builder: Don't test for what's not there

(we don't install pip2 anymore, but this may be reverted eventually)

.markdownlint.json

@@ -20,7 +20,6 @@
             "MAVLink",
             "ROS",
             "ROS Kinetic",
-            "ROS Melodic",
             "OpenCV",
             "Gazebo",
             "GitHub",
@@ -105,8 +104,7 @@
             "TCP",
             "UDP",
             "QR",
-            "Li-ion",
-            "Nvidia"
+            "Li-ion"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -1,5 +1,4 @@
-os: linux
-dist: xenial
+sudo: required
 language: generic
 services:
   - docker
@@ -44,7 +43,7 @@ jobs:
         - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
       deploy:
         provider: releases
-        token: ${GITHUB_OAUTH_TOKEN}
+        api_key: ${GITHUB_OAUTH_TOKEN}
         file: ${IMAGE_NAME}.zip
         skip_cleanup: true
         on:
@@ -58,7 +57,7 @@ jobs:
       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
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clever ${NATIVE_DOCKER} /root/catkin_ws/src/clever/builder/standalone-install.sh
     - stage: Build
       name: "Native Melodic build"
       env:
@@ -66,7 +65,7 @@ jobs:
       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
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clever ${NATIVE_DOCKER} /root/catkin_ws/src/clever/builder/standalone-install.sh
     - stage: Build
       name: "Documentation"
       language: node_js
@@ -85,13 +84,13 @@ jobs:
         - gitbook build
       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
+        local-dir: _book
+        skip-cleanup: true
+        github-token: ${GITHUB_OAUTH_TOKEN}
+        keep-history: true
+        target-branch: master
+        repo: CopterExpress/clever.coex.tech
+        fqdn: clever.coex.tech
         verbose: true
         on:
           branch: master
@@ -110,7 +109,7 @@ jobs:
         - 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|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf"
+        - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor"
 stages:
   - Build
   - Annotate

README.md

@@ -1,173 +1,103 @@
-# COEX Clover Drone Kit
+# CLEVER
 
-<table align=center>
-    <tr>
-        <td align=center><a href="https://px4.io"><img src="docs/assets/px4.svg" height=60></a></td>
-        <td align=center><a href="https://www.raspberrypi.org"><img src="docs/assets/rpi.svg" height=60></a></td>
-        <td align=center><a href="https://www.ros.org"><img src="docs/assets/ros.svg" height=60></a></td>
-    </tr>
-</table>
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="CLEVER drone">
 
-This repository contains documentation, software platform source code and RPi image builder for COEX Clover drone kit.
+CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
 
-<img src="docs/assets/clover42.png" align="right" width="400px" alt="COEX Clover">
+Copter Express has implemented a large number of different autonomous drone projects using exactly the same platform: [automated pizza delivery](https://www.youtube.com/watch?v=hmkAoZOtF58) in Samara and Kazan, coffee delivery in Skolkovo Innovation Center, [autonomous quadcopter with charging station](https://www.youtube.com/watch?v=RjX6nUqw1mI) for site monitoring and security, winning drones on [Robocross-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU) and [Robocross-2017](https://youtu.be/AQnd2CRczbQ) competitions and many others.
 
-Clover is a [PX4](https://px4.io)- and [ROS](https://www.ros.org)-powered educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
+**The main documentation is available [on Gitbook](https://clever.coex.tech/).**
 
-The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
+Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.
 
-## Autonomous flights video
+## Raspberry Pi image
 
-[![Clover Drone Kit autonomy compilation](http://img.youtube.com/vi/u3omgsYC4Fk/hqdefault.jpg)](https://youtu.be/u3omgsYC4Fk)
+**Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases).**
 
-Clover drone is used on a wide range of educational events, including [Copter Hack](https://www.youtube.com/watch?v=xgXheg3TTs4), WorldSkills Drone Operation competition, [Autonomous Vehicles Track of NTI Olympics 2016–2020](https://www.youtube.com/watch?v=E1_ehvJRKxg), Quadro Hack 2019 (National University of Science and Technology MISiS), Russian Robot Olympiad (autonomous flights), and others.
+[![Build Status](https://travis-ci.org/CopterExpress/clever.svg?branch=master)](https://travis-ci.org/CopterExpress/clever)
 
-## Features
+Image includes:
 
-### Prebuilt RPi image
+* Raspbian Buster
+* ROS Melodic
+* Configured networking
+* OpenCV
+* mavros
+* Periphery drivers (`pigpiod`, `rpi_ws281x`, etc)
+* CLEVER software bundle for autonomous drone control
 
-...
-
-### Common robotics software
-
-Prebuilt image for Raspberry Pi includes:
-
-|Software|Description|
-|-|-|
-|Raspbian Buster||
-|[ROS Melodic](http://wiki.ros.org/melodic)|Common robotics framework|
-|[OpenCV](https://opencv.org)|Computer vision library|
-|[`mavros`](http://wiki.ros.org/mavros)|ROS package for communication with the flight controller|
-|Configured networking||
-|Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)||
-|`clover`|package for autonomous drone control|
-|`aruco_pose`|Package for marker-assisted navigation|
-
-### QGroundControl Wi-Fi bridge
-
-...
-
-### Easy autonomous flights programming
-
-By using `clover` package, taking off, navigating and landing is just:
-
-```python
-navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)  # takeoff and hover 1 m above the ground
-```
-
-```python
-navigate(x=1, y=0, z=0, frame_id='body')  # fly forward 1 m
-```
-
-```
-land()
-```
-
-See [programming documentation](https://clover.coex.tech) for further information.
-
-### Optical flow positioning
-
-<img src="docs/assets/optical-flow.gif">
-
-RPi based optical flow....
-
-See [details](https://clover.coex.tech/en/optical_flow.html) in the documentation.
-
-### ArUco markers recognizing
-
-<img src="docs/assets/aruco.gif">
-
-...
-
-See [details](https://clover.coex.tech/en/aruco.html) in the documentation.
-
-### Easy working with peripheral devices
-
-Preinstalled package for the [LED strip](https://clover.coex.tech/en/leds.html) allows high-level control (such as rainbow effect or color fade) as well as individual LED low-level control:
-
-```python
-set_effect(r=0, g=100, b=0)  # fill strip with green color
-```
-
-```python
-set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
-```
-
-```python
-set_effect(effect='rainbow')  # show rainbow
-```
-
-Preinstalled [VL53L1X rangefinder driver](https://clover.coex.tech/en/laser.html) passes data to the flight controller automatically and allows the user to get its data:
-
-```python
-data = rospy.wait_for_message('rangefinder/range', Range)  # get data from the rangefinder
-```
-
-Preinstalled fast Python [GPIO library](https://clover.coex.tech/en/gpio.html).
-
-```python
-pi.write(11, 1)  # set signal of pin 11 to high
-```
-
-```python
-level = pi.read(12)  # read the state of pin 12
-```
-
-### Simulator
-
-<img src="docs/assets/simulator.jpg" width=400 align=center>
-
-Clover repository includes three simulation-related repository for Gazebo-based simulation.
-
-Screenshot...
-
-See details in the [documentation](https://clover.coex.tech/en/simulation.html). The simulation environment also available as a virtual machine image.
-
-### Remote control apps
-
-<table>
-    <tr>
-        <td>
-            <a href="https://itunes.apple.com/ru/app/clever-rc/id1396166572?mt=8">
-                <img src="docs/assets/appstore.svg" height=40>
-            </a>
-        </td>
-        <td>
-            <a href="https://play.google.com/store/apps/details?id=express.copter.cleverrc">
-                <img src="docs/assets/google_play.png" height=40>
-            </a>
-        </td>
-    </tr>
-</table>
-
-<!-- <a href="https://itunes.apple.com/ru/app/clever-rc/id1396166572?mt=8"><img src="docs/assets/appstore.svg"></a><a href="https://play.google.com/store/apps/details?id=express.copter.cleverrc"><img src="docs/assets/google_play.png" width="15%"></a> -->
-
-### Community
-
-<img src="docs/assets/community/collage.jpg" width=400 align=center>
-
-Clover is widely used ...
-
-[Telegram chat](tg://resolve?domain=COEXHelpdesk)...
-
-### Free and open source
-
-The Clover software bundle is free, open source, and compatible with any PX4/ROS-based drone.
+API description (in Russian) for autonomous flights is available [on GitBook](https://clever.coex.tech/simple_offboard.html).
 
 ## Manual installation
 
-For manual package installation and running see [`clover` package documentation](clover/README.md).
+Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
 
-## PX4 Dev Summit 2019 talk
+Clone this repo to directory `~/catkin_ws/src/clever`:
 
-[![](http://img.youtube.com/vi/CTG9E9PbJQ8/0.jpg)](http://www.youtube.com/watch?v=CTG9E9PbJQ8)
+```bash
+cd ~/catkin_ws/src
+git clone https://github.com/CopterExpress/clever.git clever
+```
 
-## Other resources
+All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:
 
-* Official documentation: [https://clover.coex.tech](https://clover.coex.tech).
-* ROS Wiki page: [https://wiki.ros.org/Robots/clover](https://wiki.ros.org/Robots/clover).
-* ROS Robots page: [https://robots.ros.org/clover](https://robots.ros.org/clover).
+```bash
+cd ~/catkin_ws/
+rosdep install -y --from-paths src --ignore-src
+```
+
+Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):
+
+```bash
+cd ~/catkin_ws
+catkin_make -j1
+```
+
+To complete `mavros` install you'll need to install `geographiclib` datasets:
+
+```bash
+curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
+```
+
+You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
+
+```bash
+cd ~/catkin_ws/src/clever/clever/config
+sudo cp 99-px4fmu.rules /lib/udev/rules.d
+```
+
+Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.
+
+## Running
+
+Enable systemd service `roscore` (if not running):
+
+```bash
+sudo systemctl enable /home/<username>/catkin_ws/src/clever/builder/assets/roscore.service
+sudo systemctl start roscore
+```
+
+To start connection to SITL, use:
+
+```bash
+roslaunch clever sitl.launch
+```
+
+To start connection to the flight controller, use:
+
+```bash
+roslaunch clever clever.launch
+```
+
+> 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`.
+
+Also, you can enable and start the systemd service:
+
+```bash
+sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/clever.service
+sudo systemctl start clever
+```
 
 ## 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.
+While the Clever 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/CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.0)
 project(aruco_pose)
 
+add_definitions(-std=c++11 -Wall -g)
+
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
 
@@ -19,11 +21,10 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_geometry_msgs
   sensor_msgs
   message_generation
-  dynamic_reconfigure
 )
 
 find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
-if ("${OpenCV_VERSION_MINOR}" LESS "9")
+if ("${OpenCV_VERSION_MINOR}" LESS "3")
   message(STATUS "OpenCV version too low, using vendored ArUco package")
   include(vendor/VendorOpenCV.cmake)
 else()
@@ -110,9 +111,10 @@ generate_messages(
 ##     and list every .cfg file to be processed
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
-generate_dynamic_reconfigure_options(
-  cfg/DetectorParams.cfg
-)
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
 
 ###################################
 ## catkin specific configuration ##
@@ -149,7 +151,7 @@ add_library(aruco_pose
   src/draw.cpp
 )
 
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
+add_dependencies(${PROJECT_NAME} aruco_pose_generate_messages_cpp)
 
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
@@ -227,5 +229,4 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_parser_empty_map.test)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
-  add_rostest(test/crash_opencv.test)
 endif()

aruco_pose/cfg/DetectorParams.cfg

@@ -1,107 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "aruco_pose"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-import cv2.aruco
-
-p = cv2.aruco.DetectorParameters_create()
-
-gen = ParameterGenerator()
-
-gen.add("adaptiveThreshConstant",                 double_t, 0,
-        "Constant for adaptive thresholding before finding contours",
-         p.adaptiveThreshConstant, 0, 100)
-
-gen.add("adaptiveThreshWinSizeMin",               int_t,    0,
-        "Minimum window size for adaptive thresholding before finding contours",
-         p.adaptiveThreshWinSizeMin, 1, 100)
-
-gen.add("adaptiveThreshWinSizeMax",               int_t,    0,
-        "Maximum window size for adaptive thresholding before finding contours",
-        p.adaptiveThreshWinSizeMax, 1, 100)
-
-gen.add("adaptiveThreshWinSizeStep",              int_t,    0,
-        "Increments from adaptiveThreshWinSizeMin to adaptiveThreshWinSizeMax during the thresholding",
-        p.adaptiveThreshWinSizeStep, 1, 100)
-
-gen.add("cornerRefinementMaxIterations",          int_t,    0,
-        "Maximum number of iterations for stop criteria of the corner refinement process",
-        p.cornerRefinementMaxIterations, 1, 1000)
-
-corner_refine_enum = gen.enum([ gen.const("CORNER_REFINE_NONE",      int_t, 0, "No refinement"),
-                       gen.const("CORNER_REFINE_SUBPIX",     int_t, 1, "Do subpixel refinement"),
-                       gen.const("CORNER_REFINE_CONTOUR",      int_t, 2, "Use contour-Points"),
-                       gen.const("CORNER_REFINE_APRILTAG", int_t, 3, "Use the AprilTag2 approach")],
-                     "An enum to set corner refinement method")
-
-gen.add("cornerRefinementMethod", int_t, 0, "Corner refinement method", 0, 0, 3, edit_method=corner_refine_enum)
-
-gen.add("cornerRefinementMinAccuracy",            double_t, 0,
-        "Minimum error for the stop criteria of the corner refinement process",
-        p.cornerRefinementMinAccuracy, 0, 1)
-
-gen.add("cornerRefinementWinSize",                int_t,    0,
-        "Window size for the corner refinement process (in pixels)",
-         p.cornerRefinementWinSize, 1, 100)
-
-gen.add("detectInvertedMarker",                   bool_t,   0,
-        "check if there is a white marker. In order to generate a 'white' marker just invert a normal marker by using a tilde",
-        False)
-
-gen.add("errorCorrectionRate",                    double_t, 0,
-        "Error correction rate respect to the maximum error correction capability for each dictionary",
-        p.errorCorrectionRate, 0, 1)
-
-gen.add("minCornerDistanceRate",                  double_t, 0,
-        "Minimum distance between corners for detected markers relative to its perimeter",
-        p.minCornerDistanceRate, 0, 0.25)
-
-gen.add("markerBorderBits",                       int_t,    0,
-        "Number of bits of the marker border, i.e. marker border width",
-        p.markerBorderBits, 1, 10)
-
-gen.add("maxErroneousBitsInBorderRate",           double_t, 0,
-        "Maximum number of accepted erroneous bits in the border (i.e. number of allowed white bits in the border)",
-        p.maxErroneousBitsInBorderRate, 0, 1)
-
-gen.add("minDistanceToBorder",                    int_t,    0,
-        "Minimum distance of any corner to the image border for detected markers (in pixels)",
-        p.minDistanceToBorder, 0, 1000)
-
-gen.add("minMarkerDistanceRate",                  double_t, 0,
-        "minimum mean distance beetween two marker corners to be considered similar, so that the smaller one is removed. The rate is relative to the smaller perimeter of the two markers",
-        p.minMarkerDistanceRate, 0, 1)
-
-gen.add("minMarkerPerimeterRate",                 double_t, 0,
-        "Determine minimum perimeter for marker contour to be detected. This is defined as a rate respect to the maximum dimension of the input image",
-        p.minMarkerPerimeterRate, 0, 4)
-
-gen.add("maxMarkerPerimeterRate",                 double_t, 0,
-        "Determine maximum perimeter for marker contour to be detected. This is defined as a rate respect to the maximum dimension of the input image",
-        p.maxMarkerPerimeterRate, 0, 4)
-
-gen.add("minOtsuStdDev",                          double_t, 0,
-        "Minimun standard deviation in pixels values during the decodification step to apply Otsu thresholding (otherwise, all the bits are set to 0 or 1 depending on mean higher than 128 or not)",
-        p.minOtsuStdDev, 0, 100)
-
-gen.add("perspectiveRemoveIgnoredMarginPerCell",  double_t, 0,
-        "Width of the margin of pixels on each cell not considered for the determination of the cell bit. Represents the rate respect to the total size of the cell, i.e. perpectiveRemovePixelPerCell",
-        p.perspectiveRemoveIgnoredMarginPerCell, 0, 1)
-
-gen.add("perspectiveRemovePixelPerCell",          int_t,    0,
-        "Number of bits (per dimension) for each cell of the marker when removing the perspective",
-        p.perspectiveRemovePixelPerCell, 1, 100)
-
-gen.add("polygonalApproxAccuracyRate",            double_t, 0,
-        "Minimum accuracy during the polygonal approximation process to determine which contours are squares",
-        p.polygonalApproxAccuracyRate, 0, 1)
-
-gen.add("aprilTagQuadDecimate",            double_t, 0,
-        "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution",
-        0, 0, 1000)
-
-gen.add("aprilTagQuadSigma",            double_t, 0,
-        "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values",
-        0, 0, 1000)
-
-exit(gen.generate(PACKAGE, "aruco_pose", "Detector"))

aruco_pose/map/map.txt

@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 1	0.33	0	0	0	0	0	0
 2	0.33	1	0	0	0	0	0
 3	0.33	0	1	0	0	0	0

aruco_pose/package.xml

@@ -18,6 +18,8 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>
+  <!-- FIXME: OpenCV3 is not in Melodic -->
+  <!-- <depend>opencv3</depend> -->
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>message_generation</depend>
@@ -27,7 +29,6 @@
   <depend>visualization_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>rostest</depend>
-  <depend>dynamic_reconfigure</depend>
 
   <test_depend>image_publisher</test_depend>
   <test_depend>ros_pytest</test_depend>

aruco_pose/src/aruco_detect.cpp

@@ -30,7 +30,6 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
-#include <dynamic_reconfigure/server.h>
 #include <geometry_msgs/Vector3.h>
 #include <geometry_msgs/Pose.h>
 #include <geometry_msgs/PoseStamped.h>
@@ -47,21 +46,18 @@
 
 #include <aruco_pose/Marker.h>
 #include <aruco_pose/MarkerArray.h>
-#include <aruco_pose/DetectorConfig.h>
 
 #include "utils.h"
-#include <memory>
-#include <functional>
 
 using std::vector;
 using cv::Mat;
 
 class ArucoDetect : public nodelet::Nodelet {
 private:
-	std::unique_ptr<tf2_ros::TransformBroadcaster> br_;
-	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_;
+	ros::NodeHandle nh_, nh_priv_;
+	tf2_ros::TransformBroadcaster br_;
+	tf2_ros::Buffer tf_buffer_;
+	tf2_ros::TransformListener tf_listener_{tf_buffer_};
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
 	image_transport::Publisher debug_pub_;
@@ -80,32 +76,30 @@ private:
 public:
 	virtual void onInit()
 	{
-		ros::NodeHandle& nh_ = getNodeHandle();
-		ros::NodeHandle& nh_priv_ = getPrivateNodeHandle();
-
-		br_.reset(new tf2_ros::TransformBroadcaster());
-		tf_buffer_.reset(new tf2_ros::Buffer());
-		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh_));
+		nh_ = getNodeHandle();
+		nh_priv_ = getPrivateNodeHandle();
 
 		int dictionary;
-		dictionary = nh_priv_.param("dictionary", 2);
-		estimate_poses_ = nh_priv_.param("estimate_poses", true);
-		send_tf_ = nh_priv_.param("send_tf", true);
+		nh_priv_.param("dictionary", dictionary, 2);
+		nh_priv_.param("estimate_poses", estimate_poses_, true);
+		nh_priv_.param("send_tf", send_tf_, true);
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
 			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
 		}
-		readLengthOverride(nh_priv_);
+		readLengthOverride();
 
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		auto_flip_ = nh_priv_.param("auto_flip", false);
+		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
+		nh_priv_.param("auto_flip", auto_flip_, false);
 
-		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
+		nh_priv_.param<std::string>("frame_id_prefix", frame_id_prefix_, "aruco_");
 
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
+		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
 
 		dictionary_ = cv::aruco::getPredefinedDictionary(static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(dictionary));
 		parameters_ = cv::aruco::DetectorParameters::create();
+		parameters_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
 
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);
@@ -116,12 +110,6 @@ public:
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
 		img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
 
-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
-		dynamic_reconfigure::Server<aruco_pose::DetectorConfig>::CallbackType cb;
-
-		cb = std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
-		dyn_srv_->setCallback(cb);
-
 		NODELET_INFO("ready");
 	}
 
@@ -171,8 +159,8 @@ private:
 
 				if (!known_tilt_.empty()) {
 					try {
-						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                      msg->header.stamp, ros::Duration(0.02));
+						snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, known_tilt_,
+						                                     msg->header.stamp, ros::Duration(0.02));
 					} catch (const tf2::TransformException& e) {
 						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
@@ -206,7 +194,7 @@ private:
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
 							transform.transform.rotation = marker.pose.orientation;
 							fillTranslation(transform.transform.translation, tvecs[i]);
-							br_->sendTransform(transform);
+							br_.sendTransform(transform);
 						}
 					}
 				}
@@ -327,10 +315,10 @@ private:
 		return frame_id_prefix_ + std::to_string(id);
 	}
 
-	void readLengthOverride(ros::NodeHandle& nh)
+	void readLengthOverride()
 	{
 		std::map<std::string, double> length_override;
-		nh.getParam("length_override", length_override);
+		nh_priv_.getParam("length_override", length_override);
 		for (auto const& item : length_override) {
 			length_override_[std::stoi(item.first)] = item.second;
 		}
@@ -353,37 +341,6 @@ private:
 			map_markers_ids_.insert(marker.id);
 		}
 	}
-
-	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
-	{
-		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
-		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
-		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;
-		parameters_->adaptiveThreshWinSizeStep = config.adaptiveThreshWinSizeStep;
-		parameters_->cornerRefinementMaxIterations = config.cornerRefinementMaxIterations;
-		parameters_->cornerRefinementMethod = config.cornerRefinementMethod;
-		parameters_->cornerRefinementMinAccuracy = config.cornerRefinementMinAccuracy;
-		parameters_->cornerRefinementWinSize = config.cornerRefinementWinSize;
-#if ((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR >= 4) && (CV_VERSION_REVISION >= 7)) || (CV_VERSION_MAJOR > 3)
-		parameters_->detectInvertedMarker = config.detectInvertedMarker;
-#endif
-		parameters_->errorCorrectionRate = config.errorCorrectionRate;
-		parameters_->minCornerDistanceRate = config.minCornerDistanceRate;
-		parameters_->markerBorderBits = config.markerBorderBits;
-		parameters_->maxErroneousBitsInBorderRate = config.maxErroneousBitsInBorderRate;
-		parameters_->minDistanceToBorder = config.minDistanceToBorder;
-		parameters_->minMarkerDistanceRate = config.minMarkerDistanceRate;
-		parameters_->minMarkerPerimeterRate = config.minMarkerPerimeterRate;
-		parameters_->maxMarkerPerimeterRate = config.maxMarkerPerimeterRate;
-		parameters_->minOtsuStdDev = config.minOtsuStdDev;
-		parameters_->perspectiveRemoveIgnoredMarginPerCell = config.perspectiveRemoveIgnoredMarginPerCell;
-		parameters_->perspectiveRemovePixelPerCell = config.perspectiveRemovePixelPerCell;
-		parameters_->polygonalApproxAccuracyRate = config.polygonalApproxAccuracyRate;
-#if ((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR >= 4) && (CV_VERSION_REVISION >= 2)) || (CV_VERSION_MAJOR > 3)
-		parameters_->aprilTagQuadDecimate = config.aprilTagQuadDecimate;
-		parameters_->aprilTagQuadSigma = config.aprilTagQuadSigma;
-#endif
-	}
 };
 
 PLUGINLIB_EXPORT_CLASS(ArucoDetect, nodelet::Nodelet)

aruco_pose/src/aruco_map.cpp

@@ -58,6 +58,7 @@ typedef message_filters::sync_policies::ExactTime<Image, CameraInfo, MarkerArray
 
 class ArucoMap : public nodelet::Nodelet {
 private:
+	ros::NodeHandle nh_, nh_priv_;
 	ros::Publisher img_pub_, pose_pub_, markers_pub_, vis_markers_pub_;
 	image_transport::Publisher debug_pub_;
 	message_filters::Subscriber<Image> image_sub_;
@@ -82,8 +83,8 @@ private:
 public:
 	virtual void onInit()
 	{
-		ros::NodeHandle &nh_ = getNodeHandle();
-		ros::NodeHandle &nh_priv_ = getPrivateNodeHandle();
+		nh_ = getNodeHandle();
+		nh_priv_ = getPrivateNodeHandle();
 
 		image_transport::ImageTransport it_priv(nh_priv_);
 
@@ -95,18 +96,19 @@ public:
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
 			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
+		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
 
 		std::string type, map;
-		type = nh_priv_.param<std::string>("type", "map");
-		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		auto_flip_ = nh_priv_.param("auto_flip", false);
-		image_width_ = nh_priv_.param("image_width" , 2000);
-		image_height_ = nh_priv_.param("image_height", 2000);
-		image_margin_ = nh_priv_.param("image_margin", 200);
-		image_axis_ = nh_priv_.param("image_axis", true);
-		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
-		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
+		nh_priv_.param<std::string>("type", type, "map");
+		nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
+		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
+		nh_priv_.param("auto_flip", auto_flip_, false);
+		nh_priv_.param("image_width", image_width_, 2000);
+		nh_priv_.param("image_height", image_height_, 2000);
+		nh_priv_.param("image_margin", image_margin_, 200);
+		nh_priv_.param("image_axis", image_axis_, true);
+		nh_priv_.param<std::string>("markers/frame_id", markers_parent_frame_, transform_.child_frame_id);
+		nh_priv_.param<std::string>("markers/child_frame_id_prefix", markers_frame_, "");
 
 		// createStripLine();
 
@@ -114,7 +116,7 @@ public:
 			param(nh_priv_, "map", map);
 			loadMap(map);
 		} else if (type == "gridboard") {
-			createGridBoard(nh_priv_);
+			createGridBoard();
 		} else {
 			NODELET_FATAL("unknown type: %s", type.c_str());
 			ros::shutdown();
@@ -329,7 +331,7 @@ publish_debug:
 		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}
 
-	void createGridBoard(ros::NodeHandle& nh)
+	void createGridBoard()
 	{
 		NODELET_INFO("generate gridboard");
 		NODELET_WARN("gridboard maps are deprecated");
@@ -337,15 +339,15 @@ publish_debug:
 		int markers_x, markers_y, first_marker;
 		double markers_side, markers_sep_x, markers_sep_y;
 		std::vector<int> marker_ids;
-		markers_x = nh.param("markers_x", 10);
-		markers_y = nh.param("markers_y", 10);
-		first_marker = nh.param("first_marker", 0);
+		nh_priv_.param<int>("markers_x", markers_x, 10);
+		nh_priv_.param<int>("markers_y", markers_y, 10);
+		nh_priv_.param<int>("first_marker", first_marker, 0);
 
-		param(nh, "markers_side", markers_side);
-		param(nh, "markers_sep_x", markers_sep_x);
-		param(nh, "markers_sep_y", markers_sep_y);
+		param(nh_priv_, "markers_side", markers_side);
+		param(nh_priv_, "markers_sep_x", markers_sep_x);
+		param(nh_priv_, "markers_sep_y", markers_sep_y);
 
-		if (nh.getParam("marker_ids", marker_ids)) {
+		if (nh_priv_.getParam("marker_ids", marker_ids)) {
 			if ((unsigned int)(markers_x * markers_y) != marker_ids.size()) {
 				NODELET_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
 				ros::shutdown();
@@ -392,7 +394,7 @@ publish_debug:
 		int num_markers = board_->dictionary->bytesList.rows;
 		if (num_markers <= id) {
 			NODELET_ERROR("Marker id %d is not in dictionary; current dictionary contains %d markers. "
-			              "Please see https://github.com/CopterExpress/clover/blob/master/aruco_pose/README.md#parameters for details",
+			              "Please see https://github.com/CopterExpress/clever/blob/master/aruco_pose/README.md#parameters for details",
 					  id, num_markers);
 			return;
 		}

aruco_pose/src/genmap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Copyright (C) 2018 Copter Express Technologies
 #
@@ -13,21 +13,17 @@
 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> [--top-left]
   genmap.py (-h | --help)
 
 Options:
-  <length>       Marker side length
-  <x>            Marker count along X axis
-  <y>            Marker count along Y axis
-  <dist_x>       Distance between markers along X axis
-  <dist_y>       Distance between markers along Y axis
-  <first>        First marker ID [default: 0]
-  --top-left     First marker is on top-left (default)
-  --bottom-left  First marker is on bottom-left
-
-Example:
-  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
+  <length>    Marker side length
+  <x>         Marker count along X axis
+  <y>         Marker count along Y axis
+  <dist_x>    Distance between markers along X axis
+  <dist_y>    Distance between markers along Y axis
+  <first>     First marker ID
+  --top-left  First marker is on top-left (not bottom-left)
 """
 
 from __future__ import print_function
@@ -38,21 +34,20 @@ from docopt import docopt
 arguments = docopt(__doc__)
 
 length = float(arguments['<length>'])
-first = int(arguments['<first>'] if arguments['<first>'] is not None else 0)
+first = int(arguments['<first>'])
 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']
+top_left = arguments['--top-left']
 
 max_y = (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
-        if not bottom_left:
+        if top_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))
         first += 1

aruco_pose/src/utils.h

@@ -35,7 +35,9 @@ static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo, cv::Ma
 	for (unsigned int i = 0; i < 3; ++i)
 		for (unsigned int j = 0; j < 3; ++j)
 			matrix.at<double>(i, j) = cinfo->K[3 * i + j];
-	dist = cv::Mat(cinfo->D, true);
+
+	for (unsigned int k = 0; k < cinfo->D.size(); k++)
+		dist.at<double>(k) = cinfo->D[k];
 }
 
 inline void rotatePoint(cv::Point3f& p, cv::Point3f origin, float angle)

aruco_pose/test/basic.test

@@ -14,7 +14,6 @@
         <param name="length_override/3" value="0.1"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
-        <param name="cornerRefinementMethod" value="1"/>
     </node>
 
     <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true" required="true">

aruco_pose/test/crash_opencv.py

@@ -1,18 +0,0 @@
-import rospy
-import pytest
-
-from visualization_msgs.msg import MarkerArray as VisMarkerArray
-
-
-@pytest.fixture
-def node():
-    return rospy.init_node('aruco_pose_opencv_crash', anonymous=True)
-
-def test_opencv_crashes_img01(node):
-    rospy.wait_for_message('aruco_detect_01/visualization', VisMarkerArray, timeout=5)
-
-def test_opencv_crashes_img02(node):
-    rospy.wait_for_message('aruco_detect_02/visualization', VisMarkerArray, timeout=5)
-
-def test_opencv_crashes_img03(node):
-    rospy.wait_for_message('aruco_detect_03/visualization', VisMarkerArray, timeout=5)

aruco_pose/test/crash_opencv.test

@@ -1,51 +0,0 @@
-<launch>
-    <arg name="corner_method" default="2"/>
-
-    <node pkg="image_publisher" type="image_publisher" name="imgpub_01" args="$(find aruco_pose)/test/crash_image_01.png">
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="publish_rate" value="10"/>
-        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
-    </node>
-
-    <node pkg="image_publisher" type="image_publisher" name="imgpub_02" args="$(find aruco_pose)/test/crash_image_02.png">
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="publish_rate" value="10"/>
-        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
-    </node>
-
-    <node pkg="image_publisher" type="image_publisher" name="imgpub_03" args="$(find aruco_pose)/test/crash_image_03.png">
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="publish_rate" value="10"/>
-        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager_01" args="manager"/>
-
-    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_01" args="load aruco_pose/aruco_detect nodelet_manager_01">
-        <remap from="image_raw" to="imgpub_01/image_raw"/>
-        <remap from="camera_info" to="imgpub_01/camera_info"/>
-        <param name="length" value="0.33"/>
-        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager_02" args="manager"/>
-
-    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_02" args="load aruco_pose/aruco_detect nodelet_manager_02">
-        <remap from="image_raw" to="imgpub_02/image_raw"/>
-        <remap from="camera_info" to="imgpub_02/camera_info"/>
-        <param name="length" value="0.33"/>
-        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager_03" args="manager"/>
-
-    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_03" args="load aruco_pose/aruco_detect nodelet_manager_03">
-        <remap from="image_raw" to="imgpub_03/image_raw"/>
-        <remap from="camera_info" to="imgpub_03/camera_info"/>
-        <param name="length" value="0.33"/>
-        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
-    </node>
-
-    <param name="test_module" value="$(find aruco_pose)/test/crash_opencv.py"/>
-    <test test-name="crash_opencv" pkg="ros_pytest" type="ros_pytest_runner"/>
-</launch>

aruco_pose/test/largemap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sys
 import unittest
 import json

aruco_pose/vendor/aruco/src/aruco.cpp

@@ -924,8 +924,6 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
 	// calculate the line :: who passes through the grouped points
 	Point3f lines[4];
 	for(int i=0; i<4; i++){
-		// Don't try to "interpolate" single points
-		if (cntPts[i].size() < 2) return;
 		lines[i]=_interpolate2Dline(cntPts[i]);
 	}
 

book.json

@@ -1,5 +1,5 @@
 {
-    "title": "Clover",
+    "title": "Clever",
     "description": "Конструктор квадрокоптера «Клевер»",
     "author": "Copter Express",
     "language": "en",
@@ -28,7 +28,7 @@
             "blank": true
         },
         "sitemap": {
-            "hostname": "https://clover.coex.tech"
+            "hostname": "https://clever.coex.tech"
         },
         "toolbar": {
             "buttons":
@@ -37,19 +37,19 @@
                     "label": "Edit page on github",
                     "icon": "fa fa-pencil-square-o",
                     "position" : "left",
-                    "url": "https://github.com/CopterExpress/clover/edit/master/docs/{{filepath_lang}}"
+                    "url": "https://github.com/CopterExpress/clever/edit/master/docs/{{filepath_lang}}"
                 },
                 {
                     "label": "GitHub",
                     "icon": "fa fa-github",
                     "position" : "left",
-                    "url": "https://github.com/CopterExpress/clover"
+                    "url": "https://github.com/CopterExpress/clever"
                 }
             ]
         },
         "addcssjs": {
-            "css": ["../clover.css"],
-            "js": ["../clover.js"]
+            "css": ["../clever.css"],
+            "js": ["../clever.js"]
         },
         "language-picker": {
             "languages": [["ru", "Russian"], ["en", "English"]]

builder/assets/avahi-services/sftp-ssh.service

@@ -1,34 +0,0 @@
-<?xml version="1.0" standalone='no'?><!--*-nxml-*-->
-<!DOCTYPE service-group SYSTEM "avahi-service.dtd">
-
-<!--
-  This file is part of avahi.
-
-  avahi is free software; you can redistribute it and/or modify it
-  under the terms of the GNU Lesser General Public License as
-  published by the Free Software Foundation; either version 2 of the
-  License, or (at your option) any later version.
-
-  avahi is distributed in the hope that it will be useful, but
-  WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-  General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with avahi; if not, write to the Free Software
-  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
-  02111-1307 USA.
--->
-
-<!-- See avahi.service(5) for more information about this configuration file -->
-
-<service-group>
-
-  <name replace-wildcards="yes">%h</name>
-
-  <service>
-    <type>_sftp-ssh._tcp</type>
-    <port>22</port>
-  </service>
-
-</service-group>

builder/assets/butterfly.service

@@ -2,5 +2,5 @@
 Description=Butterfly Terminal Server
 
 [Service]
-ExecStart=/usr/local/bin/butterfly.server.py --host="0.0.0.0" --unsecure
+ExecStart=/bin/bash -c ". /root/butterfly_env/bin/activate; butterfly.server.py --host="0.0.0.0" --unsecure"
 User=pi

builder/assets/clever.service

@@ -1,12 +1,13 @@
 [Unit]
-Description=Clover ROS package
+Description=Clever ROS package
 Requires=roscore.service
+After=network.target
 
 [Service]
 User=pi
 ExecStart=/bin/bash -c ". /home/pi/catkin_ws/devel/setup.sh; \
-                      ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clover clover.launch --wait --screen --skip-log-check \
-                      2> >(tee /tmp/clover.err)"
+                      ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clever clever.launch --wait --screen --skip-log-check \
+                      2> >(tee /tmp/clever.err)"
 
 [Install]
 WantedBy=multi-user.target

builder/assets/clever/clever/srv.py

@@ -1,3 +0,0 @@
-print("Warning: clever package is renamed to clover")
-
-from clover.srv import *

builder/assets/clever/setup.py

@@ -1,10 +0,0 @@
-#!/usr/bin/env python
-
-from distutils.core import setup
-
-setup(name='clever',
-      version='1.0',
-      description='Clever transitional package for backwards compatibility',
-      author='Oleg Kalachev',
-      packages=['clever'],
-     )

builder/assets/examples/flight.py

@@ -1,31 +0,0 @@
-# Information: https://clover.coex.tech/programming
-
-import rospy
-from clover import srv
-from std_srvs.srv import Trigger
-
-rospy.init_node('flight')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = rospy.ServiceProxy('navigate', srv.Navigate)
-navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
-set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
-set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
-set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
-land = rospy.ServiceProxy('land', Trigger)
-
-# Take off and hover 1 m above the ground
-navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
-
-# Wait for 3 seconds
-rospy.sleep(3)
-
-# Fly forward 1 m
-navigate(x=1, y=0, z=0, frame_id='body')
-
-# Wait for 3 seconds
-rospy.sleep(3)
-
-# Perform landing
-land()

builder/assets/examples/flight_marker.py

@@ -1,37 +0,0 @@
-# Information: https://clover.coex.tech/en/aruco.html
-
-import rospy
-from clover import srv
-from std_srvs.srv import Trigger
-
-rospy.init_node('flight')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = rospy.ServiceProxy('navigate', srv.Navigate)
-navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
-set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
-set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
-set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
-land = rospy.ServiceProxy('land', Trigger)
-
-# Take off and hover 1 m above the ground
-navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
-
-# Wait for 3 seconds
-rospy.sleep(3)
-
-# Fly 1 meter above ArUco marker 0
-navigate(x=0, y=0, z=1, frame_id='aruco_0')
-
-# Wait for 3 seconds
-rospy.sleep(3)
-
-# Fly to x=1 y=1 z=1 relative to ArUco markers map
-navigate(x=1, y=1, z=1, frame_id='aruco_map')
-
-# Wait for 3 seconds
-rospy.sleep(3)
-
-# Perform landing
-land()

builder/assets/examples/leds.py

@@ -1,25 +0,0 @@
-# Information: https://clover.coex.tech/en/leds.html
-
-import rospy
-from clover.srv import SetLEDEffect
-
-rospy.init_node('leds')
-
-set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
-
-set_effect(r=255, g=0, b=0)  # fill strip with red color
-rospy.sleep(2)
-
-set_effect(r=0, g=100, b=0)  # fill strip with green color
-rospy.sleep(2)
-
-set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
-rospy.sleep(2)
-
-set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
-rospy.sleep(5)
-
-set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
-rospy.sleep(5)
-
-set_effect(effect='rainbow')  # show rainbow

builder/assets/examples/navigate_wait.py

@@ -1,41 +0,0 @@
-# Information: https://clover.coex.tech/en/snippets.html#block-nav
-
-import math
-import rospy
-from clover import srv
-from std_srvs.srv import Trigger
-
-rospy.init_node('flight')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = rospy.ServiceProxy('navigate', srv.Navigate)
-navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
-set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
-set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
-set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
-land = rospy.ServiceProxy('land', Trigger)
-
-def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
-        frame_id='body', tolerance=0.2, auto_arm=False):
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
-
-    if not res.success:
-        return res
-
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
-            return res
-        rospy.sleep(0.2)
-
-# Take off 1 meter
-navigate_wait(z=1, frame_id='body', auto_arm=True)
-
-# Fly forward 1 m
-navigate_wait(x=1, frame_id='body')
-
-# Land
-land()

builder/assets/init_rpi.sh

@@ -35,26 +35,9 @@ echo_stamp() {
   echo -e ${TEXT}
 }
 
-NEW_SSID='clover-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
+NEW_SSID='CLEVER-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
 echo_stamp "Setting SSID to ${NEW_SSID}"
-# TODO: Use wpa_cli insted direct file edit
-# FIXME: We rely on raspberrypi-net-mods to copy our file to /etc/wpa_supplicant.
-# This is not very reliable, but seems to fix our rfkill problem.
-cat << EOF >> /boot/wpa_supplicant.conf
-ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
-update_config=1
-country=GB
-network={
-    ssid="${NEW_SSID}"
-    psk="cloverwifi"
-    mode=2
-    proto=WPA RSN
-    key_mgmt=WPA-PSK
-    pairwise=CCMP
-    group=CCMP
-    auth_alg=OPEN
-}
-EOF
+sudo sed -i.OLD "s/CLEVER/${NEW_SSID}/" /etc/wpa_supplicant/wpa_supplicant.conf
 
 NEW_HOSTNAME=$(echo ${NEW_SSID} | tr '[:upper:]' '[:lower:]')
 echo_stamp "Setting hostname to $NEW_HOSTNAME"
@@ -62,10 +45,6 @@ hostnamectl set-hostname $NEW_HOSTNAME
 sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_HOSTNAME}' '${NEW_HOSTNAME}'.local/g' /etc/hosts
 # .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces are down
 
-echo_stamp "Enable ROS services"
-systemctl enable roscore
-systemctl enable clover
-
 echo_stamp "Harware setup"
 /root/hardware_setup.sh
 

builder/assets/melodic-rosdep-clever.yaml

@@ -1,735 +1,723 @@
 catkin:
   debian:
-    buster: [ros-melodic-catkin]
+    buster: ros-melodic-catkin
 genmsg:
   debian:
-    buster: [ros-melodic-genmsg]
+    buster: ros-melodic-genmsg
 gencpp:
   debian:
-    buster: [ros-melodic-gencpp]
+    buster: ros-melodic-gencpp
 geneus:
   debian:
-    buster: [ros-melodic-geneus]
+    buster: ros-melodic-geneus
 genlisp:
   debian:
-    buster: [ros-melodic-genlisp]
+    buster: ros-melodic-genlisp
 gennodejs:
   debian:
-    buster: [ros-melodic-gennodejs]
+    buster: ros-melodic-gennodejs
 genpy:
   debian:
-    buster: [ros-melodic-genpy]
+    buster: ros-melodic-genpy
 bond_core:
   debian:
-    buster: [ros-melodic-bond-core]
+    buster: ros-melodic-bond-core
 cmake_modules:
   debian:
-    buster: [ros-melodic-cmake-modules]
+    buster: ros-melodic-cmake-modules
 class_loader:
   debian:
-    buster: [ros-melodic-class-loader]
+    buster: ros-melodic-class-loader
 common_msgs:
   debian:
-    buster: [ros-melodic-common-msgs]
+    buster: ros-melodic-common-msgs
 common_tutorials:
   debian:
-    buster: [ros-melodic-common-tutorials]
+    buster: ros-melodic-common-tutorials
 cpp_common:
   debian:
-    buster: [ros-melodic-cpp-common]
+    buster: ros-melodic-cpp-common
 desktop:
   debian:
-    buster: [ros-melodic-desktop]
+    buster: ros-melodic-desktop
 diagnostics:
   debian:
-    buster: [ros-melodic-diagnostics]
+    buster: ros-melodic-diagnostics
 executive_smach:
   debian:
-    buster: [ros-melodic-executive-smach]
+    buster: ros-melodic-executive-smach
 geometry:
   debian:
-    buster: [ros-melodic-geometry]
+    buster: ros-melodic-geometry
 geometry_tutorials:
   debian:
-    buster: [ros-melodic-geometry-tutorials]
+    buster: ros-melodic-geometry-tutorials
 gl_dependency:
   debian:
-    buster: [ros-melodic-gl-dependency]
+    buster: ros-melodic-gl-dependency
 image_common:
   debian:
-    buster: [ros-melodic-image-common]
+    buster: ros-melodic-image-common
 image_pipeline:
   debian:
-    buster: [ros-melodic-image-pipeline]
+    buster: ros-melodic-image-pipeline
 image_transport_plugins:
   debian:
-    buster: [ros-melodic-image-transport-plugins]
+    buster: ros-melodic-image-transport-plugins
 laser_pipeline:
   debian:
-    buster: [ros-melodic-laser-pipeline]
+    buster: ros-melodic-laser-pipeline
 mavlink:
   debian:
-    buster: [ros-melodic-mavlink]
+    buster: ros-melodic-mavlink
 media_export:
   debian:
-    buster: [ros-melodic-media-export]
+    buster: ros-melodic-media-export
 message_generation:
   debian:
-    buster: [ros-melodic-message-generation]
+    buster: ros-melodic-message-generation
 message_runtime:
   debian:
-    buster: [ros-melodic-message-runtime]
+    buster: ros-melodic-message-runtime
 mk:
   debian:
-    buster: [ros-melodic-mk]
+    buster: ros-melodic-mk
 nodelet_core:
   debian:
-    buster: [ros-melodic-nodelet-core]
+    buster: ros-melodic-nodelet-core
 orocos_kdl:
   debian:
-    buster: [ros-melodic-orocos-kdl]
+    buster: ros-melodic-orocos-kdl
 perception:
   debian:
-    buster: [ros-melodic-perception]
+    buster: ros-melodic-perception
 perception_pcl:
   debian:
-    buster: [ros-melodic-perception-pcl]
+    buster: ros-melodic-perception-pcl
 python_orocos_kdl:
   debian:
-    buster: [ros-melodic-python-orocos-kdl]
+    buster: ros-melodic-python-orocos-kdl
 qt_dotgraph:
   debian:
-    buster: [ros-melodic-qt-dotgraph]
+    buster: ros-melodic-qt-dotgraph
 qt_gui:
   debian:
-    buster: [ros-melodic-qt-gui]
+    buster: ros-melodic-qt-gui
 qt_gui_py_common:
   debian:
-    buster: [ros-melodic-qt-gui-py-common]
+    buster: ros-melodic-qt-gui-py-common
 qwt_dependency:
   debian:
-    buster: [ros-melodic-qwt-dependency]
+    buster: ros-melodic-qwt-dependency
 robot:
   debian:
-    buster: [ros-melodic-robot]
+    buster: ros-melodic-robot
 ros:
   debian:
-    buster: [ros-melodic-ros]
+    buster: ros-melodic-ros
 ros_base:
   debian:
-    buster: [ros-melodic-ros-base]
+    buster: ros-melodic-ros-base
 ros_comm:
   debian:
-    buster: [ros-melodic-ros-comm]
+    buster: ros-melodic-ros-comm
 ros_core:
   debian:
-    buster: [ros-melodic-ros-core]
+    buster: ros-melodic-ros-core
 ros_environment:
   debian:
-    buster: [ros-melodic-ros-environment]
+    buster: ros-melodic-ros-environment
 ros_tutorials:
   debian:
-    buster: [ros-melodic-ros-tutorials]
+    buster: ros-melodic-ros-tutorials
 rosapi:
   debian:
-    buster: [ros-melodic-rosapi]
+    buster: ros-melodic-rosapi
 rosbag_migration_rule:
   debian:
-    buster: [ros-melodic-rosbag-migration-rule]
+    buster: ros-melodic-rosbag-migration-rule
 rosbash:
   debian:
-    buster: [ros-melodic-rosbash]
+    buster: ros-melodic-rosbash
 rosboost_cfg:
   debian:
-    buster: [ros-melodic-rosboost-cfg]
+    buster: ros-melodic-rosboost-cfg
 rosbridge_server:
   debian:
-    buster: [ros-melodic-rosbridge-server]
+    buster: ros-melodic-rosbridge-server
 rosbridge_suite:
   debian:
-    buster: [ros-melodic-rosbridge-suite]
+    buster: ros-melodic-rosbridge-suite
 rosbuild:
   debian:
-    buster: [ros-melodic-rosbuild]
+    buster: ros-melodic-rosbuild
 rosclean:
   debian:
-    buster: [ros-melodic-rosclean]
+    buster: ros-melodic-rosclean
 roscpp_core:
   debian:
-    buster: [ros-melodic-roscpp-core]
+    buster: ros-melodic-roscpp-core
 roscpp_traits:
   debian:
-    buster: [ros-melodic-roscpp-traits]
+    buster: ros-melodic-roscpp-traits
 roscreate:
   debian:
-    buster: [ros-melodic-roscreate]
+    buster: ros-melodic-roscreate
 rosgraph:
   debian:
-    buster: [ros-melodic-rosgraph]
+    buster: ros-melodic-rosgraph
 roslang:
   debian:
-    buster: [ros-melodic-roslang]
+    buster: ros-melodic-roslang
 roslint:
   debian:
-    buster: [ros-melodic-roslint]
+    buster: ros-melodic-roslint
 roslisp:
   debian:
-    buster: [ros-melodic-roslisp]
+    buster: ros-melodic-roslisp
 rosmake:
   debian:
-    buster: [ros-melodic-rosmake]
+    buster: ros-melodic-rosmake
 rosmaster:
   debian:
-    buster: [ros-melodic-rosmaster]
+    buster: ros-melodic-rosmaster
 rospack:
   debian:
-    buster: [ros-melodic-rospack]
+    buster: ros-melodic-rospack
 roslib:
   debian:
-    buster: [ros-melodic-roslib]
+    buster: ros-melodic-roslib
 rosparam:
   debian:
-    buster: [ros-melodic-rosparam]
+    buster: ros-melodic-rosparam
 rospy:
   debian:
-    buster: [ros-melodic-rospy]
+    buster: ros-melodic-rospy
 rosserial:
   debian:
-    buster: [ros-melodic-rosserial]
+    buster: ros-melodic-rosserial
 rosserial_msgs:
   debian:
-    buster: [ros-melodic-rosserial-msgs]
+    buster: ros-melodic-rosserial-msgs
 rosserial_python:
   debian:
-    buster: [ros-melodic-rosserial-python]
+    buster: ros-melodic-rosserial-python
 rosservice:
   debian:
-    buster: [ros-melodic-rosservice]
+    buster: ros-melodic-rosservice
 rostime:
   debian:
-    buster: [ros-melodic-rostime]
+    buster: ros-melodic-rostime
 roscpp_serialization:
   debian:
-    buster: [ros-melodic-roscpp-serialization]
+    buster: ros-melodic-roscpp-serialization
 python_qt_binding:
   debian:
-    buster: [ros-melodic-python-qt-binding]
+    buster: ros-melodic-python-qt-binding
 roslaunch:
   debian:
-    buster: [ros-melodic-roslaunch]
+    buster: ros-melodic-roslaunch
 rosunit:
   debian:
-    buster: [ros-melodic-rosunit]
+    buster: ros-melodic-rosunit
 angles:
   debian:
-    buster: [ros-melodic-angles]
+    buster: ros-melodic-angles
 libmavconn:
   debian:
-    buster: [ros-melodic-libmavconn]
+    buster: ros-melodic-libmavconn
 rosconsole:
   debian:
-    buster: [ros-melodic-rosconsole]
+    buster: ros-melodic-rosconsole
 pluginlib:
   debian:
-    buster: [ros-melodic-pluginlib]
+    buster: ros-melodic-pluginlib
 qt_gui_cpp:
   debian:
-    buster: [ros-melodic-qt-gui-cpp]
+    buster: ros-melodic-qt-gui-cpp
 resource_retriever:
   debian:
-    buster: [ros-melodic-resource-retriever]
+    buster: ros-melodic-resource-retriever
 rosconsole_bridge:
   debian:
-    buster: [ros-melodic-rosconsole-bridge]
+    buster: ros-melodic-rosconsole-bridge
 roslz4:
   debian:
-    buster: [ros-melodic-roslz4]
+    buster: ros-melodic-roslz4
 rosserial_client:
   debian:
-    buster: [ros-melodic-rosserial-client]
+    buster: ros-melodic-rosserial-client
 rostest:
   debian:
-    buster: [ros-melodic-rostest]
+    buster: ros-melodic-rostest
 rqt_action:
   debian:
-    buster: [ros-melodic-rqt-action]
+    buster: ros-melodic-rqt-action
 rqt_bag:
   debian:
-    buster: [ros-melodic-rqt-bag]
+    buster: ros-melodic-rqt-bag
 rqt_bag_plugins:
   debian:
-    buster: [ros-melodic-rqt-bag-plugins]
+    buster: ros-melodic-rqt-bag-plugins
 rqt_common_plugins:
   debian:
-    buster: [ros-melodic-rqt-common-plugins]
+    buster: ros-melodic-rqt-common-plugins
 rqt_console:
   debian:
-    buster: [ros-melodic-rqt-console]
+    buster: ros-melodic-rqt-console
 rqt_dep:
   debian:
-    buster: [ros-melodic-rqt-dep]
+    buster: ros-melodic-rqt-dep
 rqt_graph:
   debian:
-    buster: [ros-melodic-rqt-graph]
+    buster: ros-melodic-rqt-graph
 rqt_gui:
   debian:
-    buster: [ros-melodic-rqt-gui]
+    buster: ros-melodic-rqt-gui
 rqt_logger_level:
   debian:
-    buster: [ros-melodic-rqt-logger-level]
+    buster: ros-melodic-rqt-logger-level
 rqt_moveit:
   debian:
-    buster: [ros-melodic-rqt-moveit]
+    buster: ros-melodic-rqt-moveit
 rqt_msg:
   debian:
-    buster: [ros-melodic-rqt-msg]
+    buster: ros-melodic-rqt-msg
 rqt_nav_view:
   debian:
-    buster: [ros-melodic-rqt-nav-view]
+    buster: ros-melodic-rqt-nav-view
 rqt_plot:
   debian:
-    buster: [ros-melodic-rqt-plot]
+    buster: ros-melodic-rqt-plot
 rqt_pose_view:
   debian:
-    buster: [ros-melodic-rqt-pose-view]
+    buster: ros-melodic-rqt-pose-view
 rqt_publisher:
   debian:
-    buster: [ros-melodic-rqt-publisher]
+    buster: ros-melodic-rqt-publisher
 rqt_py_console:
   debian:
-    buster: [ros-melodic-rqt-py-console]
+    buster: ros-melodic-rqt-py-console
 rqt_reconfigure:
   debian:
-    buster: [ros-melodic-rqt-reconfigure]
+    buster: ros-melodic-rqt-reconfigure
 rqt_robot_dashboard:
   debian:
-    buster: [ros-melodic-rqt-robot-dashboard]
+    buster: ros-melodic-rqt-robot-dashboard
 rqt_robot_monitor:
   debian:
-    buster: [ros-melodic-rqt-robot-monitor]
+    buster: ros-melodic-rqt-robot-monitor
 rqt_robot_plugins:
   debian:
-    buster: [ros-melodic-rqt-robot-plugins]
+    buster: ros-melodic-rqt-robot-plugins
 rqt_robot_steering:
   debian:
-    buster: [ros-melodic-rqt-robot-steering]
+    buster: ros-melodic-rqt-robot-steering
 rqt_runtime_monitor:
   debian:
-    buster: [ros-melodic-rqt-runtime-monitor]
+    buster: ros-melodic-rqt-runtime-monitor
 rqt_service_caller:
   debian:
-    buster: [ros-melodic-rqt-service-caller]
+    buster: ros-melodic-rqt-service-caller
 rqt_shell:
   debian:
-    buster: [ros-melodic-rqt-shell]
+    buster: ros-melodic-rqt-shell
 rqt_srv:
   debian:
-    buster: [ros-melodic-rqt-srv]
+    buster: ros-melodic-rqt-srv
 rqt_tf_tree:
   debian:
-    buster: [ros-melodic-rqt-tf-tree]
+    buster: ros-melodic-rqt-tf-tree
 rqt_top:
   debian:
-    buster: [ros-melodic-rqt-top]
+    buster: ros-melodic-rqt-top
 rqt_topic:
   debian:
-    buster: [ros-melodic-rqt-topic]
+    buster: ros-melodic-rqt-topic
 rqt_web:
   debian:
-    buster: [ros-melodic-rqt-web]
+    buster: ros-melodic-rqt-web
 smach:
   debian:
-    buster: [ros-melodic-smach]
+    buster: ros-melodic-smach
 smclib:
   debian:
-    buster: [ros-melodic-smclib]
+    buster: ros-melodic-smclib
 std_msgs:
   debian:
-    buster: [ros-melodic-std-msgs]
+    buster: ros-melodic-std-msgs
 actionlib_msgs:
   debian:
-    buster: [ros-melodic-actionlib-msgs]
+    buster: ros-melodic-actionlib-msgs
 bond:
   debian:
-    buster: [ros-melodic-bond]
+    buster: ros-melodic-bond
 diagnostic_msgs:
   debian:
-    buster: [ros-melodic-diagnostic-msgs]
+    buster: ros-melodic-diagnostic-msgs
 geometry_msgs:
   debian:
-    buster: [ros-melodic-geometry-msgs]
+    buster: ros-melodic-geometry-msgs
 eigen_conversions:
   debian:
-    buster: [ros-melodic-eigen-conversions]
+    buster: ros-melodic-eigen-conversions
 kdl_conversions:
   debian:
-    buster: [ros-melodic-kdl-conversions]
+    buster: ros-melodic-kdl-conversions
 nav_msgs:
   debian:
-    buster: [ros-melodic-nav-msgs]
+    buster: ros-melodic-nav-msgs
 rosbridge_msgs:
   debian:
-    buster: [ros-melodic-rosbridge-msgs]
+    buster: ros-melodic-rosbridge-msgs
 rosgraph_msgs:
   debian:
-    buster: [ros-melodic-rosgraph-msgs]
+    buster: ros-melodic-rosgraph-msgs
 rosmsg:
   debian:
-    buster: [ros-melodic-rosmsg]
+    buster: ros-melodic-rosmsg
 rqt_py_common:
   debian:
-    buster: [ros-melodic-rqt-py-common]
+    buster: ros-melodic-rqt-py-common
 shape_msgs:
   debian:
-    buster: [ros-melodic-shape-msgs]
+    buster: ros-melodic-shape-msgs
 smach_msgs:
   debian:
-    buster: [ros-melodic-smach-msgs]
+    buster: ros-melodic-smach-msgs
 std_srvs:
   debian:
-    buster: [ros-melodic-std-srvs]
+    buster: ros-melodic-std-srvs
 tf2_msgs:
   debian:
-    buster: [ros-melodic-tf2-msgs]
+    buster: ros-melodic-tf2-msgs
 tf2:
   debian:
-    buster: [ros-melodic-tf2]
+    buster: ros-melodic-tf2
 tf2_eigen:
   debian:
-    buster: [ros-melodic-tf2-eigen]
+    buster: ros-melodic-tf2-eigen
 trajectory_msgs:
   debian:
-    buster: [ros-melodic-trajectory-msgs]
+    buster: ros-melodic-trajectory-msgs
 control_msgs:
   debian:
-    buster: [ros-melodic-control-msgs]
+    buster: ros-melodic-control-msgs
 urdf_parser_plugin:
   debian:
-    buster: [ros-melodic-urdf-parser-plugin]
+    buster: ros-melodic-urdf-parser-plugin
 urdfdom_py:
   debian:
-    buster: [ros-melodic-urdfdom-py]
+    buster: ros-melodic-urdfdom-py
 uuid_msgs:
   debian:
-    buster: [ros-melodic-uuid-msgs]
+    buster: ros-melodic-uuid-msgs
 geographic_msgs:
   debian:
-    buster: [ros-melodic-geographic-msgs]
+    buster: ros-melodic-geographic-msgs
 vision_opencv:
   debian:
-    buster: [ros-melodic-vision-opencv]
+    buster: ros-melodic-vision-opencv
 visualization_msgs:
   debian:
-    buster: [ros-melodic-visualization-msgs]
+    buster: ros-melodic-visualization-msgs
 visualization_tutorials:
   debian:
-    buster: [ros-melodic-visualization-tutorials]
+    buster: ros-melodic-visualization-tutorials
 viz:
   debian:
-    buster: [ros-melodic-viz]
+    buster: ros-melodic-viz
 webkit_dependency:
   debian:
-    buster: [ros-melodic-webkit-dependency]
+    buster: ros-melodic-webkit-dependency
 xmlrpcpp:
   debian:
-    buster: [ros-melodic-xmlrpcpp]
+    buster: ros-melodic-xmlrpcpp
 roscpp:
   debian:
-    buster: [ros-melodic-roscpp]
+    buster: ros-melodic-roscpp
 bondcpp:
   debian:
-    buster: [ros-melodic-bondcpp]
+    buster: ros-melodic-bondcpp
 bondpy:
   debian:
-    buster: [ros-melodic-bondpy]
+    buster: ros-melodic-bondpy
 nodelet:
   debian:
-    buster: [ros-melodic-nodelet]
+    buster: ros-melodic-nodelet
 nodelet_tutorial_math:
   debian:
-    buster: [ros-melodic-nodelet-tutorial-math]
+    buster: ros-melodic-nodelet-tutorial-math
 pluginlib_tutorials:
   debian:
-    buster: [ros-melodic-pluginlib-tutorials]
+    buster: ros-melodic-pluginlib-tutorials
 roscpp_tutorials:
   debian:
-    buster: [ros-melodic-roscpp-tutorials]
+    buster: ros-melodic-roscpp-tutorials
 rosout:
   debian:
-    buster: [ros-melodic-rosout]
+    buster: ros-melodic-rosout
 async_web_server_cpp:
   debian:
-    buster: [ros-melodic-async-web-server-cpp]
+    buster: ros-melodic-async-web-server-cpp
 camera_calibration:
   debian:
-    buster: [ros-melodic-camera-calibration]
+    buster: ros-melodic-camera-calibration
 diagnostic_aggregator:
   debian:
-    buster: [ros-melodic-diagnostic-aggregator]
+    buster: ros-melodic-diagnostic-aggregator
 diagnostic_updater:
   debian:
-    buster: [ros-melodic-diagnostic-updater]
+    buster: ros-melodic-diagnostic-updater
 diagnostic_common_diagnostics:
   debian:
-    buster: [ros-melodic-diagnostic-common-diagnostics]
+    buster: ros-melodic-diagnostic-common-diagnostics
 dynamic_reconfigure:
   debian:
-    buster: [ros-melodic-dynamic-reconfigure]
+    buster: ros-melodic-dynamic-reconfigure
 filters:
   debian:
-    buster: [ros-melodic-filters]
+    buster: ros-melodic-filters
 joint_state_publisher:
   debian:
-    buster: [ros-melodic-joint-state-publisher]
+    buster: ros-melodic-joint-state-publisher
 message_filters:
   debian:
-    buster: [ros-melodic-message-filters]
+    buster: ros-melodic-message-filters
 ros_pytest:
   debian:
-    buster: [ros-melodic-ros-pytest]
+    buster: ros-melodic-ros-pytest
 rosauth:
   debian:
-    buster: [ros-melodic-rosauth]
+    buster: ros-melodic-rosauth
 rosbag_storage:
   debian:
-    buster: [ros-melodic-rosbag-storage]
+    buster: ros-melodic-rosbag-storage
 rosnode:
   debian:
-    buster: [ros-melodic-rosnode]
+    buster: ros-melodic-rosnode
 rospy_tutorials:
   debian:
-    buster: [ros-melodic-rospy-tutorials]
+    buster: ros-melodic-rospy-tutorials
 rosshow:
   debian:
-    buster: [ros-melodic-rosshow]
+    buster: ros-melodic-rosshow
 rostopic:
   debian:
-    buster: [ros-melodic-rostopic]
+    buster: ros-melodic-rostopic
 rqt_gui_cpp:
   debian:
-    buster: [ros-melodic-rqt-gui-cpp]
+    buster: ros-melodic-rqt-gui-cpp
 rqt_gui_py:
   debian:
-    buster: [ros-melodic-rqt-gui-py]
+    buster: ros-melodic-rqt-gui-py
 self_test:
   debian:
-    buster: [ros-melodic-self-test]
+    buster: ros-melodic-self-test
 smach_ros:
   debian:
-    buster: [ros-melodic-smach-ros]
+    buster: ros-melodic-smach-ros
 tf2_py:
   debian:
-    buster: [ros-melodic-tf2-py]
+    buster: ros-melodic-tf2-py
 topic_tools:
   debian:
-    buster: [ros-melodic-topic-tools]
+    buster: ros-melodic-topic-tools
 rosbag:
   debian:
-    buster: [ros-melodic-rosbag]
+    buster: ros-melodic-rosbag
 actionlib:
   debian:
-    buster: [ros-melodic-actionlib]
+    buster: ros-melodic-actionlib
 actionlib_tutorials:
   debian:
-    buster: [ros-melodic-actionlib-tutorials]
+    buster: ros-melodic-actionlib-tutorials
 diagnostic_analysis:
   debian:
-    buster: [ros-melodic-diagnostic-analysis]
+    buster: ros-melodic-diagnostic-analysis
 nodelet_topic_tools:
   debian:
-    buster: [ros-melodic-nodelet-topic-tools]
+    buster: ros-melodic-nodelet-topic-tools
 roswtf:
   debian:
-    buster: [ros-melodic-roswtf]
+    buster: ros-melodic-roswtf
 rqt_launch:
   debian:
-    buster: [ros-melodic-rqt-launch]
+    buster: ros-melodic-rqt-launch
 sensor_msgs:
   debian:
-    buster: [ros-melodic-sensor-msgs]
+    buster: ros-melodic-sensor-msgs
 camera_calibration_parsers:
   debian:
-    buster: [ros-melodic-camera-calibration-parsers]
+    buster: ros-melodic-camera-calibration-parsers
 cv_bridge:
   debian:
-    buster: [ros-melodic-cv-bridge]
+    buster: ros-melodic-cv-bridge
 image_geometry:
   debian:
-    buster: [ros-melodic-image-geometry]
+    buster: ros-melodic-image-geometry
 image_transport:
   debian:
-    buster: [ros-melodic-image-transport]
+    buster: ros-melodic-image-transport
 camera_info_manager:
   debian:
-    buster: [ros-melodic-camera-info-manager]
+    buster: ros-melodic-camera-info-manager
 compressed_depth_image_transport:
   debian:
-    buster: [ros-melodic-compressed-depth-image-transport]
+    buster: ros-melodic-compressed-depth-image-transport
 compressed_image_transport:
   debian:
-    buster: [ros-melodic-compressed-image-transport]
+    buster: ros-melodic-compressed-image-transport
 cv_camera:
   debian:
-    buster: [ros-melodic-cv-camera]
+    buster: ros-melodic-cv-camera
 image_proc:
   debian:
-    buster: [ros-melodic-image-proc]
+    buster: ros-melodic-image-proc
 image_publisher:
   debian:
-    buster: [ros-melodic-image-publisher]
+    buster: ros-melodic-image-publisher
 map_msgs:
   debian:
-    buster: [ros-melodic-map-msgs]
+    buster: ros-melodic-map-msgs
 mavros_msgs:
   debian:
-    buster: [ros-melodic-mavros-msgs]
+    buster: ros-melodic-mavros-msgs
 pcl_msgs:
   debian:
-    buster: [ros-melodic-pcl-msgs]
+    buster: ros-melodic-pcl-msgs
 pcl_conversions:
   debian:
-    buster: [ros-melodic-pcl-conversions]
+    buster: ros-melodic-pcl-conversions
 polled_camera:
   debian:
-    buster: [ros-melodic-polled-camera]
+    buster: ros-melodic-polled-camera
 rqt_image_view:
   debian:
-    buster: [ros-melodic-rqt-image-view]
+    buster: ros-melodic-rqt-image-view
 stereo_msgs:
   debian:
-    buster: [ros-melodic-stereo-msgs]
+    buster: ros-melodic-stereo-msgs
 image_view:
   debian:
-    buster: [ros-melodic-image-view]
+    buster: ros-melodic-image-view
 rosbridge_library:
   debian:
-    buster: [ros-melodic-rosbridge-library]
+    buster: ros-melodic-rosbridge-library
 stereo_image_proc:
   debian:
-    buster: [ros-melodic-stereo-image-proc]
+    buster: ros-melodic-stereo-image-proc
 tf2_ros:
   debian:
-    buster: [ros-melodic-tf2-ros]
+    buster: ros-melodic-tf2-ros
 depth_image_proc:
   debian:
-    buster: [ros-melodic-depth-image-proc]
+    buster: ros-melodic-depth-image-proc
 mavros:
   debian:
-    buster: [ros-melodic-mavros]
+    buster: ros-melodic-mavros
 tf:
   debian:
-    buster: [ros-melodic-tf]
+    buster: ros-melodic-tf
 interactive_markers:
   debian:
-    buster: [ros-melodic-interactive-markers]
+    buster: ros-melodic-interactive-markers
 interactive_marker_tutorials:
   debian:
-    buster: [ros-melodic-interactive-marker-tutorials]
+    buster: ros-melodic-interactive-marker-tutorials
 laser_geometry:
   debian:
-    buster: [ros-melodic-laser-geometry]
+    buster: ros-melodic-laser-geometry
 laser_assembler:
   debian:
-    buster: [ros-melodic-laser-assembler]
+    buster: ros-melodic-laser-assembler
 laser_filters:
   debian:
-    buster: [ros-melodic-laser-filters]
+    buster: ros-melodic-laser-filters
 pcl_ros:
   debian:
-    buster: [ros-melodic-pcl-ros]
+    buster: ros-melodic-pcl-ros
 tf2_geometry_msgs:
   debian:
-    buster: [ros-melodic-tf2-geometry-msgs]
+    buster: ros-melodic-tf2-geometry-msgs
 image_rotate:
   debian:
-    buster: [ros-melodic-image-rotate]
+    buster: ros-melodic-image-rotate
 tf2_kdl:
   debian:
-    buster: [ros-melodic-tf2-kdl]
+    buster: ros-melodic-tf2-kdl
 tf2_web_republisher:
   debian:
-    buster: [ros-melodic-tf2-web-republisher]
+    buster: ros-melodic-tf2-web-republisher
 tf_conversions:
   debian:
-    buster: [ros-melodic-tf-conversions]
+    buster: ros-melodic-tf-conversions
 theora_image_transport:
   debian:
-    buster: [ros-melodic-theora-image-transport]
+    buster: ros-melodic-theora-image-transport
 turtlesim:
   debian:
-    buster: [ros-melodic-turtlesim]
+    buster: ros-melodic-turtlesim
 turtle_actionlib:
   debian:
-    buster: [ros-melodic-turtle-actionlib]
+    buster: ros-melodic-turtle-actionlib
 turtle_tf:
   debian:
-    buster: [ros-melodic-turtle-tf]
+    buster: ros-melodic-turtle-tf
 turtle_tf2:
   debian:
-    buster: [ros-melodic-turtle-tf2]
+    buster: ros-melodic-turtle-tf2
 urdf:
   debian:
-    buster: [ros-melodic-urdf]
+    buster: ros-melodic-urdf
 kdl_parser:
   debian:
-    buster: [ros-melodic-kdl-parser]
+    buster: ros-melodic-kdl-parser
 kdl_parser_py:
   debian:
-    buster: [ros-melodic-kdl-parser-py]
+    buster: ros-melodic-kdl-parser-py
 mavros_extras:
   debian:
-    buster: [ros-melodic-mavros-extras]
+    buster: ros-melodic-mavros-extras
 robot_state_publisher:
   debian:
-    buster: [ros-melodic-robot-state-publisher]
+    buster: ros-melodic-robot-state-publisher
 rviz:
   debian:
-    buster: [ros-melodic-rviz]
+    buster: ros-melodic-rviz
 librviz_tutorial:
   debian:
-    buster: [ros-melodic-librviz-tutorial]
+    buster: ros-melodic-librviz-tutorial
 rqt_rviz:
   debian:
-    buster: [ros-melodic-rqt-rviz]
+    buster: ros-melodic-rqt-rviz
 rviz_plugin_tutorials:
   debian:
-    buster: [ros-melodic-rviz-plugin-tutorials]
+    buster: ros-melodic-rviz-plugin-tutorials
 rviz_python_tutorial:
   debian:
-    buster: [ros-melodic-rviz-python-tutorial]
+    buster: ros-melodic-rviz-python-tutorial
 urdf_tutorial:
   debian:
-    buster: [ros-melodic-urdf-tutorial]
+    buster: ros-melodic-urdf-tutorial
 usb_cam:
   debian:
-    buster: [ros-melodic-usb-cam]
+    buster: ros-melodic-usb-cam
 visualization_marker_tutorials:
   debian:
-    buster: [ros-melodic-visualization-marker-tutorials]
+    buster: ros-melodic-visualization-marker-tutorials
 vl53l1x:
   debian:
-    buster: [ros-melodic-vl53l1x]
+    buster: ros-melodic-vl53l1x
 web_video_server:
   debian:
-    buster: [ros-melodic-web-video-server]
+    buster: ros-melodic-web-video-server
 xacro:
   debian:
-    buster: [ros-melodic-xacro]
+    buster: ros-melodic-xacro
 led_msgs:
   debian:
-    buster: [ros-melodic-led-msgs]
+    buster: ros-melodic-led-msgs
 ws281x:
   debian:
-    buster: [ros-melodic-ws281x]
-ddynamic_reconfigure:
-  debian:
-    buster: [ros-melodic-ddynamic-reconfigure]
-librealsense2:
-  debian:
-    buster: [ros-melodic-librealsense2]
-realsense2_camera:
-  debian:
-    buster: [ros-melodic-realsense2-camera]
-realsense2_description:
-  debian:
-    buster: [ros-melodic-realsense2-description]
+    stretch: ros-melodic-ws281x

builder/assets/melodic-rosdep-clover.yaml

@@ -1,735 +0,0 @@
-catkin:
-  debian:
-    buster: [ros-melodic-catkin]
-genmsg:
-  debian:
-    buster: [ros-melodic-genmsg]
-gencpp:
-  debian:
-    buster: [ros-melodic-gencpp]
-geneus:
-  debian:
-    buster: [ros-melodic-geneus]
-genlisp:
-  debian:
-    buster: [ros-melodic-genlisp]
-gennodejs:
-  debian:
-    buster: [ros-melodic-gennodejs]
-genpy:
-  debian:
-    buster: [ros-melodic-genpy]
-bond_core:
-  debian:
-    buster: [ros-melodic-bond-core]
-cmake_modules:
-  debian:
-    buster: [ros-melodic-cmake-modules]
-class_loader:
-  debian:
-    buster: [ros-melodic-class-loader]
-common_msgs:
-  debian:
-    buster: [ros-melodic-common-msgs]
-common_tutorials:
-  debian:
-    buster: [ros-melodic-common-tutorials]
-cpp_common:
-  debian:
-    buster: [ros-melodic-cpp-common]
-desktop:
-  debian:
-    buster: [ros-melodic-desktop]
-diagnostics:
-  debian:
-    buster: [ros-melodic-diagnostics]
-executive_smach:
-  debian:
-    buster: [ros-melodic-executive-smach]
-geometry:
-  debian:
-    buster: [ros-melodic-geometry]
-geometry_tutorials:
-  debian:
-    buster: [ros-melodic-geometry-tutorials]
-gl_dependency:
-  debian:
-    buster: [ros-melodic-gl-dependency]
-image_common:
-  debian:
-    buster: [ros-melodic-image-common]
-image_pipeline:
-  debian:
-    buster: [ros-melodic-image-pipeline]
-image_transport_plugins:
-  debian:
-    buster: [ros-melodic-image-transport-plugins]
-laser_pipeline:
-  debian:
-    buster: [ros-melodic-laser-pipeline]
-mavlink:
-  debian:
-    buster: [ros-melodic-mavlink]
-media_export:
-  debian:
-    buster: [ros-melodic-media-export]
-message_generation:
-  debian:
-    buster: [ros-melodic-message-generation]
-message_runtime:
-  debian:
-    buster: [ros-melodic-message-runtime]
-mk:
-  debian:
-    buster: [ros-melodic-mk]
-nodelet_core:
-  debian:
-    buster: [ros-melodic-nodelet-core]
-orocos_kdl:
-  debian:
-    buster: [ros-melodic-orocos-kdl]
-perception:
-  debian:
-    buster: [ros-melodic-perception]
-perception_pcl:
-  debian:
-    buster: [ros-melodic-perception-pcl]
-python_orocos_kdl:
-  debian:
-    buster: [ros-melodic-python-orocos-kdl]
-qt_dotgraph:
-  debian:
-    buster: [ros-melodic-qt-dotgraph]
-qt_gui:
-  debian:
-    buster: [ros-melodic-qt-gui]
-qt_gui_py_common:
-  debian:
-    buster: [ros-melodic-qt-gui-py-common]
-qwt_dependency:
-  debian:
-    buster: [ros-melodic-qwt-dependency]
-robot:
-  debian:
-    buster: [ros-melodic-robot]
-ros:
-  debian:
-    buster: [ros-melodic-ros]
-ros_base:
-  debian:
-    buster: [ros-melodic-ros-base]
-ros_comm:
-  debian:
-    buster: [ros-melodic-ros-comm]
-ros_core:
-  debian:
-    buster: [ros-melodic-ros-core]
-ros_environment:
-  debian:
-    buster: [ros-melodic-ros-environment]
-ros_tutorials:
-  debian:
-    buster: [ros-melodic-ros-tutorials]
-rosapi:
-  debian:
-    buster: [ros-melodic-rosapi]
-rosbag_migration_rule:
-  debian:
-    buster: [ros-melodic-rosbag-migration-rule]
-rosbash:
-  debian:
-    buster: [ros-melodic-rosbash]
-rosboost_cfg:
-  debian:
-    buster: [ros-melodic-rosboost-cfg]
-rosbridge_server:
-  debian:
-    buster: [ros-melodic-rosbridge-server]
-rosbridge_suite:
-  debian:
-    buster: [ros-melodic-rosbridge-suite]
-rosbuild:
-  debian:
-    buster: [ros-melodic-rosbuild]
-rosclean:
-  debian:
-    buster: [ros-melodic-rosclean]
-roscpp_core:
-  debian:
-    buster: [ros-melodic-roscpp-core]
-roscpp_traits:
-  debian:
-    buster: [ros-melodic-roscpp-traits]
-roscreate:
-  debian:
-    buster: [ros-melodic-roscreate]
-rosgraph:
-  debian:
-    buster: [ros-melodic-rosgraph]
-roslang:
-  debian:
-    buster: [ros-melodic-roslang]
-roslint:
-  debian:
-    buster: [ros-melodic-roslint]
-roslisp:
-  debian:
-    buster: [ros-melodic-roslisp]
-rosmake:
-  debian:
-    buster: [ros-melodic-rosmake]
-rosmaster:
-  debian:
-    buster: [ros-melodic-rosmaster]
-rospack:
-  debian:
-    buster: [ros-melodic-rospack]
-roslib:
-  debian:
-    buster: [ros-melodic-roslib]
-rosparam:
-  debian:
-    buster: [ros-melodic-rosparam]
-rospy:
-  debian:
-    buster: [ros-melodic-rospy]
-rosserial:
-  debian:
-    buster: [ros-melodic-rosserial]
-rosserial_msgs:
-  debian:
-    buster: [ros-melodic-rosserial-msgs]
-rosserial_python:
-  debian:
-    buster: [ros-melodic-rosserial-python]
-rosservice:
-  debian:
-    buster: [ros-melodic-rosservice]
-rostime:
-  debian:
-    buster: [ros-melodic-rostime]
-roscpp_serialization:
-  debian:
-    buster: [ros-melodic-roscpp-serialization]
-python_qt_binding:
-  debian:
-    buster: [ros-melodic-python-qt-binding]
-roslaunch:
-  debian:
-    buster: [ros-melodic-roslaunch]
-rosunit:
-  debian:
-    buster: [ros-melodic-rosunit]
-angles:
-  debian:
-    buster: [ros-melodic-angles]
-libmavconn:
-  debian:
-    buster: [ros-melodic-libmavconn]
-rosconsole:
-  debian:
-    buster: [ros-melodic-rosconsole]
-pluginlib:
-  debian:
-    buster: [ros-melodic-pluginlib]
-qt_gui_cpp:
-  debian:
-    buster: [ros-melodic-qt-gui-cpp]
-resource_retriever:
-  debian:
-    buster: [ros-melodic-resource-retriever]
-rosconsole_bridge:
-  debian:
-    buster: [ros-melodic-rosconsole-bridge]
-roslz4:
-  debian:
-    buster: [ros-melodic-roslz4]
-rosserial_client:
-  debian:
-    buster: [ros-melodic-rosserial-client]
-rostest:
-  debian:
-    buster: [ros-melodic-rostest]
-rqt_action:
-  debian:
-    buster: [ros-melodic-rqt-action]
-rqt_bag:
-  debian:
-    buster: [ros-melodic-rqt-bag]
-rqt_bag_plugins:
-  debian:
-    buster: [ros-melodic-rqt-bag-plugins]
-rqt_common_plugins:
-  debian:
-    buster: [ros-melodic-rqt-common-plugins]
-rqt_console:
-  debian:
-    buster: [ros-melodic-rqt-console]
-rqt_dep:
-  debian:
-    buster: [ros-melodic-rqt-dep]
-rqt_graph:
-  debian:
-    buster: [ros-melodic-rqt-graph]
-rqt_gui:
-  debian:
-    buster: [ros-melodic-rqt-gui]
-rqt_logger_level:
-  debian:
-    buster: [ros-melodic-rqt-logger-level]
-rqt_moveit:
-  debian:
-    buster: [ros-melodic-rqt-moveit]
-rqt_msg:
-  debian:
-    buster: [ros-melodic-rqt-msg]
-rqt_nav_view:
-  debian:
-    buster: [ros-melodic-rqt-nav-view]
-rqt_plot:
-  debian:
-    buster: [ros-melodic-rqt-plot]
-rqt_pose_view:
-  debian:
-    buster: [ros-melodic-rqt-pose-view]
-rqt_publisher:
-  debian:
-    buster: [ros-melodic-rqt-publisher]
-rqt_py_console:
-  debian:
-    buster: [ros-melodic-rqt-py-console]
-rqt_reconfigure:
-  debian:
-    buster: [ros-melodic-rqt-reconfigure]
-rqt_robot_dashboard:
-  debian:
-    buster: [ros-melodic-rqt-robot-dashboard]
-rqt_robot_monitor:
-  debian:
-    buster: [ros-melodic-rqt-robot-monitor]
-rqt_robot_plugins:
-  debian:
-    buster: [ros-melodic-rqt-robot-plugins]
-rqt_robot_steering:
-  debian:
-    buster: [ros-melodic-rqt-robot-steering]
-rqt_runtime_monitor:
-  debian:
-    buster: [ros-melodic-rqt-runtime-monitor]
-rqt_service_caller:
-  debian:
-    buster: [ros-melodic-rqt-service-caller]
-rqt_shell:
-  debian:
-    buster: [ros-melodic-rqt-shell]
-rqt_srv:
-  debian:
-    buster: [ros-melodic-rqt-srv]
-rqt_tf_tree:
-  debian:
-    buster: [ros-melodic-rqt-tf-tree]
-rqt_top:
-  debian:
-    buster: [ros-melodic-rqt-top]
-rqt_topic:
-  debian:
-    buster: [ros-melodic-rqt-topic]
-rqt_web:
-  debian:
-    buster: [ros-melodic-rqt-web]
-smach:
-  debian:
-    buster: [ros-melodic-smach]
-smclib:
-  debian:
-    buster: [ros-melodic-smclib]
-std_msgs:
-  debian:
-    buster: [ros-melodic-std-msgs]
-actionlib_msgs:
-  debian:
-    buster: [ros-melodic-actionlib-msgs]
-bond:
-  debian:
-    buster: [ros-melodic-bond]
-diagnostic_msgs:
-  debian:
-    buster: [ros-melodic-diagnostic-msgs]
-geometry_msgs:
-  debian:
-    buster: [ros-melodic-geometry-msgs]
-eigen_conversions:
-  debian:
-    buster: [ros-melodic-eigen-conversions]
-kdl_conversions:
-  debian:
-    buster: [ros-melodic-kdl-conversions]
-nav_msgs:
-  debian:
-    buster: [ros-melodic-nav-msgs]
-rosbridge_msgs:
-  debian:
-    buster: [ros-melodic-rosbridge-msgs]
-rosgraph_msgs:
-  debian:
-    buster: [ros-melodic-rosgraph-msgs]
-rosmsg:
-  debian:
-    buster: [ros-melodic-rosmsg]
-rqt_py_common:
-  debian:
-    buster: [ros-melodic-rqt-py-common]
-shape_msgs:
-  debian:
-    buster: [ros-melodic-shape-msgs]
-smach_msgs:
-  debian:
-    buster: [ros-melodic-smach-msgs]
-std_srvs:
-  debian:
-    buster: [ros-melodic-std-srvs]
-tf2_msgs:
-  debian:
-    buster: [ros-melodic-tf2-msgs]
-tf2:
-  debian:
-    buster: [ros-melodic-tf2]
-tf2_eigen:
-  debian:
-    buster: [ros-melodic-tf2-eigen]
-trajectory_msgs:
-  debian:
-    buster: [ros-melodic-trajectory-msgs]
-control_msgs:
-  debian:
-    buster: [ros-melodic-control-msgs]
-urdf_parser_plugin:
-  debian:
-    buster: [ros-melodic-urdf-parser-plugin]
-urdfdom_py:
-  debian:
-    buster: [ros-melodic-urdfdom-py]
-uuid_msgs:
-  debian:
-    buster: [ros-melodic-uuid-msgs]
-geographic_msgs:
-  debian:
-    buster: [ros-melodic-geographic-msgs]
-vision_opencv:
-  debian:
-    buster: [ros-melodic-vision-opencv]
-visualization_msgs:
-  debian:
-    buster: [ros-melodic-visualization-msgs]
-visualization_tutorials:
-  debian:
-    buster: [ros-melodic-visualization-tutorials]
-viz:
-  debian:
-    buster: [ros-melodic-viz]
-webkit_dependency:
-  debian:
-    buster: [ros-melodic-webkit-dependency]
-xmlrpcpp:
-  debian:
-    buster: [ros-melodic-xmlrpcpp]
-roscpp:
-  debian:
-    buster: [ros-melodic-roscpp]
-bondcpp:
-  debian:
-    buster: [ros-melodic-bondcpp]
-bondpy:
-  debian:
-    buster: [ros-melodic-bondpy]
-nodelet:
-  debian:
-    buster: [ros-melodic-nodelet]
-nodelet_tutorial_math:
-  debian:
-    buster: [ros-melodic-nodelet-tutorial-math]
-pluginlib_tutorials:
-  debian:
-    buster: [ros-melodic-pluginlib-tutorials]
-roscpp_tutorials:
-  debian:
-    buster: [ros-melodic-roscpp-tutorials]
-rosout:
-  debian:
-    buster: [ros-melodic-rosout]
-async_web_server_cpp:
-  debian:
-    buster: [ros-melodic-async-web-server-cpp]
-camera_calibration:
-  debian:
-    buster: [ros-melodic-camera-calibration]
-diagnostic_aggregator:
-  debian:
-    buster: [ros-melodic-diagnostic-aggregator]
-diagnostic_updater:
-  debian:
-    buster: [ros-melodic-diagnostic-updater]
-diagnostic_common_diagnostics:
-  debian:
-    buster: [ros-melodic-diagnostic-common-diagnostics]
-dynamic_reconfigure:
-  debian:
-    buster: [ros-melodic-dynamic-reconfigure]
-filters:
-  debian:
-    buster: [ros-melodic-filters]
-joint_state_publisher:
-  debian:
-    buster: [ros-melodic-joint-state-publisher]
-message_filters:
-  debian:
-    buster: [ros-melodic-message-filters]
-ros_pytest:
-  debian:
-    buster: [ros-melodic-ros-pytest]
-rosauth:
-  debian:
-    buster: [ros-melodic-rosauth]
-rosbag_storage:
-  debian:
-    buster: [ros-melodic-rosbag-storage]
-rosnode:
-  debian:
-    buster: [ros-melodic-rosnode]
-rospy_tutorials:
-  debian:
-    buster: [ros-melodic-rospy-tutorials]
-rosshow:
-  debian:
-    buster: [ros-melodic-rosshow]
-rostopic:
-  debian:
-    buster: [ros-melodic-rostopic]
-rqt_gui_cpp:
-  debian:
-    buster: [ros-melodic-rqt-gui-cpp]
-rqt_gui_py:
-  debian:
-    buster: [ros-melodic-rqt-gui-py]
-self_test:
-  debian:
-    buster: [ros-melodic-self-test]
-smach_ros:
-  debian:
-    buster: [ros-melodic-smach-ros]
-tf2_py:
-  debian:
-    buster: [ros-melodic-tf2-py]
-topic_tools:
-  debian:
-    buster: [ros-melodic-topic-tools]
-rosbag:
-  debian:
-    buster: [ros-melodic-rosbag]
-actionlib:
-  debian:
-    buster: [ros-melodic-actionlib]
-actionlib_tutorials:
-  debian:
-    buster: [ros-melodic-actionlib-tutorials]
-diagnostic_analysis:
-  debian:
-    buster: [ros-melodic-diagnostic-analysis]
-nodelet_topic_tools:
-  debian:
-    buster: [ros-melodic-nodelet-topic-tools]
-roswtf:
-  debian:
-    buster: [ros-melodic-roswtf]
-rqt_launch:
-  debian:
-    buster: [ros-melodic-rqt-launch]
-sensor_msgs:
-  debian:
-    buster: [ros-melodic-sensor-msgs]
-camera_calibration_parsers:
-  debian:
-    buster: [ros-melodic-camera-calibration-parsers]
-cv_bridge:
-  debian:
-    buster: [ros-melodic-cv-bridge]
-image_geometry:
-  debian:
-    buster: [ros-melodic-image-geometry]
-image_transport:
-  debian:
-    buster: [ros-melodic-image-transport]
-camera_info_manager:
-  debian:
-    buster: [ros-melodic-camera-info-manager]
-compressed_depth_image_transport:
-  debian:
-    buster: [ros-melodic-compressed-depth-image-transport]
-compressed_image_transport:
-  debian:
-    buster: [ros-melodic-compressed-image-transport]
-cv_camera:
-  debian:
-    buster: [ros-melodic-cv-camera]
-image_proc:
-  debian:
-    buster: [ros-melodic-image-proc]
-image_publisher:
-  debian:
-    buster: [ros-melodic-image-publisher]
-map_msgs:
-  debian:
-    buster: [ros-melodic-map-msgs]
-mavros_msgs:
-  debian:
-    buster: [ros-melodic-mavros-msgs]
-pcl_msgs:
-  debian:
-    buster: [ros-melodic-pcl-msgs]
-pcl_conversions:
-  debian:
-    buster: [ros-melodic-pcl-conversions]
-polled_camera:
-  debian:
-    buster: [ros-melodic-polled-camera]
-rqt_image_view:
-  debian:
-    buster: [ros-melodic-rqt-image-view]
-stereo_msgs:
-  debian:
-    buster: [ros-melodic-stereo-msgs]
-image_view:
-  debian:
-    buster: [ros-melodic-image-view]
-rosbridge_library:
-  debian:
-    buster: [ros-melodic-rosbridge-library]
-stereo_image_proc:
-  debian:
-    buster: [ros-melodic-stereo-image-proc]
-tf2_ros:
-  debian:
-    buster: [ros-melodic-tf2-ros]
-depth_image_proc:
-  debian:
-    buster: [ros-melodic-depth-image-proc]
-mavros:
-  debian:
-    buster: [ros-melodic-mavros]
-tf:
-  debian:
-    buster: [ros-melodic-tf]
-interactive_markers:
-  debian:
-    buster: [ros-melodic-interactive-markers]
-interactive_marker_tutorials:
-  debian:
-    buster: [ros-melodic-interactive-marker-tutorials]
-laser_geometry:
-  debian:
-    buster: [ros-melodic-laser-geometry]
-laser_assembler:
-  debian:
-    buster: [ros-melodic-laser-assembler]
-laser_filters:
-  debian:
-    buster: [ros-melodic-laser-filters]
-pcl_ros:
-  debian:
-    buster: [ros-melodic-pcl-ros]
-tf2_geometry_msgs:
-  debian:
-    buster: [ros-melodic-tf2-geometry-msgs]
-image_rotate:
-  debian:
-    buster: [ros-melodic-image-rotate]
-tf2_kdl:
-  debian:
-    buster: [ros-melodic-tf2-kdl]
-tf2_web_republisher:
-  debian:
-    buster: [ros-melodic-tf2-web-republisher]
-tf_conversions:
-  debian:
-    buster: [ros-melodic-tf-conversions]
-theora_image_transport:
-  debian:
-    buster: [ros-melodic-theora-image-transport]
-turtlesim:
-  debian:
-    buster: [ros-melodic-turtlesim]
-turtle_actionlib:
-  debian:
-    buster: [ros-melodic-turtle-actionlib]
-turtle_tf:
-  debian:
-    buster: [ros-melodic-turtle-tf]
-turtle_tf2:
-  debian:
-    buster: [ros-melodic-turtle-tf2]
-urdf:
-  debian:
-    buster: [ros-melodic-urdf]
-kdl_parser:
-  debian:
-    buster: [ros-melodic-kdl-parser]
-kdl_parser_py:
-  debian:
-    buster: [ros-melodic-kdl-parser-py]
-mavros_extras:
-  debian:
-    buster: [ros-melodic-mavros-extras]
-robot_state_publisher:
-  debian:
-    buster: [ros-melodic-robot-state-publisher]
-rviz:
-  debian:
-    buster: [ros-melodic-rviz]
-librviz_tutorial:
-  debian:
-    buster: [ros-melodic-librviz-tutorial]
-rqt_rviz:
-  debian:
-    buster: [ros-melodic-rqt-rviz]
-rviz_plugin_tutorials:
-  debian:
-    buster: [ros-melodic-rviz-plugin-tutorials]
-rviz_python_tutorial:
-  debian:
-    buster: [ros-melodic-rviz-python-tutorial]
-urdf_tutorial:
-  debian:
-    buster: [ros-melodic-urdf-tutorial]
-usb_cam:
-  debian:
-    buster: [ros-melodic-usb-cam]
-visualization_marker_tutorials:
-  debian:
-    buster: [ros-melodic-visualization-marker-tutorials]
-vl53l1x:
-  debian:
-    buster: [ros-melodic-vl53l1x]
-web_video_server:
-  debian:
-    buster: [ros-melodic-web-video-server]
-xacro:
-  debian:
-    buster: [ros-melodic-xacro]
-led_msgs:
-  debian:
-    buster: [ros-melodic-led-msgs]
-ws281x:
-  debian:
-    buster: [ros-melodic-ws281x]
-ddynamic_reconfigure:
-  debian:
-    buster: [ros-melodic-ddynamic-reconfigure]
-librealsense2:
-  debian:
-    buster: [ros-melodic-librealsense2]
-realsense2_camera:
-  debian:
-    buster: [ros-melodic-realsense2-camera]
-realsense2_description:
-  debian:
-    buster: [ros-melodic-realsense2-description]

builder/assets/monkey

@@ -20,7 +20,7 @@
     # Example:
     #      DocumentRoot /home/krypton/htdocs
 
-    DocumentRoot /home/pi/.ros/www
+    DocumentRoot /home/pi/catkin_ws/src/clever/clever/www
 
     # Redirect:
     # ---------

builder/assets/python3.yaml

@@ -0,0 +1,22 @@
+python3-crypto:
+  debian:
+    buster: [python3-crypto]
+python3-imaging:
+  debian:
+    buster: [python3-pil]
+python3-wxtools:
+  debian:
+    pip:
+      packages: [wxPython]
+python3-future:
+  debian:
+    buster: [python3-future]
+python3-twisted:
+  debian:
+    buster: [python3-twisted]
+python3-serial:
+  debian:
+    buster: [python3-serial]
+python3-requests:
+  debian:
+    buster: [python3-requests]

builder/assets/roscore.service

@@ -1,5 +1,6 @@
 [Unit]
 Description=Launcher for the ROS master, parameter server and rosout logging node
+After=network.target
 
 [Service]
 User=pi

builder/assets/rsyslog.conf

@@ -1,107 +0,0 @@
-# /etc/rsyslog.conf configuration file for rsyslog
-#
-# For more information install rsyslog-doc and see
-# /usr/share/doc/rsyslog-doc/html/configuration/index.html
-
-
-#################
-#### MODULES ####
-#################
-
-module(load="imuxsock") # provides support for local system logging
-module(load="imklog")   # provides kernel logging support
-#module(load="immark")  # provides --MARK-- message capability
-
-# provides UDP syslog reception
-#module(load="imudp")
-#input(type="imudp" port="514")
-
-# provides TCP syslog reception
-#module(load="imtcp")
-#input(type="imtcp" port="514")
-
-
-###########################
-#### GLOBAL DIRECTIVES ####
-###########################
-
-#
-# Use traditional timestamp format.
-# To enable high precision timestamps, comment out the following line.
-#
-$ActionFileDefaultTemplate RSYSLOG_TraditionalFileFormat
-
-#
-# Set the default permissions for all log files.
-#
-$FileOwner root
-$FileGroup adm
-$FileCreateMode 0640
-$DirCreateMode 0755
-$Umask 0022
-
-#
-# Where to place spool and state files
-#
-$WorkDirectory /var/spool/rsyslog
-
-#
-# Include all config files in /etc/rsyslog.d/
-#
-$IncludeConfig /etc/rsyslog.d/*.conf
-
-#
-# Enable custom output channels to limit file sizes
-#
-$outchannel limauth,/var/log/auth.log,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/auth.log
-$outchannel limsyslog,/var/log/syslog,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/syslog
-$outchannel limdaemon,/var/log/daemon.log,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/daemon.log
-$outchannel limkern,/var/log/kern.log,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/kern.log
-$outchannel limlpr,/var/log/lpr.log,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/lpr.log
-$outchannel limmail,/var/log/mail.log,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/mail.log
-$outchannel limmailinfo,/var/log/mail.info,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/mail.info
-$outchannel limmailwarn,/var/log/mail.warn,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/mail.warn
-$outchannel limmailerr,/var/log/mail.err,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/mail.err
-$outchannel limuser,/var/log/user.log,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/user.log
-$outchannel limdebug,/var/log/debug,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/debug
-$outchannel limmsgs,/var/log/messages,10485760,/etc/rsyslog.d/rsysrot.sh /var/log/messages
-
-###############
-#### RULES ####
-###############
-
-#
-# First some standard log files.  Log by facility.
-#
-auth,authpriv.*			:omfile:$limauth
-*.*;auth,authpriv.none		:omfile:$limsyslog
-#cron.*				/var/log/cron.log
-daemon.*			:omfile:$limdaemon
-kern.*				:omfile:$limkern
-lpr.*				:omfile:$limlpr
-mail.*				:omfile:$limmail
-user.*				:omfile:$limuser
-
-#
-# Logging for the mail system.  Split it up so that
-# it is easy to write scripts to parse these files.
-#
-mail.info			:omfile:$limmailinfo
-mail.warn			:omfile:$limmailwarn
-mail.err			:omfile:$limmailerr
-
-#
-# Some "catch-all" log files.
-#
-*.=debug;\
-	auth,authpriv.none;\
-	news.none;mail.none	:omfile:$limdebug
-*.=info;*.=notice;*.=warn;\
-	auth,authpriv.none;\
-	cron,daemon.none;\
-	mail,news.none		:omfile:$limmsgs
-
-#
-# Emergencies are sent to everybody logged in.
-#
-*.emerg				:omusrmsg:*

builder/assets/rsysrot.sh

@@ -1,4 +0,0 @@
-#!/bin/bash
-
-LOG_FILE=$1
-mv -f ${LOG_FILE} ${LOG_FILE}.1

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2019-09-30/2019-09-26-raspbian-buster-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -89,40 +89,35 @@ shopt -s dotglob
 for dir in ${REPO_DIR}/*; do
   # Don't try to copy image into itself
   if [[ $dir != *"images" && $dir != *"imgcache" ]]; then
-    ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy $dir '/home/pi/catkin_ws/src/clover/'
+    ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy $dir '/home/pi/catkin_ws/src/clever/'
   fi;
 done
 
 # Monkey
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey' '/root/'
-# rsyslog config
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/rsyslog.conf' '/etc'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/rsysrot.sh' '/etc/rsyslog.d'
+
 # Butterfly
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
 ${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/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
-# avahi setup
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-services/sftp-ssh.service' '/etc/avahi/services'
 
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
-# Clover
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.service' '/lib/systemd/system/'
+# Clever
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/melodic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/melodic-rosdep-clever.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/python3.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
-# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
+# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add PX4 udev rules
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clover/config/99-px4fmu.rules' '/lib/udev/rules.d/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clever/config/99-px4fmu.rules' '/lib/udev/rules.d/'
 # Add rename script
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'

builder/image-init.sh

@@ -34,12 +34,12 @@ echo_stamp() {
   echo -e ${TEXT}
 }
 
-echo_stamp "Write Clover information"
+echo_stamp "Write CLEVER information"
 
-# Clover image version
-echo "$1" >> /etc/clover_version
+# Clever image version
+echo "$1" >> /etc/clever_version
 # Origin image file name
-echo "${2%.*}" >> /etc/clover_origin
+echo "${2%.*}" >> /etc/clever_origin
 
 echo_stamp "Write magic script to /etc/rc.local"
 MAGIC_SCRIPT="sudo /root/init_rpi.sh; sudo sed -i '/sudo \\\/root\\\/init_rpi.sh/d' /etc/rc.local && sudo reboot"

builder/image-network.sh

@@ -34,24 +34,34 @@ echo_stamp() {
   echo -e ${TEXT}
 }
 
-echo_stamp "#1 Write STATIC to /etc/dhcpcd.conf"
+echo_stamp "#1 Write to /etc/wpa_supplicant/wpa_supplicant.conf"
+
+# TODO: Use wpa_cli insted direct file edit
+cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
+network={
+    ssid="CLEVER"
+    psk="cleverwifi"
+    mode=2
+    proto=RSN
+    key_mgmt=WPA-PSK
+    pairwise=CCMP
+    group=CCMP
+    auth_alg=OPEN
+}
+EOF
+
+echo_stamp "#2 Write STATIC to /etc/dhcpcd.conf"
 
 cat << EOF >> /etc/dhcpcd.conf
 interface wlan0
 static ip_address=192.168.11.1/24
 EOF
 
-echo_stamp "#2 Set wpa_supplicant country"
-
-cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
-country=GB
-EOF
-
 echo_stamp "#3 Write dhcp-config to /etc/dnsmasq.conf"
 
 cat << EOF >> /etc/dnsmasq.conf
 interface=wlan0
-address=/clover/coex/192.168.11.1
+address=/clever/coex/192.168.11.1
 dhcp-range=192.168.11.100,192.168.11.200,12h
 no-hosts
 filterwin2k
@@ -60,4 +70,8 @@ domain-needed
 quiet-dhcp6
 EOF
 
-echo_stamp "#4 End of network installation"
+#echo_stamp "#4 Write magic script for rename SSID to /etc/rc.local"
+#RENAME_SSID="sudo sed -i.OLD \"s/CLEVER/CLEVER-\$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g\" /etc/wpa_supplicant/wpa_supplicant.conf && sudo sed -i '/sudo sed/d' /etc/rc.local && sudo reboot"
+#sed -i "19a$RENAME_SSID" /etc/rc.local
+
+echo_stamp "#5 End of network installation"

builder/image-ros.sh

@@ -65,10 +65,11 @@ my_travis_retry() {
   return $result
 }
 
-# TODO: 'kinetic-rosdep-clover.yaml' should add only if we use our repo?
+# TODO: 'kinetic-rosdep-clever.yaml' should add only if we use our repo?
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
-echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clever.yaml" > /etc/ros/rosdep/sources.list.d/30-clever.list
+echo "yaml file:///etc/ros/rosdep/python3.yaml" > /etc/ros/rosdep/sources.list.d/40-python3.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
@@ -88,29 +89,30 @@ resolve_rosdep() {
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
-cd /home/pi/catkin_ws/src/clover
+echo_stamp "Reconfiguring Clever repository for simplier unshallowing"
+cd /home/pi/catkin_ws/src/clever
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
-echo_stamp "Build and install Clover"
-cd /home/pi/catkin_ws
-resolve_rosdep $(pwd)
-my_travis_retry pip install wheel
-my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
-source /opt/ros/melodic/setup.bash
-catkin_make -j2 -DCMAKE_BUILD_TYPE=Release
+echo_stamp "Installing CLEVER" \
+&& export ROS_PYTHON_VERSION=3 \
+&& cd /home/pi/catkin_ws/src/clever \
+&& git status \
+&& cd /home/pi/catkin_ws \
+&& resolve_rosdep $(pwd) \
+&& my_travis_retry pip3 install wheel \
+&& my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
+&& source /opt/ros/melodic/setup.bash \
+&& catkin_make -j2 -DCMAKE_BUILD_TYPE=Release \
+&& systemctl enable roscore \
+&& systemctl enable clever \
+&& echo_stamp "All CLEVER was installed!" "SUCCESS" \
+|| (echo_stamp "CLEVER installation was failed!" "ERROR"; exit 1)
 
-echo_stamp "Install clever package (for backwards compatibility)"
-cd /home/pi/catkin_ws/src/clover/builder/assets/clever
-./setup.py install
-rm -rf build  # remove build artifacts
-
-echo_stamp "Build Clover documentation"
-cd /home/pi/catkin_ws/src/clover
+echo_stamp "Build CLEVER documentation"
+cd /home/pi/catkin_ws/src/clever
 NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
 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
 
 echo_stamp "Installing additional ROS packages"
 apt-get install -y --no-install-recommends \
@@ -128,8 +130,7 @@ echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
 
 # FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
-# (note that Python 3 will still have a more recent version)
-pip install tornado==4.2.1
+pip3 install tornado==4.2.1
 
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws
@@ -143,6 +144,7 @@ echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
+ROS_DISTRO='melodic'
 export ROS_HOSTNAME=\`hostname\`.local
 source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash

builder/image-software.sh

@@ -57,10 +57,6 @@ my_travis_retry() {
   return $result
 }
 
-echo_stamp "Increase apt retries"
-
-echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries
-
 echo_stamp "Install apt keys & repos"
 
 # TODO: This STDOUT consist 'OK'
@@ -71,8 +67,10 @@ apt-get update \
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
 echo "deb http://deb.coex.tech/opencv3 buster main" > /etc/apt/sources.list.d/opencv3.list
-echo "deb http://deb.coex.tech/rpi-ros-melodic buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
-echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list
+echo "deb http://deb.coex.tech/melodic-py3 buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+# FIXME: We still don't have these packages built for Buster
+# FIXME: Check these packages after their installation
+echo "deb http://deb.coex.tech/clever stretch main" > /etc/apt/sources.list.d/clever.list
 
 echo_stamp "Update apt cache"
 
@@ -99,23 +97,22 @@ libjpeg8 \
 tcpdump \
 ltrace \
 libpoco-dev \
-libzbar0 \
-python-rosdep \
-python-rosinstall-generator \
-python-wstool \
-python-rosinstall \
+python3-rosdep \
+python3-rosinstall-generator \
+python3-wstool \
+python3-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak \
+espeak espeak-data python-espeak python3-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python-systemd \
+python3-venv \
+python3-systemd \
 mjpg-streamer \
-python3-opencv \
 && echo_stamp "Everything was installed!" "SUCCESS" \
 || (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
 
@@ -126,10 +123,9 @@ 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
 python3 get-pip.py
-python get-pip.py
+# Don't even bother installing pip for python2.7
+# 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"
 pip --version
@@ -137,10 +133,14 @@ pip3 --version
 
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
-my_travis_retry pip3 install tornado==5.1.1
-my_travis_retry pip3 install butterfly
-my_travis_retry pip3 install butterfly[systemd]
+cd /root
+python3 -m venv butterfly_env
+source butterfly_env/bin/activate
+my_travis_retry pip install tornado==5.1.1
+my_travis_retry pip install butterfly
+my_travis_retry pip install butterfly[systemd]
 systemctl enable butterfly.socket
+deactivate
 
 echo_stamp "Install ws281x library"
 my_travis_retry pip install --prefer-binary rpi_ws281x
@@ -158,14 +158,6 @@ cp -R node-v10.15.0-linux-armv6l/* /usr/local/
 rm -rf node-v10.15.0-linux-armv6l/
 rm node-v10.15.0-linux-armv6l.tar.gz
 
-echo_stamp "Installing ptvsd"
-my_travis_retry pip install ptvsd
-my_travis_retry pip3 install ptvsd
-
-echo_stamp "Installing pyzbar"
-my_travis_retry pip install pyzbar
-my_travis_retry pip3 install pyzbar
-
 echo_stamp "Add .vimrc"
 cat << EOF > /home/pi/.vimrc
 set mouse-=a

builder/image-validate.sh

@@ -18,14 +18,13 @@ echo "Run image tests"
 
 export ROS_DISTRO='melodic'
 export ROS_IP='127.0.0.1'
+export ROS_PYTHON_VERSION=3
 source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 
-cd /home/pi/catkin_ws/src/clover/builder/test/
+cd /home/pi/catkin_ws/src/clever/builder/test/
 ./tests.sh
 ./tests.py
-./tests_py3.py
-[[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
 
 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

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Perform a "standalone install" in a Docker container
-set -e
+
 # Step 1: Install pip
 apt update
 apt install -y curl

builder/test/tests.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # validate all required modules installed
 
@@ -14,7 +14,7 @@ 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, \
+from clever.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
     SetAttitude, SetRates, SetLEDEffect
 
 import tf2_ros
@@ -26,6 +26,5 @@ from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
 from espeak import espeak
-from pyzbar import pyzbar
 
-print cv2.getBuildInformation()
+print(cv2.getBuildInformation())

builder/test/tests.sh

@@ -12,10 +12,6 @@ python3 --version
 ipython --version
 ipython3 --version
 
-# ptvsd does not have a stand-alone binary
-python -m ptvsd --version
-python3 -m ptvsd --version
-
 node -v
 npm -v
 
@@ -24,21 +20,23 @@ nmap --version
 lsof -v
 git --version
 vim --version
-pip --version
-pip2 --version
 pip3 --version
 tcpdump --version
 monkey --version
 pigpiod -v
 i2cdetect -V
+# butterfly uses its own venv, so we honor that
+. /root/butterfly_env/bin/activate
 butterfly -h
+# deactivate venv as needed
+deactivate
 espeak --version
 mjpg_streamer --version
 
 # ros stuff
 
 roscore -h
-rosversion clover
+rosversion clever
 rosversion aruco_pose
 rosversion vl53l1x
 rosversion mavros
@@ -52,6 +50,3 @@ rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
 rosversion rosshow
-
-# validate examples are present
-[[ $(ls /home/pi/examples/*) ]]

builder/test/tests_clever.py

@@ -1,6 +0,0 @@
-#!/usr/bin/env python
-
-# test backwards compatibility
-
-from clever.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
-    SetAttitude, SetRates, SetLEDEffect

builder/test/tests_py3.py

@@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-
-# Make sure our Python 3 software is installed
-
-import cv2
-from pyzbar import pyzbar
-
-print(cv2.getBuildInformation())

check_assets_size.py

@@ -17,8 +17,7 @@ EXCLUDE = 'rviz.png', 'ssid.png', 'sitl_docker_demo.png', 'qgc-params.png', 'but
     'cl3_mountBEC.JPG', 'cl3_mountRpiCamera.JPG', 'clever4-front-black-large.png', \
     'qgc-battery.png', 'qgc-radio.png', 'qgc-cal-acc.png', 'qgc-esc.png', 'qgc-cal-compass.png', \
     'qgc.png', 'qgc-parameters.png', 'clever4-front-white-large.png', 'qgc-modes.png', \
-    'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png', 'battery_holder.stl', \
-    'camera_case.stl', 'camera_mount.stl'
+    'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png'
 
 code = 0
 

clever/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(clover)
+project(clever)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
@@ -30,12 +30,6 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 find_package(GeographicLib REQUIRED)
 
-find_package(OpenCV 3 REQUIRED
-  COMPONENTS
-    calib3d
-    imgproc
-)
-
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
@@ -87,7 +81,6 @@ add_service_files(
   SetAttitude.srv
   SetRates.srv
   SetLEDEffect.srv
-  Execute.srv
 )
 
 ## Generate actions in the 'action' folder
@@ -134,7 +127,7 @@ generate_messages(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
+  LIBRARIES clever
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -152,7 +145,7 @@ include_directories(
 )
 
 # Declare a C++ library
-add_library(${PROJECT_NAME}
+add_library(clever
   src/optical_flow.cpp
 )
 
@@ -174,8 +167,6 @@ add_executable(vpe_publisher src/vpe_publisher.cpp)
 
 add_executable(led src/led.cpp)
 
-add_executable(shell src/shell.cpp)
-
 target_link_libraries(simple_offboard
   ${catkin_LIBRARIES}
   ${GeographicLib_LIBRARIES}
@@ -189,13 +180,9 @@ target_link_libraries(vpe_publisher ${catkin_LIBRARIES})
 
 target_link_libraries(led ${catkin_LIBRARIES})
 
-target_link_libraries(shell ${catkin_LIBRARIES})
+add_dependencies(simple_offboard clever_generate_messages_cpp)
 
-add_dependencies(simple_offboard ${PROJECT_NAME}_generate_messages_cpp)
-
-add_dependencies(led ${PROJECT_NAME}_generate_messages_cpp)
-
-add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
+add_dependencies(led clever_generate_messages_cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -208,9 +195,8 @@ add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(clever
   ${catkin_LIBRARIES}
-  ${OpenCV_LIBRARIES}
 )
 
 #############
@@ -266,7 +252,7 @@ endif()
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_${PROJECT_NAME}.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_clever.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

clever/camera_info/fisheye_cam_320.yaml

@@ -0,0 +1,45 @@
+image_width: 320
+image_height: 240
+distortion_model: plumb_bob
+camera_name: raspicam
+camera_matrix:
+  rows: 3
+  cols: 3
+  data:
+  - 166.23942373073172
+  - 0.
+  - 162.19011246829268
+  - 0.
+  - 166.5880923974026
+  - 109.82227735714285
+  - 0.
+  - 0.
+  - 1.
+distortion_coefficients:
+  rows: 1
+  cols: 8
+  data:  [  2.15356885e-01,  -1.17472846e-01,  -3.06197672e-04,
+   -1.09444025e-04,  -4.53657258e-03,   5.73090623e-01,
+   -1.27574577e-01,  -2.86125589e-02,   0.00000000e+00,
+    0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
+    0.00000000e+00,   0.00000000e+00]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data:
+  - 166.23942373073172
+  - 0.
+  - 162.19011246829268
+  - 0.
+  - 0.
+  - 166.5880923974026
+  - 109.82227735714285
+  - 0.
+  - 0.
+  - 0.
+  - 1.
+  - 0.

clever/camera_info/fisheye_cam_640.yaml

@@ -1,17 +1,17 @@
 image_width: 640
 image_height: 480
 distortion_model: plumb_bob
-camera_name: main_camera_optical
+camera_name: raspicam
 camera_matrix:
   rows: 3
   cols: 3
   data:
   - 332.47884746146343
   - 0.
-  - 320.0
+  - 324.38022493658536
   - 0.
   - 333.1761847948052
-  - 240.0
+  - 219.6445547142857
   - 0.
   - 0.
   - 1.

clever/launch/aruco.launch

@@ -3,7 +3,7 @@
     <arg name="aruco_map" default="false"/>
     <arg name="aruco_vpe" default="false"/>
 
-    <!-- For additional help go to https://clover.coex.tech/aruco -->
+    <!-- For additional help go to https://clever.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 nodelet_manager" output="screen" clear_params="true">
@@ -14,9 +14,6 @@
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map"/>
         <param name="length" value="0.33"/>
-        <!-- aruco detector parameters -->
-        <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
-        <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->
@@ -34,7 +31,7 @@
     </node>
 
     <!-- vpe publisher from aruco markers -->
-    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
+    <node name="vpe_publisher" pkg="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
         <remap from="~pose_cov" to="aruco_map/pose"/>
         <remap from="~vpe" to="mavros/vision_pose/pose"/>
         <param name="frame_id" value="aruco_map_detected"/>

clever/launch/clever.launch

@@ -1,26 +1,23 @@
 <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="optical_flow" default="false"/>
     <arg name="aruco" default="false"/>
-    <arg name="rangefinder_vl53l1x" default="true"/>
-    <arg name="led" default="true"/>
+    <arg name="rangefinder_vl53l1x" default="false"/>
+    <arg name="led" default="false"/>
     <arg name="rc" default="true"/>
-    <arg name="shell" default="true"/>
 
     <!-- log formatting -->
     <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
 
     <!-- mavros -->
-    <include file="$(find clover)/launch/mavros.launch">
+    <include file="$(find clever)/launch/mavros.launch">
         <arg name="fcu_conn" value="$(arg fcu_conn)"/>
         <arg name="fcu_ip" value="$(arg fcu_ip)"/>
-        <arg name="fcu_sys_id" value="$(arg fcu_sys_id)"/>
         <arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
     </include>
 
@@ -31,14 +28,13 @@
     </node>
 
     <!-- aruco markers -->
-    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
+    <include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
 
     <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
         <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 -->
@@ -49,14 +45,14 @@
     <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
 
     <!-- simplified offboard control -->
-    <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
+    <node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
         <param name="reference_frames/body" value="map"/>
         <param name="reference_frames/base_link" value="map"/>
         <param name="reference_frames/navigate_target" value="map"/>
     </node>
 
     <!-- main camera -->
-    <include file="$(find clover)/launch/main_camera.launch" if="$(arg main_camera)"/>
+    <include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
 
     <!-- rosbridge -->
     <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
@@ -67,24 +63,11 @@
     <!-- vl53l1x ToF rangefinder -->
     <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
         <param name="frame_id" value="rangefinder"/>
-        <param name="min_signal" value="0.4"/>
-        <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
     </node>
 
     <!-- led strip -->
-    <include file="$(find clover)/launch/led.launch" if="$(arg led)"/>
+    <include file="$(find clever)/launch/led.launch" if="$(arg led)"/>
 
     <!-- rc backend -->
-    <node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
-        <!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
-        <param name="use_fake_gcs" value="false"/>
-    </node>
-
-    <!-- Shell access through ROS service -->
-    <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
-
-    <!-- Update static directory -->
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
-        <param name="default_package" value="clover"/>
-    </node>
+    <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
 </launch>

clever/launch/fpv_camera.launch

@@ -0,0 +1,6 @@
+<launch>
+    <arg name="device" default="/dev/video1"/>
+    <arg name="port" default="9999"/>
+
+    <node name="fpv_camera" pkg="clever" type="fpv_camera" args="$(arg device) $(arg port)" output="screen"/>
+</launch>

clever/launch/led.launch

@@ -3,13 +3,13 @@
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
 
-    <!-- For additional help go to https://clover.coex.tech/led -->
+    <!-- For additional help go to https://clever.coex.tech/led -->
 
     <!-- ws281x led strip driver -->
     <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(arg ws281x)">
         <param name="led_count" value="58"/>
         <param name="gpio_pin" value="21"/>
-        <param name="brightness" value="64"/>
+        <param name="brightness" value="100"/>
         <param name="strip_type" value="WS2811_STRIP_GRB"/>
         <param name="target_frequency" value="800000"/>
         <param name="dma" value="10"/>
@@ -17,7 +17,7 @@
     </node>
 
     <!-- high level led effects control, events notification with leds -->
-    <node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
+    <node pkg="clever" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
         <param name="blink_rate" value="2"/>
         <param name="fade_period" value="0.5"/>
         <param name="rainbow_period" value="5"/>

clever/launch/main_camera.launch

@@ -0,0 +1,38 @@
+<launch>
+    <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
+    <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
+
+    <!-- article about camera setup: https://clever.coex.tech/camera_frame -->
+
+    <!-- camera is oriented downward, camera cable goes backward [option 1] -->
+    <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 is oriented downward, camera cable goes forward  [option 2] -->
+    <!--<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 is oriented upward, camera cable goes backward   [option 3] -->
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>-->
+
+    <!-- camera is oriented upward, camera cable goes forward    [option 4] -->
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>-->
+
+    <!-- camera node -->
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
+
+        <param name="rate" value="100"/> <!-- poll rate -->
+        <param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
+        <param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
+        <param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
+
+        <!-- camera resolution, NOTE: camera_info file should match it -->
+        <param name="image_width" value="320"/>
+        <param name="image_height" value="240"/>
+    </node>
+
+    <!-- camera visualization markers -->
+    <node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
+        <param name="scale" value="3.0"/>
+    </node>
+</launch>

clever/launch/mavros.launch

@@ -1,7 +1,6 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
+    <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="viz" default="true"/>
     <arg name="respawn" default="true"/>
@@ -14,15 +13,9 @@
         <!-- USB connection -->
         <param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
 
-        <!-- sitl before PX4 1.9.0 -->
+        <!-- sitl -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
 
-        <!-- sitl since PX4 1.9.0 -->
-        <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
-
-        <!-- set target_system_id -->
-        <param name="target_system_id" value="$(arg fcu_sys_id)" />
-
         <!-- gcs bridge -->
         <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
         <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
@@ -33,7 +26,7 @@
         <param name="conn/timeout" value="8"/>
 
         <!-- basic params -->
-        <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
+        <rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
 
         <!-- remap rangefinder -->
         <remap from="mavros/distance_sensor/rangefinder_sub" to="rangefinder/range"/>

clever/launch/sitl.launch

@@ -1,9 +1,9 @@
 <launch>
-    <!-- clover configuration for testing in sitl -->
+    <!-- Clever configuration for testing in sitl -->
     <arg name="ip" default="127.0.0.1"/>
     <arg name="rosbridge" default="false"/>
 
-    <include file="$(find clover)/launch/clover.launch">
+    <include file="$(find clever)/launch/clever.launch">
         <arg name="fcu_conn" value="udp"/>
         <arg name="fcu_ip" value="$(arg ip)"/>
         <arg name="gcs_bridge" value="false"/>
@@ -13,7 +13,6 @@
         <arg name="rosbridge" value="$(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>

clever/nodelet_plugins.xml

@@ -0,0 +1,5 @@
+<library path="lib/libclever">
+   <class name="clever/optical_flow" type="OpticalFlow" base_class_type="nodelet::Nodelet">
+      <description/>
+   </class>
+</library>

clever/package.xml

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>clover</name>
+  <name>clever</name>
   <version>0.0.1</version>
-  <description>The Clover package</description>
+  <description>The CLEVER package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>
 
-  <url type="website">https://clover.coex.tech/</url>
+  <url type="website">https://clever.coex.tech/</url>
   <author email="okalachev@gmail.com">Oleg Kalachev</author>
   <author email="urpylka@gmail.com">Artem Smirnov</author>
 
@@ -15,7 +15,6 @@
 
   <!-- Package format specifier version 2.0 allows specifying dependencies for both
    build- and runtime in a single <depend> element -->
-  <depend>message_generation</depend>
   <depend>roscpp</depend>
   <depend>rospy</depend>
   <depend>std_srvs</depend>
@@ -34,10 +33,12 @@
   <depend>mavros_extras</depend>
   <depend>cv_camera</depend>
   <depend>cv_bridge</depend>
+  <!-- FIXME: OpenCV3 is not in Melodic -->
+  <!-- <depend>opencv3</depend> -->
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>python-lxml</depend>
+  <depend>python3-lxml</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->

clever/requirements.txt

@@ -0,0 +1,5 @@
+flask==1.1.1
+docopt==0.6.2
+geopy==1.20.0
+smbus2==0.3.0
+VL53L1X==0.0.4

clever/src/fpv_camera

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 # Usage
-# camera_stream <video_device> <http port>
+# fpv_camera <video_device> <http port>
 
-echo "Starting camera stream $1 on :$2"
+echo "Starting FPV camera $1 on :$2"
 mjpg_streamer -i "/usr/lib/input_uvc.so -d $1 -r 320x240 -f 30" -o "/usr/lib/output_http.so -w /usr/share/mjpg_streamer/www -p $2"

clever/src/led.cpp

@@ -14,7 +14,7 @@
 #include <string>
 #include <boost/algorithm/string.hpp>
 
-#include <clover/SetLEDEffect.h>
+#include <clever/SetLEDEffect.h>
 #include <led_msgs/SetLEDs.h>
 #include <led_msgs/LEDState.h>
 #include <led_msgs/LEDStateArray.h>
@@ -23,7 +23,7 @@
 #include <mavros_msgs/State.h>
 #include <rosgraph_msgs/Log.h>
 
-clover::SetLEDEffect::Request current_effect;
+clever::SetLEDEffect::Request current_effect;
 int led_count;
 ros::Timer timer;
 ros::Time start_time;
@@ -144,7 +144,7 @@ void proceed(const ros::TimerEvent& event)
 	}
 }
 
-bool setEffect(clover::SetLEDEffect::Request& req, clover::SetLEDEffect::Response& res)
+bool setEffect(clever::SetLEDEffect::Request& req, clever::SetLEDEffect::Response& res)
 {
 	res.success = true;
 
@@ -237,7 +237,7 @@ void notify(const std::string& event)
 	    ros::param::has("~notify/" + event + "/g") ||
 	    ros::param::has("~notify/" + event + "/b")) {
 		ROS_INFO_THROTTLE(5, "led: notify %s", event.c_str());
-		clover::SetLEDEffect effect;
+		clever::SetLEDEffect effect;
 		effect.request.effect = ros::param::param("~notify/" + event + "/effect", std::string(""));
 		effect.request.r = ros::param::param("~notify/" + event + "/r", 0);
 		effect.request.g = ros::param::param("~notify/" + event + "/g", 0);
@@ -263,10 +263,7 @@ void handleMavrosState(const mavros_msgs::State& msg)
 			// remove the part before "."
 			mode = mode.substr(mode.find(".") + 1);
 		}
-		std::string err;
-		if (ros::names::validate(mode, err)) {
-			notify(mode);
-		}
+		notify(mode);
 	}
 	mavros_state = msg;
 }
@@ -281,8 +278,7 @@ void handleLog(const rosgraph_msgs::Log& log)
 void handleBattery(const sensor_msgs::BatteryState& msg)
 {
 	for (auto const& voltage : msg.cell_voltage) {
-		if (voltage < low_battery_threshold &&
-		    voltage > 2.0) { // voltage < 2.0 likely indicates incorrect voltage measurement
+		if (voltage < low_battery_threshold) {
 			// notify low battery every time
 			notify("low_battery");
 		}

clever/src/optical_flow.cpp

@@ -34,7 +34,9 @@ class OpticalFlow : public nodelet::Nodelet
 {
 public:
 	OpticalFlow():
-		camera_matrix_(3, 3, CV_64F)
+		camera_matrix_(3, 3, CV_64F),
+		dist_coeffs_(8, 1, CV_64F),
+		tf_listener_(tf_buffer_)
 	{}
 
 private:
@@ -44,14 +46,12 @@ private:
 	image_transport::CameraSubscriber img_sub_;
 	image_transport::Publisher img_pub_;
 	mavros_msgs::OpticalFlowRad flow_;
-	int roi_px_;
-	double roi_rad_;
-	cv::Rect roi_;
+	int roi_, roi_2_;
 	Mat hann_;
 	Mat prev_, curr_;
 	Mat camera_matrix_, dist_coeffs_;
-	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
+	tf2_ros::Buffer tf_buffer_;
+	tf2_ros::TransformListener tf_listener_;
 	bool calc_flow_gyro_;
 
 	void onInit()
@@ -61,14 +61,11 @@ private:
 		image_transport::ImageTransport it(nh);
 		image_transport::ImageTransport it_priv(nh_priv);
 
-		tf_buffer_.reset(new tf2_ros::Buffer());
-		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh));
-
-		local_frame_id_ = nh.param<std::string>("mavros/local_position/tf/frame_id", "map");
-		fcu_frame_id_ = nh.param<std::string>("mavros/local_position/tf/child_frame_id", "base_link");
-		roi_px_ = nh_priv.param("roi", 128);
-		roi_rad_ = nh_priv.param("roi_rad", 0.0);
-		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
+		nh.param<std::string>("mavros/local_position/tf/frame_id", local_frame_id_, "map");
+		nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
+		nh_priv.param("roi", roi_, 128);
+		roi_2_ = roi_ / 2;
+		nh_priv.param("calc_flow_gyro", calc_flow_gyro_, false);
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
@@ -92,7 +89,9 @@ private:
 				camera_matrix_.at<double>(i, j) = cinfo->K[3 * i + j];
 			}
 		}
-		dist_coeffs_ = cv::Mat(cinfo->D, true);
+		for (int k = 0; k < cinfo->D.size(); k++) {
+			dist_coeffs_.at<double>(k) = cinfo->D[k];
+		}
 	}
 
 	void drawFlow(Mat& frame, double x, double y, double quality) const
@@ -113,31 +112,9 @@ private:
 
 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
 
-		if (roi_.width == 0) { // ROI is not calculated
-			// Calculate ROI
-			if (roi_rad_ != 0) {
-				std::vector<cv::Point3f> object_points = {
-					cv::Point3f(-sin(roi_rad_ / 2), -sin(roi_rad_ / 2), cos(roi_rad_ / 2)),
-					cv::Point3f(sin(roi_rad_ / 2), sin(roi_rad_ / 2), cos(roi_rad_ / 2)),
-				};
-
-				std::vector<double> vec { 0, 0, 0 };
-				std::vector<cv::Point2f> img_points;
-				cv::projectPoints(object_points, vec, vec, camera_matrix_, dist_coeffs_, img_points);
-
-				roi_ = cv::Rect(cv::Point2i(round(img_points[0].x), round(img_points[0].y)), 
-					cv::Point2i(round(img_points[1].x), round(img_points[1].y)));
-
-				ROS_INFO("ROI: %d %d - %d %d ", roi_.tl().x, roi_.tl().y, roi_.br().x, roi_.br().y);
-
-			} else if (roi_px_ != 0) {
-				roi_ = cv::Rect((msg->width / 2 - roi_px_ / 2), (msg->height / 2 - roi_px_ / 2), roi_px_, roi_px_);
-			}
-		}
-
-		if (roi_.width != 0) { // ROI is set
-			// Apply ROI
-			img = img(roi_);
+		// Apply ROI
+		if (roi_ != 0) {
+			img = img(cv::Rect((msg->width / 2 - roi_2_), (msg->height / 2 - roi_2_), roi_, roi_));
 		}
 
 		img.convertTo(curr_, CV_32F);
@@ -185,7 +162,7 @@ private:
 			flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
 			flow_camera.vector.y = -flow_x; // +x means clockwise rotation around X axis
 			try {
-				tf_buffer_->transform(flow_camera, flow_fcu, fcu_frame_id_);
+				tf_buffer_.transform(flow_camera, flow_fcu, fcu_frame_id_);
 			} catch (const tf2::TransformException& e) {
 				// transform is not available yet
 				return;
@@ -199,7 +176,7 @@ private:
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
 					static geometry_msgs::Vector3Stamped flow_gyro_fcu;
-					tf_buffer_->transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
+					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;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
@@ -246,8 +223,8 @@ private:
 	geometry_msgs::Vector3Stamped calcFlowGyro(const std::string& frame_id, const ros::Time& prev, const ros::Time& curr)
 	{
 		tf2::Quaternion prev_rot, curr_rot;
-		tf2::fromMsg(tf_buffer_->lookupTransform(frame_id, local_frame_id_, prev).transform.rotation, prev_rot);
-		tf2::fromMsg(tf_buffer_->lookupTransform(frame_id, local_frame_id_, curr, ros::Duration(0.1)).transform.rotation, curr_rot);
+		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, prev).transform.rotation, prev_rot);
+		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, curr, ros::Duration(0.1)).transform.rotation, curr_rot);
 
 		geometry_msgs::Vector3Stamped flow;
 		flow.header.frame_id = frame_id;

clever/src/rc.cpp

@@ -1,5 +1,5 @@
 /*
- * Clover mobile remote control backend
+ * CLEVER mobile remote control backend
  * Send ManualControl messages through UDP
  * 'latched_state' topic
  *
@@ -34,15 +34,12 @@ public:
 		nh(),
 		nh_priv("~")
 	{
-		bool use_fake_gcs = nh_priv.param("use_fake_gcs", true);
 		// Create socket thread
 		std::thread t(&RC::socketThread, this);
 		t.detach();
 
-		if (use_fake_gcs) {
-			std::thread gcst(&RC::fakeGCSThread, this);
-			gcst.detach();
-		}
+		std::thread gcst(&RC::fakeGCSThread, this);
+		gcst.detach();
 
 		initLatchedState();
 	}

clever/src/selfcheck.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # coding=utf-8
 
 # Copyright (C) 2018 Copter Express Technologies
@@ -9,7 +9,6 @@
 # The above copyright notice and this permission notice shall be included in all
 # copies or substantial portions of the Software.
 
-import os
 import math
 import subprocess
 import re
@@ -95,7 +94,7 @@ def get_param(name):
         return None
 
     if not res.success:
-        failure('unable to retrieve PX4 parameter %s', name)
+        failure('Unable to retrieve PX4 parameter %s', name)
     else:
         if res.value.integer != 0:
             return res.value.integer
@@ -200,17 +199,17 @@ def check_fcu():
             info('no version data available from SITL')
 
         r = re.compile(r'^FW (git tag|version): (v?\d\.\d\.\d.*)$')
-        is_clover_firmware = False
+        is_clever_firmware = False
         for ver_line in version_str.split('\n'):
             match = r.search(ver_line)
             if match is not None:
                 field, version = match.groups()
                 info('firmware %s: %s' % (field, version))
-                if 'clover' in version or 'clever' in version:
-                    is_clover_firmware = True
+                if 'clever' in version:
+                    is_clever_firmware = True
 
-        if not is_clover_firmware:
-            failure('not running Clover PX4 firmware, https://clover.coex.tech/firmware')
+        if not is_clever_firmware:
+            failure('not running Clever PX4 firmware, https://clever.coex.tech/firmware')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
@@ -225,12 +224,6 @@ def check_fcu():
             else:
                 info('LPE_FUSION: barometer fusion is disabled')
 
-            mag_yaw_w = get_param('ATT_W_MAG')
-            if mag_yaw_w == 0:
-                info('magnetometer weight (ATT_W_MAG) is zero, better for indoor flights')
-            else:
-                info('magnetometer weight (ATT_W_MAG) is non-zero (%.2f), better for outdoor flights', mag_yaw_w)
-
         elif est == 2:
             info('selected estimator: EKF2')
         else:
@@ -245,18 +238,15 @@ def check_fcu():
 
         cbrk_usb_chk = get_param('CBRK_USB_CHK')
         if cbrk_usb_chk != 197848:
-            failure('set parameter CBRK_USB_CHK to 197848 for flying with USB connected')
+            failure('Set parameter CBRK_USB_CHK to 197848 for flying with USB connected')
 
         try:
             battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
-            if not battery.cell_voltage:
-                failure('cell voltage is not available, https://clover.coex.tech/power')
-            else:
-                cell = battery.cell_voltage[0]
-                if cell > 4.3 or cell < 3.0:
-                    failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
-                elif cell < 3.7:
-                    failure('critically low cell voltage: %.2f V, recharge battery', cell)
+            cell = battery.cell_voltage[0]
+            if cell > 4.3 or cell < 3.0:
+                failure('Incorrect cell voltage: %.2f V, https://clever.coex.tech/power', cell)
+            elif cell < 3.7:
+                failure('Critically low cell voltage: %.2f V, recharge battery', cell)
         except rospy.ROSException:
             failure('no battery state')
 
@@ -311,7 +301,7 @@ def check_camera(name):
         if not optical or not cable:
             info('%s: custom camera orientation detected', name)
         else:
-            info('camera is oriented %s, cable from camera goes %s', optical, cable)
+            info('camera is oriented %s, camera cable goes %s', optical, cable)
 
     except tf2_ros.TransformException:
         failure('cannot transform from base_link to camera frame')
@@ -339,11 +329,8 @@ def is_process_running(binary, exact=False, full=False):
 @check('ArUco markers')
 def check_aruco():
     if is_process_running('aruco_detect', full=True):
-        try:
-            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
-        except KeyError:
-            failure('aruco_detect/length parameter is not set')
-        known_tilt = rospy.get_param('aruco_detect/known_tilt', '')
+        info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
+        known_tilt = rospy.get_param('aruco_detect/known_tilt')
         if known_tilt == 'map':
             known_tilt += ' (ALL markers are on the floor)'
         elif known_tilt == 'map_flipped':
@@ -359,7 +346,7 @@ def check_aruco():
         return
 
     if is_process_running('aruco_map', full=True):
-        known_tilt = rospy.get_param('aruco_map/known_tilt', '')
+        known_tilt = rospy.get_param('aruco_map/known_tilt')
         if known_tilt == 'map':
             known_tilt += ' (marker\'s map is on the floor)'
         elif known_tilt == 'map_flipped':
@@ -519,7 +506,7 @@ def check_global_position():
     try:
         rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
     except rospy.ROSException:
-        info('no global position')
+        failure('no global position')
 
 
 @check('Optical flow')
@@ -632,16 +619,16 @@ def check_cpu_usage():
                     cpu.strip(), cmd.strip(), pid.strip())
 
 
-@check('clover.service')
-def check_clover_service():
+@check('clever.service')
+def check_clever_service():
     try:
-        output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
+        output = subprocess.check_output('systemctl show -p ActiveState --value clever.service'.split(),
                                          stderr=subprocess.STDOUT)
     except subprocess.CalledProcessError as e:
         failure('systemctl returned %s: %s', e.returncode, e.output)
         return
     if 'inactive' in output:
-        failure('service is not running, try sudo systemctl restart clover')
+        failure('service is not running, try sudo systemctl restart clever')
         return
     elif 'failed' in output:
         failure('service failed to run, check your launch-files')
@@ -649,7 +636,7 @@ def check_clover_service():
     r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
     error_count = OrderedDict()
     try:
-        for line in open('/tmp/clover.err', 'r'):
+        for line in open('/tmp/clever.err', 'r'):
             node_error = r.search(line)
             if node_error:
                 msg = node_error.groups()[1] + ': ' + node_error.groups()[2]
@@ -673,9 +660,9 @@ def check_clover_service():
 @check('Image')
 def check_image():
     try:
-        info('version: %s', open('/etc/clover_version').read().strip())
+        info('version: %s', open('/etc/clever_version').read().strip())
     except IOError:
-        info('no /etc/clover_version file, not the Clover image?')
+        info('no /etc/clever_version file, not the Clever image?')
 
 
 @check('Preflight status')
@@ -699,82 +686,9 @@ def check_preflight_status():
                 failure(' '.join([match.groups()[1], 'check:', check_status]))
 
 
-@check('Network')
-def check_network():
-    ros_hostname = os.environ.get('ROS_HOSTNAME', '').strip()
-
-    if not ros_hostname:
-        failure('no ROS_HOSTNAME is set')
-
-    elif ros_hostname.endswith('.local'):
-        # using mdns hostname
-        hosts = open('/etc/hosts', 'r')
-        for line in hosts:
-            parts = line.split()
-            if len(parts) < 2:
-                continue
-            ip = parts.pop(0).split('.')
-            if ip[0] == '127':  # loopback ip
-                if ros_hostname in parts:
-                    break
-        else:
-            failure('not found %s in /etc/hosts, ROS will malfunction if network interfaces are down, https://clover.coex.tech/hostname', ros_hostname)
-
-
-@check('RPi health')
-def check_rpi_health():
-    # `vcgencmd get_throttled` output codes taken from
-    # https://github.com/raspberrypi/documentation/blob/JamesH65-patch-vcgencmd-vcdbg-docs/raspbian/applications/vcgencmd.md#get_throttled
-    # TODO: support more base platforms?
-    FLAG_UNDERVOLTAGE_NOW = 0x1
-    FLAG_FREQ_CAP_NOW = 0x2
-    FLAG_THROTTLING_NOW = 0x4
-    FLAG_THERMAL_LIMIT_NOW = 0x8
-    FLAG_UNDERVOLTAGE_OCCURRED = 0x10000
-    FLAG_FREQ_CAP_OCCURRED = 0x20000
-    FLAG_THROTTLING_OCCURRED = 0x40000
-    FLAG_THERMAL_LIMIT_OCCURRED = 0x80000
-
-    FLAG_DESCRIPTIONS = (
-        (FLAG_THROTTLING_NOW, 'system throttled to prevent damage'),
-        (FLAG_THROTTLING_OCCURRED, 'your system is susceptible to throttling'),
-        (FLAG_UNDERVOLTAGE_NOW, 'not enough power for onboard computer, flight inadvisable'),
-        (FLAG_UNDERVOLTAGE_OCCURRED, 'power supply cannot provide enough power'),
-        (FLAG_FREQ_CAP_NOW, 'CPU reached thermal limit and is throttled now'),
-        (FLAG_FREQ_CAP_OCCURRED, 'CPU may overheat during drone operation, consider additional cooling'),
-        (FLAG_THERMAL_LIMIT_NOW, 'CPU reached soft thermal limit, frequency reduced'),
-        (FLAG_THERMAL_LIMIT_OCCURRED, 'CPU may reach soft thermal limit, consider additional cooling'),
-    )
-
-    try:
-        # vcgencmd outputs a single string in a form of
-        # <parameter>=<value>
-        # In case of `get_throttled`, <value> is a hexadecimal number
-        # with some of the FLAGs OR'ed together
-        output = subprocess.check_output(['vcgencmd', 'get_throttled'])
-    except OSError:
-        failure('could not call vcgencmd binary; not a Raspberry Pi?')
-        return
-
-    throttle_mask = int(output.split('=')[1], base=16)
-    for flag_description in FLAG_DESCRIPTIONS:
-        if throttle_mask & flag_description[0]:
-            failure(flag_description[1])
-
-
-@check('Board')
-def check_board():
-    try:
-        info('%s', open('/proc/device-tree/model').readline())
-    except IOError:
-        info('could not open /proc/device-tree/model, not a Raspberry Pi?')
-
-
 def selfcheck():
     check_image()
-    check_board()
-    check_clover_service()
-    check_network()
+    check_clever_service()
     check_fcu()
     check_imu()
     check_local_position()
@@ -787,7 +701,6 @@ def selfcheck():
     check_optical_flow()
     check_vpe()
     check_rangefinder()
-    check_rpi_health()
     check_cpu_usage()
     check_boot_duration()
 

clever/src/simple_offboard.cpp

@@ -37,18 +37,18 @@
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
 
-#include <clover/GetTelemetry.h>
-#include <clover/Navigate.h>
-#include <clover/NavigateGlobal.h>
-#include <clover/SetPosition.h>
-#include <clover/SetVelocity.h>
-#include <clover/SetAttitude.h>
-#include <clover/SetRates.h>
+#include <clever/GetTelemetry.h>
+#include <clever/Navigate.h>
+#include <clever/NavigateGlobal.h>
+#include <clever/SetPosition.h>
+#include <clever/SetVelocity.h>
+#include <clever/SetAttitude.h>
+#include <clever/SetRates.h>
 
 using std::string;
 using namespace geometry_msgs;
 using namespace sensor_msgs;
-using namespace clover;
+using namespace clever;
 using mavros_msgs::PositionTarget;
 using mavros_msgs::AttitudeTarget;
 using mavros_msgs::Thrust;
@@ -90,7 +90,7 @@ PositionTarget position_raw_msg;
 AttitudeTarget att_raw_msg;
 Thrust thrust_msg;
 TwistStamped rates_msg;
-TransformStamped target, setpoint;
+TransformStamped target;
 geometry_msgs::TransformStamped body;
 
 // State
@@ -177,6 +177,8 @@ inline bool waitTransform(const string& target, const string& source,
 		ros::spinOnce();
 		r.sleep();
 	}
+	// At this point our node has been shut down
+	return false;
 }
 
 #define TIMEOUT(msg, timeout) (ros::Time::now() - msg.header.stamp > timeout)
@@ -433,17 +435,6 @@ void publish(const ros::Time stamp)
 			position_raw_msg.position = position_msg.pose.position;
 			position_raw_pub.publish(position_raw_msg);
 		}
-
-		// publish setpoint frame
-		if (!setpoint.child_frame_id.empty()) {
-			setpoint.transform.translation.x = position_msg.pose.position.x;
-			setpoint.transform.translation.y = position_msg.pose.position.y;
-			setpoint.transform.translation.z = position_msg.pose.position.z;
-			setpoint.transform.rotation = position_msg.pose.orientation;
-			setpoint.header.frame_id = position_msg.header.frame_id;
-			setpoint.header.stamp = position_msg.header.stamp;
-			transform_broadcaster->sendTransform(setpoint);
-		}
 	}
 
 	if (setpoint_type == VELOCITY) {
@@ -490,7 +481,7 @@ inline void checkState()
 		throw std::runtime_error("State timeout, check mavros settings");
 
 	if (!state.connected)
-		throw std::runtime_error("No connection to FCU, https://clover.coex.tech/connection");
+		throw std::runtime_error("No connection to FCU, https://clever.coex.tech/connection");
 }
 
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
@@ -760,6 +751,8 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		busy = false;
 		return true;
 	}
+	// We should not end up here, but if we did, our node has been shut down
+	return false;
 }
 
 int main(int argc, char **argv)
@@ -775,7 +768,6 @@ int main(int argc, char **argv)
 	nh.param<string>("mavros/local_position/tf/frame_id", local_frame, "map");
 	nh.param<string>("mavros/local_position/tf/child_frame_id", fcu_frame, "base_link");
 	nh_priv.param("target_frame", target.child_frame_id, string("navigate_target"));
-	nh_priv.param("setpoint", setpoint.child_frame_id, string("setpoint"));
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);

clever/test/basic.py

@@ -1,12 +1,11 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import rospy
 import pytest
 from mavros_msgs.msg import State
-from clover import srv
 
 @pytest.fixture()
 def node():
-    return rospy.init_node('clover_test', anonymous=True)
+    return rospy.init_node('clever_test', anonymous=True)
 
 def test_state(node):
     state = rospy.wait_for_message('mavros/state', State, timeout=10)
@@ -28,19 +27,3 @@ def test_simple_offboard_services_available():
 def test_web_video_server(node):
     import urllib2
     urllib2.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 == ''

clever/test/basic.test

@@ -3,7 +3,7 @@
 
     <node pkg="mavros" type="mavros_node" name="mavros" required="true" output="screen">
         <param name="fcu_url" value="udp://@127.0.1:14557"/>
-        <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
+        <rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
     </node>
 
     <node name="visualization" pkg="mavros_extras" type="visualization" required="true">
@@ -23,21 +23,19 @@
 
     <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped" required="true"/>
 
-    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen">
+    <node name="simple_offboard" pkg="clever" type="simple_offboard" required="true" output="screen">
         <param name="reference_frames/body" value="map"/>
         <param name="reference_frames/base_link" value="map"/>
     </node>
 
     <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" required="true"/>
 
-    <node name="rc" pkg="clover" type="rc" required="true" output="screen"/>
+    <node name="rc" pkg="clever" type="rc" required="true" output="screen"/>
 
-    <node name="shell" pkg="clover" type="shell" required="true" output="screen"/>
-
-    <node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" required="true">
+    <node pkg="clever" name="led_effect" type="led" ns="led" clear_params="true" output="screen" required="true">
         <rosparam param="notify">startup: { r: 255, g: 255, b: 255 }</rosparam>
     </node>
 
-    <param name="test_module" value="$(find clover)/test/basic.py"/>
+    <param name="test_module" value="$(find clever)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clever/www/index.html

@@ -0,0 +1,14 @@
+<h1>CLEVER Drone Kit Tools</h1>
+
+<ul>
+	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clever.coex.tech">clever.coex.tech</a>)</li>
+	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
+	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
+	<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>
+</ul>
+
+<script type="text/javascript">
+	document.querySelector("#wvs").href = location.origin + ':8080';
+	document.querySelector("#butterfly").href = location.origin + ':57575';
+</script>

clever/www/js/viz.js

@@ -7,7 +7,7 @@ var titleEl = document.querySelector('title');
 ros.on('error', function(error) {
 	titleEl.innerText = 'Disconnected';
 	err = error;
-	alert('Connection error: please enable \'rosbridge\' in clover.launch!');
+	alert('Connection error: please enable \'rosbridge\' in clever.launch!');
 });
 
 ros.on('connection', function() {

clover/README.md

@@ -1,73 +0,0 @@
-# `clover` ROS package
-
-A bundle for autonomous navigation and drone control.
-
-## Manual installation
-
-Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
-
-Clone this repo to directory `~/catkin_ws/src/clover`:
-
-```bash
-cd ~/catkin_ws/src
-git clone https://github.com/CopterExpress/clover.git clover
-```
-
-All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:
-
-```bash
-cd ~/catkin_ws/
-rosdep install -y --from-paths src --ignore-src
-```
-
-Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):
-
-```bash
-cd ~/catkin_ws
-catkin_make -j1
-```
-
-To complete `mavros` install you'll need to install `geographiclib` datasets:
-
-```bash
-curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
-```
-
-You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
-
-```bash
-cd ~/catkin_ws/src/clover/clover/config
-sudo cp 99-px4fmu.rules /lib/udev/rules.d
-```
-
-Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.
-
-## Running
-
-Enable systemd service `roscore` (if not running):
-
-```bash
-sudo systemctl enable /home/<username>/catkin_ws/src/clover/builder/assets/roscore.service
-sudo systemctl start roscore
-```
-
-To start connection to SITL, use:
-
-```bash
-roslaunch clover sitl.launch
-```
-
-To start connection to the flight controller, use:
-
-```bash
-roslaunch clover clover.launch
-```
-
-> 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`.
-
-Also, you can enable and start the systemd service:
-
-```bash
-sudo systemctl enable /home/<username>/catkin_ws/src/clover/deploy/clover.service
-sudo systemctl start clover
-```

clover/launch/main_camera.launch

@@ -1,37 +0,0 @@
-<launch>
-    <!-- article about camera setup: https://clover.coex.tech/camera_setup -->
-
-    <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 -->
-
-    <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
-    <node if="$(eval direction_z == 'down' and direction_y == 'forward')" 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"/>
-    <node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
-    <node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
-
-    <!-- Template for custom camera orientation -->
-    <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
-    <!-- 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 node -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
-        <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"/>
-
-        <param name="rate" value="100"/> <!-- poll rate -->
-        <param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
-        <param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
-        <param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
-
-        <!-- camera resolution -->
-        <param name="image_width" value="320"/>
-        <param name="image_height" value="240"/>
-    </node>
-
-    <!-- camera visualization markers -->
-    <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
-        <param name="scale" value="3.0"/>
-    </node>
-</launch>