Update Raspberry Pi OS to 2023-12-11

For cases when optical flow is dynamically disabled and enabled back

builder/assets/noetic-bullseye.yaml

@@ -0,0 +1,735 @@
+catkin:
+  debian:
+    bullseye: [ros-noetic-catkin]
+genmsg:
+  debian:
+    bullseye: [ros-noetic-genmsg]
+gencpp:
+  debian:
+    bullseye: [ros-noetic-gencpp]
+geneus:
+  debian:
+    bullseye: [ros-noetic-geneus]
+genlisp:
+  debian:
+    bullseye: [ros-noetic-genlisp]
+gennodejs:
+  debian:
+    bullseye: [ros-noetic-gennodejs]
+genpy:
+  debian:
+    bullseye: [ros-noetic-genpy]
+bond_core:
+  debian:
+    bullseye: [ros-noetic-bond-core]
+cmake_modules:
+  debian:
+    bullseye: [ros-noetic-cmake-modules]
+class_loader:
+  debian:
+    bullseye: [ros-noetic-class-loader]
+common_msgs:
+  debian:
+    bullseye: [ros-noetic-common-msgs]
+common_tutorials:
+  debian:
+    bullseye: [ros-noetic-common-tutorials]
+cpp_common:
+  debian:
+    bullseye: [ros-noetic-cpp-common]
+desktop:
+  debian:
+    bullseye: [ros-noetic-desktop]
+diagnostics:
+  debian:
+    bullseye: [ros-noetic-diagnostics]
+executive_smach:
+  debian:
+    bullseye: [ros-noetic-executive-smach]
+geometry:
+  debian:
+    bullseye: [ros-noetic-geometry]
+geometry_tutorials:
+  debian:
+    bullseye: [ros-noetic-geometry-tutorials]
+gl_dependency:
+  debian:
+    bullseye: [ros-noetic-gl-dependency]
+image_common:
+  debian:
+    bullseye: [ros-noetic-image-common]
+image_pipeline:
+  debian:
+    bullseye: [ros-noetic-image-pipeline]
+image_transport_plugins:
+  debian:
+    bullseye: [ros-noetic-image-transport-plugins]
+laser_pipeline:
+  debian:
+    bullseye: [ros-noetic-laser-pipeline]
+mavlink:
+  debian:
+    bullseye: [ros-noetic-mavlink]
+media_export:
+  debian:
+    bullseye: [ros-noetic-media-export]
+message_generation:
+  debian:
+    bullseye: [ros-noetic-message-generation]
+message_runtime:
+  debian:
+    bullseye: [ros-noetic-message-runtime]
+mk:
+  debian:
+    bullseye: [ros-noetic-mk]
+nodelet_core:
+  debian:
+    bullseye: [ros-noetic-nodelet-core]
+orocos_kdl:
+  debian:
+    bullseye: [ros-noetic-orocos-kdl]
+perception:
+  debian:
+    bullseye: [ros-noetic-perception]
+perception_pcl:
+  debian:
+    bullseye: [ros-noetic-perception-pcl]
+python_orocos_kdl:
+  debian:
+    bullseye: [ros-noetic-python-orocos-kdl]
+qt_dotgraph:
+  debian:
+    bullseye: [ros-noetic-qt-dotgraph]
+qt_gui:
+  debian:
+    bullseye: [ros-noetic-qt-gui]
+qt_gui_py_common:
+  debian:
+    bullseye: [ros-noetic-qt-gui-py-common]
+qwt_dependency:
+  debian:
+    bullseye: [ros-noetic-qwt-dependency]
+robot:
+  debian:
+    bullseye: [ros-noetic-robot]
+ros:
+  debian:
+    bullseye: [ros-noetic-ros]
+ros_base:
+  debian:
+    bullseye: [ros-noetic-ros-base]
+ros_comm:
+  debian:
+    bullseye: [ros-noetic-ros-comm]
+ros_core:
+  debian:
+    bullseye: [ros-noetic-ros-core]
+ros_environment:
+  debian:
+    bullseye: [ros-noetic-ros-environment]
+ros_tutorials:
+  debian:
+    bullseye: [ros-noetic-ros-tutorials]
+rosapi:
+  debian:
+    bullseye: [ros-noetic-rosapi]
+rosbag_migration_rule:
+  debian:
+    bullseye: [ros-noetic-rosbag-migration-rule]
+rosbash:
+  debian:
+    bullseye: [ros-noetic-rosbash]
+rosboost_cfg:
+  debian:
+    bullseye: [ros-noetic-rosboost-cfg]
+rosbridge_server:
+  debian:
+    bullseye: [ros-noetic-rosbridge-server]
+rosbridge_suite:
+  debian:
+    bullseye: [ros-noetic-rosbridge-suite]
+rosbuild:
+  debian:
+    bullseye: [ros-noetic-rosbuild]
+rosclean:
+  debian:
+    bullseye: [ros-noetic-rosclean]
+roscpp_core:
+  debian:
+    bullseye: [ros-noetic-roscpp-core]
+roscpp_traits:
+  debian:
+    bullseye: [ros-noetic-roscpp-traits]
+roscreate:
+  debian:
+    bullseye: [ros-noetic-roscreate]
+rosgraph:
+  debian:
+    bullseye: [ros-noetic-rosgraph]
+roslang:
+  debian:
+    bullseye: [ros-noetic-roslang]
+roslint:
+  debian:
+    bullseye: [ros-noetic-roslint]
+roslisp:
+  debian:
+    bullseye: [ros-noetic-roslisp]
+rosmake:
+  debian:
+    bullseye: [ros-noetic-rosmake]
+rosmaster:
+  debian:
+    bullseye: [ros-noetic-rosmaster]
+rospack:
+  debian:
+    bullseye: [ros-noetic-rospack]
+roslib:
+  debian:
+    bullseye: [ros-noetic-roslib]
+rosparam:
+  debian:
+    bullseye: [ros-noetic-rosparam]
+rospy:
+  debian:
+    bullseye: [ros-noetic-rospy]
+rosserial:
+  debian:
+    bullseye: [ros-noetic-rosserial]
+rosserial_msgs:
+  debian:
+    bullseye: [ros-noetic-rosserial-msgs]
+rosserial_python:
+  debian:
+    bullseye: [ros-noetic-rosserial-python]
+rosservice:
+  debian:
+    bullseye: [ros-noetic-rosservice]
+rostime:
+  debian:
+    bullseye: [ros-noetic-rostime]
+roscpp_serialization:
+  debian:
+    bullseye: [ros-noetic-roscpp-serialization]
+python_qt_binding:
+  debian:
+    bullseye: [ros-noetic-python-qt-binding]
+roslaunch:
+  debian:
+    bullseye: [ros-noetic-roslaunch]
+rosunit:
+  debian:
+    bullseye: [ros-noetic-rosunit]
+angles:
+  debian:
+    bullseye: [ros-noetic-angles]
+libmavconn:
+  debian:
+    bullseye: [ros-noetic-libmavconn]
+rosconsole:
+  debian:
+    bullseye: [ros-noetic-rosconsole]
+pluginlib:
+  debian:
+    bullseye: [ros-noetic-pluginlib]
+qt_gui_cpp:
+  debian:
+    bullseye: [ros-noetic-qt-gui-cpp]
+resource_retriever:
+  debian:
+    bullseye: [ros-noetic-resource-retriever]
+rosconsole_bridge:
+  debian:
+    bullseye: [ros-noetic-rosconsole-bridge]
+roslz4:
+  debian:
+    bullseye: [ros-noetic-roslz4]
+rosserial_client:
+  debian:
+    bullseye: [ros-noetic-rosserial-client]
+rostest:
+  debian:
+    bullseye: [ros-noetic-rostest]
+rqt_action:
+  debian:
+    bullseye: [ros-noetic-rqt-action]
+rqt_bag:
+  debian:
+    bullseye: [ros-noetic-rqt-bag]
+rqt_bag_plugins:
+  debian:
+    bullseye: [ros-noetic-rqt-bag-plugins]
+rqt_common_plugins:
+  debian:
+    bullseye: [ros-noetic-rqt-common-plugins]
+rqt_console:
+  debian:
+    bullseye: [ros-noetic-rqt-console]
+rqt_dep:
+  debian:
+    bullseye: [ros-noetic-rqt-dep]
+rqt_graph:
+  debian:
+    bullseye: [ros-noetic-rqt-graph]
+rqt_gui:
+  debian:
+    bullseye: [ros-noetic-rqt-gui]
+rqt_logger_level:
+  debian:
+    bullseye: [ros-noetic-rqt-logger-level]
+rqt_moveit:
+  debian:
+    bullseye: [ros-noetic-rqt-moveit]
+rqt_msg:
+  debian:
+    bullseye: [ros-noetic-rqt-msg]
+rqt_nav_view:
+  debian:
+    bullseye: [ros-noetic-rqt-nav-view]
+rqt_plot:
+  debian:
+    bullseye: [ros-noetic-rqt-plot]
+rqt_pose_view:
+  debian:
+    bullseye: [ros-noetic-rqt-pose-view]
+rqt_publisher:
+  debian:
+    bullseye: [ros-noetic-rqt-publisher]
+rqt_py_console:
+  debian:
+    bullseye: [ros-noetic-rqt-py-console]
+rqt_reconfigure:
+  debian:
+    bullseye: [ros-noetic-rqt-reconfigure]
+rqt_robot_dashboard:
+  debian:
+    bullseye: [ros-noetic-rqt-robot-dashboard]
+rqt_robot_monitor:
+  debian:
+    bullseye: [ros-noetic-rqt-robot-monitor]
+rqt_robot_plugins:
+  debian:
+    bullseye: [ros-noetic-rqt-robot-plugins]
+rqt_robot_steering:
+  debian:
+    bullseye: [ros-noetic-rqt-robot-steering]
+rqt_runtime_monitor:
+  debian:
+    bullseye: [ros-noetic-rqt-runtime-monitor]
+rqt_service_caller:
+  debian:
+    bullseye: [ros-noetic-rqt-service-caller]
+rqt_shell:
+  debian:
+    bullseye: [ros-noetic-rqt-shell]
+rqt_srv:
+  debian:
+    bullseye: [ros-noetic-rqt-srv]
+rqt_tf_tree:
+  debian:
+    bullseye: [ros-noetic-rqt-tf-tree]
+rqt_top:
+  debian:
+    bullseye: [ros-noetic-rqt-top]
+rqt_topic:
+  debian:
+    bullseye: [ros-noetic-rqt-topic]
+rqt_web:
+  debian:
+    bullseye: [ros-noetic-rqt-web]
+smach:
+  debian:
+    bullseye: [ros-noetic-smach]
+smclib:
+  debian:
+    bullseye: [ros-noetic-smclib]
+std_msgs:
+  debian:
+    bullseye: [ros-noetic-std-msgs]
+actionlib_msgs:
+  debian:
+    bullseye: [ros-noetic-actionlib-msgs]
+bond:
+  debian:
+    bullseye: [ros-noetic-bond]
+diagnostic_msgs:
+  debian:
+    bullseye: [ros-noetic-diagnostic-msgs]
+geometry_msgs:
+  debian:
+    bullseye: [ros-noetic-geometry-msgs]
+eigen_conversions:
+  debian:
+    bullseye: [ros-noetic-eigen-conversions]
+kdl_conversions:
+  debian:
+    bullseye: [ros-noetic-kdl-conversions]
+nav_msgs:
+  debian:
+    bullseye: [ros-noetic-nav-msgs]
+rosbridge_msgs:
+  debian:
+    bullseye: [ros-noetic-rosbridge-msgs]
+rosgraph_msgs:
+  debian:
+    bullseye: [ros-noetic-rosgraph-msgs]
+rosmsg:
+  debian:
+    bullseye: [ros-noetic-rosmsg]
+rqt_py_common:
+  debian:
+    bullseye: [ros-noetic-rqt-py-common]
+shape_msgs:
+  debian:
+    bullseye: [ros-noetic-shape-msgs]
+smach_msgs:
+  debian:
+    bullseye: [ros-noetic-smach-msgs]
+std_srvs:
+  debian:
+    bullseye: [ros-noetic-std-srvs]
+tf2_msgs:
+  debian:
+    bullseye: [ros-noetic-tf2-msgs]
+tf2:
+  debian:
+    bullseye: [ros-noetic-tf2]
+tf2_eigen:
+  debian:
+    bullseye: [ros-noetic-tf2-eigen]
+trajectory_msgs:
+  debian:
+    bullseye: [ros-noetic-trajectory-msgs]
+control_msgs:
+  debian:
+    bullseye: [ros-noetic-control-msgs]
+urdf_parser_plugin:
+  debian:
+    bullseye: [ros-noetic-urdf-parser-plugin]
+urdfdom_py:
+  debian:
+    bullseye: [ros-noetic-urdfdom-py]
+uuid_msgs:
+  debian:
+    bullseye: [ros-noetic-uuid-msgs]
+geographic_msgs:
+  debian:
+    bullseye: [ros-noetic-geographic-msgs]
+vision_opencv:
+  debian:
+    bullseye: [ros-noetic-vision-opencv]
+visualization_msgs:
+  debian:
+    bullseye: [ros-noetic-visualization-msgs]
+visualization_tutorials:
+  debian:
+    bullseye: [ros-noetic-visualization-tutorials]
+viz:
+  debian:
+    bullseye: [ros-noetic-viz]
+webkit_dependency:
+  debian:
+    bullseye: [ros-noetic-webkit-dependency]
+xmlrpcpp:
+  debian:
+    bullseye: [ros-noetic-xmlrpcpp]
+roscpp:
+  debian:
+    bullseye: [ros-noetic-roscpp]
+bondcpp:
+  debian:
+    bullseye: [ros-noetic-bondcpp]
+bondpy:
+  debian:
+    bullseye: [ros-noetic-bondpy]
+nodelet:
+  debian:
+    bullseye: [ros-noetic-nodelet]
+nodelet_tutorial_math:
+  debian:
+    bullseye: [ros-noetic-nodelet-tutorial-math]
+pluginlib_tutorials:
+  debian:
+    bullseye: [ros-noetic-pluginlib-tutorials]
+roscpp_tutorials:
+  debian:
+    bullseye: [ros-noetic-roscpp-tutorials]
+rosout:
+  debian:
+    bullseye: [ros-noetic-rosout]
+async_web_server_cpp:
+  debian:
+    bullseye: [ros-noetic-async-web-server-cpp]
+camera_calibration:
+  debian:
+    bullseye: [ros-noetic-camera-calibration]
+diagnostic_aggregator:
+  debian:
+    bullseye: [ros-noetic-diagnostic-aggregator]
+diagnostic_updater:
+  debian:
+    bullseye: [ros-noetic-diagnostic-updater]
+diagnostic_common_diagnostics:
+  debian:
+    bullseye: [ros-noetic-diagnostic-common-diagnostics]
+dynamic_reconfigure:
+  debian:
+    bullseye: [ros-noetic-dynamic-reconfigure]
+filters:
+  debian:
+    bullseye: [ros-noetic-filters]
+joint_state_publisher:
+  debian:
+    bullseye: [ros-noetic-joint-state-publisher]
+message_filters:
+  debian:
+    bullseye: [ros-noetic-message-filters]
+ros_pytest:
+  debian:
+    bullseye: [ros-noetic-ros-pytest]
+rosauth:
+  debian:
+    bullseye: [ros-noetic-rosauth]
+rosbag_storage:
+  debian:
+    bullseye: [ros-noetic-rosbag-storage]
+rosnode:
+  debian:
+    bullseye: [ros-noetic-rosnode]
+rospy_tutorials:
+  debian:
+    bullseye: [ros-noetic-rospy-tutorials]
+rosshow:
+  debian:
+    bullseye: [ros-noetic-rosshow]
+rostopic:
+  debian:
+    bullseye: [ros-noetic-rostopic]
+rqt_gui_cpp:
+  debian:
+    bullseye: [ros-noetic-rqt-gui-cpp]
+rqt_gui_py:
+  debian:
+    bullseye: [ros-noetic-rqt-gui-py]
+self_test:
+  debian:
+    bullseye: [ros-noetic-self-test]
+smach_ros:
+  debian:
+    bullseye: [ros-noetic-smach-ros]
+tf2_py:
+  debian:
+    bullseye: [ros-noetic-tf2-py]
+topic_tools:
+  debian:
+    bullseye: [ros-noetic-topic-tools]
+rosbag:
+  debian:
+    bullseye: [ros-noetic-rosbag]
+actionlib:
+  debian:
+    bullseye: [ros-noetic-actionlib]
+actionlib_tutorials:
+  debian:
+    bullseye: [ros-noetic-actionlib-tutorials]
+diagnostic_analysis:
+  debian:
+    bullseye: [ros-noetic-diagnostic-analysis]
+nodelet_topic_tools:
+  debian:
+    bullseye: [ros-noetic-nodelet-topic-tools]
+roswtf:
+  debian:
+    bullseye: [ros-noetic-roswtf]
+rqt_launch:
+  debian:
+    bullseye: [ros-noetic-rqt-launch]
+sensor_msgs:
+  debian:
+    bullseye: [ros-noetic-sensor-msgs]
+camera_calibration_parsers:
+  debian:
+    bullseye: [ros-noetic-camera-calibration-parsers]
+cv_bridge:
+  debian:
+    bullseye: [ros-noetic-cv-bridge]
+image_geometry:
+  debian:
+    bullseye: [ros-noetic-image-geometry]
+image_transport:
+  debian:
+    bullseye: [ros-noetic-image-transport]
+camera_info_manager:
+  debian:
+    bullseye: [ros-noetic-camera-info-manager]
+compressed_depth_image_transport:
+  debian:
+    bullseye: [ros-noetic-compressed-depth-image-transport]
+compressed_image_transport:
+  debian:
+    bullseye: [ros-noetic-compressed-image-transport]
+cv_camera:
+  debian:
+    bullseye: [ros-noetic-cv-camera]
+image_proc:
+  debian:
+    bullseye: [ros-noetic-image-proc]
+image_publisher:
+  debian:
+    bullseye: [ros-noetic-image-publisher]
+map_msgs:
+  debian:
+    bullseye: [ros-noetic-map-msgs]
+mavros_msgs:
+  debian:
+    bullseye: [ros-noetic-mavros-msgs]
+pcl_msgs:
+  debian:
+    bullseye: [ros-noetic-pcl-msgs]
+pcl_conversions:
+  debian:
+    bullseye: [ros-noetic-pcl-conversions]
+polled_camera:
+  debian:
+    bullseye: [ros-noetic-polled-camera]
+rqt_image_view:
+  debian:
+    bullseye: [ros-noetic-rqt-image-view]
+stereo_msgs:
+  debian:
+    bullseye: [ros-noetic-stereo-msgs]
+image_view:
+  debian:
+    bullseye: [ros-noetic-image-view]
+rosbridge_library:
+  debian:
+    bullseye: [ros-noetic-rosbridge-library]
+stereo_image_proc:
+  debian:
+    bullseye: [ros-noetic-stereo-image-proc]
+tf2_ros:
+  debian:
+    bullseye: [ros-noetic-tf2-ros]
+depth_image_proc:
+  debian:
+    bullseye: [ros-noetic-depth-image-proc]
+mavros:
+  debian:
+    bullseye: [ros-noetic-mavros]
+tf:
+  debian:
+    bullseye: [ros-noetic-tf]
+interactive_markers:
+  debian:
+    bullseye: [ros-noetic-interactive-markers]
+interactive_marker_tutorials:
+  debian:
+    bullseye: [ros-noetic-interactive-marker-tutorials]
+laser_geometry:
+  debian:
+    bullseye: [ros-noetic-laser-geometry]
+laser_assembler:
+  debian:
+    bullseye: [ros-noetic-laser-assembler]
+laser_filters:
+  debian:
+    bullseye: [ros-noetic-laser-filters]
+pcl_ros:
+  debian:
+    bullseye: [ros-noetic-pcl-ros]
+tf2_geometry_msgs:
+  debian:
+    bullseye: [ros-noetic-tf2-geometry-msgs]
+image_rotate:
+  debian:
+    bullseye: [ros-noetic-image-rotate]
+tf2_kdl:
+  debian:
+    bullseye: [ros-noetic-tf2-kdl]
+tf2_web_republisher:
+  debian:
+    bullseye: [ros-noetic-tf2-web-republisher]
+tf_conversions:
+  debian:
+    bullseye: [ros-noetic-tf-conversions]
+theora_image_transport:
+  debian:
+    bullseye: [ros-noetic-theora-image-transport]
+turtlesim:
+  debian:
+    bullseye: [ros-noetic-turtlesim]
+turtle_actionlib:
+  debian:
+    bullseye: [ros-noetic-turtle-actionlib]
+turtle_tf:
+  debian:
+    bullseye: [ros-noetic-turtle-tf]
+turtle_tf2:
+  debian:
+    bullseye: [ros-noetic-turtle-tf2]
+urdf:
+  debian:
+    bullseye: [ros-noetic-urdf]
+kdl_parser:
+  debian:
+    bullseye: [ros-noetic-kdl-parser]
+kdl_parser_py:
+  debian:
+    bullseye: [ros-noetic-kdl-parser-py]
+mavros_extras:
+  debian:
+    bullseye: [ros-noetic-mavros-extras]
+robot_state_publisher:
+  debian:
+    bullseye: [ros-noetic-robot-state-publisher]
+rviz:
+  debian:
+    bullseye: [ros-noetic-rviz]
+librviz_tutorial:
+  debian:
+    bullseye: [ros-noetic-librviz-tutorial]
+rqt_rviz:
+  debian:
+    bullseye: [ros-noetic-rqt-rviz]
+rviz_plugin_tutorials:
+  debian:
+    bullseye: [ros-noetic-rviz-plugin-tutorials]
+rviz_python_tutorial:
+  debian:
+    bullseye: [ros-noetic-rviz-python-tutorial]
+urdf_tutorial:
+  debian:
+    bullseye: [ros-noetic-urdf-tutorial]
+usb_cam:
+  debian:
+    bullseye: [ros-noetic-usb-cam]
+visualization_marker_tutorials:
+  debian:
+    bullseye: [ros-noetic-visualization-marker-tutorials]
+vl53l1x:
+  debian:
+    bullseye: [ros-noetic-vl53l1x]
+web_video_server:
+  debian:
+    bullseye: [ros-noetic-web-video-server]
+xacro:
+  debian:
+    bullseye: [ros-noetic-xacro]
+led_msgs:
+  debian:
+    bullseye: [ros-noetic-led-msgs]
+ws281x:
+  debian:
+    bullseye: [ros-noetic-ws281x]
+ddynamic_reconfigure:
+  debian:
+    bullseye: [ros-noetic-ddynamic-reconfigure]
+librealsense2:
+  debian:
+    bullseye: [ros-noetic-librealsense2]
+realsense2_camera:
+  debian:
+    bullseye: [ros-noetic-realsense2-camera]
+realsense2_description:
+  debian:
+    bullseye: [ros-noetic-realsense2-description]

builder/image-build-ros.sh

@@ -0,0 +1,100 @@
+#! /usr/bin/env bash
+
+#
+# Script for building ROS packages from scratch
+#
+# Copyright (C) 2022 Copter Express Technologies
+#
+# Author: Oleg Kalachev <okalachev@gmail.com>
+#
+# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+
+set -ex # exit on error, echo commands
+
+# http://wiki.ros.org/Installation/Source
+
+export ROS_DISTRO=noetic
+. /etc/os-release # set $VERSION_CODENAME to Debian release code name
+export ROS_OS_OVERRIDE=debian:11:$VERSION_CODENAME
+
+echo "=== Building ROS from scratch"
+
+#echo "--- Adding sources"
+#echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
+#curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+apt-get update
+apt-get install -y python3-distutils python3-rosdep python3-rosinstall-generator build-essential git # python3-vcstool
+
+# install vcstool using pip
+curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py && python3 get-pip.py && rm get-pip.py
+pip3 install -U vcstool
+
+# sudo rosdep init
+rm /etc/ros/rosdep/sources.list.d/20-default.list
+rosdep init
+rosdep update
+
+# rm /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init
+# rosdep --os=debian:$VERSION_CODENAME update
+
+echo "--- Create Catkin workspace to build ROS package"
+mkdir ~/ros_catkin_ws
+cd ~/ros_catkin_ws
+
+echo "--- Download ROS sources"
+rosinstall_generator ros_base --rosdistro $ROS_DISTRO --deps --tar > noetic.rosinstall
+mkdir ./src
+vcs import --input noetic.rosinstall ./src
+
+# https://answers.ros.org/question/343367/catkin-package-dependencies-issue-when-installing-ros-melodic-on-raspberry-pi-4/
+#sudo apt remove python-rospkg
+#sudo apt remove python-catkin-pkg
+##sudo apt --fix-broken install
+#sudo apt-get autoremove
+
+echo "--- Install catkin_pkg"
+cd
+git clone https://github.com/ros-infrastructure/catkin_pkg.git
+cd catkin_pkg
+python3 setup.py install
+cd ~/ros_catkin_ws
+
+echo "--- Resolve dependencies"
+rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro $ROS_DISTRO -y --os=debian:$VERSION_CODENAME --skip-keys="python3-catkin-pkg python3-catkin-pkg-modules python3-rosdep-modules"
+
+echo "--- Build ROS"
+# https://github.com/ros/catkin/issues/863#issuecomment-290392074
+./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release \
+	-DSETUPTOOLS_DEB_LAYOUT=OFF \
+	--install-space=/opt/ros/$ROS_DISTRO
+
+# source ~/ros_catkin_ws/install_isolated/setup.bash
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+echo "--- List built ROS packages"
+set +x
+rospack list-names | while read line; do echo $line `rosversion $line`; done
+set -x
+
+echo "--- Build Debian packages"
+apt-get install -y python3-bloom debhelper dpkg-dev libtinyxml-dev
+
+# add rosdep file to help bloom-generate resolve missing bullseye dependencies
+echo "yaml file:///etc/ros/rosdep/noetic-bullseye.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+rosdep update
+
+pip3 install setuptools==45.2.0 # https://github.com/ros/catkin/issues/863#issuecomment-1000446018
+
+for file in `find . -name "package.xml" -not -path "*/debian/*"`; do
+	cd $(dirname ${file})
+	rm -rf debian
+	bloom-generate rosdebian --os-name debian --os-version $VERSION_CODENAME --ros-distro $ROS_DISTRO --debug
+	debian/rules binary # fakeroot is not needed as we are root
+	cd -
+done
+
+ls

builder/image-build.sh

@@ -16,7 +16,7 @@
 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_armhf/images/raspios_lite_armhf-2021-05-28/2021-05-07-raspios-buster-armhf-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.com/raspios_lite_armhf/images/raspios_lite_armhf-2023-12-11/2023-12-11-raspios-bookworm-armhf-lite.img.xz"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -104,7 +104,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
 ${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'
+# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -113,13 +113,14 @@ ${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 ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-bullseye.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 ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add rename script
-${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-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-build-ros.sh'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
 
 ${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}

clover/launch/main_camera.launch

@@ -4,8 +4,6 @@
     <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"/>
@@ -45,8 +43,4 @@
     <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/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;
@@ -98,12 +96,10 @@ 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 +122,6 @@ 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;
@@ -179,15 +173,6 @@ 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
@@ -436,18 +421,6 @@ 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;
 	}
@@ -583,7 +556,7 @@ 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 +583,22 @@ 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) {
@@ -898,13 +860,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 	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)
 {
 	ros::init(argc, argv, "simple_offboard");
@@ -926,7 +881,6 @@ 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
@@ -962,13 +916,6 @@ int main(int argc, char **argv)
 	auto manual_control_sub = nh.subscribe(mavros + "/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe(mavros + "/local_position/pose", 1, &handleLocalPosition);
 
-	ros::Subscriber altitude_sub;
-	if (!body.child_frame_id.empty() && !terrain.child_frame_id.empty()) {
-		terrain.header.frame_id = 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_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
@@ -986,7 +933,6 @@ 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/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:

clover/test/basic.test

@@ -37,9 +37,6 @@
 
     <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>

docs/en/camera.md

@@ -145,8 +145,6 @@ rospy.spin()
 
 The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
 
-> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
-
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
     args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>

docs/en/simple_offboard.md

@@ -305,16 +305,6 @@ rosservice call /land "{}"
 
 > **Caution** In recent PX4 versions, the vehicle will be switched out of LAND mode to manual mode, if the remote control sticks are moved significantly.
 
-### release
-
-If it's necessary to pause sending setpoint messages, use the `simple_offboard/release` service:
-
-```python
-release = rospy.ServiceProxy('simple_offboard/release', Trigger)
-
-release()
-```
-
 ## Additional materials
 
 * [ArUco-based position estimation and navigation](aruco.md).

docs/ru/camera.md

@@ -147,8 +147,6 @@ rospy.spin()
 
 Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`):
 
-> **Note** Начиная с версии [образа](image.md) **0.24** топик `image_raw_throttled` доступен без дополнительной конфигурации.
-
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
     args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>

docs/ru/simple_offboard.md

@@ -305,16 +305,6 @@ rosservice call /land "{}"
 
 > **Caution** В более новых версиях PX4 коптер выйдет из режима LAND в ручной режим, если сильно перемещать стики.
 
-### release
-
-В случае необходимости приостановки отправки setpoint-сообщений, используйте сервис `simple_offboard/release`:
-
-```python
-release = rospy.ServiceProxy('simple_offboard/release', Trigger)
-
-release()
-```
-
 ## Дополнительные материалы
 
 * [Полеты в поле ArUco-маркеров](aruco.md).