Merge branch 'master' into 22

Also, compile in apriltag_quad_thresh.cpp - it contains some of the functions referenced
in aruco.cpp, which would otherwise be undefined.

.github/workflows/build-image.yaml

@@ -1,29 +0,0 @@
-name: Build RPi image
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-  release:
-    types: [ created ]
-
-jobs:
-  build-image:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build image
-        run: |
-          docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${{ github.event.release.tag_name }}" sfalexrog/img-tool:qemu-update
-      - name: Compress image
-        run: |
-          sudo chmod -R 777 images && zip -9 $(echo images/clover_*).zip images/clover_* && ls -l images
-      - name: Upload image
-        uses: softprops/action-gh-release@v1
-        if: ${{ github.event_name == 'release' }}
-        with:
-          files: images/clover_*.zip
-          prerelease: true
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/build.yml

@@ -1,23 +0,0 @@
-name: Build
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  build-melodic:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: Native Melodic build
-        run: |
-          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
-  build-noetic:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: Native Noetic build
-        run: |
-          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:noetic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh

.github/workflows/docs.yml

@@ -1,54 +0,0 @@
-name: Documentation
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  documentation:
-    runs-on: ubuntu-18.04
-    steps:
-      - uses: actions/checkout@v2
-      - name: Use Node.js
-        uses: actions/setup-node@v1
-        with: { node-version: '10' }
-      - name: Setup tools
-        run: |
-          sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
-          sudo apt-get update && sudo apt-get install -y calibre msttcorefonts
-          npm install gitbook-cli -g
-          gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
-          npm install markdownlint-cli -g
-          npm install svgexport -g
-          gitbook -V
-          markdownlint -V
-      - name: Run markdownlint
-        run: markdownlint docs
-      - name: Check Assets
-        run: |
-          ./check_assets_size.py
-          ./check_unused_assets.py
-      - name: Build GitBook
-        run: |
-         gitbook install
-         gitbook build
-      - name: Generate PDF
-        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-        run: |
-          for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
-          sudo apt-get -q install ghostscript
-          gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_ru_compressed.pdf _book/clover_ru.pdf
-          gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_en_compressed.pdf _book/clover_en.pdf
-          rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf
-          rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf
-          ls -lah _book/clover*.pdf
-      - name: Deploy
-        uses: JamesIves/github-pages-deploy-action@4.1.3
-        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-        with:
-          branch: gh-pages
-          folder: _book
-          clean: true
-          single-commit: true # to avoid multiple copies of large pdf files

.github/workflows/editorconfig.yaml

@@ -1,18 +0,0 @@
-name: Editorconfig lint
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  editorconfig:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: .editorconfig Linter
-        run: |
-          wget --no-verbose https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
-          chmod +x ec-linux-amd64
-          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"

.markdownlint.json

@@ -110,8 +110,7 @@
             "Li-ion",
             "Nvidia",
             "VirtualBox",
-            "VMware",
+            "VMware"
-            "DuoCam"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -0,0 +1,125 @@
+os: linux
+dist: xenial
+language: generic
+services:
+  - docker
+env:
+  global:
+    - DOCKER="sfalexrog/img-tool:qemu-aarch64"
+    - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
+    - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
+    - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
+git:
+  depth: 25
+jobs:
+  fast_finish: true
+  include:
+    - stage: Build
+      name: "Raspberry Pi Image Build"
+      cache:
+        directories:
+        - imgcache
+      before_script:
+        - docker pull ${DOCKER}
+# Check if there are any cached images, copy them to our "images" directory
+        - if [ -n "$(ls -A imgcache/*.zip)" ]; then mkdir -p images && cp imgcache/*.zip images; fi
+      script:
+        - if [[ -z ${TRAVIS_TAG} && "${TRAVIS_PULL_REQUEST}" != "false" ]]; then
+            echo "Commit range is ${TRAVIS_COMMIT_RANGE}" &&
+            if [ $(git diff --name-only ${TRAVIS_COMMIT_RANGE} | grep -v ^"docs/" | wc -l) -eq 0 ]; then
+              echo " === Docs-only change; skipping build ===" &&
+              export SKIP_BUILD=true;
+            fi;
+          fi
+        - if [ -z ${SKIP_BUILD} ]; then
+            docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER};
+          fi
+      before_cache:
+        - cp images/*.zip imgcache
+      after_success:
+        - sudo chmod -R 777 *
+        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
+      before_deploy:
+        # Set up git user name and tag this commit
+        - git config --local user.name "goldarte"
+        - git config --local user.email "goldartt@gmail.com"
+      deploy:
+        provider: releases
+        token: ${GITHUB_OAUTH_TOKEN}
+        file: ${IMAGE_NAME}.zip
+        skip_cleanup: true
+        on:
+          tags: true
+        draft: true
+        name: ${TRAVIS_TAG}
+    - stage: Build
+      name: "Native Kinetic build"
+      env:
+        - NATIVE_DOCKER=ros:kinetic-ros-base
+      before_script:
+        - docker pull ${NATIVE_DOCKER}
+      script:
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
+    - stage: Build
+      name: "Native Melodic build"
+      env:
+        - NATIVE_DOCKER=ros:melodic-ros-base
+      before_script:
+        - docker pull ${NATIVE_DOCKER}
+      script:
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
+    - stage: Build
+      name: "Native Noetic build"
+      env:
+        - NATIVE_DOCKER=ros:noetic-ros-base
+      before_script:
+        - docker pull ${NATIVE_DOCKER}
+      script:
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
+    - stage: Build
+      name: "Documentation"
+      language: node_js
+      node_js:
+        - "10"
+      before_script:
+        - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
+        - sudo apt update && sudo apt install -y calibre msttcorefonts
+        - npm install gitbook-cli -g
+        - npm install markdownlint-cli -g
+        - npm install svgexport -g
+        - gitbook -V
+        - markdownlint -V
+      script:
+        - markdownlint docs
+        - ./check_assets_size.py
+        - ./check_unused_assets.py
+        - gitbook install
+        - gitbook build
+        - gitbook pdf ./ _book/clover.pdf
+      deploy:
+        provider: pages
+        local_dir: _book
+        skip_cleanup: true
+        token: ${GITHUB_OAUTH_TOKEN}
+        keep_history: true
+        target_branch: master
+        repo: CopterExpress/clover.coex.tech
+        fqdn: clover.coex.tech
+        verbose: true
+        on:
+          branch: master
+    - stage: Build
+      name: Editorconfig-lint
+      language: generic
+      before_script:
+        - wget https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
+        - chmod +x ec-linux-amd64
+      script:
+        - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
+stages:
+  - Build
+# More info there
+# https://github.com/travis-ci/travis-ci/issues/6893
+# https://docs.travis-ci.com/user/customizing-the-build/
+# https://docs.travis-ci.com/user/deployment/releases
+# https://docs.travis-ci.com/user/environment-variables/

README.md

@@ -1,6 +1,6 @@
 # clover🍀: create autonomous drones easily
 
-<img src="docs/assets/clover42-main.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="COEX Clover Drone">
 
 Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
 
@@ -20,8 +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)
+[![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
-![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:
 
@@ -38,10 +37,6 @@ API description for autonomous flights is available [on GitBook](https://clover.
 
 For manual package installation and running see [`clover` package documentation](clover/README.md).
 
-## Support
-
-[![Telegram Support Chat](https://img.shields.io/endpoint?label=Support%20Chat&url=https%3A%2F%2Ftelegram-badge-4mbpu8e0fit4.runkit.sh%2F%3Furl%3Dhttps%3A%2F%2Ft.me%2FCOEXHelpDesk)](https://t.me/COEXHelpdesk)
-
 ## License
 
 While the Clover platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

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/CMakeLists.txt

@@ -119,7 +119,7 @@ generate_messages(
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
-  cfg/Detector.cfg
+  cfg/DetectorParams.cfg
 )
 
 ###################################
@@ -202,11 +202,11 @@ set_property(TARGET aruco_pose
 # )
 
 ## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+# )
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -226,10 +226,6 @@ catkin_install_python(PROGRAMS src/genmap.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY map DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
 #############
 ## Testing ##
 #############

aruco_pose/cfg/DetectorParams.cfg

@@ -8,8 +8,6 @@ p = cv2.aruco.DetectorParameters_create()
 
 gen = ParameterGenerator()
 
-gen.add("enabled", bool_t, 0, "if detection enabled", True)
-
 gen.add("adaptiveThreshConstant",                 double_t, 0,
         "Constant for adaptive thresholding before finding contours",
          p.adaptiveThreshConstant, 0, 100)

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>

aruco_pose/src/aruco_detect.cpp

@@ -62,7 +62,6 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
-	bool enabled_ = true;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
 	image_transport::Publisher debug_pub_;
@@ -126,8 +125,6 @@ public:
 private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
-		if (!enabled_) return;
-
 		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
 
 		vector<int> ids;
@@ -356,7 +353,6 @@ private:
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
 	{
-		enabled_ = config.enabled;
 		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
 		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
 		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;

builder/assets/examples/flight_marker.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/aruco
+# Information: https://clover.coex.tech/en/aruco.html
 
 import rospy
 from clover import srv

builder/assets/examples/leds.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/led
+# Information: https://clover.coex.tech/en/leds.html
 
 import rospy
 from clover.srv import SetLEDEffect

builder/assets/hardware_setup.sh

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

builder/image-build.sh

@@ -15,8 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-# https://www.raspberrypi.org/software/operating-systems/#raspberry-pi-os-32-bit
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_arm64/images/raspios_lite_arm64-2020-08-24/2020-08-20-raspios-buster-arm64-lite.zip"
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-05-28/2021-05-07-raspios-buster-armhf-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -105,6 +104,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
+# examples
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup

builder/image-init.sh

@@ -55,7 +55,4 @@ echo_stamp "Set max space for syslogs"
 # https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
 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 "End of init image"

builder/image-ros.sh

@@ -80,7 +80,7 @@ my_travis_retry sudo -u pi rosdep update
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-# echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
+echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
 cd /home/pi/catkin_ws/src/clover
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
@@ -91,7 +91,7 @@ apt install -y --no-install-recommends \
 ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
 ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
 ros-${ROS_DISTRO}-cv-camera=0.5.0-0buster \
-ros-${ROS_DISTRO}-image-publisher=1.15.3-0buster \
+ros-${ROS_DISTRO}-image-publisher=1.15.2-0buster \
 ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
 apt-mark hold \
 ros-${ROS_DISTRO}-compressed-image-transport \
@@ -100,9 +100,6 @@ ros-${ROS_DISTRO}-cv-camera \
 ros-${ROS_DISTRO}-image-publisher \
 ros-${ROS_DISTRO}-web-video-server
 
-echo_stamp "Installing libboost-dev" # https://travis-ci.org/github/CopterExpress/clover/jobs/766318908#L6536
-my_travis_retry apt-get install -y --no-install-recommends libboost-dev libboost-all-dev
-
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
 # Don't try to install gazebo_ros
@@ -113,7 +110,6 @@ my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirement
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
 catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
-source devel/setup.bash
 
 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -123,7 +119,6 @@ rm -rf build  # remove build artifacts
 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
 NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
-NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
 NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
@@ -136,9 +131,7 @@ my_travis_retry apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-usb-cam \
     ros-${ROS_DISTRO}-vl53l1x \
     ros-${ROS_DISTRO}-ws281x \
-    ros-${ROS_DISTRO}-rosshow \
+    ros-${ROS_DISTRO}-rosshow
-    ros-${ROS_DISTRO}-cmake-modules \
-    ros-${ROS_DISTRO}-image-view
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
@@ -152,8 +145,7 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
-echo_stamp "Make \$HOME/examples symlink"
+echo_stamp "Change permissions for examples"
-ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples
 
 echo_stamp "Setup ROS environment"

builder/image-software.sh

@@ -64,14 +64,15 @@ echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries
 echo_stamp "Install apt keys & repos"
 
 # TODO: This STDOUT consist 'OK'
+curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 apt-get update \
 && apt-get install --no-install-recommends -y dirmngr > /dev/null \
 && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
-
+echo "deb http://deb.coex.tech/opencv4 buster main" > /etc/apt/sources.list.d/opencv3.list
-wget -O - 'http://packages.coex.tech/key.asc' | apt-key add - 
+echo "deb http://deb.coex.tech/ros buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
-echo 'deb http://packages.coex.tech buster main' >> /etc/apt/sources.list
+echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list
 
 echo_stamp "Update apt cache"
 
@@ -81,7 +82,6 @@ apt-get update
 
 # Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
-my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1 # FIXME: using older CMake due to https://travis-ci.org/github/CopterExpress/clover/jobs/764367665#L6984
 my_travis_retry apt-get install --no-install-recommends -y \
 unzip \
 zip \
@@ -94,9 +94,8 @@ lsof \
 git \
 dnsmasq  \
 tmux \
-tree \
 vim \
-libjpeg8 \
+cmake \
 tcpdump \
 libpoco-dev \
 libzbar0 \
@@ -123,10 +122,9 @@ 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
+python get-pip.py
-rm get-pip.py get-pip2.py
+rm get-pip.py
 #my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
 
@@ -136,7 +134,6 @@ 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]
@@ -148,16 +145,15 @@ my_travis_retry pip3 install --prefer-binary rpi_ws281x
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
-sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
 systemctl enable monkey.service
 
 echo_stamp "Install Node.js"
 cd /home/pi
-wget --no-verbose https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
+wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-arm64.tar.gz
-tar -xzf node-v10.15.0-linux-armv6l.tar.gz
+tar -xzf node-v10.15.0-linux-arm64.tar.gz
-cp -R node-v10.15.0-linux-armv6l/* /usr/local/
+cp -R node-v10.15.0-linux-arm64/* /usr/local/
-rm -rf node-v10.15.0-linux-armv6l/
+rm -rf node-v10.15.0-linux-arm64/
-rm node-v10.15.0-linux-armv6l.tar.gz
+rm node-v10.15.0-linux-arm64.tar.gz
 
 echo_stamp "Installing ptvsd"
 my_travis_retry pip install ptvsd

builder/image-validate.sh

@@ -20,16 +20,9 @@ export ROS_DISTRO='noetic'
 export ROS_IP='127.0.0.1'
 source /opt/ros/${ROS_DISTRO}/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
-systemctl start roscore
 
 cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.sh
 ./tests.py
 ./tests_py3.py
-[[ $(./test_qr.py) == "Found QRCODE with data Проверка Unicode with center at x=66.0, y=66.0" ]] 
 [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
-
-systemctl stop roscore
-
-echo "Move /etc/ld.so.preload back to its original position"
-mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload

builder/standalone-install.sh

@@ -3,16 +3,15 @@
 # Perform a "standalone install" in a Docker container
 set -e
 # Step 1: Install pip
-apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 # https://github.com/osrf/docker_images/issues/535
+apt update
-apt-get update
+apt install -y curl
-apt-get install -y curl
+curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 if [ "x${ROS_PYTHON_VERSION}" = "x3" ]; then
   PYTHON=python3
-  curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 else
   PYTHON=python
-  curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
 fi
+
 ${PYTHON} ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt
@@ -41,7 +40,7 @@ ws281x:
   ubuntu:
     ${CODENAME}: [ros-${ROS_DISTRO}-ws281x]
 EOF
-apt-get update
+apt update
 rosdep update
 
 # Step 2: Run rosdep to install all dependencies
@@ -61,6 +60,3 @@ ${PYTHON} -m pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
-
-# Step 5: Install packages
-catkin_make install

builder/test/test_qr.py

@@ -1,42 +0,0 @@
-#!/usr/bin/env python3
-
-# Test QG recognition example
-# Should be synced with the documentation: /docs/en/camera.md, /docs/ru/camera.md
-# TODO: use real ROS topics
-
-import rospy
-from pyzbar import pyzbar
-from cv_bridge import CvBridge
-from sensor_msgs.msg import Image
-
-bridge = CvBridge()
-
-# rospy.init_node('barcode_test')
-
-# Image subscriber callback function
-def image_callback(data):
-    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_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))
-    # rospy.signal_shutdown('done')
-
-# image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-
-# ==============================================================================
-# Publish test image
-# rospy.sleep(2)
-
-import cv2
-img = cv2.imread('qr.png')
-image_callback(bridge.cv2_to_imgmsg(img, 'bgr8'))
-
-# image_pub = rospy.Publisher('/main_camera/image_raw', Image, queue_size=1, latch=True)
-# image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
-
-# rospy.spin()

builder/test/tests.py

@@ -4,26 +4,18 @@
 
 import rospy
 from geometry_msgs.msg import PoseStamped
-from sensor_msgs.msg import Range, BatteryState
 
 import cv2
 import cv2.aruco
-from sensor_msgs.msg import Image
-from cv_bridge import CvBridge
 
 import numpy
 import mavros
-from mavros_msgs.msg import State, StatusText, ExtendedState, RCIn, Mavlink
+from mavros_msgs.msg import State, StatusText, ExtendedState
 from mavros_msgs.srv import CommandBool, CommandLong, SetMode
 
 from std_srvs.srv import Trigger
 from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
     SetAttitude, SetRates, SetLEDEffect
-from led_msgs.srv import SetLEDs
-from led_msgs.msg import LEDStateArray, LEDState
-from aruco_pose.msg import Marker, MarkerArray, Point2D
-
-import dynamic_reconfigure.client
 
 import tf2_ros
 import tf2_geometry_msgs
@@ -33,7 +25,7 @@ import pymavlink
 from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
-# from espeak import espeak
+from espeak import espeak
 from pyzbar import pyzbar
 
 print(cv2.getBuildInformation())

builder/test/tests.sh

@@ -32,7 +32,7 @@ monkey --version
 pigpiod -v
 i2cdetect -V
 butterfly -h
-# espeak --version
+espeak --version
 mjpg_streamer --version
 
 # ros stuff
@@ -43,8 +43,6 @@ rosversion aruco_pose
 rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
-rosversion ws281x
-rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
 rosversion compressed_image_transport
@@ -54,8 +52,6 @@ rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
 rosversion rosshow
-rosversion nodelet
-rosversion image_view
 
 # validate examples are present
 [[ $(ls /home/pi/examples/*) ]]

check_unused_assets.py

@@ -4,9 +4,7 @@ import os
 import sys
 import subprocess
 
-EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
+EXCLUDE = ('clever4-front-white.png', '.DS_Store', 'clever4-front-black-large.png')
-    'clever4-front-black-large.png','clover42-black.png')
-
 code = 0
 
 os.chdir('./docs')

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

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8.3)
 project(clover)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -241,12 +241,12 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-# Mark executables and/or libraries for installation
+## Mark executables and/or libraries for installation
-install(TARGETS simple_offboard clover_rc camera_markers vpe_publisher clover_led shell clover
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+# )
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -266,12 +266,6 @@ catkin_install_python(PROGRAMS src/selfcheck.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY examples DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-# TODO: install www
-
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)

clover/README.md

@@ -44,12 +44,16 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p
 
 ## Running
 
+To start connection to SITL, use:
+
+```bash
+roslaunch clover sitl.launch
+```
+
 To start connection to the flight controller, use:
 
 ```bash
 roslaunch clover clover.launch
 ```
 
-For the simulation information see the [corresponding article](https://clover.coex.tech/en/simulation.html).
-
 > Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.

clover/examples/get_telemetry.py

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

clover/launch/aruco.launch

@@ -9,7 +9,7 @@
     <!-- For additional help go to https://clover.coex.tech/aruco -->
 
     <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
         <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/markers" if="$(arg aruco_map)"/>
@@ -26,7 +26,7 @@
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>

clover/launch/clover.launch

@@ -11,7 +11,8 @@
     <arg name="rangefinder_vl53l1x" default="true"/>
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
-    <arg name="rc" default="false"/>
+    <arg name="rc" default="true"/>
+    <arg name="shell" default="true"/>
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 
@@ -36,13 +37,18 @@
     <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
 
     <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow main_camera_nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
         <param name="roi_rad" value="0.8"/>
     </node>
 
+    <!-- main nodelet manager -->
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
+        <param name="num_worker_threads" value="2"/>
+    </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 -->
@@ -85,6 +91,9 @@
         <param name="use_fake_gcs" value="false"/>
     </node>
 
+    <!-- Shell access through ROS service -->
+    <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
+
     <!-- Update static directory -->
     <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
         <param name="default_package" value="clover"/>

clover/launch/led.launch

@@ -36,7 +36,7 @@
             posctl: { r: 50, g: 100, b: 220 }
             offboard: { r: 220, g: 20, b: 250 }
             low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
-            error: { effect: flash, r: 255, g: 0, b: 0, ignore: [ "[lpe] vision position timeout" ]}
+            error: { effect: flash, r: 255, g: 0, b: 0 }
         </rosparam>
     </node>
 </launch>

clover/launch/main_camera.launch

@@ -3,7 +3,6 @@
 
     <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="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"/>
@@ -18,14 +17,9 @@
     <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
     <!-- <node 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"/> -->
 
-    <!-- camera nodelet manager -->
-    <node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
-        <param name="num_worker_threads" value="2"/>
-    </node>
-
     <!-- camera node -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet main_camera_nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" unless="$(arg simulator)" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)" respawn="true">
-        <param name="device_path" value="$(arg device)"/>
+        <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
         <param name="frame_id" value="main_camera_optical"/>
         <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>
 

clover/launch/mavros.launch

@@ -6,16 +6,13 @@
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
     <arg name="distance_sensor_remap" default="rangefinder/range"/>
-    <arg name="usb_device" default="/dev/px4fmu"/>
-    <arg name="prefix" default="" unless="$(eval fcu_conn == 'usb')"/>
-    <arg name="prefix" default="rosrun clover waitfile $(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->
         <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
         <!-- USB connection -->
-        <param name="fcu_url" value="$(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
+        <param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
 
         <!-- sitl before PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>

clover/launch/sitl.launch

@@ -0,0 +1,19 @@
+<launch>
+    <!-- clover configuration for testing in sitl -->
+    <arg name="ip" default="127.0.0.1"/>
+    <arg name="rosbridge" default="false"/>
+
+    <include file="$(find clover)/launch/clover.launch">
+        <arg name="fcu_conn" value="udp"/>
+        <arg name="fcu_ip" value="$(arg ip)"/>
+        <arg name="gcs_bridge" value="false"/>
+        <arg name="optical_flow" value="false"/>
+        <arg name="web_video_server" default="false"/>
+        <arg name="main_camera" default="false"/>
+        <arg name="rosbridge" value="$(arg rosbridge)"/>
+        <arg name="aruco" default="false"/>
+        <arg name="rangefinder_vl53l1x" default="false"/>
+        <arg name="led" default="false"/>
+        <arg name="rc" default="false"/>
+    </include>
+</launch>

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <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/led.cpp

@@ -12,7 +12,6 @@
 
 #include <ros/ros.h>
 #include <string>
-#include <vector>
 #include <boost/algorithm/string.hpp>
 
 #include <clover/SetLEDEffect.h>
@@ -30,7 +29,6 @@ ros::Timer timer;
 ros::Time start_time;
 double blink_rate, blink_fast_rate, flash_delay, fade_period, wipe_period, rainbow_period;
 double low_battery_threshold;
-std::vector<std::string> error_ignore;
 bool blink_state;
 led_msgs::SetLEDs set_leds;
 led_msgs::LEDStateArray state, start_state;
@@ -276,10 +274,6 @@ void handleMavrosState(const mavros_msgs::State& msg)
 void handleLog(const rosgraph_msgs::Log& log)
 {
 	if (log.level >= rosgraph_msgs::Log::ERROR) {
-		// check if ignored
-		for (auto const& str : error_ignore) {
-			if (log.msg.find(str) != std::string::npos) return;
-		}
 		notify("error");
 	}
 }
@@ -308,7 +302,6 @@ int main(int argc, char **argv)
 	nh_priv.param("rainbow_period", rainbow_period, 5.0);
 
 	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
 	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>("set_leds", true);

clover/src/optical_flow.cpp

@@ -153,7 +153,7 @@ private:
 			cv::Point2d shift = cv::phaseCorrelate(prev_, curr_, hann_, &response);
 
 			// Publish raw shift in pixels
-			geometry_msgs::Vector3Stamped shift_vec;
+			static geometry_msgs::Vector3Stamped shift_vec;
 			shift_vec.header.stamp = msg->header.stamp;
 			shift_vec.header.frame_id = msg->header.frame_id;
 			shift_vec.vector.x = shift.x;
@@ -180,7 +180,7 @@ private:
 			double flow_y = atan2(points_undist[0].y, focal_length_y);
 
 			// // Convert to FCU frame
-			geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
+			static geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
 			flow_camera.header.frame_id = msg->header.frame_id;
 			flow_camera.header.stamp = msg->header.stamp;
 			flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
@@ -199,7 +199,7 @@ private:
 			if (calc_flow_gyro_) {
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
-					geometry_msgs::Vector3Stamped flow_gyro_fcu;
+					static geometry_msgs::Vector3Stamped flow_gyro_fcu;
 					tf_buffer_->transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
 					flow_.integrated_xgyro = flow_gyro_fcu.vector.x;
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
@@ -207,7 +207,7 @@ private:
 				} catch (const tf2::TransformException& e) {
 					// Invalidate previous frame
 					prev_.release();
-					goto publish_debug;
+					return;
 				}
 			}
 
@@ -219,10 +219,6 @@ private:
 			flow_.quality = (uint8_t)(response * 255);
 			flow_pub_.publish(flow_);
 
-			prev_ = curr_.clone();
-			prev_stamp_ = msg->header.stamp;
-
-publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
 				// publish debug image
@@ -236,12 +232,15 @@ publish_debug:
 			}
 
 			// Publish estimated angular velocity
-			geometry_msgs::TwistStamped velo;
+			static 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.x = flow_.integrated_x / integration_time.toSec();
-			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
+			velo.twist.angular.y = flow_.integrated_y / integration_time.toSec();
 			velo_pub_.publish(velo);
+
+			prev_ = curr_.clone();
+			prev_stamp_ = msg->header.stamp;
 		}
 	}
 

clover/src/simple_offboard.cpp

@@ -712,7 +712,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		}
 
 		if (sp_type == VELOCITY) {
-			Vector3Stamped vel;
+			static Vector3Stamped vel;
 			vel.header.frame_id = frame_id;
 			vel.header.stamp = stamp;
 			vel.vector.x = vx;

clover/src/vpe_publisher.cpp

@@ -53,7 +53,7 @@ void publishZero(const ros::TimerEvent& e)
 	}
 
 	ROS_INFO_THROTTLE(10, "publish zero");
-	geometry_msgs::PoseStamped zero;
+	static geometry_msgs::PoseStamped zero;
 	zero.header.frame_id = local_frame_id;
 	zero.header.stamp = e.current_real;
 	zero.pose.orientation.w = 1;

clover/src/waitfile

@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# $ ./waitfile <file> <command> <args...> 
-# wait until <file> appears and then invoke <command> with <args>
-
-echo "wait for file $1"
-while [ ! -e "$1" ]; do sleep 1; done;
-echo "file $1 appeared"
-exec "${@:2}"

clover/test/basic.py

@@ -33,3 +33,19 @@ def test_web_video_server(node):
         # Python 3
         import urllib.request as urllib
     urllib.urlopen("http://localhost:8080").read()
+
+def test_shell(node):
+    execute = rospy.ServiceProxy('exec', srv.Execute)
+    execute.wait_for_service(5)
+
+    res = execute(cmd='echo foo')
+    assert res.code == 0
+    assert res.output == 'foo\n'
+
+    res = execute(cmd='foo')
+    assert res.code == 32512
+    assert res.output == ''
+
+    res = execute(cmd='ls foo')
+    assert res.code == 512
+    assert res.output == ''

clover/www/clover.err

@@ -1 +0,0 @@
-/tmp/clover.err

clover/www/clover_version

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

clover/www/index.html

@@ -1,5 +1,3 @@
-<title>Clover Drone Kit Tools</title>
-
 <h1>Clover Drone Kit Tools</h1>
 
 <ul>
@@ -9,20 +7,19 @@
 	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
 	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
 	<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
-	<li><a href="clover.err">Clover console</a> (<code>/tmp/clover.err</code>)</li>
 </ul>
 
 <div class="version"></div>
 
+<script src="js/roslib.js"></script>
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
 	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
-	fetch('clover_version').then(function(response) {
+	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });
-		if (response.status !== 200) return;
+	var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
-		response.text().then(function(text) {
+	exec.callService(new ROSLIB.ServiceRequest({ cmd: 'cat /etc/clover_version' }), function(result) {
-			document.querySelector('.version').innerHTML = 'Version: ' + text;
+		document.querySelector('.version').innerHTML = 'Version: ' + result.output;
-		});
 	});
 </script>

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/CMakeLists.txt

@@ -73,11 +73,6 @@ catkin_install_python(PROGRAMS src/clover_blocks
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-# TODO: store programs in home directory?
-install(DIRECTORY programs
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
 #############
 ## Testing ##
 #############

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_blocks/src/clover_blocks

@@ -11,8 +11,7 @@
 from __future__ import print_function
 
 import rospy
-import os, sys
+import os
-import traceback
 import threading
 import re
 import uuid
@@ -117,12 +116,7 @@ def run(req):
                 rospy.loginfo('Program forced to stop')
             except Exception as e:
                 rospy.logerr(str(e))
-                traceback.print_exc()
+                error_pub.publish(str(e))
-                etype, value, tb = sys.exc_info()
-                fmt = traceback.format_exception(etype, value, tb)
-                fmt.pop(1) # remove 'clover_blocks' file frame
-                exc_info = ''.join(fmt)
-                error_pub.publish(str(e) + '\n\n' + exc_info)
 
             rospy.loginfo('Program terminated')
             running_lock.release()
@@ -146,7 +140,6 @@ def stop(req):
     return {'success': True}
 
 
-# TODO: find dir in installed package
 programs_path = rospy.get_param('~programs_dir', os.path.dirname(os.path.abspath(__file__)) + '/../programs')
 
 

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/CMakeLists.txt

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

clover_simulation/launch/simulator.launch

@@ -1,5 +1,4 @@
 <launch>
-    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
     <arg name="mav_id" default="0"/>
     <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
     <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
@@ -10,22 +9,22 @@
     <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
 
     <!-- Gazebo instance -->
-    <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <!-- Workaround for crashes in VMware -->
         <env name="SVGA_VGPU10" value="0"/>
         <arg name="gui" value="true"/>
-        <arg name="world_name" value="$(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>
 
     <!-- PX4 instance -->
-    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
+    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)">
         <env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
         <env name="PX4_ESTIMATOR" value="$(arg est)"/>
     </node>
 
     <!-- Clover model -->
-    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
+    <include file="$(find clover_description)/launch/spawn_drone.launch">
         <arg name="main_camera" value="$(arg main_camera)"/>
         <arg name="rangefinder" value="$(arg rangefinder)"/>
         <arg name="led" value="$(arg led)"/>
@@ -33,20 +32,10 @@
         <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
     </include>
 
-    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>
-
-    <param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>
-
     <!-- Clover services -->
     <include file="$(find clover)/launch/clover.launch">
         <arg name="simulator" value="true"/>
         <arg name="fcu_conn" value="sitl"/>
         <arg name="fcu_ip" value="127.0.0.1"/>
-        <arg name="gcs_bridge" value=""/>
-        <arg name="rc" default="false"/>
-        <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
     </include>
 </launch>