Merge pull request #330 from deadln/melodic-devel

Preparations for release in rosdistro

.travis.yml

@@ -77,6 +77,7 @@ jobs:
         - 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
+        - gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
         - npm install markdownlint-cli -g
         - npm install svgexport -g
         - gitbook -V

README.md

@@ -21,6 +21,7 @@ Clover drone is used on a wide range of educational events, including [Copter Ha
 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)
+![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:
 

aruco_pose/CMakeLists.txt

@@ -111,7 +111,7 @@ generate_messages(
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
-  cfg/DetectorParams.cfg
+  cfg/Detector.cfg
 )
 
 ###################################

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

builder/assets/examples/get_telemetry.py

@@ -0,0 +1,11 @@
+# Information: https://clover.coex.tech/en/simple_offboard.html#gettelemetry
+
+import rospy
+from clover import srv
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+
+# Print drone's state
+print(get_telemetry())

builder/assets/hardware_setup.sh

@@ -65,7 +65,7 @@ echo_stamp "#6 Turn on UART"
 # https://github.com/RPi-Distro/raspi-config/pull/75
 /usr/bin/raspi-config nonint do_serial 1
 /usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt
-/usr/bin/raspi-config nonint set_config_var dtoverlay pi3-disable-bt /boot/config.txt
+echo dtoverlay=pi3-disable-bt >> /boot/config.txt
 systemctl disable hciuart.service
 
 # After adding to Raspbian OS

builder/image-ros.sh

@@ -76,9 +76,11 @@ my_travis_retry sudo -u pi rosdep update
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
+# echo_stamp "Reconfiguring Clover repository for simplier unshallowing" # TODO: bring back
-cd /home/pi/catkin_ws/src/clover
+# cd /home/pi/catkin_ws/src/clover
-git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
+# git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
+echo_stamp "Remove .git from Clover to reduce the size"
+rm -rf /home/pi/catkin_ws/src/clover/.git # TODO: remove
 
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
@@ -99,9 +101,9 @@ rm -rf build  # remove build artifacts
 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
 NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
+NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
 NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
-rm -rf _book/assets/ && ln -s ../docs/assets/ _book/assets # replace assets with a symlink to reduce image size
 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"

builder/image-software.sh

@@ -95,6 +95,7 @@ lsof \
 git \
 dnsmasq  \
 tmux \
+tree \
 vim \
 libjpeg8 \
 tcpdump \
@@ -148,6 +149,7 @@ my_travis_retry pip install --prefer-binary rpi_ws281x
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
+sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
 systemctl enable monkey.service
 
 echo_stamp "Install Node.js"

builder/standalone-install.sh

@@ -41,3 +41,6 @@ pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
+
+# Step 5: Install packages
+catkin_make install

builder/test/tests.sh

@@ -43,6 +43,8 @@ rosversion aruco_pose
 rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
+rosversion ws281x
+rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
 rosversion compressed_image_transport

clover/CMakeLists.txt

@@ -24,6 +24,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_ros
   image_transport
   cv_bridge
+  catkin_virtualenv
 )
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -132,6 +133,16 @@ generate_messages(
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
+
+# Generate the virtualenv
+catkin_generate_virtualenv(INPUT_REQUIREMENTS requirements.in)
+
+# Make sure your python executables are installed using `catkin_install_python`:
+catkin_install_python(
+  PROGRAMS
+    src/selfcheck.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
 catkin_package(
 #  INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
@@ -248,11 +259,8 @@ target_link_libraries(${PROJECT_NAME}
 # )
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
+ install(FILES requirements.in
-#   # myfile1
+       	 DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
 
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes

clover/launch/clover.launch

@@ -12,7 +12,6 @@
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
     <arg name="rc" default="true"/>
-    <arg name="shell" default="true"/>
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 
@@ -91,9 +90,6 @@
         <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"/>

clover/launch/mavros.launch

@@ -6,13 +6,15 @@
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
     <arg name="distance_sensor_remap" default="rangefinder/range"/>
+    <arg name="usb_device" default="/dev/px4fmu"/>
+    <arg name="prefix" default="bash -c 'while [ ! -e $(arg usb_device) ]; do sleep 1; done; $0 $@'" if="$(eval fcu_conn == 'usb')"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->
         <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
         <!-- USB connection -->
-        <param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
+        <param name="fcu_url" value="$(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
 
         <!-- sitl before PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -15,6 +15,7 @@
 
   <!-- Package format specifier version 2.0 allows specifying dependencies for both
    build- and runtime in a single <depend> element -->
+  <build_depend>catkin_virtualenv</build_depend>
   <depend>message_generation</depend>
   <depend>roscpp</depend>
   <depend>rospy</depend>
@@ -38,7 +39,8 @@
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
   <depend>python-lxml</depend>
-  <exec_depend>python-pymavlink</exec_depend>
+  <test_depend>ros_pytest</test_depend>
+  <!-- <exec_depend>python-pymavlink</exec_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
 
@@ -46,5 +48,6 @@
   <export>
     <nodelet plugin="${prefix}/nodelet_plugins.xml" />
     <!-- Other tools can request additional information be placed here -->
+    <pip_requirements>requirements.in</pip_requirements>
   </export>
 </package>

clover/requirements.in

@@ -0,0 +1,13 @@
+click>=7.1.2
+docopt>=0.6.2
+flask>=1.1.1
+future>=0.18.2
+geopy>=1.11.0
+itsdangerous>=1.1.0
+jinja2>=2.11.3
+lxml>=4.6.3
+markupsafe>=1.1.1
+pymavlink>=2.4.14
+smbus2>=0.3.0
+vl53l1x>=0.0.5
+werkzeug>=1.0.1

clover/requirements.txt

@@ -1,5 +0,0 @@
-flask==1.1.1
-docopt==0.6.2
-geopy==1.11.0
-smbus2==0.3.0
-VL53L1X==0.0.5

clover/test/basic.py

@@ -28,19 +28,3 @@ 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 == ''

clover/www/clover_version

@@ -0,0 +1 @@
+/etc/clover_version

clover/www/index.html

@@ -13,15 +13,15 @@
 
 <div class="version"></div>
 
-<script src="js/roslib.js"></script>
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
 	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
-	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });
+	fetch('clover_version').then(function(response) {
-	var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
+		if (response.status !== 200) return;
-	exec.callService(new ROSLIB.ServiceRequest({ cmd: 'cat /etc/clover_version' }), function(result) {
+		response.text().then(function(text) {
-		document.querySelector('.version').innerHTML = 'Version: ' + result.output;
+			document.querySelector('.version').innerHTML = 'Version: ' + text;
+		});
 	});
 </script>

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_simulation/CMakeLists.txt

@@ -52,7 +52,7 @@ target_compile_options(throttling_camera PRIVATE -std=c++11)
 add_dependencies(throttling_camera ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 catkin_install_python(PROGRAMS scripts/aruco_gen

clover_simulation/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
     <name>clover_simulation</name>
-    <version>0.21.1</version>
+    <version>0.21.2</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
 
     <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

docs/en/copterhack2021.md

@@ -1,6 +1,6 @@
 # CopterHack 2021
 
-CopterHack 2021 is a team competition for the development of open source projects for the Clover quadcopter platform.
+CopterHack 2021 is a team competition for the development of open source projects for the Clover quadcopter platform. Fifty-four teams from 12 countries took part in the competition.
 
 All information about the event can be found on the official website: https://coex.tech/copterhack.
 

docs/en/models.md

@@ -96,6 +96,16 @@ This page contains models and drawings of some of the drone parts. They can be u
         </td>
         <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/big_leg.dxf"><code>big_leg.dxf</code></a></td>
     </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/grip_spacer.png"></td>
+        <td>
+            <b>Grip spacer</b>.<br>
+            Function: spacer for the gripper plates.<br>
+            Material: monolithic polycarbonate 2mm.<br>
+            Quantity: 1 pcs.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/grip_spacer.dxf"><code>grip_spacer.dxf</code></a></td>
+    </tr>
 </table>
 
 ## Clover 4

docs/en/programming.md

@@ -34,7 +34,15 @@ Read more in the [GPS connection](gps.md) article.
 
 > **Info** For studying Python programming language, see [tutorial](https://www.learnpython.org/en/Welcome).
 
-After you've configured your positioning system, you can start writing programs for autonomous flights. Use the [SSH connection to the Raspberry Pi](ssh.md) to run your scripts. In order to run a Python script use the `python` command:
+After you've configured your positioning system, you can start writing programs for autonomous flights. Use the [SSH connection to the Raspberry Pi](ssh.md) to run your scripts.
+
+Before the first flight it's recommended to check the Clover's configuration with [selfcheck.py utility](selfcheck.md):
+
+```bash
+rosrun clover selfcheck.py
+```
+
+In order to run a Python script use the `python` command:
 
 ```bash
 python flight.py

docs/en/snippets.md

@@ -359,3 +359,28 @@ calibrate_gyro()
 ```
 
 > **Note** In process of calibration the drone should not be moved.
+
+<!-- markdownlint-disable MD044 -->
+
+### # {#aruco-detect-enabled}
+
+<!-- markdownlint-enable MD044 -->
+
+Enable and disable [ArUco markers recognition](aruco_marker.md) dynamically (for example, for saving CPU resources):
+
+```python
+import rospy
+import dynamic_reconfigure.client
+
+# ...
+
+client = dynamic_reconfigure.client.Client('aruco_detect')
+
+# Turn markers recognition off
+client.update_configuration({'enabled': False})
+
+rospy.sleep(5)
+
+# Turn markers recognition on
+client.update_configuration({'enabled': True})
+```

docs/ru/copterhack2021.md

@@ -1,6 +1,6 @@
 # CopterHack 2021
 
-CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер".
+CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер". В конкурсе приняло участие 54 команды из 12 стран.
 
 Все информацию о мероприятии смотрите на официальном сайте: https://ru.coex.tech/copterhack.
 

docs/ru/models.md

@@ -96,6 +96,16 @@
         </td>
         <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/big_leg.dxf"><code>big_leg.dxf</code></a></td>
     </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/grip_spacer.png"></td>
+        <td>
+            <b>Проставка для захвата</b>.<br>
+            Функция: Опорный элемент для механического захвата.<br>
+            Материал: Монолитный поликарбонат 2мм.<br>
+            Количество: 1 шт.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/grip_spacer.dxf"><code>grip_spacer.dxf</code></a></td>
+    </tr>
 </table>
 
 ## Клевер 4

docs/ru/programming.md

@@ -32,9 +32,17 @@
 
 ## Автономный полет {#flight}
 
-> **Info** Для изучения языка программирования Python обращайтесь к [самоучителю](https://pythonworld.ru/samouchitel-python).
+> **Info** Для изучения языка программирования Python вы можете обратиться к [самоучителю](https://pythonworld.ru/samouchitel-python).
 
-После настройки системы позиционирования становится возможным написание скриптов для автономных полетов. Для выполнения скриптов [подключитесь в Raspberry Pi по SSH](ssh.md). Для того, чтобы запустить Python-скрипт, используйте команду `python`:
+После настройки системы позиционирования становится возможным написание скриптов для автономных полетов. Для выполнения скриптов [подключитесь в Raspberry Pi по SSH](ssh.md).
+
+Перед первым полетом рекомендуется проверить конфигурацию Клевера при помощи [утилиты selfcheck.py](selfcheck.md):
+
+```bash
+rosrun clover selfcheck.py
+```
+
+Для того, чтобы запустить Python-скрипт, используйте команду `python`:
 
 ```bash
 python flight.py

docs/ru/snippets.md

@@ -377,3 +377,28 @@ calibrate_gyro()
 ```
 
 > **Note** В процессе калибровки гироскопов дрон нельзя двигать.
+
+<!-- markdownlint-disable MD044 -->
+
+### # {#aruco-detect-enabled}
+
+<!-- markdownlint-enable MD044 -->
+
+Динамически включать и отключать [распознавание ArUco-маркеров](aruco_marker.md) (например, для экономии ресурсов процессора):
+
+```python
+import rospy
+import dynamic_reconfigure.client
+
+# ...
+
+client = dynamic_reconfigure.client.Client('aruco_detect')
+
+# Turn markers recognition off
+client.update_configuration({'enabled': False})
+
+rospy.sleep(5)
+
+# Turn markers recognition on
+client.update_configuration({'enabled': True})
+```

redirects.json

@@ -49,7 +49,8 @@
 
         { "from": "modes/", "to": "ru/modes.html" },
         { "from": "firmware/", "to": "en/firmware.html" },
-        { "from": "simple_offboard/", "to": "ru/simple_offboard.html" },
+        { "from": "simple_offboard/", "to": "en/simple_offboard.html" },
+        { "from": "offboard/", "to": "en/simple_offboard.html" },
         { "from": "camera/", "to": "ru/camera.html" },
         { "from": "snippets/", "to": "ru/snippets.html" },
         { "from": "optical_flow/", "to": "ru/optical_flow.html" },
@@ -61,6 +62,7 @@
         { "from": "camera_setup/", "to": "en/camera_setup.html" },
         { "from": "power/", "to": "en/power.html" },
         { "from": "connection/", "to": "en/connection.html" },
+        { "from": "clover_vm/", "to": "en/simulation_vm.html" },
 
         { "from": "ru/microsd_images.html", "to": "image.html" },
         { "from": "en/microsd_images.html", "to": "image.html" }

roswww_static/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>roswww_static</name>
-  <version>0.21.1</version>
+  <version>0.21.2</version>
   <description>Static web pages for ROS packages</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>