Merge branch 'master' into roswww-static-target

.github/workflows/docs.yml

@@ -11,6 +11,10 @@ permissions:
   pages: write
   id-token: write
 
+concurrency:
+  group: "pages"
+  cancel-in-progress: true
+
 defaults:
   run:
     shell: bash
@@ -71,9 +75,6 @@ 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 }}

aruco_pose/README.md

@@ -43,8 +43,7 @@ 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_vertical` (*string*) – known vertical (Z axis) of all the markers as a frame
+* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame
-* `~flip_vertical` – flip vertical vector
 
 ### Topics
 
@@ -72,8 +71,7 @@ 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_vertical` – known vertical (Z axis) of markers map as a frame
+* `~known_tilt` – known tilt (pitch and roll) 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/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="3">
+<package format="2">
   <name>aruco_pose</name>
   <version>0.23.0</version>
   <description>Positioning with ArUco markers</description>
@@ -28,8 +28,6 @@
   <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

@@ -71,12 +71,12 @@ private:
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
 	ros::ServiceServer set_markers_srv_;
-	bool estimate_poses_, send_tf_, flip_vertical_, auto_flip_, use_map_markers_;
+	bool estimate_poses_, send_tf_, 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_vertical_;
+	std::string frame_id_prefix_, known_tilt_;
 	Mat camera_matrix_, dist_coeffs_;
 	aruco_pose::MarkerArray array_;
 	std::unordered_set<int> map_markers_ids_;
@@ -105,8 +105,7 @@ public:
 		readLengthOverride(nh_priv_);
 		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));
 
-		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		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_");
@@ -145,7 +144,7 @@ private:
 		vector<vector<cv::Point2f>> corners, rejected;
 		vector<cv::Vec3d> rvecs, tvecs;
 		vector<cv::Point3f> obj_points;
-		geometry_msgs::TransformStamped vertical;
+		geometry_msgs::TransformStamped snap_to;
 
 		// Detect markers
 		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
@@ -180,12 +179,12 @@ private:
 					}
 				}
 
-				if (!known_vertical_.empty()) {
+				if (!known_tilt_.empty()) {
 					try {
-						vertical = tf_buffer_->lookupTransform(msg->header.frame_id, known_vertical_,
+						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                       msg->header.stamp, transform_timeout_);
+						                                      msg->header.stamp, transform_timeout_);
 					} catch (const tf2::TransformException& e) {
-						NODELET_WARN_THROTTLE(5, "can't retrieve known vertical: %s", e.what());
+						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
 				}
 			}
@@ -206,9 +205,9 @@ private:
 				if (estimate_poses_) {
 					fillPose(marker.pose, rvecs[i], tvecs[i]);
 
-					// apply known vertical (if enabled and vertical frame available)
+					// snap orientation (if enabled and snap frame available)
-					if (!known_vertical_.empty() && !vertical.header.frame_id.empty()) {
+					if (!known_tilt_.empty() && !snap_to.header.frame_id.empty()) {
-						applyVertical(marker.pose.orientation, vertical.transform.rotation, false, auto_flip_);
+						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
 					}
 
 					if (send_tf_) {

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_vertical_, map_, markers_frame_, markers_parent_frame_;
+	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool flip_vertical_, auto_flip_, image_axis_;
+	bool auto_flip_, image_axis_;
 
 public:
 	virtual void onInit()
@@ -104,8 +104,7 @@ public:
 
 		type_ = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		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);
@@ -178,7 +177,7 @@ public:
 			corners.push_back(marker_corners);
 		}
 
-		if (known_vertical_.empty()) {
+		if (known_tilt_.empty()) {
 			// simple estimation
 			valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
 			                                     rvec, tvec, false);
@@ -192,7 +191,7 @@ public:
 
 		} else {
 			Mat obj_points, img_points;
-			// estimation with known vertical
+			// estimation with "snapping"
 			cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
 			if (obj_points.empty()) goto publish_debug;
 
@@ -204,11 +203,11 @@ public:
 
 			fillTransform(transform_.transform, rvec, tvec);
 			try {
-				geometry_msgs::TransformStamped vertical = tf_buffer_.lookupTransform(markers->header.frame_id,
+				geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers->header.frame_id,
-				                                           known_vertical_, markers->header.stamp, ros::Duration(0.02));
+				                                          known_tilt_, markers->header.stamp, ros::Duration(0.02));
-				applyVertical(transform_.transform.rotation, vertical.transform.rotation, flip_vertical_, auto_flip_);
+				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation, auto_flip_);
 			} catch (const tf2::TransformException& e) {
-				NODELET_WARN_THROTTLE(1, "can't retrieve known vertical: %s", e.what());
+				NODELET_WARN_THROTTLE(1, "can't snap: %s", e.what());
 			}
 
 			geometry_msgs::TransformStamped shift;

aruco_pose/src/utils.h

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

builder/image-ros.sh

@@ -112,7 +112,7 @@ my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
+sudo -E -u pi sh -c '. /opt/ros/${ROS_DISTRO}/setup.sh && catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo'
 source devel/setup.bash
 
 echo_stamp "Install clever package (for backwards compatibility)"
@@ -151,9 +151,6 @@ 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

builder/test/tests.py

@@ -35,7 +35,6 @@ import pymavlink
 from pymavlink import mavutil
 # from espeak import espeak
 from pyzbar import pyzbar
-import docopt
 
 print(cv2.getBuildInformation())
 

builder/test/tests.sh

@@ -71,21 +71,8 @@ if [ -z $VM ]; then
 	[[ $(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 $H/examples/*) ]]
 

clover/CMakeLists.txt

@@ -230,6 +230,9 @@ target_link_libraries(${PROJECT_NAME}
   ${OpenCV_LIBRARIES}
 )
 
+# Set Clover to default www page
+set(ROSWWW_STATIC_DEFAULT ${PROJECT_NAME})
+
 #############
 ## Install ##
 #############

clover/examples/camera.py

@@ -21,7 +21,7 @@ center_pub = rospy.Publisher('~center', Image, queue_size=1)
 
 def get_color_name(h):
     if h < 15: return 'red'
-    elif h < 30: return 'orange'
+    if h < 30: return 'orange'
     elif h < 60: return 'yellow'
     elif h < 90: return 'green'
     elif h < 120: return 'cyan'

clover/launch/aruco.launch

@@ -19,8 +19,8 @@
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="use_map_markers" value="true"/>
-        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="length" value="$(arg length)"/>
         <param name="transform_timeout" value="0.1"/>
         <!-- aruco detector parameters -->
@@ -36,8 +36,8 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
         <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
+        <param name="known_tilt" value="map_flipped" 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="$(arg aruco_vpe)"/>
@@ -53,4 +53,8 @@
         <param name="force_init" value="$(arg force_init)"/>
         <param name="offset_frame_id" value="aruco_map"/>
     </node>
+
+    <!-- run map_flipped frame if placement is ceiling -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame"
+        args="0 0 0 3.1415926 3.1415926 0 map map_flipped" if="$(eval placement == 'ceiling')"/>
 </launch>

clover/launch/clover.launch

@@ -84,5 +84,4 @@
         <!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
         <param name="use_fake_gcs" value="false"/>
     </node>
-
 </launch>

clover/package.xml

@@ -43,7 +43,8 @@
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
   <depend>dynamic_reconfigure</depend>
   <exec_depend>python-pymavlink</exec_depend>
-  <test_depend>ros_pytest</test_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

clover/requirements.txt

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

clover/src/autotest/autotest_aruco.py

@@ -13,12 +13,7 @@ from util import handle_response
 
 rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c
 
-try:
+flow_client = dynamic_reconfigure.client.Client('optical_flow')
-    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))
@@ -72,13 +67,12 @@ 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()
 
-if flow_client:
+input('Disable optical flow and keep hovering [enter] ')
-    input('Disable optical flow and keep hovering [enter] ')
+flow_client.update_configuration({'enabled': False})
-    flow_client.update_configuration({'enabled': False})
+rospy.sleep(5)
-    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/selfcheck.py

@@ -9,7 +9,7 @@
 # The above copyright notice and this permission notice shall be included in all
 # copies or substantial portions of the Software.
 
-import os, sys
+import os
 import math
 import subprocess
 import re
@@ -50,16 +50,6 @@ thread_local = threading.local()
 reports_lock = Lock()
 
 
-# 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
     thread_local.reports += [{'failure': msg}]
@@ -85,9 +75,9 @@ def check(name):
                     if 'failure' in report:
                         rospy.logerr('%s: %s', name, report['failure'])
                     elif 'info' in report:
-                        rospy.loginfo(GREY + name + END + ': ' + report['info'])
+                        rospy.loginfo('\033[90m%s\033[0m: %s', name, report['info'])
                 if not thread_local.reports:
-                    rospy.loginfo(GREY + name + END + ': ' + GREEN + 'OK' + END)
+                    rospy.loginfo('\033[90m%s\033[0m: \033[92mOK\033[0m', name)
                 if rospy.get_param('~time', False):
                     rospy.loginfo('%s: %.1f sec', name, rospy.get_time() - start)
         return wrapper
@@ -97,7 +87,7 @@ def check(name):
 def ff(value, precision=2):
     # safely format float or int
     if value is None:
-        return RED + '???' + END
+        return '\033[31m???\033[0m'
     if isinstance(value, float):
         return ('{:.' + str(precision + 1) + '}').format(value)
     elif isinstance(value, int):
@@ -234,7 +224,6 @@ 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
 
         if not is_process_running('px4', exact=True): # can't use px4 console in SITL
@@ -317,7 +306,6 @@ def check_fcu():
 
     except rospy.ROSException:
         failure('no MAVROS state (check wiring)')
-        info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
 
 
 def describe_direction(v):
@@ -398,18 +386,15 @@ def check_aruco():
 
     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_vertical = rospy.get_param('aruco_detect/known_vertical', '')
+        known_tilt = rospy.get_param('aruco_detect/known_tilt', '')
-        flip_vertical = rospy.get_param('aruco_detect/flip_vertical', False)
+        if known_tilt == 'map':
-        description = ''
+            known_tilt += ' (ALL markers are on the floor)'
-        if known_vertical == 'map' and not flip_vertical:
+        elif known_tilt == 'map_flipped':
-            description = ' (all markers are on the floor)'
+            known_tilt += ' (ALL markers are on the ceiling)'
-        elif known_vertical == 'map' and flip_vertical:
+        info('aruco_detect/known_tilt = %s', known_tilt)
-            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:
             markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
         except rospy.ROSException:
@@ -420,15 +405,12 @@ def check_aruco():
         return
 
     if is_process_running('aruco_map', full=True):
-        known_vertical = rospy.get_param('aruco_map/known_vertical', '')
+        known_tilt = rospy.get_param('aruco_map/known_tilt', '')
-        flip_vertical = rospy.get_param('aruco_map/flip_vertical', False)
+        if known_tilt == 'map':
-        description = ''
+            known_tilt += ' (marker\'s map is on the floor)'
-        if known_vertical == 'map' and not flip_vertical:
+        elif known_tilt == 'map_flipped':
-            description += ' (markers map is on the floor)'
+            known_tilt += ' (marker\'s map is on the ceiling)'
-        elif known_vertical == 'map' and flip_vertical:
+        info('aruco_map/known_tilt = %s', known_tilt)
-            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=0.8)
@@ -468,8 +450,7 @@ def check_vpe():
         except rospy.ROSException:
             if not is_process_running('vpe_publisher', full=True):
                 info('no vision position estimate, vpe_publisher is not running')
-            elif rospy.get_param('aruco_map/known_vertical', '') == 'map' \
+            elif rospy.get_param('aruco_map/known_tilt') == 'map_flipped':
-                   and rospy.get_param('aruco_map/flip_vertical', False):
                 failure('no vision position estimate, markers are on the ceiling')
             elif is_on_the_floor():
                 info('no vision position estimate, the drone is on the floor')
@@ -612,10 +593,6 @@ def check_global_position():
 
 @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)

clover/src/vpe_publisher.cpp

@@ -25,7 +25,7 @@
 using std::string;
 using namespace geometry_msgs;
 
-bool reset_flag = true; // offset should be reset on the start
+bool reset_flag = false;
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;

clover/src/www

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

clover/www/index.html

@@ -12,6 +12,10 @@
 	<li><a href="console.html">Clover console</a> (<code>/var/log/clover.log</code>)</li>
 </ul>
 
+<p>
+	Update www using <code>rosrun roswww_static update</code>.
+</p>
+
 <div class="version"></div>
 
 <script type="text/javascript">

clover_simulation/package.xml

@@ -1,4 +1,4 @@
-<package format="3">
+<package format="2">
     <name>clover_simulation</name>
     <version>0.23.0</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
@@ -22,8 +22,6 @@
     <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}"/>

docs/en/simulation_native.md

@@ -147,8 +147,6 @@ sudo systemctl enable roscore
 sudo systemctl start roscore
 ```
 
-### Web tools setup
-
 Install any web server to serve Clover's web tools (`~/.ros/www` directory), e. g. Monkey:
 
 ```bash
@@ -160,11 +158,3 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system
 sudo systemctl enable monkey
 sudo systemctl start monkey
 ```
-
-Create `~/.ros/www` using the following command:
-
-```bash
-rosrun clover www
-```
-
-If the set of packages containing a web part (through `www` directory) is changed, the above command also must be run.

docs/en/wall_aruco.md

@@ -49,10 +49,10 @@ If you are using the marker map, where the markers have equal distances along th
 
 After you fill out the map, you need to apply it. To do it, edit the file `aruco.launch`, located in `~/catkin_ws/src/clover/clover/launch/`. Change the line `<param name="map" value="$(find aruco_pose)/map/map_name.txt"/>`, where `map_name.txt` is the name of your map file.
 
-If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must blank the `placement` argument in the same file:
+If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must disable the parameter `known_tilt` both in the module `aruco_detect` and `aruco_map` in the same file. To do it automatically, enter:
 
-```xml
+```bash
-<arg name="placement" default=""/>
+sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch
 ```
 
 After all the settings, call `sudo systemctl restart clover` to restart the `clover` service.

docs/ru/simulation_native.md

@@ -147,8 +147,6 @@ sudo systemctl enable roscore
 sudo systemctl start roscore
 ```
 
-### Конфигурация веб-инструментов
-
 Установите любой веб-сервер, чтобы раздавать веб-инструменты Клевера (директория `~/.ros/www`), например, Monkey:
 
 ```bash
@@ -160,11 +158,3 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system
 sudo systemctl enable monkey
 sudo systemctl start monkey
 ```
-
-Создайте директорию `~/.ros/www` следующей командой:
-
-```bash
-rosrun clover www
-```
-
-При обновлении набора пакетов, содержащих веб-часть (через каталог `www`), также необходимо выполнение данной команды.

docs/ru/wall_aruco.md

@@ -51,10 +51,10 @@ sed -i "/direction_y/s/default=\".*\"/default=\"\"/" /home/pi/catkin_ws/src/clov
 
 После того, как вы заполните карту, необходимо применить ее — для этого отредактируйте файл `aruco.launch`, расположенный в `~/catkin_ws/src/clover/clover/launch/`. Измените в нем строку `<param name="map" value="$(find aruco_pose)/map/map_name.txt"/>`, где `map_name.txt` название вашего файла с картой.
 
-При использовании маркеров, не привязанных к горизонтальным плоскостям (пол, потолок), необходимо также сделать пустым значение аргумента `placement` в том же файле:
+При использовании маркеров,  не привязанных к горизонтальным плоскостям(пол, потолок), необходимо отключить параметр `known_tilt` как в модуле `aruco_detect`, так и в модуле `aruco_map` в том же файле. Для того, чтобы сделать это автоматически, введите:
 
-```xml
+```bash
-<arg name="placement" default=""/>
+sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch
 ```
 
 После всех настроек вызовите `sudo systemctl restart clover` для перезагрузки сервиса `clover`.

roswww_static/CMakeLists.txt

@@ -5,6 +5,19 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
+macro(roswww_static_make_default)
+  message(STATUS "roswww_static: make ${PROJECT_NAME} package default")
+  set(ROSWWW_STATIC_DEFAULT ${PROJECT_NAME} CACHE STRING "Default roswww_static package")
+endmacro()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 catkin_install_python(PROGRAMS src/update
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+
+message(status "CATKIN_ENV: ${CATKIN_ENV}")
+
+add_custom_target(roswww_static ALL
+    COMMAND ${CMAKE_COMMAND} -E env ROSWWW_STATIC_DEFAULT=${ROSWWW_STATIC_DEFAULT}
+    ${CATKIN_ENV} ${CMAKE_CURRENT_SOURCE_DIR}/src/update)

roswww_static/README.md

@@ -13,7 +13,5 @@ You can rerun `update` if the list of installed packages changes.
 
 ## Parameters
 
-Parameters are passed through environment variables:
+* `index` – path for index page, otherwise packages list would be generated.
-
+* `default_package` – if set then the index page would redirect to this package's page.
-* `ROSWWW_INDEX` – path for index page, otherwise packages list would be generated.
-* `ROSWWW_DEFAULT` – if set then the index page would redirect to this package's page.

roswww_static/launch/example.launch

@@ -0,0 +1,6 @@
+<launch>
+    <node pkg="roswww_static" name="roswww_static" type="update" clear_params="true" output="screen">
+        <!-- <param name="index" value="$(find my_package)/www/index.html"/> -->
+        <!-- <param name="default_package" value="my_package"/> -->
+    </node>
+</launch>

roswww_static/src/update

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Copyright (C) 2020 Copter Express Technologies
 #
@@ -13,15 +13,20 @@
 
 import os
 import shutil
+import rospy
 import rospkg
 
+#rospy.init_node('roswww_static')
+
 rospack = rospkg.RosPack()
 
 www = rospkg.get_ros_home() + '/www'
-index_file = os.environ.get('ROSWWW_INDEX')
+index_file = None # rospy.get_param('~index_file', None)
-default_package = os.environ.get('ROSWWW_DEFAULT')
+default_package = os.environ.get('ROSWWW_STATIC_DEFAULT') # rospy.get_param('~default_package', None)
+
+print('roswww_static: destination directory:', www)
+print('roswww_static: default package:', default_package)
 
-print('using www dir: ' + www)
 shutil.rmtree(www, ignore_errors=True)  # reset www directory content
 os.mkdir(www)
 
@@ -32,7 +37,7 @@ index = '<h1>Packages list</h1>\n<ul>\n'
 for name in packages:
     path = rospack.get_path(name)
     if os.path.exists(path + '/www'):
-        print('found www path for %s package' % name)
+        print('roswww_static: found www path for package', name)
         os.symlink(path + '/www', www + '/' + name)
         index += '<li><a href="{name}/">{name}</a></li>'.format(name=name)
 
@@ -40,7 +45,7 @@ if default_package is not None:
     redirect_html = '<meta http-equiv=refresh content="0; url={name}/">'.format(name=default_package)
     open(www + '/index.html', 'w').write(redirect_html)
 elif index_file is not None:
-    print('symlinking index file')
+    print('roswww_static: symlinking index file')
     os.symlink(index_file, www + '/index.html')
 else:
     open(www + '/index.html', 'w').write(index)