docs: add article about using sonar

Auto commit by GitBook Editor

.gitignore

@@ -1,2 +1,6 @@
-/deploy/ros_lib/
 *.pyc
+*.DS_Store
+/images
+node_modules/
+_book/
+package-lock.json

.markdownlint.json

@@ -1,8 +1,16 @@
 {
     "MD003": false,
+    "MD010": {
+        "code_blocks": false
+    },
     "MD013": false,
+    "MD024": false,
+    "MD026" :{
+        "punctuation": ".,;:!"
+    },
     "MD033": false,
     "MD034": false,
+    "MD040": false,
     "MD044": {
         "names": [
             "MAVLink",
@@ -18,5 +26,6 @@
             "ArUco"
         ],
         "code_blocks": false
-    }
+    },
+    "MD045": false
 }

.travis.yml

@@ -0,0 +1,35 @@
+sudo: required
+language: generic
+services:
+  - docker
+env:
+  global:
+    - DOCKER="goldarte/img-tool:builder-mod"
+    - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
+    - if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="${TRAVIS_COMMIT}}"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
+    - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
+git:
+  depth: 1
+before_script:
+  - docker pull ${DOCKER}
+script:
+  - docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER}
+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"
+  - sudo chmod -R 777 *
+  - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
+deploy:
+  provider: releases
+  api_key: ${GITHUB_OAUTH_TOKEN}
+  file: ${IMAGE_NAME}.zip
+  skip_cleanup: true
+  on:
+    tags: true
+
+# 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

@@ -14,7 +14,7 @@ Use it to learn how to assemble, configure, pilot and program autonomous CLEVER
 
 **Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases).**
 
-[![Build Status](http://builder.coex.space/job/CopterExpress---clever/badge/icon)](http://builder.coex.space/job/CopterExpress---clever/)
+[![Build Status](https://travis-ci.org/CopterExpress/clever.svg?branch=master)](https://travis-ci.org/CopterExpress/clever)
 
 Image includes:
 
@@ -25,7 +25,7 @@ Image includes:
 * mavros
 * CLEVER software bundle for autonomous drone control
 
-API description (in Russian) for autonomous flights is available [on GitBook](https://copterexpress.gitbooks.io/clever/simple_offboard.html).
+API description (in Russian) for autonomous flights is available [on GitBook](https://clever.copterexpress.com/simple_offboard.html).
 
 ## Manual installation
 

_config.yml

@@ -1,2 +0,0 @@
-theme: jekyll-theme-cayman
-tagline: Конструктор программируемого квадрокоптера

apps/ios/cleverrc/telemetry.js

@@ -64,9 +64,19 @@ new ROSLIB.Topic({
 var notificationHideTimer;
 
 function notify(text, severity) {
+	var repeated = notificationsEl.querySelector('.item:first-of-type[data-text=' + text + ']');
+	if (repeated) {
+		// don't repeat notifications
+		var count = repeated.getAttribute('data-count') || 1;
+		repeated.setAttribute('data-count', ++count);
+		repeated.innerHTML = text + ' (' + count + ')';
+		return;
+	}
+
 	var item = document.createElement('div');
 	item.innerHTML = text;
 	item.classList.add('item');
+	item.setAttribute('data-text', text);
 	notificationsEl.prepend(item);
 	var itemHeight = item.offsetHeight;
 	notificationsEl.classList.remove('anim');

aruco_pose/package.xml

@@ -4,59 +4,32 @@
   <version>0.0.0</version>
   <description>ArUco maps precise pose estimation nodelet</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
+  <license>MIT</license>
 
+  <!--url type="website">http://wiki.ros.org/aruco_pose</url-->
+  <author email="okalachev@gmail.com">Oleg Kalachev</author>
+  <author email="urpylka@gmail.com">Artem Smirnov</author>
 
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/aruco_pose</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
   <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-
   <build_depend>nodelet</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>cv_bridge</build_depend>
   <build_depend>tf</build_depend>
-
+  <!-- Use buildtool_depend for build tool packages: -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <!-- Use run_depend for packages you need at runtime: -->
   <run_depend>nodelet</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>cv_bridge</run_depend>
-  <build_depend>tf</build_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-        <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>

book.json

@@ -4,19 +4,21 @@
     "author": "Copter Express",
     "language": "ru",
     "root": "docs/",
-    "plugins": ["youtube", "richquotes", "versions", "yametrika"],
+    "plugins": [
+        "youtube",
+        "richquotes@https://github.com/okalachev/gitbook-plugin-richquotes.git",
+        "yametrika",
+        "anchors",
+        "validate-links",
+        "bulk-redirect@https://github.com/okalachev/gitbook-plugin-bulk-redirect.git"
+    ],
     "pluginsConfig": {
-        "disqus": {
-            "shortName": "coex-clever"
-        },
-        "versions": {
-            "type": "tags"
-        },
         "yametrika": {
             "id": 49359238
+        },
+        "bulk-redirect": {
+            "basepath": "/",
+            "redirectsFile": "redirects.json"
         }
-    },
-    "structure": {
-        "glossary": "_GLOSSARY.md"
     }
 }

builder/assets/clever.service

@@ -4,7 +4,7 @@ Requires=roscore.service
 After=roscore.service
 
 [Service]
-EnvironmentFile=/home/pi/catkin_ws/src/clever/deploy/roscore.env
+EnvironmentFile=/lib/systemd/system/roscore.env
 ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch --wait
 Restart=on-abort
 

builder/assets/hardware_setup.sh

@@ -1,39 +1,62 @@
-#!/bin/bash
-
-# Exit immidiately on non-zero result
-set -e
+#! /usr/bin/env bash
 
 #
-# Script for image configure
-# @urpylka Artem Smirnov
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
 #
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
 
 ##################################################
 # Configure hardware interfaces
 ##################################################
 
 # 1. Enable sshd
-echo -e "\033[0;31m\033[1m$(date) | #1 Turn on sshd\033[0m\033[0m"
+echo_stamp "#1 Turn on sshd"
 touch /boot/ssh
 # /usr/bin/raspi-config nonint do_ssh 0
 
 # 2. Enable GPIO
-echo -e "\033[0;31m\033[1m$(date) | #2 GPIO enabled by default\033[0m\033[0m"
+echo_stamp "#2 GPIO enabled by default"
 
 # 3. Enable I2C
-echo -e "\033[0;31m\033[1m$(date) | #3 Turn on I2C\033[0m\033[0m"
+echo_stamp "#3 Turn on I2C"
 /usr/bin/raspi-config nonint do_i2c 0
 
 # 4. Enable SPI
-echo -e "\033[0;31m\033[1m$(date) | #4 Turn on SPI\033[0m\033[0m"
+echo_stamp "#4 Turn on SPI"
 /usr/bin/raspi-config nonint do_spi 0
 
 # 5. Enable raspicam
-echo -e "\033[0;31m\033[1m$(date) | #5 Turn on raspicam\033[0m\033[0m"
+echo_stamp "#5 Turn on raspicam"
 /usr/bin/raspi-config nonint do_camera 0
 
 # 6. Enable hardware UART
-echo -e "\033[0;31m\033[1m$(date) | #6 Turn on UART\033[0m\033[0m"
+echo_stamp "#6 Turn on UART"
 # Temporary solution
 # https://github.com/RPi-Distro/raspi-config/pull/75
 /usr/bin/raspi-config nonint do_serial 1
@@ -47,9 +70,9 @@ systemctl disable hciuart.service
 
 # 7. Enable V4L driver http://robocraft.ru/blog/electronics/3158.html
 #echo "bcm2835-v4l2" >> /etc/modules
-echo -e "\033[0;31m\033[1m$(date) | #7 Turn on v4l2 driver\033[0m\033[0m"
+echo_stamp "#7 Turn on v4l2 driver"
 if ! grep -q "^bcm2835-v4l2" /etc/modules;
 then printf "bcm2835-v4l2\n" >> /etc/modules
 fi
 
-echo -e "\033[0;31m\033[1m$(date) | End of configure hardware interfaces\033[0m\033[0m"
+echo_stamp "#8 End of configure hardware interfaces"

builder/assets/index.html

@@ -4,6 +4,7 @@
 	<!-- <li><a href="">View user reference</a> (<a href="http://clever.copterexpress.com">http://clever.copterexpress.com</a> snapshot)</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><a href="/docs">Documentation</a> (<code>gitbook</code>)</li>
 	<!-- <li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li> -->
 </ul>
 

builder/assets/init_rpi.sh

@@ -0,0 +1,43 @@
+#! /usr/bin/env bash
+
+#
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+echo_stamp "Rename SSID"
+sudo sed -i.OLD "s/CLEVER/CLEVER-$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g" /etc/wpa_supplicant/wpa_supplicant.conf
+
+echo_stamp "Harware setup"
+/root/hardware_setup.sh
+
+echo_stamp "Remove init scripts"
+rm /root/init_rpi.sh /root/hardware_setup.sh
+
+echo_stamp "End of initialization of the image"

builder/assets/kinetic-ros-clever.rosinstall

@@ -418,10 +418,6 @@
     local-name: nodelet_core/nodelet
     uri: https://github.com/ros-gbp/nodelet_core-release/archive/release/kinetic/nodelet/1.9.14-0.tar.gz
     version: nodelet_core-release-release-kinetic-nodelet-1.9.14-0
-- tar:
-    local-name: opencv3
-    uri: https://github.com/ros-gbp/opencv3-release/archive/release/kinetic/opencv3/3.3.1-5.tar.gz
-    version: opencv3-release-release-kinetic-opencv3-3.3.1-5
 - tar:
     local-name: orocos_kinematics_dynamics/orocos_kdl
     uri: https://github.com/smits/orocos-kdl-release/archive/release/kinetic/orocos_kdl/1.3.1-0.tar.gz

builder/assets/kinetic-rosdep-clever.yaml

@@ -0,0 +1,528 @@
+actionlib:
+  debian:
+    stretch: [ros-kinetic-actionlib]
+actionlib_msgs:
+  debian:
+    stretch: [ros-kinetic-actionlib-msgs]
+angles:
+  debian:
+    stretch: [ros-kinetic-angles]
+async_web_server_cpp:
+  debian:
+    stretch: [ros-kinetic-async-web-server-cpp]
+bond:
+  debian:
+    stretch: [ros-kinetic-bond]
+bondcpp:
+  debian:
+    stretch: [ros-kinetic-bondcpp]
+bondpy:
+  debian:
+    stretch: [ros-kinetic-bondpy]
+camera_calibration_parsers:
+  debian:
+    stretch: [ros-kinetic-camera-calibration-parsers]
+camera_info_manager:
+  debian:
+    stretch: [ros-kinetic-camera-info-manager]
+catkin:
+  debian:
+    stretch: [ros-kinetic-catkin]
+class_loader:
+  debian:
+    stretch: [ros-kinetic-class-loader]
+cmake_modules:
+  debian:
+    stretch: [ros-kinetic-cmake-modules]
+cpp_common:
+  debian:
+    stretch: [ros-kinetic-cpp-common]
+cv_bridge:
+  debian:
+    stretch: [ros-kinetic-cv-bridge]
+cv_camera:
+  debian:
+    stretch: [ros-kinetic-cv-camera=0.3.1-0stretch]
+diagnostic_msgs:
+  debian:
+    stretch: [ros-kinetic-diagnostic-msgs]
+diagnostic_updater:
+  debian:
+    stretch: [ros-kinetic-diagnostic-updater]
+eigen_conversions:
+  debian:
+    stretch: [ros-kinetic-eigen-conversions]
+gencpp:
+  debian:
+    stretch: [ros-kinetic-gencpp]
+geneus:
+  debian:
+    stretch: [ros-kinetic-geneus]
+genlisp:
+  debian:
+    stretch: [ros-kinetic-genlisp]
+genmsg:
+  debian:
+    stretch: [ros-kinetic-genmsg]
+gennodejs:
+  debian:
+    stretch: [ros-kinetic-gennodejs]
+genpy:
+  debian:
+    stretch: [ros-kinetic-genpy]
+geographic_msgs:
+  debian:
+    stretch: [ros-kinetic-geographic-msgs]
+geometry_msgs:
+  debian:
+    stretch: [ros-kinetic-geometry-msgs]
+image_transport:
+  debian:
+    stretch: [ros-kinetic-image-transport]
+libmavconn:
+  debian:
+    stretch: [ros-kinetic-libmavconn]
+lxml:
+  debian:
+    stretch: [python-lxml=3.7.1-1]
+mavlink:
+  debian:
+    stretch: [ros-kinetic-mavlink]
+mavros:
+  debian:
+    stretch: [ros-kinetic-mavros]
+mavros_msgs:
+  debian:
+    stretch: [ros-kinetic-mavros-msgs]
+mavros_extras:
+  debian:
+    stretch: [ros-kinetic-mavros-extras]
+message_filters:
+  debian:
+    stretch: [ros-kinetic-message-filters]
+message_generation:
+  debian:
+    stretch: [ros-kinetic-message-generation]
+message_runtime:
+  debian:
+    stretch: [ros-kinetic-message-runtime]
+mjpg-streamer:
+  debian:
+    stretch: [mjpg-streamer=2.0]
+mk:
+  debian:
+    stretch: [ros-kinetic-mk]
+nav_msgs:
+  debian:
+    stretch: [ros-kinetic-nav-msgs]
+nodelet:
+  debian:
+    stretch: [ros-kinetic-nodelet]
+opencv3:
+  debian:
+    stretch: [ros-kinetic-opencv3]
+orocos_kdl:
+  debian:
+    stretch: [ros-kinetic-orocos-kdl]
+pluginlib:
+  debian:
+    stretch: [ros-kinetic-pluginlib]
+python_orocos_kdl:
+  debian:
+    stretch: [ros-kinetic-python-orocos-kdl]
+ros:
+  debian:
+    stretch: [ros-kinetic-ros]
+ros_comm:
+  debian:
+    stretch: [ros-kinetic-ros-comm]
+ros_environment:
+  debian:
+    stretch: [ros-kinetic-ros-environment]
+rosapi:
+  debian:
+    stretch: [ros-kinetic-rosapi]
+rosauth:
+  debian:
+    stretch: [ros-kinetic-rosauth]
+rosbag:
+  debian:
+    stretch: [ros-kinetic-rosbag]
+rosbag_migration_rule:
+  debian:
+    stretch: [ros-kinetic-rosbag-migration-rule]
+rosbag_storage:
+  debian:
+    stretch: [ros-kinetic-rosbag-storage]
+rosbash:
+  debian:
+    stretch: [ros-kinetic-rosbash]
+rosboost_cfg:
+  debian:
+    stretch: [ros-kinetic-rosboost-cfg]
+rosbridge_library:
+  debian:
+    stretch: [ros-kinetic-rosbridge-library]
+rosbridge_server:
+  debian:
+    stretch: [ros-kinetic-rosbridge-server]
+rosbuild:
+  debian:
+    stretch: [ros-kinetic-rosbuild]
+rosclean:
+  debian:
+    stretch: [ros-kinetic-rosclean]
+rosconsole:
+  debian:
+    stretch: [ros-kinetic-rosconsole]
+rosconsole_bridge:
+  debian:
+    stretch: [ros-kinetic-rosconsole-bridge]
+roscpp:
+  debian:
+    stretch: [ros-kinetic-roscpp]
+roscpp_serialization:
+  debian:
+    stretch: [ros-kinetic-roscpp-serialization]
+roscpp_traits:
+  debian:
+    stretch: [ros-kinetic-roscpp-traits]
+roscreate:
+  debian:
+    stretch: [ros-kinetic-roscreate]
+rosgraph:
+  debian:
+    stretch: [ros-kinetic-rosgraph]
+rosgraph_msgs:
+  debian:
+    stretch: [ros-kinetic-rosgraph-msgs]
+roslang:
+  debian:
+    stretch: [ros-kinetic-roslang]
+roslaunch:
+  debian:
+    stretch: [ros-kinetic-roslaunch]
+roslib:
+  debian:
+    stretch: [ros-kinetic-roslib]
+roslint:
+  debian:
+    stretch: [ros-kinetic-roslint]
+roslisp:
+  debian:
+    stretch: [ros-kinetic-roslisp]
+roslz4:
+  debian:
+    stretch: [ros-kinetic-roslz4]
+rosmake:
+  debian:
+    stretch: [ros-kinetic-rosmake]
+rosmaster:
+  debian:
+    stretch: [ros-kinetic-rosmaster]
+rosmsg:
+  debian:
+    stretch: [ros-kinetic-rosmsg]
+rosnode:
+  debian:
+    stretch: [ros-kinetic-rosnode]
+rosout:
+  debian:
+    stretch: [ros-kinetic-rosout]
+rospack:
+  debian:
+    stretch: [ros-kinetic-rospack]
+rosparam:
+  debian:
+    stretch: [ros-kinetic-rosparam]
+rospy:
+  debian:
+    stretch: [ros-kinetic-rospy]
+rospy_tutorials:
+  debian:
+    stretch: [ros-kinetic-rospy-tutorials]
+rosserial_client:
+  debian:
+    stretch: [ros-kinetic-rosserial-client]
+rosserial_msgs:
+  debian:
+    stretch: [ros-kinetic-rosserial-msgs]
+rosserial_python:
+  debian:
+    stretch: [ros-kinetic-rosserial-python]
+rosservice:
+  debian:
+    stretch: [ros-kinetic-rosservice]
+rostest:
+  debian:
+    stretch: [ros-kinetic-rostest]
+rostime:
+  debian:
+    stretch: [ros-kinetic-rostime]
+rostopic:
+  debian:
+    stretch: [ros-kinetic-rostopic]
+rosunit:
+  debian:
+    stretch: [ros-kinetic-rosunit]
+roswtf:
+  debian:
+    stretch: [ros-kinetic-roswtf]
+sensor_msgs:
+  debian:
+    stretch: [ros-kinetic-sensor-msgs]
+smclib:
+  debian:
+    stretch: [ros-kinetic-smclib]
+std_msgs:
+  debian:
+    stretch: [ros-kinetic-std-msgs]
+std_srvs:
+  debian:
+    stretch: [ros-kinetic-std-srvs]
+stereo_msgs:
+  debian:
+    stretch: [ros-kinetic-stereo-msgs]
+tf2:
+  debian:
+    stretch: [ros-kinetic-tf2]
+tf2_bullet:
+  debian:
+    stretch: [ros-kinetic-tf2-bullet]
+tf2_eigen:
+  debian:
+    stretch: [ros-kinetic-tf2-eigen]
+tf2_geometry_msgs:
+  debian:
+    stretch: [ros-kinetic-tf2-geometry-msgs]
+tf2_kdl:
+  debian:
+    stretch: [ros-kinetic-tf2-kdl]
+tf2_msgs:
+  debian:
+    stretch: [ros-kinetic-tf2-msgs]
+tf2_py:
+  debian:
+    stretch: [ros-kinetic-tf2-py]
+tf2_ros:
+  debian:
+    stretch: [ros-kinetic-tf2-ros]
+tf2_sensor_msgs:
+  debian:
+    stretch: [ros-kinetic-tf2-sensor-msgs]
+tf2_tools:
+  debian:
+    stretch: [ros-kinetic-tf2-tools]
+tf:
+  debian:
+    stretch: [ros-kinetic-tf]
+topic_tools:
+  debian:
+    stretch: [ros-kinetic-topic-tools]
+trajectory_msgs:
+  debian:
+    stretch: [ros-kinetic-trajectory-msgs]
+urdf:
+  debian:
+    stretch: [ros-kinetic-urdf]
+urdf_parser_plugin:
+  debian:
+    stretch: [ros-kinetic-urdf-parser-plugin]
+uuid_msgs:
+  debian:
+    stretch: [ros-kinetic-uuid-msgs]
+visualization_msgs:
+  debian:
+    stretch: [ros-kinetic-visualization-msgs]
+xmlrpcpp:
+  debian:
+    stretch: [ros-kinetic-xmlrpcpp]
+boost:
+  debian:
+    stretch: [libboost-all-dev]
+bullet:
+  debian:
+    stretch: [libbullet-dev]
+bzip2:
+  debian:
+    stretch: [libbz2-dev]
+cmake:
+  debian:
+    stretch: [cmake]
+cppunit:
+  debian:
+    stretch: [libcppunit-dev]
+eigen:
+  debian:
+    stretch: [libeigen3-dev]
+geographiclib-tools:
+  debian:
+    stretch: [geographiclib-tools]
+geographiclib:
+  debian:
+    stretch: [libgeographic-dev]
+google-mock:
+  debian:
+    stretch: [google-mock]
+graphviz:
+  debian:
+    stretch: [graphviz]
+gtest:
+  debian:
+    stretch: [libgtest-dev]
+libconsole-bridge-dev:
+  debian:
+    stretch: [libconsole-bridge-dev]
+libjpeg:
+  debian:
+    stretch: [libjpeg-dev]
+libpng-dev:
+  debian:
+    stretch: [libpng-dev]
+libpoco-dev:
+  debian:
+    stretch: [libpoco-dev]
+libssl-dev:
+  debian:
+    stretch: [libssl-dev]
+libtiff-dev:
+  debian:
+    stretch: [libtiff5-dev]
+liburdfdom-dev:
+  debian:
+    stretch: [liburdfdom-dev]
+liburdfdom-headers-dev:
+  debian:
+    stretch: [liburdfdom-headers-dev]
+libv4l-dev:
+  debian:
+    stretch: [libv4l-dev]
+libvtk-qt:
+  debian:
+    stretch: [libvtk6-qt-dev]
+libwebp-dev:
+  debian:
+    stretch: [libwebp-dev]
+log4cxx:
+  debian:
+    stretch: [liblog4cxx-dev]
+lz4:
+  debian:
+    stretch: [liblz4-dev]
+pkg-config:
+  debian:
+    stretch: [pkg-config]
+protobuf:
+  debian:
+    stretch: [libprotobuf10]
+python-bson:
+  debian:
+    stretch: [python-bson]
+python-catkin-pkg:
+  debian:
+    stretch: [python-catkin-pkg]
+python-coverage:
+  debian:
+    stretch: [python-coverage]
+python-defusedxml:
+  debian:
+    stretch: [python-defusedxml]
+python-empy:
+  debian:
+    stretch: [python-empy]
+python-future:
+  debian:
+    stretch: [python-future]
+python-imaging:
+  debian:
+    stretch: [python-imaging]
+python-lxml:
+  debian:
+    stretch: [python-lxml]
+python-mock:
+  debian:
+    stretch: [python-mock]
+python-netifaces:
+  debian:
+    stretch: [python-netifaces]
+python-nose:
+  debian:
+    stretch: [python-nose]
+python-numpy:
+  debian:
+    stretch: [python-numpy]
+python-paramiko:
+  debian:
+    stretch: [python-paramiko]
+python-rosdep:
+  debian:
+    stretch: [python-rosdep]
+python-rospkg:
+  debian:
+    stretch: [python-rospkg]
+python-serial:
+  debian:
+    stretch: [python-serial]
+python-setuptools:
+  debian:
+    stretch: [python-setuptools]
+python-sip:
+  debian:
+    stretch: [python-sip-dev]
+python-tornado:
+  debian:
+    stretch: [python-tornado]
+python-twisted-core:
+  debian:
+    stretch: [python-twisted-core]
+python-websocket:
+  debian:
+    stretch: [python-websocket]
+python-wxtools:
+  debian:
+    stretch: [python-wxtools]
+python-yaml:
+  debian:
+    stretch: [python-yaml]
+python:
+  debian:
+    stretch: [python-dev]
+sbcl:
+  debian:
+    stretch: [sbcl]
+tinyxml2:
+  debian:
+    stretch: [libtinyxml2-dev]
+tinyxml:
+  debian:
+    stretch: [libtinyxml-dev]
+uuid:
+  debian:
+    stretch: [uuid-dev]
+web_video_server:
+  debian:
+    stretch: [ros-kinetic-web-video-server]
+v4l-utils:
+  debian:
+    stretch: [v4l-utils]
+yaml-cpp:
+  debian:
+    stretch: [libyaml-cpp-dev]
+zlib:
+  debian:
+    stretch: [zlib1g-dev]
+compressed_depth_image_transport:
+  debian:
+    stretch: [ros-kinetic-compressed-depth-image-transport]
+compressed_image_transport:
+  debian:
+    stretch: [ros-kinetic-compressed-image-transport]
+dynamic_reconfigure:
+  debian:
+    stretch: [ros-kinetic-dynamic-reconfigure]
+theora_image_transport:
+  debian:
+    stretch: [ros-kinetic-theora-image-transport]
+libogg:
+  debian:
+    stretch: [libtheora0=1.1.1+dfsg.1-14]

builder/assets/monkey-clever

@@ -20,7 +20,7 @@
     # Example:
     #      DocumentRoot /home/krypton/htdocs
 
-    DocumentRoot /home/pi/catkin_ws/src/clever/clever/static
+    DocumentRoot /usr/share/monkey-static
 
     # Redirect:
     # ---------
@@ -36,13 +36,13 @@
     # ----------
     # Registration file of correct request.
 
-    AccessLog /home/pi/monkey/build/log/access.log
+    AccessLog /var/log/monkey-clever/access.log
 
     # ErrorLog:
     # ---------
     # Registration file of incorrect request.
 
-    ErrorLog /home/pi/monkey/build/log/error.log
+    ErrorLog /var/log/monkey-clever/error.log
 
 [ERROR_PAGES]
     404  404.html

builder/assets/monkey.service

@@ -0,0 +1,9 @@
+[Unit]
+Description=Monkey web-server
+
+[Service]
+ExecStart=/usr/sbin/monkey --port 80 --workers 1
+Restart=on-abort
+
+[Install]
+WantedBy=multi-user.target

builder/assets/roscore.service

@@ -3,7 +3,7 @@ Description=Launcher for the ROS master, parameter server and rosout logging nod
 After=network.target
 
 [Service]
-EnvironmentFile=/home/pi/catkin_ws/src/clever/deploy/roscore.env
+EnvironmentFile=/lib/systemd/system/roscore.env
 ExecStart=/opt/ros/kinetic/bin/roscore
 Restart=on-abort
 

builder/image-build.sh

@@ -0,0 +1,115 @@
+#! /usr/bin/env bash
+
+#
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+SOURCE_IMAGE="http://repo.coex.space/2018-06-27-raspbian-stretch-lite.zip"
+
+export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
+export LANG=${LANG:='C.UTF-8'}
+export LC_ALL=${LC_ALL:='C.UTF-8'}
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+BUILDER_DIR="/builder"
+REPO_DIR="${BUILDER_DIR}/repo"
+SCRIPTS_DIR="${REPO_DIR}/builder"
+IMAGES_DIR="${REPO_DIR}/images"
+
+[[ ! -d ${SCRIPTS_DIR} ]] && (echo_stamp "Directory ${SCRIPTS_DIR} doesn't exist" "ERROR"; exit 1)
+[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo_stamp "Directory ${IMAGES_DIR} was created successful" "SUCCESS"
+
+if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="$(cd ${REPO_DIR}; git log --format=%h -1)"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
+# IMAGE_VERSION="${TRAVIS_TAG:=$(cd ${REPO_DIR}; git log --format=%h -1)}"
+REPO_URL="$(cd ${REPO_DIR}; git remote --verbose | grep origin | grep fetch | cut -f2 | cut -d' ' -f1 | sed 's/git@github\.com\:/https\:\/\/github.com\//')"
+REPO_NAME="$(basename -s '.git' ${REPO_URL})"
+IMAGE_NAME="${REPO_NAME}_${IMAGE_VERSION}.img"
+IMAGE_PATH="${IMAGES_DIR}/${IMAGE_NAME}"
+
+get_image() {
+  # TEMPLATE: get_image <IMAGE_PATH> <RPI_DONWLOAD_URL> 
+  local BUILD_DIR=$(dirname $1)
+  local RPI_ZIP_NAME=$(basename $2)
+  local RPI_IMAGE_NAME=$(echo ${RPI_ZIP_NAME} | sed 's/zip/img/')
+
+  if [ ! -e "${BUILD_DIR}/${RPI_ZIP_NAME}" ]; then
+    echo_stamp "Downloading original Linux distribution" \
+    && wget -nv -O ${BUILD_DIR}/${RPI_ZIP_NAME} $2 \
+    && echo_stamp "Downloading complete" "SUCCESS" \
+    || (echo_stamp "Downloading was failed!" "ERROR"; exit 1)
+  else echo_stamp "Linux distribution already donwloaded"; fi
+
+  echo_stamp "Unzipping Linux distribution image" \
+  && unzip -p ${BUILD_DIR}/${RPI_ZIP_NAME} ${RPI_IMAGE_NAME} > $1 \
+  && echo_stamp "Unzipping complete" "SUCCESS" \
+  || (echo_stamp "Unzipping was failed!" "ERROR"; exit 1)
+}
+
+get_image ${IMAGE_PATH} ${SOURCE_IMAGE}
+
+# Make free space
+${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH} max '7G'
+
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/init_rpi.sh' '/root/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/hardware_setup.sh' '/root/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-init.sh' ${IMAGE_VERSION} ${SOURCE_IMAGE}
+
+# Monkey
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey-clever' '/root/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/index.html' '/usr/share/monkey-static/'
+
+# Gitbook
+apt-get install -y curl gnupg
+curl -sL https://deb.nodesource.com/setup_11.x | bash -
+apt-get install -y nodejs
+npm install gitbook-cli -g
+gitbook build ${REPO_DIR}'/docs'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/docs/_book/' '/usr/share/monkey-static/docs/'
+
+
+# Butterfly
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/lib/systemd/system/'
+${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 ${SCRIPTS_DIR}'/image-software.sh'
+# network setup
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
+
+# 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)
+# Clever
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.env' '/lib/systemd/system/'
+${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/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
+# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS} 
+
+${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}

builder/image-init.sh

@@ -0,0 +1,54 @@
+#! /usr/bin/env bash
+
+#
+# Script for initialisation image
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+echo_stamp "Write CLEVER information"
+
+# Clever image version
+echo "$1" >> /etc/clever_version
+# Origin image file name
+echo "${2%.*}" >> /etc/clever_origin
+
+echo_stamp "Write magic script to /etc/rc.local"
+MAGIC_SCRIPT="sudo /root/init_rpi.sh; sudo sed -i '/sudo \\\/root\\\/init_rpi.sh/d' /etc/rc.local && sudo reboot"
+sed -i "19a${MAGIC_SCRIPT}" /etc/rc.local
+
+# It needs for autosizer.sh & maybe that is correct
+echo_stamp "Change boot partition"
+sed -i 's/root=[^ ]*/root=\/dev\/mmcblk0p2/' /boot/cmdline.txt
+sed -i 's/.*  \/boot           vfat    defaults          0       2$/\/dev\/mmcblk0p1  \/boot           vfat    defaults          0       2/' /etc/fstab
+sed -i 's/.*  \/               ext4    defaults,noatime  0       1$/\/dev\/mmcblk0p2  \/               ext4    defaults,noatime  0       1/' /etc/fstab
+
+echo_stamp "Set max space for syslogs"
+# https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
+sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
+
+echo_stamp "End of init image"

builder/image-network.sh

@@ -0,0 +1,73 @@
+#! /usr/bin/env bash
+
+#
+# Script for network configure
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+echo_stamp "#1 Write to /etc/wpa_supplicant/wpa_supplicant.conf"
+
+# TODO: Use wpa_cli insted direct file edit
+cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
+network={
+    ssid="CLEVER"
+    psk="cleverwifi"
+    mode=2
+    proto=RSN
+    key_mgmt=WPA-PSK
+    pairwise=CCMP
+    group=CCMP
+    auth_alg=OPEN
+}
+EOF
+
+echo_stamp "#2 Write STATIC to /etc/dhcpcd.conf"
+
+cat << EOF >> /etc/dhcpcd.conf
+interface wlan0
+static ip_address=192.168.11.1/24
+EOF
+
+echo_stamp "#3 Write dhcp-config to /etc/dnsmasq.conf"
+
+cat << EOF >> /etc/dnsmasq.conf
+interface=wlan0
+address=/clever/coex/192.168.11.1
+dhcp-range=192.168.11.100,192.168.11.200,12h
+no-hosts
+filterwin2k
+bogus-priv
+domain-needed
+quiet-dhcp6
+EOF
+
+#echo_stamp "#4 Write magic script for rename SSID to /etc/rc.local"
+#RENAME_SSID="sudo sed -i.OLD \"s/CLEVER/CLEVER-\$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g\" /etc/wpa_supplicant/wpa_supplicant.conf && sudo sed -i '/sudo sed/d' /etc/rc.local && sudo reboot"
+#sed -i "19a$RENAME_SSID" /etc/rc.local
+
+echo_stamp "#5 End of network installation"

builder/image-ros.sh

@@ -0,0 +1,176 @@
+#! /usr/bin/env bash
+
+#
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+REPO=$1
+REF=$2
+INSTALL_ROS_PACK_SOURCES=$3
+DISCOVER_ROS_PACK=$4
+NUMBER_THREADS=$5
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+# https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
+# https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
+my_travis_retry() {
+  local result=0
+  local count=1
+  while [ $count -le 3 ]; do
+    [ $result -ne 0 ] && {
+      echo -e "\n${ANSI_RED}The command \"$@\" failed. Retrying, $count of 3.${ANSI_RESET}\n" >&2
+    }
+    # ! { } ignores set -e, see https://stackoverflow.com/a/4073372
+    ! { "$@"; result=$?; }
+    [ $result -eq 0 ] && break
+    count=$(($count + 1))
+    sleep 1
+  done
+
+  [ $count -gt 3 ] && {
+    echo -e "\n${ANSI_RED}The command \"$@\" failed 3 times.${ANSI_RESET}\n" >&2
+  }
+
+  return $result
+}
+
+# TODO: 'kinetic-rosdep-clever.yaml' should add only if we use our repo?
+echo_stamp "Init rosdep" \
+&& rosdep init \
+&& echo "yaml file:///etc/ros/rosdep/kinetic-rosdep-clever.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list \
+&& rosdep update
+
+resolve_rosdep() {
+  # TEMPLATE: resolve_rosdep <CATKIN_PATH> <ROS_DISTRO> <OS_DISTRO> <OS_VERSION>
+  CATKIN_PATH=$1
+  ROS_DISTRO='kinetic'
+  OS_DISTRO='debian'
+  OS_VERSION='stretch'
+
+  echo_stamp "Installing dependencies apps with rosdep in ${CATKIN_PATH}"
+  cd ${CATKIN_PATH}
+  my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -r --os=${OS_DISTRO}:${OS_VERSION}
+}
+
+INSTALL_ROS_PACK_SOURCES=${INSTALL_ROS_PACK_SOURCES:='false'}
+if [ "${INSTALL_ROS_PACK_SOURCES}" = "true" ]; then
+  DISCOVER_ROS_PACK=${DISCOVER_ROS_PACK:='true'}
+  if [ "${DISCOVER_ROS_PACK}" = "false" ]; then
+    echo_stamp "Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall" \
+    && mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+    && rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
+    && wstool init -j${NUMBER_THREADS} src kinetic-ros_comm-wet.rosinstall \
+    && echo_stamp "All roscomm sources was installed!" "SUCCESS" \
+    || (echo_stamp "Some roscomm sources installation was failed!" "ERROR"; exit 1)
+
+    echo_stamp "Preparing other ROS-packages to kinetic-custom_ros.rosinstall" \
+    && cd /home/pi/ros_catkin_ws \
+    && rosinstall_generator \
+    actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport compressed_image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras interactive_markers tf2_web_republisher interactive_marker_proxy \
+    --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
+    && wstool merge -j${NUMBER_THREADS} -t src kinetic-custom_ros.rosinstall \
+    && wstool update -j${NUMBER_THREADS} -t src \
+    && echo_stamp "All custom sources was installed!" "SUCCESS" \
+    || (echo_stamp "Some custom sources installation was failed!" "ERROR"; exit 1)
+  else
+    echo_stamp "Creating ros_catkin_ws & getting all sources using wstool" \
+    && mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+    && wstool init -j${NUMBER_THREADS} src kinetic-ros-clever.rosinstall \
+    > /dev/null \
+    && echo_stamp "All CLEVER sources was installed!" "SUCCESS" \
+    || (echo_stamp "Some CLEVER sources installation was failed!" "ERROR"; exit 1)
+  fi
+
+  resolve_rosdep '/home/pi/ros_catkin_ws'
+
+  # TODO: Add refactor to origin repo
+  #echo_stamp "Refactoring usb_cam in SRC"
+  #sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
+
+  echo_stamp "Building ros_catkin_ws packages"
+  cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -j${NUMBER_THREADS} -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
+
+  #echo_stamp "#11 Building light packages on 2 threads"
+  #cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j2 --install-space /opt/ros/kinetic --pkg actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs xmlrpcpp
+
+  #echo_stamp "#12 Building heavy packages"
+  # This command uses less threads to avoid Raspberry Pi freeze
+  #cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j1 --install-space /opt/ros/kinetic --pkg mavros opencv3 cv_bridge cv_camera mavros_extras web_video_server
+
+  # Install builded packages
+  # WARNING: A major bug was found when using --pkg option (catkin_make_isolated doesn't install environment files)
+  # TODO: Can we increase threads number with HDD swap?
+
+  echo_stamp "Remove build_isolated & devel_isolated from ros_catkin_ws"
+  rm -rf /home/pi/ros_catkin_ws/build_isolated /home/pi/ros_catkin_ws/devel_isolated
+  chown -Rf pi:pi /home/pi/ros_catkin_ws
+fi
+
+echo_stamp "Installing CLEVER" \
+&& git clone ${REPO} /home/pi/catkin_ws/src/clever \
+&& cd /home/pi/catkin_ws/src/clever \
+&& echo "REF: ${REF}" \
+&& git checkout ${REF} \
+&& cd /home/pi/catkin_ws \
+&& resolve_rosdep $(pwd) \
+&& my_travis_retry pip install wheel \
+&& my_travis_retry pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
+&& source /opt/ros/kinetic/setup.bash \
+&& catkin_make -j${NUMBER_THREADS} -DCMAKE_BUILD_TYPE=Release \
+&& systemctl enable roscore \
+&& systemctl enable clever \
+&& echo_stamp "All CLEVER was installed!" "SUCCESS" \
+|| (echo_stamp "CLEVER installation was failed!" "ERROR"; exit 1)
+
+# TODO move GeographicLib datasets to Mavros debian package
+echo_stamp "Install GeographicLib datasets (needs for mavros)" \
+&& wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
+
+echo_stamp "Change permissions for catkin_ws"
+chown -Rf pi:pi /home/pi/catkin_ws
+
+echo_stamp "Setup ROS environment"
+cat << EOF >> /home/pi/.bashrc
+LANG='C.UTF-8'
+LC_ALL='C.UTF-8'
+ROS_DISTRO='kinetic'
+export ROS_IP='192.168.11.1'
+source /opt/ros/kinetic/setup.bash
+source /home/pi/catkin_ws/devel/setup.bash
+EOF
+
+#echo_stamp "Removing local apt mirror"
+# Restore original sources.list
+#mv /var/sources.list.bak /etc/apt/sources.list
+# Clean apt cache
+apt-get clean -qq > /dev/null
+# Remove local mirror repository key
+#apt-key del COEX-MIRROR
+
+echo_stamp "END of ROS INSTALLATION"

builder/image-software.sh

@@ -0,0 +1,140 @@
+#! /usr/bin/env bash
+
+#
+# Script for install software to the image.
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m${TEXT}\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+# https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
+# https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
+my_travis_retry() {
+  local result=0
+  local count=1
+  while [ $count -le 3 ]; do
+    [ $result -ne 0 ] && {
+      echo -e "\n${ANSI_RED}The command \"$@\" failed. Retrying, $count of 3.${ANSI_RESET}\n" >&2
+    }
+    # ! { } ignores set -e, see https://stackoverflow.com/a/4073372
+    ! { "$@"; result=$?; }
+    [ $result -eq 0 ] && break
+    count=$(($count + 1))
+    sleep 1
+  done
+
+  [ $count -gt 3 ] && {
+    echo -e "\n${ANSI_RED}The command \"$@\" failed 3 times.${ANSI_RESET}\n" >&2
+  }
+
+  return $result
+}
+
+echo_stamp "Install apt keys & repos"
+
+# TODO: This STDOUT consist 'OK'
+curl http://repo.coex.space/aptly_repo_signing.key 2> /dev/null | apt-key add -
+apt-get update \
+&& apt-get install --no-install-recommends -y -qq dirmngr=2.1.18-8~deb9u3 > /dev/null \
+&& apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+
+echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list
+echo "deb http://repo.coex.space/rpi-ros-kinetic stretch main" > /etc/apt/sources.list.d/rpi-ros-kinetic.list
+echo "deb http://repo.coex.space/clever stretch main" > /etc/apt/sources.list.d/clever.list
+
+echo_stamp "Update apt cache"
+
+# TODO: FIX ERROR: /usr/bin/apt-key: 596: /usr/bin/apt-key: cannot create /dev/null: Permission denied
+apt-get update -qq
+# && apt upgrade -y
+
+echo_stamp "Software installing"
+apt-get install --no-install-recommends -y \
+unzip=6.0-21 \
+zip=3.0-11 \
+ipython=5.1.0-3 \
+ipython3=5.1.0-3 \
+screen=4.5.0-6 \
+byobu=5.112-1  \
+nmap=7.40-1 \
+lsof=4.89+dfsg-0.1 \
+git \
+dnsmasq=2.76-5+rpt1+deb9u1  \
+tmux=2.3-4 \
+vim=2:8.0.0197-4+deb9u1 \
+cmake=3.7.2-1 \
+python-pip=9.0.1-2+rpt2 \
+python3-pip=9.0.1-2+rpt2 \
+libjpeg8-dev=8d1-2 \
+tcpdump \
+ltrace \
+libpoco-dev=1.7.6+dfsg1-5+deb9u1 \
+python-rosdep=0.13.0-1 \
+python-rosinstall-generator=0.1.14-1 \
+python-wstool=0.1.17-1 \
+python-rosinstall=0.7.8-1 \
+build-essential=12.3 \
+libffi-dev \
+monkey=1.6.9-1 \
+pigpio python-pigpio python3-pigpio \
+&& echo_stamp "Everything was installed!" "SUCCESS" \
+|| (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
+
+# Deny byobu to check available updates
+sed -i "s/updates_available//" /usr/share/byobu/status/status
+# sed -i "s/updates_available//" /home/pi/.byobu/status
+
+#echo_stamp "Upgrade pip"
+#my_travis_retry pip install --upgrade pip
+#my_travis_retry pip3 install --upgrade pip
+
+echo_stamp "Not upgrading system pip due to https://github.com/pypa/pip/issues/5599"
+
+echo_stamp "Make sure both pip and pip3 are installed"
+pip --version
+pip3 --version
+
+echo_stamp "Install and enable Butterfly (web terminal)"
+my_travis_retry pip3 install butterfly
+my_travis_retry pip3 install butterfly[systemd]
+systemctl enable butterfly.socket
+
+echo_stamp "Install ws281x library"
+my_travis_retry pip install rpi_ws281x
+
+echo_stamp "Setup Monkey"
+mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
+mv /root/monkey-clever /etc/monkey/sites/default
+systemctl enable monkey.service
+
+echo_stamp "Add .vimrc"
+cat << EOF > /home/pi/.vimrc
+set mouse-=a
+syntax on
+autocmd BufNewFile,BufRead *.launch set syntax=xml
+EOF
+
+echo_stamp "End of software installation"

clever/CMakeLists.txt

@@ -165,10 +165,14 @@ add_executable(rc src/rc.cpp)
 
 add_executable(camera_markers src/camera_markers.cpp)
 
+add_executable(frames src/frames.cpp)
+
 target_link_libraries(rc ${catkin_LIBRARIES})
 
 target_link_libraries(camera_markers ${catkin_LIBRARIES})
 
+target_link_libraries(frames ${catkin_LIBRARIES})
+
 ## 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

clever/launch/clever.launch

@@ -2,14 +2,14 @@
     <arg name="fcu_conn" default="usb"/>
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
-    <arg name="web_server" default="true"/>
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
     <arg name="optical_flow" default="false"/>
     <arg name="aruco" default="false"/>
-    <arg name="rc" value="true"/>
+    <arg name="rc" default="true"/>
     <arg name="arduino" default="false"/>
+    <arg name="vl53l1x" default="false"/>
 
     <!-- mavros -->
     <include file="$(find clever)/launch/mavros.launch">
@@ -19,10 +19,6 @@
         <arg name="viz" value="true"/>
     </include>
 
-
-    <!-- web server, serving /home/pi/catkin_ws/src/clever/clever/static -->
-    <node name="web_server" pkg="clever" type="monkey" output="screen" if="$(arg web_server)" respawn="true" respawn_delay="5"/>
-
     <!-- web video server -->
     <node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5"/>
 
@@ -42,11 +38,14 @@
 
     <node pkg="tf2_ros" type="static_transform_publisher" name="local_origin_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 local_origin local_origin_upside_down"/>
 
-    <!-- fcu_horiz frame -->
-    <node pkg="nodelet" type="nodelet" name="fcu_horiz" args="standalone clever/fcu_horiz" output="screen" clear_params="true"/>
 
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clever" type="simple_offboard.py" output="screen"/>
+    <!-- Auxiliary frames -->
+    <node name="frames" pkg="clever" type="frames" output="screen">
+        <param name="body/frame_id" value="fcu_horiz"/>
+    </node>
+
 
     <!-- main camera -->
     <include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
@@ -54,6 +53,12 @@
     <!-- rosbridge -->
     <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
 
+    <!-- vl53l1x ToF rangefinder -->
+    <node name="vl53l1x" pkg="clever" type="vl53l1x.py" output="screen" if="$(arg vl53l1x)">
+        <param name="z_shift" value="-0.05"/>
+        <!-- <remap from="~range" to="mavros/distance_sensor/rangefinder_3_sub"/> -->
+    </node>
+
     <!-- rc backend -->
     <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
 

clever/launch/main_camera.launch

@@ -2,13 +2,18 @@
     <!-- Camera position and orientation are represented by fcu -> main_camera_optical transform -->
     <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
 
-    <!-- clever 2 -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0 0 -0.07 -1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
+    <!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
 
-    <!-- clever 3 -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 fcu main_camera_optical"/>
+    <!-- camera is oriented downward, camera cable goes backward [option 1] -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 fcu main_camera_optical"/>
 
-    <!-- clever 3, upwards -->
+    <!-- camera is oriented downward, camera cable goes forward  [option 2] -->
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
+
+    <!-- camera is oriented upward, camera cable goes backward   [option 3] -->
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 fcu main_camera_optical"/>-->
+
+    <!-- camera is oriented upward, camera cable goes forward    [option 4] -->
     <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 fcu main_camera_optical"/>-->
 
     <!-- camera node -->
@@ -19,6 +24,7 @@
         <!-- setting camera FPS -->
         <param name="rate" value="100"/>
         <param name="cv_cap_prop_fps" value="40"/>
+        <param name="capture_delay" value="0.02"/>
 
         <param name="image_width" value="320"/>
         <param name="image_height" value="240"/>

clever/launch/mavros.launch

@@ -76,6 +76,7 @@
             - setpoint_accel
             - trajectory
             - wind_estimation
+            - home_position
         </rosparam>
     </node>
 

clever/launch/sitl.launch

@@ -1,7 +1,7 @@
 <launch>
     <!-- Clever configuration for testing in sitl -->
     <arg name="ip" default="127.0.0.1"/>
-    <arg name="rosbridge" default="true"/>
+    <arg name="rosbridge" default="false"/>
 
     <include file="$(find clever)/launch/clever.launch">
         <arg name="fcu_conn" value="udp"/>
@@ -13,5 +13,7 @@
         <arg name="main_camera" default="false"/>
         <arg name="rosbridge" value="$(arg rosbridge)"/>
         <arg name="aruco" default="false"/>
+        <arg name="vl53l1x" default="false"/>
+        <arg name="rc" default="false"/>
     </include>
 </launch>

clever/package.xml

@@ -2,55 +2,40 @@
 <package>
   <name>clever</name>
   <version>0.0.1</version>
-  <description>The clever package</description>
+  <description>The CLEVER package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
+  <license>MIT</license>
 
+  <!--url type="website">http://wiki.ros.org/clever</url-->
+  <author email="okalachev@gmail.com">Oleg Kalachev</author>
+  <author email="urpylka@gmail.com">Artem Smirnov</author>
 
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/clever</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
   <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-
   <build_depend>nodelet</build_depend>
   <build_depend>roscpp</build_depend>
-
-  <run_depend>nodelet</run_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>tf2_geometry_msgs</build_depend>
+  <!-- Use buildtool_depend for build tool packages: -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <!-- Use run_depend for packages you need at runtime: -->
+  <run_depend>catkin</run_depend>
   <run_depend>roscpp</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>mavros</run_depend>
+  <run_depend>mavros_extras</run_depend>
+  <run_depend>lxml</run_depend>
+  <run_depend>cv_camera</run_depend>
+  <run_depend>mjpg-streamer</run_depend>
+  <run_depend>rosbridge_server</run_depend>
+  <run_depend>web_video_server</run_depend>
+  <run_depend>ros_comm</run_depend>r
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-      <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>

clever/requirements.txt

@@ -1,3 +1,5 @@
-flask==0.12.2
+flask==0.12.3
 geopy==1.11.0
 pymavlink==2.2.10
+smbus2==0.2.1
+VL53L1X==0.0.2

clever/src/fpv_camera

@@ -4,5 +4,4 @@
 # fpv_camera <video_device> <http port>
 
 echo "Starting FPV camera $1 on :$2"
-cd /home/pi/mjpg-streamer/mjpg-streamer-experimental
-./mjpg_streamer -i "./input_uvc.so -d $1 -r 320x240 -f 30" -o "./output_http.so -w ./www -p $2"
+mjpg_streamer -i "/usr/lib/input_uvc.so -d $1 -r 320x240 -f 30" -o "/usr/lib/output_http.so -w /usr/share/mjpg_streamer/www -p $2"

clever/src/frames.cpp

@@ -0,0 +1,63 @@
+/*
+ * Auxiliary TF frames for CLEVER drone kit:
+ * - Body frame (drone body with zero pitch and roll).
+ * - TODO: REP-0105 `odom` frame emulation: continuous frame without discrete jumps.
+ * - TODO: Terrain frame (base on ALTITUDE message).
+ * - TODO: map_upside_down frame
+ * - TODO: home frame?
+ *
+ * Copyright (C) 2018 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.
+ */
+
+// TODO: consider implementing as a mavros plugin
+
+#include <string>
+#include <memory>
+#include <ros/ros.h>
+#include <tf/transform_datatypes.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/PoseStamped.h>
+
+using std::string;
+
+static std::shared_ptr<tf2_ros::TransformBroadcaster> br;
+static geometry_msgs::TransformStamped body;
+
+inline void publishBody(const geometry_msgs::PoseStamped& pose)
+{
+	// Get only yaw from pose
+	tf::Quaternion q;
+	q.setRPY(0, 0, tf::getYaw(pose.pose.orientation));
+	tf::quaternionTFToMsg(q, body.transform.rotation);
+
+	body.transform.translation.x = pose.pose.position.x;
+	body.transform.translation.y = pose.pose.position.y;
+	body.transform.translation.z = pose.pose.position.z;
+	body.header.frame_id = pose.header.frame_id;
+	body.header.stamp = pose.header.stamp;
+	br->sendTransform(body);
+}
+
+void poseCallback(const geometry_msgs::PoseStamped& pose)
+{
+	publishBody(pose);
+}
+
+int main(int argc, char **argv) {
+	ros::init(argc, argv, "frames");
+	ros::NodeHandle nh, nh_priv("~");
+
+	nh_priv.param<string>("body/frame_id", body.child_frame_id, "body");
+
+	br = std::make_shared<tf2_ros::TransformBroadcaster>();
+	ros::Subscriber pose_sub = nh.subscribe("mavros/local_position/pose", 1, &poseCallback);
+	ROS_INFO("frames: ready");
+	ros::spin();
+}

clever/src/monkey

@@ -1,3 +0,0 @@
-#!/usr/bin/env bash
-
-exec /home/pi/monkey/build/monkey --port 80 --workers 1

clever/src/selfcheck.py

@@ -6,16 +6,19 @@ import re
 import traceback
 import rospy
 from std_srvs.srv import Trigger
-from sensor_msgs.msg import Image, CameraInfo, NavSatFix, Imu
-from mavros_msgs.msg import State
+from sensor_msgs.msg import Image, CameraInfo, NavSatFix, Imu, Range
+from mavros_msgs.msg import State, OpticalFlowRad
 from geometry_msgs.msg import PoseStamped, TwistStamped
+import tf.transformations as t
 
 
 # TODO: roscore is running
+# TODO: clever.service is running
+# TODO: check attitude is present
 # TODO: disk free space
 # TODO: local_origin, fcu, fcu_horiz
 # TODO: rc service
-# TODO: perform commander check in PX4
+# TODO: perform commander check, ekf2 status on PX4
 # TODO: check if FCU params setter succeed
 # TODO: selfcheck ROS service (with blacklists for checks)
 
@@ -53,21 +56,28 @@ def check_fcu():
     try:
         state = rospy.wait_for_message('mavros/state', State, timeout=3)
         if not state.connected:
-            failure('No connection to the FCU')
+            failure('no connection to the FCU (check wiring)')
     except rospy.ROSException:
-        failure('No MAVROS state')
+        failure('no MAVROS state (check wiring)')
 
 
 @check('Camera')
 def check_camera(name):
     try:
-        rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
+        img = rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
     except rospy.ROSException:
-        failure('No %s camera images' % name)
+        failure('%s: no images (is the camera connected properly?)', name)
+        return
     try:
-        rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=3)
+        info = rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=1)
     except rospy.ROSException:
-        failure('No %s camera camera info' % name)
+        failure('%s: no calibration info', name)
+        return
+
+    if img.width != info.width:
+        failure('%s: calibration width doesn\'t match image width (%d != %d)', name, info.width, img.width)
+    if img.height != info.height:
+        failure('%s: calibration height doesn\'t match image height (%d != %d))', name, info.height, img.height)
 
 
 @check('Aruco detector')
@@ -75,7 +85,39 @@ def check_aruco():
     try:
         rospy.wait_for_message('aruco_pose/debug', Image, timeout=1)
     except rospy.ROSException:
-        failure('No aruco_pose/debug messages')
+        failure('no aruco_pose/debug messages')
+
+
+@check('Vision position estimate')
+def check_vpe():
+    try:
+        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
+    except rospy.ROSException:
+        try:
+            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
+        except rospy.ROSException:
+            failure('no VPE or MoCap messages')
+            return
+
+    # check vision pose and estimated pose inconsistency
+    try:
+        pose = rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=1)
+    except:
+        return
+    horiz = math.hypot(vis.pose.position.x - pose.pose.position.x, vis.pose.position.y - pose.pose.position.y)
+    if horiz > 0.5:
+        failure('horizontal position inconsistency: %.2f m', horiz)
+    vert = vis.pose.position.z - pose.pose.position.z
+    if abs(vert) > 0.5:
+        failure('vertical position inconsistency: %.2f m', vert)
+    op = pose.pose.orientation
+    ov = vis.pose.orientation
+    yawp, _, _ = t.euler_from_quaternion((op.x, op.y, op.z, op.w), axes='rzyx')
+    yawv, _, _ = t.euler_from_quaternion((ov.x, ov.y, ov.z, ov.w), axes='rzyx')
+    yawdiff = yawp - yawv
+    yawdiff = math.degrees((yawdiff + 180) % 360 - 180)
+    if abs(yawdiff) > 8:
+        failure('yaw inconsistency: %.2f deg', yawdiff)
 
 
 @check('Simple offboard node')
@@ -85,7 +127,7 @@ def check_simpleoffboard():
         rospy.wait_for_service('get_telemetry', timeout=3)
         rospy.wait_for_service('land', timeout=3)
     except rospy.ROSException:
-        failure('No simple_offboard services')
+        failure('no simple_offboard services')
 
 
 @check('IMU')
@@ -93,15 +135,25 @@ def check_imu():
     try:
         rospy.wait_for_message('mavros/imu/data', Imu, timeout=1)
     except rospy.ROSException:
-        failure('No IMU data')
+        failure('no IMU data (check flight controller calibration)')
 
 
 @check('Local position')
 def check_local_position():
     try:
-        rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=1)
+        pose = rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=1)
+        o = pose.pose.orientation
+        _, pitch, roll = t.euler_from_quaternion((o.x, o.y, o.z, o.w), axes='rzyx')
+        MAX_ANGLE = math.radians(2)
+        if abs(pitch) > MAX_ANGLE:
+            failure('pitch is %.2f deg; place copter horizontally or redo level horizon calib',
+                    math.degrees(pitch))
+        if abs(roll) > MAX_ANGLE:
+            failure('roll is %.2f deg; place copter horizontally or redo level horizon calib',
+                    math.degrees(roll))
+
     except rospy.ROSException:
-        failure('No local position')
+        failure('no local position')
 
 
 @check('Velocity estimation')
@@ -111,19 +163,53 @@ def check_velocity():
         horiz = math.hypot(velocity.twist.linear.x, velocity.twist.linear.y)
         vert = velocity.twist.linear.z
         if abs(horiz) > 0.1:
-            failure('Horizontal velocity estimation is %s m/s; is the copter staying still?' % horiz)
+            failure('horizontal velocity estimation is %.2f m/s; is copter staying still?' % horiz)
         if abs(vert) > 0.1:
-            failure('Vertical velocity estimation is %s m/s; is the copter staying still?' % vert)
+            failure('vertical velocity estimation is %.2f m/s; is copter staying still?' % vert)
+
+        angular = velocity.twist.angular
+        ANGULAR_VELOCITY_LIMIT = 0.01
+        if abs(angular.x) > ANGULAR_VELOCITY_LIMIT:
+            failure('pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
+                    angular.x, math.degrees(angular.x))
+        if abs(angular.y) > ANGULAR_VELOCITY_LIMIT:
+            failure('pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
+                    angular.y, math.degrees(angular.y))
+        if abs(angular.z) > ANGULAR_VELOCITY_LIMIT:
+            failure('pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
+                    angular.z, math.degrees(angular.z))
     except rospy.ROSException:
-        failure('No velocity estimation')
+        failure('no velocity estimation')
 
 
 @check('Global position (GPS)')
 def check_global_position():
     try:
-        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=2)
+        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
     except rospy.ROSException:
-        failure('No global position')
+        failure('no global position')
+
+
+@check('Optical flow')
+def check_optical_flow():
+    # TODO:check FPS!
+    try:
+        rospy.wait_for_message('mavros/px4flow/raw/send', OpticalFlowRad, timeout=0.5)
+    except rospy.ROSException:
+        failure('no optical flow data (from Raspberry)')
+
+
+@check('Rangefinder')
+def check_rangefinder():
+    # TODO: check FPS!
+    try:
+        rospy.wait_for_message('mavros/distance_sensor/rangefinder_3_sub', Range, timeout=0.5)
+    except rospy.ROSException:
+        failure('no randefinder data from Raspberry')
+    try:
+        rospy.wait_for_message('mavros/distance_sensor/rangefinder_0', Range, timeout=0.5)
+    except rospy.ROSException:
+        failure('no rangefinder data from PX4')
 
 
 @check('Boot duration')
@@ -134,7 +220,7 @@ def check_boot_duration():
     r = re.compile(r'([\d\.]+)s$')
     duration = float(r.search(output).groups()[0])
     if duration > 15:
-        failure('long Raspbian boot duration: %ss', duration)
+        failure('long Raspbian boot duration: %ss (systemd-analyze for analyzing)', duration)
 
 
 @check('CPU usage')
@@ -151,7 +237,7 @@ def check_cpu_usage():
         pid, cpu, cmd = process.split('\t')
 
         if cmd.strip() not in WHITELIST and float(cpu) > 30:
-            failure('High CPU usage (%s%%) detected: %s (PID %s)',
+            failure('high CPU usage (%s%%) detected: %s (PID %s)',
                     cpu.strip(), cmd.strip(), pid.strip())
 
 
@@ -164,6 +250,9 @@ def selfcheck():
     check_camera('main_camera')
     check_aruco()
     check_simpleoffboard()
+    check_optical_flow()
+    check_vpe()
+    check_rangefinder()
     check_cpu_usage()
     check_boot_duration()
 

clever/src/simple_offboard.py

@@ -86,7 +86,7 @@ LOCAL_POSITION_TIMEOUT = rospy.Duration(rospy.get_param('~local_position_timeout
 NAVIGATE_AFTER_ARMED = rospy.Duration(rospy.get_param('~navigate_after_armed', True))
 TRANSFORM_TIMEOUT = rospy.Duration(rospy.get_param('~transform_timeout', 3))
 SETPOINT_RATE = rospy.get_param('~setpoint_rate', 30)
-LOCAL_FRAME = rospy.get_param('~local_frame', 'local_origin')
+LOCAL_FRAME = rospy.get_param('mavros/local_position/frame_id', 'local_origin')
 LAND_MODE = rospy.get_param('~land_mode', 'AUTO.LAND')
 LAND_TIMEOUT = rospy.Duration(rospy.get_param('~land_timeout', 2))
 DEFAULT_SPEED = rospy.get_param('~default_speed', 0.5)
@@ -131,7 +131,10 @@ BRAKE_TIME = rospy.Duration(0)
 def get_navigate_setpoint(stamp, start, finish, start_stamp, speed):
     distance = math.sqrt((finish.z - start.z)**2 + (finish.x - start.x)**2 + (finish.y - start.y)**2)
     time = rospy.Duration(distance / speed)
-    k = (stamp - start_stamp) / time
+    if time == rospy.Duration(0):
+        k = 0
+    else:
+        k = (stamp - start_stamp) / time
     time_left = start_stamp + time - stamp
 
     if BRAKE_TIME and time_left < BRAKE_TIME:
@@ -161,6 +164,9 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
     ps.header.stamp = stamp
     vs.header.stamp = stamp
 
+    # don't block on setpoints publishing
+    transform_timeout = rospy.Duration(0.1) if continued else TRANSFORM_TIMEOUT
+
     if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)):
         global current_nav_start, current_nav_start_stamp, current_nav_finish
 
@@ -168,7 +174,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
             ps.header.frame_id = req.frame_id or LOCAL_FRAME
             ps.pose.position = Point(getattr(req, 'x', 0), getattr(req, 'y', 0), req.z)
             ps.pose.orientation = orientation_from_euler(0, 0, req.yaw, axes='sxyz')
-            current_nav_finish = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
+            current_nav_finish = tf_buffer.transform(ps, LOCAL_FRAME, transform_timeout)
 
             if isinstance(req, srv.NavigateGlobalRequest):
                 # Recalculate x and y from lat and lon
@@ -200,7 +206,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
         ps.header.frame_id = req.frame_id or LOCAL_FRAME
         ps.pose.position = Point(getattr(req, 'x', 0), getattr(req, 'y', 0), req.z)
         ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
-        pose_local = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
+        pose_local = tf_buffer.transform(ps, LOCAL_FRAME, transform_timeout)
 
         if isinstance(req, srv.SetPositionGlobalRequest):
             pose_local.pose.position.x, pose_local.pose.position.y = global_to_local(req.lat, req.lon)
@@ -221,8 +227,8 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
         vs.header.frame_id = req.frame_id or LOCAL_FRAME
         ps.header.frame_id = req.frame_id or LOCAL_FRAME
         ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
-        pose_local = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
-        vector_local = tf_buffer.transform(vs, LOCAL_FRAME, TRANSFORM_TIMEOUT)
+        pose_local = tf_buffer.transform(ps, LOCAL_FRAME, transform_timeout)
+        vector_local = tf_buffer.transform(vs, LOCAL_FRAME, transform_timeout)
 
         yaw_rate_flag = math.isnan(req.yaw)
         msg = pt
@@ -238,7 +244,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
     elif isinstance(req, srv.SetAttitudeRequest):
         ps.header.frame_id = req.frame_id or LOCAL_FRAME
         ps.pose.orientation = orientation_from_euler(req.roll, req.pitch, req.yaw)
-        pose_local = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
+        pose_local = tf_buffer.transform(ps, LOCAL_FRAME, transform_timeout)
         msg = at
         msg.orientation = pose_local.pose.orientation
         msg.thrust = req.thrust
@@ -292,8 +298,13 @@ def handle(req):
         return {'message': 'Both yaw and yaw_rate cannot be NaN'}
 
     try:
+        # check frame_id existance
+        # (for non-blocking setpoint's publishing in get_publisher_and_message)
+        stamp = rospy.get_rostime()
+        if hasattr(req, 'frame_id'):
+            tf_buffer.lookup_transform(req.frame_id or LOCAL_FRAME, LOCAL_FRAME, stamp, TRANSFORM_TIMEOUT)
+
         with handle_lock:
-            stamp = rospy.get_rostime()
             current_req = req
             current_pub, current_msg = get_publisher_and_message(req, stamp, False)
             rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg)
@@ -377,24 +388,31 @@ def get_telemetry(req):
     frame_id = req.frame_id or LOCAL_FRAME
     stamp = rospy.get_rostime()
 
-    if pose:
-        p = tf_buffer.transform(pose, frame_id, TRANSFORM_TIMEOUT)
-        res['x'] = p.pose.position.x
-        res['y'] = p.pose.position.y
-        res['z'] = p.pose.position.z
+    transform_timeout = rospy.Duration(0.4)
+    try:
+        if pose:
+            p = tf_buffer.transform(pose, frame_id, transform_timeout)
+            res['x'] = p.pose.position.x
+            res['y'] = p.pose.position.y
+            res['z'] = p.pose.position.z
 
-        # Calculate roll pitch and yaw as Tait-Bryan angles, order z-y-x
-        res['yaw'], res['pitch'], res['roll'] = euler_from_orientation(p.pose.orientation, axes='rzyx')
+            # Calculate roll pitch and yaw as Tait-Bryan angles, order z-y-x
+            res['yaw'], res['pitch'], res['roll'] = euler_from_orientation(p.pose.orientation, axes='rzyx')
+    except:
+        pass
 
     if velocity:
-        v = Vector3Stamped()
-        v.header.stamp = velocity.header.stamp
-        v.header.frame_id = velocity.header.frame_id
-        v.vector = velocity.twist.linear
-        linear = tf_buffer.transform(v, frame_id, TRANSFORM_TIMEOUT)
-        res['vx'] = linear.vector.x
-        res['vy'] = linear.vector.y
-        res['vz'] = linear.vector.z
+        try:
+            v = Vector3Stamped()
+            v.header.stamp = velocity.header.stamp
+            v.header.frame_id = velocity.header.frame_id
+            v.vector = velocity.twist.linear
+            linear = tf_buffer.transform(v, frame_id, transform_timeout)
+            res['vx'] = linear.vector.x
+            res['vy'] = linear.vector.y
+            res['vz'] = linear.vector.z
+        except:
+            pass
 
         res['yaw_rate'] = velocity.twist.angular.z
         res['pitch_rate'] = velocity.twist.angular.y
@@ -441,21 +459,21 @@ def start_loop():
                         current_pub, current_msg = get_publisher_and_message(current_req, stamp, True,
                                                                              getattr(current_req, 'update_frame', False))
 
-                    current_msg.header.stamp = stamp
-                    current_pub.publish(current_msg)
-
-                    # For monitoring
-                    if isinstance(current_msg, PositionTarget):
-                        p = PoseStamped()
-                        p.header.frame_id = LOCAL_FRAME
-                        p.header.stamp = stamp
-                        p.pose.position = current_msg.position
-                        p.pose.orientation = orientation_from_euler(0, 0, current_msg.yaw + math.pi / 2)
-                        target_pub.publish(p)
-
                 except Exception as e:
                     rospy.logwarn_throttle(10, str(e))
 
+                current_msg.header.stamp = stamp
+                current_pub.publish(current_msg)
+
+                # For monitoring
+                if isinstance(current_msg, PositionTarget):
+                    p = PoseStamped()
+                    p.header.frame_id = LOCAL_FRAME
+                    p.header.stamp = stamp
+                    p.pose.position = current_msg.position
+                    p.pose.orientation = orientation_from_euler(0, 0, current_msg.yaw)
+                    target_pub.publish(p)
+
         r.sleep()
 
 

clever/src/vl53l1x.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+# TODO: rewrite, as Python version eats 20% CPU
+
+from __future__ import division
+
+import rospy
+import VL53L1X
+from sensor_msgs.msg import Range
+
+rospy.init_node('vl53l1x')
+
+
+# range_pub = rospy.Publisher('~range', Range, queue_size=5)
+# TODO: why remmaping is not working?
+range_pub = rospy.Publisher('mavros/distance_sensor/rangefinder_3_sub', Range, queue_size=10)
+z_shift = rospy.get_param("z_shift", 0)  # TODO: move to mavros (use frame)
+
+msg = Range()
+msg.radiation_type = Range.INFRARED
+msg.field_of_view = 0.471239
+msg.min_range = 0
+msg.max_range = 4
+msg.header.frame_id = 'rangefinder'
+
+tof = VL53L1X.VL53L1X(i2c_bus=1, i2c_address=0x29)
+tof.open() # Initialise the i2c bus and configure the sensor
+tof.start_ranging(3) # Start ranging, 1 = Short Range, 2 = Medium Range, 3 = Long Range
+
+rospy.loginfo('vl53l1x: start ranging')
+
+r = rospy.Rate(14)
+while not rospy.is_shutdown():
+    msg.header.stamp = rospy.get_rostime()
+    msg.range = tof.get_distance() / 1000 + z_shift
+    range_pub.publish(msg)
+    r.sleep()
+
+tof.stop_ranging() # Stop ranging

deploy/generate_ros_lib

@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# This script generates ros_lib library for Arduino for using with rosseial_arduino:
-# http://wiki.ros.org/rosserial_arduino/Tutorials
-# https://copterexpress.gitbooks.io/clever/content/docs/arduino.html
-
-rm -rf ros_lib
-rosrun rosserial_arduino make_libraries.py .
-tar czf clever_arudino.tar.gz ros_lib

docs/LANGS.md

@@ -0,0 +1,4 @@
+# Languages
+
+* [Русский](ru/)
+* [English](en/)

docs/SUMMARY.md

@@ -1,50 +0,0 @@
-# Summary
-
-* [Введение](README.md)
-* [Глоссарий](glossary.md)
-* [Сборка](assemble.md)
-* [Первоначальная настройка](setup.md)
-* [Полетные режимы](modes.md)
-* [Raspberry Pi](raspberry.md)
-* [Образ операционной системы на RPi](microsd_images.md)
-* [Подключение Raspberry Pi к Pixhawk](connection.md)
-* [Подключение по Wi-Fi](wifi.md)
-* [Работа с QGroundControl через Wi-Fi](gcs_bridge.md)
-* [Прошивка Pixhawk/Pixracer](firmware.md)
-* [Пилотирование со смартфона](rc.md)
-* [SSH-доступ](ssh.md)
-* [Устройство UART](uart.md)
-* [Неисправности радиоаппаратуры](radioerrors.md)
-* [Безопасность](safety.md)
-* [Техника безопасности по пайке](tb.md)
-* [Просмотр видеострима с камер](web_video_server.md)
-* [Работа с ROS](ros.md)
-* [MAVROS](mavros.md)
-* [Автономный полет в OFFBOARD](simple_offboard.md)
-* [Примеры программ](snippets.md)
-* [Навигация по ArUco-маркерам](aruco.md)
-* [Взаимодействие с Arduino](arduino.md)
-* [Системы координат](frames.md)
-* [Работа с камерой \(компьютерное зрение\)](camera.md)
-* [Ориентация камеры](camera_frame.md)
-* [Визуализация с помощью rviz](rviz.md)
-* [Работа с SITL](sitl.md)
-* [Подключение GPS](gps.md)
-* [Автозапуск ПО](autolaunch.md)
-* [Использование 3G-модема](3g.md)
-* [Устройство сети RPi](network.md)
-* [Работа с логами PX4](flight_logs.md)
-* [Протокол MAVLink](mavlink.md)
-* [Типы силовых разъемов](connectortypes.md)
-* [Ошибки радиоаппаратуры](radioerrors1.md)
-* [Настройка PID](calibratePID.md)
-* Учебник
-  * [Теория и видеоуроки](lessons.md)
-  * [Учебно-методическое пособие](metod.md)
-  * [Контрольные и проверочные материалы](tests.md)
-* [Другое](drugoe.md)
-  * [CopterHack-2017](copterhack2017.md)
-  * [Прошивка ESC контроллеров с помощью Arduino](esc_firmware.md)
-  * [Работа со светодиодной лентой](leds.md)
-  * [Проекты на базе коптера "Клевер"](projects.md)
-* [Полезные ссылки](links.md)