Merge branch 'master' into 22

* docs: Add translation of the article about assembling clover 4_2 WS

* Minor fix

* docs: Add new renders and update article

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

.markdownlint.json

@@ -21,7 +21,9 @@
             "ROS",
             "ROS Kinetic",
             "ROS Melodic",
+            "ROS Noetic",
             "OpenCV",
+            "OpenVPN",
             "Gazebo",
             "GitHub",
             "FPV",
@@ -106,7 +108,9 @@
             "UDP",
             "QR",
             "Li-ion",
-            "Nvidia"
+            "Nvidia",
+            "VirtualBox",
+            "VMware"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -5,12 +5,12 @@ services:
   - docker
 env:
   global:
-    - DOCKER="sfalexrog/img-tool:qemu-update"
+    - DOCKER="sfalexrog/img-tool:qemu-aarch64"
     - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
     - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
     - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
 git:
-  depth: 50
+  depth: 25
 jobs:
   fast_finish: true
   include:
@@ -38,7 +38,7 @@ jobs:
         - cp images/*.zip imgcache
       after_success:
         - sudo chmod -R 777 *
-        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
+        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
       before_deploy:
         # Set up git user name and tag this commit
         - git config --local user.name "goldarte"
@@ -68,6 +68,14 @@ jobs:
         - 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
+    - stage: Build
+      name: "Native Noetic build"
+      env:
+        - NATIVE_DOCKER=ros:noetic-ros-base
+      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
     - stage: Build
       name: "Documentation"
       language: node_js

README.md

@@ -1,12 +1,14 @@
-# COEX Clover Drone Kit
+# clover🍀: create autonomous drones easily
 
-<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="COEX Clover Drone">
 
-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.
+Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
 
-The main documentation is available [on Gitbook](https://clover.coex.tech/).
+COEX Clover Drone is an educational programmable drone kit, suited perfectly for running clover software. The kit is shipped unassembled and includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as a companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. Batteries included.
 
-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: [coex.tech/clover](https://coex.tech/clover).
+
+[__Support us on Kickstarter!__](https://www.kickstarter.com/projects/copterexpress/cloverdrone)
 
 ## Video compilation
 
@@ -23,7 +25,7 @@ Preconfigured image for Raspberry Pi with installed and configured software, rea
 Image features:
 
 * Raspbian Buster
-* [ROS Melodic](http://wiki.ros.org/melodic)
+* [ROS Noetic](http://wiki.ros.org/noetic)
 * Configured networking
 * OpenCV
 * [`mavros`](http://wiki.ros.org/mavros)

aruco_pose/CMakeLists.txt

@@ -22,13 +22,21 @@ find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure
 )
 
-find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
+# Workaround for OpenCV 3/4 support
+set(_opencv_version 4)
+find_package(OpenCV ${_opencv_version} QUIET COMPONENTS core imgproc calib3d)
+if (NOT OpenCV_FOUND)
+  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
+  set(_opencv_version 3)
+endif()
+
+find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS core imgproc calib3d)
 if ("${OpenCV_VERSION_MINOR}" LESS "9")
   message(STATUS "OpenCV version too low, using vendored ArUco package")
   include(vendor/VendorOpenCV.cmake)
 else()
   message(STATUS "Using system OpenCV ArUco package")
-  find_package(OpenCV 3 REQUIRED COMPONENTS aruco)
+  find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS aruco)
 endif()
 message(STATUS "OpenCV include dirs: ${OpenCV_INCLUDE_DIRS}")
 message(STATUS "OpenCV libraries: ${OpenCV_LIBRARIES}")
@@ -172,6 +180,13 @@ target_link_libraries(aruco_pose
   ${OpenCV_LIBRARIES}
 )
 
+# Prevent aruco_pose from having undefined symbols
+set_property(TARGET aruco_pose
+  APPEND
+  PROPERTY LINK_FLAGS
+  -Wl,--no-undefined
+)
+
 #############
 ## Install ##
 #############
@@ -207,6 +222,10 @@ target_link_libraries(aruco_pose
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+catkin_install_python(PROGRAMS src/genmap.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 #############
 ## Testing ##
 #############

aruco_pose/src/aruco_detect.cpp

@@ -110,17 +110,14 @@ public:
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);
 
-		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
+		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
+		dyn_srv_->setCallback(std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2));
+
 		debug_pub_ = it_priv.advertise("debug", 1);
 		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
 		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);
+		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
 
 		NODELET_INFO("ready");
 	}

aruco_pose/src/aruco_map.cpp

@@ -124,6 +124,11 @@ public:
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1, true);
 		debug_pub_ = it_priv.advertise("debug", 1);
 
+		publishMarkersFrames();
+		publishMarkers();
+		publishMapImage();
+		vis_markers_pub_.publish(vis_array_);
+
 		image_sub_.subscribe(nh_, "image_raw", 1);
 		info_sub_.subscribe(nh_, "camera_info", 1);
 		markers_sub_.subscribe(nh_, "markers", 1);
@@ -131,11 +136,6 @@ public:
 		sync_.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(10), image_sub_, info_sub_, markers_sub_));
 		sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));
 
-		publishMarkersFrames();
-		publishMarkers();
-		publishMapImage();
-		vis_markers_pub_.publish(vis_array_);
-
 		NODELET_INFO("ready");
 	}
 

aruco_pose/src/draw.cpp

@@ -3,26 +3,11 @@
 
 #include "draw.h"
 #include <math.h>
+#include <vector>
 
 using namespace cv;
 using namespace cv::aruco;
 
-static void _cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
-                       const CvMat* translation_vector, const CvMat* camera_matrix,
-                       const CvMat* distortion_coeffs, CvMat* image_points,
-                       CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
-                       CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
-                       CvMat* dpddist CV_DEFAULT(NULL),
-                       double aspect_ratio CV_DEFAULT(0));
-
-static void _projectPoints( InputArray objectPoints,
-                    InputArray rvec, InputArray tvec,
-                    InputArray cameraMatrix, InputArray distCoeffs,
-                    OutputArray imagePoints,
-                    OutputArray jacobian = noArray(),
-                    double aspectRatio = 0 );
-
-
 void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
                       int borderBits, bool drawAxis) {
 
@@ -142,35 +127,194 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
 	}
 }
 
-/* Draw a (potentially partially visible) line. */
-static void linePartial(InputOutputArray image, Point3f p1, Point3f p2, const Scalar& color,
-                        int thickness = 1, int lineType = LINE_8, int shift = 0)
+/**
+ * @brief Convert point coordinates from world space to camera space.
+ *
+ * @param points A vector of points in world space.
+ * @param rvec Rotation matrix or Rodrigues rotation vector.
+ * @param tvec Translation vector from world to camera space.
+ *
+ * @return A vector of points in camera space.
+ */
+template<typename CvPointType>
+static std::vector<CvPointType> worldToCamera(const std::vector<CvPointType>& points,
+                                              const cv::Mat& rvec, const cv::Mat& tvec)
 {
-	// If both points are behind the screen, don't draw anything
-	if (p1.z <= 0 && p2.z <= 0) {
-		return;
+	// We operate with CV_64F matrices internally to avoid precision loss
+	cv::Mat rvec_64f;
+	cv::Mat tvec_64f;
+	rvec.convertTo(rvec_64f, CV_64F);
+	tvec.convertTo(tvec_64f, CV_64F);
+
+	// Convert Rodrigues vector to rotation matrix
+	cv::Mat rmat;
+	if ((rvec_64f.cols == 3 && rvec_64f.rows == 1) ||
+	    (rvec_64f.cols == 1 && rvec_64f.rows == 3))
+	{
+		Rodrigues(rvec_64f, rmat);
 	}
-	Point2f p1p{p1.x, p1.y};
-	Point2f p2p{p2.x, p2.y};
-	// If points are on the different sides of the plane, compute intersection point
-	if (p1.z * p2.z < 0) {
-		// Compute intersection point with the screen
-		// We denote alpha as such:
-		// xi = (1 - alpha) * x1 + alpha * x2
-		// yi = (1 - alpha) * y1 + alpha * y2
-		// zi = (1 - alpha) * z1 + alpha * z2 = 0
-		// Thus, alpha can be expressed as
-		// alpha = z1 / (z1 - z2)
-		float alpha = p1.z / (p1.z - p2.z);
-		Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
-		// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
-		if (p1.z < 0) {
-			p1p = pi;
-		} else {
-			p2p = pi;
-		}
+	else
+	{
+		rmat = rvec_64f.clone();
 	}
-	line(image, p1p, p2p, color, thickness, lineType, shift);
+	// Make sure tvec has a size of (3, 1)
+	if (tvec_64f.rows == 1)
+	{
+		tvec_64f = tvec_64f.t();
+	}
+	std::vector<CvPointType> result;
+	result.reserve(points.size());
+	for(const auto& point : points)
+	{
+		// Calculate point coordinates in camera frame
+		// static_casts are here to silence potential narrowing conversion warnings
+		CvPointType camPoint{
+			static_cast<decltype(CvPointType::x)>(point.x * rmat.at<double>(0,0) + point.y * rmat.at<double>(0,1) + point.z * rmat.at<double>(0,2) + tvec_64f.at<double>(0)),
+			static_cast<decltype(CvPointType::y)>(point.x * rmat.at<double>(1,0) + point.y * rmat.at<double>(1,1) + point.z * rmat.at<double>(1,2) + tvec_64f.at<double>(1)),
+			static_cast<decltype(CvPointType::z)>(point.x * rmat.at<double>(2,0) + point.y * rmat.at<double>(2,1) + point.z * rmat.at<double>(2,2) + tvec_64f.at<double>(2))
+		};
+		result.push_back(camPoint);
+	}
+	return result;
+}
+
+/**
+ * @brief Project points from camera space to screen space, applying distortion in the process.
+ *
+ * @param points A vector of points in camera space.
+ * @param cameraMatrix OpenCV intrinsic camera matrix.
+ * @param distCoeffs OpenCV distortion model coefficients.
+ *
+ * @return A vector of points in screen space.
+ */
+template<typename CvPointType>
+static std::vector<CvPointType> cameraToScreen(const std::vector<CvPointType>& points,
+                                               const cv::Mat& cameraMatrix,
+                                               const cv::Mat& distCoeffs)
+{
+	// We operate with CV_64F matrices internally to avoid precision loss
+	cv::Mat cm_64f; // camera matrix, CV_64F
+	cv::Mat dc_64f; // distortion coefficients, CV_64F
+	cameraMatrix.convertTo(cm_64f, CV_64F);
+	distCoeffs.convertTo(dc_64f, CV_64F);
+
+	// Make sure distortion vector has a size of (N, 1)
+	if (dc_64f.rows == 1)
+	{
+		dc_64f = dc_64f.t();
+	}
+
+	// We will always use 12 distortion coefficients,
+	// and we can safely pad missing ones with zeroes
+	dc_64f.resize(12, 0.0);
+
+	std::vector<CvPointType> result;
+	result.reserve(points.size());
+
+	for(const auto& point : points)
+	{
+		// Apply perspective projection, preserving initial Z coordinate
+		// Always use double-precision
+		cv::Point3d camPoint{
+			point.x / point.z,
+			point.y / point.z,
+			point.z
+		};
+
+		// Apply distortion
+		// Note that we do not consider tilted sensor distortion
+		// r^2 - distance from the image center squared
+		double r2 = camPoint.x * camPoint.x + camPoint.y * camPoint.y;
+		// r^4 - same, but to the 4th power
+		double r4 = r2 * r2;
+		// r^6 - same, but to the 6th power
+		double r6 = r4 * r2;
+		// tg1 - first tangential shift factor (2 * x * y)
+		double tg1 = 2 * camPoint.x * camPoint.y;
+		// tg2 - second tangential shift factor (r^2 + 2 * x^2)
+		double tg2 = r2 + 2 * camPoint.x * camPoint.x;
+		// tg3 - third tangential shift factor (r^2 + 2 * y^2)
+		double tg3 = r2 + 2 * camPoint.y * camPoint.y;
+		// polynomial distortion factor (numerator)
+		double pndist = 1 + dc_64f.at<double>(0) * r2 + dc_64f.at<double>(1) * r4 + dc_64f.at<double>(4) * r6;
+		// polynomial distortion factror (denominator)
+		double pddist = 1.0 / (1 + dc_64f.at<double>(5) * r2 + dc_64f.at<double>(6) * r4 + dc_64f.at<double>(7) * r6);
+		// Distorted point coordinates (always double-precision)
+		cv::Point3d distortedPoint{
+			camPoint.x * pndist * pddist + dc_64f.at<double>(2) * tg1 + dc_64f.at<double>(3) * tg2 + dc_64f.at<double>(8) * r2 + dc_64f.at<double>(9) * r4,
+			camPoint.y * pndist * pddist + dc_64f.at<double>(2) * tg3 + dc_64f.at<double>(3) * tg1 + dc_64f.at<double>(10) * r2 + dc_64f.at<double>(11) * r4,
+			camPoint.z
+		};
+
+		// Convert to screen space
+		// We use static_cast here to silence potential warnings about narrowing conversions
+		// (we expect that to be the case)
+		CvPointType screenPoint{
+			static_cast<decltype(CvPointType::x)>(distortedPoint.x * cm_64f.at<double>(0, 0) + cm_64f.at<double>(0, 2)),
+			static_cast<decltype(CvPointType::y)>(distortedPoint.y * cm_64f.at<double>(1, 1) + cm_64f.at<double>(1, 2)),
+			static_cast<decltype(CvPointType::z)>(distortedPoint.z)
+		};
+
+		result.push_back(screenPoint);
+	}
+	return result;
+}
+
+/**
+ * @brief Clip a line against a clip plane.
+ *
+ * This function "clips" a line (described by two points in *camera space*)
+ * against a clip plane that is `clipPlaneDistance` meters away from the
+ * camera focal point. If both points are further away from the focal point
+ * than `clipPlaneDistance`, they will be returned unmodified. If one of the
+ * points is behind the clipping plane, a point *on* the clipping plane will
+ * be computed and returned as one of the points.
+ *
+ * If none of the points are visible, an empty vector will be returned.
+ *
+ * @param p1 First point on the line, in camera space.
+ * @param p2 Second point on the line, in camera space.
+ * @param clipPlaneDistance Distance from the focal point to the clipping plane.
+ * @return A vector of zero or two points on the clipped line, in camera space.
+ */
+static std::vector<Point3f> lineClip(Point3f p1, Point3f p2, float clipPlaneDistance = 0.1f)
+{
+	// We don't need to compute an intersection if both points are
+	// behind us
+	if (p1.z < clipPlaneDistance && p2.z < clipPlaneDistance)
+	{
+		return {};
+	}
+	// We don't need to compute an intersection if both points are
+	// in front of us
+	if (p1.z > clipPlaneDistance && p2.z > clipPlaneDistance)
+	{
+		return {p1, p2};
+	}
+	// We don't really want to compute an intersection if both Z coordinates
+	// are sufficiently close to each other
+	if (std::abs(p1.z - p2.z) < 0.0001) // The number here is chosen arbitrarily
+	{
+		return {p1, p2};
+	}
+	// We compute the intersection as such:
+	// zi = (1 - alpha) * p1.z + alpha * p2.z = clipPlaneDistance
+	// alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z)
+	double alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z);
+	Point3f clipPlanePoint{
+		static_cast<float>((1 - alpha) * p1.x + alpha * p2.x),
+		static_cast<float>((1 - alpha) * p1.y + alpha * p2.y),
+		clipPlaneDistance
+	};
+	if (p1.z < clipPlaneDistance)
+	{
+		return {clipPlanePoint, p2};
+	}
+	else
+	{
+		return {p1, clipPlanePoint};
+	}
+	// Unreachable?
 }
 
 void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
@@ -186,647 +330,23 @@ void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _di
 	axisPoints.push_back(Point3f(length, 0, 0));
 	axisPoints.push_back(Point3f(0, length, 0));
 	axisPoints.push_back(Point3f(0, 0, length));
-	std::vector<Point3f> imagePointsZ;
-	_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
-
-	// draw axis lines
-	linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
-	linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
-	linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
-}
-
-static CvMat _cvMat(const cv::Mat& m)
-{
-	CvMat self;
-	CV_DbgAssert(m.dims <= 2);
-	self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
-	self.step = (int)m.step[0];
-	self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
-	return self;
-}
-
-static void _projectPoints( InputArray _opoints,
-                        InputArray _rvec,
-                        InputArray _tvec,
-                        InputArray _cameraMatrix,
-                        InputArray _distCoeffs,
-                        OutputArray _ipoints,
-                        OutputArray _jacobian,
-                        double aspectRatio )
-{
-	Mat opoints = _opoints.getMat();
-	int npoints = opoints.checkVector(3), depth = opoints.depth();
-	CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
-
-	CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
-	CvMat *pdpdrot = 0, *pdpdt = 0, *pdpdf = 0, *pdpdc = 0, *pdpddist = 0;
-
-	CV_Assert(_ipoints.needed());
-
-	_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
-	Mat imagePoints = _ipoints.getMat();
-	CvMat c_imagePoints = _cvMat(imagePoints);
-	CvMat c_objectPoints = _cvMat(opoints);
-	Mat cameraMatrix = _cameraMatrix.getMat();
-
-	Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
-	CvMat c_cameraMatrix = _cvMat(cameraMatrix);
-	CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
-
-	double dc0buf[5] = {0};
-	Mat dc0(5, 1, CV_64F, dc0buf);
-	Mat distCoeffs = _distCoeffs.getMat();
-	if (distCoeffs.empty())
-		distCoeffs = dc0;
-	CvMat c_distCoeffs = _cvMat(distCoeffs);
-	int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
-
-	Mat jacobian;
-	if (_jacobian.needed())
+	auto camAxisPoints = worldToCamera(axisPoints, _rvec.getMat(), _tvec.getMat());
+	auto axisX = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[1]), _cameraMatrix.getMat(), _distCoeffs.getMat());
+	auto axisY = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[2]), _cameraMatrix.getMat(), _distCoeffs.getMat());
+	auto axisZ = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[3]), _cameraMatrix.getMat(), _distCoeffs.getMat());
+	if (axisX.size() > 0)
 	{
-		_jacobian.create(npoints * 2, 3 + 3 + 2 + 2 + ndistCoeffs, CV_64F);
-		jacobian = _jacobian.getMat();
-		pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
-		pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
-		pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
-		pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
-		pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10 + ndistCoeffs)));
+		line(_image, Point2f{axisX[0].x, axisX[0].y}, Point2f{axisX[1].x, axisX[1].y},
+			Scalar(0, 0, 255), 3);
+	}
+	if (axisY.size() > 0)
+	{
+		line(_image, Point2f{axisY[0].x, axisY[0].y}, Point2f{axisY[1].x, axisY[1].y},
+			Scalar(0, 255, 0), 3);
+	}
+	if (axisZ.size() > 0)
+	{
+		line(_image, Point2f{axisZ[0].x, axisZ[0].y}, Point2f{axisZ[1].x, axisZ[1].y},
+			Scalar(255, 0, 0), 3);
 	}
-
-	_cvProjectPoints2(&c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
-					  &c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio);
-}
-
-namespace _detail
-{
-    template <typename FLOAT>
-    void computeTiltProjectionMatrix(FLOAT tauX,
-                                     FLOAT tauY,
-                                     Matx<FLOAT, 3, 3>* matTilt = 0,
-                                     Matx<FLOAT, 3, 3>* dMatTiltdTauX = 0,
-                                     Matx<FLOAT, 3, 3>* dMatTiltdTauY = 0,
-                                     Matx<FLOAT, 3, 3>* invMatTilt = 0)
-    {
-        FLOAT cTauX = cos(tauX);
-        FLOAT sTauX = sin(tauX);
-        FLOAT cTauY = cos(tauY);
-        FLOAT sTauY = sin(tauY);
-        Matx<FLOAT, 3, 3> matRotX = Matx<FLOAT, 3, 3>(1,0,0,0,cTauX,sTauX,0,-sTauX,cTauX);
-        Matx<FLOAT, 3, 3> matRotY = Matx<FLOAT, 3, 3>(cTauY,0,-sTauY,0,1,0,sTauY,0,cTauY);
-        Matx<FLOAT, 3, 3> matRotXY = matRotY * matRotX;
-        Matx<FLOAT, 3, 3> matProjZ = Matx<FLOAT, 3, 3>(matRotXY(2,2),0,-matRotXY(0,2),0,matRotXY(2,2),-matRotXY(1,2),0,0,1);
-        if (matTilt)
-        {
-            // Matrix for trapezoidal distortion of tilted image sensor
-            *matTilt = matProjZ * matRotXY;
-        }
-        if (dMatTiltdTauX)
-        {
-            // Derivative with respect to tauX
-            Matx<FLOAT, 3, 3> dMatRotXYdTauX = matRotY * Matx<FLOAT, 3, 3>(0,0,0,0,-sTauX,cTauX,0,-cTauX,-sTauX);
-            Matx<FLOAT, 3, 3> dMatProjZdTauX = Matx<FLOAT, 3, 3>(dMatRotXYdTauX(2,2),0,-dMatRotXYdTauX(0,2),
-                                                                 0,dMatRotXYdTauX(2,2),-dMatRotXYdTauX(1,2),0,0,0);
-            *dMatTiltdTauX = (matProjZ * dMatRotXYdTauX) + (dMatProjZdTauX * matRotXY);
-        }
-        if (dMatTiltdTauY)
-        {
-            // Derivative with respect to tauY
-            Matx<FLOAT, 3, 3> dMatRotXYdTauY = Matx<FLOAT, 3, 3>(-sTauY,0,-cTauY,0,0,0,cTauY,0,-sTauY) * matRotX;
-            Matx<FLOAT, 3, 3> dMatProjZdTauY = Matx<FLOAT, 3, 3>(dMatRotXYdTauY(2,2),0,-dMatRotXYdTauY(0,2),
-                                                                 0,dMatRotXYdTauY(2,2),-dMatRotXYdTauY(1,2),0,0,0);
-            *dMatTiltdTauY = (matProjZ * dMatRotXYdTauY) + (dMatProjZdTauY * matRotXY);
-        }
-        if (invMatTilt)
-        {
-            FLOAT inv = 1./matRotXY(2,2);
-            Matx<FLOAT, 3, 3> invMatProjZ = Matx<FLOAT, 3, 3>(inv,0,inv*matRotXY(0,2),0,inv,inv*matRotXY(1,2),0,0,1);
-            *invMatTilt = matRotXY.t()*invMatProjZ;
-        }
-    }
-}
-
-static const char* cvDistCoeffErr = "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8, 8x1, 1x12, 12x1, 1x14 or 14x1 floating-point vector";
-
-static void _cvProjectPoints2Internal( const CvMat* objectPoints,
-                                      const CvMat* r_vec,
-                                      const CvMat* t_vec,
-                                      const CvMat* A,
-                                      const CvMat* distCoeffs,
-                                      CvMat* imagePoints, CvMat* dpdr CV_DEFAULT(NULL),
-                                      CvMat* dpdt CV_DEFAULT(NULL), CvMat* dpdf CV_DEFAULT(NULL),
-                                      CvMat* dpdc CV_DEFAULT(NULL), CvMat* dpdk CV_DEFAULT(NULL),
-                                      CvMat* dpdo CV_DEFAULT(NULL),
-                                      double aspectRatio CV_DEFAULT(0) )
-{
-    Ptr<CvMat> matM, _m;
-    Ptr<CvMat> _dpdr, _dpdt, _dpdc, _dpdf, _dpdk;
-    Ptr<CvMat> _dpdo;
-
-    int i, j, count;
-    int calc_derivatives;
-    const CvPoint3D64f* M;
-    CvPoint3D64f* m;
-    double r[3], R[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
-    Matx33d matTilt = Matx33d::eye();
-    Matx33d dMatTiltdTauX(0,0,0,0,0,0,0,-1,0);
-    Matx33d dMatTiltdTauY(0,0,0,0,0,0,1,0,0);
-    CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
-    CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
-    double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
-    double* dpdo_p = 0;
-    int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
-    int dpdo_step = 0;
-    bool fixedAspectRatio = aspectRatio > FLT_EPSILON;
-
-    if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(r_vec) ||
-        !CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
-        /*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) )
-        CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" );
-
-    int total = objectPoints->rows * objectPoints->cols * CV_MAT_CN(objectPoints->type);
-    if(total % 3 != 0)
-    {
-        //we have stopped support of homogeneous coordinates because it cause ambiguity in interpretation of the input data
-        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
-    }
-    count = total / 3;
-
-    if( CV_IS_CONT_MAT(objectPoints->type) &&
-        (CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
-        ((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
-         (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3) ||
-         (objectPoints->rows == 3 && CV_MAT_CN(objectPoints->type) == 1 && objectPoints->cols == count)))
-    {
-        matM.reset(cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) ));
-        cvConvert(objectPoints, matM);
-    }
-    else
-    {
-//        matM = cvCreateMat( 1, count, CV_64FC3 );
-//        cvConvertPointsHomogeneous( objectPoints, matM );
-        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
-    }
-
-    if( CV_IS_CONT_MAT(imagePoints->type) &&
-        (CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
-        ((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 3) ||
-         (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 3) ||
-         (imagePoints->rows == 3 && CV_MAT_CN(imagePoints->type) == 1 && imagePoints->cols == count)))
-    {
-        _m.reset(cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) ));
-        cvConvert(imagePoints, _m);
-    }
-    else
-    {
-//        _m = cvCreateMat( 1, count, CV_64FC2 );
-        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
-    }
-
-    M = (CvPoint3D64f*)matM->data.db;
-    m = (CvPoint3D64f*)_m->data.db;
-
-    if( (CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F) ||
-        (((r_vec->rows != 1 && r_vec->cols != 1) ||
-          r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
-         ((r_vec->rows != 3 && r_vec->cols != 3) || CV_MAT_CN(r_vec->type) != 1)))
-        CV_Error( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
-                                "floating-point rotation vector, or 3x3 rotation matrix" );
-
-    if( r_vec->rows == 3 && r_vec->cols == 3 )
-    {
-        _r = cvMat( 3, 1, CV_64FC1, r );
-        cvRodrigues2( r_vec, &_r );
-        cvRodrigues2( &_r, &matR, &_dRdr );
-        cvCopy( r_vec, &matR );
-    }
-    else
-    {
-        _r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
-        cvConvert( r_vec, &_r );
-        cvRodrigues2( &_r, &matR, &_dRdr );
-    }
-
-    if( (CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F) ||
-        (t_vec->rows != 1 && t_vec->cols != 1) ||
-        t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
-        CV_Error( CV_StsBadArg,
-                  "Translation vector must be 1x3 or 3x1 floating-point vector" );
-
-    _t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
-    cvConvert( t_vec, &_t );
-
-    if( (CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1) ||
-        A->rows != 3 || A->cols != 3 )
-        CV_Error( CV_StsBadArg, "Instrinsic parameters must be 3x3 floating-point matrix" );
-
-    cvConvert( A, &_a );
-    fx = a[0]; fy = a[4];
-    cx = a[2]; cy = a[5];
-
-    if( fixedAspectRatio )
-        fx = fy*aspectRatio;
-
-    if( distCoeffs )
-    {
-        if( !CV_IS_MAT(distCoeffs) ||
-            (CV_MAT_DEPTH(distCoeffs->type) != CV_64F &&
-             CV_MAT_DEPTH(distCoeffs->type) != CV_32F) ||
-            (distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
-            (distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
-             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5 &&
-             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8 &&
-             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 12 &&
-             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 14) )
-            CV_Error( CV_StsBadArg, cvDistCoeffErr );
-
-        _k = cvMat( distCoeffs->rows, distCoeffs->cols,
-                    CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k );
-        cvConvert( distCoeffs, &_k );
-        if(k[12] != 0 || k[13] != 0)
-        {
-            _detail::computeTiltProjectionMatrix(k[12], k[13],
-                                                &matTilt, &dMatTiltdTauX, &dMatTiltdTauY);
-        }
-    }
-
-    if( dpdr )
-    {
-        if( !CV_IS_MAT(dpdr) ||
-            (CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
-             CV_MAT_TYPE(dpdr->type) != CV_64FC1) ||
-            dpdr->rows != count*2 || dpdr->cols != 3 )
-            CV_Error( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
-
-        if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
-        {
-            _dpdr.reset(cvCloneMat(dpdr));
-        }
-        else
-            _dpdr.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
-        dpdr_p = _dpdr->data.db;
-        dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
-    }
-
-    if( dpdt )
-    {
-        if( !CV_IS_MAT(dpdt) ||
-            (CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
-             CV_MAT_TYPE(dpdt->type) != CV_64FC1) ||
-            dpdt->rows != count*2 || dpdt->cols != 3 )
-            CV_Error( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
-
-        if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
-        {
-            _dpdt.reset(cvCloneMat(dpdt));
-        }
-        else
-            _dpdt.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
-        dpdt_p = _dpdt->data.db;
-        dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
-    }
-
-    if( dpdf )
-    {
-        if( !CV_IS_MAT(dpdf) ||
-            (CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1) ||
-            dpdf->rows != count*2 || dpdf->cols != 2 )
-            CV_Error( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
-
-        if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
-        {
-            _dpdf.reset(cvCloneMat(dpdf));
-        }
-        else
-            _dpdf.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
-        dpdf_p = _dpdf->data.db;
-        dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
-    }
-
-    if( dpdc )
-    {
-        if( !CV_IS_MAT(dpdc) ||
-            (CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1) ||
-            dpdc->rows != count*2 || dpdc->cols != 2 )
-            CV_Error( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
-
-        if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
-        {
-            _dpdc.reset(cvCloneMat(dpdc));
-        }
-        else
-            _dpdc.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
-        dpdc_p = _dpdc->data.db;
-        dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
-    }
-
-    if( dpdk )
-    {
-        if( !CV_IS_MAT(dpdk) ||
-            (CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
-            dpdk->rows != count*2 || (dpdk->cols != 14 && dpdk->cols != 12 && dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
-            CV_Error( CV_StsBadArg, "dp/df must be 2Nx14, 2Nx12, 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
-
-        if( !distCoeffs )
-            CV_Error( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
-
-        if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
-        {
-            _dpdk.reset(cvCloneMat(dpdk));
-        }
-        else
-            _dpdk.reset(cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
-        dpdk_p = _dpdk->data.db;
-        dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
-    }
-
-    if( dpdo )
-    {
-        if( !CV_IS_MAT( dpdo ) || ( CV_MAT_TYPE( dpdo->type ) != CV_32FC1
-                                    && CV_MAT_TYPE( dpdo->type ) != CV_64FC1 )
-            || dpdo->rows != count * 2 || dpdo->cols != count * 3 )
-            CV_Error( CV_StsBadArg, "dp/do must be 2Nx3N floating-point matrix" );
-
-        if( CV_MAT_TYPE( dpdo->type ) == CV_64FC1 )
-        {
-            _dpdo.reset( cvCloneMat( dpdo ) );
-        }
-        else
-            _dpdo.reset( cvCreateMat( 2 * count, 3 * count, CV_64FC1 ) );
-        cvZero(_dpdo);
-        dpdo_p = _dpdo->data.db;
-        dpdo_step = _dpdo->step / sizeof( dpdo_p[0] );
-    }
-
-    calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk || dpdo;
-
-    for( i = 0; i < count; i++ )
-    {
-        double X = M[i].x, Y = M[i].y, Z = M[i].z;
-        double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
-        double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
-        double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
-        double r2, r4, r6, a1, a2, a3, cdist, icdist2;
-        double xd, yd, xd0, yd0, invProj;
-        Vec3d vecTilt;
-        Vec3d dVecTilt;
-        Matx22d dMatTilt;
-        Vec2d dXdYd;
-
-        double z0 = z;
-        z = z ? 1./z : 1;
-        x *= z; y *= z;
-
-        r2 = x*x + y*y;
-        r4 = r2*r2;
-        r6 = r4*r2;
-        a1 = 2*x*y;
-        a2 = r2 + 2*x*x;
-        a3 = r2 + 2*y*y;
-        cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
-        icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
-        xd0 = x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
-        yd0 = y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
-
-        // additional distortion by projecting onto a tilt plane
-        vecTilt = matTilt*Vec3d(xd0, yd0, 1);
-        invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
-        xd = invProj * vecTilt(0);
-        yd = invProj * vecTilt(1);
-
-        m[i].x = xd*fx + cx;
-        m[i].y = yd*fy + cy;
-        m[i].z = z; // Just put the projected Z coordinate here, we mainly care about the sign
-
-        if( calc_derivatives )
-        {
-            if( dpdc_p )
-            {
-                dpdc_p[0] = 1; dpdc_p[1] = 0; // dp_xdc_x; dp_xdc_y
-                dpdc_p[dpdc_step] = 0;
-                dpdc_p[dpdc_step+1] = 1;
-                dpdc_p += dpdc_step*2;
-            }
-
-            if( dpdf_p )
-            {
-                if( fixedAspectRatio )
-                {
-                    dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio; // dp_xdf_x; dp_xdf_y
-                    dpdf_p[dpdf_step] = 0;
-                    dpdf_p[dpdf_step+1] = yd;
-                }
-                else
-                {
-                    dpdf_p[0] = xd; dpdf_p[1] = 0;
-                    dpdf_p[dpdf_step] = 0;
-                    dpdf_p[dpdf_step+1] = yd;
-                }
-                dpdf_p += dpdf_step*2;
-            }
-            for (int row = 0; row < 2; ++row)
-                for (int col = 0; col < 2; ++col)
-                    dMatTilt(row,col) = matTilt(row,col)*vecTilt(2)
-                                        - matTilt(2,col)*vecTilt(row);
-            double invProjSquare = (invProj*invProj);
-            dMatTilt *= invProjSquare;
-            if( dpdk_p )
-            {
-                dXdYd = dMatTilt*Vec2d(x*icdist2*r2, y*icdist2*r2);
-                dpdk_p[0] = fx*dXdYd(0);
-                dpdk_p[dpdk_step] = fy*dXdYd(1);
-                dXdYd = dMatTilt*Vec2d(x*icdist2*r4, y*icdist2*r4);
-                dpdk_p[1] = fx*dXdYd(0);
-                dpdk_p[dpdk_step+1] = fy*dXdYd(1);
-                if( _dpdk->cols > 2 )
-                {
-                    dXdYd = dMatTilt*Vec2d(a1, a3);
-                    dpdk_p[2] = fx*dXdYd(0);
-                    dpdk_p[dpdk_step+2] = fy*dXdYd(1);
-                    dXdYd = dMatTilt*Vec2d(a2, a1);
-                    dpdk_p[3] = fx*dXdYd(0);
-                    dpdk_p[dpdk_step+3] = fy*dXdYd(1);
-                    if( _dpdk->cols > 4 )
-                    {
-                        dXdYd = dMatTilt*Vec2d(x*icdist2*r6, y*icdist2*r6);
-                        dpdk_p[4] = fx*dXdYd(0);
-                        dpdk_p[dpdk_step+4] = fy*dXdYd(1);
-
-                        if( _dpdk->cols > 5 )
-                        {
-                            dXdYd = dMatTilt*Vec2d(
-                                    x*cdist*(-icdist2)*icdist2*r2, y*cdist*(-icdist2)*icdist2*r2);
-                            dpdk_p[5] = fx*dXdYd(0);
-                            dpdk_p[dpdk_step+5] = fy*dXdYd(1);
-                            dXdYd = dMatTilt*Vec2d(
-                                    x*cdist*(-icdist2)*icdist2*r4, y*cdist*(-icdist2)*icdist2*r4);
-                            dpdk_p[6] = fx*dXdYd(0);
-                            dpdk_p[dpdk_step+6] = fy*dXdYd(1);
-                            dXdYd = dMatTilt*Vec2d(
-                                    x*cdist*(-icdist2)*icdist2*r6, y*cdist*(-icdist2)*icdist2*r6);
-                            dpdk_p[7] = fx*dXdYd(0);
-                            dpdk_p[dpdk_step+7] = fy*dXdYd(1);
-                            if( _dpdk->cols > 8 )
-                            {
-                                dXdYd = dMatTilt*Vec2d(r2, 0);
-                                dpdk_p[8] = fx*dXdYd(0); //s1
-                                dpdk_p[dpdk_step+8] = fy*dXdYd(1); //s1
-                                dXdYd = dMatTilt*Vec2d(r4, 0);
-                                dpdk_p[9] = fx*dXdYd(0); //s2
-                                dpdk_p[dpdk_step+9] = fy*dXdYd(1); //s2
-                                dXdYd = dMatTilt*Vec2d(0, r2);
-                                dpdk_p[10] = fx*dXdYd(0);//s3
-                                dpdk_p[dpdk_step+10] = fy*dXdYd(1); //s3
-                                dXdYd = dMatTilt*Vec2d(0, r4);
-                                dpdk_p[11] = fx*dXdYd(0);//s4
-                                dpdk_p[dpdk_step+11] = fy*dXdYd(1); //s4
-                                if( _dpdk->cols > 12 )
-                                {
-                                    dVecTilt = dMatTiltdTauX * Vec3d(xd0, yd0, 1);
-                                    dpdk_p[12] = fx * invProjSquare * (
-                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
-                                    dpdk_p[dpdk_step+12] = fy*invProjSquare * (
-                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
-                                    dVecTilt = dMatTiltdTauY * Vec3d(xd0, yd0, 1);
-                                    dpdk_p[13] = fx * invProjSquare * (
-                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
-                                    dpdk_p[dpdk_step+13] = fy * invProjSquare * (
-                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
-                                }
-                            }
-                        }
-                    }
-                }
-                dpdk_p += dpdk_step*2;
-            }
-
-            if( dpdt_p )
-            {
-                double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
-                for( j = 0; j < 3; j++ )
-                {
-                    double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
-                    double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt + 3*k[4]*r4*dr2dt;
-                    double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
-                    double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
-                    double dmxdt = (dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
-                                    k[2]*da1dt + k[3]*(dr2dt + 4*x*dxdt[j]) + k[8]*dr2dt + 2*r2*k[9]*dr2dt);
-                    double dmydt = (dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
-                                    k[2]*(dr2dt + 4*y*dydt[j]) + k[3]*da1dt + k[10]*dr2dt + 2*r2*k[11]*dr2dt);
-                    dXdYd = dMatTilt*Vec2d(dmxdt, dmydt);
-                    dpdt_p[j] = fx*dXdYd(0);
-                    dpdt_p[dpdt_step+j] = fy*dXdYd(1);
-                }
-                dpdt_p += dpdt_step*2;
-            }
-
-            if( dpdr_p )
-            {
-                double dx0dr[] =
-                        {
-                                X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
-                                X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
-                                X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
-                        };
-                double dy0dr[] =
-                        {
-                                X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
-                                X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
-                                X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
-                        };
-                double dz0dr[] =
-                        {
-                                X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
-                                X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
-                                X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
-                        };
-                for( j = 0; j < 3; j++ )
-                {
-                    double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
-                    double dydr = z*(dy0dr[j] - y*dz0dr[j]);
-                    double dr2dr = 2*x*dxdr + 2*y*dydr;
-                    double dcdist_dr = (k[0] + 2*k[1]*r2 + 3*k[4]*r4)*dr2dr;
-                    double dicdist2_dr = -icdist2*icdist2*(k[5] + 2*k[6]*r2 + 3*k[7]*r4)*dr2dr;
-                    double da1dr = 2*(x*dydr + y*dxdr);
-                    double dmxdr = (dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
-                                    k[2]*da1dr + k[3]*(dr2dr + 4*x*dxdr) + (k[8] + 2*r2*k[9])*dr2dr);
-                    double dmydr = (dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
-                                    k[2]*(dr2dr + 4*y*dydr) + k[3]*da1dr + (k[10] + 2*r2*k[11])*dr2dr);
-                    dXdYd = dMatTilt*Vec2d(dmxdr, dmydr);
-                    dpdr_p[j] = fx*dXdYd(0);
-                    dpdr_p[dpdr_step+j] = fy*dXdYd(1);
-                }
-                dpdr_p += dpdr_step*2;
-            }
-
-            if( dpdo_p )
-            {
-                double dxdo[] = { z * ( R[0] - x * z * z0 * R[6] ),
-                                  z * ( R[1] - x * z * z0 * R[7] ),
-                                  z * ( R[2] - x * z * z0 * R[8] ) };
-                double dydo[] = { z * ( R[3] - y * z * z0 * R[6] ),
-                                  z * ( R[4] - y * z * z0 * R[7] ),
-                                  z * ( R[5] - y * z * z0 * R[8] ) };
-                for( j = 0; j < 3; j++ )
-                {
-                    double dr2do = 2 * x * dxdo[j] + 2 * y * dydo[j];
-                    double dr4do = 2 * r2 * dr2do;
-                    double dr6do = 3 * r4 * dr2do;
-                    double da1do = 2 * y * dxdo[j] + 2 * x * dydo[j];
-                    double da2do = dr2do + 4 * x * dxdo[j];
-                    double da3do = dr2do + 4 * y * dydo[j];
-                    double dcdist_do
-                            = k[0] * dr2do + k[1] * dr4do + k[4] * dr6do;
-                    double dicdist2_do = -icdist2 * icdist2
-                                         * ( k[5] * dr2do + k[6] * dr4do + k[7] * dr6do );
-                    double dxd0_do = cdist * icdist2 * dxdo[j]
-                                     + x * icdist2 * dcdist_do + x * cdist * dicdist2_do
-                                     + k[2] * da1do + k[3] * da2do + k[8] * dr2do
-                                     + k[9] * dr4do;
-                    double dyd0_do = cdist * icdist2 * dydo[j]
-                                     + y * icdist2 * dcdist_do + y * cdist * dicdist2_do
-                                     + k[2] * da3do + k[3] * da1do + k[10] * dr2do
-                                     + k[11] * dr4do;
-                    dXdYd = dMatTilt * Vec2d( dxd0_do, dyd0_do );
-                    dpdo_p[i * 3 + j] = fx * dXdYd( 0 );
-                    dpdo_p[dpdo_step + i * 3 + j] = fy * dXdYd( 1 );
-                }
-                dpdo_p += dpdo_step * 2;
-            }
-        }
-    }
-
-    if( _m != imagePoints )
-        cvConvert( _m, imagePoints );
-
-    if( _dpdr != dpdr )
-        cvConvert( _dpdr, dpdr );
-
-    if( _dpdt != dpdt )
-        cvConvert( _dpdt, dpdt );
-
-    if( _dpdf != dpdf )
-        cvConvert( _dpdf, dpdf );
-
-    if( _dpdc != dpdc )
-        cvConvert( _dpdc, dpdc );
-
-    if( _dpdk != dpdk )
-        cvConvert( _dpdk, dpdk );
-
-    if( _dpdo != dpdo )
-        cvConvert( _dpdo, dpdo );
-}
-
-static void _cvProjectPoints2( const CvMat* objectPoints,
-                        const CvMat* r_vec,
-                        const CvMat* t_vec,
-                        const CvMat* A,
-                        const CvMat* distCoeffs,
-                        CvMat* imagePoints, CvMat* dpdr,
-                        CvMat* dpdt, CvMat* dpdf,
-                        CvMat* dpdc, CvMat* dpdk,
-                        double aspectRatio )
-{
-    _cvProjectPoints2Internal( objectPoints, r_vec, t_vec, A, distCoeffs, imagePoints, dpdr, dpdt,
-                               dpdf, dpdc, dpdk, NULL, aspectRatio );
 }

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>] [<x0>] [<y0>] [--top-left | --bottom-left]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left] [-o <filename>]
   genmap.py (-h | --help)
 
 Options:
@@ -27,6 +27,7 @@ Options:
   <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
+  -o <filename>  Output map file name in the 'map' subdirectory of aruco_pose package
 
 Example:
   rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
@@ -34,6 +35,8 @@ Example:
 
 from __future__ import print_function
 
+import sys
+from os import path
 from docopt import docopt
 
 
@@ -49,14 +52,19 @@ dist_x = float(arguments['<dist_x>'])
 dist_y = float(arguments['<dist_y>'])
 bottom_left = arguments['--bottom-left']
 
+if arguments['-o'] is None:
+    output = sys.stdout
+else:
+    output = open(path.join(path.dirname(__file__), '..', 'map', arguments['-o']), 'w')
+
 max_y = y0 + (markers_y - 1) * dist_y
 
-print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
+output.write('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x\n')
 for y in range(markers_y):
     for x in range(markers_x):
         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{}'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
+        output.write('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\n'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1

aruco_pose/vendor/VendorOpenCV.cmake

@@ -7,6 +7,7 @@ endif()
 
 message(STATUS "Adding vendored aruco_pose OpenCV module")
 add_library(_opencv_aruco STATIC
+  vendor/aruco/src/apriltag_quad_thresh.cpp
   vendor/aruco/src/aruco.cpp
   vendor/aruco/src/charuco.cpp
   vendor/aruco/src/dictionary.cpp
@@ -23,7 +24,7 @@ target_compile_definitions(_opencv_aruco PRIVATE
   CV_OVERRIDE=override
 )
 target_compile_options(_opencv_aruco PRIVATE
-  -fpic -fPIC
+  -fpic -fPIC -fvisibility=hidden
 )
 
 target_include_directories(_opencv_aruco PUBLIC

aruco_pose/vendor/aruco/src/apriltag_quad_thresh.cpp

@@ -94,7 +94,7 @@ void ptsort_(struct pt *pts, int sz)
 
     // Use stack storage if it's not too big.
     cv::AutoBuffer<struct pt, 1024> _tmp_stack(sz);
-    memcpy(_tmp_stack.data(), pts, sizeof(struct pt) * sz);
+    memcpy(_tmp_stack, pts, sizeof(struct pt) * sz);
 
     int asz = sz/2;
     int bsz = sz - asz;
@@ -470,11 +470,11 @@ int quad_segment_agg(int sz, struct line_fit_pt *lfps, int indices[4]){
     int rvalloc_pos = 0;
     int rvalloc_size = 3*sz;
     cv::AutoBuffer<struct remove_vertex, 0> rvalloc_(std::max(1, rvalloc_size));
-    memset(rvalloc_.data(), 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
-    struct remove_vertex *rvalloc = rvalloc_.data();
+    memset(rvalloc_, 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
+    struct remove_vertex *rvalloc = rvalloc_;
     cv::AutoBuffer<struct segment, 0> segs_(std::max(1, sz)); // TODO Add AutoBuffer zero fill
-    memset(segs_.data(), 0, sizeof(segs_[0]) * segs_.size());
-    struct segment *segs = segs_.data();
+    memset(segs_, 0, sizeof(segs_[0]) * segs_.size());
+    struct segment *segs = segs_;
 
     // populate with initial entries
     for (int i = 0; i < sz; i++) {
@@ -753,8 +753,8 @@ int fit_quad(const Ptr<DetectorParameters> &_params, const Mat im, zarray_t *clu
     // efficiently computed for any contiguous range of indices.
 
     cv::AutoBuffer<struct line_fit_pt, 64> lfps_(sz);
-    memset(lfps_.data(), 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
-    struct line_fit_pt *lfps = lfps_.data();
+    memset(lfps_, 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
+    struct line_fit_pt *lfps = lfps_;
 
     for (int i = 0; i < sz; i++) {
         struct pt *p;

builder/assets/clever/setup.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 from distutils.core import setup
 

builder/assets/examples/leds.py

@@ -7,19 +7,25 @@ rospy.init_node('leds')
 
 set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
 
+print('Fill red')
 set_effect(r=255, g=0, b=0)  # fill strip with red color
 rospy.sleep(2)
 
+print('Fill green')
 set_effect(r=0, g=100, b=0)  # fill strip with green color
 rospy.sleep(2)
 
+print('Fade to blue')
 set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
 rospy.sleep(2)
 
+print('Flash red')
 set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
-rospy.sleep(5)
+rospy.sleep(2)
 
+print('Blink white')
 set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
 rospy.sleep(5)
 
+print('Rainbow')
 set_effect(effect='rainbow')  # show rainbow

builder/assets/noetic-rosdep-clover.yaml

@@ -0,0 +1,18 @@
+async_web_server_cpp:
+  debian:
+    buster: [ros-noetic-async-web-server-cpp]
+led_msgs:
+  debian:
+    buster: [ros-noetic-led-msgs]
+ros_pytest:
+  debian:
+    buster: [ros-noetic-ros-pytest]
+tf2_web_republisher:
+  debian:
+    buster: [ros-noetic-tf2-web-republisher]
+web_video_server:
+  debian:
+    buster: [ros-noetic-web-video-server]
+ws281x:
+  debian:
+    buster: [ros-noetic-ws281x]

builder/assets/roscore.service

@@ -3,7 +3,7 @@ Description=Launcher for the ROS master, parameter server and rosout logging nod
 
 [Service]
 User=pi
-ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
+ExecStart=/bin/sh -c ". /opt/ros/noetic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
 Restart=on-failure
 RestartSec=3
 

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/raspios_lite_arm64/images/raspios_lite_arm64-2020-08-24/2020-08-20-raspios-buster-arm64-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -105,7 +105,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # examples
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -116,7 +116,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # Clover
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.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/noetic-rosdep-clover.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/image-init.sh

@@ -55,7 +55,4 @@ echo_stamp "Set max space for syslogs"
 # https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
 sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
 
-echo_stamp "Move /etc/ld.so.preload out of the way"
-mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
-
 echo_stamp "End of init image"

builder/image-ros.sh

@@ -21,6 +21,9 @@ INSTALL_ROS_PACK_SOURCES=$3
 DISCOVER_ROS_PACK=$4
 NUMBER_THREADS=$5
 
+# Current ROS distribution
+ROS_DISTRO=noetic
+
 echo_stamp() {
   # TEMPLATE: echo_stamp <TEXT> <TYPE>
   # TYPE: SUCCESS, ERROR, INFO
@@ -68,7 +71,8 @@ my_travis_retry() {
 # TODO: 'kinetic-rosdep-clover.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
+# FIXME: Re-add this after missing packages are built
+echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
@@ -80,16 +84,32 @@ echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
 cd /home/pi/catkin_ws/src/clover
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
+# This is sort of a hack to force "custom" packages to be installed - the ones built by COEX, linked against OpenCV 4.2
+# I **wish** OpenCV would not be such a mess, but, well, here we are.
+echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
+apt install -y --no-install-recommends \
+ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
+ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
+ros-${ROS_DISTRO}-cv-camera=0.5.0-0buster \
+ros-${ROS_DISTRO}-image-publisher=1.15.2-0buster \
+ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
+apt-mark hold \
+ros-${ROS_DISTRO}-compressed-image-transport \
+ros-${ROS_DISTRO}-cv-bridge \
+ros-${ROS_DISTRO}-cv-camera \
+ros-${ROS_DISTRO}-image-publisher \
+ros-${ROS_DISTRO}-web-video-server
+
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
 # Don't try to install gazebo_ros
-my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro melodic --os=debian:buster \
+my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=debian:buster \
   --skip-keys=gazebo_ros --skip-keys=gazebo_plugins
-my_travis_retry pip install wheel
-my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
-source /opt/ros/melodic/setup.bash
+my_travis_retry pip3 install wheel
+my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
+source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
+catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
 
 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -105,23 +125,18 @@ touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/w
 
 echo_stamp "Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
-    ros-melodic-dynamic-reconfigure \
-    ros-melodic-compressed-image-transport \
-    ros-melodic-rosbridge-suite \
-    ros-melodic-rosserial \
-    ros-melodic-usb-cam \
-    ros-melodic-vl53l1x \
-    ros-melodic-ws281x \
-    ros-melodic-rosshow
+    ros-${ROS_DISTRO}-dynamic-reconfigure \
+    ros-${ROS_DISTRO}-rosbridge-suite \
+    ros-${ROS_DISTRO}-rosserial \
+    ros-${ROS_DISTRO}-usb-cam \
+    ros-${ROS_DISTRO}-vl53l1x \
+    ros-${ROS_DISTRO}-ws281x \
+    ros-${ROS_DISTRO}-rosshow
 
 # TODO move GeographicLib datasets to Mavros debian package
 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
-
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws
 # FIXME: Investigate failing tests
@@ -130,12 +145,15 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
+echo_stamp "Change permissions for examples"
+chown -Rf pi:pi /home/pi/examples
+
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
 export ROS_HOSTNAME=\`hostname\`.local
-source /opt/ros/melodic/setup.bash
+source /opt/ros/${ROS_DISTRO}/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 EOF
 

builder/image-software.sh

@@ -70,8 +70,8 @@ apt-get update \
 && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
 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/opencv4 buster main" > /etc/apt/sources.list.d/opencv3.list
+echo "deb http://deb.coex.tech/ros 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_stamp "Update apt cache"
@@ -96,21 +96,19 @@ dnsmasq  \
 tmux \
 vim \
 cmake \
-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 \
@@ -142,7 +140,7 @@ my_travis_retry pip3 install butterfly[systemd]
 systemctl enable butterfly.socket
 
 echo_stamp "Install ws281x library"
-my_travis_retry pip install --prefer-binary rpi_ws281x
+my_travis_retry pip3 install --prefer-binary rpi_ws281x
 
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
@@ -151,11 +149,11 @@ systemctl enable monkey.service
 
 echo_stamp "Install Node.js"
 cd /home/pi
-wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
-tar -xzf node-v10.15.0-linux-armv6l.tar.gz
-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
+wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-arm64.tar.gz
+tar -xzf node-v10.15.0-linux-arm64.tar.gz
+cp -R node-v10.15.0-linux-arm64/* /usr/local/
+rm -rf node-v10.15.0-linux-arm64/
+rm node-v10.15.0-linux-arm64.tar.gz
 
 echo_stamp "Installing ptvsd"
 my_travis_retry pip install ptvsd

builder/image-validate.sh

@@ -16,9 +16,9 @@ set -ex
 
 echo "Run image tests"
 
-export ROS_DISTRO='melodic'
+export ROS_DISTRO='noetic'
 export ROS_IP='127.0.0.1'
-source /opt/ros/melodic/setup.bash
+source /opt/ros/${ROS_DISTRO}/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 
 cd /home/pi/catkin_ws/src/clover/builder/test/
@@ -26,6 +26,3 @@ cd /home/pi/catkin_ws/src/clover/builder/test/
 ./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

@@ -6,20 +6,39 @@ set -e
 apt update
 apt install -y curl
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-python ./get-pip.py
+if [ "x${ROS_PYTHON_VERSION}" = "x3" ]; then
+  PYTHON=python3
+else
+  PYTHON=python
+fi
+
+${PYTHON} ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt
 curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 echo "deb http://deb.coex.tech/ros xenial main" > /etc/apt/sources.list.d/coex.tech.list
 echo "yaml file:///etc/ros/rosdep/coex.yaml" > /etc/ros/rosdep/sources.list.d/99-coex.list
+CODENAME=$(lsb_release -sc)
+
 cat <<EOF > /etc/ros/rosdep/coex.yaml
 led_msgs:
   ubuntu:
-    xenial: ros-kinetic-led-msgs
-    bionic: ros-melodic-led-msgs
-  debian:
-    stretch: ros-kinetic-led-msgs
-    buster: ros-melodic-led-msgs
+    ${CODENAME}: [ros-${ROS_DISTRO}-led-msgs]
+async_web_server_cpp:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-async-web-server-cpp]
+ros_pytest:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-ros-pytest]
+tf2_web_republisher:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-tf2-web-republisher]
+web_video_server:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-web-video-server]
+ws281x:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-ws281x]
 EOF
 apt update
 rosdep update
@@ -37,7 +56,7 @@ cd /root/catkin_ws
 catkin_make
 
 # Step 4: Run tests
-pip install --upgrade pytest
+${PYTHON} -m pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results

builder/test/tests.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # validate all required modules installed
 
@@ -28,4 +28,4 @@ import pigpio
 from espeak import espeak
 from pyzbar import pyzbar
 
-print cv2.getBuildInformation()
+print(cv2.getBuildInformation())

builder/test/tests_clever.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # test backwards compatibility
 

clover/CMakeLists.txt

@@ -30,7 +30,15 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 find_package(GeographicLib REQUIRED)
 
-find_package(OpenCV 3 REQUIRED
+# Workaround for OpenCV 3/4 support
+set(_opencv_version 4)
+find_package(OpenCV ${_opencv_version} QUIET COMPONENTS calib3d imgproc)
+if (NOT OpenCV_FOUND)
+  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
+  set(_opencv_version 3)
+endif()
+
+find_package(OpenCV ${_opencv_version} REQUIRED
   COMPONENTS
     calib3d
     imgproc
@@ -254,6 +262,10 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+catkin_install_python(PROGRAMS src/selfcheck.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)

clover/README.md

@@ -4,7 +4,7 @@ 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).
+Install ROS Noetic according to the [documentation](http://wiki.ros.org/noetic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
 
 Clone this repo to directory `~/catkin_ws/src/clover`:
 

clover/launch/aruco.launch

@@ -2,30 +2,37 @@
     <arg name="aruco_detect" default="true"/>
     <arg name="aruco_map" default="false"/>
     <arg name="aruco_vpe" default="false"/>
+    <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 -->
 
     <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <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="$(eval placement == 'ceiling')"/>
+        <param name="length" value="$(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 -->
+        <!-- length override example: -->
+        <!-- <param name="length_override/3" value="0.1"/> -->
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true" respawn="true">
         <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

@@ -37,7 +37,7 @@
     <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
 
     <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
         <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"/>
@@ -45,7 +45,7 @@
     </node>
 
     <!-- main nodelet manager -->
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
         <param name="num_worker_threads" value="2"/>
     </node>
 

clover/launch/led.launch

@@ -2,14 +2,17 @@
     <arg name="ws281x" default="true"/>
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
+    <arg name="led_count" default="72"/>
+    <arg name="gpio_pin" default="21"/>
+
     <arg name="simulator" default="false"/>
 
     <!-- For additional help go to https://clover.coex.tech/led -->
 
     <!-- ws281x led strip driver -->
     <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(eval ws281x and not simulator)">
-        <param name="led_count" value="58"/>
-        <param name="gpio_pin" value="21"/>
+        <param name="led_count" value="$(arg led_count)"/>
+        <param name="gpio_pin" value="$(arg gpio_pin)"/>
         <param name="brightness" value="64"/>
         <param name="strip_type" value="WS2811_STRIP_GRB"/>
         <param name="target_frequency" value="800000"/>
@@ -32,7 +35,7 @@
             altctl: { r: 255, g: 255, b: 40 }
             posctl: { r: 50, g: 100, b: 220 }
             offboard: { r: 220, g: 20, b: 250 }
-            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
+            low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
             error: { effect: flash, r: 255, g: 0, b: 0 }
         </rosparam>
     </node>

clover/launch/main_camera.launch

@@ -9,6 +9,8 @@
     <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="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.03 0 0.05 -1.5707963 0 -1.5707963 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.03 0 0.05 1.5707963 0 -1.5707963 base_link main_camera_optical"/>
 
     <!-- Template for custom camera orientation -->
     <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
@@ -16,7 +18,7 @@
     <!-- <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" unless="$(arg simulator)">
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)" respawn="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"/>

clover/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>clover</name>
   <version>0.0.1</version>
   <description>The Clover package</description>
@@ -37,7 +37,8 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>python-lxml</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->

clover/src/optical_flow.cpp

@@ -70,7 +70,6 @@ private:
 		roi_rad_ = nh_priv.param("roi_rad", 0.0);
 		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
 
-		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
 		flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
 		velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
@@ -83,6 +82,8 @@ private:
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;
 
+		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
+
 		NODELET_INFO("Optical Flow initialized");
 	}
 

clover/src/selfcheck.py

@@ -138,7 +138,7 @@ def mavlink_exec(cmd, timeout=3.0):
         timeout=3,
         baudrate=0,
         count=len(cmd),
-        data=map(ord, cmd.ljust(70, '\0')))
+        data=[ord(c) for c in cmd.ljust(70, '\0')])
     msg.pack(link)
     ros_msg = mavlink.convert_to_rosmsg(msg)
     mavlink_pub.publish(ros_msg)
@@ -609,7 +609,7 @@ def check_rangefinder():
 
 @check('Boot duration')
 def check_boot_duration():
-    output = subprocess.check_output('systemd-analyze')
+    output = subprocess.check_output('systemd-analyze').decode()
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
     if duration > 15:
@@ -620,7 +620,7 @@ def check_boot_duration():
 def check_cpu_usage():
     WHITELIST = 'nodelet',
     CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
-    output = subprocess.check_output(CMD, shell=True)
+    output = subprocess.check_output(CMD, shell=True).decode()
     processes = output.split('\n')
     for process in processes:
         if not process:
@@ -636,7 +636,7 @@ def check_cpu_usage():
 def check_clover_service():
     try:
         output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
-                                         stderr=subprocess.STDOUT)
+                                         stderr=subprocess.STDOUT).decode()
     except subprocess.CalledProcessError as e:
         failure('systemctl returned %s: %s', e.returncode, e.output)
         return
@@ -751,7 +751,7 @@ def check_rpi_health():
         # <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'])
+        output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
     except OSError:
         failure('could not call vcgencmd binary; not a Raspberry Pi?')
         return

clover/src/simple_offboard.cpp

@@ -36,6 +36,7 @@
 #include <mavros_msgs/Thrust.h>
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
+#include <mavros_msgs/ManualControl.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -72,9 +73,10 @@ ros::Duration state_timeout;
 ros::Duration velocity_timeout;
 ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
+ros::Duration manual_control_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard, nav_from_sp;
+bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;
 
 // Publishers
@@ -122,6 +124,7 @@ enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
+mavros_msgs::ManualControl manual_control;
 PoseStamped local_position;
 TwistStamped velocity;
 NavSatFix global_position;
@@ -486,6 +489,27 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
+inline void checkManualControl()
+{
+	if (!manual_control_timeout.isZero() && TIMEOUT(manual_control, manual_control_timeout)) {
+		throw std::runtime_error("Manual control timeout, RC is switched off?");
+	}
+
+	if (check_kill_switch) {
+		// switch values: https://github.com/PX4/PX4-Autopilot/blob/c302514a0809b1765fafd13c014d705446ae1113/msg/manual_control_setpoint.msg#L3
+		const uint8_t SWITCH_POS_NONE = 0; // switch is not mapped
+		const uint8_t SWITCH_POS_ON = 1; // switch activated
+		const uint8_t SWITCH_POS_MIDDLE = 2; // middle position
+		const uint8_t SWITCH_POS_OFF = 3; // switch not activated
+
+		const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
+		uint8_t kill_switch = (manual_control.buttons & (0b11 << KILL_SWITCH_BIT)) >> KILL_SWITCH_BIT;
+
+		if (kill_switch == SWITCH_POS_ON)
+			throw std::runtime_error("Kill switch is on");
+	}
+}
+
 inline void checkState()
 {
 	if (TIMEOUT(state, state_timeout))
@@ -513,6 +537,10 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// Checks
 		checkState();
 
+		if (auto_arm) {
+			checkManualControl();
+		}
+
 		// default frame is local frame
 		if (frame_id.empty())
 			frame_id = local_frame;
@@ -834,6 +862,7 @@ int main(int argc, char **argv)
 	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);
+	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -843,6 +872,7 @@ int main(int argc, char **argv)
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
 	global_position_timeout = ros::Duration(nh_priv.param("global_position_timeout", 10.0));
 	battery_timeout = ros::Duration(nh_priv.param("battery_timeout", 2.0));
+	manual_control_timeout = ros::Duration(nh_priv.param("manual_control_timeout", 0.0));
 
 	transform_timeout = ros::Duration(nh_priv.param("transform_timeout", 0.5));
 	telemetry_transform_timeout = ros::Duration(nh_priv.param("telemetry_transform_timeout", 0.5));
@@ -860,6 +890,7 @@ int main(int argc, char **argv)
 	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
 	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
+	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);
 
 	// Setpoint publishers

clover/test/basic.py

@@ -26,8 +26,13 @@ def test_simple_offboard_services_available():
     rospy.wait_for_service('land', timeout=5)
 
 def test_web_video_server(node):
-    import urllib2
-    urllib2.urlopen("http://localhost:8080").read()
+    try:
+        # Python 2
+        import urllib2 as urllib
+    except ModuleNotFoundError:
+        # Python 3
+        import urllib.request as urllib
+    urllib.urlopen("http://localhost:8080").read()
 
 def test_shell(node):
     execute = rospy.ServiceProxy('exec', srv.Execute)

clover_blocks/README.md

@@ -30,7 +30,9 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 Parameters read by frontend:
 
 * `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
+* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
 * `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
+* `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
 
 These parameters also can be set as URL GET-parameters, for example:
 

clover_blocks/programs/examples/aruco-marker.xml

@@ -29,7 +29,7 @@
             </value>
             <value name="Z">
               <shadow type="math_number" id="n0ULZn64%k.:,l(,D?TZ">
-                <field name="NUM">0</field>
+                <field name="NUM">1</field>
               </shadow>
             </value>
             <value name="ID">

clover_blocks/programs/examples/led-compass.xml

@@ -1,106 +1,91 @@
 <xml xmlns="https://developers.google.com/blockly/xml">
-  <variables>
-    <variable id="_{V-S5HPBUl]CcJkL1Jw">led_count</variable>
-  </variables>
-  <block type="variables_set" id="{)^J~:UMX%D;RWvztWLN" x="113" y="87">
-    <field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
-    <value name="VALUE">
-      <block type="math_number" id="V_W$3,VFwZjcc|?|1o`l">
-        <field name="NUM">58</field>
+  <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1" x="113" y="113">
+    <field name="MODE">WHILE</field>
+    <value name="BOOL">
+      <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
+        <field name="BOOL">TRUE</field>
       </block>
     </value>
-    <next>
-      <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1">
-        <field name="MODE">WHILE</field>
-        <value name="BOOL">
-          <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
-            <field name="BOOL">TRUE</field>
-          </block>
+    <statement name="DO">
+      <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
+        <field name="EFFECT">FILL</field>
+        <value name="COLOR">
+          <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
+            <field name="COLOUR">#000000</field>
+          </shadow>
         </value>
-        <statement name="DO">
-          <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
-            <field name="EFFECT">FILL</field>
-            <value name="COLOR">
-              <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
-                <field name="COLOUR">#000000</field>
+        <next>
+          <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
+            <value name="INDEX">
+              <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
+                <field name="NUM">0</field>
               </shadow>
-            </value>
-            <next>
-              <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
-                <value name="INDEX">
-                  <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
-                    <field name="NUM">0</field>
+              <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
+                <field name="OP">MULTIPLY</field>
+                <value name="A">
+                  <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
+                    <field name="NUM">1</field>
                   </shadow>
-                  <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
-                    <field name="OP">MULTIPLY</field>
+                  <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
+                    <field name="OP">DIVIDE</field>
                     <value name="A">
-                      <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
+                      <shadow type="math_number" id="::st;ot}[r]csqceURu*">
                         <field name="NUM">1</field>
                       </shadow>
-                      <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
-                        <field name="OP">DIVIDE</field>
+                      <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
+                        <field name="OP">ADD</field>
                         <value name="A">
-                          <shadow type="math_number" id="::st;ot}[r]csqceURu*">
+                          <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
                             <field name="NUM">1</field>
                           </shadow>
-                          <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
-                            <field name="OP">ADD</field>
-                            <value name="A">
-                              <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
-                                <field name="NUM">1</field>
-                              </shadow>
-                              <block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
-                                <field name="FRAME_ID">MAP</field>
-                                <value name="ID">
-                                  <shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
-                                    <field name="NUM">0</field>
-                                  </shadow>
-                                </value>
-                              </block>
-                            </value>
-                            <value name="B">
-                              <shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
-                                <field name="NUM">180</field>
+                          <block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
+                            <field name="FRAME_ID">MAP</field>
+                            <value name="ID">
+                              <shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
+                                <field name="NUM">0</field>
                               </shadow>
                             </value>
                           </block>
                         </value>
                         <value name="B">
-                          <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
-                            <field name="NUM">360</field>
+                          <shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
+                            <field name="NUM">180</field>
                           </shadow>
                         </value>
                       </block>
                     </value>
                     <value name="B">
-                      <shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
-                        <field name="NUM">1</field>
+                      <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
+                        <field name="NUM">360</field>
                       </shadow>
-                      <block type="variables_get" id="Ko,`n=i88FY~`YbQLA?[">
-                        <field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
-                      </block>
                     </value>
                   </block>
                 </value>
-                <value name="COLOR">
-                  <shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
-                    <field name="COLOUR">#3366ff</field>
+                <value name="B">
+                  <shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
+                    <field name="NUM">1</field>
+                  </shadow>
+                  <block type="led_count" id="vM@X8s!xa]v}AaK6PWF5"></block>
+                </value>
+              </block>
+            </value>
+            <value name="COLOR">
+              <shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
+                <field name="COLOUR">#3366ff</field>
+              </shadow>
+            </value>
+            <next>
+              <block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
+                <value name="TIME">
+                  <shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
+                    <field name="NUM">0.1</field>
                   </shadow>
                 </value>
-                <next>
-                  <block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
-                    <value name="TIME">
-                      <shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
-                        <field name="NUM">0.1</field>
-                      </shadow>
-                    </value>
-                  </block>
-                </next>
               </block>
             </next>
           </block>
-        </statement>
+        </next>
       </block>
-    </next>
+    </statement>
   </block>
-</xml>
+</xml>

clover_blocks/src/clover_blocks

@@ -1,5 +1,13 @@
 #!/usr/bin/env python
 
+# Copyright (C) 2020 Copter Express Technologies
+#
+# Author: Oleg Kalachev <okalachev@gmail.com>
+#
+# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
 from __future__ import print_function
 
 import rospy
@@ -103,7 +111,7 @@ def run(req):
                 'print': _print,
                 'raw_input': _input}
             try:
-                exec req.code in g
+                exec(req.code, g)
             except Stop:
                 rospy.loginfo('Program forced to stop')
             except Exception as e:

clover_blocks/www/blocks.js

@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 const COLOR_FLIGHT = 293;
 const COLOR_STATE = 36;
 const COLOR_LED = 143;
@@ -343,6 +353,17 @@ Blockly.Blocks['set_effect'] = {
 	}
 };
 
+Blockly.Blocks['led_count'] = {
+	init: function () {
+		this.appendDummyInput()
+			.appendField("LED count");
+		this.setOutput(true, "Number");
+		this.setColour(COLOR_LED);
+		this.setTooltip("Returns the number of LEDs (configured in led.launch).");
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
+	}
+};
+
 Blockly.Blocks['take_off'] = {
 	init: function () {
 		this.appendValueInput("ALT")
@@ -525,7 +546,7 @@ Blockly.Blocks['gpio_read'] = {
 		this.setOutput(true, "Boolean");
 		this.setColour(COLOR_GPIO);
 		this.setTooltip("Returns if there is voltage on a GPIO pin.");
-		this.setHelpUrl(DOCS_URL + '#' + this.type);
+		this.setHelpUrl(DOCS_URL + '#GPIO');
 	}
 };
 
@@ -542,7 +563,7 @@ Blockly.Blocks['gpio_write'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setTooltip("Set GPIO pin level.");
-		this.setHelpUrl(DOCS_URL + '#' + this.type);
+		this.setHelpUrl(DOCS_URL + '#GPIO');
 	}
 };
 
@@ -558,7 +579,24 @@ Blockly.Blocks['set_servo'] = {
 		this.setColour(COLOR_GPIO);
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
-		this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 ms.");
-		this.setHelpUrl(DOCS_URL + '#' + this.type);
+		this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 μs.");
+		this.setHelpUrl(DOCS_URL + '#GPIO');
+	}
+};
+
+Blockly.Blocks['set_duty_cycle'] = {
+	init: function () {
+		this.appendValueInput("PIN")
+			.setCheck("Number")
+			.appendField("set GPIO pin");
+		this.appendValueInput("DUTY_CYCLE")
+			.setCheck("Number")
+			.appendField("to duty cycle");
+		this.setInputsInline(true);
+		this.setColour(COLOR_GPIO);
+		this.setPreviousStatement(true, null);
+		this.setNextStatement(true, null);
+		this.setTooltip("Set PWM duty cycle on a GPIO pin (better to control LEDs, etc). Duty cycle is set in range of 0–1.");
+		this.setHelpUrl(DOCS_URL + '#GPIO');
 	}
 };

clover_blocks/www/index.html

@@ -106,6 +106,7 @@
 				<value name="INDEX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="COLOR"><shadow type="colour_picker"></shadow></value>
 			</block>
+			<block type="led_count"></block>
 		</category>
 		<category name="GPIO" colour="#5b97cc">
 			<block type="gpio_read">
@@ -119,6 +120,10 @@
 				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
 				<value name="PWM"><shadow type="math_number"><field name="NUM">1500</field></shadow></value>
 			</block>
+			<block type="set_duty_cycle">
+				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
+				<value name="DUTY_CYCLE"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
+			</block>
 		</category>
 		<sep></sep>
 		<category name="Logic" colour="#5b80a5">

clover_blocks/www/main.js

@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 import * as ros from './ros.js';
 import './blocks.js';
 import {generateCode, generateUserCode} from './python.js';
@@ -29,7 +39,9 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('sleep_time', true, 0.2)
+		ros.readParam('yaw_tolerance', true, 20),
+		ros.readParam('sleep_time', true, 0.2),
+		ros.readParam('confirm_run', true, true),
 	]);
 }
 
@@ -97,7 +109,7 @@ new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'prompt', messageType: 'clover
 		name: ros.priv + 'input/' + msg.id,
 		messageType: 'std_msgs/String',
 		latch: true
-	}).publish(new ROSLIB.Message({ data: response }));
+	}).publish(new ROSLIB.Message({ data: response || '' }));
 });
 
 window.stopProgram = function() {
@@ -113,7 +125,7 @@ ros.ros.on('close', update);
 ready.then(() => runButton.disabled = false);
 
 window.runProgram = function() {
-	if (!confirm('Run program?')) return;
+	if (ros.params.confirm_run && !confirm('Run program?')) return;
 
 	runRequest = true;
 	update();

clover_blocks/www/python.js

@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 import {params} from './ros.js';
 
 // If any new block imports any library, add that library name here.
@@ -5,17 +15,12 @@ Blockly.Python.addReservedWords('_b,_print');
 Blockly.Python.addReservedWords('rospy,srv,Trigger,get_telemetry,navigate,set_velocity,land');
 Blockly.Python.addReservedWords('navigate_wait,land_wait,wait_arrival,wait_yaw,get_distance');
 Blockly.Python.addReservedWords('pigpio,pi,Range');
-Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
+Blockly.Python.addReservedWords('SetLEDEffect,set_effect,led_count,get_led_count');
 Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
 
-// TODO: parametrize
-const navigate_tolerance = 0.2;
-const sleep_time = 0.2;
-
 const IMPORT_SRV = `from clover import srv
 from std_srvs.srv import Trigger`;
 
-// TODO: tolerance to parameters
 const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame_id='body', auto_arm=False):
     res = navigate(x=x, y=y, z=z, yaw=float('nan'), speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
@@ -33,15 +38,13 @@ const LAND_WAIT = () => `\ndef land_wait():
     while get_telemetry().armed:
         rospy.sleep(${params.sleep_time})\n`;
 
-// TODO: tolerance to parameters
 const WAIT_YAW = () => `\ndef wait_yaw():
     while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
-        if abs(telem.yaw) < math.radians(20):
+        if abs(telem.yaw) < math.radians(${params.yaw_tolerance}):
             return
         rospy.sleep(${params.sleep_time})\n`;
 
-// TODO: tolerance to parameters
 const WAIT_ARRIVAL = () => `\ndef wait_arrival():
     while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
@@ -49,7 +52,6 @@ const WAIT_ARRIVAL = () => `\ndef wait_arrival():
             return
         rospy.sleep(${params.sleep_time})\n`;
 
-// TODO: tolerance to parameters
 const ARRIVED = () => `\ndef arrived():
     telem = get_telemetry(frame_id='navigate_target')
     return math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}\n`
@@ -85,6 +87,9 @@ function generateROSDefinitions() {
 		Blockly.Python.definitions_['import_set_led'] = 'from led_msgs.srv import SetLEDs\nfrom led_msgs.msg import LEDState';
 		code += `set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs, persistent=True)\n`;
 	}
+	if (rosDefinitions.ledStateArray) {
+		Blockly.Python.definitions_['import_led_state_array'] = 'from led_msgs.msg import LEDStateArray';
+	}
 	if (rosDefinitions.navigateWait) {
 		Blockly.Python.definitions_['import_math'] = 'import math';
 		code += NAVIGATE_WAIT();
@@ -386,29 +391,48 @@ Blockly.Python.set_led = function(block) {
 
 	if (/^'(.*)'$/.test(colorCode)) { // is simple string
 		let color = parseColor(colorCode);
-		return `set_leds([LEDState(index=${index}, r=${color.r}, g=${color.g}, b=${color.b})])\n`;
+		return `set_leds([LEDState(index=int(${index}), r=${color.r}, g=${color.g}, b=${color.b})])\n`; // TODO: check for simple int
 	} else {
 		let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
-		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode})])\n`;
+		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode}))])\n`;
 	}
 }
 
+const GET_LED_COUNT = `led_count = None
+
+def get_led_count():
+    global led_count
+    if led_count is None:
+        led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
+    return led_count\n`;
+
+Blockly.Python.led_count = function(block) {
+	rosDefinitions.ledStateArray = true;
+	initNode();
+	Blockly.Python.definitions_['get_led_count'] = GET_LED_COUNT;
+	return [`get_led_count()`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
 function pigpio() {
 	Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
 	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
 }
 
 const GPIO_READ = `\ndef gpio_read(pin):
-	pi.set_mode(pin, pigpio.INPUT)
-	return pi.read(pin)\n`;
+    pi.set_mode(pin, pigpio.INPUT)
+    return pi.read(pin)\n`;
 
 const GPIO_WRITE = `\ndef gpio_write(pin, level):
-	pi.set_mode(pin, pigpio.OUTPUT)
-	pi.write(pin, level)\n`;
+    pi.set_mode(pin, pigpio.OUTPUT)
+    pi.write(pin, level)\n`;
 
 const SET_SERVO = `\ndef set_servo(pin, pwm):
-	pi.set_mode(pin, pigpio.OUTPUT)
-	pi.set_servo_pulsewidth(pin, pwm)\n`;
+    pi.set_mode(pin, pigpio.OUTPUT)
+    pi.set_servo_pulsewidth(pin, pwm)\n`;
+
+const SET_DUTY_CYCLE = `\ndef set_duty_cycle(pin, duty_cycle):
+    pi.set_mode(pin, pigpio.OUTPUT)
+    pi.set_PWM_dutycycle(pin, duty_cycle * 255)\n`;
 
 Blockly.Python.gpio_read = function(block) {
 	pigpio();
@@ -432,3 +456,11 @@ Blockly.Python.set_servo = function(block) {
 	var pwm = Blockly.Python.valueToCode(block, 'PWM', Blockly.Python.ORDER_NONE);
 	return `set_servo(${pin}, ${pwm})\n`;
 }
+
+Blockly.Python.set_duty_cycle = function(block) {
+	pigpio();
+	Blockly.Python.definitions_['set_duty_cycle'] = SET_DUTY_CYCLE;
+	var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
+	var dutyCycle = Blockly.Python.valueToCode(block, 'DUTY_CYCLE', Blockly.Python.ORDER_NONE);
+	return `set_duty_cycle(${pin}, ${dutyCycle})\n`;
+}

clover_blocks/www/ros.js

@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 var url = 'ws://' + location.hostname + ':9090';
 export var ros = new ROSLIB.Ros({ url });
 

clover_simulation/src/clover_simulation/__init__.py

@@ -88,6 +88,6 @@ def aruco_gen():
                     off_x + marker.x, off_y + marker.y, off_z + marker.z,
                     marker.roll, marker.pitch, marker.yaw)
 
-        output = open(source_world, 'w') if inplace else stdout
+        output = open(source_world, 'wb') if inplace else stdout
 
         save_world(world_tree, output)