Merge branch 'master' into 22

Also, compile in apriltag_quad_thresh.cpp - it contains some of the functions referenced
in aruco.cpp, which would otherwise be undefined.

.gitattributes

@@ -3,7 +3,6 @@ roslib.js linguist-vendored
 eventemitter2.js linguist-vendored
 ros3d.js linguist-vendored
 three.min.js linguist-vendored
-json-to-pretty-yaml.js linguist-vendored
 aruco_pose/vendor/* linguist-vendored
 blockly/* linguist-vendored
 highlight/* linguist-vendored

.github/workflows/build-image.yaml

@@ -1,29 +0,0 @@
-name: RPi image
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-  release:
-    types: [ created ]
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build image
-        run: |
-          docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${{ github.event.release.tag_name }}" sfalexrog/img-tool:qemu-update
-      - name: Compress image
-        run: |
-          cd images && sudo chmod -R 777 . && zip -9 $(echo clover_*).zip clover_* && ls -l . && unzip -l clover_*.zip
-      - name: Upload image
-        uses: softprops/action-gh-release@v1
-        if: ${{ github.event_name == 'release' }}
-        with:
-          files: images/clover_*.zip
-          prerelease: true
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/build.yml

@@ -1,51 +0,0 @@
-name: Build
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  # melodic:
-  #   runs-on: ubuntu-latest
-  #   steps:
-  #     - uses: actions/checkout@v2
-  #     - name: Native Melodic build
-  #       run: |
-  #         docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
-  noetic:
-    runs-on: ubuntu-latest
-    container: ros:noetic-ros-base
-    defaults:
-      run:
-        working-directory: catkin_ws
-        shell: bash
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        path: catkin_ws/src/clover
-    - name: Install requirements
-      run: apt-get update && apt-get -y install python3-pip fakeroot python3-bloom debhelper dpkg-dev
-    - name: Install dependencies
-      run: rosdep update && rosdep install --from-paths src --ignore-src -y
-    - name: Install GeographicLib datasets
-      run: wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
-    - name: catkin_make
-      run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
-    - name: Run tests
-      run: source devel/setup.bash && catkin_make run_tests && catkin_test_results
-    - name: Build Debian packages
-      run: |
-        source devel/setup.bash
-        for file in `find . -name "package.xml"`; do
-          cd $(dirname ${file})
-          bloom-generate rosdebian --os-name ubuntu --os-version $(lsb_release -cs) --ros-distro $ROS_DISTRO  
-          fakeroot debian/rules binary
-          cd -
-        done
-    - uses: actions/upload-artifact@v3
-      with:
-        name: debian-packages
-        path: catkin_ws/src/clover/*.deb
-        retention-days: 1

.github/workflows/docs.yml

@@ -1,86 +0,0 @@
-name: Documentation
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ '*' ]
-
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-concurrency:
-  group: "pages"
-  cancel-in-progress: true
-
-defaults:
-  run:
-    shell: bash
-
-jobs:
-  docs:
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v2
-      - name: Use Node.js
-        uses: actions/setup-node@v1
-        with: { node-version: '10' }
-      - name: Setup tools
-        run: |
-          sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
-          sudo apt-get update && sudo apt-get install -y calibre msttcorefonts
-          builder/assets/install_gitbook.sh
-          npm install markdownlint-cli@0.28.1 -g # FIXME: https://github.com/DavidAnson/markdownlint/issues/435
-          npm install svgexport -g
-          gitbook -V
-          markdownlint -V
-      - name: Run markdownlint
-        run: markdownlint docs
-      - name: Check Assets
-        run: |
-          ./check_assets_size.py
-          ./check_unused_assets.py
-      - name: Build GitBook
-        run: |
-         gitbook install
-         gitbook build
-      - name: Generate PDF
-        id: generate-pdf
-        env:
-          GITBOOK_SKIP_PDF: ${{ secrets.GITBOOK_SKIP_PDF }}
-        continue-on-error: ${{ env.GITBOOK_SKIP_PDF != '' }}
-        if: ${{ github.event_name == 'push' }}
-        run: |
-          for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
-          sudo apt-get -q install ghostscript
-          gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_ru_compressed.pdf _book/clover_ru.pdf
-          gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_en_compressed.pdf _book/clover_en.pdf
-          rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf
-          rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf
-          ls -lah _book/clover*.pdf
-          echo '::set-output name=GITBOOK_PDF_OK::1'
-      - name: Download older PDFs
-        if: ${{ !steps.generate-pdf.outputs.GITBOOK_PDF_OK }}
-        run: |
-          rm -f _book/clover*.pdf
-          wget --no-verbose https://clover.coex.tech/clover_ru.pdf -P _book/
-          wget --no-verbose https://clover.coex.tech/clover_en.pdf -P _book/
-      - name: Upload artifact
-        # if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-        uses: actions/upload-pages-artifact@v1
-        with:
-          path: _book
-
-  deploy-docs:
-    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-    runs-on: ubuntu-latest
-    needs: docs
-    steps:
-      - name: Deploy to GitHub Pages
-        id: deployment
-        uses: actions/deploy-pages@v1

.github/workflows/editorconfig.yaml

@@ -1,18 +0,0 @@
-name: Editorconfig
-
-on:
-  push:
-    branches: [ '*' ]
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  editorconfig:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: .editorconfig Linter
-        run: |
-          wget --no-verbose https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
-          chmod +x ec-linux-amd64
-          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|json-to-pretty-yaml.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae|\.material"

.gitignore

@@ -6,4 +6,3 @@ _book/
 package-lock.json
 clover_blocks/programs/*.*
 !clover_blocks/programs/examples/*
-/.vscode/

.markdownlint.json

@@ -110,8 +110,7 @@
             "Li-ion",
             "Nvidia",
             "VirtualBox",
-            "VMware",
+            "VMware"
-            "DuoCam"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -0,0 +1,125 @@
+os: linux
+dist: xenial
+language: generic
+services:
+  - docker
+env:
+  global:
+    - DOCKER="sfalexrog/img-tool:qemu-aarch64"
+    - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
+    - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
+    - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
+git:
+  depth: 25
+jobs:
+  fast_finish: true
+  include:
+    - stage: Build
+      name: "Raspberry Pi Image Build"
+      cache:
+        directories:
+        - imgcache
+      before_script:
+        - docker pull ${DOCKER}
+# Check if there are any cached images, copy them to our "images" directory
+        - if [ -n "$(ls -A imgcache/*.zip)" ]; then mkdir -p images && cp imgcache/*.zip images; fi
+      script:
+        - if [[ -z ${TRAVIS_TAG} && "${TRAVIS_PULL_REQUEST}" != "false" ]]; then
+            echo "Commit range is ${TRAVIS_COMMIT_RANGE}" &&
+            if [ $(git diff --name-only ${TRAVIS_COMMIT_RANGE} | grep -v ^"docs/" | wc -l) -eq 0 ]; then
+              echo " === Docs-only change; skipping build ===" &&
+              export SKIP_BUILD=true;
+            fi;
+          fi
+        - if [ -z ${SKIP_BUILD} ]; then
+            docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER};
+          fi
+      before_cache:
+        - cp images/*.zip imgcache
+      after_success:
+        - sudo chmod -R 777 *
+        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
+      before_deploy:
+        # Set up git user name and tag this commit
+        - git config --local user.name "goldarte"
+        - git config --local user.email "goldartt@gmail.com"
+      deploy:
+        provider: releases
+        token: ${GITHUB_OAUTH_TOKEN}
+        file: ${IMAGE_NAME}.zip
+        skip_cleanup: true
+        on:
+          tags: true
+        draft: true
+        name: ${TRAVIS_TAG}
+    - stage: Build
+      name: "Native Kinetic build"
+      env:
+        - NATIVE_DOCKER=ros:kinetic-ros-base
+      before_script:
+        - docker pull ${NATIVE_DOCKER}
+      script:
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
+    - stage: Build
+      name: "Native Melodic build"
+      env:
+        - NATIVE_DOCKER=ros:melodic-ros-base
+      before_script:
+        - docker pull ${NATIVE_DOCKER}
+      script:
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
+    - stage: Build
+      name: "Native Noetic build"
+      env:
+        - NATIVE_DOCKER=ros:noetic-ros-base
+      before_script:
+        - docker pull ${NATIVE_DOCKER}
+      script:
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
+    - stage: Build
+      name: "Documentation"
+      language: node_js
+      node_js:
+        - "10"
+      before_script:
+        - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
+        - sudo apt update && sudo apt install -y calibre msttcorefonts
+        - npm install gitbook-cli -g
+        - npm install markdownlint-cli -g
+        - npm install svgexport -g
+        - gitbook -V
+        - markdownlint -V
+      script:
+        - markdownlint docs
+        - ./check_assets_size.py
+        - ./check_unused_assets.py
+        - gitbook install
+        - gitbook build
+        - gitbook pdf ./ _book/clover.pdf
+      deploy:
+        provider: pages
+        local_dir: _book
+        skip_cleanup: true
+        token: ${GITHUB_OAUTH_TOKEN}
+        keep_history: true
+        target_branch: master
+        repo: CopterExpress/clover.coex.tech
+        fqdn: clover.coex.tech
+        verbose: true
+        on:
+          branch: master
+    - stage: Build
+      name: Editorconfig-lint
+      language: generic
+      before_script:
+        - wget https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
+        - chmod +x ec-linux-amd64
+      script:
+        - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
+stages:
+  - Build
+# More info there
+# https://github.com/travis-ci/travis-ci/issues/6893
+# https://docs.travis-ci.com/user/customizing-the-build/
+# https://docs.travis-ci.com/user/deployment/releases
+# https://docs.travis-ci.com/user/environment-variables/

README.md

@@ -1,6 +1,6 @@
 # clover🍀: create autonomous drones easily
 
-<img src="docs/assets/clover42-main-margin.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="COEX Clover Drone">
 
 Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
 
@@ -20,8 +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)
+[![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
-![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:
 
@@ -38,10 +37,6 @@ API description for autonomous flights is available [on GitBook](https://clover.
 
 For manual package installation and running see [`clover` package documentation](clover/README.md).
 
-## Support
-
-[![Telegram Support Chat](https://img.shields.io/endpoint?label=Support%20Chat&url=https%3A%2F%2Ftelegram-badge-4mbpu8e0fit4.runkit.sh%2F%3Furl%3Dhttps%3A%2F%2Ft.me%2FCOEXHelpDesk)](https://t.me/COEXHelpdesk)
-
 ## License
 
 While the Clover platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

apps/ios/cleverrc/README.md

@@ -1,4 +1,5 @@
-# iOS-приложение для управления Клевером
+iOS-приложение для управления Клевером
+--------------------------------------
 
 Для установки зависимостей необходим [CocoaPods](https://cocoapods.org):
 

aruco_pose/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package aruco_pose
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of aruco_pose package to ROS
-* Contributors: Alamoris, Alexey Rogachevskiy, Arthur Golubtsov, Ilya Petrov, Oleg Kalachev

aruco_pose/CMakeLists.txt

@@ -83,10 +83,11 @@ add_message_files(
 )
 
 ## Generate services in the 'srv' folder
-add_service_files(
+# add_service_files(
-  FILES
+#   FILES
-  SetMarkers.srv
+#   Service1.srv
-)
+#   Service2.srv
+# )
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -118,8 +119,7 @@ generate_messages(
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
-  cfg/Detector.cfg
+  cfg/DetectorParams.cfg
-  cfg/Map.cfg
 )
 
 ###################################
@@ -202,11 +202,11 @@ set_property(TARGET aruco_pose
 # )
 
 ## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+# )
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -226,10 +226,6 @@ catkin_install_python(PROGRAMS src/genmap.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY map DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
 #############
 ## Testing ##
 #############
@@ -251,5 +247,4 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
   add_rostest(test/crash_opencv.test)
-  add_rostest(test/duplicate.test)
 endif()

aruco_pose/README.md

@@ -51,7 +51,6 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 
 * `image_raw` (*sensor_msgs/Image*) – camera image
 * `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info
-* `map_markers` (*aruco_pose/MarkerArray*) – list of markers to disable TF transform publishing
 
 #### Published
 
@@ -71,11 +70,10 @@ 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_tilt` – debug image width
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)
-* `~image_axis` – whether debug image should contain axis (default: true)
 * `~dictionary` (*int*) – ArUco dictionary (default: 2) - should be the same as `dictionary` parameter of `aruco_detect` nodelet
 
 Map file has one marker per line with the following line format:
@@ -99,7 +97,6 @@ See examples in [`map`](map/) directory.
 #### Published
 
 * `~pose` (*geometry_msgs/PoseWithCovarianceStamped*) – estimated map pose
-* `~map` (*aruco_pose/MarkerArray*) – list of markers in the loaded map
 * `~image` (*sensor_msgs/Image*) – planarized map image
 * `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz
 * `~debug` (*sensor_msgs/Image*) – debug image with detected markers and map axis

aruco_pose/cfg/DetectorParams.cfg

@@ -8,10 +8,6 @@ p = cv2.aruco.DetectorParameters_create()
 
 gen = ParameterGenerator()
 
-gen.add("enabled", bool_t, 0, "if detection enabled", True)
-
-gen.add("length", double_t, 0, "markers' side length", min=0, max=10)
-
 gen.add("adaptiveThreshConstant",                 double_t, 0,
         "Constant for adaptive thresholding before finding contours",
          p.adaptiveThreshConstant, 0, 100)

aruco_pose/cfg/Map.cfg

@@ -1,14 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "aruco_pose"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-gen.add("enabled", bool_t, 0, "if map detection enabled", True)
-
-gen.add("map", str_t, 0, "full path for the map file")
-
-gen.add("image_axis", bool_t, 0, "debug image axis", default=True)
-
-exit(gen.generate(PACKAGE, "aruco_pose", "Map"))

aruco_pose/map/cmit.txt

@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 0	0.33	0.0	9.0	0	0	0	0	
 1	0.33	1.0	9.0	0	0	0	0	
 2	0.33	2.0	9.0	0	0	0	0	

aruco_pose/map/office.txt

@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 107	0.33	0	0	0	0	0	0
 106	0.33	0.77	0	0	0	0	0
 105	0.33	0	0.77	0	0	0	0

aruco_pose/map/office_ceiling.txt

@@ -1,4 +1,3 @@
-# id	length	x	y	z	rot_z	rot_y	rot_x
 14	0.365	0.000	0.0	0	0	0	0
 15	0.365	1.335	0.0	0	0	0	0
 30	0.365	2.865	0.0	0	0	0	0

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.23.0</version>
+  <version>0.0.1</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

aruco_pose/src/aruco_detect.cpp

@@ -48,7 +48,6 @@
 #include <aruco_pose/Marker.h>
 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/DetectorConfig.h>
-#include <aruco_pose/SetMarkers.h>
 
 #include "utils.h"
 #include <memory>
@@ -63,17 +62,14 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
-	bool enabled_ = true;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
 	image_transport::Publisher debug_pub_;
 	image_transport::CameraSubscriber img_sub_;
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
-	ros::ServiceServer set_markers_srv_;
 	bool estimate_poses_, send_tf_, auto_flip_;
 	double length_;
-	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
 	std::string frame_id_prefix_, known_tilt_;
 	Mat camera_matrix_, dist_coeffs_;
@@ -100,7 +96,6 @@ public:
 			ros::shutdown();
 		}
 		readLengthOverride(nh_priv_);
-		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));
 
 		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
@@ -118,8 +113,6 @@ public:
 		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
 		dyn_srv_->setCallback(std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2));
 
-		set_markers_srv_ = nh_priv_.advertiseService("set_length_override", &ArucoDetect::setMarkers, this);
-
 		debug_pub_ = it_priv.advertise("debug", 1);
 		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
@@ -132,8 +125,6 @@ public:
 private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
-		if (!enabled_) return;
-
 		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
 
 		vector<int> ids;
@@ -178,7 +169,7 @@ private:
 				if (!known_tilt_.empty()) {
 					try {
 						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                      msg->header.stamp, transform_timeout_);
+						                                      msg->header.stamp, ros::Duration(0.02));
 					} catch (const tf2::TransformException& e) {
 						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
@@ -187,8 +178,6 @@ private:
 
 			array_.markers.reserve(ids.size());
 			aruco_pose::Marker marker;
-			vector<geometry_msgs::TransformStamped> transforms;
-			transforms.reserve(ids.size());
 			geometry_msgs::TransformStamped transform;
 			transform.header.stamp = msg->header.stamp;
 			transform.header.frame_id = msg->header.frame_id;
@@ -206,33 +195,20 @@ private:
 						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
 					}
 
+					// TODO: check IDs are unique
 					if (send_tf_) {
 						transform.child_frame_id = getChildFrameId(ids[i]);
 
 						// check if such static transform is in the map
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
-							// check if a markers with that id is already added
+							transform.transform.rotation = marker.pose.orientation;
-							bool send = true;
+							fillTranslation(transform.transform.translation, tvecs[i]);
-							for (auto &t : transforms) {
+							br_->sendTransform(transform);
-								if (t.child_frame_id == transform.child_frame_id) {
-									send = false;
-									break;
-								}
-							}
-							if (send) {
-								transform.transform.rotation = marker.pose.orientation;
-								fillTranslation(transform.transform.translation, tvecs[i]);
-								transforms.push_back(transform);
-							}
 						}
 					}
 				}
 				array_.markers.push_back(marker);
 			}
-
-			if (send_tf_) {
-				br_->sendTransform(transforms);
-			}
 		}
 
 		markers_pub_.publish(array_);
@@ -367,29 +343,6 @@ private:
 		}
 	}
 
-	bool setMarkers(aruco_pose::SetMarkers::Request& req, aruco_pose::SetMarkers::Response& res)
-	{
-		for (auto const& marker : req.markers) {
-			if (marker.id > 999) {
-				res.message = "Invalid marker id: " + std::to_string(marker.id);
-				ROS_ERROR("%s", res.message.c_str());
-				return true;
-			}
-			if (!std::isfinite(marker.length) || marker.length <= 0) {
-				res.message = "Invalid marker " + std::to_string(marker.id) + " length: " + std::to_string(marker.length);
-				ROS_ERROR("%s", res.message.c_str());
-				return true;
-			}
-		}
-
-		for (auto const& marker : req.markers) {
-			length_override_[marker.id] = marker.length;
-		}
-
-		res.success = true;
-		return true;
-	}
-
 	void mapMarkersCallback(const aruco_pose::MarkerArray& msg)
 	{
 		map_markers_ids_.clear();
@@ -400,8 +353,6 @@ private:
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
 	{
-		enabled_ = config.enabled && config.length > 0;
-		length_ = config.length;
 		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
 		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
 		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;

aruco_pose/src/aruco_map.cpp

@@ -19,13 +19,11 @@
 #include <vector>
 #include <fstream>
 #include <algorithm>
-#include <memory>
 #include <ros/ros.h>
 #include <nodelet/nodelet.h>
 #include <pluginlib/class_list_macros.h>
 #include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
-#include <dynamic_reconfigure/server.h>
 #include <tf/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
@@ -43,7 +41,6 @@
 
 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/Marker.h>
-#include <aruco_pose/MapConfig.h>
 
 #include <opencv2/opencv.hpp>
 #include <opencv2/aruco.hpp>
@@ -77,9 +74,6 @@ private:
 	tf2_ros::StaticTransformBroadcaster static_br_;
 	tf2_ros::Buffer tf_buffer_;
 	tf2_ros::TransformListener tf_listener_{tf_buffer_};
-	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::MapConfig>> dyn_srv_;
-	bool enabled_ = true;
-	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
 	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
@@ -95,14 +89,15 @@ public:
 
 		// TODO: why image_transport doesn't work here?
 		img_pub_ = nh_priv_.advertise<sensor_msgs::Image>("image", 1, true);
-		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("map", 1, true);
+		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1, true);
 
 		board_ = cv::makePtr<cv::aruco::Board>();
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
 			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
 
-		type_ = nh_priv_.param<std::string>("type", "map");
+		std::string type, map;
+		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", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
@@ -115,13 +110,13 @@ public:
 
 		// createStripLine();
 
-		if (type_ == "map") {
+		if (type == "map") {
-			map_ = nh_priv_.param<std::string>("map" , "");
+			param(nh_priv_, "map", map);
-			loadMap(map_);
+			loadMap(map);
-		} else if (type_ == "gridboard") {
+		} else if (type == "gridboard") {
 			createGridBoard(nh_priv_);
 		} else {
-			NODELET_FATAL("unknown type: %s", type_.c_str());
+			NODELET_FATAL("unknown type: %s", type.c_str());
 			ros::shutdown();
 		}
 
@@ -129,7 +124,10 @@ public:
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1, true);
 		debug_pub_ = it_priv.advertise("debug", 1);
 
-		publishMap();
+		publishMarkersFrames();
+		publishMarkers();
+		publishMapImage();
+		vis_markers_pub_.publish(vis_array_);
 
 		image_sub_.subscribe(nh_, "image_raw", 1);
 		info_sub_.subscribe(nh_, "camera_info", 1);
@@ -138,12 +136,6 @@ public:
 		sync_.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(10), image_sub_, info_sub_, markers_sub_));
 		sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));
 
-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::MapConfig>>(nh_priv_);
-		dynamic_reconfigure::Server<aruco_pose::MapConfig>::CallbackType cb;
-
-		cb = std::bind(&ArucoMap::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
-		dyn_srv_->setCallback(cb);
-
 		NODELET_INFO("ready");
 	}
 
@@ -151,9 +143,6 @@ public:
 	              const sensor_msgs::CameraInfoConstPtr& cinfo,
 	              const aruco_pose::MarkerArrayConstPtr& markers)
 	{
-		if (!enabled_) return;
-		if (markers->markers.empty()) return; // map not loaded
-
 		int valid = 0;
 		int count = markers->markers.size();
 		std::vector<int> ids;
@@ -279,17 +268,9 @@ publish_debug:
 		std::ifstream f(filename);
 		std::string line;
 
-		clearMarkers();
-
-		if (map_ == "") {
-			NODELET_INFO("No map loaded");
-			return;
-		}
-
 		if (!f.good()) {
-			NODELET_ERROR("%s - %s", strerror(errno), filename.c_str());
+			NODELET_FATAL("%s - %s", strerror(errno), filename.c_str());
-			map_ = "";
+			ros::shutdown();
-			return;
 		}
 
 		while (std::getline(f, line)) {
@@ -315,10 +296,9 @@ publish_debug:
 				s.putback(first);
 			} else {
 				// Probably garbage data; inform user and throw an exception, possibly killing nodelet
-				NODELET_ERROR("Malformed input: %s", line.c_str());
+				NODELET_FATAL("Malformed input: %s", line.c_str());
-				map_ = "";
+				ros::shutdown();
-				clearMarkers();
+				throw std::runtime_error("Malformed input");
-				return;
 			}
 
 			if (!(s >> id >> length >> x >> y)) {
@@ -349,14 +329,6 @@ publish_debug:
 		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}
 
-	void publishMap()
-	{
-		publishMarkersFrames();
-		publishMarkers();
-		publishMapImage();
-		vis_markers_pub_.publish(vis_array_);
-	}
-
 	void createGridBoard(ros::NodeHandle& nh)
 	{
 		NODELET_INFO("generate gridboard");
@@ -398,15 +370,6 @@ publish_debug:
 		}
 	}
 
-	void clearMarkers()
-	{
-		board_->ids.clear();
-		board_->objPoints.clear();
-		markers_.markers.clear();
-		vis_array_.markers.clear();
-		markers_transforms_.clear();
-	}
-
 	// void createStripLine()
 	// {
 	// 	visualization_msgs::Marker marker;
@@ -546,22 +509,6 @@ publish_debug:
 		msg.image = image;
 		img_pub_.publish(msg.toImageMsg());
 	}
-
-	void paramCallback(aruco_pose::MapConfig &config, uint32_t level)
-	{
-		// https://github.com/CopterExpress/clover/commit/2cd334c474e3ed04ef65ca1ba7f08ab535a3dc6d#diff-942723f9452c398ae93f1a91427f9a7b614be5e5871f8a3e590f324d804f0d58R356
-		enabled_ = config.enabled;
-		if (type_ == "map" && config.map != map_) {
-			map_ = config.map;
-			loadMap(map_);
-			publishMap();
-		}
-
-		if (config.image_axis != image_axis_) {
-			image_axis_ = config.image_axis;
-			publishMapImage();
-		}
-	}
 };
 
 PLUGINLIB_EXPORT_CLASS(ArucoMap, nodelet::Nodelet)

aruco_pose/src/genmap.py

@@ -30,7 +30,7 @@ Options:
   -o <filename>  Output map file name in the 'map' subdirectory of aruco_pose package
 
 Example:
-  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
+  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
 """
 
 from __future__ import print_function

aruco_pose/srv/SetMarkers.srv

@@ -1,7 +0,0 @@
-# * Add or change markers in the map
-# * Change markers' properties, e. g. lengths
-
-Marker[] markers # if length or pose is nan - remove from map
----
-bool success
-string message

aruco_pose/test/basic.py

@@ -143,7 +143,7 @@ def test_map_image(node):
     assert img.encoding in ('mono8', 'rgb8')
 
 def test_map_markers(node):
-    markers = rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=5)
+    markers = rospy.wait_for_message('aruco_map/markers', MarkerArray, timeout=5)
     assert markers.markers[0].id == 1
     assert markers.markers[1].id == 2
     assert markers.markers[2].id == 3

aruco_pose/test/duplicate.py

@@ -1,8 +0,0 @@
-import pytest
-import subprocess
-
-def test_no_tf_repeated_data():
-    # `/rosout` acts weirdly inside rostest, so using a subprocess
-    cmd = """python -c 'import rospy, tf; rospy.init_node("foo"); listener = tf.TransformListener(); rospy.sleep(2)'"""
-    output = str(subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT))
-    assert 'TF_REPEATED_DATA' not in output, 'TF_REPEATED_DATA was logged on duplicate markers'

aruco_pose/test/duplicate.test

@@ -1,21 +0,0 @@
-<launch>
-    <node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/duplicate.png">
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="publish_rate" value="10"/>
-        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
-
-    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager" required="true">
-        <remap from="image_raw" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <param name="length" value="0.33"/>
-        <param name="estimate_poses" value="true"/>
-        <param name="send_tf" value="true"/>
-        <param name="cornerRefinementMethod" value="1"/>
-    </node>
-
-	<param name="test_module" value="$(find aruco_pose)/test/duplicate.py"/>
-    <test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
-</launch>

aruco_pose/test/test_node_failure.py

@@ -2,7 +2,6 @@ import rospy
 import pytest
 
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
-from aruco_pose.msg import MarkerArray
 
 
 @pytest.fixture
@@ -10,5 +9,5 @@ def node():
     return rospy.init_node('aruco_pose_test', anonymous=True)
 
 def test_node_failure(node):
-    assert rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5).markers == []
+    with pytest.raises(rospy.exceptions.ROSException):
-    assert rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=5).markers == []
+        rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)

book.json

@@ -10,7 +10,7 @@
         "yametrika",
         "anchors",
         "collapsible-menu",
-        "validate-links@https://github.com/okalachev/gitbook-plugin-validate-links.git",
+        "validate-links",
         "bulk-redirect@https://github.com/okalachev/gitbook-plugin-bulk-redirect.git",
         "sitemap@https://github.com/okalachev/plugin-sitemap.git",
         "toolbar@https://github.com/hamishwillee/gitbook-plugin-toolbar.git",

builder/assets/clover.service

@@ -8,9 +8,5 @@ ExecStart=/bin/bash -c ". /home/pi/catkin_ws/devel/setup.sh; \
                       ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clover clover.launch --wait --screen --skip-log-check \
                       2> >(tee /tmp/clover.err)"
 
-ExecStartPre=+rm /var/log/clover.log
-StandardOutput=file:/var/log/clover.log
-StandardError=file:/var/log/clover.log
-
 [Install]
 WantedBy=multi-user.target

builder/assets/examples/flight.py

@@ -15,17 +15,17 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-print('Take off and hover 1 m above the ground')
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 
-# Wait for 5 seconds
+# Wait for 3 seconds
-rospy.sleep(5)
+rospy.sleep(3)
 
-print('Fly forward 1 m')
+# Fly forward 1 m
 navigate(x=1, y=0, z=0, frame_id='body')
 
-# Wait for 5 seconds
+# Wait for 3 seconds
-rospy.sleep(5)
+rospy.sleep(3)
 
-print('Perform landing')
+# Perform landing
 land()

builder/assets/examples/flight_marker.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/aruco
+# Information: https://clover.coex.tech/en/aruco.html
 
 import rospy
 from clover import srv
@@ -15,23 +15,23 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-print('Take off and hover 1 m above the ground')
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 
-# Wait for 5 seconds
+# Wait for 3 seconds
-rospy.sleep(5)
+rospy.sleep(3)
 
-print('Fly 1 meter above ArUco marker 0')
+# Fly 1 meter above ArUco marker 0
 navigate(x=0, y=0, z=1, frame_id='aruco_0')
 
-# Wait for 5 seconds
+# Wait for 3 seconds
-rospy.sleep(5)
+rospy.sleep(3)
 
-print('Fly to x=1 y=1 z=1 relative to ArUco markers map')
+# Fly to x=1 y=1 z=1 relative to ArUco markers map
 navigate(x=1, y=1, z=1, frame_id='aruco_map')
 
-# Wait for 5 seconds
+# Wait for 3 seconds
-rospy.sleep(5)
+rospy.sleep(3)
 
-print('Perform landing')
+# Perform landing
 land()

builder/assets/examples/leds.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/led
+# Information: https://clover.coex.tech/en/leds.html
 
 import rospy
 from clover.srv import SetLEDEffect

builder/assets/examples/navigate_wait.py

@@ -31,11 +31,11 @@ def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
             return res
         rospy.sleep(0.2)
 
-print('Take off 1 meter')
+# Take off 1 meter
 navigate_wait(z=1, frame_id='body', auto_arm=True)
 
-print('Fly forward 1 m')
+# Fly forward 1 m
 navigate_wait(x=1, frame_id='body')
 
-print('Land')
+# Land
 land()

builder/assets/hardware_setup.sh

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

builder/assets/install_gitbook.sh

@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# GitBook CLI is deprecated, its installation is broken.
-# This script fixes it until we stop using GitBook.
-
-export NPM_CONFIG_UNSAFE_PERM=1
-
-npm install gitbook-cli -g
-gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932

builder/image-build.sh

@@ -15,8 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-# https://www.raspberrypi.org/software/operating-systems/#raspberry-pi-os-32-bit
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_arm64/images/raspios_lite_arm64-2020-08-24/2020-08-20-raspios-buster-arm64-lite.zip"
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-05-28/2021-05-07-raspios-buster-armhf-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -105,6 +104,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
+# examples
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -113,11 +114,15 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
 # Clover
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.service' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
+# Add PX4 udev rules
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clover/config/99-px4fmu.rules' '/lib/udev/rules.d/'
 # Add rename script
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'

builder/image-init.sh

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

builder/image-ros.sh

@@ -13,7 +13,7 @@
 # copies or substantial portions of the Software.
 #
 
-set -ex # exit on error, echo commands
+set -e # Exit immidiately on non-zero result
 
 REPO=$1
 REF=$2
@@ -80,7 +80,7 @@ my_travis_retry sudo -u pi rosdep update
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-# echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
+echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
 cd /home/pi/catkin_ws/src/clover
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
@@ -90,8 +90,8 @@ echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
 apt install -y --no-install-recommends \
 ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
 ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
-ros-${ROS_DISTRO}-cv-camera=0.5.1-0buster \
+ros-${ROS_DISTRO}-cv-camera=0.5.0-0buster \
-ros-${ROS_DISTRO}-image-publisher=1.15.3-0buster \
+ros-${ROS_DISTRO}-image-publisher=1.15.2-0buster \
 ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
 apt-mark hold \
 ros-${ROS_DISTRO}-compressed-image-transport \
@@ -100,9 +100,6 @@ 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
-my_travis_retry apt-get install -y --no-install-recommends libboost-dev libboost-all-dev
-
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
 # Don't try to install gazebo_ros
@@ -112,8 +109,7 @@ my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
+catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
-source devel/setup.bash
 
 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -122,8 +118,8 @@ rm -rf build  # remove build artifacts
 
 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
-builder/assets/install_gitbook.sh
+NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
-gitbook install
+NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
 
@@ -135,9 +131,7 @@ my_travis_retry apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-usb-cam \
     ros-${ROS_DISTRO}-vl53l1x \
     ros-${ROS_DISTRO}-ws281x \
-    ros-${ROS_DISTRO}-rosshow \
+    ros-${ROS_DISTRO}-rosshow
-    ros-${ROS_DISTRO}-cmake-modules \
-    ros-${ROS_DISTRO}-image-view
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
@@ -151,20 +145,9 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
-echo_stamp "Make \$HOME/examples symlink"
+echo_stamp "Change permissions for examples"
-ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples
 
-echo_stamp "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"
-ln -s "$(catkin_find clover udev --first-only)"/* /lib/udev/rules.d/
-
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'

builder/image-software.sh

@@ -64,14 +64,15 @@ echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries
 echo_stamp "Install apt keys & repos"
 
 # TODO: This STDOUT consist 'OK'
+curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 apt-get update \
 && apt-get install --no-install-recommends -y dirmngr > /dev/null \
 && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
-
+echo "deb http://deb.coex.tech/opencv4 buster main" > /etc/apt/sources.list.d/opencv3.list
-wget -O - 'http://packages.coex.tech/key.asc' | apt-key add - 
+echo "deb http://deb.coex.tech/ros buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
-echo 'deb http://packages.coex.tech buster main' >> /etc/apt/sources.list
+echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list
 
 echo_stamp "Update apt cache"
 
@@ -81,7 +82,6 @@ apt-get update
 
 # Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
-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 \
 zip \
@@ -94,9 +94,8 @@ lsof \
 git \
 dnsmasq  \
 tmux \
-tree \
 vim \
-libjpeg8 \
+cmake \
 tcpdump \
 libpoco-dev \
 libzbar0 \
@@ -123,10 +122,9 @@ sed -i "s/updates_available//" /usr/share/byobu/status/status
 
 echo_stamp "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
-python get-pip2.py
+python get-pip.py
-rm get-pip.py get-pip2.py
+rm get-pip.py
 #my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
 
@@ -136,9 +134,6 @@ pip3 --version
 
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "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
 my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
@@ -150,16 +145,15 @@ my_travis_retry pip3 install --prefer-binary rpi_ws281x
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
-sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
 systemctl enable monkey.service
 
 echo_stamp "Install Node.js"
 cd /home/pi
-wget --no-verbose https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
+wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-arm64.tar.gz
-tar -xzf node-v10.15.0-linux-armv6l.tar.gz
+tar -xzf node-v10.15.0-linux-arm64.tar.gz
-cp -R node-v10.15.0-linux-armv6l/* /usr/local/
+cp -R node-v10.15.0-linux-arm64/* /usr/local/
-rm -rf node-v10.15.0-linux-armv6l/
+rm -rf node-v10.15.0-linux-arm64/
-rm node-v10.15.0-linux-armv6l.tar.gz
+rm node-v10.15.0-linux-arm64.tar.gz
 
 echo_stamp "Installing ptvsd"
 my_travis_retry pip install ptvsd

builder/image-validate.sh

@@ -20,20 +20,9 @@ export ROS_DISTRO='noetic'
 export ROS_IP='127.0.0.1'
 source /opt/ros/${ROS_DISTRO}/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
-systemctl start roscore
 
 cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.sh
 ./tests.py
 ./tests_py3.py
-[[ $(./test_qr.py) == "Found QRCODE with data Проверка Unicode with center at x=66.0, y=66.0" ]] 
 [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
-
-systemctl stop roscore
-
-# check documented packages available
-apt-cache show gst-rtsp-launch
-apt-cache show openvpn
-
-echo "Move /etc/ld.so.preload back to its original position"
-mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload

builder/standalone-install.sh

@@ -3,16 +3,15 @@
 # Perform a "standalone install" in a Docker container
 set -e
 # Step 1: Install pip
-apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 # https://github.com/osrf/docker_images/issues/535
+apt update
-apt-get update
+apt install -y curl
-apt-get install -y curl
+curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 if [ "x${ROS_PYTHON_VERSION}" = "x3" ]; then
   PYTHON=python3
-  curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 else
   PYTHON=python
-  curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
 fi
+
 ${PYTHON} ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt
@@ -41,7 +40,7 @@ ws281x:
   ubuntu:
     ${CODENAME}: [ros-${ROS_DISTRO}-ws281x]
 EOF
-apt-get update
+apt update
 rosdep update
 
 # Step 2: Run rosdep to install all dependencies
@@ -61,6 +60,3 @@ ${PYTHON} -m pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
-
-# Step 5: Install packages
-catkin_make install

builder/test/test_qr.py

@@ -1,42 +0,0 @@
-#!/usr/bin/env python3
-
-# Test QG recognition example
-# Should be synced with the documentation: /docs/en/camera.md, /docs/ru/camera.md
-# TODO: use real ROS topics
-
-import rospy
-from pyzbar import pyzbar
-from cv_bridge import CvBridge
-from sensor_msgs.msg import Image
-
-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)
-    for barcode in barcodes:
-        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))
-    # rospy.signal_shutdown('done')
-
-# image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-
-# ==============================================================================
-# Publish test image
-# rospy.sleep(2)
-
-import cv2
-img = cv2.imread('qr.png')
-image_callback(bridge.cv2_to_imgmsg(img, 'bgr8'))
-
-# image_pub = rospy.Publisher('/main_camera/image_raw', Image, queue_size=1, latch=True)
-# image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
-
-# rospy.spin()

builder/test/tests.py

@@ -4,26 +4,18 @@
 
 import rospy
 from geometry_msgs.msg import PoseStamped
-from sensor_msgs.msg import Range, BatteryState
 
 import cv2
 import cv2.aruco
-from sensor_msgs.msg import Image
-from cv_bridge import CvBridge
 
 import numpy
 import mavros
-from mavros_msgs.msg import State, StatusText, ExtendedState, RCIn, Mavlink
+from mavros_msgs.msg import State, StatusText, ExtendedState
 from mavros_msgs.srv import CommandBool, CommandLong, SetMode
 
 from std_srvs.srv import Trigger
 from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
     SetAttitude, SetRates, SetLEDEffect
-from led_msgs.srv import SetLEDs
-from led_msgs.msg import LEDStateArray, LEDState
-from aruco_pose.msg import Marker, MarkerArray, Point2D
-
-import dynamic_reconfigure.client
 
 import tf2_ros
 import tf2_geometry_msgs
@@ -33,7 +25,7 @@ import pymavlink
 from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
-# from espeak import espeak
+from espeak import espeak
 from pyzbar import pyzbar
 
 print(cv2.getBuildInformation())

builder/test/tests.sh

@@ -32,9 +32,8 @@ monkey --version
 pigpiod -v
 i2cdetect -V
 butterfly -h
-# espeak --version
+espeak --version
 mjpg_streamer --version
-systemctl --version
 
 # ros stuff
 
@@ -44,8 +43,6 @@ rosversion aruco_pose
 rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
-rosversion ws281x
-rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
 rosversion compressed_image_transport
@@ -55,12 +52,6 @@ rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
 rosversion rosshow
-rosversion nodelet
-rosversion image_view
-
-# validate some versions
-[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
-[[ $(rosversion ws281x) == "0.0.13" ]]
 
 # validate examples are present
 [[ $(ls /home/pi/examples/*) ]]

check_unused_assets.py

@@ -4,9 +4,7 @@ import os
 import sys
 import subprocess
 
-EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
+EXCLUDE = ('clever4-front-white.png', '.DS_Store', 'clever4-front-black-large.png')
-    'clever4-front-black-large.png','clover42-black.png', 'clover42-main-margin.png')
-
 code = 0
 
 os.chdir('./docs')

clover/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover package to ROS
-* Contributors: Alexey Rogachevskiy, Arthur Golubtsov, Oleg Kalachev

clover/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8.3)
 project(clover)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -17,7 +17,6 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
   geometry_msgs
   sensor_msgs
-  led_msgs
   geographic_msgs
   tf
   tf2
@@ -25,7 +24,6 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_ros
   image_transport
   cv_bridge
-  dynamic_reconfigure
 )
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -128,9 +126,10 @@ generate_messages(
 ##     and list every .cfg file to be processed
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
-generate_dynamic_reconfigure_options(
+# generate_dynamic_reconfigure_options(
-  cfg/Flow.cfg
+#   cfg/DynReconf1.cfg
-)
+#   cfg/DynReconf2.cfg
+# )
 
 ###################################
 ## catkin specific configuration ##
@@ -212,8 +211,6 @@ add_dependencies(clover_led ${PROJECT_NAME}_generate_messages_cpp)
 
 add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
 
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
-
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
@@ -244,12 +241,12 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-# Mark executables and/or libraries for installation
+## Mark executables and/or libraries for installation
-install(TARGETS simple_offboard clover_rc camera_markers vpe_publisher clover_led shell clover
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+# )
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -269,21 +266,13 @@ catkin_install_python(PROGRAMS src/selfcheck.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY examples DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-# TODO: install www
-
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)
 if (${_PREFIX_INDEX} EQUAL 0)
   message(STATUS "Building as a Debian package - adding udev rules as installable files")
   install(FILES
-    udev/99-px4fmu.rules
+    config/99-px4fmu.rules
     DESTINATION /lib/udev/rules.d
   )
 else()

clover/README.md

@@ -36,7 +36,7 @@ curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/inst
 You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
 
 ```bash
-cd ~/catkin_ws/src/clover/clover/udev
+cd ~/catkin_ws/src/clover/clover/config
 sudo cp 99-px4fmu.rules /lib/udev/rules.d
 ```
 
@@ -44,12 +44,16 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p
 
 ## Running
 
+To start connection to SITL, use:
+
+```bash
+roslaunch clover sitl.launch
+```
+
 To start connection to the flight controller, use:
 
 ```bash
 roslaunch clover clover.launch
 ```
 
-For the simulation information see the [corresponding article](https://clover.coex.tech/en/simulation.html).
-
 > Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.

clover/cfg/Flow.cfg

@@ -1,10 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "clover"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-gen.add("enabled", bool_t, 0, "if optical flow enabled", True)
-
-exit(gen.generate(PACKAGE, "clover", "Flow"))

clover/config/99-px4fmu.rules

@@ -12,6 +12,4 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{produ
 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"
 

clover/examples/get_telemetry.py

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

clover/examples/gps.py

@@ -1,47 +0,0 @@
-# Information: https://clover.coex.tech/en/simple_offboard.html#navigateglobal
-
-import rospy
-from clover import srv
-from std_srvs.srv import Trigger
-import math
-
-rospy.init_node('flight')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = rospy.ServiceProxy('navigate', srv.Navigate)
-navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
-set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
-set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
-set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
-land = rospy.ServiceProxy('land', Trigger)
-
-# https://clover.coex.tech/en/snippets.html#wait_arrival
-def wait_arrival(tolerance=0.2):
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
-            break
-        rospy.sleep(0.2)
-
-start = get_telemetry()
-
-if math.isnan(start.lat):
-    raise Exception('No global position, install and configure GPS sensor: https://clover.coex.tech/gps')
-
-print('Start point global position: lat={}, lon={}'.format(start.lat, start.lon))
-
-print('Take off 3 meters')
-navigate(x=0, y=0, z=3, frame_id='body', auto_arm=True)
-wait_arrival()
-
-print('Fly 1 arcsecond to the North (approx. 30 meters)')
-navigate_global(lat=start.lat+1.0/60/60, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
-wait_arrival()
-
-print('Fly to home position')
-navigate_global(lat=start.lat, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
-wait_arrival()
-
-print('Land')
-land()

clover/examples/subscriber.py

@@ -1,15 +0,0 @@
-# Information: https://clover.coex.tech/en/laser.html
-
-import rospy
-from sensor_msgs.msg import Range
-
-rospy.init_node('process_rangefinder')
-
-def range_callback(msg):
-    # Process data from the rangefinder
-    print('Rangefinder distance:', msg.range)
-
-# Subscribe to laser rangefinder data
-rospy.Subscriber('rangefinder/range', Range, range_callback)
-
-rospy.spin()

clover/launch/aruco.launch

@@ -3,25 +3,21 @@
     <arg name="aruco_map" default="false"/>
     <arg name="aruco_vpe" default="false"/>
     <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
-    <arg name="length" default="0.22"/> <!-- not-in-map markers length, m -->
+    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
     <arg name="map" default="map.txt"/> <!-- markers map file name -->
 
     <!-- For additional help go to https://clover.coex.tech/aruco -->
 
-    <arg name="force_init" default="false"/>
-    <arg name="disable" default="false"/> <!-- only force init -->
-
     <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(eval aruco_detect and not disable)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="map_markers" to="aruco_map/map"/>
+        <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
         <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="length" value="$(arg length)"/>
-        <param name="transform_timeout" value="0.1"/>
         <!-- aruco detector parameters -->
         <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
         <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
@@ -30,7 +26,7 @@
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(eval aruco_map and not disable)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
@@ -45,11 +41,11 @@
     </node>
 
     <!-- vpe publisher from aruco markers -->
-    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(eval aruco_vpe or force_init)" output="screen" clear_params="true">
+    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
-        <remap from="~pose_cov" to="aruco_map/pose" if="$(arg aruco_vpe)"/>
+        <remap from="~pose_cov" to="aruco_map/pose"/>
         <remap from="~vpe" to="mavros/vision_pose/pose"/>
-        <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
+        <param name="frame_id" value="aruco_map_detected"/>
-        <param name="force_init" value="$(arg force_init)"/>
+        <param name="publish_zero" value="true"/>
         <param name="offset_frame_id" value="aruco_map"/>
     </node>
 </launch>

clover/launch/clover.launch

@@ -11,8 +11,8 @@
     <arg name="rangefinder_vl53l1x" default="true"/>
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
-    <arg name="rc" default="false"/>
+    <arg name="rc" default="true"/>
-    <arg name="force_init" default="true"/> <!-- force estimator to init by publishing zero pose -->
+    <arg name="shell" default="true"/>
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 
@@ -34,23 +34,28 @@
     </node>
 
     <!-- aruco markers -->
-    <include file="$(find clover)/launch/aruco.launch" if="$(eval aruco or force_init)">
+    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
-        <arg name="force_init" value="$(arg force_init)"/>
-        <arg name="disable" value="$(eval not aruco)"/>
-    </include>
 
     <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow main_camera_nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
         <param name="roi_rad" value="0.8"/>
     </node>
 
+    <!-- main nodelet manager -->
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
+        <param name="num_worker_threads" value="2"/>
+    </node>
+
     <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
 
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
+        <param name="reference_frames/body" value="map"/>
+        <param name="reference_frames/base_link" value="map"/>
+        <param name="reference_frames/navigate_target" value="map"/>
         <param name="reference_frames/main_camera_optical" value="map"/>
     </node>
 
@@ -86,6 +91,9 @@
         <param name="use_fake_gcs" value="false"/>
     </node>
 
+    <!-- Shell access through ROS service -->
+    <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
+
     <!-- Update static directory -->
     <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
         <param name="default_package" value="clover"/>

clover/launch/led.launch

@@ -36,7 +36,7 @@
             posctl: { r: 50, g: 100, b: 220 }
             offboard: { r: 220, g: 20, b: 250 }
             low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
-            error: { effect: flash, r: 255, g: 0, b: 0, ignore: [ "[lpe] vision position timeout" ]}
+            error: { effect: flash, r: 255, g: 0, b: 0 }
         </rosparam>
     </node>
 </launch>

clover/launch/main_camera.launch

@@ -3,9 +3,6 @@
 
     <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
     <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
-    <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="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"/>
@@ -20,14 +17,9 @@
     <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
     <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->
 
-    <!-- camera nodelet manager -->
-    <node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
-        <param name="num_worker_threads" value="2"/>
-    </node>
-
     <!-- camera node -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet main_camera_nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" unless="$(arg simulator)" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)" respawn="true">
-        <param name="device_path" value="$(arg device)"/>
+        <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
         <param name="frame_id" value="main_camera_optical"/>
         <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>
 
@@ -45,8 +37,4 @@
     <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
         <param name="scale" value="3.0"/>
     </node>
-
-    <!-- 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)"/>
 </launch>

clover/launch/mavros.launch

@@ -1,21 +1,18 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl, hitl -->
+    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
     <arg name="distance_sensor_remap" default="rangefinder/range"/>
-    <arg name="usb_device" default="/dev/px4fmu"/>
-    <arg name="prefix" default="" unless="$(eval fcu_conn == 'usb')"/>
-    <arg name="prefix" default="rosrun clover waitfile $(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->
         <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
         <!-- USB connection -->
-        <param name="fcu_url" value="$(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
+        <param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
 
         <!-- sitl before PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
@@ -23,9 +20,6 @@
         <!-- sitl since PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
 
-        <!-- hitl connection (to gazebo_mavlink_interface plugin) -->
-        <param name="fcu_url" value="udp://$(arg fcu_ip):14540@" if="$(eval fcu_conn == 'hitl')"/>
-
         <!-- set target_system_id -->
         <param name="target_system_id" value="$(arg fcu_sys_id)" />
 
@@ -42,7 +36,7 @@
         <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
 
         <!-- remap rangefinder -->
-        <remap from="mavros/distance_sensor/rangefinder_sub" to="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))"/>
+        <remap from="mavros/distance_sensor/rangefinder_sub" to="rangefinder/range"/>
 
         <rosparam param="plugin_whitelist">
             - altitude

clover/launch/mavros_config.yaml

@@ -1,11 +1,11 @@
 # Config file for mavros
 # Based on https://raw.githubusercontent.com/mavlink/mavros/master/mavros/launch/px4_config.yaml
 
-startup_px4_usb_quirk: false
+startup_px4_usb_quirk: true
 
 conn:
-  heartbeat_rate: 1.0    # send heartbeat rate in Hertz
+  heartbeat_rate: 1.0    # send hertbeat rate in Hertz
-  timeout: 10.0          # heartbeat timeout in seconds
+  timeout: 10.0          # hertbeat timeout in seconds
   timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
   system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)
 
@@ -13,7 +13,6 @@ time:
   time_ref_source: "fcu"  # time_reference source
   timesync_mode: MAVLINK
   timesync_avg_alpha: 0.6 # timesync averaging factor
-  publish_sim_time: false # don't publish /clock
 
 global_position:
   frame_id: "map"             # origin frame
@@ -78,9 +77,6 @@ distance_sensor:
       field_of_view: 0.5
   rangefinder_sub:
       subscriber: true
-      id: 1
-      orientation: PITCH_270
-      covariance: 1  # cm
 
 # fake_gps
 fake_gps:

clover/launch/simulator.launch

@@ -1,4 +0,0 @@
-<launch>
-    <!-- shurtcut for running the simulation (`roslaunch clover simulator.launch`) -->
-    <include file="$(find clover_simulation)/launch/simulator.launch"/>
-</launch>

clover/launch/sitl.launch

@@ -0,0 +1,19 @@
+<launch>
+    <!-- clover configuration for testing in sitl -->
+    <arg name="ip" default="127.0.0.1"/>
+    <arg name="rosbridge" default="false"/>
+
+    <include file="$(find clover)/launch/clover.launch">
+        <arg name="fcu_conn" value="udp"/>
+        <arg name="fcu_ip" value="$(arg ip)"/>
+        <arg name="gcs_bridge" value="false"/>
+        <arg name="optical_flow" value="false"/>
+        <arg name="web_video_server" default="false"/>
+        <arg name="main_camera" default="false"/>
+        <arg name="rosbridge" value="$(arg rosbridge)"/>
+        <arg name="aruco" default="false"/>
+        <arg name="rangefinder_vl53l1x" default="false"/>
+        <arg name="led" default="false"/>
+        <arg name="rc" default="false"/>
+    </include>
+</launch>

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>clover</name>
-  <version>0.23.0</version>
+  <version>0.0.1</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -37,11 +37,8 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>libxml2</depend>
-  <depend>libxslt</depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
-  <depend>dynamic_reconfigure</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->

clover/src/autotest/autotest_aruco.py

@@ -1,87 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-import math
-import signal
-import sys
-import dynamic_reconfigure.client
-from clover import srv
-from std_srvs.srv import Trigger
-from sensor_msgs.msg import Range
-from aruco_pose.msg import MarkerArray
-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')
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
-land = handle_response(rospy.ServiceProxy('land', Trigger))
-
-def interrupt(sig, frame):
-    print('\nInterrupted, landing...')
-    land()
-    sys.exit(0)
-
-signal.signal(signal.SIGINT, interrupt)
-
-def print_current_map_position():
-    telem = get_telemetry()
-    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)
-
-    if not res.success:
-        return res
-
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
-            return res
-        rospy.sleep(0.2)
-
-markers = rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=3)
-left = min(marker.pose.position.x for marker in markers.markers)
-bottom = min(marker.pose.position.y for marker in markers.markers)
-width = max(marker.pose.position.x for marker in markers.markers)
-height = max(marker.pose.position.y for marker in markers.markers)
-center_x = left + width / 2
-center_y = bottom + height / 2
-
-print('Map rect: %g %g - %g %g' % (left, bottom, width, height))
-
-input('Take off and hover 1 m [enter] ')
-navigate_wait(x=0, y=0, z=1, frame_id='body', auto_arm=True)
-print_current_map_position()
-
-input('Go to corner %g %g 1.5 speed 1 [enter] ' % (width, height))
-navigate_wait(x=width, y=height, z=1.5, speed=1, frame_id='aruco_map')
-print_current_map_position()
-
-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)
-
-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')
-print_current_map_position()
-
-marker_id = markers.markers[0].id
-input('Go to marker %d z=1.5 [enter] ' % marker_id)
-navigate_wait(x=0, y=0, z=1.5, yaw=0, frame_id='aruco_%d' % marker_id)
-print_current_map_position()
-
-input('Perform landing [enter] ')
-land()

clover/src/autotest/autotest_flight.py

@@ -1,100 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-import math
-from math import nan
-import signal
-import sys
-from clover import srv
-from std_srvs.srv import Trigger
-from sensor_msgs.msg import Range
-from util import handle_response
-
-rospy.init_node('autotest_flight', disable_signals=True) # disable signals to allow interrupting with ctrl+c
-
-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_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))
-set_rates = handle_response(rospy.ServiceProxy('set_rates', srv.SetRates))
-land = handle_response(rospy.ServiceProxy('land', Trigger))
-
-def interrupt(sig, frame):
-    print('\nInterrupted, landing...')
-    land()
-    sys.exit(0)
-
-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)
-
-    if not res.success:
-        return res
-
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
-            return res
-        rospy.sleep(0.2)
-
-def print_distance():
-    dist = rospy.wait_for_message('rangefinder/range', Range).range
-    print('Distance: {:.2f}'.format(dist))
-
-input('Take off and hover 1 m [enter] ')
-navigate_wait(z=1, frame_id='body', auto_arm=True)
-print_distance()
-start = get_telemetry()
-
-input('Fly forward 2 m [enter] ')
-navigate_wait(x=2, frame_id='navigate_target')
-print_distance()
-
-input('Climb 0.5 m [enter] ')
-navigate_wait(z=0.5, frame_id='navigate_target')
-print_distance()
-
-input('Rotate left 90° [enter] ')
-navigate(yaw=math.pi / 2, frame_id='navigate_target')
-rospy.sleep(3)
-
-input('Use set_velocity to fly forward 2 m speed 1 [enter]')
-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')
-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')
-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')
-rospy.sleep(0.5)
-set_position(frame_id='body')
-
-input('Use set_rates to fly right [enter]')
-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)
-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('Land [enter]')
-land()

clover/src/autotest/autotest_led.py

@@ -1,72 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-import functools
-from clover.srv import SetLEDEffect
-from led_msgs.srv import SetLEDs
-from led_msgs.msg import LEDStateArray, LEDState
-from util import handle_response
-
-rospy.init_node('autotest_led', disable_signals=True)
-
-set_leds = handle_response(rospy.ServiceProxy('led/set_leds', SetLEDs))
-set_effect = handle_response(rospy.ServiceProxy('led/set_effect', SetLEDEffect))
-
-led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
-print('LED count =', led_count)
-
-print('== Testing effects ==')
-
-input('Fill red [enter] ')
-set_effect(r=255, g=0, b=0)
-
-input('Fill green [enter] ')
-set_effect(r=0, g=100, b=0)
-
-input('Blink white [enter] ')
-set_effect(effect='blink', r=255, g=255, b=255)
-rospy.sleep(3)
-
-input('Blink fast violet [enter] ')
-set_effect(effect='blink_fast', r=220, g=20, b=250)
-rospy.sleep(3)
-
-input('Fade to blue [enter] ')
-set_effect(effect='fade', r=0, g=0, b=255)
-
-input('Wipe to yellow [enter] ')
-set_effect(effect='wipe', r=255, g=255, b=40)
-
-input('Flash red [enter] ')
-set_effect(effect='flash', r=255, g=0, b=0)
-rospy.sleep(1)
-
-input('Rainbow [enter] ')
-set_effect(effect='rainbow')
-rospy.sleep(4)
-
-input('Rainbow fill [enter] ')
-set_effect(effect='rainbow_fill')
-rospy.sleep(4)
-
-input('Turn off [enter] ')
-set_effect()
-
-print('== Testing low-level control ==')
-
-input('Fill orange [enter] ')
-set_leds(leds=[LEDState(index=i, r=245, g=155, b=0) for i in range(led_count)])
-
-input('Fill blue gradient [enter] ')
-set_leds(leds=[LEDState(index=i, r=0, g=20, b=int(255 * i / led_count)) for i in range(led_count)])
-
-input('Animate green dot [enter] ')
-set_effect()
-for i in range(led_count):
-    if i > 0:
-        set_leds(leds=[LEDState(index=i - 1, r=0, g=0, b=0)])
-    set_leds(leds=[LEDState(index=i, r=0, g=255, b=0)])
-    rospy.sleep(0.05)
-
-input('Turn off [enter] ')
-set_effect()

clover/src/autotest/util.py

@@ -1,11 +0,0 @@
-import functools
-
-# decorator to handle response and print error message
-def handle_response(fn):
-    @functools.wraps(fn)
-    def wrapper(*args, **kwargs):
-        res = fn(*args, **kwargs)
-        if not res.success:
-            print('\033[91mError:\033[0m {}'.format(res.message))
-        return res
-    return wrapper

clover/src/led.cpp

@@ -12,7 +12,6 @@
 
 #include <ros/ros.h>
 #include <string>
-#include <vector>
 #include <boost/algorithm/string.hpp>
 
 #include <clover/SetLEDEffect.h>
@@ -30,7 +29,7 @@ ros::Timer timer;
 ros::Time start_time;
 double blink_rate, blink_fast_rate, flash_delay, fade_period, wipe_period, rainbow_period;
 double low_battery_threshold;
-std::vector<std::string> error_ignore;
+bool blink_state;
 led_msgs::SetLEDs set_leds;
 led_msgs::LEDStateArray state, start_state;
 ros::ServiceClient set_leds_srv;
@@ -86,8 +85,9 @@ void proceed(const ros::TimerEvent& event)
 	set_leds.request.leds.resize(led_count);
 
 	if (current_effect.effect == "blink" || current_effect.effect == "blink_fast") {
-		// enable on odd counter
+		blink_state = !blink_state;
-		if (counter % 2 != 0) {
+		// toggle all leds
+		if (blink_state) {
 			fill(current_effect.r, current_effect.g, current_effect.b);
 		} else {
 			fill(0, 0, 0);
@@ -220,7 +220,6 @@ bool setEffect(clover::SetLEDEffect::Request& req, clover::SetLEDEffect::Respons
 	counter = 0;
 	start_state = state;
 	start_time = ros::Time::now();
-	proceed({ .current_real = start_time });
 
 	return true;
 }
@@ -275,10 +274,6 @@ void handleMavrosState(const mavros_msgs::State& msg)
 void handleLog(const rosgraph_msgs::Log& log)
 {
 	if (log.level >= rosgraph_msgs::Log::ERROR) {
-		// check if ignored
-		for (auto const& str : error_ignore) {
-			if (log.msg.find(str) != std::string::npos) return;
-		}
 		notify("error");
 	}
 }
@@ -307,7 +302,6 @@ int main(int argc, char **argv)
 	nh_priv.param("rainbow_period", rainbow_period, 5.0);
 
 	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);

clover/src/optical_flow.cpp

@@ -22,13 +22,11 @@
 #include <tf2/utils.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <dynamic_reconfigure/server.h>
 #include <mavros_msgs/OpticalFlowRad.h>
 #include <sensor_msgs/Imu.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/TwistStamped.h>
-#include <clover/FlowConfig.h>
 
 using cv::Mat;
 
@@ -40,7 +38,6 @@ public:
 	{}
 
 private:
-	bool enabled_;
 	ros::Publisher flow_pub_, velo_pub_, shift_pub_;
 	ros::Time prev_stamp_;
 	std::string fcu_frame_id_, local_frame_id_;
@@ -56,8 +53,6 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
-	float flow_gyro_default_;
-	std::shared_ptr<dynamic_reconfigure::Server<clover::FlowConfig>> dyn_srv_;
 
 	void onInit()
 	{
@@ -74,25 +69,21 @@ private:
 		roi_px_ = nh_priv.param("roi", 128);
 		roi_rad_ = nh_priv.param("roi_rad", 0.0);
 		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
-		flow_gyro_default_ = nh_priv.param("flow_gyro_default", NAN);
 
 		img_pub_ = it_priv.advertise("debug", 1);
 		flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
 		velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
 		shift_pub_ = nh_priv.advertise<geometry_msgs::Vector3Stamped>("shift", 1);
 
+		flow_.integrated_xgyro = NAN; // no IMU available
+		flow_.integrated_ygyro = NAN;
+		flow_.integrated_zgyro = NAN;
 		flow_.time_delta_distance_us = 0;
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 
-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<clover::FlowConfig>>(nh_priv);
-		dynamic_reconfigure::Server<clover::FlowConfig>::CallbackType cb;
-
-		cb = std::bind(&OpticalFlow::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
-		dyn_srv_->setCallback(cb);
-
 		NODELET_INFO("Optical Flow initialized");
 	}
 
@@ -119,8 +110,6 @@ private:
 
 	void flow(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cinfo)
 	{
-		if (!enabled_) return;
-
 		parseCameraInfo(cinfo);
 
 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
@@ -154,7 +143,7 @@ private:
 
 		img.convertTo(curr_, CV_32F);
 
-		if (prev_.empty() || (msg->header.stamp - prev_stamp_).toSec() > 0.1) { // outdated previous frame
+		if (prev_.empty()) {
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;
 			cv::createHanningWindow(hann_, curr_.size(), CV_32F);
@@ -164,7 +153,7 @@ private:
 			cv::Point2d shift = cv::phaseCorrelate(prev_, curr_, hann_, &response);
 
 			// Publish raw shift in pixels
-			geometry_msgs::Vector3Stamped shift_vec;
+			static geometry_msgs::Vector3Stamped shift_vec;
 			shift_vec.header.stamp = msg->header.stamp;
 			shift_vec.header.frame_id = msg->header.frame_id;
 			shift_vec.vector.x = shift.x;
@@ -190,8 +179,8 @@ private:
 			double flow_x = atan2(points_undist[0].x, focal_length_x);
 			double flow_y = atan2(points_undist[0].y, focal_length_y);
 
-			// Convert to FCU frame
+			// // Convert to FCU frame
-			geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
+			static geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
 			flow_camera.header.frame_id = msg->header.frame_id;
 			flow_camera.header.stamp = msg->header.stamp;
 			flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
@@ -207,21 +196,18 @@ private:
 			ros::Duration integration_time = msg->header.stamp - prev_stamp_;
 			uint32_t integration_time_us = integration_time.toSec() * 1.0e6;
 
-			// Calculate flow gyro
-			flow_.integrated_xgyro = flow_gyro_default_;
-			flow_.integrated_ygyro = flow_gyro_default_;
-			flow_.integrated_zgyro = flow_gyro_default_;
-
 			if (calc_flow_gyro_) {
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
-					geometry_msgs::Vector3Stamped flow_gyro_fcu;
+					static geometry_msgs::Vector3Stamped flow_gyro_fcu;
 					tf_buffer_->transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
 					flow_.integrated_xgyro = flow_gyro_fcu.vector.x;
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
 				} catch (const tf2::TransformException& e) {
-					// Transform not available, keep NANs in flow gyro
+					// Invalidate previous frame
+					prev_.release();
+					return;
 				}
 			}
 
@@ -233,10 +219,6 @@ private:
 			flow_.quality = (uint8_t)(response * 255);
 			flow_pub_.publish(flow_);
 
-			prev_ = curr_.clone();
-			prev_stamp_ = msg->header.stamp;
-
-publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
 				// publish debug image
@@ -250,12 +232,15 @@ publish_debug:
 			}
 
 			// Publish estimated angular velocity
-			geometry_msgs::TwistStamped velo;
+			static geometry_msgs::TwistStamped velo;
 			velo.header.stamp = msg->header.stamp;
 			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
+			velo.twist.angular.x = flow_.integrated_x / integration_time.toSec();
-			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
+			velo.twist.angular.y = flow_.integrated_y / integration_time.toSec();
 			velo_pub_.publish(velo);
+
+			prev_ = curr_.clone();
+			prev_stamp_ = msg->header.stamp;
 		}
 	}
 
@@ -276,14 +261,6 @@ publish_debug:
 
 		return flow;
 	}
-
-	void paramCallback(clover::FlowConfig &config, uint32_t level)
-	{
-		enabled_ = config.enabled;
-		if (!enabled_) {
-			prev_ = Mat(); // clear previous frame
-		}
-	}
 };
 
 PLUGINLIB_EXPORT_CLASS(OpticalFlow, nodelet::Nodelet)

clover/src/rc.cpp

@@ -91,7 +91,7 @@ private:
 	void fakeGCSThread()
 	{
 		// Awful workaround for fixing PX4 not sending STATUSTEXTs
-		// if there is no GCS heartbeats.
+		// if there is no GCS hearbeats.
 		// TODO: use timer
 		// TODO: remove, when PX4 get this fixed.
 		ros::Publisher mavlink_pub = nh.advertise<mavros_msgs::Mavlink>("mavlink/to", 1);

clover/src/selfcheck.py

@@ -30,7 +30,6 @@ from visualization_msgs.msg import MarkerArray as VisualizationMarkerArray
 import tf.transformations as t
 from aruco_pose.msg import MarkerArray
 from mavros import mavlink
-import locale
 
 
 # TODO: check attitude is present
@@ -44,10 +43,6 @@ import locale
 
 rospy.init_node('selfcheck')
 
-os.environ['ROSCONSOLE_FORMAT']='[${severity}]: ${message}'
-
-# use user's locale to convert numbers, etc
-locale.setlocale(locale.LC_ALL, '')
 
 tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)
@@ -198,27 +193,24 @@ def check_fcu():
             failure('no connection to the FCU (check wiring)')
             return
 
-        clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
-        clover_fw = False
-
         # Make sure the console is available to us
         mavlink_exec('\n')
         version_str = mavlink_exec('ver all')
         if version_str == '':
             info('no version data available from SITL')
 
-        for line in version_str.split('\n'):
+        r = re.compile(r'^FW (git tag|version): (v?\d\.\d\.\d.*)$')
-            if line.startswith('FW version: '):
+        is_clover_firmware = False
-                info(line[len('FW version: '):])
+        for ver_line in version_str.split('\n'):
-            elif line.startswith('FW git tag: '): # only Clover's firmware
+            match = r.search(ver_line)
-                tag = line[len('FW git tag: '):]
+            if match is not None:
-                clover_fw = clover_tag.search(tag)
+                field, version = match.groups()
-                info(tag)
+                info('firmware %s: %s' % (field, version))
-            elif line.startswith('HW arch: '):
+                if 'clover' in version or 'clever' in version:
-                info(line[len('HW arch: '):])
+                    is_clover_firmware = True
 
-        if not clover_fw:
+        if not is_clover_firmware:
-            info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')
+            failure('not running Clover PX4 firmware, https://clover.coex.tech/firmware')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
@@ -336,7 +328,7 @@ def is_process_running(binary, exact=False, full=False):
         if exact:
             args.append('-x')  # match exactly with the command name
         if full:
-            args.append('-f')  # use full command line (including arguments) to match
+            args.append('-f')  # use full process name to match
         args.append(binary)
         subprocess.check_output(args)
         return True
@@ -491,12 +483,6 @@ def check_local_position():
             failure('roll is %.2f deg; place copter horizontally or redo level horizon calib',
                     math.degrees(roll))
 
-        if not tf_buffer.can_transform('base_link', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
-            failure('can\'t transform from %s to base_link (timeout 0.5 s): is TF enabled?', pose.header.frame_id)
-
-        if not tf_buffer.can_transform('body', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
-            failure('can\'t transform from %s to body (timeout 0.5 s)', pose.header.frame_id)
-
     except rospy.ROSException:
         failure('no local position')
 
@@ -534,8 +520,6 @@ def check_global_position():
         rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
     except rospy.ROSException:
         info('no global position')
-        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK') & (1 << 0)):
-            failure('enabled GPS fusion may suppress vision position aiding')
 
 
 @check('Optical flow')
@@ -625,20 +609,16 @@ def check_rangefinder():
 
 @check('Boot duration')
 def check_boot_duration():
-    if not os.path.exists('/etc/clover_version'):
-        info('skip check')
-        return # Don't check not on Clover's image
-
     output = subprocess.check_output('systemd-analyze').decode()
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
-    if duration > 20:
+    if duration > 15:
         failure('long Raspbian boot duration: %ss (systemd-analyze for analyzing)', duration)
 
 
 @check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet', 'gzclient', 'gzserver'
+    WHITELIST = 'nodelet',
     CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
     output = subprocess.check_output(CMD, shell=True).decode()
     processes = output.split('\n')
@@ -647,16 +627,13 @@ def check_cpu_usage():
             continue
         pid, cpu, cmd = process.split('\t')
 
-        if cmd.strip() not in WHITELIST and locale.atof(cpu) > 30:
+        if cmd.strip() not in WHITELIST and float(cpu) > 30:
             failure('high CPU usage (%s%%) detected: %s (PID %s)',
                     cpu.strip(), cmd.strip(), pid.strip())
 
 
 @check('clover.service')
 def check_clover_service():
-    if not os.path.exists('/etc/clover_version'):
-        return # Don't check not on Clover's image
-
     try:
         output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
                                          stderr=subprocess.STDOUT).decode()
@@ -669,22 +646,13 @@ def check_clover_service():
     elif 'failed' in output:
         failure('service failed to run, check your launch-files')
 
-    BLACKLIST = 'Unexpected command 520', 'Time jump detected', 'different index:'
+    r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
-
-    r = re.compile(r'^(.*)\[(FATAL|ERROR| WARN)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
     error_count = OrderedDict()
     try:
         for line in open('/tmp/clover.err', 'r'):
-            skip = False
-            for substr in BLACKLIST:
-                if substr in line:
-                    skip = True
-            if skip:
-                continue
-
             node_error = r.search(line)
             if node_error:
-                msg = node_error.groups()[1].strip() + ': ' + node_error.groups()[2]
+                msg = node_error.groups()[1] + ': ' + node_error.groups()[2]
                 if msg in error_count:
                     error_count[msg] += 1
                 else:
@@ -712,10 +680,6 @@ def check_image():
 
 @check('Preflight status')
 def check_preflight_status():
-    if is_process_running('px4', exact=True):
-        info('can\'t check in SITL')
-        return
-
     # Make sure the console is available to us
     mavlink_exec('\n')
     cmdr_output = mavlink_exec('commander check')
@@ -737,10 +701,6 @@ def check_preflight_status():
 
 @check('Network')
 def check_network():
-    if not os.path.exists('/etc/clover_version'):
-        # TODO:
-        return # Don't check not on Clover's image
-
     ros_hostname = os.environ.get('ROS_HOSTNAME', '').strip()
 
     if not ros_hostname:
@@ -763,14 +723,6 @@ def check_network():
 
 @check('RPi health')
 def check_rpi_health():
-    try:
-        import shutil
-        total, used, free = shutil.disk_usage('/')
-        if free < 1024 * 1024 * 1024:
-            failure('disk space is less than 1 GB; consider removing logs (~/.ros/log/)')
-    except Exception as e:
-        info('could not check the disk free space: %s', str(e))
-
     # `vcgencmd get_throttled` output codes taken from
     # https://github.com/raspberrypi/documentation/blob/JamesH65-patch-vcgencmd-vcdbg-docs/raspbian/applications/vcgencmd.md#get_throttled
     # TODO: support more base platforms?
@@ -801,7 +753,7 @@ def check_rpi_health():
         # with some of the FLAGs OR'ed together
         output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
     except OSError:
-        info('could not call vcgencmd binary; not a Raspberry Pi?')
+        failure('could not call vcgencmd binary; not a Raspberry Pi?')
         return
 
     throttle_mask = int(output.split('=')[1], base=16)

clover/src/simple_offboard.cpp

@@ -37,7 +37,6 @@
 #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>
@@ -55,7 +54,6 @@ 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;
@@ -63,7 +61,6 @@ std::shared_ptr<tf2_ros::TransformBroadcaster> transform_broadcaster;
 std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_transform_broadcaster;
 
 // Parameters
-string mavros;
 string local_frame;
 string fcu_frame;
 ros::Duration transform_timeout;
@@ -98,12 +95,10 @@ Thrust thrust_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_z, setpoint_z_transformed; // for z-only commands
 Vector3Stamped setpoint_velocity, setpoint_velocity_transformed;
 QuaternionStamped setpoint_attitude, setpoint_attitude_transformed;
 float setpoint_yaw_rate;
@@ -126,8 +121,6 @@ enum setpoint_type_t setpoint_type = NONE;
 
 enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 
-bool setpoint_z_valid = false;
-
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
@@ -156,9 +149,6 @@ void handleState(const mavros_msgs::State& s)
 inline void publishBodyFrame()
 {
 	if (body.child_frame_id.empty()) return;
-	if (!body.header.stamp.isZero() && body.header.stamp == local_position.header.stamp) {
-		return; // avoid TF_REPEATED_DATA warnings
-	}
 
 	tf::Quaternion q;
 	q.setRPY(0, 0, tf::getYaw(local_position.pose.orientation));
@@ -179,15 +169,6 @@ void handleLocalPosition(const PoseStamped& pose)
 	// TODO: terrain?, home?
 }
 
-void handleAltitude(const Altitude& alt)
-{
-	// publish terrain frame
-	if (!std::isfinite(alt.bottom_clearance)) return;
-	terrain.header.stamp = alt.header.stamp;
-	terrain.transform.translation.z = -alt.bottom_clearance;
-	transform_broadcaster->sendTransform(terrain);
-}
-
 // wait for transform without interrupting publishing setpoints
 inline bool waitTransform(const string& target, const string& source,
                           const ros::Time& stamp, const ros::Duration& timeout) // editorconfig-checker-disable-line
@@ -200,10 +181,9 @@ inline bool waitTransform(const string& target, const string& source,
 		ros::spinOnce();
 		r.sleep();
 	}
-	return false;
 }
 
-#define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
+#define TIMEOUT(msg, timeout) (ros::Time::now() - msg.header.stamp > timeout)
 
 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 {
@@ -436,18 +416,6 @@ void publish(const ros::Time stamp)
 		}
 	}
 
-	if (setpoint_z_valid && setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-		setpoint_z.header.stamp = stamp;
-		try {
-			tf_buffer.transform(setpoint_z, setpoint_z_transformed, local_frame, ros::Duration(0.05));
-			setpoint_position_transformed.pose.position.z = setpoint_z_transformed.vector.z;
-
-		} catch (const tf2::TransformException& e) {
-			ROS_WARN_THROTTLE(10, "can't transform z coordinate from %s to %s, ignoring z coordinate", 
-			                  setpoint_z.header.frame_id.c_str(), local_frame.c_str());
-		}
-	}
-
 	if (setpoint_type == POSITION) {
 		position_msg = setpoint_position_transformed;
 	}
@@ -473,10 +441,6 @@ void publish(const ros::Time stamp)
 
 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
-			if (setpoint.header.stamp == position_msg.header.stamp) {
-				return; // avoid TF_REPEATED_DATA warnings
-			}
-
 			setpoint.transform.translation.x = position_msg.pose.position.x;
 			setpoint.transform.translation.y = position_msg.pose.position.y;
 			setpoint.transform.translation.z = position_msg.pose.position.z;
@@ -583,7 +547,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 
 		// look up for reference frame
 		auto search = reference_frames.find(frame_id);
-		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second; // when not found it's the same frame
+		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
 
 		// Serve "partial" commands
 
@@ -610,33 +574,22 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			}
 		}
 
-		if (!auto_arm && std::isfinite(z) &&
+		if (!auto_arm && std::isfinite(yaw_rate) &&
-		    isnan(x) && isnan(y) && isnan(vx) && isnan(vy) && isnan(vz) &&
+		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
+		    isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
 		    isnan(lat) && isnan(lon)) {
-			// set only the z
+			// change only the yaw rate
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
+			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))
+				message = "Changing yaw rate only";
-					throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
 
-				message = "Changing z only";
+				setpoint_yaw_type = YAW_RATE;
-
+				setpoint_yaw_rate = yaw_rate;
-				setpoint_z.header.frame_id = frame_id;
-				setpoint_z.header.stamp = stamp;
-				setpoint_z.vector.z = z;
-				setpoint_z_valid = true;
 				goto publish_setpoint;
-
 			} else {
-				throw std::runtime_error("Setting z is possible only when position setpoint active");
+				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
 			}
 		}
 
-		// commands without z
-		if (isnan(z) && setpoint_z_valid && (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION)) {
-			z = 0;
-		}
-
 		// Serve normal commands
 
 		if (sp_type == NAVIGATE || sp_type == POSITION) {
@@ -732,7 +685,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// }
 
 		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
-			// destination point and/or attitude
+			// destination point and/or yaw
 			PoseStamped ps;
 			ps.header.frame_id = frame_id;
 			ps.header.stamp = stamp;
@@ -741,12 +694,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			ps.pose.position.z = z;
 			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
 
-			if (sp_type == ATTITUDE) {
+			if (std::isnan(yaw)) {
-				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) {
@@ -764,7 +712,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		}
 
 		if (sp_type == VELOCITY) {
-			Vector3Stamped vel;
+			static Vector3Stamped vel;
 			vel.header.frame_id = frame_id;
 			vel.header.stamp = stamp;
 			vel.vector.x = vx;
@@ -895,14 +843,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		busy = false;
 		return true;
 	}
-	return false;
-}
-
-bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
-{
-	setpoint_timer.stop();
-	res.success = true;
-	return true;
 }
 
 int main(int argc, char **argv)
@@ -915,9 +855,8 @@ int main(int argc, char **argv)
 	static_transform_broadcaster = std::make_shared<tf2_ros::StaticTransformBroadcaster>();
 
 	// Params
-	nh_priv.param("mavros", mavros, string("mavros")); // for case of using multiple connections
+	nh.param<string>("mavros/local_position/tf/frame_id", local_frame, "map");
-	nh.param<string>(mavros + "/local_position/tf/frame_id", local_frame, "map");
+	nh.param<string>("mavros/local_position/tf/child_frame_id", fcu_frame, "base_link");
-	nh.param<string>(mavros + "/local_position/tf/child_frame_id", fcu_frame, "base_link");
 	nh_priv.param("target_frame", target.child_frame_id, string("navigate_target"));
 	nh_priv.param("setpoint", setpoint.child_frame_id, string("setpoint"));
 	nh_priv.param("auto_release", auto_release, true);
@@ -926,16 +865,8 @@ 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.getParam("reference_frames", reference_frames);
 
-	// Default reference frames
-	std::map<string, string> default_reference_frames;
-	default_reference_frames[body.child_frame_id] = local_frame;
-	default_reference_frames[fcu_frame] = local_frame;
-	if (!target.child_frame_id.empty()) default_reference_frames[target.child_frame_id] = local_frame;
-	reference_frames.insert(default_reference_frames.begin(), default_reference_frames.end()); // merge defaults
-
 	state_timeout = ros::Duration(nh_priv.param("state_timeout", 3.0));
 	local_position_timeout = ros::Duration(nh_priv.param("local_position_timeout", 2.0));
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
@@ -950,32 +881,25 @@ int main(int argc, char **argv)
 	arming_timeout = ros::Duration(nh_priv.param("arming_timeout", 4.0));
 
 	// Service clients
-	arming = nh.serviceClient<mavros_msgs::CommandBool>(mavros + "/cmd/arming");
+	arming = nh.serviceClient<mavros_msgs::CommandBool>("mavros/cmd/arming");
-	set_mode = nh.serviceClient<mavros_msgs::SetMode>(mavros + "/set_mode");
+	set_mode = nh.serviceClient<mavros_msgs::SetMode>("mavros/set_mode");
 
 	// Telemetry subscribers
-	auto state_sub = nh.subscribe(mavros + "/state", 1, &handleState);
+	auto state_sub = nh.subscribe("mavros/state", 1, &handleState);
-	auto velocity_sub = nh.subscribe(mavros + "/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
+	auto velocity_sub = nh.subscribe("mavros/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
-	auto global_position_sub = nh.subscribe(mavros + "/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
+	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
-	auto battery_sub = nh.subscribe(mavros + "/battery", 1, &handleMessage<BatteryState, battery>);
+	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
-	auto statustext_sub = nh.subscribe(mavros + "/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
+	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
-	auto manual_control_sub = nh.subscribe(mavros + "/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
+	auto 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);
+	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 = body.child_frame_id;
-		terrain.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, 0);
-		altitude_sub = nh.subscribe(mavros + "/altitude", 1, &handleAltitude);
-	}
 
 	// Setpoint publishers
-	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
+	position_pub = nh.advertise<PoseStamped>("mavros/setpoint_position/local", 1);
-	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
+	position_raw_pub = nh.advertise<PositionTarget>("mavros/setpoint_raw/local", 1);
-	attitude_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_attitude/attitude", 1);
+	attitude_pub = nh.advertise<PoseStamped>("mavros/setpoint_attitude/attitude", 1);
-	attitude_raw_pub = nh.advertise<AttitudeTarget>(mavros + "/setpoint_raw/attitude", 1);
+	attitude_raw_pub = nh.advertise<AttitudeTarget>("mavros/setpoint_raw/attitude", 1);
-	rates_pub = nh.advertise<TwistStamped>(mavros + "/setpoint_attitude/cmd_vel", 1);
+	rates_pub = nh.advertise<TwistStamped>("mavros/setpoint_attitude/cmd_vel", 1);
-	thrust_pub = nh.advertise<Thrust>(mavros + "/setpoint_attitude/thrust", 1);
+	thrust_pub = nh.advertise<Thrust>("mavros/setpoint_attitude/thrust", 1);
 
 	 // Service servers
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
@@ -986,7 +910,6 @@ int main(int argc, char **argv)
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
 	auto sr_serv = nh.advertiseService("set_rates", &setRates);
 	auto ld_serv = nh.advertiseService("land", &land);
-	auto rl_serv = nh_priv.advertiseService("release", &release);
 
 	// Setpoint timer
 	setpoint_timer = nh.createTimer(ros::Duration(1 / nh_priv.param("setpoint_rate", 30.0)), &publishSetpoint, false, false);

clover/src/vpe_publisher.cpp

@@ -33,14 +33,14 @@ ros::Subscriber local_position_sub;
 ros::Timer zero_timer;
 PoseStamped vpe, pose;
 ros::Time got_local_pos(0);
-ros::Duration publish_zero_timeout, publish_zero_duration, offset_timeout;
+ros::Duration publish_zero_timout, publish_zero_duration, offset_timeout;
 TransformStamped offset;
 
 void publishZero(const ros::TimerEvent& e)
 {
-	if (!vpe.header.stamp.isZero() && e.current_real - vpe.header.stamp < publish_zero_timeout) return; // have vpe
+	if (e.current_real - vpe.header.stamp < publish_zero_timout) return; // have vpe
 
-	if (!pose.header.stamp.isZero() && e.current_real - pose.header.stamp < publish_zero_timeout) { // have local position
+	if (e.current_real - pose.header.stamp < publish_zero_timout) { // have local position
 		if (got_local_pos.isZero()) {
 			ROS_INFO("got local position");
 			got_local_pos = e.current_real;
@@ -53,7 +53,7 @@ void publishZero(const ros::TimerEvent& e)
 	}
 
 	ROS_INFO_THROTTLE(10, "publish zero");
-	geometry_msgs::PoseStamped zero;
+	static geometry_msgs::PoseStamped zero;
 	zero.header.frame_id = local_frame_id;
 	zero.header.stamp = e.current_real;
 	zero.pose.orientation.w = 1;
@@ -124,8 +124,8 @@ int main(int argc, char **argv) {
 
 	nh_priv.param<string>("frame_id", frame_id, "");
 	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
-	nh.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
+	nh_priv.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");
+	nh_priv.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));
 
 	if (!frame_id.empty()) {
@@ -141,11 +141,11 @@ int main(int argc, char **argv) {
 	vpe_pub = nh_priv.advertise<PoseStamped>("vpe", 1);
 	//vpe_cov_pub = nh_priv_.advertise<PoseStamped>("pose_cov_pub", 1);
 
-	if (nh_priv.param("force_init", false) || nh_priv.param("publish_zero", false)) { // publish_zero is old name
+	if (nh_priv.param("publish_zero", false)) {
 		// publish zero to initialize the local position
 		zero_timer = nh.createTimer(ros::Duration(0.1), &publishZero);
-		publish_zero_timeout = ros::Duration(nh_priv.param("force_init_timeout", 5.0));
+		publish_zero_timout = ros::Duration(nh_priv.param("publish_zero_timout", 5.0));
-		publish_zero_duration = ros::Duration(nh_priv.param("force_init_duration", 5.0));
+		publish_zero_duration = ros::Duration(nh_priv.param("publish_zero_duration", 5.0));
 		local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
 	}
 

clover/src/waitfile

@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# $ ./waitfile <file> <command> <args...> 
-# wait until <file> appears and then invoke <command> with <args>
-
-echo "wait for file $1"
-while [ ! -e "$1" ]; do sleep 1; done;
-echo "file $1 appeared"
-exec "${@:2}"

clover/test/basic.py

@@ -24,7 +24,6 @@ def test_simple_offboard_services_available():
     rospy.wait_for_service('set_attitude', timeout=5)
     rospy.wait_for_service('set_rates', timeout=5)
     rospy.wait_for_service('land', timeout=5)
-    rospy.wait_for_service('simple_offboard/release', timeout=5)
 
 def test_web_video_server(node):
     try:
@@ -35,28 +34,18 @@ def test_web_video_server(node):
         import urllib.request as urllib
     urllib.urlopen("http://localhost:8080").read()
 
-def test_blocks(node):
+def test_shell(node):
-    rospy.wait_for_service('clover_blocks/run', timeout=5)
+    execute = rospy.ServiceProxy('exec', srv.Execute)
-    rospy.wait_for_service('clover_blocks/stop', timeout=5)
+    execute.wait_for_service(5)
-    rospy.wait_for_service('clover_blocks/load', timeout=5)
-    rospy.wait_for_service('clover_blocks/store', timeout=5)
 
-    from std_msgs.msg import String
+    res = execute(cmd='echo foo')
-    from clover_blocks.srv import Run
+    assert res.code == 0
+    assert res.output == 'foo\n'
 
-    def wait_print():
+    res = execute(cmd='foo')
-        try:
+    assert res.code == 32512
-            wait_print.result = rospy.wait_for_message('clover_blocks/print', String, timeout=5).data
+    assert res.output == ''
-        except Exception as e:
-            wait_print.result = str(e)
 
-    import threading
+    res = execute(cmd='ls foo')
-    t = threading.Thread(target=wait_print)
+    assert res.code == 512
-    t.start()
+    assert res.output == ''
-    rospy.sleep(0.1)
-
-    run = rospy.ServiceProxy('clover_blocks/run', Run)
-    assert run(code='print("test")').success == True
-
-    t.join()
-    assert wait_print.result == 'test'

clover/test/basic.test

@@ -23,7 +23,10 @@
 
     <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped" required="true"/>
 
-    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>
+    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen">
+        <param name="reference_frames/body" value="map"/>
+        <param name="reference_frames/base_link" value="map"/>
+    </node>
 
     <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" required="true"/>
 
@@ -35,11 +38,6 @@
         <rosparam param="notify">startup: { r: 255, g: 255, b: 255 }</rosparam>
     </node>
 
-    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
-
-    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
-        args="messages image_raw 5.0 image_raw_throttled" required="true"/>
-
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clover/www/clover.log

@@ -1 +0,0 @@
-/var/log/clover.log

clover/www/clover_version

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

clover/www/console.html

@@ -1,23 +0,0 @@
-<h1>
-	/var/log/clover.log
-	<a style="font-size: 0.5em; vertical-align: super; font-weight: normal" href="clover.log" download>download</a>
-</h1>
-
-<pre></pre>
-
-<script type="module">
-	var pre = document.querySelector('pre');
-
-	fetch('clover.log?' + Math.random()).then(function(response) { // random to forbid caching
-		if (response.status == 404) {
-			pre.innerHTML = '/var/log/clover.log does not exist';
-			return;
-		} else if (response.status !== 200) {
-			pre.innerHTML('Error ' + response.status);
-			return;
-		}
-		response.text().then(function(content) {
-			pre.innerHTML = content;
-		});
-	});
-</script>

clover/www/index.html

@@ -1,36 +1,25 @@
-<title>Clover Drone Kit Tools</title>
-
 <h1>Clover Drone Kit Tools</h1>
 
 <ul>
 	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
-	<li><a href="topics.html">View topics</a></li>
 	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
 	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
-	<li>View <a href="viz.html">View 3D visualization</a>, <a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
+	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
+	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
 	<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
-	<li><a href="console.html">Clover console</a> (<code>/var/log/clover.log</code>)</li>
 </ul>
 
 <div class="version"></div>
 
+<script src="js/roslib.js"></script>
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
 	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
-	document.querySelector("#butterfly").addEventListener('click', function(e) {
-		if (location.hostname == 'localhost' || location.hostname == '127.0.0.1') {
-			if (!confirm('Please use regular Terminal app on a local machine.\nClick OK to proceed to Butterfly anyway.')) {
-				e.preventDefault();
-			}
-		}
-	});
-
 	// Determine image version
-	fetch('clover_version').then(function(response) {
+	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });
-		if (response.status !== 200) return;
+	var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
-		response.text().then(function(text) {
+	exec.callService(new ROSLIB.ServiceRequest({ cmd: 'cat /etc/clover_version' }), function(result) {
-			document.querySelector('.version').innerHTML = 'Version: ' + text;
+		document.querySelector('.version').innerHTML = 'Version: ' + result.output;
-		});
 	});
 </script>

clover/www/js/json-to-pretty-yaml.js

@@ -1,236 +0,0 @@
-// Browserified https://www.npmjs.com/package/json-to-pretty-yaml module
-
-(function(){function r(e,n,t){function o(i,f){if(!n[i]){if(!e[i]){var c="function"==typeof require&&require;if(!f&&c)return c(i,!0);if(u)return u(i,!0);var a=new Error("Cannot find module '"+i+"'");throw a.code="MODULE_NOT_FOUND",a}var p=n[i]={exports:{}};e[i][0].call(p.exports,function(r){var n=e[i][1][r];return o(n||r)},p,p.exports,r,e,n,t)}return n[i].exports}for(var u="function"==typeof require&&require,i=0;i<t.length;i++)o(t[i]);return o}return r})()({1:[function(require,module,exports){
-(function() {
-    "use strict";
-
-    var typeOf = require('remedial').typeOf;
-    var trimWhitespace = require('remove-trailing-spaces');
-
-    function stringify(data) {
-        var handlers, indentLevel = '';
-
-        handlers = {
-            "undefined": function() {
-                // objects will not have `undefined` converted to `null`
-                // as this may have unintended consequences
-                // For arrays, however, this behavior seems appropriate
-                return 'null';
-            },
-            "null": function() {
-                return 'null';
-            },
-            "number": function(x) {
-                return x;
-            },
-            "boolean": function(x) {
-                return x ? 'true' : 'false';
-            },
-            "string": function(x) {
-                // to avoid the string "true" being confused with the
-                // the literal `true`, we always wrap strings in quotes
-                return JSON.stringify(x);
-            },
-            "array": function(x) {
-                var output = '';
-
-                if (0 === x.length) {
-                    output += '[]';
-                    return output;
-                }
-
-                indentLevel = indentLevel.replace(/$/, '  ');
-                x.forEach(function(y, i) {
-                    // TODO how should `undefined` be handled?
-                    var handler = handlers[typeOf(y)];
-
-                    if (!handler) {
-                        throw new Error('what the crap: ' + typeOf(y));
-                    }
-
-                    output += '\n' + indentLevel + '- ' + handler(y, true);
-
-                });
-                indentLevel = indentLevel.replace(/  /, '');
-
-                return output;
-            },
-            "object": function(x, inArray, rootNode) {
-                var output = '';
-
-                if (0 === Object.keys(x).length) {
-                    output += '{}';
-                    return output;
-                }
-
-                if (!rootNode) {
-                    indentLevel = indentLevel.replace(/$/, '  ');
-                }
-
-                Object.keys(x).forEach(function(k, i) {
-                    var val = x[k],
-                        handler = handlers[typeOf(val)];
-
-                    if ('undefined' === typeof val) {
-                        // the user should do
-                        // delete obj.key
-                        // and not
-                        // obj.key = undefined
-                        // but we'll error on the side of caution
-                        return;
-                    }
-
-                    if (!handler) {
-                        throw new Error('what the crap: ' + typeOf(val));
-                    }
-
-                    if (!(inArray && i === 0)) {
-                        output += '\n' + indentLevel;
-                    }
-
-                    output += k + ': ' + handler(val);
-                });
-                indentLevel = indentLevel.replace(/  /, '');
-
-                return output;
-            },
-            "function": function() {
-                // TODO this should throw or otherwise be ignored
-                return '[object Function]';
-            }
-        };
-        return trimWhitespace(handlers[typeOf(data)](data, true, true) + '\n');
-
-    }
-
-    window.yamlStringify = stringify;
-    module.exports.stringify = stringify;
-}());
-
-},{"remedial":2,"remove-trailing-spaces":3}],2:[function(require,module,exports){
-/*jslint onevar: true, undef: true, nomen: true, eqeqeq: true, plusplus: true, bitwise: true, regexp: true, newcap: true, immed: true */
-(function () {
-    "use strict";
-
-    var global = Function('return this')()
-      , classes = "Boolean Number String Function Array Date RegExp Object".split(" ")
-      , i
-      , name
-      , class2type = {}
-      ;
-
-    for (i in classes) {
-      if (classes.hasOwnProperty(i)) {
-        name = classes[i];
-        class2type["[object " + name + "]"] = name.toLowerCase();
-      }
-    }
-
-    function typeOf(obj) {
-      return (null === obj || undefined === obj) ? String(obj) : class2type[Object.prototype.toString.call(obj)] || "object";
-    }
-
-    function isEmpty(o) {
-        var i, v;
-        if (typeOf(o) === 'object') {
-            for (i in o) { // fails jslint
-                v = o[i];
-                if (v !== undefined && typeOf(v) !== 'function') {
-                    return false;
-                }
-            }
-        }
-        return true;
-    }
-
-    if (!String.prototype.entityify) {
-        String.prototype.entityify = function () {
-            return this.replace(/&/g, "&amp;").replace(/</g,
-                "&lt;").replace(/>/g, "&gt;");
-        };
-    }
-
-    if (!String.prototype.quote) {
-        String.prototype.quote = function () {
-            var c, i, l = this.length, o = '"';
-            for (i = 0; i < l; i += 1) {
-                c = this.charAt(i);
-                if (c >= ' ') {
-                    if (c === '\\' || c === '"') {
-                        o += '\\';
-                    }
-                    o += c;
-                } else {
-                    switch (c) {
-                    case '\b':
-                        o += '\\b';
-                        break;
-                    case '\f':
-                        o += '\\f';
-                        break;
-                    case '\n':
-                        o += '\\n';
-                        break;
-                    case '\r':
-                        o += '\\r';
-                        break;
-                    case '\t':
-                        o += '\\t';
-                        break;
-                    default:
-                        c = c.charCodeAt();
-                        o += '\\u00' + Math.floor(c / 16).toString(16) +
-                            (c % 16).toString(16);
-                    }
-                }
-            }
-            return o + '"';
-        };
-    } 
-
-    if (!String.prototype.supplant) {
-        String.prototype.supplant = function (o) {
-            return this.replace(/{([^{}]*)}/g,
-                function (a, b) {
-                    var r = o[b];
-                    return typeof r === 'string' || typeof r === 'number' ? r : a;
-                }
-            );
-        };
-    }
-
-    if (!String.prototype.trim) {
-        String.prototype.trim = function () {
-            return this.replace(/^\s*(\S*(?:\s+\S+)*)\s*$/, "$1");
-        };
-    }
-
-    // CommonJS / npm / Ender.JS
-    module.exports = {
-        typeOf: typeOf,
-        isEmpty: isEmpty
-    };
-    global.typeOf = global.typeOf || typeOf;
-    global.isEmpty = global.isEmpty || isEmpty;
-}());
-
-},{}],3:[function(require,module,exports){
-"use strict";
-
-/**
- * removeTrailingSpaces
- * Remove the trailing spaces from a string.
- *
- * @name removeTrailingSpaces
- * @function
- * @param {String} input The input string.
- * @returns {String} The output string.
- */
-
-module.exports = function removeTrailingSpaces(input) {
-  // TODO If possible, use a regex
-  return input.split("\n").map(function (x) {
-    return x.trimRight();
-  }).join("\n");
-};
-},{}]},{},[1]);

clover/www/js/topics.js

@@ -1,86 +0,0 @@
-const url = 'ws://' + location.hostname + ':9090';
-const ros = new ROSLIB.Ros({ url: url });
-const params = Object.fromEntries(new URLSearchParams(window.location.search).entries());
-
-ros.on('connection', function () {
-	document.body.classList.add('connected');
-	document.body.classList.remove('closed');
-	init();
-});
-
-ros.on('close', function () {
-	document.body.classList.remove('connected');
-	document.body.classList.add('closed');
-	setTimeout(function() {
-		// reconnect
-		ros.connect(url);
-	}, 2000);
-});
-
-const title = document.querySelector('h1');
-const topicsList = document.querySelector('#topics');
-const topicMessage = document.querySelector('#topic-message');
-
-function viewTopicsList() {
-	title.innerHTML = 'Topics:';
-
-	ros.getTopics(function(topics) {
-		topicsList.innerHTML = topics.topics.map(function(topic, i) {
-			const type = topics.types[i];
-			if (type == 'sensor_msgs/Image') {
-				let url = `${location.protocol}//${location.hostname}:8080/stream_viewer?topic=${topic}`; 
-				return `<li><a href="${url}" class=topic title=${type}>${topic}</a> &#x1F5BC;</li>`;
-			} else {
-				return `<li><a href="?topic=${topic}" class=topic title=${type}>${topic}</a></li>`;
-			}
-		}).join('');
-	});
-}
-
-let rosdistro;
-
-function viewTopic(topic) {
-	let counter = 0;
-	let index = '<a href=topics.html>Topics</a>';
-	title.innerHTML = `${index}: ${topic}`;
-	topicMessage.style.display = 'block';
-
-	ros.getTopicType(topic, function(typeStr) {
-		const [pack, type] = typeStr.split('/');
-		let href = `https://docs.ros.org/en/${rosdistro}/api/${pack}/html/msg/${type}.html`;
-		title.innerHTML = `${index}: ${topic} <a id="topic-type" href=${href} target="_blank">${typeStr}</a>`;
-	});
-
-	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
-		counter++;
-		document.title = topic;
-		if (mouseDown) return;
-
-		if (msg.header && msg.header.stamp) {
-			if (params.date || params.offset) {
-				let date = new Date(msg.header.stamp.secs * 1e3 + msg.header.stamp.nsecs * 1e-6);
-				if (params.date) msg.header.date = date.toISOString();
-				if (params.offset) msg.header.offset = (new Date() - date) * 1e-3;
-			}
-		}
-
-		let txt = `<div class=counter>${counter} received</div>${yamlStringify(msg)}`; // JSON.stringify(msg, null, 4);
-		topicMessage.innerHTML = txt;
-	});
-}
-
-let mouseDown;
-
-topicMessage.addEventListener('mousedown', function() { mouseDown = true; });
-topicMessage.addEventListener('mouseup', function() { mouseDown = false; });
-
-function init() {
-	if (!params.topic) {
-		viewTopicsList();
-	} else {
-		new ROSLIB.Param({ ros: ros, name: '/rosdistro'}).get(function(value) {
-			rosdistro = value.trim();
-			viewTopic(params.topic);
-		});
-	}
-}

clover/www/topics.html

@@ -1,29 +0,0 @@
-<html lang="en">
-	<head>
-		<title>ROS topics</title>
-		<script src="js/roslib.js"></script>
-		<link rel="icon" href="data:,"> <!-- make chrome don't request icon -->
-		<script type="module" src="js/topics.js"></script>
-		<script src="js/json-to-pretty-yaml.js"></script>
-		<style>
-			#topics { line-height: 1.2em; }
-			#topic-view {
-				display: none;
-			}
-			#topic-message {
-				display: none;
-				white-space: pre;
-				font-family: monospace;
-			}
-			.counter { color: #b9b9b9; margin-bottom: 1em; }
-			#topic-type { font-family: monospace; font-size: 0.5em; vertical-align: super; font-weight: normal; }
-			.topic { font-family: monospace; }
-			body.closed { background-color: rgb(207, 207, 207); }
-		</style>
-	</head>
-	<body>
-		<h1>&nbsp;</h1>
-		<ul id="topics"></ul>
-		<code id="topic-message">No messages received</code>
-	</body>
-</html>

clover_blocks/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_blocks
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_blocks package to ROS
-* Contributors: Oleg Kalachev

clover_blocks/CMakeLists.txt

@@ -73,13 +73,6 @@ catkin_install_python(PROGRAMS src/clover_blocks
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-# TODO: store programs in home directory?
-install(DIRECTORY programs
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
 #############
 ## Testing ##
 #############

clover_blocks/README.md

@@ -10,7 +10,7 @@ Internal package documentation is given below.
 
 ## Frontend
 
-The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roslib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
+The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roblib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
 
 ## `clover_blocks` node
 
@@ -19,7 +19,7 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 ### Services
 
 * `~run` ([*clover_blocks/Run*](srv/Run.srv)) – run Blockly-generated program (in Python).
-* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/noetic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
+* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/melodic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
 * `~store` ([*clover_blocks/load*](srv/Store.srv)) – store a user program (to `<package_path>/programs` by default).
 * `~load` ([*clover_blocks/load*](srv/Load.srv)) – load all the stored programs.
 
@@ -30,8 +30,7 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 Parameters read by frontend:
 
 * `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
-* `~navigate_global_tolerance` (*float*) – distance tolerance for global coordinates navigation (default: 1).
+* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
-* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 1).
 * `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
 * `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
 
@@ -45,11 +44,11 @@ http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
 
 #### Published
 
-* `~running` ([*std_msgs/Bool*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
+* `~running` ([*std_msgs/Bool*](http://docs.ros.org/melodic/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).
+* `~block` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
-* `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
+* `~error` ([*std_msgs/String*](http://docs.ros.org/melodic/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).
 
 This topic is published from the frontend side:
 
-* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user input response.
+* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user input response.

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>0.0.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_blocks/src/clover_blocks

@@ -11,8 +11,7 @@
 from __future__ import print_function
 
 import rospy
-import os, sys
+import os
-import traceback
 import threading
 import re
 import uuid
@@ -117,12 +116,7 @@ def run(req):
                 rospy.loginfo('Program forced to stop')
             except Exception as e:
                 rospy.logerr(str(e))
-                traceback.print_exc()
+                error_pub.publish(str(e))
-                etype, value, tb = sys.exc_info()
-                fmt = traceback.format_exception(etype, value, tb)
-                fmt.pop(1) # remove 'clover_blocks' file frame
-                exc_info = ''.join(fmt)
-                error_pub.publish(str(e) + '\n\n' + exc_info)
 
             rospy.loginfo('Program terminated')
             running_lock.release()
@@ -146,7 +140,6 @@ def stop(req):
     return {'success': True}
 
 
-# TODO: find dir in installed package
 programs_path = rospy.get_param('~programs_dir', os.path.dirname(os.path.abspath(__file__)) + '/../programs')
 
 

clover_blocks/www/blocks.js

@@ -31,14 +31,6 @@ function considerFrameId(e) {
 			this.getInput('Y').fieldRow[0].setValue('y');
 			this.getInput('Z').fieldRow[0].setValue('z');
 		}
-		if (this.getInput('LAT')) { // block has global coordinates
-			let global = frameId.startsWith('GLOBAL');
-			this.getInput('LAT').setVisible(global);
-			this.getInput('LON').setVisible(global);
-			this.getInput('X').setVisible(!global);
-			this.getInput('Y').setVisible(!global);
-			this.getInput('Z').fieldRow[0].setValue(frameId == 'GLOBAL' ? 'altitude' : 'z');
-		}
 	}
 	if (this.getInput('ID')) { // block has marker id field
 		this.getInput('ID').setVisible(frameId == 'ARUCO'); // toggle id field
@@ -73,9 +65,6 @@ function updateSetpointBlock(e) {
 
 Blockly.Blocks['navigate'] = {
 	init: function () {
-		let navFrameId = frameIds.slice();
-		navFrameId.push(['global', 'GLOBAL_LOCAL'])
-		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
 			.appendField("navigate to point");
 		this.appendValueInput("X")
@@ -84,20 +73,12 @@ Blockly.Blocks['navigate'] = {
 		this.appendValueInput("Y")
 			.setCheck("Number")
 			.appendField("left");
-		this.appendValueInput("LAT")
-			.setCheck("Number")
-			.appendField("latitude")
-			.setVisible(false);
-		this.appendValueInput("LON")
-			.setCheck("Number")
-			.appendField("longitude")
-			.setVisible(false)
 		this.appendValueInput("Z")
 			.setCheck("Number")
 			.appendField("up");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(navFrameId), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -287,7 +268,7 @@ Blockly.Blocks['mode'] = {
 			.appendField("current flight mode");
 		this.setOutput(true, "String");
 		this.setColour(COLOR_STATE);
-		this.setTooltip("Returns current flight mode (POSCTL, OFFBOARD, etc).");
+		this.setTooltip("");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -394,7 +375,7 @@ Blockly.Blocks['take_off'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setColour(COLOR_FLIGHT);
-		this.setTooltip("Take off on desired altitude in meters.");
+		this.setTooltip("Take off on desired altitude in meters");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -410,7 +391,7 @@ Blockly.Blocks['land'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setColour(COLOR_FLIGHT);
-		this.setTooltip("Land the drone.");
+		this.setTooltip("");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -419,10 +400,10 @@ Blockly.Blocks['global_position'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["latitude", "LAT"], ["longitude", "LON"], ["altitude", "ALT"]]), "FIELD");
+			.appendField(new Blockly.FieldDropdown([["latitude", "LATITUDE"], ["longitude", "LONGITUDE"], ["altitude", "ALTITUDE"]]), "NAME");
 		this.setOutput(true, "Number");
-		this.setColour(COLOR_STATE);
+		this.setColour(230);
-		this.setTooltip("Returns current global position (latitude, longitude, altitude above the WGS 84 ellipsoid).");
+		this.setTooltip("");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };

clover_blocks/www/index.html

@@ -52,8 +52,6 @@
 				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Z"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
-				<value name="LAT"><shadow type="math_number"><field name="NUM">47.397503</field></shadow></value>
-				<value name="LON"><shadow type="math_number"><field name="NUM">8.544945</field></shadow></value>
 				<value name="SPEED"><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>
 			</block>
@@ -87,7 +85,6 @@
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 			</block>
 			<block type="get_attitude"></block>
-			<block type="global_position"></block>
 			<block type="distance">
 				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>

clover_blocks/www/main.js

@@ -39,8 +39,7 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('navigate_global_tolerance', true, 1),
+		ros.readParam('yaw_tolerance', true, 20),
-		ros.readParam('yaw_tolerance', true, 1),
 		ros.readParam('sleep_time', true, 0.2),
 		ros.readParam('confirm_run', true, true),
 	]);
@@ -211,7 +210,7 @@ function loadPrograms() {
 		updateChanged();
 	}, function(err) {
 		document.querySelector('.backend-fail').style.display = 'inline';
-		alert(`Error loading programs list.\n\nHave you enabled 'blocks' in clover.launch?`);
+		alert(`Error loading programs list.\n\nHave you enabled clover_blocks in clover.launch?`);
 		runButton.disabled = true;
 	})
 }

clover_blocks/www/python.js

@@ -33,18 +33,6 @@ const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame
             return
         rospy.sleep(${params.sleep_time})\n`;
 
-const NAVIGATE_GLOBAL_WAIT = () => `\ndef navigate_global_wait(lat, lon, z, speed=0.5):
-    res = navigate_global(lat=lat, lon=lon, z=z, yaw=float('inf'), speed=speed)
-
-    if not res.success:
-        raise Exception(res.message)
-
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_global_tolerance}:
-            return
-        rospy.sleep(${params.sleep_time})\n`;
-
 const LAND_WAIT = () => `\ndef land_wait():
     land()
     while get_telemetry().armed:
@@ -80,9 +68,6 @@ function generateROSDefinitions() {
 	if (rosDefinitions.offboard) {
 		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`;
-		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
 		}
@@ -109,10 +94,6 @@ function generateROSDefinitions() {
 		Blockly.Python.definitions_['import_math'] = 'import math';
 		code += NAVIGATE_WAIT();
 	}
-	if (rosDefinitions.navigateGlobalWait) {
-		Blockly.Python.definitions_['import_math'] = 'import math';
-		code += NAVIGATE_GLOBAL_WAIT();
-	}
 	if (rosDefinitions.landWait) {
 		code += LAND_WAIT();
 	}
@@ -180,48 +161,24 @@ Blockly.Python.navigate = function(block) {
 	let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
 	let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
 	let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
-	let lat = Blockly.Python.valueToCode(block, 'LAT', Blockly.Python.ORDER_NONE);
+	let frameId = buildFrameId(block);
-	let lon = Blockly.Python.valueToCode(block, 'LON', Blockly.Python.ORDER_NONE);
-	let wait = block.getFieldValue('WAIT') == 'TRUE';
-	let frameId = block.getFieldValue('FRAME_ID');
 	let speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_NONE);
 
+	let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
+
 	simpleOffboard();
 
-	// global coordinates
+	if (block.getFieldValue('WAIT') == 'TRUE') {
-	if (frameId.startsWith('GLOBAL')) {
+		rosDefinitions.navigateWait = true;
-		rosDefinitions.navigateGlobal = true;
 		simpleOffboard();
 
-		if (frameId == 'GLOBAL') {
+		return `navigate_wait(${params.join(', ')})\n`;
-			z = `${z} + get_telemetry().alt - get_telemetry().z`;
-		}
-
-		if (wait) {
-			rosDefinitions.navigateGlobalWait = true;
-			simpleOffboard();
-			return `navigate_global_wait(lat=${lat}, lon=${lon}, z=${z}, speed=${speed})\n`;
-
-		} else {
-			return `navigate_global(lat=${lat}, lon=${lon}, z=${z}, yaw=float('inf'), speed=${speed})\n`;
-		}
 
 	} else {
-		frameId = buildFrameId(block);
+		if (frameId != 'body') {
-		let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
+			params.push(`yaw=float('nan')`);
-
-		if (wait) {
-			rosDefinitions.navigateWait = true;
-			simpleOffboard();
-
-			return `navigate_wait(${params.join(', ')})\n`;
-
-		} else {
-			if (frameId != 'body') {
-				params.push(`yaw=float('nan')`);
-			}
-			return `navigate(${params.join(', ')})\n`;
 		}
+		return `navigate(${params.join(', ')})\n`;
 	}
 }
 
@@ -358,12 +315,6 @@ Blockly.Python.get_attitude = function(block) {
 	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
 }
 
-Blockly.Python.global_position = function(block) {
-	simpleOffboard();
-	var code = `get_telemetry().${block.getFieldValue('FIELD').toLowerCase()}`;
-	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
-}
-
 Blockly.Python.distance = function(block) {
 	rosDefinitions.distance = true;
 	simpleOffboard();
@@ -464,7 +415,7 @@ Blockly.Python.led_count = function(block) {
 
 function pigpio() {
 	Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
-	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()\nif not pi.connected: raise Exception(\'Cannot connect to pigpiod\')';
+	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
 }
 
 const GPIO_READ = `\ndef gpio_read(pin):

clover_description/CHANGELOG.rst

@@ -1,9 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_description
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_description package to ROS
-* Contributors: Alexey Rogachevskiy
-

clover_description/README.md

@@ -14,7 +14,7 @@ You may provide additional parameters for `spawn_drone.launch` as well:
 * `rangefinder` (*boolean*, default: *true*) - controls whether the drone will have a downward-facing laser rangefinder attached;
 * `led` (*boolean*, default: *true*) - controls whether the drone will have a programmable LED strip (requires plugins from `clover_simulation`);
 * `gps` (*boolean*, default: *true*) - controls whether the drone will have a simulated GPS attached (requires plugins from `sitl_gazebo`);
-* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simulation to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)).
+* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simultion to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)).
 
 For example, in order to spawn a drone without a GPS module, you may use the following command:
 

clover_description/launch/view_drone.launch

@@ -1,7 +1,7 @@
 <launch>
-  <arg name="model" default="$(find clover_description)/urdf/clover/clover4.xacro"/>
+  <arg name="model" default="$(find clover_description)/urdf/drones/clover4.xacro"/>
 
-  <param name="robot_description" command="xacro $(arg model)"/>
+  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)"/>
 
   <node name="rviz" pkg="rviz" type="rviz" required="true"/>
 </launch>

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.23.0</version>
+  <version>0.0.1</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_description/urdf/clover/clover4.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="clover_camera" xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:arg name="main_camera" default="true"/>
   <xacro:arg name="rangefinder" default="true"/>
@@ -8,10 +8,10 @@
   <xacro:arg name="maintain_camera_rate" default="false"/>
   <xacro:arg name="use_clover_physics" default="false"/>
 
-  <xacro:include filename="clover4_base.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_base.xacro" />
-  <xacro:include filename="../sensors/rpi_cam.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/sensors/rpi_cam.urdf.xacro"/>
-  <xacro:include filename="../sensors/distance_sensor.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/sensors/distance_sensor.urdf.xacro"/>
-  <xacro:include filename="../leds/led_strip.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/leds/led_strip.xacro"/>
 
   <!-- Create camera plugin -->
   <xacro:if value="$(arg main_camera)">
@@ -36,17 +36,11 @@
   </xacro:if>
 
   <xacro:if value="$(arg gps)">
-    <gazebo>
+    <!-- Instantiate gps plugin. -->
-      <include>
+    <xacro:gps_plugin_macro
-        <uri>model://gps</uri>
+      namespace="${namespace}"
-        <pose>0.1 0 0 0 0 0</pose>
+      gps_noise="true"
-        <name>gps0</name>
+      />
-      </include>
-      <joint name='gps0_joint' type='fixed'>
-        <child>gps0::link</child>
-        <parent>base_link</parent>
-      </joint>  
-    </gazebo>
   </xacro:if>
 
 </robot>

clover_description/urdf/clover/clover4_base.xacro

@@ -1,15 +1,40 @@
 <?xml version="1.0"?>
 
 <robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- Properties that can be assigned at build time as arguments.
+  Is there a reason not to make all properties arguments?
+  -->
+  <xacro:arg name='name' default='iris' />
+  <xacro:arg name='mavlink_addr' default='INADDR_ANY' />
+  <xacro:arg name='mavlink_udp_port' default='14560' />
+  <xacro:arg name='mavlink_tcp_port' default='4560' />
+  <xacro:arg name='serial_enabled' default='false' />
+  <xacro:arg name='serial_device' default='/dev/ttyACM0' />
+  <xacro:arg name='baudrate' default='921600' />
+  <xacro:arg name='qgc_addr' default='INADDR_ANY' />
+  <xacro:arg name='qgc_udp_port' default='14550' />
+  <xacro:arg name='sdk_addr' default='INADDR_ANY' />
+  <xacro:arg name='sdk_udp_port' default='14540' />
+  <xacro:arg name='hil_mode' default='false' />
+  <xacro:arg name='hil_state_level' default='false' />
+  <xacro:arg name='send_vision_estimation' default='false' />
+  <xacro:arg name='send_odometry' default='false' />
+  <xacro:arg name='enable_lockstep' default='true' />
+  <xacro:arg name='use_tcp' default='true' />
+  <xacro:arg name='vehicle_is_tailsitter' default='false' />
+  <xacro:arg name='visual_material' default='DarkGrey' />
+  <xacro:arg name='enable_mavlink_interface' default='true' />
   <xacro:arg name='enable_wind' default='false' />
+  <!-- The following causes segfault with multiple vehicles if defaults to true!!! -->
+  <xacro:arg name='enable_ground_truth' default='false' />
   <xacro:arg name='enable_logging' default='false' />
-  <xacro:arg name='log_file' default='clover' />
+  <xacro:arg name='log_file' default='iris' />
 
   <!-- macros for gazebo plugins, sensors -->
-  <xacro:include filename="../component_snippets.urdf.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/component_snippets.urdf.xacro" />
 
   <!-- Instantiate iris "mechanics" -->
-  <xacro:include filename="clover4_physics.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_physics.xacro" />
 
   <xacro:if value="$(arg enable_wind)">
     <xacro:wind_plugin_macro
@@ -24,8 +49,126 @@
         />
   </xacro:if>
 
-  <!-- Gazebo plugins -->
+  <!-- Instantiate magnetometer plugin. -->
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_gazebo.xacro" />
+  <xacro:magnetometer_plugin_macro
+    namespace="${namespace}"
+    pub_rate="20"
+    noise_density="0.0004"
+    random_walk="0.0000064"
+    bias_correlation_time="600"
+    mag_topic="/mag"
+    >
+  </xacro:magnetometer_plugin_macro>
+
+  <!-- Instantiate barometer plugin. -->
+  <xacro:barometer_plugin_macro
+    namespace="${namespace}"
+    pub_rate="10"
+    baro_topic="/baro"
+    >
+  </xacro:barometer_plugin_macro>
+
+  <xacro:if value="$(arg enable_mavlink_interface)">
+  <!-- Instantiate mavlink telemetry interface. -->
+  <xacro:mavlink_interface_macro
+    namespace="${namespace}"
+    imu_sub_topic="/imu"
+    gps_sub_topic="/gps"
+    mag_sub_topic="/mag"
+    baro_sub_topic="/baro"
+    mavlink_addr="$(arg mavlink_addr)"
+    mavlink_udp_port="$(arg mavlink_udp_port)"
+    mavlink_tcp_port="$(arg mavlink_tcp_port)"
+    serial_enabled="$(arg serial_enabled)"
+    serial_device="$(arg serial_device)"
+    baudrate="$(arg baudrate)"
+    qgc_addr="$(arg qgc_addr)"
+    qgc_udp_port="$(arg qgc_udp_port)"
+    sdk_addr="$(arg sdk_addr)"
+    sdk_udp_port="$(arg sdk_udp_port)"
+    hil_mode="$(arg hil_mode)"
+    hil_state_level="$(arg hil_state_level)"
+    vehicle_is_tailsitter="$(arg vehicle_is_tailsitter)"
+    send_vision_estimation="$(arg send_vision_estimation)"
+    send_odometry="$(arg send_odometry)"
+    enable_lockstep="$(arg enable_lockstep)"
+    use_tcp="$(arg use_tcp)"
+    >
+  </xacro:mavlink_interface_macro>
+  </xacro:if>
+
+  <!-- Mount an ADIS16448 IMU. -->
+  <xacro:imu_plugin_macro
+    namespace="${namespace}"
+    imu_suffix=""
+    parent_link="base_link"
+    imu_topic="/imu"
+    mass_imu_sensor="0.015"
+    gyroscope_noise_density="0.0003394"
+    gyroscopoe_random_walk="0.000038785"
+    gyroscope_bias_correlation_time="1000.0"
+    gyroscope_turn_on_bias_sigma="0.0087"
+    accelerometer_noise_density="0.004"
+    accelerometer_random_walk="0.006"
+    accelerometer_bias_correlation_time="300.0"
+    accelerometer_turn_on_bias_sigma="0.1960"
+  >
+    <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:imu_plugin_macro>
+
+  <xacro:if value="$(arg enable_ground_truth)">
+    <!-- Mount an IMU providing ground truth. -->
+    <xacro:imu_plugin_macro
+      namespace="${namespace}"
+      imu_suffix="gt"
+      parent_link="base_link"
+      imu_topic="ground_truth/imu"
+      mass_imu_sensor="0.00001"
+      gyroscope_noise_density="0.0"
+      gyroscopoe_random_walk="0.0"
+      gyroscope_bias_correlation_time="1000.0"
+      gyroscope_turn_on_bias_sigma="0.0"
+      accelerometer_noise_density="0.0"
+      accelerometer_random_walk="0.0"
+      accelerometer_bias_correlation_time="300.0"
+      accelerometer_turn_on_bias_sigma="0.0"
+    >
+      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </xacro:imu_plugin_macro>
+
+    <!-- Mount a generic odometry sensor providing ground truth. -->
+    <xacro:odometry_plugin_macro
+      namespace="${namespace}/ground_truth"
+      odometry_sensor_suffix="gt"
+      parent_link="base_link"
+      pose_topic="pose"
+      pose_with_covariance_topic="pose_with_covariance"
+      position_topic="position"
+      transform_topic="transform"
+      odometry_topic="odometry"
+      parent_frame_id="world"
+      mass_odometry_sensor="0.00001"
+      measurement_divisor="1"
+      measurement_delay="0"
+      unknown_delay="0.0"
+      noise_normal_position="0 0 0"
+      noise_normal_quaternion="0 0 0"
+      noise_normal_linear_velocity="0 0 0"
+      noise_normal_angular_velocity="0 0 0"
+      noise_uniform_position="0 0 0"
+      noise_uniform_quaternion="0 0 0"
+      noise_uniform_linear_velocity="0 0 0"
+      noise_uniform_angular_velocity="0 0 0"
+      enable_odometry_map="false"
+      odometry_map=""
+      image_scale=""
+    >
+      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+    </xacro:odometry_plugin_macro>
+  </xacro:if>
 
   <xacro:if value="$(arg enable_logging)">
     <!-- Instantiate a logger -->

clover_description/urdf/clover/clover4_gazebo.xacro

@@ -1,183 +0,0 @@
-<?xml version="1.0"?>
-
-<!-- Reference: https://github.com/PX4/PX4-SITL_gazebo/blob/7505aee97d2d3112fb2bd95198946345c6fa0b07/models/iris/iris.sdf.jinja#L430 -->
-
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <!-- IMU link -->
-  <link name="/imu_link">
-    <inertial>
-      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
-      <mass value="0.015"/>
-      <!-- [kg] -->
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </inertial>
-  </link>
-
-  <!-- IMU joint -->
-  <joint name="/imu_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="/imu_link"/>
-    <!-- <limit upper="0" lower="0" effort="0" velocity="0" /> -->
-  </joint>
-
-  <gazebo reference="/imu_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-
-  <gazebo>
-    <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
-      <robotNamespace/>
-    </plugin>
-    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
-      <robotNamespace/>
-      <pubRate>100</pubRate>
-      <noiseDensity>0.0004</noiseDensity>
-      <randomWalk>6.4e-06</randomWalk>
-      <biasCorrelationTime>600</biasCorrelationTime>
-      <magTopic>/mag</magTopic>
-    </plugin>
-    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
-      <robotNamespace/>
-      <pubRate>50</pubRate>
-      <baroTopic>/baro</baroTopic>
-      <baroDriftPaPerSec>0</baroDriftPaPerSec>
-    </plugin>
-    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
-      <robotNamespace/>
-      <imuSubTopic>/imu</imuSubTopic>
-      <magSubTopic>/mag</magSubTopic>
-      <baroSubTopic>/baro</baroSubTopic>
-      <mavlink_addr>INADDR_ANY</mavlink_addr>
-      <mavlink_tcp_port>4560</mavlink_tcp_port>
-      <mavlink_udp_port>14560</mavlink_udp_port>
-      <serialEnabled>false</serialEnabled>
-      <serialDevice>/dev/ttyACM0</serialDevice>
-      <baudRate>921600</baudRate>
-      <qgc_addr>INADDR_ANY</qgc_addr>
-      <qgc_udp_port>14550</qgc_udp_port>
-      <sdk_addr>INADDR_ANY</sdk_addr>
-      <sdk_udp_port>14540</sdk_udp_port>
-      <hil_mode>false</hil_mode>
-      <hil_state_level>0</hil_state_level>
-      <send_vision_estimation>0</send_vision_estimation>
-      <send_odometry>1</send_odometry>
-      <enable_lockstep>1</enable_lockstep>
-      <use_tcp>1</use_tcp>
-      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
-      <control_channels>
-        <channel name='rotor1'>
-          <input_index>0</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1000</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>100</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-        </channel>
-        <channel name='rotor2'>
-          <input_index>1</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1000</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>100</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-        </channel>
-        <channel name='rotor3'>
-          <input_index>2</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1000</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>100</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-        </channel>
-        <channel name='rotor4'>
-          <input_index>3</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1000</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>100</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-        </channel>
-        <channel name='rotor5'>
-          <input_index>4</input_index>
-          <input_offset>1</input_offset>
-          <input_scaling>324.6</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-          <joint_control_pid>
-            <p>0.1</p>
-            <i>0</i>
-            <d>0</d>
-            <iMax>0.0</iMax>
-            <iMin>0.0</iMin>
-            <cmdMax>2</cmdMax>
-            <cmdMin>-2</cmdMin>
-          </joint_control_pid>
-          <joint_name>zephyr_delta_wing::propeller_joint</joint_name>
-        </channel>
-        <channel name='rotor6'>
-          <input_index>5</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>0.524</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position</joint_control_type>
-          <joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
-          <joint_control_pid>
-            <p>10.0</p>
-            <i>0</i>
-            <d>0</d>
-            <iMax>0</iMax>
-            <iMin>0</iMin>
-            <cmdMax>20</cmdMax>
-            <cmdMin>-20</cmdMin>
-          </joint_control_pid>
-        </channel>
-        <channel name='rotor7'>
-          <input_index>6</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>0.524</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position</joint_control_type>
-          <joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
-          <joint_control_pid>
-            <p>10.0</p>
-            <i>0</i>
-            <d>0</d>
-            <iMax>0</iMax>
-            <iMin>0</iMin>
-            <cmdMax>20</cmdMax>
-            <cmdMin>-20</cmdMin>
-          </joint_control_pid>
-        </channel>
-        <channel name='rotor8'>
-          <input_index>7</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>0.524</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position</joint_control_type>
-        </channel>
-      </control_channels>
-    </plugin>
-    <static>0</static>
-    <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
-      <robotNamespace/>
-      <linkName>/imu_link</linkName>
-      <imuTopic>/imu</imuTopic>
-      <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
-      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
-      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
-      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
-      <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
-      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
-      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
-      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
-    </plugin>
-  </gazebo>
-
-</robot>