Adjust aruco.launch arguments

* docs: Add contributed models for Jetson Nano

* Add Vyacheslav Buzov’s contact link

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

.travis.yml

@@ -73,8 +73,11 @@ jobs:
       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:
@@ -83,6 +86,7 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
+        - gitbook pdf ./ _book/clover.pdf
       deploy:
         provider: pages
         local_dir: _book

aruco_pose/src/genmap.py

@@ -13,7 +13,7 @@
 Generate map file for aruco_map nodelet.
 
 Usage:
-  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [--top-left | --bottom-left]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left]
   genmap.py (-h | --help)
 
 Options:
@@ -23,6 +23,8 @@ Options:
   <dist_x>       Distance between markers along X axis
   <dist_y>       Distance between markers along Y axis
   <first>        First marker ID [default: 0]
+  <x0>           X coordinate for the first marker [default: 0]
+  <y0>           Y coordinate for the first marker [default: 0]
   --top-left     First marker is on top-left (default)
   --bottom-left  First marker is on bottom-left
 
@@ -39,20 +41,22 @@ arguments = docopt(__doc__)
 
 length = float(arguments['<length>'])
 first = int(arguments['<first>'] if arguments['<first>'] is not None else 0)
+x0 = float(arguments['<x0>'] if arguments['<x0>'] is not None else 0)
+y0 = float(arguments['<y0>'] if arguments['<y0>'] is not None else 0)
 markers_x = int(arguments['<x>'])
 markers_y = int(arguments['<y>'])
 dist_x = float(arguments['<dist_x>'])
 dist_y = float(arguments['<dist_y>'])
 bottom_left = arguments['--bottom-left']
 
-max_y = (markers_y - 1) * dist_y
+max_y = y0 + (markers_y - 1) * dist_y
 
 print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
 for y in range(markers_y):
     for x in range(markers_x):
-        pos_x = x * dist_x
-        pos_y = y * dist_y
+        pos_x = x0 + x * dist_x
+        pos_y = y0 + y * dist_y
         if not bottom_left:
             pos_y = max_y - pos_y
-        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\t'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
+        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1

clover/launch/aruco.launch

@@ -1,7 +1,10 @@
 <launch>
-    <arg name="aruco_detect" default="true"/>
-    <arg name="aruco_map" default="false"/>
-    <arg name="aruco_vpe" default="false"/>
+    <arg name="aruco_detect" default="false"/> <!-- markers recognition enabled -->
+    <arg name="aruco_map" default="false"/> <!-- markers map recognition enabled -->
+    <arg name="aruco_vpe" default="false"/> <!-- markers map positioning enabled -->
+    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
+    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
+    <arg name="map" default="map.txt"/> <!-- markers map file name -->
 
     <!-- For additional help go to https://clover.coex.tech/aruco -->
 
@@ -12,8 +15,9 @@
         <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
-        <param name="known_tilt" value="map"/>
-        <param name="length" value="0.33"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval position == 'ceiling')"/>
+        <param name="length" value="$(arg length)"/>
         <!-- aruco detector parameters -->
         <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
         <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
@@ -24,8 +28,9 @@
         <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"/>
-        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
-        <param name="known_tilt" value="map"/>
+        <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <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)"/>

clover/launch/clover.launch

@@ -1,16 +1,15 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/>
-    <arg name="fcu_ip" default="127.0.0.1"/>
-    <arg name="fcu_sys_id" default="1"/>
-    <arg name="gcs_bridge" default="tcp"/>
-    <arg name="web_video_server" default="true"/>
-    <arg name="rosbridge" default="true"/>
-    <arg name="main_camera" default="true"/>
-    <arg name="optical_flow" default="true"/>
-    <arg name="aruco" default="false"/>
-    <arg name="rangefinder_vl53l1x" default="true"/>
-    <arg name="led" default="true"/>
-    <arg name="rc" default="true"/>
+    <arg name="fcu_conn" default="usb"/> <!-- FCU connection type: usb, uart, tcp, udp, sitl -->
+    <arg name="fcu_ip" default="127.0.0.1"/> <!-- FCU IP adddress (if using TCP/UDP) -->
+    <arg name="fcu_sys_id" default="1"/> <!-- MAVLink system ID, noeditor -->
+    <arg name="gcs_bridge" default="tcp"/> <!-- GCS bridge type: tcp, udp, udp-b, udp-pb -->
+    <arg name="web_video_server" default="true"/> <!-- web video server enabled -->
+    <arg name="rosbridge" default="true"/> <!-- rosbridge_suite enabled, noeditor -->
+    <arg name="main_camera" default="true"/> <!-- main camera enabled -->
+    <arg name="optical_flow" default="true"/> <!-- optical flow enabled -->
+    <arg name="rangefinder_vl53l1x" default="true"/> <!-- VL53l1X rangefinder enabled -->
+    <arg name="led" default="true"/> <!-- LED strip driver enabled -->
+    <arg name="rc" default="true"/> <!-- support for mobile RC enabled -->
     <arg name="shell" default="true"/>
 
     <!-- log formatting -->
@@ -31,7 +30,7 @@
     </node>
 
     <!-- aruco markers -->
-    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
+    <include file="$(find clover)/launch/aruco.launch"/>
 
     <!-- optical flow -->
     <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
@@ -87,4 +86,11 @@
     <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
         <param name="default_package" value="clover"/>
     </node>
+
+    <!-- roslaunch editor parameters -->
+    <group ns="roslaunch_editor">
+        <param name="items" type="yaml" value="[clover/clover.launch, clover/main_camera.launch, clover/aruco.launch, clover/led.launch]"/>
+        <param name="apply_command" value="sudo systemctl restart clover"/>
+        <param name="hide_uncommented" value="true"/>
+    </group>
 </launch>

clover/launch/led.launch

@@ -1,7 +1,7 @@
 <launch>
-    <arg name="ws281x" default="true"/>
-    <arg name="led_effect" default="true"/>
-    <arg name="led_notify" default="true"/>
+    <arg name="ws281x" default="true"/> <!-- LED strip driver enabled -->
+    <arg name="led_effect" default="true"/> <!-- LED effect API enabled -->
+    <arg name="led_notify" default="all"/> <!-- LED strip notifications: all, battery, none -->
 
     <!-- For additional help go to https://clover.coex.tech/led -->
 
@@ -22,7 +22,7 @@
         <param name="fade_period" value="0.5"/>
         <param name="rainbow_period" value="5"/>
         <!-- events effects table -->
-        <rosparam param="notify" if="$(arg led_notify)">
+        <rosparam param="notify" if="$(eval led_notify == 'all')">
             startup: { r: 255, g: 255, b: 255 }
             connected: { effect: rainbow }
             disconnected: { effect: blink, r: 255, g: 50, b: 50 }
@@ -34,5 +34,8 @@
             low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
             error: { effect: flash, r: 255, g: 0, b: 0 }
         </rosparam>
+        <rosparam param="notify" if="$(eval led_notify == 'battery')">
+            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
+        </rosparam>
     </node>
 </launch>