Merge branch 'master' into nti2019

builder/assets/clever_rename

@@ -0,0 +1,35 @@
+#!/usr/bin/env bash
+
+# Set Clever hostname to the specified value
+
+set -e
+
+NEW_NAME_OPT=$1
+
+if [[ -z ${NEW_NAME_OPT} ]]; then
+  echo "Please specify new name for this Clever"
+  exit 1
+fi
+
+NEW_NAME=$(echo ${NEW_NAME_OPT} | tr '[:upper:]' '[:lower:]')
+
+echo "Setting name to ${NEW_NAME}"
+
+echo "Backing up /etc/hostname"
+cp /etc/hostname /etc/hostname.bak
+echo "Writing new /etc/hostname"
+echo ${NEW_NAME} > /etc/hostname
+
+echo "Backing up /etc/hosts"
+cp /etc/hosts /etc/hosts.bak
+echo "Rewriting /etc/hosts with new values"
+sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_NAME}'/g' /etc/hosts
+
+echo "Changing hostname in /lib/systemd/system/roscore.env"
+sed -i 's/ROS_HOSTNAME=.*/ROS_HOSTNAME='${NEW_NAME}'.local/g' /lib/systemd/system/roscore.env
+
+echo "Changing hostname in .bashrc"
+sed -i 's/export ROS_HOSTNAME=.*/export ROS_HOSTNAME='${NEW_NAME}'.local/g' /home/pi/.bashrc
+
+echo "Done, reboot your Clever to see the results"
+

builder/assets/init_rpi.sh

@@ -32,7 +32,9 @@ echo_stamp() {
 }
 
 echo_stamp "Rename SSID"
-sudo sed -i.OLD "s/CLEVER/CLEVER-$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g" /etc/wpa_supplicant/wpa_supplicant.conf
+NEW_SSID='CLEVER-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
+sudo sed -i.OLD "s/CLEVER/${NEW_SSID}/" /etc/wpa_supplicant/wpa_supplicant.conf
+clever_rename ${NEW_SSID}
 
 echo_stamp "Harware setup"
 /root/hardware_setup.sh

builder/image-build.sh

@@ -113,6 +113,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_pyt
 # Add PX4 udev rules
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/99-px4fmu.rules' '/lib/udev/rules.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/rosled.service' '/lib/systemd/system/'
+# Add rename script
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever_rename' '/usr/local/bin/clever_rename'
 ${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'
 

clever/launch/main_camera.launch

@@ -5,10 +5,10 @@
     <!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
 
     <!-- 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"/>
+    <!-- <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"/>-->
+        <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.04 0 -0.08 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"/>-->

docs/ru/tests.md

@@ -784,21 +784,21 @@
 
 ### Теория FPV полетов
 
-**1. Какой стик является основным для позиционирования при FPV полетах? **
+**1. Какой стик является основным для позиционирования при FPV полетах?**
 
 1. Roll
 2. Pitch
 3. Yaw
 4. Throttle
 
-**2. Каким стиком удерживается высота? **
+**2. Каким стиком удерживается высота?**
 
 1. Roll
 2. Pitch
 3. Yaw
 4. Throttle
 
-**3. Что такое FPV пилотирование? **
+**3. Что такое FPV пилотирование?**
 
 1. Полеты с ориентацией “от первого лица”
 2. Полеты с грузом