetic-rosservice]
+rostime:
+  debian:
+    buster: [ros-noetic-rostime]
+roscpp_serialization:
+  debian:
+    buster: [ros-noetic-roscpp-serialization]
+python_qt_binding:
+  debian:
+    buster: [ros-noetic-python-qt-binding]
+roslaunch:
+  debian:
+    buster: [ros-noetic-roslaunch]
+rosunit:
+  debian:
+    buster: [ros-noetic-rosunit]
+angles:
+  debian:
+    buster: [ros-noetic-angles]
+libmavconn:
+  debian:
+    buster: [ros-noetic-libmavconn]
+rosconsole:
+  debian:
+    buster: [ros-noetic-rosconsole]
+pluginlib:
+  debian:
+    buster: [ros-noetic-pluginlib]
+qt_gui_cpp:
+  debian:
+    buster: [ros-noetic-qt-gui-cpp]
+resource_retriever:
+  debian:
+    buster: [ros-noetic-resource-retriever]
+rosconsole_bridge:
+  debian:
+    buster: [ros-noetic-rosconsole-bridge]
+roslz4:
+  debian:
+    buster: [ros-noetic-roslz4]
+rosserial_client:
+  debian:
+    buster: [ros-noetic-rosserial-client]
+rostest:
+  debian:
+    buster: [ros-noetic-rostest]
+rqt_action:
+  debian:
+    buster: [ros-noetic-rqt-action]
+rqt_bag:
+  debian:
+    buster: [ros-noetic-rqt-bag]
+rqt_bag_plugins:
+  debian:
+    buster: [ros-noetic-rqt-bag-plugins]
+rqt_common_plugins:
+  debian:
+    buster: [ros-noetic-rqt-common-plugins]
+rqt_console:
+  debian:
+    buster: [ros-noetic-rqt-console]
+rqt_dep:
+  debian:
+    buster: [ros-noetic-rqt-dep]
+rqt_graph:
+  debian:
+    buster: [ros-noetic-rqt-graph]
+rqt_gui:
+  debian:
+    buster: [ros-noetic-rqt-gui]
+rqt_logger_level:
+  debian:
+    buster: [ros-noetic-rqt-logger-level]
+rqt_moveit:
+  debian:
+    buster: [ros-noetic-rqt-moveit]
+rqt_msg:
+  debian:
+    buster: [ros-noetic-rqt-msg]
+rqt_nav_view:
+  debian:
+    buster: [ros-noetic-rqt-nav-view]
+rqt_plot:
+  debian:
+    buster: [ros-noetic-rqt-plot]
+rqt_pose_view:
+  debian:
+    buster: [ros-noetic-rqt-pose-view]
+rqt_publisher:
+  debian:
+    buster: [ros-noetic-rqt-publisher]
+rqt_py_console:
+  debian:
+    buster: [ros-noetic-rqt-py-console]
+rqt_reconfigure:
+  debian:
+    buster: [ros-noetic-rqt-reconfigure]
+rqt_robot_dashboard:
+  debian:
+    buster: [ros-noetic-rqt-robot-dashboard]
+rqt_robot_monitor:
+  debian:
+    buster: [ros-noetic-rqt-robot-monitor]
+rqt_robot_plugins:
+  debian:
+    buster: [ros-noetic-rqt-robot-plugins]
+rqt_robot_steering:
+  debian:
+    buster: [ros-noetic-rqt-robot-steering]
+rqt_runtime_monitor:
+  debian:
+    buster: [ros-noetic-rqt-runtime-monitor]
+rqt_service_caller:
+  debian:
+    buster: [ros-noetic-rqt-service-caller]
+rqt_shell:
+  debian:
+    buster: [ros-noetic-rqt-shell]
+rqt_srv:
+  debian:
+    buster: [ros-noetic-rqt-srv]
+rqt_tf_tree:
+  debian:
+    buster: [ros-noetic-rqt-tf-tree]
+rqt_top:
+  debian:
+    buster: [ros-noetic-rqt-top]
+rqt_topic:
+  debian:
+    buster: [ros-noetic-rqt-topic]
+rqt_web:
+  debian:
+    buster: [ros-noetic-rqt-web]
+smach:
+  debian:
+    buster: [ros-noetic-smach]
+smclib:
+  debian:
+    buster: [ros-noetic-smclib]
+std_msgs:
+  debian:
+    buster: [ros-noetic-std-msgs]
+actionlib_msgs:
+  debian:
+    buster: [ros-noetic-actionlib-msgs]
+bond:
+  debian:
+    buster: [ros-noetic-bond]
+diagnostic_msgs:
+  debian:
+    buster: [ros-noetic-diagnostic-msgs]
+geometry_msgs:
+  debian:
+    buster: [ros-noetic-geometry-msgs]
+eigen_conversions:
+  debian:
+    buster: [ros-noetic-eigen-conversions]
+kdl_conversions:
+  debian:
+    buster: [ros-noetic-kdl-conversions]
+nav_msgs:
+  debian:
+    buster: [ros-noetic-nav-msgs]
+rosbridge_msgs:
+  debian:
+    buster: [ros-noetic-rosbridge-msgs]
+rosgraph_msgs:
+  debian:
+    buster: [ros-noetic-rosgraph-msgs]
+rosmsg:
+  debian:
+    buster: [ros-noetic-rosmsg]
+rqt_py_common:
+  debian:
+    buster: [ros-noetic-rqt-py-common]
+shape_msgs:
+  debian:
+    buster: [ros-noetic-shape-msgs]
+smach_msgs:
+  debian:
+    buster: [ros-noetic-smach-msgs]
+std_srvs:
+  debian:
+    buster: [ros-noetic-std-srvs]
+tf2_msgs:
+  debian:
+    buster: [ros-noetic-tf2-msgs]
+tf2:
+  debian:
+    buster: [ros-noetic-tf2]
+tf2_eigen:
+  debian:
+    buster: [ros-noetic-tf2-eigen]
+trajectory_msgs:
+  debian:
+    buster: [ros-noetic-trajectory-msgs]
+control_msgs:
+  debian:
+    buster: [ros-noetic-control-msgs]
+urdf_parser_plugin:
+  debian:
+    buster: [ros-noetic-urdf-parser-plugin]
+urdfdom_py:
+  debian:
+    buster: [ros-noetic-urdfdom-py]
+uuid_msgs:
+  debian:
+    buster: [ros-noetic-uuid-msgs]
+geographic_msgs:
+  debian:
+    buster: [ros-noetic-geographic-msgs]
+vision_opencv:
+  debian:
+    buster: [ros-noetic-vision-opencv]
+visualization_msgs:
+  debian:
+    buster: [ros-noetic-visualization-msgs]
+visualization_tutorials:
+  debian:
+    buster: [ros-noetic-visualization-tutorials]
+viz:
+  debian:
+    buster: [ros-noetic-viz]
+webkit_dependency:
+  debian:
+    buster: [ros-noetic-webkit-dependency]
+xmlrpcpp:
+  debian:
+    buster: [ros-noetic-xmlrpcpp]
+roscpp:
+  debian:
+    buster: [ros-noetic-roscpp]
+bondcpp:
+  debian:
+    buster: [ros-noetic-bondcpp]
+bondpy:
+  debian:
+    buster: [ros-noetic-bondpy]
+nodelet:
+  debian:
+    buster: [ros-noetic-nodelet]
+nodelet_tutorial_math:
+  debian:
+    buster: [ros-noetic-nodelet-tutorial-math]
+pluginlib_tutorials:
+  debian:
+    buster: [ros-noetic-pluginlib-tutorials]
+roscpp_tutorials:
+  debian:
+    buster: [ros-noetic-roscpp-tutorials]
+rosout:
+  debian:
+    buster: [ros-noetic-rosout]
+camera_calibration:
+  debian:
+    buster: [ros-noetic-camera-calibration]
+diagnostic_aggregator:
+  debian:
+    buster: [ros-noetic-diagnostic-aggregator]
+diagnostic_updater:
+  debian:
+    buster: [ros-noetic-diagnostic-updater]
+diagnostic_common_diagnostics:
+  debian:
+    buster: [ros-noetic-diagnostic-common-diagnostics]
+dynamic_reconfigure:
+  debian:
+    buster: [ros-noetic-dynamic-reconfigure]
+filters:
+  debian:
+    buster: [ros-noetic-filters]
+joint_state_publisher:
+  debian:
+    buster: [ros-noetic-joint-state-publisher]
+message_filters:
+  debian:
+    buster: [ros-noetic-message-filters]
+rosauth:
+  debian:
+    buster: [ros-noetic-rosauth]
+rosbag_storage:
+  debian:
+    buster: [ros-noetic-rosbag-storage]
+rosnode:
+  debian:
+    buster: [ros-noetic-rosnode]
+rospy_tutorials:
+  debian:
+    buster: [ros-noetic-rospy-tutorials]
+rosshow:
+  debian:
+    buster: [ros-noetic-rosshow]
+rostopic:
+  debian:
+    buster: [ros-noetic-rostopic]
+rqt_gui_cpp:
+  debian:
+    buster: [ros-noetic-rqt-gui-cpp]
+rqt_gui_py:
+  debian:
+    buster: [ros-noetic-rqt-gui-py]
+self_test:
+  debian:
+    buster: [ros-noetic-self-test]
+smach_ros:
+  debian:
+    buster: [ros-noetic-smach-ros]
+tf2_py:
+  debian:
+    buster: [ros-noetic-tf2-py]
+topic_tools:
+  debian:
+    buster: [ros-noetic-topic-tools]
+rosbag:
+  debian:
+    buster: [ros-noetic-rosbag]
+actionlib:
+  debian:
+    buster: [ros-noetic-actionlib]
+actionlib_tutorials:
+  debian:
+    buster: [ros-noetic-actionlib-tutorials]
+diagnostic_analysis:
+  debian:
+    buster: [ros-noetic-diagnostic-analysis]
+nodelet_topic_tools:
+  debian:
+    buster: [ros-noetic-nodelet-topic-tools]
+roswtf:
+  debian:
+    buster: [ros-noetic-roswtf]
+rqt_launch:
+  debian:
+    buster: [ros-noetic-rqt-launch]
+sensor_msgs:
+  debian:
+    buster: [ros-noetic-sensor-msgs]
+camera_calibration_parsers:
+  debian:
+    buster: [ros-noetic-camera-calibration-parsers]
+cv_bridge:
+  debian:
+    buster: [ros-noetic-cv-bridge]
+image_geometry:
+  debian:
+    buster: [ros-noetic-image-geometry]
+image_transport:
+  debian:
+    buster: [ros-noetic-image-transport]
+camera_info_manager:
+  debian:
+    buster: [ros-noetic-camera-info-manager]
+compressed_depth_image_transport:
+  debian:
+    buster: [ros-noetic-compressed-depth-image-transport]
+compressed_image_transport:
+  debian:
+    buster: [ros-noetic-compressed-image-transport]
+cv_camera:
+  debian:
+    buster: [ros-noetic-cv-camera]
+image_proc:
+  debian:
+    buster: [ros-noetic-image-proc]
+image_publisher:
+  debian:
+    buster: [ros-noetic-image-publisher]
+map_msgs:
+  debian:
+    buster: [ros-noetic-map-msgs]
+mavros_msgs:
+  debian:
+    buster: [ros-noetic-mavros-msgs]
+pcl_msgs:
+  debian:
+    buster: [ros-noetic-pcl-msgs]
+pcl_conversions:
+  debian:
+    buster: [ros-noetic-pcl-conversions]
+polled_camera:
+  debian:
+    buster: [ros-noetic-polled-camera]
+rqt_image_view:
+  debian:
+    buster: [ros-noetic-rqt-image-view]
+stereo_msgs:
+  debian:
+    buster: [ros-noetic-stereo-msgs]
+image_view:
+  debian:
+    buster: [ros-noetic-image-view]
+rosbridge_library:
+  debian:
+    buster: [ros-noetic-rosbridge-library]
+stereo_image_proc:
+  debian:
+    buster: [ros-noetic-stereo-image-proc]
+tf2_ros:
+  debian:
+    buster: [ros-noetic-tf2-ros]
+depth_image_proc:
+  debian:
+    buster: [ros-noetic-depth-image-proc]
+mavros:
+  debian:
+    buster: [ros-noetic-mavros]
+tf:
+  debian:
+    buster: [ros-noetic-tf]
+interactive_markers:
+  debian:
+    buster: [ros-noetic-interactive-markers]
+interactive_marker_tutorials:
+  debian:
+    buster: [ros-noetic-interactive-marker-tutorials]
+laser_geometry:
+  debian:
+    buster: [ros-noetic-laser-geometry]
+laser_assembler:
+  debian:
+    buster: [ros-noetic-laser-assembler]
+laser_filters:
+  debian:
+    buster: [ros-noetic-laser-filters]
+pcl_ros:
+  debian:
+    buster: [ros-noetic-pcl-ros]
+tf2_geometry_msgs:
+  debian:
+    buster: [ros-noetic-tf2-geometry-msgs]
+image_rotate:
+  debian:
+    buster: [ros-noetic-image-rotate]
+tf2_kdl:
+  debian:
+    buster: [ros-noetic-tf2-kdl]
+tf2_web_republisher:
+  debian:
+    buster: [ros-noetic-tf2-web-republisher]
+tf_conversions:
+  debian:
+    buster: [ros-noetic-tf-conversions]
+theora_image_transport:
+  debian:
+    buster: [ros-noetic-theora-image-transport]
+turtlesim:
+  debian:
+    buster: [ros-noetic-turtlesim]
+turtle_actionlib:
+  debian:
+    buster: [ros-noetic-turtle-actionlib]
+turtle_tf:
+  debian:
+    buster: [ros-noetic-turtle-tf]
+turtle_tf2:
+  debian:
+    buster: [ros-noetic-turtle-tf2]
+urdf:
+  debian:
+    buster: [ros-noetic-urdf]
+kdl_parser:
+  debian:
+    buster: [ros-noetic-kdl-parser]
+kdl_parser_py:
+  debian:
+    buster: [ros-noetic-kdl-parser-py]
+mavros_extras:
+  debian:
+    buster: [ros-noetic-mavros-extras]
+robot_state_publisher:
+  debian:
+    buster: [ros-noetic-robot-state-publisher]
+rviz:
+  debian:
+    buster: [ros-noetic-rviz]
+librviz_tutorial:
+  debian:
+    buster: [ros-noetic-librviz-tutorial]
+rqt_rviz:
+  debian:
+    buster: [ros-noetic-rqt-rviz]
+rviz_plugin_tutorials:
+  debian:
+    buster: [ros-noetic-rviz-plugin-tutorials]
+rviz_python_tutorial:
+  debian:
+    buster: [ros-noetic-rviz-python-tutorial]
+urdf_tutorial:
+  debian:
+    buster: [ros-noetic-urdf-tutorial]
+usb_cam:
+  debian:
+    buster: [ros-noetic-usb-cam]
+visualization_marker_tutorials:
+  debian:
+    buster: [ros-noetic-visualization-marker-tutorials]
+vl53l1x:
+  debian:
+    buster: [ros-noetic-vl53l1x]
+xacro:
+  debian:
+    buster: [ros-noetic-xacro]
+ddynamic_reconfigure:
+  debian:
+    buster: [ros-noetic-ddynamic-reconfigure]
+librealsense2:
+  debian:
+    buster: [ros-noetic-librealsense2]
+realsense2_camera:
+  debian:
+    buster: [ros-noetic-realsense2-camera]
+realsense2_description:
+  debian:
+    buster: [ros-noetic-realsense2-description]
+geographiclib:
+  debian:
+    buster: [libgeographic-dev]

builder/image-init.sh

@@ -58,4 +58,7 @@ sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
 echo_stamp "Move /etc/ld.so.preload out of the way"
 mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
 
+echo_stamp "Setup apt so it store all the downloaded packages"
+echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/02keep-debs
+
 echo_stamp "End of init image"

builder/image-ros.sh

@@ -49,7 +49,7 @@ echo_stamp() {
 my_travis_retry() {
   local result=0
   local count=1
-  local max_count=50
+  local max_count=5
   while [ $count -le $max_count ]; do
     [ $result -ne 0 ] && {
       echo -e "\nThe command \"$@\" failed. Retrying, $count of $max_count.\n" >&2
@@ -72,7 +72,7 @@ my_travis_retry() {
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
 # FIXME: Re-add this after missing packages are built
-echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/10-clover.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
@@ -125,11 +125,12 @@ cd /home/pi/catkin_ws/src/clover
 builder/assets/install_gitbook.sh
 gitbook install
 gitbook build
+# replace assets copy to assets symlink to save space
+rm -rf _book/assets && ln -s ../docs/assets _book/assets
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
 
 echo_stamp "Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-dynamic-reconfigure \
     ros-${ROS_DISTRO}-rosbridge-suite \
     ros-${ROS_DISTRO}-rosserial \
     ros-${ROS_DISTRO}-usb-cam \
@@ -137,7 +138,9 @@ my_travis_retry apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-ws281x \
     ros-${ROS_DISTRO}-rosshow \
     ros-${ROS_DISTRO}-cmake-modules \
-    ros-${ROS_DISTRO}-image-view
+    ros-${ROS_DISTRO}-image-view \
+    ros-${ROS_DISTRO}-nodelet-topic-tools \
+    ros-${ROS_DISTRO}-stereo-msgs
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
@@ -151,6 +154,9 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
+echo_stamp "Update www"
+sudo -u pi sh -c ". devel/setup.sh && rosrun clover www"
+
 echo_stamp "Make \$HOME/examples symlink"
 ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples
@@ -178,7 +184,7 @@ EOF
 # Restore original sources.list
 #mv /var/sources.list.bak /etc/apt/sources.list
 # Clean apt cache
-apt-get clean -qq > /dev/null
+# apt-get clean -qq > /dev/null
 # Remove local mirror repository key
 #apt-key del COEX-MIRROR
 

builder/image-validate.sh

@@ -37,3 +37,7 @@ apt-cache show openvpn
 
 echo "Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload
+
+echo "Largest packages installed"
+sudo -E sh -c 'apt-get install -y debian-goodies'
+dpigs -H -n 100

builder/test/tests.py

@@ -2,6 +2,7 @@
 
 # validate all required modules installed
 
+import os
 import rospy
 from geometry_msgs.msg import PoseStamped
 from sensor_msgs.msg import Range, BatteryState
@@ -22,6 +23,7 @@ from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetV
 from led_msgs.srv import SetLEDs
 from led_msgs.msg import LEDStateArray, LEDState
 from aruco_pose.msg import Marker, MarkerArray, Point2D
+from clover import long_callback
 
 import dynamic_reconfigure.client
 
@@ -31,9 +33,15 @@ import tf2_geometry_msgs
 import VL53L1X
 import pymavlink
 from pymavlink import mavutil
-import rpi_ws281x
+from image_geometry import PinholeCameraModel, StereoCameraModel
-import pigpio
 # from espeak import espeak
 from pyzbar import pyzbar
+import docopt
+import geopy
+import flask
 
 print(cv2.getBuildInformation())
+
+if not os.environ.get('VM'):
+    import rpi_ws281x
+    import pigpio

builder/test/tests.sh

@@ -6,16 +6,10 @@ set -ex
 
 # validate required software is installed
 
-python --version
 python2 --version
 python3 --version
-ipython --version
 ipython3 --version
 
-# ptvsd does not have a stand-alone binary
-python -m ptvsd --version
-python3 -m ptvsd --version
-
 node -v
 npm -v
 
@@ -25,42 +19,77 @@ lsof -v
 git --version
 vim --version
 pip --version
-pip2 --version
 pip3 --version
 tcpdump --version
 monkey --version
-pigpiod -v
-i2cdetect -V
-butterfly -h
 # espeak --version
-mjpg_streamer --version
 systemctl --version
 
+if [ -z $VM ]; then
+	# rpi only software
+	python --version
+	ipython --version
+	pip2 --version
+	# `python` is python2 for now
+	[[ $(python -c 'import sys;print(sys.version_info.major)') == "2" ]]
+
+	# ptvsd does not have a stand-alone binary
+	python -m ptvsd --version
+	python3 -m ptvsd --version
+
+	pigpiod -v
+	i2cdetect -V
+	butterfly -h
+	mjpg_streamer --version
+fi
+
 # ros stuff
 
 roscore -h
 rosversion clover
 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
+rosversion rosbridge_server
-rosversion rosbridge_suite
-rosversion rosserial
 rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
-rosversion rosshow
 rosversion nodelet
 rosversion image_view
 
-# validate some versions
-[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
 [[ $(rosversion ws281x) == "0.0.13" ]]
 
+if [ -z $VM ]; then
+	rosversion compressed_image_transport
+	rosversion rosshow
+	rosversion vl53l1x
+	rosversion rosserial
+	[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
+fi
+
+# determine user home directory
+[ $VM ] && H="/home/clover" || H="/home/pi"
+
+# test basic ros tool work
+source $H/catkin_ws/devel/setup.bash
+roscd
+rosrun
+rosmsg
+rossrv
+rosnode || [ $? -eq 64 ] # usage output code is 64
+rostopic || [ $? -eq 64 ]
+rosservice || [ $? -eq 64 ]
+rosparam
+roslaunch -h
+
 # validate examples are present
-[[ $(ls /home/pi/examples/*) ]]
+[[ $(ls $H/examples/*) ]]
+
+# validate web tools present
+[ -d $H/.ros/www ]
+[ "$(readlink $H/.ros/www/clover)" = "$H/catkin_ws/src/clover/clover/www" ]
+[ "$(readlink $H/.ros/www/clover_blocks)" = "$H/catkin_ws/src/clover/clover_blocks/www" ]

check_assets_size.py

@@ -18,7 +18,7 @@ EXCLUDE = 'rviz.png', 'ssid.png', 'sitl_docker_demo.png', 'qgc-params.png', 'but
     'qgc-battery.png', 'qgc-radio.png', 'qgc-cal-acc.png', 'qgc-esc.png', 'qgc-cal-compass.png', \
     'qgc.png', 'qgc-parameters.png', 'clever4-front-white-large.png', 'qgc-modes.png', \
     'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png', 'battery_holder.stl', \
-    'camera_case.stl', 'camera_mount.stl'
+    'camera_case.stl', 'camera_mount.stl', 'grip_right.stl', 'grip_left.stl'
 
 code = 0
 

clover/CMakeLists.txt

@@ -30,6 +30,8 @@ find_package(catkin REQUIRED COMPONENTS
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
+# https://github.com/mavlink/mavros/blob/7f1a8/mavros/CMakeLists.txt#L42
+set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
 find_package(GeographicLib REQUIRED)
 
 # Workaround for OpenCV 3/4 support
@@ -53,7 +55,7 @@ find_package(OpenCV ${_opencv_version} REQUIRED
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -80,11 +82,10 @@ find_package(OpenCV ${_opencv_version} REQUIRED
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
+add_message_files(
-#   FILES
+  FILES
-#   Message1.msg
+  State.msg
-#   Message2.msg
+)
-# )
 
 ## Generate services in the 'srv' folder
 add_service_files(
@@ -92,6 +93,9 @@ add_service_files(
   GetTelemetry.srv
   Navigate.srv
   NavigateGlobal.srv
+  SetAltitude.srv
+  SetYaw.srv
+  SetYawRate.srv
   SetPosition.srv
   SetVelocity.srv
   SetAttitude.srv
@@ -306,4 +310,5 @@ endif()
 if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/basic.test)
+  add_rostest(test/offboard.test)
 endif()

clover/cmake/FindGeographicLib.cmake

@@ -1,18 +0,0 @@
-# taken from: https://github.com/mavlink/mavros/blob/master/libmavconn/cmake/Modules/FindGeographicLib.cmake
-
-# Look for GeographicLib
-#
-# Set
-#  GEOGRAPHICLIB_FOUND = TRUE
-#  GeographicLib_INCLUDE_DIRS = /usr/local/include
-#  GeographicLib_LIBRARIES = /usr/local/lib/libGeographic.so
-#  GeographicLib_LIBRARY_DIRS = /usr/local/lib
-
-find_path (GeographicLib_INCLUDE_DIRS NAMES GeographicLib/Config.h)
-
-find_library (GeographicLib_LIBRARIES NAMES Geographic)
-
-include (FindPackageHandleStandardArgs)
-find_package_handle_standard_args (GeographicLib DEFAULT_MSG
-  GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
-mark_as_advanced (GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)

clover/examples/camera.py

@@ -0,0 +1,64 @@
+# Information: https://clover.coex.tech/camera
+
+# Example on basic working with the camera and image processing:
+
+# - cuts out a central square from the camera image;
+# - publishes this cropped image to the topic `/cv/center`;
+# - computes the average color of it;
+# - prints its name to the console.
+
+import rospy
+import cv2
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+from clover import long_callback
+
+rospy.init_node('cv')
+bridge = CvBridge()
+
+printed_color = None
+center_pub = rospy.Publisher('~center', Image, queue_size=1)
+
+def get_color_name(h):
+    if h < 15: return 'red'
+    elif h < 30: return 'orange'
+    elif h < 60: return 'yellow'
+    elif h < 90: return 'green'
+    elif h < 120: return 'cyan'
+    elif h < 150: return 'blue'
+    elif h < 170: return 'magenta'
+    else: return 'red'
+
+
+@long_callback
+def image_callback(msg):
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
+
+    # convert to HSV to work with color hue
+    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+    # cut out a central square
+    w = img.shape[1]
+    h = img.shape[0]
+    r = 20
+    center = img_hsv[h // 2 - r:h // 2 + r, w // 2 - r:w // 2 + r]
+
+    # compute and print the average hue
+    mean_hue = center[:, :, 0].mean()
+    color = get_color_name(mean_hue)
+    global printed_color
+    if color != printed_color:
+        print(color)
+        printed_color = color
+
+    # publish the cropped image
+    center = cv2.cvtColor(center, cv2.COLOR_HSV2BGR)
+    center_pub.publish(bridge.cv2_to_imgmsg(center, 'bgr8'))
+
+# process every frame:
+image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+
+# process 5 frames per second:
+# image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+
+rospy.spin()

clover/examples/navigate_wait.py

@@ -16,11 +16,8 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-        frame_id='body', tolerance=0.2, auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res

clover/examples/red_circle.py

@@ -0,0 +1,91 @@
+# This example makes the drone find and follow the red circle.
+# To test in the simulator, place 'Red Circle' model on the floor.
+# More information: https://clover.coex.tech/red_circle
+
+# Input topic: main_camera/image_raw (camera image)
+# Output topics:
+#   cv/mask (red color mask)
+#   cv/red_circle (position of the center of the red circle in 3D space)
+
+import rospy
+import cv2
+import numpy as np
+from math import nan
+from sensor_msgs.msg import Image, CameraInfo
+from geometry_msgs.msg import PointStamped, Point
+from cv_bridge import CvBridge
+from clover import long_callback, srv
+import tf2_ros
+import tf2_geometry_msgs
+import image_geometry
+
+rospy.init_node('cv', disable_signals=True) # disable signals to allow interrupting with ctrl+c
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+
+bridge = CvBridge()
+
+tf_buffer = tf2_ros.Buffer()
+tf_listener = tf2_ros.TransformListener(tf_buffer)
+
+mask_pub = rospy.Publisher('~mask', Image, queue_size=1)
+point_pub = rospy.Publisher('~red_circle', PointStamped, queue_size=1)
+
+# read camera info
+camera_model = image_geometry.PinholeCameraModel()
+camera_model.fromCameraInfo(rospy.wait_for_message('main_camera/camera_info', CameraInfo))
+
+
+def img_xy_to_point(xy, dist):
+    xy_rect = camera_model.rectifyPoint(xy)
+    ray = camera_model.projectPixelTo3dRay(xy_rect)
+    return Point(x=ray[0] * dist, y=ray[1] * dist, z=dist)
+
+def get_center_of_mass(mask):
+    M = cv2.moments(mask)
+    if M['m00'] == 0:
+        return None
+    return M['m10'] // M['m00'], M['m01'] // M['m00']
+
+follow_red_circle = False
+
+@long_callback
+def image_callback(msg):
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
+    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+    # we need to use two ranges for red color
+    mask1 = cv2.inRange(img_hsv, (0, 150, 150), (15, 255, 255))
+    mask2 = cv2.inRange(img_hsv, (160, 150, 150), (180, 255, 255))
+
+    # combine two masks using bitwise OR
+    mask = cv2.bitwise_or(mask1, mask2)
+
+    # publish the mask
+    if mask_pub.get_num_connections() > 0:
+        mask_pub.publish(bridge.cv2_to_imgmsg(mask, 'mono8'))
+
+    # calculate x and y of the circle
+    xy = get_center_of_mass(mask)
+    if xy is None:
+        return
+
+    # calculate and publish the position of the circle in 3D space
+    altitude = get_telemetry('terrain').z
+    xy3d = img_xy_to_point(xy, altitude)
+    target = PointStamped(header=msg.header, point=xy3d)
+    point_pub.publish(target)
+
+    if follow_red_circle:
+        # follow the target
+        setpoint = tf_buffer.transform(target, 'map', timeout=rospy.Duration(0.2))
+        set_position(x=setpoint.point.x, y=setpoint.point.y, z=nan, yaw=nan, frame_id=setpoint.header.frame_id)
+
+# process each camera frame:
+image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+
+rospy.loginfo('Hit enter to follow the red circle')
+input()
+follow_red_circle = True
+rospy.spin()

clover/launch/aruco.launch

@@ -16,10 +16,12 @@
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="map_markers" to="aruco_map/map"/>
+        <param name="dictionary" value="2"/> <!-- DICT_4X4_250 -->
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="use_map_markers" value="true"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
+        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
         <param name="length" value="$(arg length)"/>
         <param name="transform_timeout" value="0.1"/>
         <!-- aruco detector parameters -->
@@ -35,8 +37,8 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
         <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="flip_vertical" value="true" 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

@@ -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 -->
 
@@ -45,13 +45,13 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
         <param name="roi_rad" value="0.8"/>
+        <param name="disable_on_vpe" value="true"/>
     </node>
 
-    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
-
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
         <param name="reference_frames/main_camera_optical" value="map"/>
+        <param name="terrain_frame_mode" value="range"/>
     </node>
 
     <!-- main camera -->
@@ -72,6 +72,9 @@
         <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
     </node>
 
+    <!-- rangefinder's frame -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder" if="$(arg rangefinder_vl53l1x)"/>
+
     <!-- led strip -->
     <include file="$(find clover)/launch/led.launch" if="$(arg led)">
         <arg name="simulator" value="$(arg simulator)"/>
@@ -86,8 +89,4 @@
         <param name="use_fake_gcs" value="false"/>
     </node>
 
-    <!-- Update static directory -->
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
-        <param name="default_package" value="clover"/>
-    </node>
 </launch>

clover/launch/led.launch

@@ -21,7 +21,8 @@
     </node>
 
     <!-- high level led effects control, events notification with leds -->
-    <node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
+    <node pkg="clover" name="led_effect" type="led" clear_params="true" output="screen" if="$(arg led_effect)">
+        <param name="led" value="led"/>
         <param name="blink_rate" value="2"/>
         <param name="fade_period" value="0.5"/>
         <param name="rainbow_period" value="5"/>

clover/launch/main_camera.launch

@@ -4,6 +4,9 @@
     <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="rectify" default="false"/> <!-- enable rectification -->
     <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 +46,15 @@
     <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)"/>
+
+    <!-- rectified image topic -->
+    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" if="$(arg rectify)">
+        <remap from="image_mono" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="image_rect" to="main_camera/image_rect"/>
+    </node>
 </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)" />
 
@@ -74,9 +77,6 @@
         covariance: 1  # cm
     </rosparam>
 
-    <!-- Rangefinders frame -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
-
     <!-- Copter visualization -->
     <node name="visualization" pkg="mavros_extras" type="visualization" if="$(arg viz)">
         <remap to="mavros/local_position/pose" from="local_position"/>

clover/launch/simulator.launch

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

clover/msg/State.msg

@@ -0,0 +1,38 @@
+uint8 MODE_NONE = 0
+uint8 MODE_NAVIGATE = 1
+uint8 MODE_NAVIGATE_GLOBAL = 2
+uint8 MODE_POSITION = 3
+uint8 MODE_VELOCITY = 4
+uint8 MODE_ATTITUDE = 5
+uint8 MODE_RATES = 6
+
+uint8 YAW_MODE_YAW = 0
+uint8 YAW_MODE_YAW_RATE = 1
+uint8 YAW_MODE_YAW_TOWARDS = 2
+
+# type of offboard control
+uint8 mode
+uint8 yaw_mode
+
+# targets
+float32 x
+float32 y
+float32 z
+float32 speed
+float32 lat
+float32 lon
+float32 vx
+float32 vy
+float32 vz
+float32 roll
+float32 pitch
+float32 yaw
+float32 roll_rate
+float32 pitch_rate
+float32 yaw_rate
+float32 thrust
+
+# frames of reference
+string xy_frame_id
+string z_frame_id
+string yaw_frame_id

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>clover</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -37,12 +37,15 @@
   <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>
+  <depend>image_proc</depend>
+  <depend>image_geometry</depend>
   <exec_depend>python-pymavlink</exec_depend>
-  <!-- Use test_depend for packages you need only for testing: -->
+  <test_depend>ros_pytest</test_depend>
-  <!--   <test_depend>gtest</test_depend> -->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

clover/requirements.txt

@@ -1,5 +1,4 @@
-flask==1.1.1
+flask
-docopt==0.6.2
+geopy
-geopy==1.11.0
+smbus2
-smbus2==0.3.0
+VL53L1X
-VL53L1X==0.0.5

clover/setup.py

@@ -0,0 +1,11 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['clover'],
+    package_dir={'': 'src'})
+
+setup(**setup_args)

clover/src/autotest/autotest_aruco.py

@@ -13,7 +13,12 @@ from util import handle_response
 
 rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c
 
-flow_client = dynamic_reconfigure.client.Client('optical_flow')
+try:
+    flow_client = dynamic_reconfigure.client.Client('optical_flow', timeout=2)
+except rospy.ROSException:
+    flow_client = None
+    print('Cannot configure optical flow, skip')
+
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 land = handle_response(rospy.ServiceProxy('land', Trigger))
@@ -30,11 +35,8 @@ def print_current_map_position():
     dist = rospy.wait_for_message('rangefinder/range', Range).range
     print('Map position:\tx={:.1f}\ty={:.1f}\tz={:.1f}\tyaw={:.1f}\tdist={:.2f}'.format(telem.x, telem.y, telem.z, telem.yaw, dist))
 
-def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-        frame_id='body', tolerance=0.2, auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res
@@ -67,12 +69,13 @@ input('Go to center %g %g 1.5 speed 5 [enter] ' % (center_x, center_y))
 navigate_wait(x=center_x, y=center_y, z=1.5, speed=5, frame_id='aruco_map')
 print_current_map_position()
 
-input('Disable optical flow and keep hovering [enter] ')
+if flow_client:
-flow_client.update_configuration({'enabled': False})
+    input('Disable optical flow and keep hovering [enter] ')
-rospy.sleep(5)
+    flow_client.update_configuration({'enabled': False})
+    rospy.sleep(5)
 
-input('Enable optical flow back [enter] ')
+    input('Enable optical flow back [enter] ')
-flow_client.update_configuration({'enabled': True})
+    flow_client.update_configuration({'enabled': True})
 
 input('Go to side 1 %g 2 heading top [enter] ' % (center_y))
 navigate_wait(x=1, y=center_y, z=2, yaw=1.57, frame_id='aruco_map')

clover/src/autotest/autotest_flight.py

@@ -2,7 +2,7 @@
 
 import rospy
 import math
-from math import nan
+from math import nan, inf
 import signal
 import sys
 from clover import srv
@@ -15,6 +15,8 @@ rospy.init_node('autotest_flight', disable_signals=True) # disable signals to al
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 navigate_global = handle_response(rospy.ServiceProxy('navigate_global', srv.NavigateGlobal))
+set_yaw = handle_response(rospy.ServiceProxy('set_yaw', srv.SetYaw))
+set_yaw_rate = handle_response(rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate))
 set_position = handle_response(rospy.ServiceProxy('set_position', srv.SetPosition))
 set_velocity = handle_response(rospy.ServiceProxy('set_velocity', srv.SetVelocity))
 set_attitude = handle_response(rospy.ServiceProxy('set_attitude', srv.SetAttitude))
@@ -28,11 +30,8 @@ def interrupt(sig, frame):
 
 signal.signal(signal.SIGINT, interrupt)
 
-def navigate_wait(x=0, y=0, z=0, yaw=nan, yaw_rate=0, speed=0.5, \
+def navigate_wait(x=0, y=0, z=0, yaw=nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-        frame_id='body', tolerance=0.2, auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res
@@ -69,17 +68,17 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
 rospy.sleep(2)
 set_position(frame_id='body')
 
-input('Rotate right 90° [enter] ')
+input('Rotate right 90° using set_yaw [enter] ')
-navigate(yaw=-math.pi / 2, frame_id='navigate_target')
+set_yaw(yaw=-math.pi / 2, frame_id='navigate_target')
 rospy.sleep(3)
 
 input('Use set_attitude to fly backwards [enter]')
-set_attitude(pitch=-0.3, roll=0, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(roll=0, pitch=-0.3, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.3)
 set_position(frame_id='body')
 
 input('Use set_attitude to fly right [enter]')
-set_attitude(pitch=0, roll=0.3, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(roll=0.3, pitch=0, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.5)
 set_position(frame_id='body')
 
@@ -88,13 +87,13 @@ set_rates(roll_rate=1.2, thrust=0.5)
 rospy.sleep(0.4)
 set_position(frame_id='body')
 
-input('Rotate 360° to the right using yaw_rate [enter]')
+input('Rotate 360° to the right using set_yaw_rate [enter]')
-set_position(x=nan, y=nan, z=nan, frame_id='body', yaw=nan, yaw_rate=-1)
+set_yaw_rate(yaw_rate=-1)
 rospy.sleep(2 * math.pi)
 set_position(frame_id='body')
 
-input('Return to start point [enter]')
+input('Return to start point heading forward [enter]')
-navigate_wait(x=start.x, y=start.y, z=start.z, yaw=start.yaw, speed=1, frame_id='map')
+navigate_wait(x=start.x, y=start.y, z=start.z, yaw=inf, speed=1, frame_id='map')
 
 input('Land [enter]')
 land()

clover/src/clover/__init__.py

@@ -0,0 +1,35 @@
+import rospy
+from threading import Thread, Event
+
+def long_callback(fn):
+    """
+    Decorator fixing a rospy issue for long-running topic callbacks, primarily
+    for image processing.
+
+    See: https://github.com/ros/ros_comm/issues/1901.
+
+    Usage example:
+
+    @long_callback
+    def image_callback(msg):
+        # perform image processing
+        # ...
+
+    rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+    """
+    e = Event()
+
+    def thread():
+        while not rospy.is_shutdown():
+            e.wait()
+            e.clear()
+            fn(thread.current_msg)
+
+    thread.current_msg = None
+    Thread(target=thread, daemon=True).start()
+
+    def wrapper(msg):
+        thread.current_msg = msg
+        e.set()
+
+    return wrapper

clover/src/led.cpp

@@ -309,18 +309,22 @@ int main(int argc, char **argv)
 	nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7);
 	nh_priv.param("notify/error/ignore", error_ignore, {});
 
-	ros::service::waitForService("set_leds"); // cannot work without set_leds service
+	std::string led; // led namespace
-	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>("set_leds", true);
+	nh_priv.param("led", led, std::string("led"));
+	if (!led.empty()) led += "/";
+
+	ros::service::waitForService(led + "set_leds"); // cannot work without set_leds service
+	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>(led + "set_leds", true);
 
 	// wait for leds count info
-	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>("state", nh));
+	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>(led + "state", nh));
 
-	auto state_sub = nh.subscribe("state", 1, &handleState);
+	auto state_sub = nh.subscribe(led + "state", 1, &handleState);
 
-	auto set_effect = nh.advertiseService("set_effect", &setEffect);
+	auto set_effect = nh.advertiseService(led + "set_effect", &setEffect);
 
-	auto mavros_state_sub = nh.subscribe("/mavros/state", 1, &handleMavrosState);
+	auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState);
-	auto battery_sub = nh.subscribe("/mavros/battery", 1, &handleBattery);
+	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery);
 	auto rosout_sub = nh.subscribe("/rosout_agg", 1, &handleLog);
 
 	timer = nh.createTimer(ros::Duration(0), &proceed, false, false);

clover/src/optical_flow.cpp

@@ -25,6 +25,7 @@
 #include <dynamic_reconfigure/server.h>
 #include <mavros_msgs/OpticalFlowRad.h>
 #include <sensor_msgs/Imu.h>
+#include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/TwistStamped.h>
@@ -57,6 +58,9 @@ private:
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
 	float flow_gyro_default_;
+	bool disable_on_vpe_;
+	ros::Subscriber vpe_sub_;
+	ros::Time last_vpe_time_;
 	std::shared_ptr<dynamic_reconfigure::Server<clover::FlowConfig>> dyn_srv_;
 
 	void onInit()
@@ -87,6 +91,11 @@ private:
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 
+		disable_on_vpe_ = nh_priv.param("disable_on_vpe", false);
+		if (disable_on_vpe_) {
+			vpe_sub_ = nh.subscribe("mavros/vision_pose/pose", 1, &OpticalFlow::vpeCallback, this);
+		}
+
 		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<clover::FlowConfig>>(nh_priv);
 		dynamic_reconfigure::Server<clover::FlowConfig>::CallbackType cb;
 
@@ -121,6 +130,12 @@ private:
 	{
 		if (!enabled_) return;
 
+		if (disable_on_vpe_ &&
+			!last_vpe_time_.isZero() &&
+			(msg->header.stamp - last_vpe_time_).toSec() < 0.1) {
+			return;
+		}
+
 		parseCameraInfo(cinfo);
 
 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
@@ -154,7 +169,7 @@ 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);
@@ -236,6 +251,14 @@ private:
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;
 
+			// Publish estimated angular velocity
+			geometry_msgs::TwistStamped velo;
+			velo.header.stamp = msg->header.stamp;
+			velo.header.frame_id = fcu_frame_id_;
+			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
+			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
+			velo_pub_.publish(velo);
+
 publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
@@ -248,14 +271,6 @@ publish_debug:
 				out_msg.image = img;
 				img_pub_.publish(out_msg.toImageMsg());
 			}
-
-			// Publish estimated angular velocity
-			geometry_msgs::TwistStamped velo;
-			velo.header.stamp = msg->header.stamp;
-			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
-			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
-			velo_pub_.publish(velo);
 		}
 	}
 
@@ -284,6 +299,10 @@ publish_debug:
 			prev_ = Mat(); // clear previous frame
 		}
 	}
+
+	void vpeCallback(const geometry_msgs::PoseStamped& vpe) {
+		last_vpe_time_ = vpe.header.stamp;
+	}
 };
 
 PLUGINLIB_EXPORT_CLASS(OpticalFlow, nodelet::Nodelet)

clover/src/selfcheck.py

@@ -9,13 +9,14 @@
 # The above copyright notice and this permission notice shall be included in all
 # copies or substantial portions of the Software.
 
-import os
+import os, sys
 import math
 import subprocess
 import re
 from collections import OrderedDict
 import traceback
-from threading import Event
+import threading
+from threading import Event, Thread, Lock
 import numpy
 import rospy
 import tf2_ros
@@ -27,24 +28,16 @@ from mavros_msgs.msg import State, OpticalFlowRad, Mavlink
 from mavros_msgs.srv import ParamGet
 from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped, Vector3Stamped
 from visualization_msgs.msg import MarkerArray as VisualizationMarkerArray
+from diagnostic_msgs.msg import DiagnosticArray
 import tf.transformations as t
 from aruco_pose.msg import MarkerArray
 from mavros import mavlink
 import locale
 
 
-# TODO: check attitude is present
-# TODO: disk free space
-# TODO: map, base_link, body
-# TODO: rc service
-# TODO: perform commander check, ekf2 status on PX4
-# TODO: check if FCU params setter succeed
-# TODO: selfcheck ROS service (with blacklists for checks)
-
-
 rospy.init_node('selfcheck')
 
-os.environ['ROSCONSOLE_FORMAT']='[${severity}]: ${message}'
+os.environ['ROSCONSOLE_FORMAT']='${message}'
 
 # use user's locale to convert numbers, etc
 locale.setlocale(locale.LC_ALL, '')
@@ -53,46 +46,68 @@ tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)
 
 
-failures = []
+thread_local = threading.local()
-infos = []
+reports_lock = Lock()
-current_check = None
+
+
+# formatting colors
+if sys.stdout.isatty():
+    GREY = '\033[90m'
+    GREEN = '\033[92m'
+    RED = '\033[31m'
+    END = '\033[0m'
+else:
+    GREY = GREEN = RED = END = ''
 
 
 def failure(text, *args):
     msg = text % args
-    rospy.logwarn('%s: %s', current_check, msg)
+    thread_local.reports += [{'failure': msg}]
-    failures.append(msg)
 
 
 def info(text, *args):
     msg = text % args
-    rospy.loginfo('%s: %s', current_check, msg)
+    thread_local.reports += [{'info': msg}]
-    infos.append(msg)
 
 
 def check(name):
     def inner(fn):
         def wrapper(*args, **kwargs):
-            failures[:] = []
+            start = rospy.get_time()
-            infos[:] = []
+            thread_local.reports = []
-            global current_check
-            current_check = name
             try:
                 fn(*args, **kwargs)
             except Exception as e:
                 traceback.print_exc()
                 rospy.logerr('%s: exception occurred', name)
-                return
+            with reports_lock:
-            if not failures and not infos:
+                for report in thread_local.reports:
-                rospy.loginfo('%s: OK', name)
+                    if 'failure' in report:
+                        rospy.logerr('%s: %s', name, report['failure'])
+                    elif 'info' in report:
+                        rospy.loginfo(GREY + name + END + ': ' + report['info'])
+                if not thread_local.reports:
+                    rospy.loginfo(GREY + name + END + ': ' + GREEN + 'OK' + END)
+                if rospy.get_param('~time', False):
+                    rospy.loginfo('%s: %.1f sec', name, rospy.get_time() - start)
         return wrapper
     return inner
 
 
+def ff(value, precision=2):
+    # safely format float or int
+    if value is None:
+        return RED + '???' + END
+    if isinstance(value, float):
+        return ('{:.' + str(precision + 1) + '}').format(value)
+    elif isinstance(value, int):
+        return str(value)
+
+
 param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
 
 
-def get_param(name):
+def get_param(name, default=None, strict=True):
     try:
         res = param_get(param_id=name)
     except rospy.ServiceException as e:
@@ -100,13 +115,19 @@ def get_param(name):
         return None
 
     if not res.success:
-        failure('unable to retrieve PX4 parameter %s', name)
+        if strict:
+            failure('unable to retrieve PX4 parameter %s', name)
+        return default
     else:
         if res.value.integer != 0:
             return res.value.integer
         return res.value.real
 
 
+def get_paramf(name, precision=2):
+    return ff(get_param(name), precision)
+
+
 recv_event = Event()
 link = mavutil.mavlink.MAVLink('', 255, 1)
 mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
@@ -151,6 +172,24 @@ def mavlink_exec(cmd, timeout=3.0):
     return mavlink_recv
 
 
+def read_diagnostics(name, key):
+    e = Event()
+    def cb(msg):
+        for status in msg.status:
+            if status.name.lower() == name.lower():
+                for value in status.values:
+                    if value.key.lower() == key.lower():
+                        cb.value = value.value
+                        e.set()
+                        return
+
+    cb.value = None
+    sub = rospy.Subscriber('/diagnostics', DiagnosticArray, cb)
+    e.wait(1.0)  # wait to read all the diagnostics from nodes publishing them
+    sub.unregister()
+    return cb.value
+
+
 BOARD_ROTATIONS = {
     0: 'no rotation',
     1: 'yaw 45°',
@@ -196,34 +235,36 @@ def check_fcu():
         state = rospy.wait_for_message('mavros/state', State, timeout=3)
         if not state.connected:
             failure('no connection to the FCU (check wiring)')
+            info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
             return
 
-        clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
+        if not is_process_running('px4', exact=True): # can't use px4 console in SITL
-        clover_fw = False
+            clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
+            clover_fw = False
 
-        # Make sure the console is available to us
+            # Make sure the console is available to us
-        mavlink_exec('\n')
+            mavlink_exec('\n')
-        version_str = mavlink_exec('ver all')
+            version_str = mavlink_exec('ver all')
-        if version_str == '':
+            if version_str == '':
-            info('no version data available from SITL')
+                info('no version data available from SITL')
 
-        for line in version_str.split('\n'):
+            for line in version_str.split('\n'):
-            if line.startswith('FW version: '):
+                if line.startswith('FW version: '):
-                info(line[len('FW version: '):])
+                    info(line[len('FW version: '):])
-            elif line.startswith('FW git tag: '): # only Clover's firmware
+                elif line.startswith('FW git tag: '): # only Clover's firmware
-                tag = line[len('FW git tag: '):]
+                    tag = line[len('FW git tag: '):]
-                clover_fw = clover_tag.search(tag)
+                    clover_fw = clover_tag.search(tag)
-                info(tag)
+                    info(tag)
-            elif line.startswith('HW arch: '):
+                elif line.startswith('HW arch: '):
-                info(line[len('HW arch: '):])
+                    info(line[len('HW arch: '):])
 
-        if not clover_fw:
+            if not clover_fw:
-            info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')
+                info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
             info('selected estimator: LPE')
-            fuse = get_param('LPE_FUSION')
+            fuse = int(get_param('LPE_FUSION'))
             if fuse & (1 << 4):
                 info('LPE_FUSION: land detector fusion is enabled')
             else:
@@ -255,21 +296,35 @@ def check_fcu():
         if cbrk_usb_chk != 197848:
             failure('set parameter CBRK_USB_CHK to 197848 for flying with USB connected')
 
+        if not is_process_running('px4', exact=True): # skip battery check in SITL
+            try:
+                battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
+                if not battery.cell_voltage:
+                    failure('cell voltage is not available, https://clover.coex.tech/power')
+                else:
+                    cell = battery.cell_voltage[0]
+                    if cell > 4.3 or cell < 3.0:
+                        failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
+                    elif cell < 3.7:
+                        failure('critically low cell voltage: %.2f V, recharge battery', cell)
+            except rospy.ROSException:
+                failure('no battery state')
+
+        # time sync check
         try:
-            battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
+            info('time sync offset: %.2f s', float(read_diagnostics('mavros: Time Sync', 'Estimated time offset (s)')))
-            if not battery.cell_voltage:
+        except:
-                failure('cell voltage is not available, https://clover.coex.tech/power')
+            failure('cannot read time sync offset')
-            else:
-                cell = battery.cell_voltage[0]
-                if cell > 4.3 or cell < 3.0:
-                    failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
-                elif cell < 3.7:
-                    failure('critically low cell voltage: %.2f V, recharge battery', cell)
-        except rospy.ROSException:
-            failure('no battery state')
 
     except rospy.ROSException:
-        failure('no MAVROS state (check wiring)')
+        failure('no MAVROS state')
+        fcu_url = rospy.get_param('mavros/fcu_url', '?')
+        if fcu_url == '/dev/px4fmu':
+            if not os.path.exists('/lib/udev/rules.d/99-px4fmu.rules'):
+                info('udev rules are not installed, install udev rules or change usb_device to /dev/ttyACM0 in mavros.launch')
+            else:
+                info('udev did\'t recognize px4fmu device, check wiring or change usb_device to /dev/ttyACM0 in mavros.launch')
+        info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
 
 
 def describe_direction(v):
@@ -346,19 +401,24 @@ def is_process_running(binary, exact=False, full=False):
 
 @check('ArUco markers')
 def check_aruco():
+    markers = None
+
     if is_process_running('aruco_detect', full=True):
         try:
-            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
+            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length', '?'))
         except KeyError:
             failure('aruco_detect/length parameter is not set')
-        known_tilt = rospy.get_param('aruco_detect/known_tilt', '')
+        known_vertical = rospy.get_param('aruco_detect/known_vertical', '')
-        if known_tilt == 'map':
+        flip_vertical = rospy.get_param('aruco_detect/flip_vertical', False)
-            known_tilt += ' (ALL markers are on the floor)'
+        description = ''
-        elif known_tilt == 'map_flipped':
+        if known_vertical == 'map' and not flip_vertical:
-            known_tilt += ' (ALL markers are on the ceiling)'
+            description = ' (all markers are on the floor)'
-        info('aruco_detector/known_tilt = %s', known_tilt)
+        elif known_vertical == 'map' and flip_vertical:
+            description = ' (all markers are on the ceiling)'
+        info('aruco_detect/known_vertical = %s', known_vertical)
+        info('aruco_detect/flip_vertical = %s%s', flip_vertical, description)
         try:
-            rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
+            markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
         except rospy.ROSException:
             failure('no markers detection')
             return
@@ -367,42 +427,61 @@ def check_aruco():
         return
 
     if is_process_running('aruco_map', full=True):
-        known_tilt = rospy.get_param('aruco_map/known_tilt', '')
+        known_vertical = rospy.get_param('aruco_map/known_vertical', '')
-        if known_tilt == 'map':
+        flip_vertical = rospy.get_param('aruco_map/flip_vertical', False)
-            known_tilt += ' (marker\'s map is on the floor)'
+        description = ''
-        elif known_tilt == 'map_flipped':
+        if known_vertical == 'map' and not flip_vertical:
-            known_tilt += ' (marker\'s map is on the ceiling)'
+            description += ' (markers map is on the floor)'
-        info('aruco_map/known_tilt = %s', known_tilt)
+        elif known_vertical == 'map' and flip_vertical:
+            description += ' (markers map is on the ceiling)'
+        info('aruco_map/known_vertical = %s', known_vertical)
+        info('aruco_map/flip_vertical = %s%s', flip_vertical, description)
 
         try:
-            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=1)
+            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)
             info('map has %s markers', len(visualization.markers))
         except:
             failure('cannot read aruco_map/visualization topic')
 
         try:
-            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1)
+            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=0.8)
         except rospy.ROSException:
-            failure('no map detection')
+            if not markers:
+                info('no map detection as no markers detection')
+            elif not markers.markers:
+                info('no map detection as no markers detected')
+            else:
+                failure('no map detection')
     else:
         info('aruco_map is not running')
 
 
+def is_on_the_floor():
+    try:
+        dist = rospy.wait_for_message('rangefinder/range', Range, timeout=1)
+        return dist.range < 0.3
+    except rospy.ROSException:
+        return False
+
+
 @check('Vision position estimate')
 def check_vpe():
     vis = None
     try:
-        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
+        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=0.8)
     except rospy.ROSException:
         try:
-            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
+            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=0.8)
         except rospy.ROSException:
-            failure('no VPE or MoCap messages')
+            if not is_process_running('vpe_publisher', full=True):
-            # check if vpe_publisher is running
+                info('no vision position estimate, vpe_publisher is not running')
-            try:
+            elif rospy.get_param('aruco_map/known_vertical', '') == 'map' \
-                subprocess.check_output(['pgrep', '-x', 'vpe_publisher'])
+                   and rospy.get_param('aruco_map/flip_vertical', False):
-            except subprocess.CalledProcessError:
+                failure('no vision position estimate, markers are on the ceiling')
-                return  # it's not running, skip following checks
+            elif is_on_the_floor():
+                info('no vision position estimate, the drone is on the floor')
+            else:
+                failure('no vision position estimate')
 
     # check PX4 settings
     est = get_param('SYS_MC_EST_GROUP')
@@ -414,26 +493,37 @@ def check_vpe():
         if vision_yaw_w == 0:
             failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter')
         else:
-            info('Vision yaw weight: %.2f', vision_yaw_w)
+            info('vision yaw weight: %s', ff(vision_yaw_w))
-        fuse = get_param('LPE_FUSION')
+        fuse = int(get_param('LPE_FUSION'))
         if not fuse & (1 << 2):
             failure('vision position fusion is disabled, change LPE_FUSION parameter')
         delay = get_param('LPE_VIS_DELAY')
         if delay != 0:
-            failure('LPE_VIS_DELAY parameter is %s, but it should be zero', delay)
+            failure('LPE_VIS_DELAY = %s, but it should be zero', delay)
-        info('LPE_VIS_XY is %.2f m, LPE_VIS_Z is %.2f m', get_param('LPE_VIS_XY'), get_param('LPE_VIS_Z'))
+        info('LPE_VIS_XY = %s m, LPE_VIS_Z = %s m', get_paramf('LPE_VIS_XY'), get_paramf('LPE_VIS_Z'))
     elif est == 2:
-        fuse = get_param('EKF2_AID_MASK')
+        ev_ctrl = get_param('EKF2_EV_CTRL', strict=False)
-        if not fuse & (1 << 3):
+        if ev_ctrl is not None: # PX4 after v1.14
-            failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
+            ev_ctrl = int(ev_ctrl)
-        if not fuse & (1 << 4):
+            if not ev_ctrl & (1 << 0):
-            failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
+                failure('vision horizontal position fusion is disabled, change EKF2_EV_CTRL parameter')
+            if not ev_ctrl & (1 << 1):
+                failure('vision vertical position fusion is disabled, change EKF2_EV_CTRL parameter')
+            if not ev_ctrl & (1 << 3):
+                failure('vision yaw fusion is disabled, change EKF2_EV_CTRL parameter')
+        else: # PX4 before v1.14
+            fuse = int(get_param('EKF2_AID_MASK'))
+            if not fuse & (1 << 3):
+                failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
+            if not fuse & (1 << 4):
+                failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
+
         delay = get_param('EKF2_EV_DELAY')
         if delay != 0:
-            failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
+            failure('EKF2_EV_DELAY = %.2f, but it should be zero', delay)
-        info('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
+        info('EKF2_EVA_NOISE = %s, EKF2_EVP_NOISE = %s',
-            get_param('EKF2_EVA_NOISE'),
+            get_paramf('EKF2_EVA_NOISE', 3),
-            get_param('EKF2_EVP_NOISE'))
+            get_paramf('EKF2_EVP_NOISE', 3))
 
     if not vis:
         return
@@ -531,15 +621,25 @@ def check_velocity():
 @check('Global position (GPS)')
 def check_global_position():
     try:
-        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
+        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
     except rospy.ROSException:
         info('no global position')
-        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK') & (1 << 0)):
+        if get_param('SYS_MC_EST_GROUP') == 2:
-            failure('enabled GPS fusion may suppress vision position aiding')
+            gps_ctrl = get_param('EKF2_GPS_CTRL', strict=False)
+            if gps_ctrl is not None: # PX4 after v1.14
+                if int(gps_ctrl) & (1 << 0):
+                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_GPS_CTRL')
+            else: # PX4 before v1.14
+                if int(get_param('EKF2_AID_MASK', 0)) & (1 << 0):
+                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_AID_MASK')
 
 
 @check('Optical flow')
 def check_optical_flow():
+    if not is_process_running('optical_flow', full=True):
+        info('optical_flow is not running')
+        return
+
     # TODO:check FPS!
     try:
         rospy.wait_for_message('mavros/px4flow/raw/send', OpticalFlowRad, timeout=0.5)
@@ -547,40 +647,49 @@ def check_optical_flow():
         # check PX4 settings
         rot = get_param('SENS_FLOW_ROT')
         if rot != 0:
-            failure('SENS_FLOW_ROT parameter is %s, but it should be zero', rot)
+            failure('SENS_FLOW_ROT = %s, but it should be zero', rot)
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
-            fuse = get_param('LPE_FUSION')
+            fuse = int(get_param('LPE_FUSION'))
             if not fuse & (1 << 1):
                 failure('optical flow fusion is disabled, change LPE_FUSION parameter')
             if not fuse & (1 << 1):
                 failure('flow gyro compensation is disabled, change LPE_FUSION parameter')
-            scale = get_param('LPE_FLW_SCALE')
+            scale = get_param('LPE_FLW_SCALE', 1)
             if not numpy.isclose(scale, 1.0):
-                failure('LPE_FLW_SCALE parameter is %.2f, but it should be 1.0', scale)
+                failure('LPE_FLW_SCALE = %.2f, but it should be 1.0', scale)
 
-            info('LPE_FLW_QMIN is %s, LPE_FLW_R is %.4f, LPE_FLW_RR is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+            info('LPE_FLW_QMIN = %s, LPE_FLW_R = %s, LPE_FLW_RR = %s',
-                          get_param('LPE_FLW_QMIN'),
+                          get_paramf('LPE_FLW_QMIN'),
-                          get_param('LPE_FLW_R'),
+                          get_paramf('LPE_FLW_R', 4),
-                          get_param('LPE_FLW_RR'),
+                          get_paramf('LPE_FLW_RR', 4))
-                          get_param('SENS_FLOW_MINHGT'),
-                          get_param('SENS_FLOW_MAXHGT'))
         elif est == 2:
-            fuse = get_param('EKF2_AID_MASK')
+            of_ctrl = get_param('EKF2_OF_CTRL', strict=False)
-            if not fuse & (1 << 1):
+            if of_ctrl is not None: # PX4 after v1.14
-                failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
+                if of_ctrl == 0:
-            delay = get_param('EKF2_OF_DELAY')
+                    failure('optical flow fusion is disabled, change EKF2_OF_CTRL')
+            else: # PX4 before v1.14
+                fuse = int(get_param('EKF2_AID_MASK', 0))
+                if not fuse & (1 << 1):
+                    failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
+            delay = get_param('EKF2_OF_DELAY', 0)
             if delay != 0:
-                failure('EKF2_OF_DELAY is %.2f, but it should be zero', delay)
+                failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay)
-            info('EKF2_OF_QMIN is %s, EKF2_OF_N_MIN is %.4f, EKF2_OF_N_MAX is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+            info('EKF2_OF_QMIN = %s, EKF2_OF_N_MIN = %s, EKF2_OF_N_MAX = %s',
-                          get_param('EKF2_OF_QMIN'),
+                          get_paramf('EKF2_OF_QMIN'),
-                          get_param('EKF2_OF_N_MIN'),
+                          get_paramf('EKF2_OF_N_MIN', 4),
-                          get_param('EKF2_OF_N_MAX'),
+                          get_paramf('EKF2_OF_N_MAX', 4))
-                          get_param('SENS_FLOW_MINHGT'),
+        info('SENS_FLOW_MINHGT = %s, SENS_FLOW_MAXHGT = %s', get_paramf('SENS_FLOW_MINHGT', 3), get_paramf('SENS_FLOW_MAXHGT', 3))
-                          get_param('SENS_FLOW_MAXHGT'))
 
     except rospy.ROSException:
-        failure('no optical flow data (from Raspberry)')
+        if rospy.get_param('optical_flow/disable_on_vpe', False):
+            try:
+                rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
+                info('no optical flow as disable_on_vpe is true')
+            except:
+                failure('no optical flow on RPi, disable_on_vpe is true, but no vision pose also')
+        else:
+            failure('no optical flow on RPi')
 
 
 @check('Rangefinder')
@@ -604,27 +713,34 @@ def check_rangefinder():
 
     est = get_param('SYS_MC_EST_GROUP')
     if est == 1:
-        fuse = get_param('LPE_FUSION')
+        fuse = int(get_param('LPE_FUSION', 0))
         if not fuse & (1 << 5):
             info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
         else:
             info('"pub agl as lpos down" in LPE_FUSION is enabled, operating over flat surface')
 
     elif est == 2:
-        hgt = get_param('EKF2_HGT_MODE')
+        hgt = get_param('EKF2_HGT_REF', strict=False)
+        if hgt is None: # PX4 before v1.14
+            hgt = get_param('EKF2_HGT_MODE')
         if hgt != 2:
             info('EKF2_HGT_MODE != Range sensor, NOT operating over flat surface')
         else:
             info('EKF2_HGT_MODE = Range sensor, operating over flat surface')
-        aid = get_param('EKF2_RNG_AID')
+        aid = get_param('EKF2_RNG_AID', strict=False)
-        if aid != 1:
+        if aid is not None: # PX4 before v1.14
-            info('EKF2_RNG_AID != 1, range sensor aiding disabled')
+            if aid != 1:
-        else:
+                info('EKF2_RNG_AID != 1, range sensor aiding disabled')
-            info('EKF2_RNG_AID = 1, range sensor aiding enabled')
+            else:
+                info('EKF2_RNG_AID = 1, range sensor aiding enabled')
 
 
 @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])
@@ -634,7 +750,7 @@ def check_boot_duration():
 
 @check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet', 'gzclient', 'gzserver'
+    WHITELIST = 'nodelet', 'gzclient', 'gzserver', 'selfcheck.py'
     CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
     output = subprocess.check_output(CMD, shell=True).decode()
     processes = output.split('\n')
@@ -703,7 +819,10 @@ def check_image():
     try:
         info('version: %s', open('/etc/clover_version').read().strip())
     except IOError:
-        info('no /etc/clover_version file, not the Clover image?')
+        try:
+            info('VM version: %s', open('/etc/clover_vm_version').read().strip())
+        except IOError:
+            info('no /etc/clover_version file, not the Clover image?')
 
 
 @check('Preflight status')
@@ -814,26 +933,47 @@ def check_board():
         info('could not open /proc/device-tree/model, not a Raspberry Pi?')
 
 
+def parallel_for(fns):
+    threads = []
+    for fn in fns:
+        thread = Thread(target=fn)
+        thread.start()
+        threads.append(thread)
+    for thread in threads:
+        thread.join()
+
+
+def consequentially_for(fns):
+    for fn in fns:
+        fn()
+
+
 def selfcheck():
-    check_image()
+    checks = [
-    check_board()
+        check_image,
-    check_clover_service()
+        check_board,
-    check_network()
+        check_clover_service,
-    check_fcu()
+        check_network,
-    check_imu()
+        check_fcu,
-    check_local_position()
+        check_imu,
-    check_velocity()
+        check_local_position,
-    check_global_position()
+        check_velocity,
-    check_preflight_status()
+        check_global_position,
-    check_main_camera()
+        check_preflight_status,
-    check_aruco()
+        check_main_camera,
-    check_simpleoffboard()
+        check_aruco,
-    check_optical_flow()
+        check_simpleoffboard,
-    check_vpe()
+        check_optical_flow,
-    check_rangefinder()
+        check_vpe,
-    check_rpi_health()
+        check_rangefinder,
-    check_cpu_usage()
+        check_rpi_health,
-    check_boot_duration()
+        check_cpu_usage,
+        check_boot_duration,
+    ]
+    if rospy.get_param('~parallel', False):
+        parallel_for(checks)
+    else:
+        consequentially_for(checks)
 
 
 if __name__ == '__main__':

clover/src/simple_offboard.cpp

@@ -23,12 +23,14 @@
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <std_srvs/Trigger.h>
+#include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/TwistStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/QuaternionStamped.h>
 #include <sensor_msgs/NavSatFix.h>
 #include <sensor_msgs/BatteryState.h>
+#include <sensor_msgs/Range.h>
 #include <mavros_msgs/CommandBool.h>
 #include <mavros_msgs/SetMode.h>
 #include <mavros_msgs/PositionTarget.h>
@@ -37,14 +39,19 @@
 #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>
 #include <clover/NavigateGlobal.h>
+#include <clover/SetAltitude.h>
+#include <clover/SetYaw.h>
+#include <clover/SetYawRate.h>
 #include <clover/SetPosition.h>
 #include <clover/SetVelocity.h>
 #include <clover/SetAttitude.h>
 #include <clover/SetRates.h>
+#include <clover/State.h>
 
 using std::string;
 using std::isnan;
@@ -54,6 +61,7 @@ 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;
@@ -79,35 +87,43 @@ float default_speed;
 bool auto_release;
 bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;
+string terrain_frame_mode;
 
 // Publishers
-ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub;
+ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub, state_pub;
 
 // Service clients
 ros::ServiceClient arming, set_mode;
 
 // Containers
 ros::Timer setpoint_timer;
-tf::Quaternion tq;
 PoseStamped position_msg;
 PositionTarget position_raw_msg;
-AttitudeTarget att_raw_msg;
+//TwistStamped rates_msg;
-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;
+PointStamped setpoint_position;
-Vector3Stamped setpoint_velocity, setpoint_velocity_transformed;
+PointStamped setpoint_altitude;
-QuaternionStamped setpoint_attitude, setpoint_attitude_transformed;
+Vector3Stamped setpoint_velocity;
-float setpoint_yaw_rate;
+float setpoint_yaw, setpoint_roll, setpoint_pitch;
+Vector3 setpoint_rates;
+string yaw_frame_id;
+float setpoint_thrust;
 float nav_speed;
+float setpoint_lat = NAN, setpoint_lon = NAN;
 bool busy = false;
 bool wait_armed = false;
 bool nav_from_sp_flag = false;
 
+// Last published
+PoseStamped setpoint_pose_local;
+Vector3Stamped setpoint_velocity_local;
+float yaw_local;
+
 enum setpoint_type_t {
 	NONE,
 	NAVIGATE,
@@ -115,7 +131,10 @@ enum setpoint_type_t {
 	POSITION,
 	VELOCITY,
 	ATTITUDE,
-	RATES
+	RATES,
+	_ALTITUDE,
+	_YAW,
+	_YAW_RATE,
 };
 
 enum setpoint_type_t setpoint_type = NONE;
@@ -170,7 +189,7 @@ void handleLocalPosition(const PoseStamped& pose)
 {
 	local_position = pose;
 	publishBodyFrame();
-	// TODO: terrain?, home?
+	// TODO: home?
 }
 
 // wait for transform without interrupting publishing setpoints
@@ -188,6 +207,29 @@ inline bool waitTransform(const string& target, const string& source,
 	return false;
 }
 
+void publishTerrain(const double distance, const ros::Time& stamp)
+{
+	if (!waitTransform(local_frame, body.child_frame_id, stamp, ros::Duration(0.1))) return;
+
+	auto t = tf_buffer.lookupTransform(local_frame, body.child_frame_id, stamp);
+	t.child_frame_id = terrain.child_frame_id;
+	t.transform.translation.z -= distance;
+	static_transform_broadcaster->sendTransform(t);
+}
+
+void handleAltitude(const Altitude& alt)
+{
+	if (!std::isfinite(alt.bottom_clearance)) return;
+	publishTerrain(alt.bottom_clearance, alt.header.stamp);
+}
+
+void handleRange(const Range& range)
+{
+	if (!std::isfinite(range.range)) return;
+	// TODO: check it's facing down
+	publishTerrain(range.range, range.header.stamp);
+}
+
 #define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
 
 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
@@ -207,11 +249,11 @@ bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 	res.vx = NAN;
 	res.vy = NAN;
 	res.vz = NAN;
-	res.pitch = NAN;
 	res.roll = NAN;
+	res.pitch = NAN;
 	res.yaw = NAN;
-	res.pitch_rate = NAN;
 	res.roll_rate = NAN;
+	res.pitch_rate = NAN;
 	res.yaw_rate = NAN;
 	res.voltage = NAN;
 	res.cell_voltage = NAN;
@@ -341,20 +383,20 @@ inline float getDistance(const Point& from, const Point& to)
 	return hypot(from.x - to.x, from.y - to.y, from.z - to.z);
 }
 
-void getNavigateSetpoint(const ros::Time& stamp, float speed, Point& nav_setpoint)
+void getNavigateSetpoint(const ros::Time& stamp, const float speed, Point& nav_setpoint)
 {
 	if (wait_armed) {
 		// don't start navigating if we're waiting arming
 		nav_start.header.stamp = stamp;
 	}
 
-	float distance = getDistance(nav_start.pose.position, setpoint_position_transformed.pose.position);
+	float distance = getDistance(nav_start.pose.position, setpoint_pose_local.pose.position);
 	float time = distance / speed;
 	float passed = std::min((stamp - nav_start.header.stamp).toSec() / time, 1.0);
 
-	nav_setpoint.x = nav_start.pose.position.x + (setpoint_position_transformed.pose.position.x - nav_start.pose.position.x) * passed;
+	nav_setpoint.x = nav_start.pose.position.x + (setpoint_pose_local.pose.position.x - nav_start.pose.position.x) * passed;
-	nav_setpoint.y = nav_start.pose.position.y + (setpoint_position_transformed.pose.position.y - nav_start.pose.position.y) * passed;
+	nav_setpoint.y = nav_start.pose.position.y + (setpoint_pose_local.pose.position.y - nav_start.pose.position.y) * passed;
-	nav_setpoint.z = nav_start.pose.position.z + (setpoint_position_transformed.pose.position.z - nav_start.pose.position.z) * passed;
+	nav_setpoint.z = nav_start.pose.position.z + (setpoint_pose_local.pose.position.z - nav_start.pose.position.z) * passed;
 }
 
 PoseStamped globalToLocal(double lat, double lon)
@@ -385,44 +427,101 @@ PoseStamped globalToLocal(double lat, double lon)
 	return pose;
 }
 
+// publish navigate_target frame
+void publishTarget(ros::Time stamp, bool _static = false)
+{
+	bool single_frame = (setpoint_position.header.frame_id == setpoint_altitude.header.frame_id);
+
+	// handle yaw for target frame
+	if (setpoint_yaw_type == YAW || setpoint_yaw_type == YAW_RATE) { // use last set yaw for yaw_rate
+		if (setpoint_altitude.header.frame_id == yaw_frame_id) {
+			target.transform.rotation = tf::createQuaternionMsgFromYaw(setpoint_yaw);
+		} else {
+			single_frame = false;
+			target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
+		}
+	} else if (setpoint_yaw_type == TOWARDS) {
+		single_frame = false;
+		target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
+	}
+
+	if (_static && single_frame) {
+		// publish at user's command, if all frames are the same
+		target.header.frame_id = setpoint_position.header.frame_id;
+		target.header.stamp = stamp;
+		target.transform.translation.x = setpoint_position.point.x;
+		target.transform.translation.y = setpoint_position.point.y;
+		target.transform.translation.z = setpoint_position.point.z;
+
+	} else if (!_static) {
+		// publish at each iteration, if frames are different
+		target.header = setpoint_pose_local.header;
+		target.transform.translation.x = setpoint_pose_local.pose.position.x;
+		target.transform.translation.y = setpoint_pose_local.pose.position.y;
+		target.transform.translation.z = setpoint_pose_local.pose.position.z;
+	}
+
+	static_transform_broadcaster->sendTransform(target);
+}
+
 void publish(const ros::Time stamp)
 {
 	if (setpoint_type == NONE) return;
 
 	position_raw_msg.header.stamp = stamp;
-	thrust_msg.header.stamp = stamp;
-	rates_msg.header.stamp = stamp;
 
-	try {
+	// transform position
-		// transform position and/or yaw
+	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION || setpoint_type == VELOCITY || setpoint_type == ATTITUDE) {
+		setpoint_position.header.stamp = stamp;
-			setpoint_position.header.stamp = stamp;
+		setpoint_altitude.header.stamp = stamp;
-			tf_buffer.transform(setpoint_position, setpoint_position_transformed, local_frame, ros::Duration(0.05));
+		// transform xy
+		try {
+			auto xy = tf_buffer.transform(setpoint_position, local_frame, ros::Duration(0.05));
+			setpoint_pose_local.header = xy.header;
+			setpoint_pose_local.pose.position.x = xy.point.x;
+			setpoint_pose_local.pose.position.y = xy.point.y;
+		} catch (tf2::TransformException& ex) {
+			// can't transform xy, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
 		}
-
+		// transform altitude
-		// transform velocity
+		try {
-		if (setpoint_type == VELOCITY) {
+			setpoint_pose_local.pose.position.z = tf_buffer.transform(setpoint_altitude, local_frame, ros::Duration(0.05)).point.z;
-			setpoint_velocity.header.stamp = stamp;
+		} catch (tf2::TransformException& ex) {
-			tf_buffer.transform(setpoint_velocity, setpoint_velocity_transformed, local_frame, ros::Duration(0.05));
+			// can't transform altitude, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
 		}
-
-	} catch (const tf2::TransformException& e) {
-		ROS_WARN_THROTTLE(10, "can't transform");
 	}
 
+	// transform yaw
+	if (setpoint_yaw_type == YAW) {
+		try {
+			QuaternionStamped q;
+			q.header.stamp = stamp;
+			q.header.frame_id = yaw_frame_id;
+			q.quaternion = tf::createQuaternionMsgFromYaw(setpoint_yaw);
+			yaw_local = tf2::getYaw(tf_buffer.transform(q, local_frame, ros::Duration(0.05)).quaternion);
+		} catch (tf2::TransformException& ex) {
+			// can't transform yaw, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+		}
+	}
+
+	// compute navigate setpoint
 	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
-		position_msg.pose.orientation = setpoint_position_transformed.pose.orientation; // copy yaw
 		getNavigateSetpoint(stamp, nav_speed, position_msg.pose.position);
 
 		if (setpoint_yaw_type == TOWARDS) {
-			double yaw_towards = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
+			yaw_local = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
-			                           position_msg.pose.position.x - nav_start.pose.position.x);
+			                  position_msg.pose.position.x - nav_start.pose.position.x);
-			position_msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, yaw_towards);
 		}
+
+		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
 	}
 
 	if (setpoint_type == POSITION) {
-		position_msg = setpoint_position_transformed;
+		position_msg = setpoint_pose_local;
+		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
 	}
 
 	if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
@@ -439,14 +538,14 @@ void publish(const ros::Time stamp)
 			                             PositionTarget::IGNORE_AFY +
 			                             PositionTarget::IGNORE_AFZ +
 			                             PositionTarget::IGNORE_YAW;
-			position_raw_msg.yaw_rate = setpoint_yaw_rate;
+			position_raw_msg.yaw_rate = setpoint_rates.z;
 			position_raw_msg.position = position_msg.pose.position;
 			position_raw_pub.publish(position_raw_msg);
 		}
 
 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
-			if (setpoint.header.stamp == position_msg.header.stamp) {
+			if (setpoint.header.stamp >= position_msg.header.stamp) {
 				return; // avoid TF_REPEATED_DATA warnings
 			}
 
@@ -458,9 +557,22 @@ void publish(const ros::Time stamp)
 			setpoint.header.stamp = position_msg.header.stamp;
 			transform_broadcaster->sendTransform(setpoint);
 		}
+
+		// publish dynamic target frame
+		publishTarget(stamp);
 	}
 
 	if (setpoint_type == VELOCITY) {
+		// transform velocity to local frame
+		setpoint_velocity.header.stamp = stamp;
+		try {
+			setpoint_velocity_local = tf_buffer.transform(setpoint_velocity, local_frame, ros::Duration(0.05));
+		} catch (tf2::TransformException& ex) {
+			// can't transform velocity, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+		}
+
+		// publish velocity
 		position_raw_msg.type_mask = PositionTarget::IGNORE_PX +
 		                             PositionTarget::IGNORE_PY +
 		                             PositionTarget::IGNORE_PZ +
@@ -468,14 +580,22 @@ void publish(const ros::Time stamp)
 		                             PositionTarget::IGNORE_AFY +
 		                             PositionTarget::IGNORE_AFZ;
 		position_raw_msg.type_mask += setpoint_yaw_type == YAW ? PositionTarget::IGNORE_YAW_RATE : PositionTarget::IGNORE_YAW;
-		position_raw_msg.velocity = setpoint_velocity_transformed.vector;
+		position_raw_msg.velocity = setpoint_velocity_local.vector;
-		position_raw_msg.yaw = tf2::getYaw(setpoint_position_transformed.pose.orientation);
+		position_raw_msg.yaw = yaw_local;
-		position_raw_msg.yaw_rate = setpoint_yaw_rate;
+		position_raw_msg.yaw_rate = setpoint_rates.z;
 		position_raw_pub.publish(position_raw_msg);
 	}
 
 	if (setpoint_type == ATTITUDE) {
-		attitude_pub.publish(setpoint_position_transformed);
+		PoseStamped msg;
+		msg.header.stamp = stamp;
+		msg.header.frame_id = local_frame;
+		msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(setpoint_roll, setpoint_pitch, yaw_local);
+		attitude_pub.publish(msg);
+
+		Thrust thrust_msg;
+		thrust_msg.header.stamp = stamp;
+		thrust_msg.thrust = setpoint_thrust;
 		thrust_pub.publish(thrust_msg);
 	}
 
@@ -484,11 +604,12 @@ void publish(const ros::Time stamp)
 		// thrust_pub.publish(thrust_msg);
 		// mavros rates topics waits for rates in local frame
 		// use rates in body frame for simplicity
+		AttitudeTarget att_raw_msg;
 		att_raw_msg.header.stamp = stamp;
 		att_raw_msg.header.frame_id = fcu_frame;
 		att_raw_msg.type_mask = AttitudeTarget::IGNORE_ATTITUDE;
-		att_raw_msg.body_rate = rates_msg.twist.angular;
+		att_raw_msg.body_rate = setpoint_rates;
-		att_raw_msg.thrust = thrust_msg.thrust;
+		att_raw_msg.thrust = setpoint_thrust;
 		attitude_raw_pub.publish(att_raw_msg);
 	}
 }
@@ -528,10 +649,59 @@ inline void checkState()
 		throw std::runtime_error("No connection to FCU, https://clover.coex.tech/connection");
 }
 
+void publishState()
+{
+	clover::State msg;
+	msg.mode = setpoint_type;
+	msg.yaw_mode = setpoint_yaw_type;
+
+	if (setpoint_position.header.frame_id.empty()) {
+		msg.x = NAN;
+		msg.y = NAN;
+		msg.z = NAN;
+	} else {
+		msg.x = setpoint_position.point.x;
+		msg.y = setpoint_position.point.y;
+		msg.z = setpoint_altitude.point.z;
+	}
+
+	msg.speed = nav_speed;
+	msg.lat = setpoint_lat;
+	msg.lon = setpoint_lon;
+	msg.vx = setpoint_velocity.vector.x;
+	msg.vy = setpoint_velocity.vector.y;
+	msg.vz = setpoint_velocity.vector.z;
+	msg.roll = setpoint_roll;
+	msg.pitch = setpoint_pitch;
+	msg.yaw = !yaw_frame_id.empty() ? setpoint_yaw : NAN;
+
+	msg.roll_rate = setpoint_rates.x;
+	msg.pitch_rate = setpoint_rates.y;
+	msg.yaw_rate = setpoint_rates.z;
+	msg.thrust = setpoint_thrust;
+
+	if (setpoint_type == VELOCITY) {
+		msg.xy_frame_id = setpoint_velocity.header.frame_id;
+		msg.z_frame_id = setpoint_velocity.header.frame_id;
+	} else {
+		msg.xy_frame_id = setpoint_position.header.frame_id;
+		msg.z_frame_id = setpoint_altitude.header.frame_id;
+	}
+	msg.yaw_frame_id = yaw_frame_id;
+
+	state_pub.publish(msg);
+}
+
+inline float safe(float value) {
+	return std::isfinite(value) ? value : 0;
+}
+
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
 
+#define ENSURE_NON_INF(var) { if (std::isinf(var)) throw std::runtime_error(#var " argument cannot be Inf"); }
+
 bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, float vy, float vz,
-           float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate, // editorconfig-checker-disable-line
+           float roll, float pitch, float yaw, float roll_rate, float pitch_rate, float yaw_rate, // editorconfig-checker-disable-line
            float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm, // editorconfig-checker-disable-line
            uint8_t& success, string& message) // editorconfig-checker-disable-line
 {
@@ -558,69 +728,40 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		auto search = reference_frames.find(frame_id);
 		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
 
-		// Serve "partial" commands
+		ENSURE_NON_INF(x);
+		ENSURE_NON_INF(y);
+		ENSURE_NON_INF(z);
+		ENSURE_NON_INF(speed); // TODO: allow inf
+		ENSURE_NON_INF(vx);
+		ENSURE_NON_INF(vy);
+		ENSURE_NON_INF(vz);
+		ENSURE_NON_INF(roll);
+		ENSURE_NON_INF(pitch);
+		ENSURE_NON_INF(roll_rate);
+		ENSURE_NON_INF(pitch_rate);
+		ENSURE_NON_INF(yaw_rate);
+		ENSURE_NON_INF(thrust);
 
-		if (!auto_arm && std::isfinite(yaw) &&
+		if (sp_type == NAVIGATE_GLOBAL) {
-		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
-		    isnan(lat) && isnan(lon)) {
-			// change only the yaw
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
-				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);
-
-				message = "Changing yaw only";
-
-				QuaternionStamped q;
-				q.header.frame_id = frame_id;
-				q.header.stamp = stamp;
-				q.quaternion = tf::createQuaternionMsgFromYaw(yaw); // TODO: pitch=0, roll=0 is not totally correct
-				setpoint_position.pose.orientation = tf_buffer.transform(q, setpoint_position.header.frame_id).quaternion;
-				setpoint_yaw_type = YAW;
-				goto publish_setpoint;
-			} else {
-				throw std::runtime_error("Setting yaw is possible only when position or velocity setpoints active");
-			}
-		}
-
-		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) &&
-		    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";
-
-				setpoint_yaw_type = YAW_RATE;
-				setpoint_yaw_rate = yaw_rate;
-				goto publish_setpoint;
-			} else {
-				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
-			}
-		}
-
-		// Serve normal commands
-
-		if (sp_type == NAVIGATE || sp_type == POSITION) {
-			ENSURE_FINITE(x);
-			ENSURE_FINITE(y);
-			ENSURE_FINITE(z);
-		} else if (sp_type == NAVIGATE_GLOBAL) {
 			ENSURE_FINITE(lat);
 			ENSURE_FINITE(lon);
-			ENSURE_FINITE(z);
+		}
-		} else if (sp_type == VELOCITY) {
+
-			ENSURE_FINITE(vx);
+		if (isfinite(x) != isfinite(y)) {
-			ENSURE_FINITE(vy);
+			throw std::runtime_error("x and y can be set only together");
-			ENSURE_FINITE(vz);
+		}
-		} else if (sp_type == ATTITUDE) {
+
-			ENSURE_FINITE(pitch);
+		if (isfinite(yaw_rate)) {
-			ENSURE_FINITE(roll);
+			if (sp_type > RATES && setpoint_type == ATTITUDE) {
-			ENSURE_FINITE(thrust);
+				throw std::runtime_error("Yaw rate cannot be set in attitude mode.");
-		} else if (sp_type == RATES) {
+			}
-			ENSURE_FINITE(pitch_rate);
+		}
-			ENSURE_FINITE(roll_rate);
+
-			ENSURE_FINITE(thrust);
+		// set_altitude
+		if (sp_type == _ALTITUDE) {
+			if (setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
+				throw std::runtime_error("Altitude cannot be set in velocity, attitude or rates mode.");
+			}
 		}
 
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
@@ -634,20 +775,13 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 				speed = default_speed;
 		}
 
-		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
-			if (yaw_rate != 0 && !std::isnan(yaw))
-				throw std::runtime_error("Yaw value should be NaN for setting yaw rate");
-
-			if (std::isnan(yaw_rate) && std::isnan(yaw))
-				throw std::runtime_error("Both yaw and yaw_rate cannot be NaN");
-		}
-
 		if (sp_type == NAVIGATE_GLOBAL) {
 			if (TIMEOUT(global_position, global_position_timeout))
 				throw std::runtime_error("No global position");
 		}
 
-		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE) {
+		// if any value need to be transformed to reference frame
+		if (isfinite(x) || isfinite(y) || isfinite(z) || isfinite(vx) || isfinite(vy) || isfinite(vz) || isfinite(yaw)) {
 			// make sure transform from frame_id to reference frame available
 			if (!waitTransform(reference_frame, frame_id, stamp, transform_timeout))
 				throw std::runtime_error("Can't transform from " + frame_id + " to " + reference_frame);
@@ -664,15 +798,27 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			auto xy_in_req_frame = tf_buffer.transform(pose_local, frame_id);
 			x = xy_in_req_frame.pose.position.x;
 			y = xy_in_req_frame.pose.position.y;
+			setpoint_lat = lat;
+			setpoint_lon = lon;
 		}
 
 		// Everything fine - switch setpoint type
-		setpoint_type = sp_type;
+		if (sp_type <= RATES) {
+			setpoint_type = sp_type;
+		}
 
-		if (sp_type != NAVIGATE && sp_type != NAVIGATE_GLOBAL) {
+		if (setpoint_type != NAVIGATE && setpoint_type != NAVIGATE_GLOBAL) {
 			nav_from_sp_flag = false;
 		}
 
+		bool to_auto_arm = auto_arm && (state.mode != "OFFBOARD" || !state.armed);
+		if (to_auto_arm || setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
+			// invalidate position setpoint
+			setpoint_position.header.frame_id = "";
+			setpoint_altitude.header.frame_id = "";
+			yaw_frame_id = "";
+		}
+
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
 			// starting point
 			if (nav_from_sp && nav_from_sp_flag) {
@@ -681,89 +827,139 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			} else {
 				nav_start = local_position;
 			}
-			nav_speed = speed;
+
+			if (!isnan(speed)) {
+				nav_speed = speed;
+			}
+
 			nav_from_sp_flag = true;
 		}
 
-		// if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
+		// handle position
-		// 	if (std::isnan(yaw) && yaw_rate == 0) {
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-		// 		// keep yaw unchanged
-		//		// TODO: this is incorrect, because we need yaw in desired frame
-		// 		yaw = tf2::getYaw(local_position.pose.orientation);
-		// 	}
-		// }
 
-		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
+			PointStamped desired;
-			// destination point and/or attitude
+			desired.header.frame_id = frame_id;
-			PoseStamped ps;
+			desired.header.stamp = stamp;
-			ps.header.frame_id = frame_id;
+			desired.point.x = safe(x);
-			ps.header.stamp = stamp;
+			desired.point.y = safe(y);
-			ps.pose.position.x = x;
+			desired.point.z = safe(z);
-			ps.pose.position.y = y;
-			ps.pose.position.z = z;
-			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
 
-			if (sp_type == ATTITUDE) {
+			// transform to reference frame
-				ps.pose.position.x = 0;
+			desired = tf_buffer.transform(desired, reference_frame);
-				ps.pose.position.y = 0;
+
-				ps.pose.position.z = 0;
+			// set horizontal position
-				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
+			if (isfinite(x) && isfinite(y)) {
-			} else if (std::isnan(yaw)) {
+				setpoint_position = desired;
-				setpoint_yaw_type = YAW_RATE;
+			} else if (setpoint_position.header.frame_id.empty()) {
-				setpoint_yaw_rate = yaw_rate;
+				 // TODO: use transform for current stamp
-			} else if (std::isinf(yaw) && yaw > 0) {
+				setpoint_position.header = local_position.header;
-				// yaw towards
+				setpoint_position.point = local_position.pose.position;
-				setpoint_yaw_type = TOWARDS;
-				yaw = 0;
-				setpoint_yaw_rate = 0;
-			} else {
-				setpoint_yaw_type = YAW;
-				setpoint_yaw_rate = 0;
-				ps.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
 			}
 
-			tf_buffer.transform(ps, setpoint_position, reference_frame);
+			// set altitude
+			if (isfinite(z)) {
+				setpoint_altitude = desired;
+			} else if (setpoint_altitude.header.frame_id.empty()) {
+				setpoint_altitude.header = local_position.header;
+				setpoint_altitude.point = local_position.pose.position;
+			}
 		}
 
+		// handle velocity
 		if (sp_type == VELOCITY) {
-			Vector3Stamped vel;
+			// TODO: allow setting different modes by altitude and xy
-			vel.header.frame_id = frame_id;
+			Vector3Stamped desired;
-			vel.header.stamp = stamp;
+			desired.header.frame_id = frame_id;
-			vel.vector.x = vx;
+			desired.header.stamp = stamp;
-			vel.vector.y = vy;
+			desired.vector.x = safe(vx);
-			vel.vector.z = vz;
+			desired.vector.y = safe(vy);
-			tf_buffer.transform(vel, setpoint_velocity, reference_frame);
+			desired.vector.z = safe(vz);
+
+			// transform to reference frame
+			desired = tf_buffer.transform(desired, reference_frame);
+			setpoint_velocity.header = desired.header;
+
+			// set horizontal velocity
+			if (isfinite(vx) && isfinite(vy)) {
+				setpoint_velocity.vector.x = desired.vector.x;
+				setpoint_velocity.vector.y = desired.vector.y;
+			}
+
+			// set vertical velocity
+			if (isfinite(vz)) {
+				setpoint_velocity.vector.z = desired.vector.z;
+			}
 		}
 
-		if (sp_type == ATTITUDE || sp_type == RATES) {
+		// handle yaw
-			thrust_msg.thrust = thrust;
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE || sp_type == _YAW) {
+			if (isfinite(yaw)) {
+				setpoint_yaw_type = YAW;
+				QuaternionStamped desired;
+				desired.header.frame_id = frame_id;
+				desired.header.stamp = stamp;
+				desired.quaternion = tf::createQuaternionMsgFromYaw(yaw);
+
+				// transform to reference frame
+				desired = tf_buffer.transform(desired, reference_frame);
+				setpoint_yaw = tf2::getYaw(desired.quaternion);
+				yaw_frame_id = reference_frame;
+
+			} else if (isinf(yaw) && yaw > 0) {
+				// yaw towards
+				setpoint_yaw_type = TOWARDS;
+
+			} else if (yaw_frame_id.empty() || sp_type == _YAW) {
+				// yaw is nan and not set previously OR set_yaw(yaw=nan) was called
+				setpoint_yaw_type = YAW;
+				setpoint_yaw = tf2::getYaw(local_position.pose.orientation); // set yaw to current yaw
+				yaw_frame_id = local_position.header.frame_id;
+			}
 		}
 
-		if (sp_type == RATES) {
+		// handle roll
-			rates_msg.twist.angular.x = roll_rate;
+		if (isfinite(roll)) {
-			rates_msg.twist.angular.y = pitch_rate;
+			setpoint_roll = roll;
-			rates_msg.twist.angular.z = yaw_rate;
+		}
+
+		// handle pitch
+		if (isfinite(pitch)) {
+			setpoint_pitch = pitch;
+		}
+
+		// handle yaw rate
+		if (isfinite(yaw_rate)) {
+			setpoint_yaw_type = YAW_RATE;
+			setpoint_rates.z = yaw_rate;
+		}
+
+		// handle pitch rate
+		if (isfinite(roll_rate)) {
+			setpoint_rates.x = roll_rate;
+		}
+
+		// handle roll rate
+		if (isfinite(pitch_rate)) {
+			setpoint_rates.y = pitch_rate;
+		}
+
+		// handle thrust
+		if (isfinite(thrust)) {
+			setpoint_thrust = thrust;
 		}
 
 		wait_armed = auto_arm;
 
-publish_setpoint:
 		publish(stamp); // calculate initial transformed messages first
 		setpoint_timer.start();
 
-		// publish target frame
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-		if (!target.child_frame_id.empty()) {
+			publishTarget(stamp, true);
-			if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-				target.header.frame_id = setpoint_position.header.frame_id;
-				target.header.stamp = stamp;
-				target.transform.translation.x = setpoint_position.pose.position.x;
-				target.transform.translation.y = setpoint_position.pose.position.y;
-				target.transform.translation.z = setpoint_position.pose.position.z;
-				target.transform.rotation = setpoint_position.pose.orientation;
-				static_transform_broadcaster->sendTransform(target);
-			}
 		}
 
+		publishState();
+
 		if (auto_arm) {
 			offboardAndArm();
 			wait_armed = false;
@@ -788,27 +984,39 @@ publish_setpoint:
 }
 
 bool navigate(Navigate::Request& req, Navigate::Response& res) {
-	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res) {
-	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+}
+
+bool setAltitude(SetAltitude::Request& req, SetAltitude::Response& res) {
+	return serve(_ALTITUDE, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
+}
+
+bool setYaw(SetYaw::Request& req, SetYaw::Response& res) {
+	return serve(_YAW, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
+}
+
+bool setYawRate(SetYawRate::Request& req, SetYawRate::Response& res) {
+	return serve(_YAW_RATE, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, "", false, res.success, res.message);
 }
 
 bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
-	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setVelocity(SetVelocity::Request& req, SetVelocity::Response& res) {
-	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setAttitude(SetAttitude::Request& req, SetAttitude::Response& res) {
-	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch, req.roll, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.roll, req.pitch, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setRates(SetRates::Request& req, SetRates::Response& res) {
-	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch_rate, req.roll_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
+	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.roll_rate, req.pitch_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
 }
 
 bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
@@ -840,9 +1048,7 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		auto start = ros::Time::now();
 		while (ros::ok()) {
 			if (state.mode == "AUTO.LAND") {
-				res.success = true;
+				break;
-				busy = false;
-				return true;
 			}
 			if (ros::Time::now() - start > land_timeout)
 				throw std::runtime_error("Land request timed out");
@@ -851,6 +1057,18 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 			r.sleep();
 		}
 
+		// stop setpoints and invalidate position setpoint
+		setpoint_timer.stop();
+		setpoint_type = NONE;
+		setpoint_position.header.frame_id = "";
+		setpoint_altitude.header.frame_id = "";
+		yaw_frame_id = "";
+		publishState();
+
+		res.success = true;
+		busy = false;
+		return true;
+
 	} catch (const std::exception& e) {
 		res.message = e.what();
 		ROS_INFO("%s", e.what());
@@ -860,6 +1078,18 @@ 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();
+	setpoint_type = NONE;
+	setpoint_position.header.frame_id = "";
+	setpoint_altitude.header.frame_id = "";
+	yaw_frame_id = "";
+	publishState();
+	res.success = true;
+	return true;
+}
+
 int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "simple_offboard");
@@ -881,6 +1111,8 @@ 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.param<string>("terrain_frame_mode", terrain_frame_mode, "altitude");
 	nh_priv.getParam("reference_frames", reference_frames);
 
 	// Default reference frames
@@ -916,6 +1148,20 @@ 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 = local_frame;
+		if (terrain_frame_mode == "altitude") {
+			altitude_sub = nh.subscribe(mavros + "/altitude", 1, &handleAltitude);
+		} else if (terrain_frame_mode == "range") {
+			string range_topic = nh_priv.param("range_topic", string("rangefinder/range"));
+			altitude_sub = nh.subscribe(range_topic, 1, &handleRange);
+		} else {
+			ROS_FATAL("Unknown terrain_frame_mode: %s, valid values: altitude, range", terrain_frame_mode.c_str());
+			ros::shutdown();
+		}
+	}
+
 	// Setpoint publishers
 	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
 	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
@@ -924,15 +1170,22 @@ int main(int argc, char **argv)
 	rates_pub = nh.advertise<TwistStamped>(mavros + "/setpoint_attitude/cmd_vel", 1);
 	thrust_pub = nh.advertise<Thrust>(mavros + "/setpoint_attitude/thrust", 1);
 
+	// State publisher
+	state_pub = nh_priv.advertise<clover::State>("state", 1, true);
+
 	 // Service servers
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
 	auto na_serv = nh.advertiseService("navigate", &navigate);
 	auto ng_serv = nh.advertiseService("navigate_global", &navigateGlobal);
+	auto sl_serv = nh.advertiseService("set_altitude", &setAltitude);
+	auto ya_serv = nh.advertiseService("set_yaw", &setYaw);
+	auto yr_serv = nh.advertiseService("set_yaw_rate", &setYawRate);
 	auto sp_serv = nh.advertiseService("set_position", &setPosition);
 	auto sv_serv = nh.advertiseService("set_velocity", &setVelocity);
 	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);
@@ -940,7 +1193,7 @@ int main(int argc, char **argv)
 	position_msg.header.frame_id = local_frame;
 	position_raw_msg.header.frame_id = local_frame;
 	position_raw_msg.coordinate_frame = PositionTarget::FRAME_LOCAL_NED;
-	rates_msg.header.frame_id = fcu_frame;
+	//rates_msg.header.frame_id = fcu_frame;
 
 	ROS_INFO("ready");
 	ros::spin();

clover/src/vpe_publisher.cpp

@@ -11,12 +11,14 @@
 
 #include <string>
 #include <ros/ros.h>
+#include <tf/transform_datatypes.h>
 #include <tf2/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/Quaternion.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 #include <std_srvs/Trigger.h>
@@ -25,7 +27,7 @@
 using std::string;
 using namespace geometry_msgs;
 
-bool reset_flag = false;
+bool reset_flag = true; // offset should be reset on the start
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;
@@ -66,6 +68,13 @@ inline Pose getPose(const PoseStampedConstPtr& pose) { return pose->pose; }
 
 inline Pose getPose(const PoseWithCovarianceStampedConstPtr& pose) { return pose->pose.pose; }
 
+inline void keepYaw(Quaternion& quaternion)
+{
+	tf::Quaternion q;
+	q.setRPY(0, 0, tf::getYaw(quaternion));
+	tf::quaternionTFToMsg(q, quaternion);
+}
+
 template <typename T>
 void callback(const T& msg)
 {
@@ -88,10 +97,29 @@ void callback(const T& msg)
 		if (!offset_frame_id.empty()) {
 			if (reset_flag || msg->header.stamp - vpe.header.stamp > offset_timeout) {
 				// calculate the offset
-				offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
+				if (!frame_id.empty()) {
-				                                   msg->header.stamp, ros::Duration(0.02));
+					// calculate from TF
-				// offset.header.frame_id = vpe.header.frame_id;
+					offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
-				offset.child_frame_id = offset_frame_id;
+					                                   msg->header.stamp, ros::Duration(0.02));
+					// offset.header.frame_id = vpe.header.frame_id;
+					offset.child_frame_id = offset_frame_id;
+
+				} else {
+					// calculate transform between pose in vpe frame and pose in local frame
+					TransformStamped local_pose = tf_buffer.lookupTransform(local_frame_id, child_frame_id,
+					                                                        msg->header.stamp, ros::Duration(0.02));
+					keepYaw(local_pose.transform.rotation);
+
+					tf::Transform vpeTransform, poseTransform;
+					tf::poseMsgToTF(vpe.pose, vpeTransform);
+					tf::transformMsgToTF(local_pose.transform, poseTransform);
+					tf::Transform offset_tf = vpeTransform.inverseTimes(poseTransform);
+					tf::transformTFToMsg(offset_tf, offset.transform);
+					offset.header.frame_id = local_frame_id;
+					offset.header.stamp = msg->header.stamp;
+					offset.child_frame_id = offset_frame_id;
+				}
+
 				br.sendTransform(offset);
 				reset_flag = false;
 				ROS_INFO("offset reset");
@@ -122,8 +150,9 @@ int main(int argc, char **argv) {
 
 	tf2_ros::TransformListener tf_listener(tf_buffer);
 
-	nh_priv.param<string>("frame_id", frame_id, "");
+	nh_priv.param<string>("frame_id", frame_id, ""); // name for used visual pose frame
-	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
+	nh_priv.param<string>("offset_frame_id", offset_frame_id, ""); // name for published offset frame
+
 	nh.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
 	nh.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));

clover/src/www

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+
+export ROSWWW_DEFAULT=clover
+rosrun roswww_static update

clover/srv/GetTelemetry.srv

@@ -13,11 +13,11 @@ float32 alt
 float32 vx
 float32 vy
 float32 vz
-float32 pitch
 float32 roll
+float32 pitch
 float32 yaw
-float32 pitch_rate
 float32 roll_rate
+float32 pitch_rate
 float32 yaw_rate
 float32 voltage
 float32 cell_voltage

clover/srv/Navigate.srv

@@ -2,7 +2,6 @@ float32 x
 float32 y
 float32 z
 float32 yaw
-float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm

clover/srv/NavigateGlobal.srv

@@ -2,7 +2,6 @@ float64 lat
 float64 lon
 float32 z
 float32 yaw
-float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm

clover/srv/SetAltitude.srv

@@ -0,0 +1,5 @@
+float32 z
+string frame_id
+---
+bool success
+string message

clover/srv/SetAttitude.srv

@@ -1,5 +1,5 @@
-float32 pitch
 float32 roll
+float32 pitch
 float32 yaw
 float32 thrust
 string frame_id

clover/srv/SetPosition.srv

@@ -2,7 +2,6 @@ float32 x
 float32 y
 float32 z
 float32 yaw
-float32 yaw_rate
 string frame_id
 bool auto_arm
 ---

clover/srv/SetRates.srv

@@ -1,5 +1,5 @@
-float32 pitch_rate
 float32 roll_rate
+float32 pitch_rate
 float32 yaw_rate
 float32 thrust
 bool auto_arm

clover/srv/SetVelocity.srv

@@ -2,7 +2,6 @@ float32 vx
 float32 vy
 float32 vz
 float32 yaw
-float32 yaw_rate
 string frame_id
 bool auto_arm
 ---

clover/srv/SetYaw.srv

@@ -0,0 +1,5 @@
+float32 yaw
+string frame_id
+---
+bool success
+string message

clover/srv/SetYawRate.srv

@@ -0,0 +1,4 @@
+float32 yaw_rate
+---
+bool success
+string message

clover/test/basic.py

@@ -3,6 +3,7 @@ import rospy
 import pytest
 from mavros_msgs.msg import State
 from clover import srv
+import time
 
 @pytest.fixture()
 def node():
@@ -24,6 +25,7 @@ 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:
@@ -59,3 +61,18 @@ def test_blocks(node):
 
     t.join()
     assert wait_print.result == 'test'
+
+def test_long_callback():
+    from clover import long_callback
+    from time import sleep
+
+    # very basic test for long_callback
+    @long_callback
+    def cb(i):
+        cb.counter += i
+    cb.counter = 0
+    cb(2)
+    sleep(0.1)
+    cb(3)
+    sleep(1)
+    assert cb.counter == 5

clover/test/basic.test

@@ -37,6 +37,19 @@
 
     <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"/>
+
+    <node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" required="true">
+        <param name="num_worker_threads" value="2"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" required="true">
+        <remap from="image_mono" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="image_rect" to="main_camera/image_rect"/>
+    </node>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clover/test/offboard.py

@@ -0,0 +1,437 @@
+import rospy
+import pytest
+from pytest import approx
+import threading
+import mavros_msgs.msg
+from mavros_msgs.srv import SetMode
+from geometry_msgs.msg import PoseStamped
+from clover import srv
+from clover.msg import State
+from std_srvs.srv import Trigger
+from math import nan, inf
+import tf2_ros
+import tf2_geometry_msgs
+
+@pytest.fixture()
+def node():
+    return rospy.init_node('offboard_test', anonymous=True)
+
+@pytest.fixture
+def tf_buffer():
+    buf = tf2_ros.Buffer()
+    tf2_ros.TransformListener(buf)
+    return buf
+
+def get_state():
+    return rospy.wait_for_message('/simple_offboard/state', State, timeout=1)
+
+def get_navigate_target(tf_buffer):
+    target = tf_buffer.lookup_transform('map', 'navigate_target', rospy.get_rostime(), rospy.Duration(1))
+    assert target.child_frame_id == 'navigate_target'
+    return target
+
+def test_offboard(node, tf_buffer):
+    navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+    set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+    set_altitude = rospy.ServiceProxy('set_altitude', srv.SetAltitude)
+    set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)
+    set_yaw_rate = rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate)
+    set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+    set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+    set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+    get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+    land = rospy.ServiceProxy('land', Trigger)
+
+    res = navigate()
+    assert res.success == False
+    assert res.message.startswith('State timeout')
+
+    telem = get_telemetry()
+    assert telem.connected == False
+
+    # mocked state publisher
+    state_pub = rospy.Publisher('/mavros/state', mavros_msgs.msg.State, latch=True, queue_size=1)
+    state_msg = mavros_msgs.msg.State(mode='OFFBOARD', armed=True)
+
+    def publish_state():
+        r = rospy.Rate(2)
+        while not rospy.is_shutdown():
+            state_msg.header.stamp = rospy.Time.now()
+            state_pub.publish(state_msg)
+            r.sleep()
+
+    # start publishing state
+    threading.Thread(target=publish_state, daemon=True).start()
+    rospy.sleep(0.5)
+
+    # set_mode service mock
+    def set_mode(req):
+        state_msg.mode = req.custom_mode # set mocked mode to requested
+        return True,
+
+    rospy.Service('/mavros/set_mode', SetMode, set_mode)
+
+    telem = get_telemetry()
+    assert telem.connected == False
+
+    res = navigate()
+    assert res.success == False
+    assert res.message.startswith('No connection to FCU')
+
+    state_msg.connected = True
+    rospy.sleep(1)
+
+    telem = get_telemetry()
+    assert telem.connected == True
+
+    res = navigate()
+    assert res.success == False
+    assert res.message.startswith('No local position')
+
+    local_position_pub = rospy.Publisher('/mavros/local_position/pose', PoseStamped, latch=True, queue_size=1)
+    local_position_msg = PoseStamped()
+    local_position_msg.header.frame_id = 'map'
+    local_position_msg.pose.position.x = 1
+    local_position_msg.pose.position.y = 2
+    local_position_msg.pose.position.z = 3
+    local_position_msg.pose.orientation.w = 1
+
+    def publish_local_position():
+        r = rospy.Rate(30)
+        while not rospy.is_shutdown():
+            local_position_msg.header.stamp = rospy.Time.now()
+            local_position_pub.publish(local_position_msg)
+            r.sleep()
+
+    # start publishing local position
+    threading.Thread(target=publish_local_position, daemon=True).start()
+    rospy.sleep(0.5)
+
+    # check body frame
+    body = tf_buffer.lookup_transform('map', 'body', rospy.get_rostime(), rospy.Duration(1))
+    assert body.child_frame_id == 'body'
+    assert body.transform.translation.x == approx(1)
+    assert body.transform.translation.y == approx(2)
+    assert body.transform.translation.z == approx(3)
+
+    res = navigate(x=3, y=2, z=1, frame_id='map')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 3
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+    target = get_navigate_target(tf_buffer)
+    assert target.header.frame_id == 'map'
+    assert target.transform.translation.x == approx(3)
+    assert target.transform.translation.y == approx(2)
+    assert target.transform.translation.z == approx(1)
+    assert target.transform.rotation.x == 0
+    assert target.transform.rotation.y == 0
+    assert target.transform.rotation.z == 0
+    assert target.transform.rotation.w == 1
+
+    # try to set only the y
+    res = navigate(x=nan, y=1, z=nan)
+    assert res.success == False
+    assert res.message.startswith('x and y can be set only together')
+
+    # set z in body frame
+    res = navigate(x=nan, y=nan, z=1, frame_id='body')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 3
+    assert state.y == 2
+    assert state.z == 4
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # set xy in test frame
+    res = navigate(x=1, y=2, z=nan, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 4
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'test'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'test'
+
+    # auto_arm should not invalidate the setpoint if not effective
+    res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'test'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # auto_arm should invalidate the setpoint if effective
+    state_msg.mode = 'STABILIZED' # pretend we are not in OFFBOARD mode
+    rospy.sleep(1)
+    res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+    state_msg.mode = 'OFFBOARD'
+    rospy.sleep(1)
+
+    # set_attitude should invalidate the setpoint
+    res = set_attitude()
+    assert res.success == True
+
+    res = navigate(x=5, y=6, z=nan, yaw=nan, frame_id='map')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # test set_altitude
+    res = set_altitude(z=7, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'map'
+
+    # test set_yaw
+    res = set_yaw(yaw=0.5, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw == 0.5
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'test2'
+
+    # test set_yaw_rate
+    res = set_yaw_rate(yaw_rate=2)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw_rate == 2
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+
+    # navigate(yaw=nan) should keep yaw rate mode
+    res = navigate(x=nan, y=nan, z=nan, yaw=nan)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw_rate == 2
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+
+    # set_yaw(nan) should change back to yaw mode
+    res = set_yaw(yaw=nan)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.yaw == 0
+    assert state.yaw_frame_id == 'map'
+
+    # test set_position
+    res = set_position(x=nan, y=nan, z=13, yaw=nan, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_POSITION
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 13
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test2'
+    assert state.yaw_frame_id == 'map'
+
+    # set_altitude should not change the mode
+    res = set_altitude(z=3, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_POSITION
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'map'
+
+    # set_yaw should not change the main mode
+    res = set_yaw(yaw=1, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_POSITION
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 1
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'test2'
+
+    # test set_velocity
+    res = set_velocity(vx=1, frame_id='body')
+    state = get_state()
+    assert state.mode == State.MODE_VELOCITY
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.vx == 1
+    assert state.vy == 0
+    assert state.vz == 0
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # set_altitude should not work in velocity mode
+    res = set_altitude(z=3, frame_id='test')
+    assert res.success == False
+    assert res.message.startswith('Altitude cannot be set in')
+
+    # test set_attitude
+    res = set_attitude(roll=0.1, pitch=0.2, yaw=0.3, thrust=0.5)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_ATTITUDE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.roll == approx(0.1)
+    assert state.pitch == approx(0.2)
+    assert state.yaw == approx(0.3)
+    assert state.thrust == approx(0.5)
+    assert state.yaw_frame_id == 'map'
+    msg = rospy.wait_for_message('/mavros/setpoint_attitude/attitude', PoseStamped, timeout=3)
+    # Tait-Bryan ZYX angle (rzyx) converted to quaternion
+    assert msg.pose.orientation.x == approx(0.0342708)
+    assert msg.pose.orientation.y == approx(0.10602051)
+    assert msg.pose.orientation.z == approx(0.14357218)
+    assert msg.pose.orientation.w == approx(0.98334744)
+    msg = rospy.wait_for_message('/mavros/setpoint_attitude/thrust', mavros_msgs.msg.Thrust, timeout=3)
+    assert msg.thrust == approx(0.5)
+
+    # set_yaw should work in attitude mode
+    res = set_yaw(yaw=0.7, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_ATTITUDE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.roll == approx(0.1)
+    assert state.pitch == approx(0.2)
+    assert state.yaw == approx(0.7)
+    assert state.thrust == approx(0.5)
+    assert state.yaw_frame_id == 'test2'
+
+    # set_yaw_rate should not work in attitude mode
+    res = set_yaw_rate(yaw_rate=0.3)
+    assert res.success == False
+    assert res.message.startswith('Yaw rate cannot be set in')
+
+    # test set_rates
+    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=0.3, thrust=0.6)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0)
+    assert state.pitch_rate == approx(0)
+    assert state.yaw_rate == approx(0.3)
+    assert state.thrust == approx(0.6)
+    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
+    assert msg.thrust == approx(0.6)
+
+    res = set_rates(roll_rate=0.3, pitch_rate=0.2, yaw_rate=0.1, thrust=0.4)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0.3)
+    assert state.pitch_rate == approx(0.2)
+    assert state.yaw_rate == approx(0.1)
+    assert state.thrust == approx(0.4)
+
+    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=nan, thrust=0.3)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0.3)
+    assert state.pitch_rate == approx(0.2)
+    assert state.yaw_rate == approx(0.1)
+    assert state.thrust == approx(0.3)
+    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
+    assert msg.type_mask == mavros_msgs.msg.AttitudeTarget.IGNORE_ATTITUDE
+    assert msg.body_rate.x == approx(0.3)
+    assert msg.body_rate.y == approx(0.2)
+    assert msg.body_rate.z == approx(0.1)
+
+    # set_yaw_rate should work in rates mode
+    res = set_yaw_rate(yaw_rate=0.4)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0.3)
+    assert state.pitch_rate == approx(0.2)
+    assert state.yaw_rate == approx(0.4)
+    assert state.thrust == approx(0.3)
+
+    res = set_rates(roll_rate=inf)
+    assert res.success == False
+    assert res.message == 'roll_rate argument cannot be Inf'
+
+    # test land service
+    res = land()
+    assert res.success == True
+    assert state_msg.mode == 'AUTO.LAND' # check that the mode was set correctly

clover/test/offboard.test

@@ -0,0 +1,10 @@
+<launch>
+    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>
+
+    <node pkg="tf2_ros" type="static_transform_publisher" name="test_frame" args="10 20 30 0 0 0 map test"/>
+
+    <node pkg="tf2_ros" type="static_transform_publisher" name="test2_frame" args="100 200 300 0 0 0 map test2"/>
+
+    <param name="test_module" value="$(find clover)/test/offboard.py"/>
+    <test test-name="offboard_test" pkg="ros_pytest" type="ros_pytest_runner"/>
+</launch>

clover/udev/99-px4fmu.rules

@@ -1,17 +1,54 @@
-# PixHawk (px4fmu-v2), px4fmu-v3
+# Source files: PX4-Autopilot/boards/**/nuttx-config/nsh/defconfig
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", ATTRS{product}=="PX4 FMU v2.x", SYMLINK+="px4fmu"
-# PixRacer (px4fmu-v4)
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU v4.x", SYMLINK+="px4fmu"
-# px4fmu-v5
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0032", ATTRS{product}=="PX4 FMU v5.x", SYMLINK+="px4fmu"
-# auav
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV x2.1", SYMLINK+="px4fmu"
-# crazyflie
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
-# px4fmu-v4pro
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
-# Omnibus
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
-# CUAV X7 Pro
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"
 
+# Additional info:
+# https://docs.px4.io/main/en/flight_controller/
+# https://github.com/mavlink/qgroundcontrol/blob/master/src/comm/USBBoardInfo.json
+
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 GNF405", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001c", ATTRS{product}=="PX4 FMUK66 v3.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001c", ATTRS{product}=="PX4 FMUK66 E", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001d", ATTRS{product}=="PX4 FMURT1062 v1.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="DiatoneMambaF405 MK2", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="a32f", ATTRS{product}=="PX4 FMU ModalAI FCv1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="a330", ATTRS{product}=="PX4 FMU ModalAI FCv2", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU UVify Core", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7v2", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004b", ATTRS{product}=="PX4 DurandalV1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteF7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7Mini-nand", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004E", ATTRS{product}=="PX4 PIX32V5", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0061", ATTRS{product}=="PX4 ATL Mantis-EDU", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV Nora", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="MatekH743-mini", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="MatekH743", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="120A", ATTRS{idProduct}=="1004", ATTRS{product}=="Matekgnssm9nf4", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1209", ATTRS{idProduct}=="1013", ATTRS{product}=="MatekH743", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="0037", ATTRS{product}=="PX4 FMU SmartAP AIRLink", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1058", ATTRS{product}=="CubeOrange+", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1012", ATTRS{product}=="CubeYellow", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1016", ATTRS{product}=="CubeOrange", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0035", ATTRS{product}=="PX4 FMU v6X.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0038", ATTRS{product}=="PX4 FMU v6C.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0033", ATTRS{product}=="PX4 FMU v5X.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="PX4 FMU v6U.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", ATTRS{product}=="PX4 FMU v2.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU v4.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0032", ATTRS{product}=="PX4 FMU v5.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004b", ATTRS{product}=="PX4 SP RACING H7 EXTREME", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0030", ATTRS{product}=="MindPX FMU v2.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0039", ATTRS{product}=="ARK FMU v6X.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 FreeFly RTK GPS", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1024", ATTRS{product}=="mRoControlZeroH7 OEM", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1017", ATTRS{product}=="mRoPixracerPro", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1023", ATTRS{product}=="mRoControlZeroH7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="008D", ATTRS{product}=="mRoControlZeroF7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV X2.1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1022", ATTRS{product}=="mRoControlZero Classic", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0088", ATTRS{product}=="mRo x2.1-777", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="35a7", ATTRS{idProduct}=="0002", ATTRS{product}=="FCC-R1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="35a7", ATTRS{idProduct}=="0001", ATTRS{product}=="FCC-K1", SYMLINK+="px4fmu"

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_blocks/README.md

@@ -47,6 +47,7 @@ http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
 
 * `~running` ([*std_msgs/Bool*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
 * `~block` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
+* `~print` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program output messages (published in *print* blocks).
 * `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
 * `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
 

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_blocks/www/blocks.js

@@ -15,6 +15,7 @@ const COLOR_GPIO = 200;
 const DOCS_URL = 'https://clover.coex.tech/en/blocks.html';
 
 var frameIds = [["body", "BODY"], ["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["map", "MAP"]];
+var frameIdsWithTerrain = frameIds.concat([["terrain", "TERRAIN"]]);
 
 function considerFrameId(e) {
 	if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
@@ -22,7 +23,7 @@ function considerFrameId(e) {
 	var frameId = this.getFieldValue('FRAME_ID');
 	// set appropriate coordinates labels
 	if (this.getInput('X')) { // block has x-y-z fields
-		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK') {
+		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK' || frameId == 'TERRAIN') {
 			this.getInput('X').fieldRow[0].setValue('forward');
 			this.getInput('Y').fieldRow[0].setValue('left');
 			this.getInput('Z').fieldRow[0].setValue('up');
@@ -59,8 +60,8 @@ function updateSetpointBlock(e) {
 	this.getInput('VY').setVisible(velocity);
 	this.getInput('VZ').setVisible(velocity);
 	this.getInput('YAW').setVisible(attitude);
-	this.getInput('PITCH').setVisible(attitude);
 	this.getInput('ROLL').setVisible(attitude);
+	this.getInput('PITCH').setVisible(attitude);
 	this.getInput('THRUST').setVisible(attitude);
 	this.getInput('RELATIVE_TO').setVisible(type != 'RATES');
 
@@ -73,7 +74,7 @@ function updateSetpointBlock(e) {
 
 Blockly.Blocks['navigate'] = {
 	init: function () {
-		let navFrameId = frameIds.slice();
+		let navFrameId = frameIdsWithTerrain.slice();
 		navFrameId.push(['global', 'GLOBAL_LOCAL'])
 		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
@@ -163,14 +164,14 @@ Blockly.Blocks['setpoint'] = {
 		this.appendValueInput("VZ")
 			.setCheck("Number")
 			.appendField("vz");
-		this.appendValueInput("PITCH")
-			.setCheck("Number")
-			.appendField("pitch")
-			.setVisible(false);
 		this.appendValueInput("ROLL")
 			.setCheck("Number")
 			.appendField("roll")
 			.setVisible(false);
+		this.appendValueInput("PITCH")
+			.setCheck("Number")
+			.appendField("pitch")
+			.setVisible(false);
 		this.appendValueInput("YAW")
 			.setCheck("Number")
 			.appendField("yaw")
@@ -213,7 +214,7 @@ Blockly.Blocks['get_position'] = {
 			.appendField("current")
 			.appendField(new Blockly.FieldDropdown([["x", "X"], ["y", "Y"], ["z", "Z"], ["vx", "VX"], ["vy", "VY"], ["vz", "VZ"]]), "FIELD")
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(frameIdsWithTerrain), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -247,7 +248,7 @@ Blockly.Blocks['get_attitude'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["pitch", "PITCH"], ["roll", "ROLL"], ["pitch rate", "PITCH_RATE"], ["roll rate", "ROLL_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
+			.appendField(new Blockly.FieldDropdown([["roll", "ROLL"], ["pitch", "PITCH"], ["roll rate", "ROLL_RATE"], ["pitch rate", "PITCH_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
 		this.setOutput(true, "Number");
 		this.setColour(COLOR_STATE);
 		this.setTooltip("Returns current orientation or angle rates in degree or degree per second (not radian).");
@@ -268,6 +269,19 @@ Blockly.Blocks['voltage'] = {
 	}
 };
 
+Blockly.Blocks['get_rc'] = {
+	init: function () {
+		this.appendDummyInput()
+			.appendField("RC channel")
+		this.appendValueInput("CHANNEL")
+			.setCheck("Number");
+		this.setInputsInline(true);
+		this.setOutput(true, "Number");
+		this.setColour(COLOR_STATE);
+		this.setTooltip("Returns current RC channel value.");
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
+	}
+}
 
 Blockly.Blocks['armed'] = {
 	init: function () {
@@ -509,7 +523,7 @@ Blockly.Blocks['distance'] = {
 			.appendField("z");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"]]), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["terrain", "TERRAIN"]]), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")

clover_blocks/www/index.html

@@ -69,8 +69,8 @@
 				<value name="VX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VY"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VZ"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
-				<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="YAW"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="THRUST"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
@@ -100,6 +100,9 @@
 			<block type="mode"></block>
 			<block type="armed"></block>
 			<block type="voltage"></block>
+			<block type="get_rc">
+				<value name="CHANNEL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+			</block>
 		</category>
 		<category name="LED" colour="#02d754">
 			<block type="set_effect">

clover_blocks/www/python.js

@@ -81,7 +81,10 @@ function generateROSDefinitions() {
 		code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
 		code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
 		if (rosDefinitions.navigateGlobal) {
-		code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
+			code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
+		}
+		if (rosDefinitions.setYaw) {
+			code += `set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)\n`;
 		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
@@ -276,10 +279,11 @@ Blockly.Python.angle = function(block) {
 }
 
 Blockly.Python.set_yaw = function(block) {
+	rosDefinitions.setYaw = true;
 	simpleOffboard();
 	let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
 	let frameId = buildFrameId(block);
-	let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
+	let code = `set_yaw(yaw=${yaw}, frame_id=${frameId})\n`;
 	if (block.getFieldValue('WAIT') == 'TRUE') {
 		rosDefinitions.waitYaw = true;
 		simpleOffboard();
@@ -328,11 +332,11 @@ Blockly.Python.setpoint = function(block) {
 	} else if (type == 'ATTITUDE') {
 		rosDefinitions.setAttitude = true;
 		simpleOffboard();
-		return `set_attitude(pitch=${pitch}, roll=${roll}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
+		return `set_attitude(roll=${roll}, pitch=${pitch}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
 	} else if (type == 'RATES') {
 		rosDefinitions.setRates = true;
 		simpleOffboard();
-		return `set_rates(pitch_rate=${pitch}, roll_rate=${roll}, yaw_rate=${yaw}, thrust=${thrust})\n`;
+		return `set_rates(roll_rate=${roll}, pitch_rate=${pitch}, yaw_rate=${yaw}, thrust=${thrust})\n`;
 	}
 }
 
@@ -398,6 +402,12 @@ Blockly.Python.voltage = function(block) {
 	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
 }
 
+Blockly.Python.get_rc = function(block) {
+	Blockly.Python.definitions_['import_rcin'] = 'from mavros_msgs.msg import RCIn';
+	var channel = Blockly.Python.valueToCode(block, 'CHANNEL', Blockly.Python.ORDER_NONE);
+	return [`rospy.wait_for_message('mavros/rc/in', RCIn).channels[${channel}]`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
 function parseColor(color) {
 	return {
 		r: parseInt(color.substr(2, 2), 16),

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.23.0</version>
+  <version>0.24.0</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_description/urdf/sensors/distance_sensor.urdf.xacro

@@ -2,7 +2,7 @@
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="../camera_sensor.urdf.xacro"/>
 
-  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10">
+  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10 fov:=0.471239">
     <joint name="${name}_joint" type="fixed">
       <origin xyz="${x} ${y} ${z}"
               rpy="${roll} ${pitch} ${yaw}"/>
@@ -58,7 +58,7 @@
           <topicName>/rangefinder/range</topicName>
           <frameName>rangefinder</frameName>
           <radiation>infrared</radiation>
-          <fov>0.01</fov>
+          <fov>${fov}</fov>
           <gaussianNoise>0.001</gaussianNoise>
           <updateRate>${rate}</updateRate>
           <min_distance>${range_min}</min_distance>

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;

clover_simulation/airframes/4500_clover

@@ -31,7 +31,7 @@ param set-default EKF2_OF_DELAY 0
 param set-default EKF2_OF_QMIN 10
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_OF_N_MAX 0.2
-param set-default EKF2_HGT_MODE 2 # 0 = baro, 1 = gps, 2 = range, 3 = vision
+param set-default EKF2_HGT_MODE 3 # 0 = baro, 1 = gps, 2 = range, 3 = vision
 param set-default EKF2_EVA_NOISE 0.1
 param set-default EKF2_EVP_NOISE 0.1
 param set-default EKF2_EV_DELAY 0

clover_simulation/models/red_circle/materials/scripts/red_circle.material

@@ -0,0 +1,16 @@
+material red_circle
+{
+	technique
+	{
+		pass
+		{
+			scene_blend alpha_blend
+			texture_unit
+			{
+				texture red_circle.png
+				filtering none
+				scale 1.0 1.0
+			}
+		}
+	}
+}

clover_simulation/models/red_circle/model.config

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<model>
+    <name>Red Circle</name>
+    <version>1.0</version>
+    <sdf version="1.5">red_circle.sdf</sdf>
+    <author>
+        <name>Oleg Kalachev</name>
+        <email>okalachev@gmail.com</email>
+    </author>
+    <description>
+        Red circle of size 40 cm on the floor for recognizing by a drone
+    </description>
+</model>

clover_simulation/models/red_circle/red_circle.sdf

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+    <model name="red_circle">
+        <static>true</static>
+        <link name="red_circle_link">
+            <pose>0 0 1e-3 0 0 0</pose>
+            <visual name="red_circle_texture">
+                <cast_shadows>false</cast_shadows>
+                <geometry>
+                    <box>
+                        <size>0.4 0.4 1e-3</size>
+                    </box>
+                </geometry>
+                <material>
+                    <script>
+                        <uri>model://red_circle/materials/scripts</uri>
+                        <uri>model://red_circle/materials/textures</uri>
+                        <name>red_circle</name>
+                    </script>
+                </material>
+            </visual>
+        </link>
+    </model>
+</sdf>

clover_simulation/models/red_circle/red_circle.svg

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" width="20" height="20" viewBox="0 0 20 20">
+	<title>
+		red_circle
+	</title><g fill="red">
+	<circle cx="10.05" cy="10.05" r="9.9"/>
+</g></svg>

clover_simulation/package.xml

@@ -1,6 +1,6 @@
-<package format="2">
+<package format="3">
     <name>clover_simulation</name>
-    <version>0.23.0</version>
+    <version>0.24.0</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
 
     <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -22,6 +22,8 @@
     <depend>gazebo_ros</depend>
     <depend>gazebo_plugins</depend>
     <depend>rospy</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
     <export>
         <gazebo_ros gazebo_media_path="${prefix}"/>

clover_simulation/src/sim_leds.cpp

@@ -65,7 +65,8 @@ public:
 		}
 
 		role = (ros::this_node::getName() == "/gazebo") ? Role::Server : Role::Client;
-		ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s)", role == Role::Client ? "client" : "server");
+		ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s) in namespace '%s'",
+			role == Role::Client ? "client" : "server", robotNamespace.c_str());
 
 		nh.reset(new ros::NodeHandle(robotNamespace));
 
@@ -109,7 +110,6 @@ LedController& get(std::string robotNamespace)
 	std::lock_guard<std::mutex> lock(controllerMutex);
 	auto it = controllers.find(robotNamespace);
 	if (it == controllers.end()) {
-		gzwarn << "Creating new LED controller for namespace " << robotNamespace << "\n";
 		controllers[robotNamespace].reset(new LedController(robotNamespace));
 		return *controllers[robotNamespace];
 	}

docs/en/SUMMARY.md

@@ -36,7 +36,7 @@
   * [Optical Flow](optical_flow.md)
   * [Autonomous flight (OFFBOARD)](simple_offboard.md)
   * [Coordinate systems (frames)](frames.md)
-  * [Code snippets](snippets.md)
+  * [Code examples](snippets.md)
   * [Interfacing with a laser rangefinder](laser.md)
   * [LED strip](leds.md)
   * [Working with GPIO](gpio.md)
@@ -57,6 +57,7 @@
   * [COEX Pix](coex_pix.md)
   * [COEX PDB](coex_pdb.md)
   * [COEX GPS](coex_gps.md)
+  * [Using SSH keys](ssh_keys.md)
   * [Guide on autonomous flight](auto_setup.md)
   * [Hostname](hostname.md)
   * [PX4 Simulation](sitl.md)
@@ -105,6 +106,12 @@
   * [Video contest](video_contest.md)
   * [Educational contests](educational_contests.md)
 * [Clover-based projects](projects.md)
+  * [Clover Cloud Platform](clover-cloud-platform.md)
+  * [Autonomous Racing Drone](djs_phoenix_chetak.md)
+  * [Motion Capture System](mocap_clover.md)
+  * [Swarm in Blocks 2](swarm_in_blocks_2.md)
+  * [Advanced Clover 2](advanced_clover_simulator_platform.md)
+  * [Network of charging stations](liceu128.md)
   * [Swarm-in-blocks](swarm_in_blocks.md)
   * [Obstacle avoidance using artificial potential fields method](obstacle-avoidance-potential-fields.md)
   * [The Clover Rescue Project](clover-rescue-team.md)

docs/en/advanced_clover_simulator_platform.md

@@ -0,0 +1,161 @@
+# Advanced Clover 3: The Platform
+
+[CopterHack-2023](copterhack2023.md), team **FTL**.
+
+## Team Information
+
+```cpp
+#include "veryInterestingCommandDescription.h"
+```
+
+Team members:
+
+- Maxim Ramanouski, [@max8rr8](https://t.me/max8rr8).
+
+Country: Belarus.
+
+## Project Description
+
+Last year at CopterHack 2022, we created a [project](../ru/advanced_clover_simulator.html) that simplified the simulation of Clover, and in 2021, we created a [project](../ru/advanced_clover.html) that simplified the development of products for Clover (IDE and library for writing). The time has come to combine them and achieve unlimited power.
+
+### Project Idea
+
+The idea of the project is to combine CloverIDE and CloverSim (a tool for running Clover simulations). Thus, a platform is planned that allows developing products based on Clover using a simulator and an advanced IDE. The platform will include the following features:
+
+- Add a web interface that allows using CloverSim without touching the command line.
+- Work both in the browser (without installing anything) and from CLI.
+- Have a course that covers different aspects of clover.
+- Simplify installation, especially in WSL.
+- Running a simulation on a remote device (more powerful computer or cloud).
+
+### Project videos
+
+Video presentation of the project: [link](https://www.youtube.com/watch?v=T4RU9sfxsSI).
+
+Live presentation at CopterHack: TBD.
+
+CLI demonstration: [link](https://www.youtube.com/watch?v=Ao-ukR58sSQ).
+
+## Installation
+
+Installation process is described in the [project documentation](https://ftl-team.github.io/clover_sim/#/?id=installation).
+
+## Usage
+
+The CloverSim platform offers a seamless workflow for users:
+
+1. Users can effortlessly select or create a workspace and task and
+   launch them with ease.
+
+   ![Step 1 screenshot](../assets/ftl/acp_workflow1.png)
+
+2. After launching the simulation, users are presented with CloverSim WebUI that
+   provides them with an intuitive way to view their scores and progress,
+   control the simulator, and access task descriptions and scoring information.
+   From it users can open terminal, gzweb and more importantly they can easily
+   access the CloverSim IDE to solve task.
+
+   ![Step 2 screenshot](../assets/ftl/acp_workflow2.png)
+
+3. The IDE provides a full suite of tools and features for writing and
+   debugging code. One example is autocompletion to help streamline the
+   development process, making it more efficient and effective.
+
+   ![Step 3 screenshot](../assets/ftl/acp_workflow3.png)
+
+4. Users can launch their programs with ease and monitor its progress via
+   the GZWeb, CopterStatus, and SimulatorStatus views of the IDE.
+
+   ![Step 4 screenshot](../assets/ftl/acp_workflow4.png)
+
+5. Users can track their progress and scores in real-time and effortlessly
+  restart the simulator if necessary. Additionally, different randomization
+  seed can be set to check various inputs and outcomes.
+
+We also have video demonstration/tutorial: [link](https://www.youtube.com/watch?v=aPOPHD3M3ZM).
+
+## More features
+
+- Easy installation process.
+- Efficient simulation launch, surpassing traditional virtual machines.
+- Generation of dynamic Gazebo worlds with randomization based on seed.
+- Real-time task completion verification and score presentation.
+- Execution with security in isolated containers.
+- Multiple project capability without the need for multiple virtual machine images.
+- WebUI for ease of use, removing the need to use the command line.
+- IDE similar to VSCode with support for C++ and Python, including autocompletion and autoformatting.
+- Custom-patched GZWeb with bug fixes and additional features, including the display of the Clover LED strip.
+- GZWeb provides a follow-objects feature superior to that of Gazebo.
+- IDE includes tools to interact with ROS, such as topic visualization, service calling, and image topic visualization.
+- IDE also includes Copter Status, displaying most of the drone's information, including position, camera, and LED strip, in one view.
+- IDE integrates with the simulator by providing control from it, viewing task descriptions, and opening GZWeb.
+
+We also have developed a learning course based on CloverSim: [link](https://github.com/FTL-team/CloverSim_course). It currently has the following tasks:
+
+- 1_thesquare - First task of CloverSim course with goal to fly square.
+- 2_iseeall - Task that teaches how to interact with camera.
+- 3_landmid - Find and land onto randomly positioned object.
+- 4_flybyline - Flying along the line.
+- 5_posknown - Find position of objects relative to ArUco map.
+
+## More details
+
+At this point, our platform consists of four major parts:
+
+- [CloverSim](https://github.com/FTL-team/clover_sim) - tool that manages simulation.
+- [CloverSim Basefs](https://github.com/FTL-team/clover_sim_basefs) - container image that is used in simulator.
+- [Clover IDE](https://github.com/FTL-team/cloverIDE) - clover ide tools and theia.
+- [CloverSim course](https://github.com/FTL-team/CloverSim_course) - course with tasks based on our platform.
+
+### CloverSim
+
+The simulation architecture is a continuation of work from CopterHack 2022, but while 2022 version was closer to Proof-of-Concept, the updated version is more robust.
+
+There are three major difference in simulator architecture
+
+- Replacement of `systemd-nspawn` with `runc` provides us higher degree of container control and seemingless support of non-systemd systems, for example WSL.
+- Migration to squash fs images, which greatly reduced size of installed CloverSim from 13 gigabytes to just 3.5 gigabytes.
+- Tasks are now mounted instead of being copied and also build before starting.
+
+Because of the way catkin_make works, it is incredibly slow when new packages are added (whole cmake configuration is rerun for all packages). catkin_make provides a way to build only some packages, but it caches this packages and to reset this cache you need to recompile whole catkin_make. But we have found a solution: `catkin_make -DCATKIN_WHITELIST_PACKAGES="task;CloverSim" --build build_CloverSim` This command, builds only CloverSim and task package in separate build directory, this drastically reduces time that catkin_make takes, and keeps expected behavior of catkin_make without arguments.
+
+There are also differences in tool that launches simulation:
+
+- Client-server architecture allows us to create web UI and run CloverSim on server.
+- More robust error handling improves user experience.
+- Rewritten in rust, better reliability and development experience.
+
+### CloverSim basefs
+
+Version 2 integrates CloverIDE into system. We also updated clover in simulator to v0.23 and added web terminal. Basefs is now squashed and doesn't require additional installation. It also uses patched(by us) version of gzweb that is more suitable for our use-case:
+
+- Unlike original GZWeb assets can be dynamically loaded, which is required to support dynamically generated tasks.
+- It also implements multiple bugfixes for rendering, UI.
+- Fixed performance, original gzweb had two constantly running loops that used 200% of cpu. We fixed this by instead using synchronization primitives.
+- Clover LED strip is rendered, our gzweb connects to ROS and pulls LED data from there to render LED strip like Gazebo does.
+- Users can now follow-objects like in Gazebo better actually.
+- Reconnect on disconnect, when simulator is restarted gzweb looses connection and it now can automatically reconnect.
+
+Patched gzweb available there: [FTL-team/gzweb](https://github.com/FTL-team/gzweb).
+
+### CloverIDE
+
+CloverIDE got some updates too:
+
+- We have updated theia and extensions used.
+- Better C++ support via clangd.
+- Clover IDE tools can now reconnect after simulator restart.
+- Copter Status now displays LED strip status.
+- Tools ui has better support for different themes.
+
+But the most important change is CloverSim integration, there are new tools (task description, simulator control and gzweb). While gzweb tool is just an iframe (though it's very cool to have it in IDE).
+
+Task description and simulator control are more interesting as they have to interact with both IDE and CloverSim, to maintain different versions support we use quite interesting trick, extension webview after being initialized dynamically loads JavaScript from CloverSim. That provides better integration between two.
+
+### CloverSim course
+
+CloverSim course is a new part of our platform. It uses robust task API of CloverSim to create practical learning course. It currently teaches different aspects of clover development that i encountered during my participation in different contests involving clover. But we are happy to accpet suggestions about other aspects we should teach in out course.
+
+## Conclusion
+
+This project is a final (or maybe there is more?) project of our advanced clover saga. AdvancedClover is a project that is easy to use and greatly improves experience during learning about clover, participating in clover based competitions and development clover based projects. We thank COEX team for their support and look forward to further cooperation.

docs/en/aruco_marker.md

@@ -72,12 +72,6 @@ Sample code to fly to a point 1 metre to the left and 2 metres above marker with
 navigate(frame_id='aruco_7', x=-1, y=0, z=2)
 ```
 
-Sample code to rotate counterclockwise while hovering 1.5 metres above marker id 10:
-
-```python
-navigate(frame_id='aruco_10', x=0, y=0, z=1.5, yaw_rate=0.5)
-```
-
 Note that if the required marker isn't detected for 0.5 seconds after the `navigate` command, the command will be ignored.
 
 These frames may also be used in other services that accept TF frames (like `get_telemetry`). The following code will get the drone's position relative to the marker with id 3:

docs/en/blocks.md

@@ -2,7 +2,7 @@
 
 <img src="../assets/blocks/blockly.svg" width=200 align="right">
 
-Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) platform. Blocks programming integration can lower the entry barrier to a minimum.
+Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) library. Blocks programming integration can lower the entry barrier to a minimum.
 
 ## Configuration
 

docs/en/camera.md

@@ -1,6 +1,6 @@
 # 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.
+> **Note** The following applies to the [image version **0.24**](https://github.com/CopterExpress/clover/releases/tag/v0.24), which is not yet released. Older documentation is still available for [for version **0.23**](https://github.com/CopterExpress/clover/blob/f78a03ec8943b596d5a99b893188a159d5319888/docs/en/camera.md).
 
 Make sure the camera is enabled in the `~/catkin_ws/src/clover/clover/launch/clover.launch` file:
 
@@ -16,7 +16,7 @@ The `clover` service must be restarted after the launch-file has been edited:
 sudo systemctl restart clover
 ```
 
-You may use rqt or [web_video_server](web_video_server.md) to view the camera stream.
+You may use [rqt](rviz.md) or [web_video_server](web_video_server.md) to view the camera stream.
 
 ## Troubleshooting
 
@@ -54,8 +54,6 @@ The [SD card image](image.md) comes with a preinstalled [OpenCV](https://opencv.
 
 ### Python
 
-Main article: http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython.
-
 An example of creating a subscriber for a topic with an image from the main camera for processing with OpenCV:
 
 ```python
@@ -63,12 +61,14 @@ import rospy
 import cv2
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
+from clover import long_callback
 
-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()
 
+@long_callback
 def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    img = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
     # Do any image processing with cv2...
 
 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
@@ -76,19 +76,31 @@ image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
 rospy.spin()
 ```
 
+> **Note** Image processing may take significant time to finish. This can cause an [issue](https://github.com/ros/ros_comm/issues/1901) in rospy library, which would lead to processing stale camera frames. To solve this problem you need to use `long_callback` decorator from `clover` library, as in the example above.
+
+#### Limiting CPU usage
+
+When using the `main_camera/image_raw` topic, the script will process the maximum number of frames from the camera, actively utilizing the CPU (up to 100%). In tasks, where processing each camera frame is not critical, you can use the topic, where the frames are published at rate 5 Hz: `main_camera/image_raw_throttled`:
+
+```python
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+```
+
+#### Publishing images
+
 To debug image processing, you can publish a separate topic with the processed image:
 
 ```python
 image_pub = rospy.Publisher('~debug', Image)
 ```
 
-Publishing the processed image (at the end of the image_callback function):
+Publishing the processed image:
 
 ```python
-image_pub.publish(bridge.cv2_to_imgmsg(cv_image, 'bgr8'))
+image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
 ```
 
-The obtained images can be viewed using [web_video_server](web_video_server.md).
+The published images can be viewed using [web_video_server](web_video_server.md) or [rqt](rviz.md).
 
 #### Retrieving one frame
 
@@ -99,7 +111,7 @@ import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()
 
 # ...
@@ -121,38 +133,32 @@ QR codes recognition in Python:
 ```python
 import rospy
 from pyzbar import pyzbar
+import cv2
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
+from clover import long_callback
 
+rospy.init_node('cv')
 bridge = CvBridge()
 
-rospy.init_node('barcode_test')
+@long_callback
-
+def image_callback(msg):
-# Image subscriber callback function
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
-def image_callback(data):
+    barcodes = pyzbar.decode(img)
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
-    barcodes = pyzbar.decode(cv_image)
     for barcode in barcodes:
-        b_data = barcode.data.decode("utf-8")
+        b_data = barcode.data.decode('utf-8')
         b_type = barcode.type
         (x, y, w, h) = barcode.rect
         xc = x + w/2
         yc = y + h/2
-        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
+        print('Found {} with data {} with center at x={}, y={}'.format(b_type, b_data, xc, yc))
 
-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
 
 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`):
+> **Hint** See other computer vision examples in the `~/examples` directory of the [RPi image](image.md).
-
-```xml
-<node pkg="topic_tools" name="cam_throttle" type="throttle"
-    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
-```
-
-The topic for the subscriber in this case should be changed for `main_camera/image_raw_throttled`.
 
 ## Video recording
 

docs/en/cli.md

@@ -30,6 +30,16 @@ Print path to the current directory:
 pwd
 ```
 
+Go to the user's home directory:
+
+```bash
+# all three commands are equivalent, where the tilde character (~) is an abbreviated
+# path entry to the home directory, and the $HOME variable stores this path
+cd
+cd ~
+cd $HOME
+```
+
 Print contents of the `file.py` file:
 
 ```bash