Merge branch 'master' into nti2019

aruco_pose/map/nti_novgorod.txt

@@ -1,22 +1,6 @@
 34	0.33	0	0	0	0	0	0
 37	0.33	0.74	0	0	0	0	0
-100	0.05	0.37	0.2	0	0	0	0
-6	0.10	0.37	0.39	0	0	0	0
 25	0.33	0	0.54	0	0	0	0
 28	0.33	0.74	0.54	0	0	0	0
-32	0.33	2.74	-0.11	1.20	0	0	0
-29	0.33	2.41	0.69	1.20	0	0	0
-30	0.33	0	2.3	0.05	0	0	0
-31	0.33	0	2.94	0.05	0	0	0
-27	0.33	0.74	2.3	0.05	0	0	0
-26	0.33	0.74	2.94	0.05	0	0	0
-43	0.33	2.39	2.13	0.8	0	0	0
-42	0.33	2.39	3.03	0.8	0	0	0
-40	0.33	3.32	2.13	0.8	0	0	0
-41	0.33	3.32	3.03	0.8	0	0	0
-44	0.33	5.26	2.92	0.05	0	0	0
-50	0.33	5.51	3.38	0.05	0	0	0
-46	0.33	3.95	3.65	0.1	0	0	0
-36	0.33	4.76	-0.18	0.3	0	0	0
-35	0.33	5.36	-0.18	0.3	0	0	0
-33	0.33	5.2	0.61	0.3	0	0	0
+32	0.33	2.79	-0.15	1.20	0	0	0
+29	0.33	2.46	0.65	1.20	0	0	0

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/aruco.launch

@@ -20,7 +20,7 @@
         <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="$(find aruco_pose)/map/nti_novgorod.txt"/>
+        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
         <param name="known_tilt" value="map"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>

docs/ru/nti2019.md

@@ -103,8 +103,6 @@ client.loop_start()
 * подключитесь в Wi-Fi сети NTI;
 * подключитесь к вашему Клеверу по SSH по его IP-адресу (подробнее см. [подключение по SSH](ssh.md));
 
-> **Caution** После подключения к своему дрону по SSH, смените пароль SSH-доступа, чтобы другие участники не смогли несанкционированно подключаться к нему. Для этого [используйте](https://www.raspberrypi-spy.co.uk/2012/10/how-to-change-raspberry-pi-password/) команду passwd.
-
 Для редактирования файлов на Клевере вы можете использовать консольные редакторы `nano` или `vim`. Также вы можете загружать файлы используя PyCharm или WinSCP.
 
 Для автономного полета используйте API модуля [simple_offboard](simple_offboard.md).