simple_offboard: add take_off service

aruco_pose/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package aruco_pose
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of aruco_pose package to ROS
-* Contributors: Alamoris, Alexey Rogachevskiy, Arthur Golubtsov, Ilya Petrov, Oleg Kalachev

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.21.1</version>
+  <version>0.0.1</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-01-12/2021-01-11-raspios-buster-armhf-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}

builder/image-ros.sh

@@ -13,7 +13,7 @@
 # copies or substantial portions of the Software.
 #
 
-set -ex # Exit immidiately on non-zero result
+set -e # Exit immidiately on non-zero result
 
 REPO=$1
 REF=$2

builder/image-software.sh

@@ -82,9 +82,6 @@ apt-get update
 
 # Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
-apt-cache policy cmake
-apt-cache policy cmake-data
-my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1
 my_travis_retry apt-get install --no-install-recommends -y \
 unzip \
 zip \
@@ -98,6 +95,7 @@ git \
 dnsmasq  \
 tmux \
 vim \
+cmake \
 libjpeg8 \
 tcpdump \
 ltrace \
@@ -125,11 +123,10 @@ sed -i "s/updates_available//" /usr/share/byobu/status/status
 
 echo_stamp "Installing pip"
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip2.py
 python3 get-pip.py
-python get-pip2.py
-rm get-pip.py get-pip2.py
-my_travis_retry pip install --upgrade pip
+python get-pip.py
+rm get-pip.py
+#my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
 
 echo_stamp "Make sure both pip and pip3 are installed"
@@ -138,7 +135,6 @@ pip3 --version
 
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
-export CRYPTOGRAPHY_DONT_BUILD_RUST=1
 my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]

builder/standalone-install.sh

@@ -5,7 +5,7 @@ set -e
 # Step 1: Install pip
 apt update
 apt install -y curl
-curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
+curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 python ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt

clover/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover package to ROS
-* Contributors: Alexey Rogachevskiy, Arthur Golubtsov, Oleg Kalachev

clover/CMakeLists.txt

@@ -82,6 +82,7 @@ add_service_files(
   GetTelemetry.srv
   Navigate.srv
   NavigateGlobal.srv
+  TakeOff.srv
   SetPosition.srv
   SetVelocity.srv
   SetAttitude.srv

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover</name>
-  <version>0.21.1</version>
+  <version>0.0.1</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

clover/src/simple_offboard.cpp

@@ -41,6 +41,7 @@
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
 #include <clover/NavigateGlobal.h>
+#include <clover/TakeOff.h>
 #include <clover/SetPosition.h>
 #include <clover/SetVelocity.h>
 #include <clover/SetAttitude.h>
@@ -781,6 +782,10 @@ 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);
 }
 
+bool takeOff(TakeOff::Request& req, TakeOff::Response& res) {
+	return serve(NAVIGATE, 0, 0, req.alt, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, 0, NAN, NAN, NAN, req.speed, body.child_frame_id, true, 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);
 }
@@ -905,6 +910,7 @@ int main(int argc, char **argv)
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
 	auto na_serv = nh.advertiseService("navigate", &navigate);
 	auto ng_serv = nh.advertiseService("navigate_global", &navigateGlobal);
+	auto to_serv = nh.advertiseService("take_off", &takeOff);
 	auto sp_serv = nh.advertiseService("set_position", &setPosition);
 	auto sv_serv = nh.advertiseService("set_velocity", &setVelocity);
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);

clover/srv/TakeOff.srv

@@ -0,0 +1,5 @@
+float32 alt
+float32 speed
+---
+bool success
+string message

clover_blocks/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_blocks
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_blocks package to ROS
-* Contributors: Oleg Kalachev

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.21.1</version>
+  <version>0.0.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_description/CHANGELOG.rst

@@ -1,9 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_description
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_description package to ROS
-* Contributors: Alexey Rogachevskiy
-

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.21.1</version>
+  <version>0.0.1</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_simulation/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_simulation
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_simulation package to ROS
-* Contributors: Alexey Rogachevskiy

clover_simulation/launch/simulator.launch

@@ -14,7 +14,7 @@
         <!-- Workaround for crashes in VMware -->
         <env name="SVGA_VGPU10" value="0"/>
         <arg name="gui" value="true"/>
-        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
+        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover.world"/>
         <arg name="verbose" value="true"/>
     </include>