More build scripts cleanup

Including removing echo_stamp, which is not needed

.github/workflows/build-image.yaml

@@ -7,6 +7,7 @@ on:
     branches: [ master ]
   release:
     types: [ created ]
+  workflow_dispatch:
 
 jobs:
   build:

.github/workflows/build.yml

@@ -5,6 +5,7 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ master ]
+  workflow_dispatch:
 
 jobs:
   # melodic:

.github/workflows/docs.yml

@@ -5,16 +5,13 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ '*' ]
+  workflow_dispatch:
 
 permissions:
   contents: read
   pages: write
   id-token: write
 
-concurrency:
-  group: "pages"
-  cancel-in-progress: true
-
 defaults:
   run:
     shell: bash
@@ -75,6 +72,9 @@ jobs:
 
   deploy-docs:
     if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+    concurrency:
+        group: "pages"
+        cancel-in-progress: true
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}
@@ -82,5 +82,8 @@ jobs:
     needs: docs
     steps:
       - name: Deploy to GitHub Pages
+        env:
+          FREEZE_DOCS: ${{ secrets.FREEZE_DOCS }}
+        if: ${{ !env.FREEZE_DOCS }}
         id: deployment
         uses: actions/deploy-pages@v1

.github/workflows/editorconfig.yaml

@@ -5,6 +5,7 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ master ]
+  workflow_dispatch:
 
 jobs:
   editorconfig:

README.md

@@ -20,7 +20,7 @@ Clover drone is used on a wide range of educational events, including [Copter Ha
 
 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
-![GitHub Workflow Status](https://img.shields.io/github/workflow/status/CopterExpress/clover/CI)
+![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/CopterExpress/clover/build-image.yaml?branch=master)
 ![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:

aruco_pose/README.md

@@ -43,7 +43,8 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 * `~frame_id_prefix` (*string*) – prefix for TF transforms names, marker's ID is appended (default: `aruco_`)
 * `~length` (*double*) – markers' sides length
 * `~length_override` (*map*) – lengths of markers with specified ids
-* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame
+* `~known_vertical` (*string*) – known vertical (Z axis) of all the markers as a frame
+* `~flip_vertical` – flip vertical vector
 
 ### Topics
 
@@ -71,7 +72,8 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 
 * `~map` – path to text file with markers list
 * `~frame_id` – published frame id (default: `aruco_map`)
-* `~known_tilt` – known tilt (pitch and roll) of markers map as a frame
+* `~known_vertical` – known vertical (Z axis) of markers map as a frame
+* `~flip_vertical` – flip vertical vector
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)

aruco_pose/cfg/Detector.cfg

@@ -4,7 +4,10 @@ PACKAGE = "aruco_pose"
 from dynamic_reconfigure.parameter_generator_catkin import *
 import cv2.aruco
 
-p = cv2.aruco.DetectorParameters_create()
+try:
+        p = cv2.aruco.DetectorParameters_create()
+except AttributeError:
+        p = cv2.aruco.DetectorParameters()
 
 gen = ParameterGenerator()
 

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>aruco_pose</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -28,6 +28,8 @@
   <depend>sensor_msgs</depend>
   <depend>rostest</depend>
   <depend>dynamic_reconfigure</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
   <test_depend>image_publisher</test_depend>
   <test_depend>ros_pytest</test_depend>

aruco_pose/src/aruco_detect.cpp

@@ -50,6 +50,7 @@
 #include <aruco_pose/DetectorConfig.h>
 #include <aruco_pose/SetMarkers.h>
 
+#include "draw.h"
 #include "utils.h"
 #include <memory>
 #include <functional>
@@ -71,12 +72,12 @@ private:
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
 	ros::ServiceServer set_markers_srv_;
-	bool estimate_poses_, send_tf_, auto_flip_, use_map_markers_;
+	bool estimate_poses_, send_tf_, flip_vertical_, auto_flip_, use_map_markers_;
 	bool waiting_for_map_;
 	double length_;
 	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
-	std::string frame_id_prefix_, known_tilt_;
+	std::string frame_id_prefix_, known_vertical_;
 	Mat camera_matrix_, dist_coeffs_;
 	aruco_pose::MarkerArray array_;
 	std::unordered_set<int> map_markers_ids_;
@@ -105,7 +106,8 @@ public:
 		readLengthOverride(nh_priv_);
 		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));
 
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
+		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 
 		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
@@ -138,13 +140,13 @@ private:
 		if (!enabled_) return;
 		if (waiting_for_map_) return;
 
-		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
+		Mat image = cv_bridge::toCvShare(msg)->image;
 
 		vector<int> ids;
 		vector<vector<cv::Point2f>> corners, rejected;
 		vector<cv::Vec3d> rvecs, tvecs;
 		vector<cv::Point3f> obj_points;
-		geometry_msgs::TransformStamped snap_to;
+		geometry_msgs::TransformStamped vertical;
 
 		// Detect markers
 		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
@@ -179,12 +181,12 @@ private:
 					}
 				}
 
-				if (!known_tilt_.empty()) {
+				if (!known_vertical_.empty()) {
 					try {
-						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                      msg->header.stamp, transform_timeout_);
+						vertical = tf_buffer_->lookupTransform(msg->header.frame_id, known_vertical_,
+						                                       msg->header.stamp, transform_timeout_);
 					} catch (const tf2::TransformException& e) {
-						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
+						NODELET_WARN_THROTTLE(5, "can't retrieve known vertical: %s", e.what());
 					}
 				}
 			}
@@ -205,9 +207,9 @@ private:
 				if (estimate_poses_) {
 					fillPose(marker.pose, rvecs[i], tvecs[i]);
 
-					// snap orientation (if enabled and snap frame available)
-					if (!known_tilt_.empty() && !snap_to.header.frame_id.empty()) {
-						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
+					// apply known vertical (if enabled and vertical frame available)
+					if (!known_vertical_.empty() && !vertical.header.frame_id.empty()) {
+						applyVertical(marker.pose.orientation, vertical.transform.rotation, false, auto_flip_);
 					}
 
 					if (send_tf_) {
@@ -263,8 +265,7 @@ private:
 			cv::aruco::drawDetectedMarkers(debug, corners, ids); // draw markers
 			if (estimate_poses_)
 				for (unsigned int i = 0; i < ids.size(); i++)
-					cv::aruco::drawAxis(debug, camera_matrix_, dist_coeffs_,
-					                    rvecs[i], tvecs[i], getMarkerLength(ids[i]));
+					_drawAxis(debug, camera_matrix_, dist_coeffs_, rvecs[i], tvecs[i], getMarkerLength(ids[i]));
 
 			cv_bridge::CvImage out_msg;
 			out_msg.header.frame_id = msg->header.frame_id;

aruco_pose/src/aruco_map.cpp

@@ -81,9 +81,9 @@ private:
 	bool enabled_ = true;
 	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
-	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
+	std::string known_vertical_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool auto_flip_, image_axis_;
+	bool flip_vertical_, auto_flip_, image_axis_, put_markers_count_to_covariance_;
 
 public:
 	virtual void onInit()
@@ -104,12 +104,14 @@ public:
 
 		type_ = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
+		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 		image_width_ = nh_priv_.param("image_width" , 2000);
 		image_height_ = nh_priv_.param("image_height", 2000);
 		image_margin_ = nh_priv_.param("image_margin", 200);
 		image_axis_ = nh_priv_.param("image_axis", true);
+		put_markers_count_to_covariance_ = nh_priv_.param("put_markers_count_to_covariance", false);
 		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
 		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
 
@@ -177,7 +179,21 @@ public:
 			corners.push_back(marker_corners);
 		}
 
-		if (known_tilt_.empty()) {
+		if (put_markers_count_to_covariance_) {
+			// HACK: pass markers count using covariance field
+			int valid_markers = 0;
+			for (auto const &marker : markers->markers) {
+				for (auto const &board_marker : board_->ids) {
+					if (board_marker == marker.id) {
+						valid_markers++;
+						break;
+					}
+				}
+			}
+			pose_.pose.covariance[0] = valid_markers;
+		}
+
+		if (known_vertical_.empty()) {
 			// simple estimation
 			valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
 			                                     rvec, tvec, false);
@@ -191,7 +207,7 @@ public:
 
 		} else {
 			Mat obj_points, img_points;
-			// estimation with "snapping"
+			// estimation with known vertical
 			cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
 			if (obj_points.empty()) goto publish_debug;
 
@@ -203,11 +219,11 @@ public:
 
 			fillTransform(transform_.transform, rvec, tvec);
 			try {
-				geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers->header.frame_id,
-				                                          known_tilt_, markers->header.stamp, ros::Duration(0.02));
-				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation, auto_flip_);
+				geometry_msgs::TransformStamped vertical = tf_buffer_.lookupTransform(markers->header.frame_id,
+				                                           known_vertical_, markers->header.stamp, ros::Duration(0.02));
+				applyVertical(transform_.transform.rotation, vertical.transform.rotation, flip_vertical_, auto_flip_);
 			} catch (const tf2::TransformException& e) {
-				NODELET_WARN_THROTTLE(1, "can't snap: %s", e.what());
+				NODELET_WARN_THROTTLE(1, "can't retrieve known vertical: %s", e.what());
 			}
 
 			geometry_msgs::TransformStamped shift;

aruco_pose/src/utils.h

@@ -106,26 +106,25 @@ inline bool isFlipped(tf::Quaternion& q)
 	return (abs(pitch) > M_PI / 2) || (abs(roll) > M_PI / 2);
 }
 
-/* Set roll and pitch from "from" to "to", keeping yaw */
-inline void snapOrientation(geometry_msgs::Quaternion& to, const geometry_msgs::Quaternion& from, bool auto_flip = false)
+/* Apply a vertical to an orientation */
+inline void applyVertical(geometry_msgs::Quaternion& orientation, const geometry_msgs::Quaternion& vertical,
+                          bool flip_vertical = false, bool auto_flip = false) // editorconfig-checker-disable-line
 {
-	tf::Quaternion _from, _to;
-	tf::quaternionMsgToTF(from, _from);
-	tf::quaternionMsgToTF(to, _to);
+	tf::Quaternion _vertical, _orientation;
+	tf::quaternionMsgToTF(vertical, _vertical);
+	tf::quaternionMsgToTF(orientation, _orientation);
 
-	if (auto_flip) {
-		if (!isFlipped(_from)) {
-			static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
-			_from *= flip; // flip "from"
-		}
+	if (flip_vertical || (auto_flip && !isFlipped(_orientation))) {
+		static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
+		_vertical *= flip; // flip vertical
 	}
 
-	auto diff = tf::Matrix3x3(_to).transposeTimes(tf::Matrix3x3(_from));
+	auto diff = tf::Matrix3x3(_orientation).transposeTimes(tf::Matrix3x3(_vertical));
 	double _, yaw;
 	diff.getRPY(_, _, yaw);
 	auto q = tf::createQuaternionFromRPY(0, 0, -yaw);
-	_from = _from * q; // set yaw from "to" to "from"
-	tf::quaternionTFToMsg(_from, to); // set "from" to "to"
+	_vertical = _vertical * q; // set yaw from orientation to vertical
+	tf::quaternionTFToMsg(_vertical, orientation); // set vertical to orientation
 }
 
 inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)

builder/assets/hardware_setup.sh

@@ -15,52 +15,26 @@
 
 set -e # Exit immidiately on non-zero result
 
-echo_stamp() {
-  # TEMPLATE: echo_stamp <TEXT> <TYPE>
-  # TYPE: SUCCESS, ERROR, INFO
-
-  # More info there https://www.shellhacks.com/ru/bash-colors/
-
-  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
-  TEXT="\e[1m$TEXT\e[0m" # BOLD
-
-  case "$2" in
-    SUCCESS)
-    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
-    ERROR)
-    TEXT="\e[31m${TEXT}\e[0m";; # RED
-    *)
-    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
-  esac
-  echo -e ${TEXT}
-}
-
 ##################################################
 # Configure hardware interfaces
 ##################################################
 
-# 1. Enable sshd
-echo_stamp "#1 Turn on sshd"
+echo "--- Enable sshd"
 touch /boot/ssh
 # /usr/bin/raspi-config nonint do_ssh 0
 
-# 2. Enable GPIO
-echo_stamp "#2 GPIO enabled by default"
+echo "--- GPIO enabled by default"
 
-# 3. Enable I2C
-echo_stamp "#3 Turn on I2C"
+echo "--- Enable I2C"
 /usr/bin/raspi-config nonint do_i2c 0
 
-# 4. Enable SPI
-echo_stamp "#4 Turn on SPI"
+echo "--- Enable SPI"
 /usr/bin/raspi-config nonint do_spi 0
 
-# 5. Enable raspicam
-echo_stamp "#5 Turn on raspicam"
+echo  "--- Enable raspicam"
 /usr/bin/raspi-config nonint do_camera 0
 
-# 6. Enable hardware UART
-echo_stamp "#6 Turn on UART"
+echo "--- Enable UART"
 # Temporary solution
 # https://github.com/RPi-Distro/raspi-config/pull/75
 /usr/bin/raspi-config nonint do_serial 1
@@ -72,11 +46,9 @@ systemctl disable hciuart.service
 # https://github.com/RPi-Distro/raspi-config/commit/d6d9ecc0d9cbe4aaa9744ae733b9cb239e79c116
 #/usr/bin/raspi-config nonint do_serial 2
 
-# 7. Enable V4L driver http://robocraft.ru/blog/electronics/3158.html
+echo "--- Enable v4l2 driver"
+# http://robocraft.ru/blog/electronics/3158.html
 #echo "bcm2835-v4l2" >> /etc/modules
-echo_stamp "#7 Turn on v4l2 driver"
 if ! grep -q "^bcm2835-v4l2" /etc/modules;
 then printf "bcm2835-v4l2\n" >> /etc/modules
 fi
-
-echo_stamp "#8 End of configure hardware interfaces"

builder/assets/init_rpi.sh

@@ -15,28 +15,8 @@
 
 set -e # Exit immidiately on non-zero result
 
-echo_stamp() {
-  # TEMPLATE: echo_stamp <TEXT> <TYPE>
-  # TYPE: SUCCESS, ERROR, INFO
-
-  # More info there https://www.shellhacks.com/ru/bash-colors/
-
-  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
-  TEXT="\e[1m$TEXT\e[0m" # BOLD
-
-  case "$2" in
-    SUCCESS)
-    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
-    ERROR)
-    TEXT="\e[31m${TEXT}\e[0m";; # RED
-    *)
-    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
-  esac
-  echo -e ${TEXT}
-}
-
 NEW_SSID='clover-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
-echo_stamp "Setting SSID to ${NEW_SSID}"
+echo "--- Setting SSID to ${NEW_SSID}"
 # TODO: Use wpa_cli insted direct file edit
 # FIXME: We rely on raspberrypi-net-mods to copy our file to /etc/wpa_supplicant.
 # This is not very reliable, but seems to fix our rfkill problem.
@@ -57,19 +37,17 @@ network={
 EOF
 
 NEW_HOSTNAME=$(echo ${NEW_SSID} | tr '[:upper:]' '[:lower:]')
-echo_stamp "Setting hostname to $NEW_HOSTNAME"
+echo "--- Setting hostname to $NEW_HOSTNAME"
 hostnamectl set-hostname $NEW_HOSTNAME
 sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_HOSTNAME}' '${NEW_HOSTNAME}'.local/g' /etc/hosts
 # .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces are down
 
-echo_stamp "Enable ROS services"
+echo "--- Enable ROS services"
 systemctl enable roscore
 systemctl enable clover
 
-echo_stamp "Harware setup"
+echo "--- Harware setup"
 /root/hardware_setup.sh
 
-echo_stamp "Remove init scripts"
+echo "--- Remove init scripts"
 rm /root/init_rpi.sh /root/hardware_setup.sh
-
-echo_stamp "End of initialization of the image"

builder/assets/noetic-rosdep-clover.yaml

@@ -16,3 +16,726 @@ web_video_server:
 ws281x:
   debian:
     buster: [ros-noetic-ws281x]
+catkin:
+  debian:
+    buster: [ros-noetic-catkin]
+genmsg:
+  debian:
+    buster: [ros-noetic-genmsg]
+gencpp:
+  debian:
+    buster: [ros-noetic-gencpp]
+geneus:
+  debian:
+    buster: [ros-noetic-geneus]
+genlisp:
+  debian:
+    buster: [ros-noetic-genlisp]
+gennodejs:
+  debian:
+    buster: [ros-noetic-gennodejs]
+genpy:
+  debian:
+    buster: [ros-noetic-genpy]
+bond_core:
+  debian:
+    buster: [ros-noetic-bond-core]
+cmake_modules:
+  debian:
+    buster: [ros-noetic-cmake-modules]
+class_loader:
+  debian:
+    buster: [ros-noetic-class-loader]
+common_msgs:
+  debian:
+    buster: [ros-noetic-common-msgs]
+common_tutorials:
+  debian:
+    buster: [ros-noetic-common-tutorials]
+cpp_common:
+  debian:
+    buster: [ros-noetic-cpp-common]
+desktop:
+  debian:
+    buster: [ros-noetic-desktop]
+diagnostics:
+  debian:
+    buster: [ros-noetic-diagnostics]
+executive_smach:
+  debian:
+    buster: [ros-noetic-executive-smach]
+geometry:
+  debian:
+    buster: [ros-noetic-geometry]
+geometry_tutorials:
+  debian:
+    buster: [ros-noetic-geometry-tutorials]
+gl_dependency:
+  debian:
+    buster: [ros-noetic-gl-dependency]
+image_common:
+  debian:
+    buster: [ros-noetic-image-common]
+image_pipeline:
+  debian:
+    buster: [ros-noetic-image-pipeline]
+image_transport_plugins:
+  debian:
+    buster: [ros-noetic-image-transport-plugins]
+laser_pipeline:
+  debian:
+    buster: [ros-noetic-laser-pipeline]
+mavlink:
+  debian:
+    buster: [ros-noetic-mavlink]
+media_export:
+  debian:
+    buster: [ros-noetic-media-export]
+message_generation:
+  debian:
+    buster: [ros-noetic-message-generation]
+message_runtime:
+  debian:
+    buster: [ros-noetic-message-runtime]
+mk:
+  debian:
+    buster: [ros-noetic-mk]
+nodelet_core:
+  debian:
+    buster: [ros-noetic-nodelet-core]
+orocos_kdl:
+  debian:
+    buster: [ros-noetic-orocos-kdl]
+perception:
+  debian:
+    buster: [ros-noetic-perception]
+perception_pcl:
+  debian:
+    buster: [ros-noetic-perception-pcl]
+python_orocos_kdl:
+  debian:
+    buster: [ros-noetic-python-orocos-kdl]
+qt_dotgraph:
+  debian:
+    buster: [ros-noetic-qt-dotgraph]
+qt_gui:
+  debian:
+    buster: [ros-noetic-qt-gui]
+qt_gui_py_common:
+  debian:
+    buster: [ros-noetic-qt-gui-py-common]
+qwt_dependency:
+  debian:
+    buster: [ros-noetic-qwt-dependency]
+robot:
+  debian:
+    buster: [ros-noetic-robot]
+ros:
+  debian:
+    buster: [ros-noetic-ros]
+ros_base:
+  debian:
+    buster: [ros-noetic-ros-base]
+ros_comm:
+  debian:
+    buster: [ros-noetic-ros-comm]
+ros_core:
+  debian:
+    buster: [ros-noetic-ros-core]
+ros_environment:
+  debian:
+    buster: [ros-noetic-ros-environment]
+ros_tutorials:
+  debian:
+    buster: [ros-noetic-ros-tutorials]
+rosapi:
+  debian:
+    buster: [ros-noetic-rosapi]
+rosbag_migration_rule:
+  debian:
+    buster: [ros-noetic-rosbag-migration-rule]
+rosbash:
+  debian:
+    buster: [ros-noetic-rosbash]
+rosboost_cfg:
+  debian:
+    buster: [ros-noetic-rosboost-cfg]
+rosbridge_server:
+  debian:
+    buster: [ros-noetic-rosbridge-server]
+rosbridge_suite:
+  debian:
+    buster: [ros-noetic-rosbridge-suite]
+rosbuild:
+  debian:
+    buster: [ros-noetic-rosbuild]
+rosclean:
+  debian:
+    buster: [ros-noetic-rosclean]
+roscpp_core:
+  debian:
+    buster: [ros-noetic-roscpp-core]
+roscpp_traits:
+  debian:
+    buster: [ros-noetic-roscpp-traits]
+roscreate:
+  debian:
+    buster: [ros-noetic-roscreate]
+rosgraph:
+  debian:
+    buster: [ros-noetic-rosgraph]
+roslang:
+  debian:
+    buster: [ros-noetic-roslang]
+roslint:
+  debian:
+    buster: [ros-noetic-roslint]
+roslisp:
+  debian:
+    buster: [ros-noetic-roslisp]
+rosmake:
+  debian:
+    buster: [ros-noetic-rosmake]
+rosmaster:
+  debian:
+    buster: [ros-noetic-rosmaster]
+rospack:
+  debian:
+    buster: [ros-noetic-rospack]
+roslib:
+  debian:
+    buster: [ros-noetic-roslib]
+rosparam:
+  debian:
+    buster: [ros-noetic-rosparam]
+rospy:
+  debian:
+    buster: [ros-noetic-rospy]
+rosserial:
+  debian:
+    buster: [ros-noetic-rosserial]
+rosserial_msgs:
+  debian:
+    buster: [ros-noetic-rosserial-msgs]
+rosserial_python:
+  debian:
+    buster: [ros-noetic-rosserial-python]
+rosservice:
+  debian:
+    buster: [ros-noetic-rosservice]
+rostime:
+  debian:
+    buster: [ros-noetic-rostime]
+roscpp_serialization:
+  debian:
+    buster: [ros-noetic-roscpp-serialization]
+python_qt_binding:
+  debian:
+    buster: [ros-noetic-python-qt-binding]
+roslaunch:
+  debian:
+    buster: [ros-noetic-roslaunch]
+rosunit:
+  debian:
+    buster: [ros-noetic-rosunit]
+angles:
+  debian:
+    buster: [ros-noetic-angles]
+libmavconn:
+  debian:
+    buster: [ros-noetic-libmavconn]
+rosconsole:
+  debian:
+    buster: [ros-noetic-rosconsole]
+pluginlib:
+  debian:
+    buster: [ros-noetic-pluginlib]
+qt_gui_cpp:
+  debian:
+    buster: [ros-noetic-qt-gui-cpp]
+resource_retriever:
+  debian:
+    buster: [ros-noetic-resource-retriever]
+rosconsole_bridge:
+  debian:
+    buster: [ros-noetic-rosconsole-bridge]
+roslz4:
+  debian:
+    buster: [ros-noetic-roslz4]
+rosserial_client:
+  debian:
+    buster: [ros-noetic-rosserial-client]
+rostest:
+  debian:
+    buster: [ros-noetic-rostest]
+rqt_action:
+  debian:
+    buster: [ros-noetic-rqt-action]
+rqt_bag:
+  debian:
+    buster: [ros-noetic-rqt-bag]
+rqt_bag_plugins:
+  debian:
+    buster: [ros-noetic-rqt-bag-plugins]
+rqt_common_plugins:
+  debian:
+    buster: [ros-noetic-rqt-common-plugins]
+rqt_console:
+  debian:
+    buster: [ros-noetic-rqt-console]
+rqt_dep:
+  debian:
+    buster: [ros-noetic-rqt-dep]
+rqt_graph:
+  debian:
+    buster: [ros-noetic-rqt-graph]
+rqt_gui:
+  debian:
+    buster: [ros-noetic-rqt-gui]
+rqt_logger_level:
+  debian:
+    buster: [ros-noetic-rqt-logger-level]
+rqt_moveit:
+  debian:
+    buster: [ros-noetic-rqt-moveit]
+rqt_msg:
+  debian:
+    buster: [ros-noetic-rqt-msg]
+rqt_nav_view:
+  debian:
+    buster: [ros-noetic-rqt-nav-view]
+rqt_plot:
+  debian:
+    buster: [ros-noetic-rqt-plot]
+rqt_pose_view:
+  debian:
+    buster: [ros-noetic-rqt-pose-view]
+rqt_publisher:
+  debian:
+    buster: [ros-noetic-rqt-publisher]
+rqt_py_console:
+  debian:
+    buster: [ros-noetic-rqt-py-console]
+rqt_reconfigure:
+  debian:
+    buster: [ros-noetic-rqt-reconfigure]
+rqt_robot_dashboard:
+  debian:
+    buster: [ros-noetic-rqt-robot-dashboard]
+rqt_robot_monitor:
+  debian:
+    buster: [ros-noetic-rqt-robot-monitor]
+rqt_robot_plugins:
+  debian:
+    buster: [ros-noetic-rqt-robot-plugins]
+rqt_robot_steering:
+  debian:
+    buster: [ros-noetic-rqt-robot-steering]
+rqt_runtime_monitor:
+  debian:
+    buster: [ros-noetic-rqt-runtime-monitor]
+rqt_service_caller:
+  debian:
+    buster: [ros-noetic-rqt-service-caller]
+rqt_shell:
+  debian:
+    buster: [ros-noetic-rqt-shell]
+rqt_srv:
+  debian:
+    buster: [ros-noetic-rqt-srv]
+rqt_tf_tree:
+  debian:
+    buster: [ros-noetic-rqt-tf-tree]
+rqt_top:
+  debian:
+    buster: [ros-noetic-rqt-top]
+rqt_topic:
+  debian:
+    buster: [ros-noetic-rqt-topic]
+rqt_web:
+  debian:
+    buster: [ros-noetic-rqt-web]
+smach:
+  debian:
+    buster: [ros-noetic-smach]
+smclib:
+  debian:
+    buster: [ros-noetic-smclib]
+std_msgs:
+  debian:
+    buster: [ros-noetic-std-msgs]
+actionlib_msgs:
+  debian:
+    buster: [ros-noetic-actionlib-msgs]
+bond:
+  debian:
+    buster: [ros-noetic-bond]
+diagnostic_msgs:
+  debian:
+    buster: [ros-noetic-diagnostic-msgs]
+geometry_msgs:
+  debian:
+    buster: [ros-noetic-geometry-msgs]
+eigen_conversions:
+  debian:
+    buster: [ros-noetic-eigen-conversions]
+kdl_conversions:
+  debian:
+    buster: [ros-noetic-kdl-conversions]
+nav_msgs:
+  debian:
+    buster: [ros-noetic-nav-msgs]
+rosbridge_msgs:
+  debian:
+    buster: [ros-noetic-rosbridge-msgs]
+rosgraph_msgs:
+  debian:
+    buster: [ros-noetic-rosgraph-msgs]
+rosmsg:
+  debian:
+    buster: [ros-noetic-rosmsg]
+rqt_py_common:
+  debian:
+    buster: [ros-noetic-rqt-py-common]
+shape_msgs:
+  debian:
+    buster: [ros-noetic-shape-msgs]
+smach_msgs:
+  debian:
+    buster: [ros-noetic-smach-msgs]
+std_srvs:
+  debian:
+    buster: [ros-noetic-std-srvs]
+tf2_msgs:
+  debian:
+    buster: [ros-noetic-tf2-msgs]
+tf2:
+  debian:
+    buster: [ros-noetic-tf2]
+tf2_eigen:
+  debian:
+    buster: [ros-noetic-tf2-eigen]
+trajectory_msgs:
+  debian:
+    buster: [ros-noetic-trajectory-msgs]
+control_msgs:
+  debian:
+    buster: [ros-noetic-control-msgs]
+urdf_parser_plugin:
+  debian:
+    buster: [ros-noetic-urdf-parser-plugin]
+urdfdom_py:
+  debian:
+    buster: [ros-noetic-urdfdom-py]
+uuid_msgs:
+  debian:
+    buster: [ros-noetic-uuid-msgs]
+geographic_msgs:
+  debian:
+    buster: [ros-noetic-geographic-msgs]
+vision_opencv:
+  debian:
+    buster: [ros-noetic-vision-opencv]
+visualization_msgs:
+  debian:
+    buster: [ros-noetic-visualization-msgs]
+visualization_tutorials:
+  debian:
+    buster: [ros-noetic-visualization-tutorials]
+viz:
+  debian:
+    buster: [ros-noetic-viz]
+webkit_dependency:
+  debian:
+    buster: [ros-noetic-webkit-dependency]
+xmlrpcpp:
+  debian:
+    buster: [ros-noetic-xmlrpcpp]
+roscpp:
+  debian:
+    buster: [ros-noetic-roscpp]
+bondcpp:
+  debian:
+    buster: [ros-noetic-bondcpp]
+bondpy:
+  debian:
+    buster: [ros-noetic-bondpy]
+nodelet:
+  debian:
+    buster: [ros-noetic-nodelet]
+nodelet_tutorial_math:
+  debian:
+    buster: [ros-noetic-nodelet-tutorial-math]
+pluginlib_tutorials:
+  debian:
+    buster: [ros-noetic-pluginlib-tutorials]
+roscpp_tutorials:
+  debian:
+    buster: [ros-noetic-roscpp-tutorials]
+rosout:
+  debian:
+    buster: [ros-noetic-rosout]
+camera_calibration:
+  debian:
+    buster: [ros-noetic-camera-calibration]
+diagnostic_aggregator:
+  debian:
+    buster: [ros-noetic-diagnostic-aggregator]
+diagnostic_updater:
+  debian:
+    buster: [ros-noetic-diagnostic-updater]
+diagnostic_common_diagnostics:
+  debian:
+    buster: [ros-noetic-diagnostic-common-diagnostics]
+dynamic_reconfigure:
+  debian:
+    buster: [ros-noetic-dynamic-reconfigure]
+filters:
+  debian:
+    buster: [ros-noetic-filters]
+joint_state_publisher:
+  debian:
+    buster: [ros-noetic-joint-state-publisher]
+message_filters:
+  debian:
+    buster: [ros-noetic-message-filters]
+rosauth:
+  debian:
+    buster: [ros-noetic-rosauth]
+rosbag_storage:
+  debian:
+    buster: [ros-noetic-rosbag-storage]
+rosnode:
+  debian:
+    buster: [ros-noetic-rosnode]
+rospy_tutorials:
+  debian:
+    buster: [ros-noetic-rospy-tutorials]
+rosshow:
+  debian:
+    buster: [ros-noetic-rosshow]
+rostopic:
+  debian:
+    buster: [ros-noetic-rostopic]
+rqt_gui_cpp:
+  debian:
+    buster: [ros-noetic-rqt-gui-cpp]
+rqt_gui_py:
+  debian:
+    buster: [ros-noetic-rqt-gui-py]
+self_test:
+  debian:
+    buster: [ros-noetic-self-test]
+smach_ros:
+  debian:
+    buster: [ros-noetic-smach-ros]
+tf2_py:
+  debian:
+    buster: [ros-noetic-tf2-py]
+topic_tools:
+  debian:
+    buster: [ros-noetic-topic-tools]
+rosbag:
+  debian:
+    buster: [ros-noetic-rosbag]
+actionlib:
+  debian:
+    buster: [ros-noetic-actionlib]
+actionlib_tutorials:
+  debian:
+    buster: [ros-noetic-actionlib-tutorials]
+diagnostic_analysis:
+  debian:
+    buster: [ros-noetic-diagnostic-analysis]
+nodelet_topic_tools:
+  debian:
+    buster: [ros-noetic-nodelet-topic-tools]
+roswtf:
+  debian:
+    buster: [ros-noetic-roswtf]
+rqt_launch:
+  debian:
+    buster: [ros-noetic-rqt-launch]
+sensor_msgs:
+  debian:
+    buster: [ros-noetic-sensor-msgs]
+camera_calibration_parsers:
+  debian:
+    buster: [ros-noetic-camera-calibration-parsers]
+cv_bridge:
+  debian:
+    buster: [ros-noetic-cv-bridge]
+image_geometry:
+  debian:
+    buster: [ros-noetic-image-geometry]
+image_transport:
+  debian:
+    buster: [ros-noetic-image-transport]
+camera_info_manager:
+  debian:
+    buster: [ros-noetic-camera-info-manager]
+compressed_depth_image_transport:
+  debian:
+    buster: [ros-noetic-compressed-depth-image-transport]
+compressed_image_transport:
+  debian:
+    buster: [ros-noetic-compressed-image-transport]
+cv_camera:
+  debian:
+    buster: [ros-noetic-cv-camera]
+image_proc:
+  debian:
+    buster: [ros-noetic-image-proc]
+image_publisher:
+  debian:
+    buster: [ros-noetic-image-publisher]
+map_msgs:
+  debian:
+    buster: [ros-noetic-map-msgs]
+mavros_msgs:
+  debian:
+    buster: [ros-noetic-mavros-msgs]
+pcl_msgs:
+  debian:
+    buster: [ros-noetic-pcl-msgs]
+pcl_conversions:
+  debian:
+    buster: [ros-noetic-pcl-conversions]
+polled_camera:
+  debian:
+    buster: [ros-noetic-polled-camera]
+rqt_image_view:
+  debian:
+    buster: [ros-noetic-rqt-image-view]
+stereo_msgs:
+  debian:
+    buster: [ros-noetic-stereo-msgs]
+image_view:
+  debian:
+    buster: [ros-noetic-image-view]
+rosbridge_library:
+  debian:
+    buster: [ros-noetic-rosbridge-library]
+stereo_image_proc:
+  debian:
+    buster: [ros-noetic-stereo-image-proc]
+tf2_ros:
+  debian:
+    buster: [ros-noetic-tf2-ros]
+depth_image_proc:
+  debian:
+    buster: [ros-noetic-depth-image-proc]
+mavros:
+  debian:
+    buster: [ros-noetic-mavros]
+tf:
+  debian:
+    buster: [ros-noetic-tf]
+interactive_markers:
+  debian:
+    buster: [ros-noetic-interactive-markers]
+interactive_marker_tutorials:
+  debian:
+    buster: [ros-noetic-interactive-marker-tutorials]
+laser_geometry:
+  debian:
+    buster: [ros-noetic-laser-geometry]
+laser_assembler:
+  debian:
+    buster: [ros-noetic-laser-assembler]
+laser_filters:
+  debian:
+    buster: [ros-noetic-laser-filters]
+pcl_ros:
+  debian:
+    buster: [ros-noetic-pcl-ros]
+tf2_geometry_msgs:
+  debian:
+    buster: [ros-noetic-tf2-geometry-msgs]
+image_rotate:
+  debian:
+    buster: [ros-noetic-image-rotate]
+tf2_kdl:
+  debian:
+    buster: [ros-noetic-tf2-kdl]
+tf2_web_republisher:
+  debian:
+    buster: [ros-noetic-tf2-web-republisher]
+tf_conversions:
+  debian:
+    buster: [ros-noetic-tf-conversions]
+theora_image_transport:
+  debian:
+    buster: [ros-noetic-theora-image-transport]
+turtlesim:
+  debian:
+    buster: [ros-noetic-turtlesim]
+turtle_actionlib:
+  debian:
+    buster: [ros-noetic-turtle-actionlib]
+turtle_tf:
+  debian:
+    buster: [ros-noetic-turtle-tf]
+turtle_tf2:
+  debian:
+    buster: [ros-noetic-turtle-tf2]
+urdf:
+  debian:
+    buster: [ros-noetic-urdf]
+kdl_parser:
+  debian:
+    buster: [ros-noetic-kdl-parser]
+kdl_parser_py:
+  debian:
+    buster: [ros-noetic-kdl-parser-py]
+mavros_extras:
+  debian:
+    buster: [ros-noetic-mavros-extras]
+robot_state_publisher:
+  debian:
+    buster: [ros-noetic-robot-state-publisher]
+rviz:
+  debian:
+    buster: [ros-noetic-rviz]
+librviz_tutorial:
+  debian:
+    buster: [ros-noetic-librviz-tutorial]
+rqt_rviz:
+  debian:
+    buster: [ros-noetic-rqt-rviz]
+rviz_plugin_tutorials:
+  debian:
+    buster: [ros-noetic-rviz-plugin-tutorials]
+rviz_python_tutorial:
+  debian:
+    buster: [ros-noetic-rviz-python-tutorial]
+urdf_tutorial:
+  debian:
+    buster: [ros-noetic-urdf-tutorial]
+usb_cam:
+  debian:
+    buster: [ros-noetic-usb-cam]
+visualization_marker_tutorials:
+  debian:
+    buster: [ros-noetic-visualization-marker-tutorials]
+vl53l1x:
+  debian:
+    buster: [ros-noetic-vl53l1x]
+xacro:
+  debian:
+    buster: [ros-noetic-xacro]
+ddynamic_reconfigure:
+  debian:
+    buster: [ros-noetic-ddynamic-reconfigure]
+librealsense2:
+  debian:
+    buster: [ros-noetic-librealsense2]
+realsense2_camera:
+  debian:
+    buster: [ros-noetic-realsense2-camera]
+realsense2_description:
+  debian:
+    buster: [ros-noetic-realsense2-description]
+geographiclib:
+  debian:
+    buster: [libgeographic-dev]

builder/image-build.sh

@@ -13,7 +13,7 @@
 # copies or substantial portions of the Software.
 #
 
-set -e # Exit immidiately on non-zero result
+set -ex # exit on error, echo commands
 
 # https://www.raspberrypi.org/software/operating-systems/#raspberry-pi-os-32-bit
 SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-05-28/2021-05-07-raspios-buster-armhf-lite.zip"
@@ -22,33 +22,13 @@ export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
 export LC_ALL=${LC_ALL:='C.UTF-8'}
 
-echo_stamp() {
-  # TEMPLATE: echo_stamp <TEXT> <TYPE>
-  # TYPE: SUCCESS, ERROR, INFO
-
-  # More info there https://www.shellhacks.com/ru/bash-colors/
-
-  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
-  TEXT="\e[1m$TEXT\e[0m" # BOLD
-
-  case "$2" in
-    SUCCESS)
-    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
-    ERROR)
-    TEXT="\e[31m${TEXT}\e[0m";; # RED
-    *)
-    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
-  esac
-  echo -e ${TEXT}
-}
-
 BUILDER_DIR="/builder"
 REPO_DIR="${BUILDER_DIR}/repo"
 SCRIPTS_DIR="${REPO_DIR}/builder"
 IMAGES_DIR="${REPO_DIR}/images"
 
-[[ ! -d ${SCRIPTS_DIR} ]] && (echo_stamp "Directory ${SCRIPTS_DIR} doesn't exist" "ERROR"; exit 1)
-[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo_stamp "Directory ${IMAGES_DIR} was created successful" "SUCCESS"
+[[ ! -d ${SCRIPTS_DIR} ]] && (echo "Error: directory ${SCRIPTS_DIR} doesn't exist"; exit 1)
+[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo "Directory ${IMAGES_DIR} was created successful"
 
 if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="$(cd ${REPO_DIR}; git log --format=%h -1)"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
 # IMAGE_VERSION="${TRAVIS_TAG:=$(cd ${REPO_DIR}; git log --format=%h -1)}"
@@ -64,15 +44,15 @@ get_image() {
   local RPI_IMAGE_NAME=$(echo ${RPI_ZIP_NAME} | sed 's/zip/img/')
 
   if [ ! -e "${BUILD_DIR}/${RPI_ZIP_NAME}" ]; then
-    echo_stamp "Downloading original Linux distribution"
+    echo "--- Downloading original Linux distribution"
     wget --progress=dot:giga -O ${BUILD_DIR}/${RPI_ZIP_NAME} $2
-    echo_stamp "Downloading complete" "SUCCESS" \
-  else echo_stamp "Linux distribution already donwloaded"; fi
+    echo "--- Downloading complete" "SUCCESS"
+  else
+    echo "Linux distribution already downloaded"
+  fi
 
-  echo_stamp "Unzipping Linux distribution image" \
-  && unzip -p ${BUILD_DIR}/${RPI_ZIP_NAME} ${RPI_IMAGE_NAME} > $1 \
-  && echo_stamp "Unzipping complete" "SUCCESS" \
-  || (echo_stamp "Unzipping was failed!" "ERROR"; exit 1)
+  echo "--- Unzipping Linux distribution image"
+  unzip -p ${BUILD_DIR}/${RPI_ZIP_NAME} ${RPI_IMAGE_NAME} > $1
 }
 
 get_image ${IMAGE_PATH} ${SOURCE_IMAGE}

builder/image-init.sh

@@ -12,50 +12,29 @@
 # copies or substantial portions of the Software.
 #
 
-set -e # Exit immidiately on non-zero result
-
-echo_stamp() {
-  # TEMPLATE: echo_stamp <TEXT> <TYPE>
-  # TYPE: SUCCESS, ERROR, INFO
-
-  # More info there https://www.shellhacks.com/ru/bash-colors/
-
-  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
-  TEXT="\e[1m$TEXT\e[0m" # BOLD
-
-  case "$2" in
-    SUCCESS)
-    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
-    ERROR)
-    TEXT="\e[31m${TEXT}\e[0m";; # RED
-    *)
-    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
-  esac
-  echo -e ${TEXT}
-}
-
-echo_stamp "Write Clover information"
+set -ex # exit on error, echo commands
 
+echo "--- Write Clover information"
 # Clover image version
 echo "$1" >> /etc/clover_version
 # Origin image file name
 echo "${2%.*}" >> /etc/clover_origin
 
-echo_stamp "Write magic script to /etc/rc.local"
+echo "--- Write magic script to /etc/rc.local"
 MAGIC_SCRIPT="sudo /root/init_rpi.sh; sudo sed -i '/sudo \\\/root\\\/init_rpi.sh/d' /etc/rc.local && sudo reboot"
 sed -i "19a${MAGIC_SCRIPT}" /etc/rc.local
 
 # It needs for autosizer.sh & maybe that is correct
-echo_stamp "Change boot partition"
+echo "--- Change boot partition"
 sed -i 's/root=[^ ]*/root=\/dev\/mmcblk0p2/' /boot/cmdline.txt
 sed -i 's/.*  \/boot           vfat    defaults          0       2$/\/dev\/mmcblk0p1  \/boot           vfat    defaults          0       2/' /etc/fstab
 sed -i 's/.*  \/               ext4    defaults,noatime  0       1$/\/dev\/mmcblk0p2  \/               ext4    defaults,noatime  0       1/' /etc/fstab
 
-echo_stamp "Set max space for syslogs"
+echo "--- 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"
+echo "--- 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"
+echo "--- End of init image"

builder/image-network.sh

@@ -12,43 +12,20 @@
 # copies or substantial portions of the Software.
 #
 
-set -e # Exit immidiately on non-zero result
-
-echo_stamp() {
-  # TEMPLATE: echo_stamp <TEXT> <TYPE>
-  # TYPE: SUCCESS, ERROR, INFO
-
-  # More info there https://www.shellhacks.com/ru/bash-colors/
-
-  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
-  TEXT="\e[1m$TEXT\e[0m" # BOLD
-
-  case "$2" in
-    SUCCESS)
-    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
-    ERROR)
-    TEXT="\e[31m${TEXT}\e[0m";; # RED
-    *)
-    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
-  esac
-  echo -e ${TEXT}
-}
-
-echo_stamp "#1 Write STATIC to /etc/dhcpcd.conf"
+set -ex # exit on error, echo commands
 
+echo "--- Write static to /etc/dhcpcd.conf"
 cat << EOF >> /etc/dhcpcd.conf
 interface wlan0
 static ip_address=192.168.11.1/24
 EOF
 
-echo_stamp "#2 Set wpa_supplicant country"
-
+echo "--- Set wpa_supplicant country"
 cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
 country=GB
 EOF
 
-echo_stamp "#3 Write dhcp-config to /etc/dnsmasq.conf"
-
+echo "--- Write dhcp-config to /etc/dnsmasq.conf"
 cat << EOF >> /etc/dnsmasq.conf
 interface=wlan0
 address=/clover/coex/192.168.11.1
@@ -59,5 +36,3 @@ bogus-priv
 domain-needed
 quiet-dhcp6
 EOF
-
-echo_stamp "#4 End of network installation"

builder/image-ros.sh

@@ -15,41 +15,15 @@
 
 set -ex # exit on error, echo commands
 
-REPO=$1
-REF=$2
-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
-
-  # More info there https://www.shellhacks.com/ru/bash-colors/
-
-  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
-  TEXT="\e[1m$TEXT\e[0m" # BOLD
-
-  case "$2" in
-    SUCCESS)
-    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
-    ERROR)
-    TEXT="\e[31m${TEXT}\e[0m";; # RED
-    *)
-    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
-  esac
-  echo -e ${TEXT}
-}
-
 # https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
 # https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
 my_travis_retry() {
   local result=0
   local count=1
-  local max_count=50
+  local max_count=5
   while [ $count -le $max_count ]; do
     [ $result -ne 0 ] && {
       echo -e "\nThe command \"$@\" failed. Retrying, $count of $max_count.\n" >&2
@@ -69,24 +43,24 @@ my_travis_retry() {
 }
 
 # TODO: 'kinetic-rosdep-clover.yaml' should add only if we use our repo?
-echo_stamp "Init rosdep"
+echo "--- Init rosdep"
 my_travis_retry rosdep init
 # FIXME: Re-add this after missing packages are built
-echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/10-clover.list
 my_travis_retry rosdep update
 
-echo_stamp "Populate rosdep for ROS user"
+echo "--- Populate rosdep for ROS user"
 my_travis_retry sudo -u pi rosdep update
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-# echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
+# echo "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"
+echo "--- 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 \
@@ -100,10 +74,10 @@ ros-${ROS_DISTRO}-cv-camera \
 ros-${ROS_DISTRO}-image-publisher \
 ros-${ROS_DISTRO}-web-video-server
 
-echo_stamp "Installing libboost-dev" # https://travis-ci.org/github/CopterExpress/clover/jobs/766318908#L6536
+echo "--- Installing libboost-dev" # https://travis-ci.org/github/CopterExpress/clover/jobs/766318908#L6536
 my_travis_retry apt-get install -y --no-install-recommends libboost-dev libboost-all-dev
 
-echo_stamp "Build and install Clover"
+echo "--- 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 ${ROS_DISTRO} --os=debian:buster \
@@ -115,21 +89,22 @@ source /opt/ros/${ROS_DISTRO}/setup.bash
 catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
 source devel/setup.bash
 
-echo_stamp "Install clever package (for backwards compatibility)"
+echo "--- Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
 ./setup.py install
 rm -rf build  # remove build artifacts
 
-echo_stamp "Build Clover documentation"
+echo "--- Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
 builder/assets/install_gitbook.sh
 gitbook install
 gitbook build
+# replace assets copy to assets symlink to save space
+rm -rf _book/assets && ln -s ../docs/assets _book/assets
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
 
-echo_stamp "Installing additional ROS packages"
+echo "--- Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-dynamic-reconfigure \
     ros-${ROS_DISTRO}-rosbridge-suite \
     ros-${ROS_DISTRO}-rosserial \
     ros-${ROS_DISTRO}-usb-cam \
@@ -137,35 +112,40 @@ my_travis_retry apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-ws281x \
     ros-${ROS_DISTRO}-rosshow \
     ros-${ROS_DISTRO}-cmake-modules \
-    ros-${ROS_DISTRO}-image-view
+    ros-${ROS_DISTRO}-image-view \
+    ros-${ROS_DISTRO}-nodelet-topic-tools \
+    ros-${ROS_DISTRO}-stereo-msgs
 
 # TODO move GeographicLib datasets to Mavros debian package
-echo_stamp "Install GeographicLib datasets (needed for mavros)" \
+echo "--- Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
 
-echo_stamp "Running tests"
+echo "--- Running tests"
 cd /home/pi/catkin_ws
 # FIXME: Investigate failing tests
 catkin_make run_tests #&& catkin_test_results
 
-echo_stamp "Change permissions for catkin_ws"
+echo "--- Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
-echo_stamp "Make \$HOME/examples symlink"
+echo "--- Update www"
+sudo -u pi sh -c ". devel/setup.sh && rosrun clover www"
+
+echo "--- Make \$HOME/examples symlink"
 ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples
 
-echo_stamp "Make systemd services symlinks"
+echo "--- Make systemd services symlinks"
 ln -s /home/pi/catkin_ws/src/clover/builder/assets/clover.service /lib/systemd/system/
 ln -s /home/pi/catkin_ws/src/clover/builder/assets/roscore.service /lib/systemd/system/
 # validate
 [ -f /lib/systemd/system/clover.service ]
 [ -f /lib/systemd/system/roscore.service ]
 
-echo_stamp "Make udev rules symlink"
+echo "--- Make udev rules symlink"
 ln -s "$(catkin_find clover udev --first-only)"/* /lib/udev/rules.d/
 
-echo_stamp "Setup ROS environment"
+echo "--- Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
@@ -174,12 +154,5 @@ source /opt/ros/${ROS_DISTRO}/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 EOF
 
-#echo_stamp "Removing local apt mirror"
-# Restore original sources.list
-#mv /var/sources.list.bak /etc/apt/sources.list
-# Clean apt cache
+echo "--- Clean apt cache"
 apt-get clean -qq > /dev/null
-# Remove local mirror repository key
-#apt-key del COEX-MIRROR
-
-echo_stamp "END of ROS INSTALLATION"

builder/image-software.sh

@@ -12,27 +12,7 @@
 # copies or substantial portions of the Software.
 #
 
-set -e # Exit immidiately on non-zero result
-
-echo_stamp() {
-  # TEMPLATE: echo_stamp <TEXT> <TYPE>
-  # TYPE: SUCCESS, ERROR, INFO
-
-  # More info there https://www.shellhacks.com/ru/bash-colors/
-
-  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
-  TEXT="\e[1m${TEXT}\e[0m" # BOLD
-
-  case "$2" in
-    SUCCESS)
-    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
-    ERROR)
-    TEXT="\e[31m${TEXT}\e[0m";; # RED
-    *)
-    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
-  esac
-  echo -e ${TEXT}
-}
+set -ex # exit on error, echo commands
 
 # https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
 # https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
@@ -57,11 +37,10 @@ my_travis_retry() {
   return $result
 }
 
-echo_stamp "Increase apt retries"
-
+echo "--- Increase apt retries"
 echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries
 
-echo_stamp "Install apt keys & repos"
+echo "--- Install apt keys & repos"
 
 # TODO: This STDOUT consist 'OK'
 apt-get update \
@@ -70,17 +49,17 @@ apt-get update \
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
 
-wget -O - 'http://packages.coex.tech/key.asc' | apt-key add - 
+wget -O - 'http://packages.coex.tech/key.asc' | apt-key add -
 echo 'deb http://packages.coex.tech buster main' >> /etc/apt/sources.list
 
-echo_stamp "Update apt cache"
+echo "--- Update apt cache"
 
 # TODO: FIX ERROR: /usr/bin/apt-key: 596: /usr/bin/apt-key: cannot create /dev/null: Permission denied
 apt-get update
 # && apt upgrade -y
 
 # Let's retry fetching those packages several times, just in case
-echo_stamp "Software installing"
+echo "--- Install software"
 my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1 # FIXME: using older CMake due to https://travis-ci.org/github/CopterExpress/clover/jobs/764367665#L6984
 my_travis_retry apt-get install --no-install-recommends -y \
 unzip \
@@ -121,7 +100,7 @@ python3-opencv
 sed -i "s/updates_available//" /usr/share/byobu/status/status
 # sed -i "s/updates_available//" /home/pi/.byobu/status
 
-echo_stamp "Installing pip"
+echo "--- Installing pip"
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip2.py
 python3 get-pip.py
@@ -130,12 +109,12 @@ rm get-pip.py get-pip2.py
 #my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
 
-echo_stamp "Make sure both pip and pip3 are installed"
+echo "--- Make sure both pip and pip3 are installed"
 pip --version
 pip3 --version
 
-echo_stamp "Install and enable Butterfly (web terminal)"
-echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
+echo "--- Install and enable Butterfly (web terminal)"
+echo "Workaround for tornado >= 6.0 breaking butterfly"
 export CRYPTOGRAPHY_DONT_BUILD_RUST=1
 my_travis_retry pip3 install cryptography==3.4.6 # https://stackoverflow.com/a/68472128/6850197
 my_travis_retry pip3 install pyOpenSSL==20.0.1
@@ -144,16 +123,16 @@ my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
 systemctl enable butterfly.socket
 
-echo_stamp "Install ws281x library"
+echo "--- Install ws281x library"
 my_travis_retry pip3 install --prefer-binary rpi_ws281x
 
-echo_stamp "Setup Monkey"
+echo "--- Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
 sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
 systemctl enable monkey.service
 
-echo_stamp "Install Node.js"
+echo "--- Install Node.js"
 cd /home/pi
 wget --no-verbose 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
@@ -161,28 +140,26 @@ 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
 
-echo_stamp "Installing ptvsd"
+echo "--- Installing ptvsd"
 my_travis_retry pip install ptvsd
 my_travis_retry pip3 install ptvsd
 
-echo_stamp "Installing pyzbar"
+echo "--- Installing pyzbar"
 my_travis_retry pip install pyzbar
 my_travis_retry pip3 install pyzbar
 
-echo_stamp "Add .vimrc"
+echo "--- Add .vimrc"
 cat << EOF > /home/pi/.vimrc
 set mouse-=a
 syntax on
 autocmd BufNewFile,BufRead *.launch set syntax=xml
 EOF
 
-echo_stamp "Change default keyboard layout to US"
+echo "--- Change default keyboard layout to US"
 sed -i 's/XKBLAYOUT="gb"/XKBLAYOUT="us"/g' /etc/default/keyboard
 
-echo_stamp "Attempting to kill dirmngr"
+echo "--- Attempting to kill dirmngr"
 gpgconf --kill dirmngr
 # dirmngr is only used by apt-key, so we can safely kill it.
 # We ignore pkill's exit value as well.
 pkill -9 -f dirmngr || true
-
-echo_stamp "End of software installation"

builder/image-validate.sh

@@ -12,9 +12,10 @@
 # copies or substantial portions of the Software.
 #
 
-set -ex
+set -ex # exit on error, echo commands
 
-echo "Run image tests"
+
+echo "--- Run image tests"
 
 export ROS_DISTRO='noetic'
 export ROS_IP='127.0.0.1'
@@ -35,5 +36,9 @@ systemctl stop roscore
 apt-cache show gst-rtsp-launch
 apt-cache show openvpn
 
-echo "Move /etc/ld.so.preload back to its original position"
+echo "--- Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload
+
+echo "--- Largest packages installed"
+sudo -E sh -c 'apt-get install -y debian-goodies'
+dpigs -H -n 100

builder/test/tests.py

@@ -33,8 +33,12 @@ import tf2_geometry_msgs
 import VL53L1X
 import pymavlink
 from pymavlink import mavutil
+from image_geometry import PinholeCameraModel, StereoCameraModel
 # from espeak import espeak
 from pyzbar import pyzbar
+import docopt
+import geopy
+import flask
 
 print(cv2.getBuildInformation())
 

builder/test/tests.sh

@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
 
-set -ex
+set -ex # exit on error, echo commands
 
 # TODO: validate versions
 
@@ -71,7 +71,25 @@ if [ -z $VM ]; then
 	[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
 fi
 
+# determine user home directory
 [ $VM ] && H="/home/clover" || H="/home/pi"
 
+# test basic ros tool work
+source $H/catkin_ws/devel/setup.bash
+roscd
+rosrun
+rosmsg
+rossrv
+rosnode || [ $? -eq 64 ] # usage output code is 64
+rostopic || [ $? -eq 64 ]
+rosservice || [ $? -eq 64 ]
+rosparam
+roslaunch -h
+
 # validate examples are present
 [[ $(ls $H/examples/*) ]]
+
+# validate web tools present
+[ -d $H/.ros/www ]
+[ "$(readlink $H/.ros/www/clover)" = "$H/catkin_ws/src/clover/clover/www" ]
+[ "$(readlink $H/.ros/www/clover_blocks)" = "$H/catkin_ws/src/clover/clover_blocks/www" ]

check_assets_size.py

@@ -18,7 +18,7 @@ EXCLUDE = 'rviz.png', 'ssid.png', 'sitl_docker_demo.png', 'qgc-params.png', 'but
     'qgc-battery.png', 'qgc-radio.png', 'qgc-cal-acc.png', 'qgc-esc.png', 'qgc-cal-compass.png', \
     'qgc.png', 'qgc-parameters.png', 'clever4-front-white-large.png', 'qgc-modes.png', \
     'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png', 'battery_holder.stl', \
-    'camera_case.stl', 'camera_mount.stl'
+    'camera_case.stl', 'camera_mount.stl', 'grip_right.stl', 'grip_left.stl'
 
 code = 0
 

clover/CMakeLists.txt

@@ -30,6 +30,8 @@ find_package(catkin REQUIRED COMPONENTS
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
+# https://github.com/mavlink/mavros/blob/7f1a8/mavros/CMakeLists.txt#L42
+set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
 find_package(GeographicLib REQUIRED)
 
 # Workaround for OpenCV 3/4 support
@@ -80,11 +82,10 @@ catkin_python_setup()
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+add_message_files(
+  FILES
+  State.msg
+)
 
 ## Generate services in the 'srv' folder
 add_service_files(
@@ -92,6 +93,9 @@ add_service_files(
   GetTelemetry.srv
   Navigate.srv
   NavigateGlobal.srv
+  SetAltitude.srv
+  SetYaw.srv
+  SetYawRate.srv
   SetPosition.srv
   SetVelocity.srv
   SetAttitude.srv
@@ -306,4 +310,5 @@ endif()
 if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/basic.test)
+  add_rostest(test/offboard.test)
 endif()

clover/cmake/FindGeographicLib.cmake

@@ -1,18 +0,0 @@
-# taken from: https://github.com/mavlink/mavros/blob/master/libmavconn/cmake/Modules/FindGeographicLib.cmake
-
-# Look for GeographicLib
-#
-# Set
-#  GEOGRAPHICLIB_FOUND = TRUE
-#  GeographicLib_INCLUDE_DIRS = /usr/local/include
-#  GeographicLib_LIBRARIES = /usr/local/lib/libGeographic.so
-#  GeographicLib_LIBRARY_DIRS = /usr/local/lib
-
-find_path (GeographicLib_INCLUDE_DIRS NAMES GeographicLib/Config.h)
-
-find_library (GeographicLib_LIBRARIES NAMES Geographic)
-
-include (FindPackageHandleStandardArgs)
-find_package_handle_standard_args (GeographicLib DEFAULT_MSG
-  GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
-mark_as_advanced (GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)

clover/examples/camera.py

@@ -5,7 +5,7 @@
 # - cuts out a central square from the camera image;
 # - publishes this cropped image to the topic `/cv/center`;
 # - computes the average color of it;
-# - prints its name to the console. 
+# - prints its name to the console.
 
 import rospy
 import cv2
@@ -21,7 +21,7 @@ center_pub = rospy.Publisher('~center', Image, queue_size=1)
 
 def get_color_name(h):
     if h < 15: return 'red'
-    if h < 30: return 'orange'
+    elif h < 30: return 'orange'
     elif h < 60: return 'yellow'
     elif h < 90: return 'green'
     elif h < 120: return 'cyan'

clover/examples/navigate_wait.py

@@ -16,11 +16,8 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
-        frame_id='body', tolerance=0.2, auto_arm=False):
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res

clover/examples/red_circle.py

@@ -0,0 +1,91 @@
+# This example makes the drone find and follow the red circle.
+# To test in the simulator, place 'Red Circle' model on the floor.
+# More information: https://clover.coex.tech/red_circle
+
+# Input topic: main_camera/image_raw (camera image)
+# Output topics:
+#   cv/mask (red color mask)
+#   cv/red_circle (position of the center of the red circle in 3D space)
+
+import rospy
+import cv2
+import numpy as np
+from math import nan
+from sensor_msgs.msg import Image, CameraInfo
+from geometry_msgs.msg import PointStamped, Point
+from cv_bridge import CvBridge
+from clover import long_callback, srv
+import tf2_ros
+import tf2_geometry_msgs
+import image_geometry
+
+rospy.init_node('cv', disable_signals=True) # disable signals to allow interrupting with ctrl+c
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+
+bridge = CvBridge()
+
+tf_buffer = tf2_ros.Buffer()
+tf_listener = tf2_ros.TransformListener(tf_buffer)
+
+mask_pub = rospy.Publisher('~mask', Image, queue_size=1)
+point_pub = rospy.Publisher('~red_circle', PointStamped, queue_size=1)
+
+# read camera info
+camera_model = image_geometry.PinholeCameraModel()
+camera_model.fromCameraInfo(rospy.wait_for_message('main_camera/camera_info', CameraInfo))
+
+
+def img_xy_to_point(xy, dist):
+    xy_rect = camera_model.rectifyPoint(xy)
+    ray = camera_model.projectPixelTo3dRay(xy_rect)
+    return Point(x=ray[0] * dist, y=ray[1] * dist, z=dist)
+
+def get_center_of_mass(mask):
+    M = cv2.moments(mask)
+    if M['m00'] == 0:
+        return None
+    return M['m10'] // M['m00'], M['m01'] // M['m00']
+
+follow_red_circle = False
+
+@long_callback
+def image_callback(msg):
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
+    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+    # we need to use two ranges for red color
+    mask1 = cv2.inRange(img_hsv, (0, 150, 150), (15, 255, 255))
+    mask2 = cv2.inRange(img_hsv, (160, 150, 150), (180, 255, 255))
+
+    # combine two masks using bitwise OR
+    mask = cv2.bitwise_or(mask1, mask2)
+
+    # publish the mask
+    if mask_pub.get_num_connections() > 0:
+        mask_pub.publish(bridge.cv2_to_imgmsg(mask, 'mono8'))
+
+    # calculate x and y of the circle
+    xy = get_center_of_mass(mask)
+    if xy is None:
+        return
+
+    # calculate and publish the position of the circle in 3D space
+    altitude = get_telemetry('terrain').z
+    xy3d = img_xy_to_point(xy, altitude)
+    target = PointStamped(header=msg.header, point=xy3d)
+    point_pub.publish(target)
+
+    if follow_red_circle:
+        # follow the target
+        setpoint = tf_buffer.transform(target, 'map', timeout=rospy.Duration(0.2))
+        set_position(x=setpoint.point.x, y=setpoint.point.y, z=nan, yaw=nan, frame_id=setpoint.header.frame_id)
+
+# process each camera frame:
+image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+
+rospy.loginfo('Hit enter to follow the red circle')
+input()
+follow_red_circle = True
+rospy.spin()

clover/launch/aruco.launch

@@ -16,11 +16,12 @@
         <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/map"/>
+        <param name="dictionary" value="2"/> <!-- DICT_4X4_250 -->
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="use_map_markers" value="true"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
+        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
         <param name="length" value="$(arg length)"/>
         <param name="transform_timeout" value="0.1"/>
         <!-- aruco detector parameters -->
@@ -36,8 +37,8 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
         <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
+        <param name="flip_vertical" value="true" 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="$(arg aruco_vpe)"/>
@@ -53,8 +54,4 @@
         <param name="force_init" value="$(arg force_init)"/>
         <param name="offset_frame_id" value="aruco_map"/>
     </node>
-
-    <!-- run map_flipped frame if placement is ceiling -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame"
-        args="0 0 0 3.1415926 3.1415926 0 map map_flipped" if="$(eval placement == 'ceiling')"/>
 </launch>

clover/launch/clover.launch

@@ -45,12 +45,13 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
         <param name="roi_rad" value="0.8"/>
-        <param name="disable_on_vpe" value="false"/>
+        <param name="disable_on_vpe" value="true"/>
     </node>
 
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
         <param name="reference_frames/main_camera_optical" value="map"/>
+        <param name="terrain_frame_mode" value="range"/>
     </node>
 
     <!-- main camera -->
@@ -71,6 +72,9 @@
         <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
     </node>
 
+    <!-- rangefinder's frame -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder" if="$(arg rangefinder_vl53l1x)"/>
+
     <!-- led strip -->
     <include file="$(find clover)/launch/led.launch" if="$(arg led)">
         <arg name="simulator" value="$(arg simulator)"/>
@@ -85,8 +89,4 @@
         <param name="use_fake_gcs" value="false"/>
     </node>
 
-    <!-- Update static directory -->
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
-        <param name="default_package" value="clover"/>
-    </node>
 </launch>

clover/launch/led.launch

@@ -21,7 +21,8 @@
     </node>
 
     <!-- high level led effects control, events notification with leds -->
-    <node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
+    <node pkg="clover" name="led_effect" type="led" clear_params="true" output="screen" if="$(arg led_effect)">
+        <param name="led" value="led"/>
         <param name="blink_rate" value="2"/>
         <param name="fade_period" value="0.5"/>
         <param name="rainbow_period" value="5"/>

clover/launch/main_camera.launch

@@ -6,6 +6,7 @@
     <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
     <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
     <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
+    <arg name="rectify" default="false"/> <!-- enable rectification -->
     <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" 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"/>
@@ -49,4 +50,11 @@
     <!-- image topic throttled -->
     <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
         args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
+
+    <!-- rectified image topic -->
+    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" if="$(arg rectify)">
+        <remap from="image_mono" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="image_rect" to="main_camera/image_rect"/>
+    </node>
 </launch>

clover/launch/mavros.launch

@@ -77,9 +77,6 @@
         covariance: 1  # cm
     </rosparam>
 
-    <!-- Rangefinders frame -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
-
     <!-- Copter visualization -->
     <node name="visualization" pkg="mavros_extras" type="visualization" if="$(arg viz)">
         <remap to="mavros/local_position/pose" from="local_position"/>

clover/launch/simulator.launch

@@ -1,4 +1,4 @@
 <launch>
-    <!-- shurtcut for running the simulation (`roslaunch clover simulator.launch`) -->
+    <!-- shortcut for running the simulation (`roslaunch clover simulator.launch`) -->
     <include file="$(find clover_simulation)/launch/simulator.launch"/>
 </launch>

clover/msg/State.msg

@@ -0,0 +1,38 @@
+uint8 MODE_NONE = 0
+uint8 MODE_NAVIGATE = 1
+uint8 MODE_NAVIGATE_GLOBAL = 2
+uint8 MODE_POSITION = 3
+uint8 MODE_VELOCITY = 4
+uint8 MODE_ATTITUDE = 5
+uint8 MODE_RATES = 6
+
+uint8 YAW_MODE_YAW = 0
+uint8 YAW_MODE_YAW_RATE = 1
+uint8 YAW_MODE_YAW_TOWARDS = 2
+
+# type of offboard control
+uint8 mode
+uint8 yaw_mode
+
+# targets
+float32 x
+float32 y
+float32 z
+float32 speed
+float32 lat
+float32 lon
+float32 vx
+float32 vy
+float32 vz
+float32 roll
+float32 pitch
+float32 yaw
+float32 roll_rate
+float32 pitch_rate
+float32 yaw_rate
+float32 thrust
+
+# frames of reference
+string xy_frame_id
+string z_frame_id
+string yaw_frame_id

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>clover</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -42,9 +42,10 @@
   <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
   <depend>dynamic_reconfigure</depend>
+  <depend>image_proc</depend>
+  <depend>image_geometry</depend>
   <exec_depend>python-pymavlink</exec_depend>
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
+  <test_depend>ros_pytest</test_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

clover/requirements.txt

@@ -1,5 +1,4 @@
-flask==1.1.1
-docopt==0.6.2
-geopy==1.11.0
-smbus2==0.3.0
-VL53L1X==0.0.5
+flask
+geopy
+smbus2
+VL53L1X

clover/src/autotest/autotest_aruco.py

@@ -13,7 +13,12 @@ from util import handle_response
 
 rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c
 
-flow_client = dynamic_reconfigure.client.Client('optical_flow')
+try:
+    flow_client = dynamic_reconfigure.client.Client('optical_flow', timeout=2)
+except rospy.ROSException:
+    flow_client = None
+    print('Cannot configure optical flow, skip')
+
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 land = handle_response(rospy.ServiceProxy('land', Trigger))
@@ -30,11 +35,8 @@ def print_current_map_position():
     dist = rospy.wait_for_message('rangefinder/range', Range).range
     print('Map position:\tx={:.1f}\ty={:.1f}\tz={:.1f}\tyaw={:.1f}\tdist={:.2f}'.format(telem.x, telem.y, telem.z, telem.yaw, dist))
 
-def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
-        frame_id='body', tolerance=0.2, auto_arm=False):
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res
@@ -67,12 +69,13 @@ input('Go to center %g %g 1.5 speed 5 [enter] ' % (center_x, center_y))
 navigate_wait(x=center_x, y=center_y, z=1.5, speed=5, frame_id='aruco_map')
 print_current_map_position()
 
-input('Disable optical flow and keep hovering [enter] ')
-flow_client.update_configuration({'enabled': False})
-rospy.sleep(5)
+if flow_client:
+    input('Disable optical flow and keep hovering [enter] ')
+    flow_client.update_configuration({'enabled': False})
+    rospy.sleep(5)
 
-input('Enable optical flow back [enter] ')
-flow_client.update_configuration({'enabled': True})
+    input('Enable optical flow back [enter] ')
+    flow_client.update_configuration({'enabled': True})
 
 input('Go to side 1 %g 2 heading top [enter] ' % (center_y))
 navigate_wait(x=1, y=center_y, z=2, yaw=1.57, frame_id='aruco_map')

clover/src/autotest/autotest_flight.py

@@ -2,7 +2,7 @@
 
 import rospy
 import math
-from math import nan
+from math import nan, inf
 import signal
 import sys
 from clover import srv
@@ -15,6 +15,8 @@ rospy.init_node('autotest_flight', disable_signals=True) # disable signals to al
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 navigate_global = handle_response(rospy.ServiceProxy('navigate_global', srv.NavigateGlobal))
+set_yaw = handle_response(rospy.ServiceProxy('set_yaw', srv.SetYaw))
+set_yaw_rate = handle_response(rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate))
 set_position = handle_response(rospy.ServiceProxy('set_position', srv.SetPosition))
 set_velocity = handle_response(rospy.ServiceProxy('set_velocity', srv.SetVelocity))
 set_attitude = handle_response(rospy.ServiceProxy('set_attitude', srv.SetAttitude))
@@ -28,11 +30,8 @@ def interrupt(sig, frame):
 
 signal.signal(signal.SIGINT, interrupt)
 
-def navigate_wait(x=0, y=0, z=0, yaw=nan, yaw_rate=0, speed=0.5, \
-        frame_id='body', tolerance=0.2, auto_arm=False):
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res
@@ -69,17 +68,17 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
 rospy.sleep(2)
 set_position(frame_id='body')
 
-input('Rotate right 90° [enter] ')
-navigate(yaw=-math.pi / 2, frame_id='navigate_target')
+input('Rotate right 90° using set_yaw [enter] ')
+set_yaw(yaw=-math.pi / 2, frame_id='navigate_target')
 rospy.sleep(3)
 
 input('Use set_attitude to fly backwards [enter]')
-set_attitude(pitch=-0.3, roll=0, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(roll=0, pitch=-0.3, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.3)
 set_position(frame_id='body')
 
 input('Use set_attitude to fly right [enter]')
-set_attitude(pitch=0, roll=0.3, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(roll=0.3, pitch=0, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.5)
 set_position(frame_id='body')
 
@@ -88,13 +87,13 @@ set_rates(roll_rate=1.2, thrust=0.5)
 rospy.sleep(0.4)
 set_position(frame_id='body')
 
-input('Rotate 360° to the right using yaw_rate [enter]')
-set_position(x=nan, y=nan, z=nan, frame_id='body', yaw=nan, yaw_rate=-1)
+input('Rotate 360° to the right using set_yaw_rate [enter]')
+set_yaw_rate(yaw_rate=-1)
 rospy.sleep(2 * math.pi)
 set_position(frame_id='body')
 
-input('Return to start point [enter]')
-navigate_wait(x=start.x, y=start.y, z=start.z, yaw=start.yaw, speed=1, frame_id='map')
+input('Return to start point heading forward [enter]')
+navigate_wait(x=start.x, y=start.y, z=start.z, yaw=inf, speed=1, frame_id='map')
 
 input('Land [enter]')
 land()

clover/src/led.cpp

@@ -309,15 +309,19 @@ int main(int argc, char **argv)
 	nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7);
 	nh_priv.param("notify/error/ignore", error_ignore, {});
 
-	ros::service::waitForService("set_leds"); // cannot work without set_leds service
-	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>("set_leds", true);
+	std::string led; // led namespace
+	nh_priv.param("led", led, std::string("led"));
+	if (!led.empty()) led += "/";
+
+	ros::service::waitForService(led + "set_leds"); // cannot work without set_leds service
+	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>(led + "set_leds", true);
 
 	// wait for leds count info
-	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>("state", nh));
+	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>(led + "state", nh));
 
-	auto state_sub = nh.subscribe("state", 1, &handleState);
+	auto state_sub = nh.subscribe(led + "state", 1, &handleState);
 
-	auto set_effect = nh.advertiseService("set_effect", &setEffect);
+	auto set_effect = nh.advertiseService(led + "set_effect", &setEffect);
 
 	auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery);

clover/src/selfcheck.py

@@ -9,7 +9,7 @@
 # The above copyright notice and this permission notice shall be included in all
 # copies or substantial portions of the Software.
 
-import os
+import os, sys
 import math
 import subprocess
 import re
@@ -50,6 +50,16 @@ thread_local = threading.local()
 reports_lock = Lock()
 
 
+# formatting colors
+if sys.stdout.isatty():
+    GREY = '\033[90m'
+    GREEN = '\033[92m'
+    RED = '\033[31m'
+    END = '\033[0m'
+else:
+    GREY = GREEN = RED = END = ''
+
+
 def failure(text, *args):
     msg = text % args
     thread_local.reports += [{'failure': msg}]
@@ -75,9 +85,9 @@ def check(name):
                     if 'failure' in report:
                         rospy.logerr('%s: %s', name, report['failure'])
                     elif 'info' in report:
-                        rospy.loginfo('\033[90m%s\033[0m: %s', name, report['info'])
+                        rospy.loginfo(GREY + name + END + ': ' + report['info'])
                 if not thread_local.reports:
-                    rospy.loginfo('\033[90m%s\033[0m: \033[92mOK\033[0m', name)
+                    rospy.loginfo(GREY + name + END + ': ' + GREEN + 'OK' + END)
                 if rospy.get_param('~time', False):
                     rospy.loginfo('%s: %.1f sec', name, rospy.get_time() - start)
         return wrapper
@@ -87,7 +97,7 @@ def check(name):
 def ff(value, precision=2):
     # safely format float or int
     if value is None:
-        return '\033[31m???\033[0m'
+        return RED + '???' + END
     if isinstance(value, float):
         return ('{:.' + str(precision + 1) + '}').format(value)
     elif isinstance(value, int):
@@ -97,7 +107,7 @@ def ff(value, precision=2):
 param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
 
 
-def get_param(name, default=None):
+def get_param(name, default=None, strict=True):
     try:
         res = param_get(param_id=name)
     except rospy.ServiceException as e:
@@ -105,7 +115,8 @@ def get_param(name, default=None):
         return None
 
     if not res.success:
-        failure('unable to retrieve PX4 parameter %s', name)
+        if strict:
+            failure('unable to retrieve PX4 parameter %s', name)
         return default
     else:
         if res.value.integer != 0:
@@ -224,6 +235,7 @@ def check_fcu():
         state = rospy.wait_for_message('mavros/state', State, timeout=3)
         if not state.connected:
             failure('no connection to the FCU (check wiring)')
+            info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
             return
 
         if not is_process_running('px4', exact=True): # can't use px4 console in SITL
@@ -252,7 +264,7 @@ def check_fcu():
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
             info('selected estimator: LPE')
-            fuse = get_param('LPE_FUSION')
+            fuse = int(get_param('LPE_FUSION'))
             if fuse & (1 << 4):
                 info('LPE_FUSION: land detector fusion is enabled')
             else:
@@ -305,7 +317,14 @@ def check_fcu():
             failure('cannot read time sync offset')
 
     except rospy.ROSException:
-        failure('no MAVROS state (check wiring)')
+        failure('no MAVROS state')
+        fcu_url = rospy.get_param('mavros/fcu_url', '?')
+        if fcu_url == '/dev/px4fmu':
+            if not os.path.exists('/lib/udev/rules.d/99-px4fmu.rules'):
+                info('udev rules are not installed, install udev rules or change usb_device to /dev/ttyACM0 in mavros.launch')
+            else:
+                info('udev did\'t recognize px4fmu device, check wiring or change usb_device to /dev/ttyACM0 in mavros.launch')
+        info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
 
 
 def describe_direction(v):
@@ -386,15 +405,18 @@ def check_aruco():
 
     if is_process_running('aruco_detect', full=True):
         try:
-            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
+            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length', '?'))
         except KeyError:
             failure('aruco_detect/length parameter is not set')
-        known_tilt = rospy.get_param('aruco_detect/known_tilt', '')
-        if known_tilt == 'map':
-            known_tilt += ' (ALL markers are on the floor)'
-        elif known_tilt == 'map_flipped':
-            known_tilt += ' (ALL markers are on the ceiling)'
-        info('aruco_detect/known_tilt = %s', known_tilt)
+        known_vertical = rospy.get_param('aruco_detect/known_vertical', '')
+        flip_vertical = rospy.get_param('aruco_detect/flip_vertical', False)
+        description = ''
+        if known_vertical == 'map' and not flip_vertical:
+            description = ' (all markers are on the floor)'
+        elif known_vertical == 'map' and flip_vertical:
+            description = ' (all markers are on the ceiling)'
+        info('aruco_detect/known_vertical = %s', known_vertical)
+        info('aruco_detect/flip_vertical = %s%s', flip_vertical, description)
         try:
             markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
         except rospy.ROSException:
@@ -405,12 +427,15 @@ def check_aruco():
         return
 
     if is_process_running('aruco_map', full=True):
-        known_tilt = rospy.get_param('aruco_map/known_tilt', '')
-        if known_tilt == 'map':
-            known_tilt += ' (marker\'s map is on the floor)'
-        elif known_tilt == 'map_flipped':
-            known_tilt += ' (marker\'s map is on the ceiling)'
-        info('aruco_map/known_tilt = %s', known_tilt)
+        known_vertical = rospy.get_param('aruco_map/known_vertical', '')
+        flip_vertical = rospy.get_param('aruco_map/flip_vertical', False)
+        description = ''
+        if known_vertical == 'map' and not flip_vertical:
+            description += ' (markers map is on the floor)'
+        elif known_vertical == 'map' and flip_vertical:
+            description += ' (markers map is on the ceiling)'
+        info('aruco_map/known_vertical = %s', known_vertical)
+        info('aruco_map/flip_vertical = %s%s', flip_vertical, description)
 
         try:
             visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)
@@ -450,7 +475,8 @@ def check_vpe():
         except rospy.ROSException:
             if not is_process_running('vpe_publisher', full=True):
                 info('no vision position estimate, vpe_publisher is not running')
-            elif rospy.get_param('aruco_map/known_tilt') == 'map_flipped':
+            elif rospy.get_param('aruco_map/known_vertical', '') == 'map' \
+                   and rospy.get_param('aruco_map/flip_vertical', False):
                 failure('no vision position estimate, markers are on the ceiling')
             elif is_on_the_floor():
                 info('no vision position estimate, the drone is on the floor')
@@ -468,7 +494,7 @@ def check_vpe():
             failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter')
         else:
             info('vision yaw weight: %s', ff(vision_yaw_w))
-        fuse = get_param('LPE_FUSION')
+        fuse = int(get_param('LPE_FUSION'))
         if not fuse & (1 << 2):
             failure('vision position fusion is disabled, change LPE_FUSION parameter')
         delay = get_param('LPE_VIS_DELAY')
@@ -476,11 +502,22 @@ def check_vpe():
             failure('LPE_VIS_DELAY = %s, but it should be zero', delay)
         info('LPE_VIS_XY = %s m, LPE_VIS_Z = %s m', get_paramf('LPE_VIS_XY'), get_paramf('LPE_VIS_Z'))
     elif est == 2:
-        fuse = get_param('EKF2_AID_MASK')
-        if not fuse & (1 << 3):
-            failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
-        if not fuse & (1 << 4):
-            failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
+        ev_ctrl = get_param('EKF2_EV_CTRL', strict=False)
+        if ev_ctrl is not None: # PX4 after v1.14
+            ev_ctrl = int(ev_ctrl)
+            if not ev_ctrl & (1 << 0):
+                failure('vision horizontal position fusion is disabled, change EKF2_EV_CTRL parameter')
+            if not ev_ctrl & (1 << 1):
+                failure('vision vertical position fusion is disabled, change EKF2_EV_CTRL parameter')
+            if not ev_ctrl & (1 << 3):
+                failure('vision yaw fusion is disabled, change EKF2_EV_CTRL parameter')
+        else: # PX4 before v1.14
+            fuse = int(get_param('EKF2_AID_MASK'))
+            if not fuse & (1 << 3):
+                failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
+            if not fuse & (1 << 4):
+                failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
+
         delay = get_param('EKF2_EV_DELAY')
         if delay != 0:
             failure('EKF2_EV_DELAY = %.2f, but it should be zero', delay)
@@ -587,12 +624,22 @@ def check_global_position():
         rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
     except rospy.ROSException:
         info('no global position')
-        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK', 0) & (1 << 0)):
-            failure('enabled GPS fusion may suppress vision position aiding')
+        if get_param('SYS_MC_EST_GROUP') == 2:
+            gps_ctrl = get_param('EKF2_GPS_CTRL', strict=False)
+            if gps_ctrl is not None: # PX4 after v1.14
+                if int(gps_ctrl) & (1 << 0):
+                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_GPS_CTRL')
+            else: # PX4 before v1.14
+                if int(get_param('EKF2_AID_MASK', 0)) & (1 << 0):
+                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_AID_MASK')
 
 
 @check('Optical flow')
 def check_optical_flow():
+    if not is_process_running('optical_flow', full=True):
+        info('optical_flow is not running')
+        return
+
     # TODO:check FPS!
     try:
         rospy.wait_for_message('mavros/px4flow/raw/send', OpticalFlowRad, timeout=0.5)
@@ -603,7 +650,7 @@ def check_optical_flow():
             failure('SENS_FLOW_ROT = %s, but it should be zero', rot)
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
-            fuse = get_param('LPE_FUSION')
+            fuse = int(get_param('LPE_FUSION'))
             if not fuse & (1 << 1):
                 failure('optical flow fusion is disabled, change LPE_FUSION parameter')
             if not fuse & (1 << 1):
@@ -617,9 +664,14 @@ def check_optical_flow():
                           get_paramf('LPE_FLW_R', 4),
                           get_paramf('LPE_FLW_RR', 4))
         elif est == 2:
-            fuse = get_param('EKF2_AID_MASK', 0)
-            if not fuse & (1 << 1):
-                failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
+            of_ctrl = get_param('EKF2_OF_CTRL', strict=False)
+            if of_ctrl is not None: # PX4 after v1.14
+                if of_ctrl == 0:
+                    failure('optical flow fusion is disabled, change EKF2_OF_CTRL')
+            else: # PX4 before v1.14
+                fuse = int(get_param('EKF2_AID_MASK', 0))
+                if not fuse & (1 << 1):
+                    failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
             delay = get_param('EKF2_OF_DELAY', 0)
             if delay != 0:
                 failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay)
@@ -661,23 +713,26 @@ def check_rangefinder():
 
     est = get_param('SYS_MC_EST_GROUP')
     if est == 1:
-        fuse = get_param('LPE_FUSION', 0)
+        fuse = int(get_param('LPE_FUSION', 0))
         if not fuse & (1 << 5):
             info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
         else:
             info('"pub agl as lpos down" in LPE_FUSION is enabled, operating over flat surface')
 
     elif est == 2:
-        hgt = get_param('EKF2_HGT_MODE')
+        hgt = get_param('EKF2_HGT_REF', strict=False)
+        if hgt is None: # PX4 before v1.14
+            hgt = get_param('EKF2_HGT_MODE')
         if hgt != 2:
             info('EKF2_HGT_MODE != Range sensor, NOT operating over flat surface')
         else:
             info('EKF2_HGT_MODE = Range sensor, operating over flat surface')
-        aid = get_param('EKF2_RNG_AID')
-        if aid != 1:
-            info('EKF2_RNG_AID != 1, range sensor aiding disabled')
-        else:
-            info('EKF2_RNG_AID = 1, range sensor aiding enabled')
+        aid = get_param('EKF2_RNG_AID', strict=False)
+        if aid is not None: # PX4 before v1.14
+            if aid != 1:
+                info('EKF2_RNG_AID != 1, range sensor aiding disabled')
+            else:
+                info('EKF2_RNG_AID = 1, range sensor aiding enabled')
 
 
 @check('Boot duration')

clover/src/simple_offboard.cpp

@@ -23,12 +23,14 @@
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <std_srvs/Trigger.h>
+#include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/TwistStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/QuaternionStamped.h>
 #include <sensor_msgs/NavSatFix.h>
 #include <sensor_msgs/BatteryState.h>
+#include <sensor_msgs/Range.h>
 #include <mavros_msgs/CommandBool.h>
 #include <mavros_msgs/SetMode.h>
 #include <mavros_msgs/PositionTarget.h>
@@ -37,14 +39,19 @@
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
 #include <mavros_msgs/ManualControl.h>
+#include <mavros_msgs/Altitude.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
 #include <clover/NavigateGlobal.h>
+#include <clover/SetAltitude.h>
+#include <clover/SetYaw.h>
+#include <clover/SetYawRate.h>
 #include <clover/SetPosition.h>
 #include <clover/SetVelocity.h>
 #include <clover/SetAttitude.h>
 #include <clover/SetRates.h>
+#include <clover/State.h>
 
 using std::string;
 using std::isnan;
@@ -54,6 +61,7 @@ using namespace clover;
 using mavros_msgs::PositionTarget;
 using mavros_msgs::AttitudeTarget;
 using mavros_msgs::Thrust;
+using mavros_msgs::Altitude;
 
 // tf2
 tf2_ros::Buffer tf_buffer;
@@ -79,35 +87,43 @@ float default_speed;
 bool auto_release;
 bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;
+string terrain_frame_mode;
 
 // Publishers
-ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub;
+ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub, state_pub;
 
 // Service clients
 ros::ServiceClient arming, set_mode;
 
 // Containers
 ros::Timer setpoint_timer;
-tf::Quaternion tq;
 PoseStamped position_msg;
 PositionTarget position_raw_msg;
-AttitudeTarget att_raw_msg;
-Thrust thrust_msg;
-TwistStamped rates_msg;
+//TwistStamped rates_msg;
 TransformStamped target, setpoint;
 geometry_msgs::TransformStamped body;
+geometry_msgs::TransformStamped terrain;
 
 // State
 PoseStamped nav_start;
-PoseStamped setpoint_position, setpoint_position_transformed;
-Vector3Stamped setpoint_velocity, setpoint_velocity_transformed;
-QuaternionStamped setpoint_attitude, setpoint_attitude_transformed;
-float setpoint_yaw_rate;
+PointStamped setpoint_position;
+PointStamped setpoint_altitude;
+Vector3Stamped setpoint_velocity;
+float setpoint_yaw, setpoint_roll, setpoint_pitch;
+Vector3 setpoint_rates;
+string yaw_frame_id;
+float setpoint_thrust;
 float nav_speed;
+float setpoint_lat = NAN, setpoint_lon = NAN;
 bool busy = false;
 bool wait_armed = false;
 bool nav_from_sp_flag = false;
 
+// Last published
+PoseStamped setpoint_pose_local;
+Vector3Stamped setpoint_velocity_local;
+float yaw_local;
+
 enum setpoint_type_t {
 	NONE,
 	NAVIGATE,
@@ -115,7 +131,10 @@ enum setpoint_type_t {
 	POSITION,
 	VELOCITY,
 	ATTITUDE,
-	RATES
+	RATES,
+	_ALTITUDE,
+	_YAW,
+	_YAW_RATE,
 };
 
 enum setpoint_type_t setpoint_type = NONE;
@@ -170,7 +189,7 @@ void handleLocalPosition(const PoseStamped& pose)
 {
 	local_position = pose;
 	publishBodyFrame();
-	// TODO: terrain?, home?
+	// TODO: home?
 }
 
 // wait for transform without interrupting publishing setpoints
@@ -188,6 +207,29 @@ inline bool waitTransform(const string& target, const string& source,
 	return false;
 }
 
+void publishTerrain(const double distance, const ros::Time& stamp)
+{
+	if (!waitTransform(local_frame, body.child_frame_id, stamp, ros::Duration(0.1))) return;
+
+	auto t = tf_buffer.lookupTransform(local_frame, body.child_frame_id, stamp);
+	t.child_frame_id = terrain.child_frame_id;
+	t.transform.translation.z -= distance;
+	static_transform_broadcaster->sendTransform(t);
+}
+
+void handleAltitude(const Altitude& alt)
+{
+	if (!std::isfinite(alt.bottom_clearance)) return;
+	publishTerrain(alt.bottom_clearance, alt.header.stamp);
+}
+
+void handleRange(const Range& range)
+{
+	if (!std::isfinite(range.range)) return;
+	// TODO: check it's facing down
+	publishTerrain(range.range, range.header.stamp);
+}
+
 #define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
 
 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
@@ -207,11 +249,11 @@ bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 	res.vx = NAN;
 	res.vy = NAN;
 	res.vz = NAN;
-	res.pitch = NAN;
 	res.roll = NAN;
+	res.pitch = NAN;
 	res.yaw = NAN;
-	res.pitch_rate = NAN;
 	res.roll_rate = NAN;
+	res.pitch_rate = NAN;
 	res.yaw_rate = NAN;
 	res.voltage = NAN;
 	res.cell_voltage = NAN;
@@ -341,20 +383,20 @@ inline float getDistance(const Point& from, const Point& to)
 	return hypot(from.x - to.x, from.y - to.y, from.z - to.z);
 }
 
-void getNavigateSetpoint(const ros::Time& stamp, float speed, Point& nav_setpoint)
+void getNavigateSetpoint(const ros::Time& stamp, const float speed, Point& nav_setpoint)
 {
 	if (wait_armed) {
 		// don't start navigating if we're waiting arming
 		nav_start.header.stamp = stamp;
 	}
 
-	float distance = getDistance(nav_start.pose.position, setpoint_position_transformed.pose.position);
+	float distance = getDistance(nav_start.pose.position, setpoint_pose_local.pose.position);
 	float time = distance / speed;
 	float passed = std::min((stamp - nav_start.header.stamp).toSec() / time, 1.0);
 
-	nav_setpoint.x = nav_start.pose.position.x + (setpoint_position_transformed.pose.position.x - nav_start.pose.position.x) * passed;
-	nav_setpoint.y = nav_start.pose.position.y + (setpoint_position_transformed.pose.position.y - nav_start.pose.position.y) * passed;
-	nav_setpoint.z = nav_start.pose.position.z + (setpoint_position_transformed.pose.position.z - nav_start.pose.position.z) * passed;
+	nav_setpoint.x = nav_start.pose.position.x + (setpoint_pose_local.pose.position.x - nav_start.pose.position.x) * passed;
+	nav_setpoint.y = nav_start.pose.position.y + (setpoint_pose_local.pose.position.y - nav_start.pose.position.y) * passed;
+	nav_setpoint.z = nav_start.pose.position.z + (setpoint_pose_local.pose.position.z - nav_start.pose.position.z) * passed;
 }
 
 PoseStamped globalToLocal(double lat, double lon)
@@ -385,44 +427,101 @@ PoseStamped globalToLocal(double lat, double lon)
 	return pose;
 }
 
+// publish navigate_target frame
+void publishTarget(ros::Time stamp, bool _static = false)
+{
+	bool single_frame = (setpoint_position.header.frame_id == setpoint_altitude.header.frame_id);
+
+	// handle yaw for target frame
+	if (setpoint_yaw_type == YAW || setpoint_yaw_type == YAW_RATE) { // use last set yaw for yaw_rate
+		if (setpoint_altitude.header.frame_id == yaw_frame_id) {
+			target.transform.rotation = tf::createQuaternionMsgFromYaw(setpoint_yaw);
+		} else {
+			single_frame = false;
+			target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
+		}
+	} else if (setpoint_yaw_type == TOWARDS) {
+		single_frame = false;
+		target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
+	}
+
+	if (_static && single_frame) {
+		// publish at user's command, if all frames are the same
+		target.header.frame_id = setpoint_position.header.frame_id;
+		target.header.stamp = stamp;
+		target.transform.translation.x = setpoint_position.point.x;
+		target.transform.translation.y = setpoint_position.point.y;
+		target.transform.translation.z = setpoint_position.point.z;
+
+	} else if (!_static) {
+		// publish at each iteration, if frames are different
+		target.header = setpoint_pose_local.header;
+		target.transform.translation.x = setpoint_pose_local.pose.position.x;
+		target.transform.translation.y = setpoint_pose_local.pose.position.y;
+		target.transform.translation.z = setpoint_pose_local.pose.position.z;
+	}
+
+	static_transform_broadcaster->sendTransform(target);
+}
+
 void publish(const ros::Time stamp)
 {
 	if (setpoint_type == NONE) return;
 
 	position_raw_msg.header.stamp = stamp;
-	thrust_msg.header.stamp = stamp;
-	rates_msg.header.stamp = stamp;
 
-	try {
-		// transform position and/or yaw
-		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION || setpoint_type == VELOCITY || setpoint_type == ATTITUDE) {
-			setpoint_position.header.stamp = stamp;
-			tf_buffer.transform(setpoint_position, setpoint_position_transformed, local_frame, ros::Duration(0.05));
+	// transform position
+	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+		setpoint_position.header.stamp = stamp;
+		setpoint_altitude.header.stamp = stamp;
+		// transform xy
+		try {
+			auto xy = tf_buffer.transform(setpoint_position, local_frame, ros::Duration(0.05));
+			setpoint_pose_local.header = xy.header;
+			setpoint_pose_local.pose.position.x = xy.point.x;
+			setpoint_pose_local.pose.position.y = xy.point.y;
+		} catch (tf2::TransformException& ex) {
+			// can't transform xy, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
 		}
-
-		// transform velocity
-		if (setpoint_type == VELOCITY) {
-			setpoint_velocity.header.stamp = stamp;
-			tf_buffer.transform(setpoint_velocity, setpoint_velocity_transformed, local_frame, ros::Duration(0.05));
+		// transform altitude
+		try {
+			setpoint_pose_local.pose.position.z = tf_buffer.transform(setpoint_altitude, local_frame, ros::Duration(0.05)).point.z;
+		} catch (tf2::TransformException& ex) {
+			// can't transform altitude, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
 		}
-
-	} catch (const tf2::TransformException& e) {
-		ROS_WARN_THROTTLE(10, "can't transform");
 	}
 
+	// transform yaw
+	if (setpoint_yaw_type == YAW) {
+		try {
+			QuaternionStamped q;
+			q.header.stamp = stamp;
+			q.header.frame_id = yaw_frame_id;
+			q.quaternion = tf::createQuaternionMsgFromYaw(setpoint_yaw);
+			yaw_local = tf2::getYaw(tf_buffer.transform(q, local_frame, ros::Duration(0.05)).quaternion);
+		} catch (tf2::TransformException& ex) {
+			// can't transform yaw, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+		}
+	}
+
+	// compute navigate setpoint
 	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
-		position_msg.pose.orientation = setpoint_position_transformed.pose.orientation; // copy yaw
 		getNavigateSetpoint(stamp, nav_speed, position_msg.pose.position);
 
 		if (setpoint_yaw_type == TOWARDS) {
-			double yaw_towards = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
-			                           position_msg.pose.position.x - nav_start.pose.position.x);
-			position_msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, yaw_towards);
+			yaw_local = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
+			                  position_msg.pose.position.x - nav_start.pose.position.x);
 		}
+
+		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
 	}
 
 	if (setpoint_type == POSITION) {
-		position_msg = setpoint_position_transformed;
+		position_msg = setpoint_pose_local;
+		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
 	}
 
 	if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
@@ -439,14 +538,14 @@ void publish(const ros::Time stamp)
 			                             PositionTarget::IGNORE_AFY +
 			                             PositionTarget::IGNORE_AFZ +
 			                             PositionTarget::IGNORE_YAW;
-			position_raw_msg.yaw_rate = setpoint_yaw_rate;
+			position_raw_msg.yaw_rate = setpoint_rates.z;
 			position_raw_msg.position = position_msg.pose.position;
 			position_raw_pub.publish(position_raw_msg);
 		}
 
 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
-			if (setpoint.header.stamp == position_msg.header.stamp) {
+			if (setpoint.header.stamp >= position_msg.header.stamp) {
 				return; // avoid TF_REPEATED_DATA warnings
 			}
 
@@ -458,9 +557,22 @@ void publish(const ros::Time stamp)
 			setpoint.header.stamp = position_msg.header.stamp;
 			transform_broadcaster->sendTransform(setpoint);
 		}
+
+		// publish dynamic target frame
+		publishTarget(stamp);
 	}
 
 	if (setpoint_type == VELOCITY) {
+		// transform velocity to local frame
+		setpoint_velocity.header.stamp = stamp;
+		try {
+			setpoint_velocity_local = tf_buffer.transform(setpoint_velocity, local_frame, ros::Duration(0.05));
+		} catch (tf2::TransformException& ex) {
+			// can't transform velocity, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+		}
+
+		// publish velocity
 		position_raw_msg.type_mask = PositionTarget::IGNORE_PX +
 		                             PositionTarget::IGNORE_PY +
 		                             PositionTarget::IGNORE_PZ +
@@ -468,14 +580,22 @@ void publish(const ros::Time stamp)
 		                             PositionTarget::IGNORE_AFY +
 		                             PositionTarget::IGNORE_AFZ;
 		position_raw_msg.type_mask += setpoint_yaw_type == YAW ? PositionTarget::IGNORE_YAW_RATE : PositionTarget::IGNORE_YAW;
-		position_raw_msg.velocity = setpoint_velocity_transformed.vector;
-		position_raw_msg.yaw = tf2::getYaw(setpoint_position_transformed.pose.orientation);
-		position_raw_msg.yaw_rate = setpoint_yaw_rate;
+		position_raw_msg.velocity = setpoint_velocity_local.vector;
+		position_raw_msg.yaw = yaw_local;
+		position_raw_msg.yaw_rate = setpoint_rates.z;
 		position_raw_pub.publish(position_raw_msg);
 	}
 
 	if (setpoint_type == ATTITUDE) {
-		attitude_pub.publish(setpoint_position_transformed);
+		PoseStamped msg;
+		msg.header.stamp = stamp;
+		msg.header.frame_id = local_frame;
+		msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(setpoint_roll, setpoint_pitch, yaw_local);
+		attitude_pub.publish(msg);
+
+		Thrust thrust_msg;
+		thrust_msg.header.stamp = stamp;
+		thrust_msg.thrust = setpoint_thrust;
 		thrust_pub.publish(thrust_msg);
 	}
 
@@ -484,11 +604,12 @@ void publish(const ros::Time stamp)
 		// thrust_pub.publish(thrust_msg);
 		// mavros rates topics waits for rates in local frame
 		// use rates in body frame for simplicity
+		AttitudeTarget att_raw_msg;
 		att_raw_msg.header.stamp = stamp;
 		att_raw_msg.header.frame_id = fcu_frame;
 		att_raw_msg.type_mask = AttitudeTarget::IGNORE_ATTITUDE;
-		att_raw_msg.body_rate = rates_msg.twist.angular;
-		att_raw_msg.thrust = thrust_msg.thrust;
+		att_raw_msg.body_rate = setpoint_rates;
+		att_raw_msg.thrust = setpoint_thrust;
 		attitude_raw_pub.publish(att_raw_msg);
 	}
 }
@@ -528,10 +649,59 @@ inline void checkState()
 		throw std::runtime_error("No connection to FCU, https://clover.coex.tech/connection");
 }
 
+void publishState()
+{
+	clover::State msg;
+	msg.mode = setpoint_type;
+	msg.yaw_mode = setpoint_yaw_type;
+
+	if (setpoint_position.header.frame_id.empty()) {
+		msg.x = NAN;
+		msg.y = NAN;
+		msg.z = NAN;
+	} else {
+		msg.x = setpoint_position.point.x;
+		msg.y = setpoint_position.point.y;
+		msg.z = setpoint_altitude.point.z;
+	}
+
+	msg.speed = nav_speed;
+	msg.lat = setpoint_lat;
+	msg.lon = setpoint_lon;
+	msg.vx = setpoint_velocity.vector.x;
+	msg.vy = setpoint_velocity.vector.y;
+	msg.vz = setpoint_velocity.vector.z;
+	msg.roll = setpoint_roll;
+	msg.pitch = setpoint_pitch;
+	msg.yaw = !yaw_frame_id.empty() ? setpoint_yaw : NAN;
+
+	msg.roll_rate = setpoint_rates.x;
+	msg.pitch_rate = setpoint_rates.y;
+	msg.yaw_rate = setpoint_rates.z;
+	msg.thrust = setpoint_thrust;
+
+	if (setpoint_type == VELOCITY) {
+		msg.xy_frame_id = setpoint_velocity.header.frame_id;
+		msg.z_frame_id = setpoint_velocity.header.frame_id;
+	} else {
+		msg.xy_frame_id = setpoint_position.header.frame_id;
+		msg.z_frame_id = setpoint_altitude.header.frame_id;
+	}
+	msg.yaw_frame_id = yaw_frame_id;
+
+	state_pub.publish(msg);
+}
+
+inline float safe(float value) {
+	return std::isfinite(value) ? value : 0;
+}
+
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
 
+#define ENSURE_NON_INF(var) { if (std::isinf(var)) throw std::runtime_error(#var " argument cannot be Inf"); }
+
 bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, float vy, float vz,
-           float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate, // editorconfig-checker-disable-line
+           float roll, float pitch, float yaw, float roll_rate, float pitch_rate, float yaw_rate, // editorconfig-checker-disable-line
            float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm, // editorconfig-checker-disable-line
            uint8_t& success, string& message) // editorconfig-checker-disable-line
 {
@@ -558,69 +728,40 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		auto search = reference_frames.find(frame_id);
 		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
 
-		// Serve "partial" commands
+		ENSURE_NON_INF(x);
+		ENSURE_NON_INF(y);
+		ENSURE_NON_INF(z);
+		ENSURE_NON_INF(speed); // TODO: allow inf
+		ENSURE_NON_INF(vx);
+		ENSURE_NON_INF(vy);
+		ENSURE_NON_INF(vz);
+		ENSURE_NON_INF(roll);
+		ENSURE_NON_INF(pitch);
+		ENSURE_NON_INF(roll_rate);
+		ENSURE_NON_INF(pitch_rate);
+		ENSURE_NON_INF(yaw_rate);
+		ENSURE_NON_INF(thrust);
 
-		if (!auto_arm && std::isfinite(yaw) &&
-		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
-		    isnan(lat) && isnan(lon)) {
-			// change only the yaw
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
-				if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))
-					throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
-
-				message = "Changing yaw only";
-
-				QuaternionStamped q;
-				q.header.frame_id = frame_id;
-				q.header.stamp = stamp;
-				q.quaternion = tf::createQuaternionMsgFromYaw(yaw); // TODO: pitch=0, roll=0 is not totally correct
-				setpoint_position.pose.orientation = tf_buffer.transform(q, setpoint_position.header.frame_id).quaternion;
-				setpoint_yaw_type = YAW;
-				goto publish_setpoint;
-			} else {
-				throw std::runtime_error("Setting yaw is possible only when position or velocity setpoints active");
-			}
-		}
-
-		if (!auto_arm && std::isfinite(yaw_rate) &&
-		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
-		    isnan(lat) && isnan(lon)) {
-			// change only the yaw rate
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
-				message = "Changing yaw rate only";
-
-				setpoint_yaw_type = YAW_RATE;
-				setpoint_yaw_rate = yaw_rate;
-				goto publish_setpoint;
-			} else {
-				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
-			}
-		}
-
-		// Serve normal commands
-
-		if (sp_type == NAVIGATE || sp_type == POSITION) {
-			ENSURE_FINITE(x);
-			ENSURE_FINITE(y);
-			ENSURE_FINITE(z);
-		} else if (sp_type == NAVIGATE_GLOBAL) {
+		if (sp_type == NAVIGATE_GLOBAL) {
 			ENSURE_FINITE(lat);
 			ENSURE_FINITE(lon);
-			ENSURE_FINITE(z);
-		} else if (sp_type == VELOCITY) {
-			ENSURE_FINITE(vx);
-			ENSURE_FINITE(vy);
-			ENSURE_FINITE(vz);
-		} else if (sp_type == ATTITUDE) {
-			ENSURE_FINITE(pitch);
-			ENSURE_FINITE(roll);
-			ENSURE_FINITE(thrust);
-		} else if (sp_type == RATES) {
-			ENSURE_FINITE(pitch_rate);
-			ENSURE_FINITE(roll_rate);
-			ENSURE_FINITE(thrust);
+		}
+
+		if (isfinite(x) != isfinite(y)) {
+			throw std::runtime_error("x and y can be set only together");
+		}
+
+		if (isfinite(yaw_rate)) {
+			if (sp_type > RATES && setpoint_type == ATTITUDE) {
+				throw std::runtime_error("Yaw rate cannot be set in attitude mode.");
+			}
+		}
+
+		// set_altitude
+		if (sp_type == _ALTITUDE) {
+			if (setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
+				throw std::runtime_error("Altitude cannot be set in velocity, attitude or rates mode.");
+			}
 		}
 
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
@@ -634,20 +775,13 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 				speed = default_speed;
 		}
 
-		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
-			if (yaw_rate != 0 && !std::isnan(yaw))
-				throw std::runtime_error("Yaw value should be NaN for setting yaw rate");
-
-			if (std::isnan(yaw_rate) && std::isnan(yaw))
-				throw std::runtime_error("Both yaw and yaw_rate cannot be NaN");
-		}
-
 		if (sp_type == NAVIGATE_GLOBAL) {
 			if (TIMEOUT(global_position, global_position_timeout))
 				throw std::runtime_error("No global position");
 		}
 
-		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE) {
+		// if any value need to be transformed to reference frame
+		if (isfinite(x) || isfinite(y) || isfinite(z) || isfinite(vx) || isfinite(vy) || isfinite(vz) || isfinite(yaw)) {
 			// make sure transform from frame_id to reference frame available
 			if (!waitTransform(reference_frame, frame_id, stamp, transform_timeout))
 				throw std::runtime_error("Can't transform from " + frame_id + " to " + reference_frame);
@@ -664,15 +798,27 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			auto xy_in_req_frame = tf_buffer.transform(pose_local, frame_id);
 			x = xy_in_req_frame.pose.position.x;
 			y = xy_in_req_frame.pose.position.y;
+			setpoint_lat = lat;
+			setpoint_lon = lon;
 		}
 
 		// Everything fine - switch setpoint type
-		setpoint_type = sp_type;
+		if (sp_type <= RATES) {
+			setpoint_type = sp_type;
+		}
 
-		if (sp_type != NAVIGATE && sp_type != NAVIGATE_GLOBAL) {
+		if (setpoint_type != NAVIGATE && setpoint_type != NAVIGATE_GLOBAL) {
 			nav_from_sp_flag = false;
 		}
 
+		bool to_auto_arm = auto_arm && (state.mode != "OFFBOARD" || !state.armed);
+		if (to_auto_arm || setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
+			// invalidate position setpoint
+			setpoint_position.header.frame_id = "";
+			setpoint_altitude.header.frame_id = "";
+			yaw_frame_id = "";
+		}
+
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
 			// starting point
 			if (nav_from_sp && nav_from_sp_flag) {
@@ -681,89 +827,139 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			} else {
 				nav_start = local_position;
 			}
-			nav_speed = speed;
+
+			if (!isnan(speed)) {
+				nav_speed = speed;
+			}
+
 			nav_from_sp_flag = true;
 		}
 
-		// if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
-		// 	if (std::isnan(yaw) && yaw_rate == 0) {
-		// 		// keep yaw unchanged
-		//		// TODO: this is incorrect, because we need yaw in desired frame
-		// 		yaw = tf2::getYaw(local_position.pose.orientation);
-		// 	}
-		// }
+		// handle position
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
 
-		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
-			// destination point and/or attitude
-			PoseStamped ps;
-			ps.header.frame_id = frame_id;
-			ps.header.stamp = stamp;
-			ps.pose.position.x = x;
-			ps.pose.position.y = y;
-			ps.pose.position.z = z;
-			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
+			PointStamped desired;
+			desired.header.frame_id = frame_id;
+			desired.header.stamp = stamp;
+			desired.point.x = safe(x);
+			desired.point.y = safe(y);
+			desired.point.z = safe(z);
 
-			if (sp_type == ATTITUDE) {
-				ps.pose.position.x = 0;
-				ps.pose.position.y = 0;
-				ps.pose.position.z = 0;
-				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
-			} else if (std::isnan(yaw)) {
-				setpoint_yaw_type = YAW_RATE;
-				setpoint_yaw_rate = yaw_rate;
-			} else if (std::isinf(yaw) && yaw > 0) {
-				// yaw towards
-				setpoint_yaw_type = TOWARDS;
-				yaw = 0;
-				setpoint_yaw_rate = 0;
-			} else {
-				setpoint_yaw_type = YAW;
-				setpoint_yaw_rate = 0;
-				ps.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
+			// transform to reference frame
+			desired = tf_buffer.transform(desired, reference_frame);
+
+			// set horizontal position
+			if (isfinite(x) && isfinite(y)) {
+				setpoint_position = desired;
+			} else if (setpoint_position.header.frame_id.empty()) {
+				 // TODO: use transform for current stamp
+				setpoint_position.header = local_position.header;
+				setpoint_position.point = local_position.pose.position;
 			}
 
-			tf_buffer.transform(ps, setpoint_position, reference_frame);
+			// set altitude
+			if (isfinite(z)) {
+				setpoint_altitude = desired;
+			} else if (setpoint_altitude.header.frame_id.empty()) {
+				setpoint_altitude.header = local_position.header;
+				setpoint_altitude.point = local_position.pose.position;
+			}
 		}
 
+		// handle velocity
 		if (sp_type == VELOCITY) {
-			Vector3Stamped vel;
-			vel.header.frame_id = frame_id;
-			vel.header.stamp = stamp;
-			vel.vector.x = vx;
-			vel.vector.y = vy;
-			vel.vector.z = vz;
-			tf_buffer.transform(vel, setpoint_velocity, reference_frame);
+			// TODO: allow setting different modes by altitude and xy
+			Vector3Stamped desired;
+			desired.header.frame_id = frame_id;
+			desired.header.stamp = stamp;
+			desired.vector.x = safe(vx);
+			desired.vector.y = safe(vy);
+			desired.vector.z = safe(vz);
+
+			// transform to reference frame
+			desired = tf_buffer.transform(desired, reference_frame);
+			setpoint_velocity.header = desired.header;
+
+			// set horizontal velocity
+			if (isfinite(vx) && isfinite(vy)) {
+				setpoint_velocity.vector.x = desired.vector.x;
+				setpoint_velocity.vector.y = desired.vector.y;
+			}
+
+			// set vertical velocity
+			if (isfinite(vz)) {
+				setpoint_velocity.vector.z = desired.vector.z;
+			}
 		}
 
-		if (sp_type == ATTITUDE || sp_type == RATES) {
-			thrust_msg.thrust = thrust;
+		// handle yaw
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE || sp_type == _YAW) {
+			if (isfinite(yaw)) {
+				setpoint_yaw_type = YAW;
+				QuaternionStamped desired;
+				desired.header.frame_id = frame_id;
+				desired.header.stamp = stamp;
+				desired.quaternion = tf::createQuaternionMsgFromYaw(yaw);
+
+				// transform to reference frame
+				desired = tf_buffer.transform(desired, reference_frame);
+				setpoint_yaw = tf2::getYaw(desired.quaternion);
+				yaw_frame_id = reference_frame;
+
+			} else if (isinf(yaw) && yaw > 0) {
+				// yaw towards
+				setpoint_yaw_type = TOWARDS;
+
+			} else if (yaw_frame_id.empty() || sp_type == _YAW) {
+				// yaw is nan and not set previously OR set_yaw(yaw=nan) was called
+				setpoint_yaw_type = YAW;
+				setpoint_yaw = tf2::getYaw(local_position.pose.orientation); // set yaw to current yaw
+				yaw_frame_id = local_position.header.frame_id;
+			}
 		}
 
-		if (sp_type == RATES) {
-			rates_msg.twist.angular.x = roll_rate;
-			rates_msg.twist.angular.y = pitch_rate;
-			rates_msg.twist.angular.z = yaw_rate;
+		// handle roll
+		if (isfinite(roll)) {
+			setpoint_roll = roll;
+		}
+
+		// handle pitch
+		if (isfinite(pitch)) {
+			setpoint_pitch = pitch;
+		}
+
+		// handle yaw rate
+		if (isfinite(yaw_rate)) {
+			setpoint_yaw_type = YAW_RATE;
+			setpoint_rates.z = yaw_rate;
+		}
+
+		// handle pitch rate
+		if (isfinite(roll_rate)) {
+			setpoint_rates.x = roll_rate;
+		}
+
+		// handle roll rate
+		if (isfinite(pitch_rate)) {
+			setpoint_rates.y = pitch_rate;
+		}
+
+		// handle thrust
+		if (isfinite(thrust)) {
+			setpoint_thrust = thrust;
 		}
 
 		wait_armed = auto_arm;
 
-publish_setpoint:
 		publish(stamp); // calculate initial transformed messages first
 		setpoint_timer.start();
 
-		// publish target frame
-		if (!target.child_frame_id.empty()) {
-			if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-				target.header.frame_id = setpoint_position.header.frame_id;
-				target.header.stamp = stamp;
-				target.transform.translation.x = setpoint_position.pose.position.x;
-				target.transform.translation.y = setpoint_position.pose.position.y;
-				target.transform.translation.z = setpoint_position.pose.position.z;
-				target.transform.rotation = setpoint_position.pose.orientation;
-				static_transform_broadcaster->sendTransform(target);
-			}
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+			publishTarget(stamp, true);
 		}
 
+		publishState();
+
 		if (auto_arm) {
 			offboardAndArm();
 			wait_armed = false;
@@ -788,27 +984,39 @@ publish_setpoint:
 }
 
 bool navigate(Navigate::Request& req, Navigate::Response& res) {
-	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res) {
-	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+}
+
+bool setAltitude(SetAltitude::Request& req, SetAltitude::Response& res) {
+	return serve(_ALTITUDE, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
+}
+
+bool setYaw(SetYaw::Request& req, SetYaw::Response& res) {
+	return serve(_YAW, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
+}
+
+bool setYawRate(SetYawRate::Request& req, SetYawRate::Response& res) {
+	return serve(_YAW_RATE, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, "", false, res.success, res.message);
 }
 
 bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
-	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setVelocity(SetVelocity::Request& req, SetVelocity::Response& res) {
-	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setAttitude(SetAttitude::Request& req, SetAttitude::Response& res) {
-	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch, req.roll, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.roll, req.pitch, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setRates(SetRates::Request& req, SetRates::Response& res) {
-	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch_rate, req.roll_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
+	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.roll_rate, req.pitch_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
 }
 
 bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
@@ -840,9 +1048,7 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		auto start = ros::Time::now();
 		while (ros::ok()) {
 			if (state.mode == "AUTO.LAND") {
-				res.success = true;
-				busy = false;
-				return true;
+				break;
 			}
 			if (ros::Time::now() - start > land_timeout)
 				throw std::runtime_error("Land request timed out");
@@ -851,6 +1057,18 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 			r.sleep();
 		}
 
+		// stop setpoints and invalidate position setpoint
+		setpoint_timer.stop();
+		setpoint_type = NONE;
+		setpoint_position.header.frame_id = "";
+		setpoint_altitude.header.frame_id = "";
+		yaw_frame_id = "";
+		publishState();
+
+		res.success = true;
+		busy = false;
+		return true;
+
 	} catch (const std::exception& e) {
 		res.message = e.what();
 		ROS_INFO("%s", e.what());
@@ -863,6 +1081,11 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 {
 	setpoint_timer.stop();
+	setpoint_type = NONE;
+	setpoint_position.header.frame_id = "";
+	setpoint_altitude.header.frame_id = "";
+	yaw_frame_id = "";
+	publishState();
 	res.success = true;
 	return true;
 }
@@ -888,6 +1111,8 @@ int main(int argc, char **argv)
 	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.param<string>("terrain_frame", terrain.child_frame_id, "terrain");
+	nh_priv.param<string>("terrain_frame_mode", terrain_frame_mode, "altitude");
 	nh_priv.getParam("reference_frames", reference_frames);
 
 	// Default reference frames
@@ -923,6 +1148,20 @@ int main(int argc, char **argv)
 	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);
 
+	ros::Subscriber altitude_sub;
+	if (!body.child_frame_id.empty() && !terrain.child_frame_id.empty()) {
+		terrain.header.frame_id = local_frame;
+		if (terrain_frame_mode == "altitude") {
+			altitude_sub = nh.subscribe(mavros + "/altitude", 1, &handleAltitude);
+		} else if (terrain_frame_mode == "range") {
+			string range_topic = nh_priv.param("range_topic", string("rangefinder/range"));
+			altitude_sub = nh.subscribe(range_topic, 1, &handleRange);
+		} else {
+			ROS_FATAL("Unknown terrain_frame_mode: %s, valid values: altitude, range", terrain_frame_mode.c_str());
+			ros::shutdown();
+		}
+	}
+
 	// Setpoint publishers
 	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
 	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
@@ -931,10 +1170,16 @@ int main(int argc, char **argv)
 	rates_pub = nh.advertise<TwistStamped>(mavros + "/setpoint_attitude/cmd_vel", 1);
 	thrust_pub = nh.advertise<Thrust>(mavros + "/setpoint_attitude/thrust", 1);
 
+	// State publisher
+	state_pub = nh_priv.advertise<clover::State>("state", 1, true);
+
 	 // Service servers
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
 	auto na_serv = nh.advertiseService("navigate", &navigate);
 	auto ng_serv = nh.advertiseService("navigate_global", &navigateGlobal);
+	auto sl_serv = nh.advertiseService("set_altitude", &setAltitude);
+	auto ya_serv = nh.advertiseService("set_yaw", &setYaw);
+	auto yr_serv = nh.advertiseService("set_yaw_rate", &setYawRate);
 	auto sp_serv = nh.advertiseService("set_position", &setPosition);
 	auto sv_serv = nh.advertiseService("set_velocity", &setVelocity);
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
@@ -948,7 +1193,7 @@ int main(int argc, char **argv)
 	position_msg.header.frame_id = local_frame;
 	position_raw_msg.header.frame_id = local_frame;
 	position_raw_msg.coordinate_frame = PositionTarget::FRAME_LOCAL_NED;
-	rates_msg.header.frame_id = fcu_frame;
+	//rates_msg.header.frame_id = fcu_frame;
 
 	ROS_INFO("ready");
 	ros::spin();

clover/src/vpe_publisher.cpp

@@ -11,12 +11,14 @@
 
 #include <string>
 #include <ros/ros.h>
+#include <tf/transform_datatypes.h>
 #include <tf2/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/Quaternion.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 #include <std_srvs/Trigger.h>
@@ -25,7 +27,7 @@
 using std::string;
 using namespace geometry_msgs;
 
-bool reset_flag = false;
+bool reset_flag = true; // offset should be reset on the start
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;
@@ -66,6 +68,13 @@ inline Pose getPose(const PoseStampedConstPtr& pose) { return pose->pose; }
 
 inline Pose getPose(const PoseWithCovarianceStampedConstPtr& pose) { return pose->pose.pose; }
 
+inline void keepYaw(Quaternion& quaternion)
+{
+	tf::Quaternion q;
+	q.setRPY(0, 0, tf::getYaw(quaternion));
+	tf::quaternionTFToMsg(q, quaternion);
+}
+
 template <typename T>
 void callback(const T& msg)
 {
@@ -88,10 +97,29 @@ void callback(const T& msg)
 		if (!offset_frame_id.empty()) {
 			if (reset_flag || msg->header.stamp - vpe.header.stamp > offset_timeout) {
 				// calculate the offset
-				offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
-				                                   msg->header.stamp, ros::Duration(0.02));
-				// offset.header.frame_id = vpe.header.frame_id;
-				offset.child_frame_id = offset_frame_id;
+				if (!frame_id.empty()) {
+					// calculate from TF
+					offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
+					                                   msg->header.stamp, ros::Duration(0.02));
+					// offset.header.frame_id = vpe.header.frame_id;
+					offset.child_frame_id = offset_frame_id;
+
+				} else {
+					// calculate transform between pose in vpe frame and pose in local frame
+					TransformStamped local_pose = tf_buffer.lookupTransform(local_frame_id, child_frame_id,
+					                                                        msg->header.stamp, ros::Duration(0.02));
+					keepYaw(local_pose.transform.rotation);
+
+					tf::Transform vpeTransform, poseTransform;
+					tf::poseMsgToTF(vpe.pose, vpeTransform);
+					tf::transformMsgToTF(local_pose.transform, poseTransform);
+					tf::Transform offset_tf = vpeTransform.inverseTimes(poseTransform);
+					tf::transformTFToMsg(offset_tf, offset.transform);
+					offset.header.frame_id = local_frame_id;
+					offset.header.stamp = msg->header.stamp;
+					offset.child_frame_id = offset_frame_id;
+				}
+
 				br.sendTransform(offset);
 				reset_flag = false;
 				ROS_INFO("offset reset");
@@ -122,8 +150,9 @@ int main(int argc, char **argv) {
 
 	tf2_ros::TransformListener tf_listener(tf_buffer);
 
-	nh_priv.param<string>("frame_id", frame_id, "");
-	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
+	nh_priv.param<string>("frame_id", frame_id, ""); // name for used visual pose frame
+	nh_priv.param<string>("offset_frame_id", offset_frame_id, ""); // name for published offset frame
+
 	nh.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
 	nh.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));

clover/src/www

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+
+export ROSWWW_DEFAULT=clover
+rosrun roswww_static update

clover/srv/GetTelemetry.srv

@@ -13,11 +13,11 @@ float32 alt
 float32 vx
 float32 vy
 float32 vz
-float32 pitch
 float32 roll
+float32 pitch
 float32 yaw
-float32 pitch_rate
 float32 roll_rate
+float32 pitch_rate
 float32 yaw_rate
 float32 voltage
 float32 cell_voltage

clover/srv/Navigate.srv

@@ -2,7 +2,6 @@ float32 x
 float32 y
 float32 z
 float32 yaw
-float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm

clover/srv/NavigateGlobal.srv

@@ -2,7 +2,6 @@ float64 lat
 float64 lon
 float32 z
 float32 yaw
-float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm

clover/srv/SetAltitude.srv

@@ -0,0 +1,5 @@
+float32 z
+string frame_id
+---
+bool success
+string message

clover/srv/SetAttitude.srv

@@ -1,5 +1,5 @@
-float32 pitch
 float32 roll
+float32 pitch
 float32 yaw
 float32 thrust
 string frame_id

clover/srv/SetPosition.srv

@@ -2,7 +2,6 @@ float32 x
 float32 y
 float32 z
 float32 yaw
-float32 yaw_rate
 string frame_id
 bool auto_arm
 ---

clover/srv/SetRates.srv

@@ -1,5 +1,5 @@
-float32 pitch_rate
 float32 roll_rate
+float32 pitch_rate
 float32 yaw_rate
 float32 thrust
 bool auto_arm

clover/srv/SetVelocity.srv

@@ -2,7 +2,6 @@ float32 vx
 float32 vy
 float32 vz
 float32 yaw
-float32 yaw_rate
 string frame_id
 bool auto_arm
 ---

clover/srv/SetYaw.srv

@@ -0,0 +1,5 @@
+float32 yaw
+string frame_id
+---
+bool success
+string message

clover/srv/SetYawRate.srv

@@ -0,0 +1,4 @@
+float32 yaw_rate
+---
+bool success
+string message

clover/test/basic.test

@@ -40,6 +40,16 @@
     <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
         args="messages image_raw 5.0 image_raw_throttled" required="true"/>
 
+    <node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" required="true">
+        <param name="num_worker_threads" value="2"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" required="true">
+        <remap from="image_mono" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="image_rect" to="main_camera/image_rect"/>
+    </node>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clover/test/offboard.py

@@ -0,0 +1,437 @@
+import rospy
+import pytest
+from pytest import approx
+import threading
+import mavros_msgs.msg
+from mavros_msgs.srv import SetMode
+from geometry_msgs.msg import PoseStamped
+from clover import srv
+from clover.msg import State
+from std_srvs.srv import Trigger
+from math import nan, inf
+import tf2_ros
+import tf2_geometry_msgs
+
+@pytest.fixture()
+def node():
+    return rospy.init_node('offboard_test', anonymous=True)
+
+@pytest.fixture
+def tf_buffer():
+    buf = tf2_ros.Buffer()
+    tf2_ros.TransformListener(buf)
+    return buf
+
+def get_state():
+    return rospy.wait_for_message('/simple_offboard/state', State, timeout=1)
+
+def get_navigate_target(tf_buffer):
+    target = tf_buffer.lookup_transform('map', 'navigate_target', rospy.get_rostime(), rospy.Duration(1))
+    assert target.child_frame_id == 'navigate_target'
+    return target
+
+def test_offboard(node, tf_buffer):
+    navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+    set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+    set_altitude = rospy.ServiceProxy('set_altitude', srv.SetAltitude)
+    set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)
+    set_yaw_rate = rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate)
+    set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+    set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+    set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+    get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+    land = rospy.ServiceProxy('land', Trigger)
+
+    res = navigate()
+    assert res.success == False
+    assert res.message.startswith('State timeout')
+
+    telem = get_telemetry()
+    assert telem.connected == False
+
+    # mocked state publisher
+    state_pub = rospy.Publisher('/mavros/state', mavros_msgs.msg.State, latch=True, queue_size=1)
+    state_msg = mavros_msgs.msg.State(mode='OFFBOARD', armed=True)
+
+    def publish_state():
+        r = rospy.Rate(2)
+        while not rospy.is_shutdown():
+            state_msg.header.stamp = rospy.Time.now()
+            state_pub.publish(state_msg)
+            r.sleep()
+
+    # start publishing state
+    threading.Thread(target=publish_state, daemon=True).start()
+    rospy.sleep(0.5)
+
+    # set_mode service mock
+    def set_mode(req):
+        state_msg.mode = req.custom_mode # set mocked mode to requested
+        return True,
+
+    rospy.Service('/mavros/set_mode', SetMode, set_mode)
+
+    telem = get_telemetry()
+    assert telem.connected == False
+
+    res = navigate()
+    assert res.success == False
+    assert res.message.startswith('No connection to FCU')
+
+    state_msg.connected = True
+    rospy.sleep(1)
+
+    telem = get_telemetry()
+    assert telem.connected == True
+
+    res = navigate()
+    assert res.success == False
+    assert res.message.startswith('No local position')
+
+    local_position_pub = rospy.Publisher('/mavros/local_position/pose', PoseStamped, latch=True, queue_size=1)
+    local_position_msg = PoseStamped()
+    local_position_msg.header.frame_id = 'map'
+    local_position_msg.pose.position.x = 1
+    local_position_msg.pose.position.y = 2
+    local_position_msg.pose.position.z = 3
+    local_position_msg.pose.orientation.w = 1
+
+    def publish_local_position():
+        r = rospy.Rate(30)
+        while not rospy.is_shutdown():
+            local_position_msg.header.stamp = rospy.Time.now()
+            local_position_pub.publish(local_position_msg)
+            r.sleep()
+
+    # start publishing local position
+    threading.Thread(target=publish_local_position, daemon=True).start()
+    rospy.sleep(0.5)
+
+    # check body frame
+    body = tf_buffer.lookup_transform('map', 'body', rospy.get_rostime(), rospy.Duration(1))
+    assert body.child_frame_id == 'body'
+    assert body.transform.translation.x == approx(1)
+    assert body.transform.translation.y == approx(2)
+    assert body.transform.translation.z == approx(3)
+
+    res = navigate(x=3, y=2, z=1, frame_id='map')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 3
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+    target = get_navigate_target(tf_buffer)
+    assert target.header.frame_id == 'map'
+    assert target.transform.translation.x == approx(3)
+    assert target.transform.translation.y == approx(2)
+    assert target.transform.translation.z == approx(1)
+    assert target.transform.rotation.x == 0
+    assert target.transform.rotation.y == 0
+    assert target.transform.rotation.z == 0
+    assert target.transform.rotation.w == 1
+
+    # try to set only the y
+    res = navigate(x=nan, y=1, z=nan)
+    assert res.success == False
+    assert res.message.startswith('x and y can be set only together')
+
+    # set z in body frame
+    res = navigate(x=nan, y=nan, z=1, frame_id='body')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 3
+    assert state.y == 2
+    assert state.z == 4
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # set xy in test frame
+    res = navigate(x=1, y=2, z=nan, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 4
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'test'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'test'
+
+    # auto_arm should not invalidate the setpoint if not effective
+    res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'test'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # auto_arm should invalidate the setpoint if effective
+    state_msg.mode = 'STABILIZED' # pretend we are not in OFFBOARD mode
+    rospy.sleep(1)
+    res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+    state_msg.mode = 'OFFBOARD'
+    rospy.sleep(1)
+
+    # set_attitude should invalidate the setpoint
+    res = set_attitude()
+    assert res.success == True
+
+    res = navigate(x=5, y=6, z=nan, yaw=nan, frame_id='map')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # test set_altitude
+    res = set_altitude(z=7, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'map'
+
+    # test set_yaw
+    res = set_yaw(yaw=0.5, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw == 0.5
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'test2'
+
+    # test set_yaw_rate
+    res = set_yaw_rate(yaw_rate=2)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw_rate == 2
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+
+    # navigate(yaw=nan) should keep yaw rate mode
+    res = navigate(x=nan, y=nan, z=nan, yaw=nan)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw_rate == 2
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+
+    # set_yaw(nan) should change back to yaw mode
+    res = set_yaw(yaw=nan)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.yaw == 0
+    assert state.yaw_frame_id == 'map'
+
+    # test set_position
+    res = set_position(x=nan, y=nan, z=13, yaw=nan, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_POSITION
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 13
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test2'
+    assert state.yaw_frame_id == 'map'
+
+    # set_altitude should not change the mode
+    res = set_altitude(z=3, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_POSITION
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'map'
+
+    # set_yaw should not change the main mode
+    res = set_yaw(yaw=1, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_POSITION
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 1
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'test2'
+
+    # test set_velocity
+    res = set_velocity(vx=1, frame_id='body')
+    state = get_state()
+    assert state.mode == State.MODE_VELOCITY
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.vx == 1
+    assert state.vy == 0
+    assert state.vz == 0
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # set_altitude should not work in velocity mode
+    res = set_altitude(z=3, frame_id='test')
+    assert res.success == False
+    assert res.message.startswith('Altitude cannot be set in')
+
+    # test set_attitude
+    res = set_attitude(roll=0.1, pitch=0.2, yaw=0.3, thrust=0.5)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_ATTITUDE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.roll == approx(0.1)
+    assert state.pitch == approx(0.2)
+    assert state.yaw == approx(0.3)
+    assert state.thrust == approx(0.5)
+    assert state.yaw_frame_id == 'map'
+    msg = rospy.wait_for_message('/mavros/setpoint_attitude/attitude', PoseStamped, timeout=3)
+    # Tait-Bryan ZYX angle (rzyx) converted to quaternion
+    assert msg.pose.orientation.x == approx(0.0342708)
+    assert msg.pose.orientation.y == approx(0.10602051)
+    assert msg.pose.orientation.z == approx(0.14357218)
+    assert msg.pose.orientation.w == approx(0.98334744)
+    msg = rospy.wait_for_message('/mavros/setpoint_attitude/thrust', mavros_msgs.msg.Thrust, timeout=3)
+    assert msg.thrust == approx(0.5)
+
+    # set_yaw should work in attitude mode
+    res = set_yaw(yaw=0.7, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_ATTITUDE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.roll == approx(0.1)
+    assert state.pitch == approx(0.2)
+    assert state.yaw == approx(0.7)
+    assert state.thrust == approx(0.5)
+    assert state.yaw_frame_id == 'test2'
+
+    # set_yaw_rate should not work in attitude mode
+    res = set_yaw_rate(yaw_rate=0.3)
+    assert res.success == False
+    assert res.message.startswith('Yaw rate cannot be set in')
+
+    # test set_rates
+    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=0.3, thrust=0.6)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0)
+    assert state.pitch_rate == approx(0)
+    assert state.yaw_rate == approx(0.3)
+    assert state.thrust == approx(0.6)
+    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
+    assert msg.thrust == approx(0.6)
+
+    res = set_rates(roll_rate=0.3, pitch_rate=0.2, yaw_rate=0.1, thrust=0.4)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0.3)
+    assert state.pitch_rate == approx(0.2)
+    assert state.yaw_rate == approx(0.1)
+    assert state.thrust == approx(0.4)
+
+    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=nan, thrust=0.3)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0.3)
+    assert state.pitch_rate == approx(0.2)
+    assert state.yaw_rate == approx(0.1)
+    assert state.thrust == approx(0.3)
+    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
+    assert msg.type_mask == mavros_msgs.msg.AttitudeTarget.IGNORE_ATTITUDE
+    assert msg.body_rate.x == approx(0.3)
+    assert msg.body_rate.y == approx(0.2)
+    assert msg.body_rate.z == approx(0.1)
+
+    # set_yaw_rate should work in rates mode
+    res = set_yaw_rate(yaw_rate=0.4)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0.3)
+    assert state.pitch_rate == approx(0.2)
+    assert state.yaw_rate == approx(0.4)
+    assert state.thrust == approx(0.3)
+
+    res = set_rates(roll_rate=inf)
+    assert res.success == False
+    assert res.message == 'roll_rate argument cannot be Inf'
+
+    # test land service
+    res = land()
+    assert res.success == True
+    assert state_msg.mode == 'AUTO.LAND' # check that the mode was set correctly

clover/test/offboard.test

@@ -0,0 +1,10 @@
+<launch>
+    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>
+
+    <node pkg="tf2_ros" type="static_transform_publisher" name="test_frame" args="10 20 30 0 0 0 map test"/>
+
+    <node pkg="tf2_ros" type="static_transform_publisher" name="test2_frame" args="100 200 300 0 0 0 map test2"/>
+
+    <param name="test_module" value="$(find clover)/test/offboard.py"/>
+    <test test-name="offboard_test" pkg="ros_pytest" type="ros_pytest_runner"/>
+</launch>

clover/udev/99-px4fmu.rules

@@ -1,17 +1,54 @@
-# PixHawk (px4fmu-v2), px4fmu-v3
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", ATTRS{product}=="PX4 FMU v2.x", SYMLINK+="px4fmu"
-# PixRacer (px4fmu-v4)
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU v4.x", SYMLINK+="px4fmu"
-# px4fmu-v5
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0032", ATTRS{product}=="PX4 FMU v5.x", SYMLINK+="px4fmu"
-# auav
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV x2.1", SYMLINK+="px4fmu"
-# crazyflie
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
-# px4fmu-v4pro
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
-# Omnibus
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
-# CUAV X7 Pro
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"
+# Source files: PX4-Autopilot/boards/**/nuttx-config/nsh/defconfig
 
+# Additional info:
+# https://docs.px4.io/main/en/flight_controller/
+# https://github.com/mavlink/qgroundcontrol/blob/master/src/comm/USBBoardInfo.json
+
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 GNF405", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001c", ATTRS{product}=="PX4 FMUK66 v3.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001c", ATTRS{product}=="PX4 FMUK66 E", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001d", ATTRS{product}=="PX4 FMURT1062 v1.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="DiatoneMambaF405 MK2", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="a32f", ATTRS{product}=="PX4 FMU ModalAI FCv1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="a330", ATTRS{product}=="PX4 FMU ModalAI FCv2", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU UVify Core", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7v2", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004b", ATTRS{product}=="PX4 DurandalV1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteF7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7Mini-nand", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004E", ATTRS{product}=="PX4 PIX32V5", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0061", ATTRS{product}=="PX4 ATL Mantis-EDU", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV Nora", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="MatekH743-mini", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="MatekH743", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="120A", ATTRS{idProduct}=="1004", ATTRS{product}=="Matekgnssm9nf4", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1209", ATTRS{idProduct}=="1013", ATTRS{product}=="MatekH743", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="0037", ATTRS{product}=="PX4 FMU SmartAP AIRLink", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1058", ATTRS{product}=="CubeOrange+", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1012", ATTRS{product}=="CubeYellow", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1016", ATTRS{product}=="CubeOrange", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0035", ATTRS{product}=="PX4 FMU v6X.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0038", ATTRS{product}=="PX4 FMU v6C.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0033", ATTRS{product}=="PX4 FMU v5X.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="PX4 FMU v6U.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", ATTRS{product}=="PX4 FMU v2.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU v4.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0032", ATTRS{product}=="PX4 FMU v5.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004b", ATTRS{product}=="PX4 SP RACING H7 EXTREME", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0030", ATTRS{product}=="MindPX FMU v2.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0039", ATTRS{product}=="ARK FMU v6X.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 FreeFly RTK GPS", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1024", ATTRS{product}=="mRoControlZeroH7 OEM", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1017", ATTRS{product}=="mRoPixracerPro", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1023", ATTRS{product}=="mRoControlZeroH7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="008D", ATTRS{product}=="mRoControlZeroF7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV X2.1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1022", ATTRS{product}=="mRoControlZero Classic", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0088", ATTRS{product}=="mRo x2.1-777", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="35a7", ATTRS{idProduct}=="0002", ATTRS{product}=="FCC-R1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="35a7", ATTRS{idProduct}=="0001", ATTRS{product}=="FCC-K1", SYMLINK+="px4fmu"

clover_blocks/README.md

@@ -47,6 +47,7 @@ http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
 
 * `~running` ([*std_msgs/Bool*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
 * `~block` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
+* `~print` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program output messages (published in *print* blocks).
 * `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
 * `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
 

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_blocks/www/blocks.js

@@ -15,6 +15,7 @@ const COLOR_GPIO = 200;
 const DOCS_URL = 'https://clover.coex.tech/en/blocks.html';
 
 var frameIds = [["body", "BODY"], ["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["map", "MAP"]];
+var frameIdsWithTerrain = frameIds.concat([["terrain", "TERRAIN"]]);
 
 function considerFrameId(e) {
 	if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
@@ -22,7 +23,7 @@ function considerFrameId(e) {
 	var frameId = this.getFieldValue('FRAME_ID');
 	// set appropriate coordinates labels
 	if (this.getInput('X')) { // block has x-y-z fields
-		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK') {
+		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK' || frameId == 'TERRAIN') {
 			this.getInput('X').fieldRow[0].setValue('forward');
 			this.getInput('Y').fieldRow[0].setValue('left');
 			this.getInput('Z').fieldRow[0].setValue('up');
@@ -59,8 +60,8 @@ function updateSetpointBlock(e) {
 	this.getInput('VY').setVisible(velocity);
 	this.getInput('VZ').setVisible(velocity);
 	this.getInput('YAW').setVisible(attitude);
-	this.getInput('PITCH').setVisible(attitude);
 	this.getInput('ROLL').setVisible(attitude);
+	this.getInput('PITCH').setVisible(attitude);
 	this.getInput('THRUST').setVisible(attitude);
 	this.getInput('RELATIVE_TO').setVisible(type != 'RATES');
 
@@ -73,7 +74,7 @@ function updateSetpointBlock(e) {
 
 Blockly.Blocks['navigate'] = {
 	init: function () {
-		let navFrameId = frameIds.slice();
+		let navFrameId = frameIdsWithTerrain.slice();
 		navFrameId.push(['global', 'GLOBAL_LOCAL'])
 		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
@@ -163,14 +164,14 @@ Blockly.Blocks['setpoint'] = {
 		this.appendValueInput("VZ")
 			.setCheck("Number")
 			.appendField("vz");
-		this.appendValueInput("PITCH")
-			.setCheck("Number")
-			.appendField("pitch")
-			.setVisible(false);
 		this.appendValueInput("ROLL")
 			.setCheck("Number")
 			.appendField("roll")
 			.setVisible(false);
+		this.appendValueInput("PITCH")
+			.setCheck("Number")
+			.appendField("pitch")
+			.setVisible(false);
 		this.appendValueInput("YAW")
 			.setCheck("Number")
 			.appendField("yaw")
@@ -213,7 +214,7 @@ Blockly.Blocks['get_position'] = {
 			.appendField("current")
 			.appendField(new Blockly.FieldDropdown([["x", "X"], ["y", "Y"], ["z", "Z"], ["vx", "VX"], ["vy", "VY"], ["vz", "VZ"]]), "FIELD")
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(frameIdsWithTerrain), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -247,7 +248,7 @@ Blockly.Blocks['get_attitude'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["pitch", "PITCH"], ["roll", "ROLL"], ["pitch rate", "PITCH_RATE"], ["roll rate", "ROLL_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
+			.appendField(new Blockly.FieldDropdown([["roll", "ROLL"], ["pitch", "PITCH"], ["roll rate", "ROLL_RATE"], ["pitch rate", "PITCH_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
 		this.setOutput(true, "Number");
 		this.setColour(COLOR_STATE);
 		this.setTooltip("Returns current orientation or angle rates in degree or degree per second (not radian).");
@@ -268,6 +269,19 @@ Blockly.Blocks['voltage'] = {
 	}
 };
 
+Blockly.Blocks['get_rc'] = {
+	init: function () {
+		this.appendDummyInput()
+			.appendField("RC channel")
+		this.appendValueInput("CHANNEL")
+			.setCheck("Number");
+		this.setInputsInline(true);
+		this.setOutput(true, "Number");
+		this.setColour(COLOR_STATE);
+		this.setTooltip("Returns current RC channel value.");
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
+	}
+}
 
 Blockly.Blocks['armed'] = {
 	init: function () {
@@ -509,7 +523,7 @@ Blockly.Blocks['distance'] = {
 			.appendField("z");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"]]), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["terrain", "TERRAIN"]]), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")

clover_blocks/www/index.html

@@ -69,8 +69,8 @@
 				<value name="VX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VY"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VZ"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
-				<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="YAW"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="THRUST"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
@@ -100,6 +100,9 @@
 			<block type="mode"></block>
 			<block type="armed"></block>
 			<block type="voltage"></block>
+			<block type="get_rc">
+				<value name="CHANNEL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+			</block>
 		</category>
 		<category name="LED" colour="#02d754">
 			<block type="set_effect">

clover_blocks/www/python.js

@@ -81,7 +81,10 @@ function generateROSDefinitions() {
 		code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
 		code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
 		if (rosDefinitions.navigateGlobal) {
-		code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
+			code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
+		}
+		if (rosDefinitions.setYaw) {
+			code += `set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)\n`;
 		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
@@ -276,10 +279,11 @@ Blockly.Python.angle = function(block) {
 }
 
 Blockly.Python.set_yaw = function(block) {
+	rosDefinitions.setYaw = true;
 	simpleOffboard();
 	let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
 	let frameId = buildFrameId(block);
-	let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
+	let code = `set_yaw(yaw=${yaw}, frame_id=${frameId})\n`;
 	if (block.getFieldValue('WAIT') == 'TRUE') {
 		rosDefinitions.waitYaw = true;
 		simpleOffboard();
@@ -328,11 +332,11 @@ Blockly.Python.setpoint = function(block) {
 	} else if (type == 'ATTITUDE') {
 		rosDefinitions.setAttitude = true;
 		simpleOffboard();
-		return `set_attitude(pitch=${pitch}, roll=${roll}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
+		return `set_attitude(roll=${roll}, pitch=${pitch}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
 	} else if (type == 'RATES') {
 		rosDefinitions.setRates = true;
 		simpleOffboard();
-		return `set_rates(pitch_rate=${pitch}, roll_rate=${roll}, yaw_rate=${yaw}, thrust=${thrust})\n`;
+		return `set_rates(roll_rate=${roll}, pitch_rate=${pitch}, yaw_rate=${yaw}, thrust=${thrust})\n`;
 	}
 }
 
@@ -398,6 +402,12 @@ Blockly.Python.voltage = function(block) {
 	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
 }
 
+Blockly.Python.get_rc = function(block) {
+	Blockly.Python.definitions_['import_rcin'] = 'from mavros_msgs.msg import RCIn';
+	var channel = Blockly.Python.valueToCode(block, 'CHANNEL', Blockly.Python.ORDER_NONE);
+	return [`rospy.wait_for_message('mavros/rc/in', RCIn).channels[${channel}]`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
 function parseColor(color) {
 	return {
 		r: parseInt(color.substr(2, 2), 16),

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_simulation/airframes/4500_clover

@@ -31,7 +31,7 @@ param set-default EKF2_OF_DELAY 0
 param set-default EKF2_OF_QMIN 10
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_OF_N_MAX 0.2
-param set-default EKF2_HGT_MODE 2 # 0 = baro, 1 = gps, 2 = range, 3 = vision
+param set-default EKF2_HGT_MODE 3 # 0 = baro, 1 = gps, 2 = range, 3 = vision
 param set-default EKF2_EVA_NOISE 0.1
 param set-default EKF2_EVP_NOISE 0.1
 param set-default EKF2_EV_DELAY 0

clover_simulation/models/red_circle/materials/scripts/red_circle.material

@@ -0,0 +1,16 @@
+material red_circle
+{
+	technique
+	{
+		pass
+		{
+			scene_blend alpha_blend
+			texture_unit
+			{
+				texture red_circle.png
+				filtering none
+				scale 1.0 1.0
+			}
+		}
+	}
+}

clover_simulation/models/red_circle/model.config

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<model>
+    <name>Red Circle</name>
+    <version>1.0</version>
+    <sdf version="1.5">red_circle.sdf</sdf>
+    <author>
+        <name>Oleg Kalachev</name>
+        <email>okalachev@gmail.com</email>
+    </author>
+    <description>
+        Red circle of size 40 cm on the floor for recognizing by a drone
+    </description>
+</model>

clover_simulation/models/red_circle/red_circle.sdf

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+    <model name="red_circle">
+        <static>true</static>
+        <link name="red_circle_link">
+            <pose>0 0 1e-3 0 0 0</pose>
+            <visual name="red_circle_texture">
+                <cast_shadows>false</cast_shadows>
+                <geometry>
+                    <box>
+                        <size>0.4 0.4 1e-3</size>
+                    </box>
+                </geometry>
+                <material>
+                    <script>
+                        <uri>model://red_circle/materials/scripts</uri>
+                        <uri>model://red_circle/materials/textures</uri>
+                        <name>red_circle</name>
+                    </script>
+                </material>
+            </visual>
+        </link>
+    </model>
+</sdf>

clover_simulation/models/red_circle/red_circle.svg

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" width="20" height="20" viewBox="0 0 20 20">
+	<title>
+		red_circle
+	</title><g fill="red">
+	<circle cx="10.05" cy="10.05" r="9.9"/>
+</g></svg>

clover_simulation/package.xml

@@ -1,6 +1,6 @@
-<package format="2">
+<package format="3">
     <name>clover_simulation</name>
-    <version>0.23.0</version>
+    <version>0.24.0</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
 
     <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -22,6 +22,8 @@
     <depend>gazebo_ros</depend>
     <depend>gazebo_plugins</depend>
     <depend>rospy</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
     <export>
         <gazebo_ros gazebo_media_path="${prefix}"/>

docs/en/SUMMARY.md

@@ -36,7 +36,7 @@
   * [Optical Flow](optical_flow.md)
   * [Autonomous flight (OFFBOARD)](simple_offboard.md)
   * [Coordinate systems (frames)](frames.md)
-  * [Code snippets](snippets.md)
+  * [Code examples](snippets.md)
   * [Interfacing with a laser rangefinder](laser.md)
   * [LED strip](leds.md)
   * [Working with GPIO](gpio.md)
@@ -57,6 +57,7 @@
   * [COEX Pix](coex_pix.md)
   * [COEX PDB](coex_pdb.md)
   * [COEX GPS](coex_gps.md)
+  * [Using SSH keys](ssh_keys.md)
   * [Guide on autonomous flight](auto_setup.md)
   * [Hostname](hostname.md)
   * [PX4 Simulation](sitl.md)
@@ -105,6 +106,12 @@
   * [Video contest](video_contest.md)
   * [Educational contests](educational_contests.md)
 * [Clover-based projects](projects.md)
+  * [Clover Cloud Platform](clover-cloud-platform.md)
+  * [Autonomous Racing Drone](djs_phoenix_chetak.md)
+  * [Motion Capture System](mocap_clover.md)
+  * [Swarm in Blocks 2](swarm_in_blocks_2.md)
+  * [Advanced Clover 2](advanced_clover_simulator_platform.md)
+  * [Network of charging stations](liceu128.md)
   * [Swarm-in-blocks](swarm_in_blocks.md)
   * [Obstacle avoidance using artificial potential fields method](obstacle-avoidance-potential-fields.md)
   * [The Clover Rescue Project](clover-rescue-team.md)

docs/en/advanced_clover_simulator_platform.md

@@ -0,0 +1,161 @@
+# Advanced Clover 3: The Platform
+
+[CopterHack-2023](copterhack2023.md), team **FTL**.
+
+## Team Information
+
+```cpp
+#include "veryInterestingCommandDescription.h"
+```
+
+Team members:
+
+- Maxim Ramanouski, [@max8rr8](https://t.me/max8rr8).
+
+Country: Belarus.
+
+## Project Description
+
+Last year at CopterHack 2022, we created a [project](../ru/advanced_clover_simulator.html) that simplified the simulation of Clover, and in 2021, we created a [project](../ru/advanced_clover.html) that simplified the development of products for Clover (IDE and library for writing). The time has come to combine them and achieve unlimited power.
+
+### Project Idea
+
+The idea of the project is to combine CloverIDE and CloverSim (a tool for running Clover simulations). Thus, a platform is planned that allows developing products based on Clover using a simulator and an advanced IDE. The platform will include the following features:
+
+- Add a web interface that allows using CloverSim without touching the command line.
+- Work both in the browser (without installing anything) and from CLI.
+- Have a course that covers different aspects of clover.
+- Simplify installation, especially in WSL.
+- Running a simulation on a remote device (more powerful computer or cloud).
+
+### Project videos
+
+Video presentation of the project: [link](https://www.youtube.com/watch?v=T4RU9sfxsSI).
+
+Live presentation at CopterHack: TBD.
+
+CLI demonstration: [link](https://www.youtube.com/watch?v=Ao-ukR58sSQ).
+
+## Installation
+
+Installation process is described in the [project documentation](https://ftl-team.github.io/clover_sim/#/?id=installation).
+
+## Usage
+
+The CloverSim platform offers a seamless workflow for users:
+
+1. Users can effortlessly select or create a workspace and task and
+   launch them with ease.
+
+   ![Step 1 screenshot](../assets/ftl/acp_workflow1.png)
+
+2. After launching the simulation, users are presented with CloverSim WebUI that
+   provides them with an intuitive way to view their scores and progress,
+   control the simulator, and access task descriptions and scoring information.
+   From it users can open terminal, gzweb and more importantly they can easily
+   access the CloverSim IDE to solve task.
+
+   ![Step 2 screenshot](../assets/ftl/acp_workflow2.png)
+
+3. The IDE provides a full suite of tools and features for writing and
+   debugging code. One example is autocompletion to help streamline the
+   development process, making it more efficient and effective.
+
+   ![Step 3 screenshot](../assets/ftl/acp_workflow3.png)
+
+4. Users can launch their programs with ease and monitor its progress via
+   the GZWeb, CopterStatus, and SimulatorStatus views of the IDE.
+
+   ![Step 4 screenshot](../assets/ftl/acp_workflow4.png)
+
+5. Users can track their progress and scores in real-time and effortlessly
+  restart the simulator if necessary. Additionally, different randomization
+  seed can be set to check various inputs and outcomes.
+
+We also have video demonstration/tutorial: [link](https://www.youtube.com/watch?v=aPOPHD3M3ZM).
+
+## More features
+
+- Easy installation process.
+- Efficient simulation launch, surpassing traditional virtual machines.
+- Generation of dynamic Gazebo worlds with randomization based on seed.
+- Real-time task completion verification and score presentation.
+- Execution with security in isolated containers.
+- Multiple project capability without the need for multiple virtual machine images.
+- WebUI for ease of use, removing the need to use the command line.
+- IDE similar to VSCode with support for C++ and Python, including autocompletion and autoformatting.
+- Custom-patched GZWeb with bug fixes and additional features, including the display of the Clover LED strip.
+- GZWeb provides a follow-objects feature superior to that of Gazebo.
+- IDE includes tools to interact with ROS, such as topic visualization, service calling, and image topic visualization.
+- IDE also includes Copter Status, displaying most of the drone's information, including position, camera, and LED strip, in one view.
+- IDE integrates with the simulator by providing control from it, viewing task descriptions, and opening GZWeb.
+
+We also have developed a learning course based on CloverSim: [link](https://github.com/FTL-team/CloverSim_course). It currently has the following tasks:
+
+- 1_thesquare - First task of CloverSim course with goal to fly square.
+- 2_iseeall - Task that teaches how to interact with camera.
+- 3_landmid - Find and land onto randomly positioned object.
+- 4_flybyline - Flying along the line.
+- 5_posknown - Find position of objects relative to ArUco map.
+
+## More details
+
+At this point, our platform consists of four major parts:
+
+- [CloverSim](https://github.com/FTL-team/clover_sim) - tool that manages simulation.
+- [CloverSim Basefs](https://github.com/FTL-team/clover_sim_basefs) - container image that is used in simulator.
+- [Clover IDE](https://github.com/FTL-team/cloverIDE) - clover ide tools and theia.
+- [CloverSim course](https://github.com/FTL-team/CloverSim_course) - course with tasks based on our platform.
+
+### CloverSim
+
+The simulation architecture is a continuation of work from CopterHack 2022, but while 2022 version was closer to Proof-of-Concept, the updated version is more robust.
+
+There are three major difference in simulator architecture
+
+- Replacement of `systemd-nspawn` with `runc` provides us higher degree of container control and seemingless support of non-systemd systems, for example WSL.
+- Migration to squash fs images, which greatly reduced size of installed CloverSim from 13 gigabytes to just 3.5 gigabytes.
+- Tasks are now mounted instead of being copied and also build before starting.
+
+Because of the way catkin_make works, it is incredibly slow when new packages are added (whole cmake configuration is rerun for all packages). catkin_make provides a way to build only some packages, but it caches this packages and to reset this cache you need to recompile whole catkin_make. But we have found a solution: `catkin_make -DCATKIN_WHITELIST_PACKAGES="task;CloverSim" --build build_CloverSim` This command, builds only CloverSim and task package in separate build directory, this drastically reduces time that catkin_make takes, and keeps expected behavior of catkin_make without arguments.
+
+There are also differences in tool that launches simulation:
+
+- Client-server architecture allows us to create web UI and run CloverSim on server.
+- More robust error handling improves user experience.
+- Rewritten in rust, better reliability and development experience.
+
+### CloverSim basefs
+
+Version 2 integrates CloverIDE into system. We also updated clover in simulator to v0.23 and added web terminal. Basefs is now squashed and doesn't require additional installation. It also uses patched(by us) version of gzweb that is more suitable for our use-case:
+
+- Unlike original GZWeb assets can be dynamically loaded, which is required to support dynamically generated tasks.
+- It also implements multiple bugfixes for rendering, UI.
+- Fixed performance, original gzweb had two constantly running loops that used 200% of cpu. We fixed this by instead using synchronization primitives.
+- Clover LED strip is rendered, our gzweb connects to ROS and pulls LED data from there to render LED strip like Gazebo does.
+- Users can now follow-objects like in Gazebo better actually.
+- Reconnect on disconnect, when simulator is restarted gzweb looses connection and it now can automatically reconnect.
+
+Patched gzweb available there: [FTL-team/gzweb](https://github.com/FTL-team/gzweb).
+
+### CloverIDE
+
+CloverIDE got some updates too:
+
+- We have updated theia and extensions used.
+- Better C++ support via clangd.
+- Clover IDE tools can now reconnect after simulator restart.
+- Copter Status now displays LED strip status.
+- Tools ui has better support for different themes.
+
+But the most important change is CloverSim integration, there are new tools (task description, simulator control and gzweb). While gzweb tool is just an iframe (though it's very cool to have it in IDE).
+
+Task description and simulator control are more interesting as they have to interact with both IDE and CloverSim, to maintain different versions support we use quite interesting trick, extension webview after being initialized dynamically loads JavaScript from CloverSim. That provides better integration between two.
+
+### CloverSim course
+
+CloverSim course is a new part of our platform. It uses robust task API of CloverSim to create practical learning course. It currently teaches different aspects of clover development that i encountered during my participation in different contests involving clover. But we are happy to accpet suggestions about other aspects we should teach in out course.
+
+## Conclusion
+
+This project is a final (or maybe there is more?) project of our advanced clover saga. AdvancedClover is a project that is easy to use and greatly improves experience during learning about clover, participating in clover based competitions and development clover based projects. We thank COEX team for their support and look forward to further cooperation.

docs/en/aruco_marker.md

@@ -72,12 +72,6 @@ Sample code to fly to a point 1 metre to the left and 2 metres above marker with
 navigate(frame_id='aruco_7', x=-1, y=0, z=2)
 ```
 
-Sample code to rotate counterclockwise while hovering 1.5 metres above marker id 10:
-
-```python
-navigate(frame_id='aruco_10', x=0, y=0, z=1.5, yaw_rate=0.5)
-```
-
 Note that if the required marker isn't detected for 0.5 seconds after the `navigate` command, the command will be ignored.
 
 These frames may also be used in other services that accept TF frames (like `get_telemetry`). The following code will get the drone's position relative to the marker with id 3:

docs/en/blocks.md

@@ -2,7 +2,7 @@
 
 <img src="../assets/blocks/blockly.svg" width=200 align="right">
 
-Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) platform. Blocks programming integration can lower the entry barrier to a minimum.
+Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) library. Blocks programming integration can lower the entry barrier to a minimum.
 
 ## Configuration
 

docs/en/camera.md

@@ -1,5 +1,7 @@
 # Working with the camera
 
+> **Note** The following applies to the [image version **0.24**](https://github.com/CopterExpress/clover/releases/tag/v0.24), which is not yet released. Older documentation is still available for [for version **0.23**](https://github.com/CopterExpress/clover/blob/f78a03ec8943b596d5a99b893188a159d5319888/docs/en/camera.md).
+
 Make sure the camera is enabled in the `~/catkin_ws/src/clover/clover/launch/clover.launch` file:
 
 ```xml
@@ -14,7 +16,7 @@ The `clover` service must be restarted after the launch-file has been edited:
 sudo systemctl restart clover
 ```
 
-You may use rqt or [web_video_server](web_video_server.md) to view the camera stream.
+You may use [rqt](rviz.md) or [web_video_server](web_video_server.md) to view the camera stream.
 
 ## Troubleshooting
 
@@ -52,8 +54,6 @@ The [SD card image](image.md) comes with a preinstalled [OpenCV](https://opencv.
 
 ### Python
 
-Main article: http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython.
-
 An example of creating a subscriber for a topic with an image from the main camera for processing with OpenCV:
 
 ```python
@@ -61,12 +61,14 @@ import rospy
 import cv2
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
+from clover import long_callback
 
-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()
 
+@long_callback
 def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    img = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
     # Do any image processing with cv2...
 
 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
@@ -74,19 +76,31 @@ image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
 rospy.spin()
 ```
 
+> **Note** Image processing may take significant time to finish. This can cause an [issue](https://github.com/ros/ros_comm/issues/1901) in rospy library, which would lead to processing stale camera frames. To solve this problem you need to use `long_callback` decorator from `clover` library, as in the example above.
+
+#### Limiting CPU usage
+
+When using the `main_camera/image_raw` topic, the script will process the maximum number of frames from the camera, actively utilizing the CPU (up to 100%). In tasks, where processing each camera frame is not critical, you can use the topic, where the frames are published at rate 5 Hz: `main_camera/image_raw_throttled`:
+
+```python
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+```
+
+#### Publishing images
+
 To debug image processing, you can publish a separate topic with the processed image:
 
 ```python
 image_pub = rospy.Publisher('~debug', Image)
 ```
 
-Publishing the processed image (at the end of the image_callback function):
+Publishing the processed image:
 
 ```python
-image_pub.publish(bridge.cv2_to_imgmsg(cv_image, 'bgr8'))
+image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
 ```
 
-The obtained images can be viewed using [web_video_server](web_video_server.md).
+The published images can be viewed using [web_video_server](web_video_server.md) or [rqt](rviz.md).
 
 #### Retrieving one frame
 
@@ -97,7 +111,7 @@ import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()
 
 # ...
@@ -119,40 +133,32 @@ QR codes recognition in Python:
 ```python
 import rospy
 from pyzbar import pyzbar
+import cv2
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
+from clover import long_callback
 
+rospy.init_node('cv')
 bridge = CvBridge()
 
-rospy.init_node('barcode_test')
-
-# Image subscriber callback function
-def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
-    barcodes = pyzbar.decode(cv_image)
+@long_callback
+def image_callback(msg):
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
+    barcodes = pyzbar.decode(img)
     for barcode in barcodes:
-        b_data = barcode.data.decode("utf-8")
+        b_data = barcode.data.decode('utf-8')
         b_type = barcode.type
         (x, y, w, h) = barcode.rect
         xc = x + w/2
         yc = y + h/2
-        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
+        print('Found {} with data {} with center at x={}, y={}'.format(b_type, b_data, xc, yc))
 
-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
 
 rospy.spin()
 ```
 
-The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
-
-> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
-
-```xml
-<node pkg="topic_tools" name="cam_throttle" type="throttle"
-    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
-```
-
-The topic for the subscriber in this case should be changed for `main_camera/image_raw_throttled`.
+> **Hint** See other computer vision examples in the `~/examples` directory of the [RPi image](image.md).
 
 ## Video recording
 

docs/en/cli.md

@@ -30,6 +30,16 @@ Print path to the current directory:
 pwd
 ```
 
+Go to the user's home directory:
+
+```bash
+# all three commands are equivalent, where the tilde character (~) is an abbreviated
+# path entry to the home directory, and the $HOME variable stores this path
+cd
+cd ~
+cd $HOME
+```
+
 Print contents of the `file.py` file:
 
 ```bash

docs/en/clover-cloud-platform.md

@@ -0,0 +1,93 @@
+# Clover Cloud Platform
+
+[CopterHack-2023](copterhack2023.md), team **Clover Cloud Team**.
+
+The list of our team members:
+
+* Кирилл Лещинский / Kirill Leshchinskiy, [@k_leshchinskiy](https://t.me/k_leshchinskiy) - Team Lead.
+* Кузнецов Михаил / Mikhail Kuznetsov, [@bruhfloppa](https://t.me/bruhfloppa) - Frontend Developer.
+* Даниил Валишин / Daniil Valishin, [@Astel_1](https://t.me/Astel_1) - Backend Developer.
+
+## Table of contents
+
+* [Introduction](#introduction)
+* [Usability](#usability)
+* [How to work with our platform?](#how-to-work-with-our-platform)
+* [About the development of the platform](#about-the-development-of-the-platform)
+* [Conclusion](#conclusion)
+
+## Video demonstration
+
+<p align="center">
+  <a href="https://www.youtube.com/watch?v=FZPl2LOMgi4"><img img width="560" height="315" src="https://img.youtube.com/vi/FZPl2LOMgi4/maxresdefault.jpg" /></a>
+</p>
+
+## Introduction
+
+Clover Cloud Platform is an innovative platform that enables users to access COEX Clover drone simulation online, without the need to download any programs or virtual machines.
+
+> **Note** Visit our [documentation](https://docs.clovercloud.software) to learn all about the platform, its development and how to use it.
+
+## Unleash Your Coding Power: Develop Autonomous Flight Code at Lightning Speed on Clover Cloud Platform
+
+If you're a developer working on autonomous flight projects, you know how time-consuming and distracting all of the routine activities can be. Between managing your hardware, debugging, and configuring your environment, it can feel like the real work of coding gets lost in the shuffle.
+
+That's where our platform comes in. Our streamlined interface and powerful tools make it easy to tackle all of those essential tasks so you can focus on what really matters: developing flawless, high-performance code for your autonomous flight project.
+
+So why wait to unleash your coding power? Sign up for our platform today and discover the difference it can make in the speed, quality, and focus of your autonomous flight coding work.
+
+## Usability
+
+Our platform is incredibly user-friendly and provides seamless access to the simulation in just a few clicks. Together with a simulator that displays simulation data accurately and without delay, there is a map editor allows users to edit the ArUco marker map and add or modify other objects on the scene directly within the simulation window. Additionally, users can create pre-configured workspaces complete with autonomous flight code and simulation scene configuration. Each user can also create their templates or apply a pre-made one to their workspace in just a few clicks. In addition to its other features, Clover Cloud Platform provides users with a convenient code editor for autonomous flight coding. Users can write code in the built-in editor and run it directly from the editor, viewing program output in real-time in the terminal. The platform also includes a file manager that simplifies file manipulation tasks, further enhancing the user's overall experience. With these tools at your fingertips, Clover Cloud Platform delivers an unparalleled level of accessibility and convenience for autonomous flight simulation.
+
+<p align="center">
+  <img src="https://raw.githubusercontent.com/Clover-Cloud-Platform/clover-cloud-platform-frontend/master/docs/workspace.png" alt="Workspace screenshot">
+</p>
+
+## The CodeSandbox for COEX Clover
+
+You can describe the usability and relevance of our platform in another way. Have you heard of CodeSandbox? Our platform offers the same convenience, flexibility, and accessibility as CodeSandbox, but is specifically designed to work with the COEX Clover drone simulation.
+
+## How to work with our platform?
+
+Let's dive into the sea of functionality that our platform offers. Detailed description of each feature is available in our [documentation](https://docs.clovercloud.software), here we will provide a general overview of the platform.
+
+### Creating an account
+
+First, you should create an account on our site. You can do this by clicking on this [link](https://clovercloud.software/signup).
+
+### Instance management
+
+After creating an account, you will be taken to the [dashboard](https://clovercloud.software/instances). Here you can create, start, stop and delete workspaces.
+
+>Workspaces are containers with Gazebo simulator and our software that provide data flow for simulation visualization, as well as handle requests from file manager, code editor and terminal.
+
+<p align="center">
+  <img src="https://raw.githubusercontent.com/Clover-Cloud-Platform/clover-cloud-platform-frontend/master/docs/instances.gif" alt="Instance management">
+</p>
+
+### Workspace overview
+
+In the workspace, in addition to the simulator, you have a file manager, code editor and terminal. There is also an editing mode in the simulator - one of the key features of our project. It allows you to quickly and conveniently edit the simulation scene, namely: move ArUco markers, change their size, change id of the marker, load instead of marker picture, add new markers or delete them. You can also add 3d objects to the scene and change their position, size and color. Below is an example of working with our workspace.
+
+<p align="center">
+  <img src="https://github.com/Clover-Cloud-Platform/clover-cloud-platform-frontend/raw/master/docs/workspace.gif" alt="Workspace overview">
+</p>
+
+### Templates
+
+Templates are another key feature of our platform.Is there something you can't do and you want to see how to properly perform a task? Look for the right template with ready-made code in the Template Browser and apply it to your workspace! Each user can create a template with an autonomous flight code and simulator configuration and share it.
+
+## About the development of the platform
+
+Our team has worked tirelessly to develop a simple yet multifunctional platform. We utilized the most modern standards and tools and implemented numerous optimization methods to ensure seamless performance and error-free operation. The frontend programming language chosen was JavaScript with the React framework, as a design system we utilizing Material Design style for an elegant and intuitive user interface. With the help of GitHub Actions the website is being built and deployed to Firebase hosting. The platform's backend is written in Python and contains multiple simultaneously running scripts. User data is secured and stored in a MongoDB database. Communication between the server and site is enabled through web sockets and the socket.io library, guaranteeing lightning-fast data transfer with minimal lag.
+
+You can view the source code of our platform by clicking on the links below:
+
+[Repository with the frontend-side code](https://github.com/Clover-Cloud-Platform/clover-cloud-platform-frontend)
+
+[Repository with the backend-side code](https://github.com/Clover-Cloud-Platform/clover-cloud-platform-backend)
+
+## Conclusion
+
+In conclusion, we have successfully created a truly convenient and useful platform, suitable for both novice and advanced COEX Clover drone users. Beginners can test their first autonomous flight code without the need for demanding simulator installation or virtual machines. They can also explore all of the drone's functions and capabilities without editing any configuration files. Advanced users benefit from access to their workspace from anywhere in the world and on any device, along with a convenient code-sharing system. In the future, we plan to add more new features to our platform, scale our network to serve a greater number of users, and collaborate with COEX to integrate their Clover quadcopter documentation into our platform, offering users a very simple and user-friendly way to learn to program autonomous drone flight. We also want to express gratitude to the COEX customer support team for their assistance in resolving complex issues that arose during development.

docs/en/connection.md

@@ -6,37 +6,59 @@ In order to program [autonomous flights](simple_offboard.md), [work with Pixhawk
 
 USB connection is the preferred way to connect to the flight controller.
 
+<img src="../assets/assembling_clever4/usb_connection_1.png" alt="USB connection" height=400 class="zoom border center">
+
 1. Connect your FCU to the Raspberry Pi using a microUSB to USB cable.
 2. [Connect to the Raspberry Pi over SSH](ssh.md).
-3. Make sure the connection is working by [running the following command on the Raspberry Pi](ssh.md):
+3. Make sure that the connection is working properly by [running the following command on the Raspberry Pi](cli.md):
 
     ```bash
     rostopic echo /mavros/state
     ```
 
-    The `connected` field should have the `True` value.s
+    The `connected` field should have the `True` value.
 
 > **Hint** You need to set the `CBRK_USB_CHK` [parameter](parameters.md) to 197848 for the USB connection to work.
 
 ## UART connection
 
-<!-- TODO: Connection scheme -->
-
 UART connection is another way for the Raspberry Pi and FCU to communicate.
 
+<img src="../assets/raspberry-uart-telemetry2.png" alt="UART connection via TELEM2" height=400 class="zoom border center">
+
+If the pin marked GND is occupied, you can use any other ground pin (look at the [pinout](https://pinout.xyz) for reference).
+
 1. Connect the TELEM 2 port on the flight controller using a UART cable to the Raspberry Pi pins following this instruction: the black cable (*GND*) to Ground, the green cable (*UART_RX*) to *GPIO14*, the yellow cable (*UART_TX*) to *GPIO15*. Do not connect the red cable (*5V*).
-2. Set the PX4 parameters: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version prior to v1.10.0 the parameter `SYS_COMPANION` should be set to 921600.
+2. In PX4 of version v1.9.0 or higher, set parameter values: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version [prior to v1.9.0](https://github.com/mavlink/qgroundcontrol/issues/6905#issuecomment-464549610) the parameter `SYS_COMPANION` should be set to `Companion Link (921600 baud, 8N1)`, to set it correctly use the old version of QGC [v3.3.1](https://github.com/mavlink/qgroundcontrol/releases/tag/v3.3.1).
 3. [Connect to the Raspberry Pi over SSH](ssh.md).
-4. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
+4. Check the presence of the parameters `enable_uart=1` and `dtoverlay=pi 3-disable-bt` in the file `/boot/config.txt` by [running the following command on the Raspberry Pi](cli.md):
+
+    ```bash
+    cat /boot/config.txt | grep -E "^enable_uart=.|^dtoverlay=pi3-disable-bt"
+    ```
+
+    If the parameters in the file are different or missing, then edit the file and restart the Raspberry Pi.
+
+5. Change the connection type from `usb` to `uart` in the Clover' launch file `~/catkin_ws/src/clover/clover/launch/clover.launch`:
 
     ```xml
     <arg name="fcu_conn" default="uart"/>
     ```
 
-    Be sure to restart the `clover` service after editing the .launch file:
+    If you change the launch file, you need to restart the `clover' service:
 
     ```bash
     sudo systemctl restart clover
     ```
 
+6. Make sure that the connection is working properly by running the following command:
+
+    ```bash
+    rostopic echo -n1 /mavros/state
+    ```
+
+    The `connected` field should have the `True` value.
+
+Read more in the PX4 docs: https://docs.px4.io/main/en/peripherals/serial_configuration.html.
+
 **Next**: [Using QGroundControl over Wi-Fi](gcs_bridge.md)

docs/en/copterhack2023.md

@@ -8,6 +8,36 @@ To learn more about the articles of the CopterHack finalist teams follow the lin
 
 The proposed projects are supposed to be open-source and be compatible with the Clover quadcopter platform. Teams-participants are supposed to work on their projects throughout the competition, bringing them closer to the state of the finished product while being assisted by industry experts through lectures and regular feedback.
 
+Final of the CopterHack 2022 was held on May 27, 2023. The winner team was the team 🇷🇺 **[Clover Cloud Platform](clover-cloud-platform.md)**.
+
+## Full stream of the final
+
+<iframe width="560" height="315" src="https://www.youtube.com/embed/Hdl6Sah7nkE" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+## Projects of the contest's participants {#participants}
+
+|Place|Team|Project|Points|
+|:-:|-|-|-|
+|1|🇷🇺 Clover Cloud Team|[Clover Cloud Platform](clover-cloud-platform.md)|21.7|
+|2|🇧🇾 FTL|[Advanced Clover 2](advanced_clover_simulator_platform.md)|21|
+|3|🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](mocap_clover.md)|20.5|
+|4|🇧🇷 Atena|[Swarm in Blocks 2](swarm_in_blocks_2.md)|20.3|
+|5|🇷🇺 C305|[Система радио-навигации](../ru/nav-beacon.html)|17.5|
+|6|🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](djs_phoenix_chetak.md)|14.6|
+|7|🇷🇺 Lyceum №128|[Network of Clover charging stations](liceu128.md)|13.7|
+|✕|🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
+|✕|🇷🇺 FSOTM|[Drone Interceptor](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
+|✕|🇰🇬 Homelesses|[Trash Collector](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/show_maker.md)||
+|✕|🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
+|✕|🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
+|✕|🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
+|✕|🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
+|✕|🇷🇺 Ava_Clover|[DoubleClover](https://github.com/bessiaka/clover/blob/Ava_Clover/docs/ru/soosocta.md)||
+|✕|🇷🇺 TPU_1|[Совместная транспортировка груза](https://github.com/shamoleg/clover/blob/tpu_1/docs/ru/tpu_1.md)||
+|✕|🇷🇺 TPU_2|[Алгоритм полета сквозь лесную местность](https://github.com/shamoleg/clover/blob/tpu_2/docs/ru/tpu_2.md)|&nbsp;|
+
+See all points by criteria in the [full table](https://docs.google.com/spreadsheets/d/1qTpW8zFVdSEGnbtOvMgQD6DcYwu8URFt1RKOCeUaOe8).
+
 ## CopterHack 2023 stages
 
 The qualifying and project development stages will be held in an online format, however, the final round will be in a hybrid mode (offline + online). The competition involves monthly updates from the teams with regular feedback from the jury. All teams are required to prepare a final video and presentation on the project's results to participate in the final stage.

docs/en/djs_phoenix_chetak.md

@@ -0,0 +1,55 @@
+# Autonomous Racing Drone: CHETAK
+
+[CopterHack-2023](copterhack2023.md), team **DJS PHOENIX**.
+
+## Team Information
+
+![Without bg](https://user-images.githubusercontent.com/93365067/195974501-0acef6b7-e4ea-4c47-bd7a-615caf73a625.png)
+
+We are the DJS Phoenix, the official drone team of Dwarkadas. J. Sanghvi College of Engineering
+
+The list of team members:
+
+* Shubham Mehta, @Just_me_05, Mentor.
+* Harshal Warde, @kryptonisinert, Mechanical.
+* Parth Sawjiyani, @Non_Active, Mechanical.
+* Soham Dalvi, @devilsfootprint_1973, Mechanical.
+* Vedant Patel, @VedantMP, Mechanical.
+* Harsh Shah, @harssshhhhh, Mechanical.
+* Lisha Mehta, @lishamehta, Mechanical.
+* Shubh Pokarne, @Shubhpokarne, Electronics.
+* Tushar Nagda, @tushar_n11, Electronics.
+* Deep Tank, @Kraven, Electronics.
+* Khushi Sanghvi, @Cryptoknigghtt, Programmer.
+* Harshil Shah, @divine_fossil, Programmer.
+* Omkar Parab, @Omkar_parab21, Programmer.
+* Madhura Korgaonkar, @Madhura221, Programmer.
+* Shruti Shah, @Shrutishah22, Programmer.
+* Aditi Dubey, @aditi_0503, Marketing.
+* Krisha Lakhani, @krishalakhani, Marketing.
+
+## Project Description
+
+This year, our team DJS Phoenix, presents to you a fully Autonomous Racing Drone. The drone scans for ArUco tags on the gates and passes through them.
+
+### Project Idea
+
+This project proposes to develop an autonomous racing drone that can navigate through complex courses at high speeds while avoiding obstacles and detecting changes in the environment. In racing competitions, autonomous drones can compete in high-speed, precision races that challenge their agility, speed, and accuracy. These competitions could be held in indoor arenas or outdoor tracks, and they could attract enthusiasts and spectators from all over the world. With their advanced capabilities, autonomous racing drones could usher in a new era of racing events that are more exciting and challenging than ever before. From racing competitions to search and rescue operations, the autonomous racing drone can be used in a wide range of applications that benefit individuals, businesses, and society as a whole.
+
+## Potential Outcome
+
+### Problem
+
+In many industries and applications, there is a need for fast, efficient, and safe movement of goods and information. Drones have become an increasingly popular tool for a wide range of applications, from aerial photography to surveying and monitoring. However, operating a drone requires a certain level of skill and experience, which can be a barrier for individuals or businesses who want to take advantage of this technology. Additionally, traditional drones can be expensive and time-consuming to operate, limiting their accessibility and effectiveness. Therefore, there is a need for a more user-friendly and affordable solution that can expand the use of drones to new audiences and applications.
+
+### Solution
+
+The solution to the above problem statement is an autonomous racing drone. An autonomous racing drone is equipped with a camera that scans the ArUco tags for gate detection which is supported by software used in autonomous flights that enable it to navigate through a predetermined course while avoiding obstacles and achieving high speeds. Unlike traditional drones, an autonomous racing drone does not require manual control, making it an ideal solution for those who do not have the skills or experience to operate a drone.Its autonomous capabilities make it a more accessible and user-friendly solution than traditional drones, enabling individuals or businesses to take advantage of this technology without requiring extensive training or expertise.
+
+![image](https://user-images.githubusercontent.com/93365067/235303281-f63e379d-c156-45ad-b554-2c84bd82781d.png)
+
+### Additional Information
+
+In 2017, a student committee for DJS Phoenix was formed. In India, our team has participated in a number of contests, including IDRL-IIT GandhiNagar (sixth rank), IDRL-SVPCET Nagpur(second rank) and TECHNOXIAN (second place out of 50 national teams). In CopterHack-2021, our team participated, and we placed eighth internationally. We are back with improved concepts after learning from the previous season.
+
+For more information checkout gitbook: https://djs-phoenix.gitbook.io/chetak-faster-than-you-can-imagine/.

docs/en/firmware.md

@@ -17,6 +17,8 @@ It is advisable to use a specialized build of PX4 with the necessary fixes and b
 </ul>
 </div>
 
+> **Warning** If you are using the firmware version older than *v1.10* (for example, `v1.8.2-clover.13`), then in order to avoid configuration errors, use [QGroundControl version *v4.2.0*](https://github.com/mavlink/qgroundcontrol/releases/tag/v4.2.0) (or older). See [detailed information](https://docs.px4.io/v1.11/en/config/battery.html#parameter-migration-notes) about changes in the firmware parameters that cause errors in newer versions of QGroundControl.
+
 <script type="text/javascript">
     // get latest release from GitHub
     fetch('https://api.github.com/repos/CopterExpress/Firmware/releases').then(function(res) {

docs/en/frames.md

@@ -9,6 +9,7 @@ Main frames in the `clover` package:
 * `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
 * `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
 * <a name="navigate_target"></a>`navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
+* `terrain` is bound to the floor at the current drone position (see the [set_altitude](simple_offboard.md#set_altitude) service);
 * `setpoint` is current position setpoint;
 * `main_camera_optical` is the coordinate system, [linked to the main camera](camera_setup.md#frame);
 

docs/en/liceu128.md

@@ -0,0 +1,45 @@
+# "QCS" - the network of Clover charging stations
+
+[CopterHack-2023](copterhack2023.md), team **Lyceum 128**.
+
+## Network realisation
+
+Our charging stations use Python web server created with Django framework. On that server we storage information about charging stations:
+
+- Position (GPS + ArUco marker).
+- Possibility to drone landing.
+- Drone info (If it's on it).
+
+To connect to server we use API with special personal key for every drone and station. It can be regenerated if secured key became public.
+
+If you want to test station without drone you can use API Debug page. You must be in your account to open it.
+
+### Electronics in the station
+
+There are Arduino Mega and Wemos D1 on the station.
+
+![scheme](https://github.com/Juli-Shvetsova/clover/assets/78372613/3ab05a79-0046-463b-83dd-4db06115909b)
+
+Wemos D1 connect with server to collect information, do tasks. Arduino Mega receive signals from Wemos and make physical updates such as moving landing platform, LED indication and other more.
+
+After completing mission Wemos send request to a server to confirm updates on the server.
+
+## Clover flight
+
+We're using recursive landing algorithm to achieve success landing. Small ArUco marker is on the landing platform. Camera can use this marker on the ~25cm height. Next drone use standard landing.
+
+## Visit our landing and API page
+
+[https://qcs.pythonanywhere.com/](https://qcs.pythonanywhere.com/)
+
+## Source code
+
+Of that project is in our [GitHub page](https://github.com/qcs-charge/).
+
+## Team
+
+CH2023, Lyceum 128.
+
+- Mikhail Konstantinov, [@mikemka](https://t.me/mikemka/), programmer.
+- Julia Shvecova, [@Juli_Phil](https://t.me/Juli_Phil/), science adviser.
+- Oleg Sherstobitov, [@kulumuluu](https://t.me/kulumuluu/), constructor.

docs/en/mocap_clover.md

@@ -0,0 +1,200 @@
+# Project Video
+
+[CopterHack-2023](copterhack2023.md), team **Clover with Motion Capture System**. Click logo for project video.
+
+<div align="center">
+  <a href="https://www.youtube.com/watch?v=jOovjo0aBpQ&t=4s&ab_channel=SeanSmith"><img src="../assets/mocap_clover/semi_logo_small.jpg" width="70%" height="70%" alt="IMAGE ALT TEXT"></a>
+</div>
+
+## Table of Contents
+
+* [Team Information](#item-one)
+* [Educational Document](#item-two)
+* [Introduction](#item-three)
+* [Project Description](#item-four)
+* [Hardware](#item-hardware)
+* [Data Transfer](#item-transfer)
+* [Examples](#item-examples)
+* [Trajectory Tracking](#item-figure8)
+* [Auto-Tuning](#item-auto)
+* [Conclusion](#item-last)
+
+## Team Information {#item-one}
+
+The list of team members:
+
+* Sean Smith, @ssmith_81, roboticist and developer: [GitHub](https://github.com/ssmith-81), [Linkedin](https://www.linkedin.com/in/sean-smith-61920915a/).
+
+## Educational Document {#item-two}
+
+**My Gitbook, with detailed step by step analysis of the proposed project during the CopterHack 2023 competition can be found:**
+[MoCap Clover Gitbook](https://0406hockey.gitbook.io/mocap-clover/).
+
+This page gives a broad overview on the motivation and purpose behind this project, it also provides research and industry based knowledge around UAV application that the reader may find interesting. If the user is interested in the technical details and implementation then refer to the educational Gitbook document.
+
+## Introduction {#item-three}
+
+Aerial robotics has become a common focus in research and industry over the past few decades. Many technical developments in research require a controlled test environment to isolate certain characteristics of the system for analysis. This typically takes place indoors to eliminate unwanted disturbances allowing results to be more predictable. Removing localization and pose feedback concerns can be accomplished with motion capture (MoCap) systems that track unmanned aerial vehicles (UAVs) pose with high precision as stated:
+
+"OptiTrack’s drone and ground robot tracking systems consistently produce positional error less than 0.3mm and rotational error less than 0.05°" [[reference](https://optitrack.com/applications/robotics/#:~:text=Exceptional%203D%20precision%20and%20accuracy&text=OptiTrack's%20drone%20and%20ground%20robot,error%20less%20than%200.05%C2%B0)].
+
+<!-- markdownlint-disable MD044 -->
+
+This enables researchers to study the dynamics and behavior of UAVs in different environments, evaluate their performance, and develop advanced control algorithms for improved flight stability, autonomy, and safety. Research facilities around the world tend to built research drones from the ground up using off-the-shelf components with open source platforms such as PX4. While the end goal is the same: transferring pose feedback to the flight controller along with high level commands, the platforms and methods can vary significantly depending on factors such as onboard and offboard computing frameworks and data transfer methods. Many developers have a detailed background and understanding of the theoretical components of their research, however, adapting hardware configurations to their own platform such as sensor feedback and sensor fusion is not obvious. The purpose of this project is to provide detailed documentation on integrating the Clover platform with the MoCap system along with examples to familiarize users with the hardware, sensor fusion, high and low level controller development, and trajectory tracking.
+
+<!-- markdownlint-enable MD044 -->
+
+## Project Description {#item-four}
+
+In this article, we will provide an overview of MoCap systems for tracking UAV pose in research applications, highlighting their significance, advantages, and potential impacts in the field of UAV controller development.
+
+## Document structure
+
+The Motion Capture System educational document is divided into three main sections outside of the Introduction and Conclusion. Each section and its purpose is listed:
+
+### Hardware {#item-hardware}
+
+The main goal in this section is to educate the reader on the MoCap system hardware and software. This can be further divided into several steps including camera placement, marker placement, and system calibration. A summary of the process is provided:
+
+| Task      | Description |
+| --------- | ----------- |
+| Camera Placement      | Position the motion capture cameras in strategic locations around the area where the UAV will be flying. The number of cameras and their placement will depend on the size of the area and the desired capture volume. Typically, cameras are placed on tripods or mounted on walls or ceilings at specific heights and angles to capture the UAV's movements from different perspectives. **A simple 4-camera setup example is provided in the educational document**. |
+| Marker Placement   | Attach OptiTrack markers to the UAV in specific locations. OptiTrack markers are small reflective spheres that are used as reference points for the motion capture system to track the UAV's position and movements. **An example placement on the Clover is shown in the educational document**.
+| System Calibration | Perform system calibration to establish the spatial relationship between the cameras and the markers. This involves capturing a calibration sequence, during which a known pattern or object is moved in the capture volume. The system uses this data to calculate the precise positions and orientations of the cameras and markers in 3D space, which is crucial for accurate motion capture.  |
+
+With these components completed correctly, you are well on your way to commanding indoor autonomous missions like this:
+     <p align="center">
+    <img title="Figure-8" alt="Alt text" src="../assets/mocap_clover/drone_approach_small.jpg" width="60%" height="50%">
+    </p>
+
+<!--
+    - Testing and Validation: After setting up the cameras and markers, perform test flights with the UAV to validate the accuracy of the MoCap system. Analyze the captured data to ensure that the UAV's movements are accurately captured and that the system is functioning correctly.
+    - Fine-tuning: Fine-tune the motion capture system as needed based on the test results. This may involve adjusting camera angles, marker placements, or calibration settings to improve the accuracy and reliability of the system.
+    - Data Collection: Once the motion capture system is properly set up and calibrated, you can start collecting data for your UAV research. The system will continuously track the positions and movements of the markers on the UAV in real-time, providing precise data that can be used for various analyses and experiments.
+    - Data Analysis: Analyze the captured data using appropriate software to extract relevant information for your UAV research. This may involve tracking the UAV's position, velocity, acceleration, orientation, and other parameters, and analyzing how they change over time or in response to different conditions or inputs.
+-->
+Overall, configuring a motion capture system for UAV research requires careful planning, precise marker placement, accurate system calibration, and thorough validation to ensure accurate and reliable data collection for your research purposes. For more information, refer to the [informative documentation](https://0406hockey.gitbook.io/mocap-clover/hardware/motion-capture-setup-optitrack).
+
+### Data Transfer {#item-transfer}
+
+With the data acquired from the MoCap system, the main goal in this section is to transfer it to the Raspberry Pi onboard the Clover and remap it to the flight controller/PX4 for control. A summary of the steps are listed:
+
+<p align="center">
+    <img title="Figure-8" alt="Alt text" src="https://drive.google.com/uc?export=view&id=1B0OMIGveFZNyE1_UHpmBOukeFVgl-bTV" width="50%" height="50%">
+</p>
+
+* Data Acquisition: The motion capture system continuously tracks the position and orientation (pose) of the UAV using markers attached to the UAV and cameras positioned in the capture volume. The system calculates the 3D pose of the UAV in real-time and can be viewed through the motive software.
+* Data Transmission: The pose data is transmitted from the motion capture system to a Raspberry Pi using VRPN and a ROS network. While this works, I have implemented a strictly UDP data transmission method where highlighting the setup process and ease of use will be a future development, both configurations can be seen in the below figures. The Raspberry Pi acts as an intermediary for processing and relaying the data to the flight controller onboard the UAV using MAVROS. The connection can be established using USB or UART, I chose UART in my setups.
+
+ <p align="center">
+       <img src="../assets/mocap_clover/block_ROS.jpg" width="49%" alt="ROS Block"/>
+       <img src="../assets/mocap_clover/block_udp.jpg" width="49%" alt="ROS Block"/>
+       <em>Fig.1(a) - Left figure: ROS network experimental setup topology. Legend: Black dotted line is the provided local network; Blue solid line is the Clover pose transmission where the final transmission from laptop to Pi is over a ROS network; Red line is hardware connections; MAVLink arrow is communication via a MAVLink protocol. .</em> <br>
+       <em>Fig.1(b) - Right figure: UDP transmission experimental setup topology. Legend: Black dotted line is the provided local network; Black solid line is the UDP client-server drone pose transmission; Light blue line is the pose data transmission; Red line is hardware connections; Purple line is communication via secure shell protocol and ROS network communication; MAVLink arrow is communication via a MAVLink protocol. .</em>
+ </p>
+
+* Data Processing: The Raspberry Pi receives the pose data from the motion capture system over a ROS network on a VRPN ROS topic, this was initially parsed from the sensor readings into position and attitude.
+* Data Remapping: Once the pose data is processed, the Raspberry Pi maps it to the to a gateway/MAVROS topic sending it to the flight controller onboard the UAV. All coordinate transformations (ENU->NED) are taken care of with MAVROS.
+* Flight Control Update: The flight controller onboard the UAV receives the remapped pose data and uses it to update the UAV's flight control algorithms. The updated pose information can be used to adjust the UAV's flight trajectory, orientation, or other control parameters to achieve the desired flight behavior or control objectives based on the motion capture system feedback.
+* Closed-Loop Control: The flight controller continuously receives pose feedback from the motion capture system via the Raspberry Pi, and uses it to update the UAV's flight control commands in a closed-loop fashion (PX4 uses a cascaded PID control system with more details provided in the educational document). This allows the UAV to maintain precise position and orientation control based on the real-time pose data provided by the motion capture system.
+
+Overall, sending pose feedback from a motion capture system to a Raspberry Pi and remapping the data to the flight controller onboard a UAV involves acquiring, processing, and transmitting the pose data in a compatible format to enable real-time closed-loop control of the UAV based on the motion capture system's feedback.
+
+### Examples {#item-examples}
+
+This section provides two practical examples to help the user better understand the Clover platform, sensor fusion, UAV applications such as trajectory tracking, high level commands, and low level control. The reader will become familiar with an abundance of state-of-the-art open source UAV platforms/technologies such as:
+
+| Platform    | Description |
+| ----------- | ----------- |
+| PX4         | PX4 is an open-source flight control software for drones and other unmanned vehicles used on the Clover. It supports a wide range of platforms and sensors and is used in commercial and research applications. |
+| Robot Operating System (ROS) |ROS is an open-source software framework for building robotic systems. It provides a set of libraries and tools for developing and managing robot software and is widely used in drone and robotics research. |
+| MAVLink| MAVLink is a lightweight messaging protocol for communicating with unmanned systems. It is widely used in drone and robotics applications and provides a flexible and extensible communication framework.|
+|QGroundControl (QGC)| QGC is an open-source ground control station software for drones and other unmanned vehicles. It provides a user-friendly interface for managing and monitoring drone flights and is widely used in commercial and research applications. |
+
+<a id="item-figure8"></a>
+
+1. **A figure-8 high-level trajectory generation**: this example is outlined for both Software in the Loop (SITL) simulations and hardware testing with the Clover platform. Check out this interesting example from my [trajectory tracking section](https://0406hockey.gitbook.io/mocap-clover/examples/flight-tests/complex-trajectory-tracking)!
+
+<p align="center">
+    <img title="Figure-8" alt="Alt text" src="https://drive.google.com/uc?export=view&id=1imlqhaUl-v6JuEiOFA4BPvO1N174NWgY">
+</p>
+<p align = "center">
+    <em>Fig.2 - Lemniscate of Bernoulli [<a href="https://upload.wikimedia.org/wikipedia/commons/f/f1/Lemniscate_of_Bernoulli.gif">reference</a>].</em>
+</p>
+
+Here's a summary of the importance of trajectory tracking for UAV applications:
+
+* *Navigation and Path Planning*: Trajectory tracking allows UAVs to follow pre-defined paths or trajectories, which is essential for tasks such as aerial mapping, surveying, inspection, and monitoring.
+* *Precision and Safety*: Trajectory tracking enables precise control of the UAV's position, velocity, and orientation, which is crucial for maintaining safe and stable flight operations. Precise trajectory tracking allows UAVs to avoid obstacles, maintain safe distances from other objects or aircraft, and operate in confined or complex environments with high precision, reducing the risk of collisions or accidents.
+* *Autonomy and Scalability*: Trajectory tracking enables UAV autonomy, allowing them to operate independently without constant operator intervention. This enables UAVs to perform repetitive or complex tasks autonomously, freeing up human operators to focus on higher-level decision-making or supervisory roles. Trajectory tracking also facilitates scalable operations, where multiple UAVs can follow coordinated trajectories to perform collaborative tasks, such as swarm operations or coordinated data collection.
+* *Flexibility and Adaptability*: Trajectory tracking allows UAVs to adapt their flight paths or trajectories in real-time based on changing conditions or objectives. UAVs can dynamically adjust their trajectories to accommodate changes in environmental conditions, mission requirements, or operational constraints, allowing for flexible and adaptive operations in dynamic or unpredictable environments.
+
+In summary, trajectory tracking is crucial for UAV applications as it enables precise navigation, safety, efficiency, autonomy, and scalability, while optimizing payload performance and adaptability to changing conditions. It plays a fundamental role in ensuring that UAVs can accomplish their missions effectively and safely, making it a critical component of UAV operations in various industries and domains.
+
+<a id="item-auto"></a>
+
+1. **Clover adaptive auto-tuning**: The second example shows the user how to implement the adaptive auto-tune module provided by PX4 to tune the low-level controllers or attitude control module. You can take a look into how this is accomplished with the Clover platform in the [auto-tuning section](https://0406hockey.gitbook.io/mocap-clover/examples/auto-tuning).
+
+<p align="center">
+    <img title="Figure-8" alt="Alt text" src="../assets/mocap_clover/px4_control_structure.jpg" width="80%" height="80%">
+    </p>
+    <p align = "center">
+    <em>Fig.3 - Cascaded PX4 control system [<a href="https://docs.px4.io/v1.12/en/flight_stack/controller_diagrams.html#multicopter-control-architecture">reference</a>].</em>
+</p>
+
+This is a much faster and easier way to tune a real drone and provides good tuning for most air frames. Manual tuning is recommended when auto-tuning dos not work, or when fine-tuning is essential. However, the process is tedious and not easy especially for users with limited control background and experience. The Clover airframe provides sufficient base settings where auto-tuning can further improve performance depending on the Clover being used.
+
+Here's a summary of the importance of low-level controller performance for UAV applications:
+
+* *Flight Stability and Safety*: The low-level controller, typically implemented as a PID (Proportional-Integral-Derivative) or similar control algorithm, governs the UAV's attitude and position control. Properly tuning the low-level controller ensures that the UAV remains stable during flight, with accurate and responsive control inputs. This is essential for safe and reliable UAV operations, as it helps prevent undesired oscillations, overshooting, or instability that can lead to crashes or accidents.
+* *Control Precision and Responsiveness*: Accurate control is crucial for achieving precise and responsive UAV maneuvers, such as smooth trajectory tracking, precise hovering, or dynamic maneuvers. Proper tuning of the low-level controller allows for precise control of the UAV's attitude, position, and velocity, enabling it to accurately follow desired flight trajectories, respond to changing conditions or commands, and perform complex flight maneuvers with high precision.
+* *Adaptability and Robustness*: UAV operations can be subject to varying environmental conditions, payload configurations, or operational requirements. Proper low-level controller tuning allows for adaptability and robustness, enabling the UAV to perform reliably and accurately across a wide range of conditions or mission requirements. Tuning the controller parameters can help account for changes in payload mass, wind conditions, or other external factors, ensuring stable and responsive flight performance.
+
+<p align="center">
+    <img title="Figure-8" alt="Alt text" src="https://drive.google.com/uc?export=view&id=1ech31B2JvYLcW9c7W67IguuQT-S53AFF" width="50%" height="50%">
+</p>
+
+In summary, low-level controller tuning is crucial for UAV applications as it directly affects flight stability, control precision, payload performance, energy efficiency, adaptability, and compliance with safety and regulatory requirements. It is an essential step in optimizing the performance and safety of UAV operations, ensuring reliable and effective flight control for various applications across different industries and domains.
+
+## Conclusion {#item-last}
+
+Over the course of this project I was able to extend my knowledge in robotic applications while enduring many ups and downs along the way. This greatly helped me with my research when testing controller development was required. The motivation behind this documentation is to improve this experience for other researchers, robotic developers, or hobbyists that have a desire to learn fundamental robotic application which is beginning to shape the world we know today. These details can be explored in a [GitBook](https://0406hockey.gitbook.io/mocap-clover/) for those who are interested.
+
+I provided many details on the interworking components required to achieve an indoor autonomous flight setup with the COEX Clover platform. With an extensive background in UAV control, I tried to provide a basic understanding of this for the readers benefit. There are many more sections I would like to include along with improving upon the existing ones. A few examples include firmware testing with hardware in the loop simulations, advanced trajectory generation, and an extensive list of flight examples for the Gazebo simulator with application to hardware.
+
+Lastly, I would like to thank the entire COEX team that made this project possible by providing a wonderful platform with support. I would like to give a special thanks to [Oleg Kalachev](https://github.com/okalachev) for helping me debug and succeed through applied learning. With that being said, I hope you all enjoy the resourceful content provided, and I plan on releasing more detailed documents on other interesting topics as I progress through my research and development.
+
+<!--
+## Project description
+
+This project is an educational reference and detailed tutorial on how to setup the OptiTrack Motion Capture (MoCap) system with the COEX Clover platform.
+It gives brief descriptions on the camera and motive software setup with many resourceful links, but it assumes the user has a basic understanding on how to
+setup the cameras and motive computer software. MoCap markers allow the MoCap to stream positional data of the Clover therefore marker placement is discussed.
+From there details on how to stream position data from the MoCap to the Clover along with how to configure the Clover; specifically, the Raspberry Pi and PX4
+firmware parameters are discussed. The overall network will be provided as it is the most important part.
+
+At the end, I will provide an interesting example such as a tracking a complex trajectory that any user can implement.
+
+### Project idea
+
+In many research applications highly precise position feedback is required and that is why a MoCap system is popular in this field of robotics. Research papers
+are published detailed around certain topics such as control, path planning, obstacle avoidance and many more although the details surrounding certain hardware
+setups such as with the MoCap system are not provided. There are a few sources that provide help with setting up the MoCap system with PX4 and other specific
+systems but with limited knowledge of how and why steps are made one might not be able to adapt it to their own setup such as with the Clover. That is why this
+project has been created; so that a student or user can follow this tutorial with the COEX Clover and have a working setup with the MoCap and Clover even with
+a limited understanding of software and hardware. The article also provides descriptions on why certain things are done to allow the user the better understand
+the system setup.
+
+I currently have the setup running but now working well. The Clover is unable to follow setpoints with any precision
+therefore working through network and software issues seems to be the current stage (I am not sure what exactly is causing this issue actually). I am hoping to
+receive guidance in this area from this project so I can have it working as desired.
+
+### Using Clover platform
+
+The COEX Clover 4.2 kit is used where the MoCap system setup is specific for the Clover platform. It provides useful information for all robotics users interested in
+implementing external sensor feedback although it is specific for Clover owners.
+
+### Additional information at the request of participants
+I am a masters student looking to implement this project in my research.
+
+-->

docs/en/models.md

@@ -198,6 +198,15 @@ This page contains models and drawings of some of the drone parts. They can be u
     </tr>
 </table>
 
+### 3D print
+
+#### Mechanical gripper
+
+* **Left claw**: [`grip_left.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/grip_left.stl).
+* **Right claw**: [`grip_right.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/grip_right.stl).
+
+Material: SBS Glass. Infill: 100%. Quantity: 1 pcs.
+
 ## Clover 4
 
 ### 3D print