Adjust aruco.launch arguments

* docs: Add contributed models for Jetson Nano

* Add Vyacheslav Buzov’s contact link

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

.travis.yml

@@ -73,8 +73,11 @@ jobs:
       node_js:
         - "10"
       before_script:
+        - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
+        - sudo apt update && sudo apt install -y calibre msttcorefonts
         - npm install gitbook-cli -g
         - npm install markdownlint-cli -g
+        - npm install svgexport -g
         - gitbook -V
         - markdownlint -V
       script:
@@ -83,6 +86,7 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
+        - gitbook pdf ./ _book/clover.pdf
       deploy:
         provider: pages
         local_dir: _book

README.md

@@ -1,173 +1,40 @@
 # COEX Clover Drone Kit
 
-<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="Clover Drone">
 
-This repository contains documentation, software platform source code and RPi image builder for COEX Clover drone kit.
+Clover is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 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">
+The main documentation is available [on Gitbook](https://clover.coex.tech/).
 
-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.
+Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
 
-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>.
-
-## Autonomous flights video
+## Video compilation
 
 [![Clover Drone Kit autonomy compilation](http://img.youtube.com/vi/u3omgsYC4Fk/hqdefault.jpg)](https://youtu.be/u3omgsYC4Fk)
 
 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.
 
-## Features
+## Raspberry Pi image
 
-### Prebuilt RPi image
+Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
-...
+[![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
 
-### Common robotics software
+Image features:
 
-Prebuilt image for Raspberry Pi includes:
+* Raspbian Buster
+* [ROS Melodic](http://wiki.ros.org/melodic)
+* Configured networking
+* OpenCV
+* [`mavros`](http://wiki.ros.org/mavros)
+* Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)
+* `aruco_pose` package for marker-assisted navigation
+* `clover` package for autonomous drone control
 
-|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.
-
-## Manual installation
+API description for autonomous flights is available [on GitBook](https://clover.coex.tech/en/simple_offboard.html).
 
 For manual package installation and running see [`clover` package documentation](clover/README.md).
 
-## PX4 Dev Summit 2019 talk
-
-[![](http://img.youtube.com/vi/CTG9E9PbJQ8/0.jpg)](http://www.youtube.com/watch?v=CTG9E9PbJQ8)
-
-## Other resources
-
-* 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).
-
 ## License
 
 While the Clover platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

aruco_pose/src/genmap.py

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

clover/launch/aruco.launch

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

clover/launch/clover.launch

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

clover/launch/led.launch

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