docs: add info on main web interface

Also, mark all new releases as drafts.

.gitattributes

@@ -1,2 +1,3 @@
 apps/ios/cleverrc/roslib.js linguist-vendored
 apps/ios/cleverrc/BinUtils.swift linguist-vendored
+apps/android/app/src/main/assets/roslib.js linguist-vendored

.gitignore

@@ -1,3 +1,6 @@
 *.pyc
 *.DS_Store
-/images
+/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

@@ -4,7 +4,7 @@ services:
   - docker
 env:
   global:
-    - DOCKER="smirart/img-tool:v0.1"
+    - DOCKER="sfalexrog/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"
@@ -16,8 +16,8 @@ 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 "urpylka"
-  - git config --local user.email "urpylka@gmail.com"
+  - 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:
@@ -27,6 +27,7 @@ deploy:
   skip_cleanup: true
   on:
     tags: true
+  draft: true
 
 # More info there
 # https://github.com/travis-ci/travis-ci/issues/6893

README.md

@@ -2,7 +2,7 @@
 
 <img src="docs/assets/clever3.png" align="right" width="300px" alt="CLEVER drone">
 
-CLEVER is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
+CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
 
 Copter Express has implemented a large number of different autonomous drone projects using exactly the same platform: [automated pizza delivery](https://www.youtube.com/watch?v=hmkAoZOtF58) in Samara and Kazan, coffee delivery in Skolkovo Innovation Center, [autonomous quadcopter with charging station](https://www.youtube.com/watch?v=RjX6nUqw1mI) for site monitoring and security, winning drones on [Robocross-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU) and [Robocross-2017](https://youtu.be/AQnd2CRczbQ) competitions and many others.
 
@@ -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](https://travis-ci.org/urpylka/clever.svg?branch=master)](https://travis-ci.org/urpylka/clever)
+[![Build Status](https://travis-ci.org/CopterExpress/clever.svg?branch=master)](https://travis-ci.org/CopterExpress/clever)
 
 Image includes:
 
@@ -23,9 +23,10 @@ Image includes:
 * Configured networking
 * OpenCV
 * mavros
+* Periphery drivers (`pigpiod`, `rpi_ws281x`, etc)
 * 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
 

apps/android/.gitignore

@@ -0,0 +1,11 @@
+*.iml
+.gradle
+/local.properties
+/.idea/caches/build_file_checksums.ser
+/.idea/libraries
+/.idea/modules.xml
+/.idea/workspace.xml
+.DS_Store
+/build
+/captures
+.externalNativeBuild

apps/android/.idea/assetWizardSettings.xml

@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="WizardSettings">
+    <option name="children">
+      <map>
+        <entry key="imageWizard">
+          <value>
+            <PersistentState>
+              <option name="children">
+                <map>
+                  <entry key="imageAssetPanel">
+                    <value>
+                      <PersistentState>
+                        <option name="children">
+                          <map>
+                            <entry key="launcher">
+                              <value>
+                                <PersistentState>
+                                  <option name="children">
+                                    <map>
+                                      <entry key="foregroundImage">
+                                        <value>
+                                          <PersistentState>
+                                            <option name="values">
+                                              <map>
+                                                <entry key="scalingPercent" value="54" />
+                                              </map>
+                                            </option>
+                                          </PersistentState>
+                                        </value>
+                                      </entry>
+                                    </map>
+                                  </option>
+                                  <option name="values">
+                                    <map>
+                                      <entry key="backgroundAssetType" value="COLOR" />
+                                      <entry key="backgroundColor" value="ffffff" />
+                                      <entry key="foregroundImage" value="C:\Users\Motoy\Desktop\COEX\logo.png" />
+                                    </map>
+                                  </option>
+                                </PersistentState>
+                              </value>
+                            </entry>
+                          </map>
+                        </option>
+                      </PersistentState>
+                    </value>
+                  </entry>
+                </map>
+              </option>
+            </PersistentState>
+          </value>
+        </entry>
+      </map>
+    </option>
+  </component>
+</project>

apps/android/.idea/codeStyles/Project.xml

@@ -0,0 +1,35 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <JetCodeStyleSettings>
+      <option name="CODE_STYLE_DEFAULTS" value="KOTLIN_OFFICIAL" />
+    </JetCodeStyleSettings>
+    <Objective-C-extensions>
+      <file>
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Import" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Macro" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Typedef" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Enum" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Constant" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Global" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Struct" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="FunctionPredecl" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Function" />
+      </file>
+      <class>
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Property" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Synthesize" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InitMethod" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="StaticMethod" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InstanceMethod" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="DeallocMethod" />
+      </class>
+      <extensions>
+        <pair source="cpp" header="h" fileNamingConvention="NONE" />
+        <pair source="c" header="h" fileNamingConvention="NONE" />
+      </extensions>
+    </Objective-C-extensions>
+    <codeStyleSettings language="kotlin">
+      <option name="CODE_STYLE_DEFAULTS" value="KOTLIN_OFFICIAL" />
+    </codeStyleSettings>
+  </code_scheme>
+</component>

apps/android/.idea/codeStyles/codeStyleConfig.xml

@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>

apps/android/.idea/gradle.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="GradleSettings">
+    <option name="linkedExternalProjectsSettings">
+      <GradleProjectSettings>
+        <option name="distributionType" value="DEFAULT_WRAPPED" />
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="modules">
+          <set>
+            <option value="$PROJECT_DIR$" />
+            <option value="$PROJECT_DIR$/app" />
+          </set>
+        </option>
+        <option name="resolveModulePerSourceSet" value="false" />
+      </GradleProjectSettings>
+    </option>
+  </component>
+</project>

apps/android/.idea/misc.xml

@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="NullableNotNullManager">
+    <option name="myDefaultNullable" value="android.support.annotation.Nullable" />
+    <option name="myDefaultNotNull" value="android.support.annotation.NonNull" />
+    <option name="myNullables">
+      <value>
+        <list size="7">
+          <item index="0" class="java.lang.String" itemvalue="org.jetbrains.annotations.Nullable" />
+          <item index="1" class="java.lang.String" itemvalue="javax.annotation.Nullable" />
+          <item index="2" class="java.lang.String" itemvalue="javax.annotation.CheckForNull" />
+          <item index="3" class="java.lang.String" itemvalue="edu.umd.cs.findbugs.annotations.Nullable" />
+          <item index="4" class="java.lang.String" itemvalue="android.support.annotation.Nullable" />
+          <item index="5" class="java.lang.String" itemvalue="androidx.annotation.Nullable" />
+          <item index="6" class="java.lang.String" itemvalue="androidx.annotation.RecentlyNullable" />
+        </list>
+      </value>
+    </option>
+    <option name="myNotNulls">
+      <value>
+        <list size="6">
+          <item index="0" class="java.lang.String" itemvalue="org.jetbrains.annotations.NotNull" />
+          <item index="1" class="java.lang.String" itemvalue="javax.annotation.Nonnull" />
+          <item index="2" class="java.lang.String" itemvalue="edu.umd.cs.findbugs.annotations.NonNull" />
+          <item index="3" class="java.lang.String" itemvalue="android.support.annotation.NonNull" />
+          <item index="4" class="java.lang.String" itemvalue="androidx.annotation.NonNull" />
+          <item index="5" class="java.lang.String" itemvalue="androidx.annotation.RecentlyNonNull" />
+        </list>
+      </value>
+    </option>
+  </component>
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_7" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/build/classes" />
+  </component>
+  <component name="ProjectType">
+    <option name="id" value="Android" />
+  </component>
+</project>

apps/android/.idea/runConfigurations.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="RunConfigurationProducerService">
+    <option name="ignoredProducers">
+      <set>
+        <option value="org.jetbrains.plugins.gradle.execution.test.runner.AllInPackageGradleConfigurationProducer" />
+        <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestClassGradleConfigurationProducer" />
+        <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestMethodGradleConfigurationProducer" />
+      </set>
+    </option>
+  </component>
+</project>

apps/android/.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

apps/android/app/.gitignore

@@ -0,0 +1 @@
+/build

apps/android/app/build.gradle

@@ -0,0 +1,33 @@
+apply plugin: 'com.android.application'
+
+apply plugin: 'kotlin-android'
+
+apply plugin: 'kotlin-android-extensions'
+
+android {
+    compileSdkVersion 28
+    defaultConfig {
+        applicationId "express.copter.cleverrc"
+        minSdkVersion 19
+        targetSdkVersion 28
+        versionCode 1
+        versionName "1.0"
+        testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
+    }
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+        }
+    }
+}
+
+dependencies {
+    implementation fileTree(dir: 'libs', include: ['*.jar'])
+    implementation"org.jetbrains.kotlin:kotlin-stdlib-jdk7:$kotlin_version"
+    implementation 'com.android.support:appcompat-v7:28.0.0'
+    implementation 'com.android.support.constraint:constraint-layout:1.1.3'
+    testImplementation 'junit:junit:4.12'
+    androidTestImplementation 'com.android.support.test:runner:1.0.2'
+    androidTestImplementation 'com.android.support.test.espresso:espresso-core:3.0.2'
+}

apps/android/app/proguard-rules.pro

@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile

apps/android/app/src/androidTest/java/express/copter/cleverrc/ExampleInstrumentedTest.kt

@@ -0,0 +1,24 @@
+package express.copter.cleverrc
+
+import android.support.test.InstrumentationRegistry
+import android.support.test.runner.AndroidJUnit4
+
+import org.junit.Test
+import org.junit.runner.RunWith
+
+import org.junit.Assert.*
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * See [testing documentation](http://d.android.com/tools/testing).
+ */
+@RunWith(AndroidJUnit4::class)
+class ExampleInstrumentedTest {
+    @Test
+    fun useAppContext() {
+        // Context of the app under test.
+        val appContext = InstrumentationRegistry.getTargetContext()
+        assertEquals("express.copter.cleverrc", appContext.packageName)
+    }
+}

apps/android/app/src/main/AndroidManifest.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+          package="express.copter.cleverrc">
+    <uses-permission android:name="android.permission.INTERNET"/>
+
+
+    <application
+            android:allowBackup="true"
+            android:icon="@mipmap/ic_launcher"
+            android:label="@string/app_name"
+            android:roundIcon="@mipmap/ic_launcher_round"
+            android:supportsRtl="true"
+            android:theme="@style/AppTheme">
+        <activity android:name=".MainActivity"
+                  android:screenOrientation="landscape"
+                  android:theme="@style/NoUiAppTheme">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN"/>
+
+                <category android:name="android.intent.category.LAUNCHER"/>
+            </intent-filter>
+        </activity>
+    </application>
+
+</manifest>

apps/android/app/src/main/assets/clever.svg

@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   viewBox="0 0 69.988266 69.987198"
+   height="69.987198"
+   width="69.988266"
+   xml:space="preserve"
+   id="svg2"
+   version="1.1"><metadata
+     id="metadata8"><rdf:RDF><cc:Work
+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
+     id="defs6"><clipPath
+       id="clipPath18"
+       clipPathUnits="userSpaceOnUse"><path
+         id="path16"
+         d="M 0,52.49 H 52.491 V 0 H 0 Z" /></clipPath></defs><g
+     transform="matrix(1.3333333,0,0,-1.3333333,0,69.9872)"
+     id="g10"><g
+       id="g12"><g
+         clip-path="url(#clipPath18)"
+         id="g14"><g
+           transform="translate(35.6531,35.3361)"
+           id="g20"><path
+             id="path22"
+             style="fill:white;fill-opacity:0.5;fill-rule:nonzero;stroke:none"
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apps/android/app/src/main/assets/index.html

@@ -0,0 +1,24 @@
+<html>
+	<head>
+		<meta name="apple-mobile-web-app-capable" content="yes" />
+		<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1.0, minimum-scale=1.0, user-scalable=no, minimal-ui">
+		<link rel="stylesheet" href="main.css">
+		<script src="roslib.js"></script>
+	</head>
+	<body>
+		<div class="telemetry"><span class="mode">DISCONNECTED</span></div>
+		<div class="battery"></div>
+		<div class="logo"></div>
+		<div class="container">
+			<div class="stick stick-left">
+				<div class="stick-pointer"></div>
+			</div>
+			<div class="stick stick-right">
+				<div class="stick-pointer"></div>
+			</div>
+		</div>
+		<div class="notifications"></div>
+		<script src="main.js" type="text/javascript"></script>
+		<script src="telemetry.js" type="text/javascript"></script>
+	</body>
+</html>

apps/android/app/src/main/assets/main.css

@@ -0,0 +1,125 @@
+html, body {
+	margin: 0;
+	padding: 0;
+	user-select: none;
+	font-family: sans-serif;
+	background: #212121;
+	color: rgba(255, 255, 255, 0.9);
+}
+
+* {
+	user-select: none;
+}
+
+.stick {
+	border-radius: 50%;
+	width: 5cm;
+	height: 5cm;
+	position: relative;
+	transform: translateZ(0);
+	border: 4px solid rgba(255,255,255,.4);
+	box-shadow: 0 0 0 1px rgba(0,0,0,.2), inset 0 0 0 1px rgba(0,0,0,.2);
+}
+
+.stick-pointer {
+	position: absolute;
+	border-radius: 50%;
+	background-color: rgba(255,255,255,.25);
+	box-shadow: 0 0 10px rgba(0,0,0,.3);
+	width: 3cm;
+	height: 3cm;
+	margin-left: -1.5cm;
+	margin-top: -1.5cm;
+	top: 2.5cm;
+	left: 2.5cm;
+	pointer-events: none;
+	transform: translateZ(0);
+}
+
+.container {
+	display: flex;
+	justify-content: space-around;
+	align-items: center;
+	width: 100%;
+	height: 100%;
+}
+
+.telemetry {
+	position: absolute;
+	text-align: center;
+	width: 100%;
+	top: 30px;
+	font-size: 20px;
+	user-select: none;
+	pointer-events: none;
+}
+
+body.armed .telemetry .mode {
+	font-weight: bold;
+}
+
+@keyframes scale {
+	0% { transform: scale(1.0); }
+	50% { transform: scale(1.2); }
+	100% { transform: scale(1.0); }
+}
+
+.battery {
+	position: absolute;
+	text-align: center;
+	width: 100%;
+	bottom: 30px;
+	font-size: 20px;
+	user-select: none;
+	pointer-events: none;
+}
+
+body.low-battery .battery {
+	color: #ff554b;
+	animation: scale 0.3s 1 ease-in-out
+}
+
+.logo {
+	position: absolute;
+	background: url(clever.svg);
+	-webkit-background-size: 50px;
+	background-size: 50px;
+	width: 50px;
+	height: 50px;
+	top: 50%;
+	left: 50%;
+	margin-top: -25px;
+	margin-left: -25px;
+	font-size: 20px;
+	user-select: none;
+	pointer-events: none;
+}
+
+.notifications {
+	pointer-events: none;
+	position: absolute;
+	top: 0;
+	left: 0;
+	right: 0;
+	color: white;
+}
+
+.notifications.hidden {
+	transform: translateY(-100%);
+}
+
+.notifications.anim {
+	transition: transform 0.2s ease;
+}
+
+.notifications .item {
+	font-size: 4mm;
+	-webkit-text-size-adjust: none;
+	background: #fca83a;
+	padding: 3mm;
+	padding-bottom: 1.5mm;
+}
+
+.notifications .item:last-child {
+	padding-bottom: 3mm;
+}

apps/android/app/src/main/assets/main.js

@@ -0,0 +1,139 @@
+function throttle(func, ms) {
+	var isThrottled = false,
+		savedArgs,
+		savedThis;
+
+	function wrapper() {
+		if (isThrottled) {
+			savedArgs = arguments;
+			savedThis = this;
+			return;
+		}
+		func.apply(this, arguments);
+		isThrottled = true;
+		setTimeout(function() {
+			isThrottled = false;
+			if (savedArgs) {
+				wrapper.apply(savedThis, savedArgs);
+				savedArgs = savedThis = null;
+			}
+		}, ms);
+	}
+	return wrapper;
+}
+
+function postAppMessage(msg) {
+    if (window.webkit != undefined) {
+        if (window.webkit.messageHandlers.appInterface != undefined) {
+            window.webkit.messageHandlers.appInterface.postMessage(JSON.stringify(msg));
+        }
+    }
+    else if (window.appInterface != undefined) {
+        window.appInterface.postMessage(JSON.stringify(msg));
+    }
+}
+
+function callNativeApp(name, msg) {
+	try {
+        postAppMessage(msg);
+		return true;
+	} catch(err) {
+		console.warn('The native context does not exist yet');
+		return false;
+	}
+}
+var rcLastPublish = null;
+
+function rcPublish() {
+	callNativeApp('control', controlMessage);
+	rcLastPublish = new Date();
+}
+
+rcPublishThrottled = throttle(rcPublish, 30);
+
+setInterval(function() {
+	if (rcLastPublish !== null && new Date() - rcLastPublish > 800) {
+		rcPublishThrottled();
+	}
+}, 50);
+
+var body = document.querySelector('body');
+var stickLeft = document.querySelector('.stick-left');
+var stickRight = document.querySelector('.stick-right');
+
+var controlMessage = { x: 0, y: 0, z: 0, r: 0 };
+
+function onStickTouchMove(touch) {
+	var target = touch.target;
+	var targetRect = target.getBoundingClientRect();
+	var stickPointer = target.querySelector('.stick-pointer');
+
+	var offsetX = touch.clientX - targetRect.left;
+	var offsetY = touch.clientY - targetRect.top;
+
+	var x = 2 * offsetX / targetRect.width;
+	var y = 2 * offsetY / targetRect.height;
+
+	x = Math.max(0, x);
+	x = Math.min(2, x);
+	y = Math.max(0, y);
+	y = Math.min(2, y);
+
+	stickPointer.style.left = (x * 50) + '%';
+	stickPointer.style.top = (y * 50) + '%';
+
+	x -= 1;
+	y = 1 - y;
+
+	if (target.matches('.stick-left')) {
+		controlMessage.z = Math.round((y + 1) * 500);
+		controlMessage.r = Math.round(x * 1000);
+	} else if (target.matches('.stick-right')) {
+		controlMessage.x = Math.round(y * 1000);
+		controlMessage.y = Math.round(x * 1000);
+	}
+}
+
+body.addEventListener('touchmove', function (e) {
+	e.preventDefault();
+});
+
+function stickTouchStart(e) {
+	setControlMode();
+	callNativeApp('controlStart');
+	onStickTouchMove(e.changedTouches[0]);
+	rcPublishThrottled();
+	e.stopPropagation();
+	e.preventDefault();
+}
+
+function stickTouchMove(e) {
+	for (touch of e.changedTouches) {
+            onStickTouchMove(touch);
+        }
+    	//onStickTouchMove(e.changedTouches[0]);
+    	rcPublishThrottled();
+    	e.stopPropagation();
+    	e.preventDefault();
+}
+
+function stickTouchEnd(e) {
+	var pointer = e.target.querySelector('.stick-pointer');
+	if (e.target.matches('.stick-left')) {
+		controlMessage.r = 0;
+		pointer.style.left = '50%';
+	} else if (e.target.matches('.stick-right')) {
+		controlMessage.x = 0;
+		controlMessage.y = 0;
+		pointer.style.left = '50%';
+		pointer.style.top = '50%';
+	}
+	rcPublishThrottled();
+}
+
+stickLeft.addEventListener('touchmove', stickTouchMove);
+stickRight.addEventListener('touchmove', stickTouchMove);
+stickLeft.addEventListener('touchstart', stickTouchStart);
+stickRight.addEventListener('touchstart', stickTouchStart);
+stickLeft.addEventListener('touchend', stickTouchEnd);
+stickRight.addEventListener('touchend', stickTouchEnd);

apps/android/app/src/main/assets/old.js

@@ -0,0 +1,142 @@
+function throttle(func, ms) {
+	var isThrottled = false,
+		savedArgs,
+		savedThis;
+
+	function wrapper() {
+		if (isThrottled) {
+			savedArgs = arguments;
+			savedThis = this;
+			return;
+		}
+		func.apply(this, arguments);
+		isThrottled = true;
+		setTimeout(function() {
+			isThrottled = false;
+			if (savedArgs) {
+				wrapper.apply(savedThis, savedArgs);
+				savedArgs = savedThis = null;
+			}
+		}, ms);
+	}
+	return wrapper;
+}
+
+function postAppMessage(msg) {
+    if (window.webkit != undefined) {
+        if (window.webkit.messageHandlers.appInterface != undefined) {
+            window.webkit.messageHandlers.appInterface.postMessage(JSON.stringify(msg));
+        }
+    }
+    else if (window.appInterface != undefined) {
+        window.appInterface.postMessage(JSON.stringify(msg));
+    }
+}
+
+function callNativeApp(name, msg) {
+	try {
+        postAppMessage(msg);
+		return true;
+	} catch(err) {
+		console.warn('The native context does not exist yet');
+		return false;
+	}
+}
+
+
+
+var rcLastPublish = null;
+
+function rcPublish() {
+	callNativeApp('control', controlMessage);
+	rcLastPublish = new Date();
+}
+
+rcPublishThrottled = throttle(rcPublish, 30);
+
+setInterval(function() {
+	if (rcLastPublish !== null && new Date() - rcLastPublish > 800) {
+		rcPublishThrottled();
+	}
+}, 50);
+
+var body = document.querySelector('body');
+var stickLeft = document.querySelector('.stick-left');
+var stickRight = document.querySelector('.stick-right');
+
+var controlMessage = { x: 0, y: 0, z: 0, r: 0 };
+
+function onStickTouchMove(touch) {
+	var target = touch.target;
+	var targetRect = target.getBoundingClientRect();
+	var stickPointer = target.querySelector('.stick-pointer');
+
+	var offsetX = touch.clientX - targetRect.left;
+	var offsetY = touch.clientY - targetRect.top;
+
+	var x = 2 * offsetX / targetRect.width;
+	var y = 2 * offsetY / targetRect.height;
+
+	x = Math.max(0, x);
+	x = Math.min(2, x);
+	y = Math.max(0, y);
+	y = Math.min(2, y);
+
+	stickPointer.style.left = (x * 50) + '%';
+	stickPointer.style.top = (y * 50) + '%';
+
+	x -= 1;
+	y = 1 - y;
+
+	if (target.matches('.stick-left')) {
+		controlMessage.z = Math.round((y + 1) * 500);
+		controlMessage.r = Math.round(x * 1000);
+	} else if (target.matches('.stick-right')) {
+		controlMessage.x = Math.round(y * 1000);
+		controlMessage.y = Math.round(x * 1000);
+	}
+}
+
+body.addEventListener('touchmove', function (e) {
+	e.preventDefault();
+});
+
+function stickTouchStart(e) {
+	setControlMode();
+	callNativeApp('controlStart');
+	onStickTouchMove(e.changedTouches[0]);
+	rcPublishThrottled();
+	e.stopPropagation();
+	e.preventDefault();
+}
+
+function stickTouchMove(e) {
+    for (touch of e.changedTouches) {
+        onStickTouchMove(touch);
+    }
+	//onStickTouchMove(e.changedTouches[0]);
+	rcPublishThrottled();
+	e.stopPropagation();
+	e.preventDefault();
+}
+
+function stickTouchEnd(e) {
+	var pointer = e.target.querySelector('.stick-pointer');
+	if (e.target.matches('.stick-left')) {
+		controlMessage.r = 0;
+		pointer.style.left = '50%';
+	} else if (e.target.matches('.stick-right')) {
+		controlMessage.x = 0;
+		controlMessage.y = 0;
+		pointer.style.left = '50%';
+		pointer.style.top = '50%';
+	}
+	rcPublishThrottled();
+}
+
+stickLeft.addEventListener('touchmove', stickTouchMove);
+stickRight.addEventListener('touchmove', stickTouchMove);
+stickLeft.addEventListener('touchstart', stickTouchStart);
+stickRight.addEventListener('touchstart', stickTouchStart);
+stickLeft.addEventListener('touchend', stickTouchEnd);
+stickRight.addEventListener('touchend', stickTouchEnd);

apps/android/app/src/main/assets/telemetry.js

@@ -0,0 +1,115 @@
+var url = 'ws://192.168.11.1:9090';
+var modeEl = document.querySelector('.telemetry .mode');
+var batteryEl = document.querySelector('.battery');
+var notificationsEl = document.querySelector('.notifications');
+
+var ros = new ROSLIB.Ros({ url: url });
+
+ros.on('connection', function () {
+	body.classList.add('connected');
+});
+
+ros.on('close', function () {
+	body.classList.remove('connected');
+	modeEl.classList.remove('armed');
+	modeEl.innerHTML = 'DISCONNECTED';
+	batteryEl.innerHTML = '';
+	setTimeout(function() {
+		modeEl.innerHTML = 'RECONNECTING';
+		ros.connect(url);
+	}, 2000);
+});
+
+var fcuState;
+
+new ROSLIB.Topic({
+	ros: ros,
+	name: '/state_latched',
+	messageType: 'mavros_msgs/State'
+}).subscribe(function(message) {
+	body.classList.toggle('fcu-disconnected', !message.connected);
+	body.classList.toggle('armed', message.armed);
+	fcuState = message;
+	modeEl.classList.toggle('armed', fcuState.armed);
+	modeEl.innerHTML = message.connected ? fcuState.mode : 'DISCONNECTED FROM FCU';
+	console.log('state', message);
+});
+
+function notifyLowBattery() {
+	console.log('low battery');
+	callNativeApp('lowBattery');
+	body.classList.remove('low-battery');
+	void body.offsetWidth; // trick for repeating animation
+	body.classList.add('low-battery');
+}
+
+notifyLowBatteryThrottled = throttle(notifyLowBattery, 15000);
+
+new ROSLIB.Topic({
+	ros: ros,
+	name: '/mavros/battery',
+	messageType: 'sensor_msgs/BatteryState',
+	throttle_rate: 5000
+}).subscribe(function(message) {
+	var LOW_BATTERY = 3.8;
+	batteryEl.innerHTML = (message.cell_voltage[0].toFixed(2) + ' V') || '';
+
+	if (message.cell_voltage[0] < LOW_BATTERY) {
+		notifyLowBatteryThrottled();
+	} else {
+		body.classList.remove('low-battery');
+	}
+});
+
+var notificationHideTimer;
+
+function notify(text, severity) {
+	var item = document.createElement('div');
+	item.innerHTML = text;
+	item.classList.add('item');
+	notificationsEl.prepend(item);
+	var itemHeight = item.offsetHeight;
+	notificationsEl.classList.remove('anim');
+	notificationsEl.style.transform = 'translateY(' + -itemHeight + 'px)';
+	setTimeout(function() {
+		notificationsEl.classList.add('anim');
+		notificationsEl.style.transform = 'translateY(0)';
+	}, 0);
+	clearTimeout(notificationHideTimer);
+	notificationHideTimer = setTimeout(function() {
+		notificationsEl.style.transform = '';
+		notificationsEl.classList.add('hidden');
+		setTimeout(function() {
+			notificationsEl.innerHTML = '';
+		}, 210);
+	}, 4000);
+}
+
+new ROSLIB.Topic({
+	ros: ros,
+	name: '/mavros/statustext/recv',
+	messageType: 'mavros_msgs/StatusText'
+}).subscribe(function(message) {
+	var BLACKLIST = ['CMD: ', 'PR: ', 'DROPPED', 'Clock skew detected', 'MANUAL CONTROL LOST'];
+	if (message.severity <= 4) {
+		if (BLACKLIST.some(function(e) {
+				return message.text.indexOf(e) != -1;
+			})) {
+			console.log('Filtered out message ' + message.text);
+			return;
+		}
+		notify(message.text, message.severity);
+		callNativeApp('notification', message);
+	}
+});
+
+var setMode = new ROSLIB.Service({
+	ros: ros,
+	name : '/mavros/set_mode',
+	serviceType : 'mavros_msgs/SetMode'
+});
+
+function setControlMode() {
+	var CONTROL_MODE = 'STABILIZED';
+	setMode.callService(new ROSLIB.ServiceRequest({ custom_mode: CONTROL_MODE }));
+}

apps/android/app/src/main/java/express/copter/cleverrc/MainActivity.kt

@@ -0,0 +1,86 @@
+package express.copter.cleverrc
+
+import android.content.Context
+import android.os.Build
+import android.support.v7.app.AppCompatActivity
+import android.os.Bundle
+import android.view.View
+import android.view.WindowManager
+import android.webkit.JavascriptInterface
+import kotlinx.android.synthetic.main.activity_main.*
+import org.json.JSONObject
+import java.net.DatagramPacket
+import java.net.DatagramSocket
+import java.net.InetAddress
+import java.nio.ByteBuffer
+
+fun pack(x: Short, y: Short, z: Short, r: Short): ByteArray {
+    val pump_on_buf: ByteBuffer = ByteBuffer.allocate(8)
+    pump_on_buf.putShort(r)
+    pump_on_buf.putShort(z)
+    pump_on_buf.putShort(y)
+    pump_on_buf.putShort(x)
+
+    return pump_on_buf.array().reversedArray()
+}
+
+fun send(host: String, port: Int, data: ByteArray, senderPort: Int = 0): Boolean {
+    var ret = false
+    var socket: DatagramSocket? = null
+    try {
+        socket = DatagramSocket(senderPort)
+        val address = InetAddress.getByName(host)
+        val packet = DatagramPacket(data, data.size, address, port)
+        socket.send(packet)
+        ret = true
+    } catch (e: Exception) {
+        e.printStackTrace()
+    } finally {
+        socket?.close()
+    }
+    return ret
+}
+
+class MainActivity : AppCompatActivity() {
+
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        setContentView(R.layout.activity_main)
+        fullScreenCall()
+        main_web.loadUrl("file:///android_asset/index.html")
+
+        main_web.settings.apply {
+            domStorageEnabled = true
+            javaScriptEnabled = true
+            loadWithOverviewMode = true
+            useWideViewPort = true
+            setSupportZoom(false)
+        }
+
+        main_web.addJavascriptInterface(WebAppInterface(this), "appInterface")
+    }
+
+    private fun fullScreenCall() {
+        window.setFlags(
+            WindowManager.LayoutParams.FLAG_FULLSCREEN,
+            WindowManager.LayoutParams.FLAG_FULLSCREEN
+        )
+        if (Build.VERSION.SDK_INT < 19) {
+            val v = this.window.decorView
+            v.systemUiVisibility = View.GONE
+        } else {
+            //for higher api versions.
+            val decorView = window.decorView
+            val uiOptions = View.SYSTEM_UI_FLAG_HIDE_NAVIGATION or View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY
+            decorView.systemUiVisibility = uiOptions
+        }
+    }
+}
+
+class WebAppInterface(c: Context) {
+    @JavascriptInterface
+    public fun postMessage(message: String) {
+        val data = JSONObject(message)
+        send("255.255.255.255", 35602, pack(data.getInt("x").toShort(), data.getInt("y").toShort(), data.getInt("z").toShort(), data.getInt("r").toShort()))
+    }
+}

apps/android/app/src/main/res/drawable-v24/ic_launcher_foreground.xml

@@ -0,0 +1,34 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+        xmlns:aapt="http://schemas.android.com/aapt"
+        android:width="108dp"
+        android:height="108dp"
+        android:viewportHeight="108"
+        android:viewportWidth="108">
+    <path
+            android:fillType="evenOdd"
+            android:pathData="M32,64C32,64 38.39,52.99 44.13,50.95C51.37,48.37 70.14,49.57 70.14,49.57L108.26,87.69L108,109.01L75.97,107.97L32,64Z"
+            android:strokeColor="#00000000"
+            android:strokeWidth="1">
+        <aapt:attr name="android:fillColor">
+            <gradient
+                    android:endX="78.5885"
+                    android:endY="90.9159"
+                    android:startX="48.7653"
+                    android:startY="61.0927"
+                    android:type="linear">
+                <item
+                        android:color="#44000000"
+                        android:offset="0.0"/>
+                <item
+                        android:color="#00000000"
+                        android:offset="1.0"/>
+            </gradient>
+        </aapt:attr>
+    </path>
+    <path
+            android:fillColor="#FFFFFF"
+            android:fillType="nonZero"
+            android:pathData="M66.94,46.02L66.94,46.02C72.44,50.07 76,56.61 76,64L32,64C32,56.61 35.56,50.11 40.98,46.06L36.18,41.19C35.45,40.45 35.45,39.3 36.18,38.56C36.91,37.81 38.05,37.81 38.78,38.56L44.25,44.05C47.18,42.57 50.48,41.71 54,41.71C57.48,41.71 60.78,42.57 63.68,44.05L69.11,38.56C69.84,37.81 70.98,37.81 71.71,38.56C72.44,39.3 72.44,40.45 71.71,41.19L66.94,46.02ZM62.94,56.92C64.08,56.92 65,56.01 65,54.88C65,53.76 64.08,52.85 62.94,52.85C61.8,52.85 60.88,53.76 60.88,54.88C60.88,56.01 61.8,56.92 62.94,56.92ZM45.06,56.92C46.2,56.92 47.13,56.01 47.13,54.88C47.13,53.76 46.2,52.85 45.06,52.85C43.92,52.85 43,53.76 43,54.88C43,56.01 43.92,56.92 45.06,56.92Z"
+            android:strokeColor="#00000000"
+            android:strokeWidth="1"/>
+</vector>

apps/android/app/src/main/res/drawable/ic_launcher_background.xml

@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="utf-8"?>
+<vector
+        xmlns:android="http://schemas.android.com/apk/res/android"
+        android:height="108dp"
+        android:width="108dp"
+        android:viewportHeight="108"
+        android:viewportWidth="108">
+    <path android:fillColor="#008577"
+          android:pathData="M0,0h108v108h-108z"/>
+    <path android:fillColor="#00000000" android:pathData="M9,0L9,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,0L19,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M29,0L29,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M39,0L39,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M49,0L49,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M59,0L59,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M69,0L69,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M79,0L79,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M89,0L89,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M99,0L99,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,9L108,9"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,19L108,19"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,29L108,29"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,39L108,39"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,49L108,49"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,59L108,59"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,69L108,69"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,79L108,79"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,89L108,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,99L108,99"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,29L89,29"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,39L89,39"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,49L89,49"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,59L89,59"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,69L89,69"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,79L89,79"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M29,19L29,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M39,19L39,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M49,19L49,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M59,19L59,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M69,19L69,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M79,19L79,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+</vector>

apps/android/app/src/main/res/layout/activity_main.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<FrameLayout
+        xmlns:android="http://schemas.android.com/apk/res/android"
+        xmlns:tools="http://schemas.android.com/tools"
+        xmlns:app="http://schemas.android.com/apk/res-auto"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        tools:context=".MainActivity">
+
+    <WebView
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"
+            android:id="@+id/main_web"/>
+</FrameLayout>

apps/android/app/src/main/res/mipmap-anydpi-v26/ic_launcher.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
+    <background android:drawable="@color/ic_launcher_background"/>
+    <foreground android:drawable="@mipmap/ic_launcher_foreground"/>
+</adaptive-icon>

apps/android/app/src/main/res/mipmap-anydpi-v26/ic_launcher_round.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
+    <background android:drawable="@color/ic_launcher_background"/>
+    <foreground android:drawable="@mipmap/ic_launcher_foreground"/>
+</adaptive-icon>

apps/android/app/src/main/res/values/colors.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <color name="colorPrimary">#fafafa</color>
+    <color name="colorPrimaryDark">#d1d1d1</color>
+    <color name="colorAccent">#757575</color>
+</resources>

apps/android/app/src/main/res/values/ic_launcher_background.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <color name="ic_launcher_background">#FFFFFF</color>
+</resources>

apps/android/app/src/main/res/values/strings.xml

@@ -0,0 +1,3 @@
+<resources>
+    <string name="app_name">CLEVER RC</string>
+</resources>

apps/android/app/src/main/res/values/styles.xml

@@ -0,0 +1,18 @@
+<resources>
+
+    <!-- Base application theme. -->
+    <style name="AppTheme" parent="Theme.AppCompat.Light.DarkActionBar">
+        <!-- Customize your theme here. -->
+        <item name="colorPrimary">@color/colorPrimary</item>
+        <item name="colorPrimaryDark">@color/colorPrimaryDark</item>
+        <item name="colorAccent">@color/colorAccent</item>
+    </style>
+
+    <style name="NoUiAppTheme"
+           parent="Theme.AppCompat.NoActionBar">
+        <item name="colorPrimary">@color/colorPrimary</item>
+        <item name="colorPrimaryDark">@color/colorPrimaryDark</item>
+        <item name="colorAccent">@color/colorAccent</item>
+    </style>
+
+</resources>

apps/android/app/src/test/java/express/copter/cleverrc/ExampleUnitTest.kt

@@ -0,0 +1,17 @@
+package express.copter.cleverrc
+
+import org.junit.Test
+
+import org.junit.Assert.*
+
+/**
+ * Example local unit test, which will execute on the development machine (host).
+ *
+ * See [testing documentation](http://d.android.com/tools/testing).
+ */
+class ExampleUnitTest {
+    @Test
+    fun addition_isCorrect() {
+        assertEquals(4, 2 + 2)
+    }
+}

apps/android/build.gradle

@@ -0,0 +1,27 @@
+// Top-level build file where you can add configuration options common to all sub-projects/modules.
+
+buildscript {
+    ext.kotlin_version = '1.2.71'
+    repositories {
+        google()
+        jcenter()
+    }
+    dependencies {
+        classpath 'com.android.tools.build:gradle:3.2.1'
+        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
+
+        // NOTE: Do not place your application dependencies here; they belong
+        // in the individual module build.gradle files
+    }
+}
+
+allprojects {
+    repositories {
+        google()
+        jcenter()
+    }
+}
+
+task clean(type: Delete) {
+    delete rootProject.buildDir
+}

apps/android/gradle.properties

@@ -0,0 +1,15 @@
+# Project-wide Gradle settings.
+# IDE (e.g. Android Studio) users:
+# Gradle settings configured through the IDE *will override*
+# any settings specified in this file.
+# For more details on how to configure your build environment visit
+# http://www.gradle.org/docs/current/userguide/build_environment.html
+# Specifies the JVM arguments used for the daemon process.
+# The setting is particularly useful for tweaking memory settings.
+org.gradle.jvmargs=-Xmx1536m
+# When configured, Gradle will run in incubating parallel mode.
+# This option should only be used with decoupled projects. More details, visit
+# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
+# org.gradle.parallel=true
+# Kotlin code style for this project: "official" or "obsolete":
+kotlin.code.style=official

apps/android/gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.6-all.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists

apps/android/gradlew

@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+        JAVACMD="$JAVA_HOME/bin/java"
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=$((i+1))
+    done
+    case $i in
+        (0) set -- ;;
+        (1) set -- "$args0" ;;
+        (2) set -- "$args0" "$args1" ;;
+        (3) set -- "$args0" "$args1" "$args2" ;;
+        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"

apps/android/gradlew.bat

@@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

apps/android/settings.gradle

@@ -0,0 +1 @@
+include ':app'

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/CMakeLists.txt

@@ -16,14 +16,12 @@ find_package(catkin REQUIRED COMPONENTS
   image_transport
   cv_bridge
   tf
-  tf2
-  tf2_ros
-  tf2_geometry_msgs
-  sensor_msgs
-  message_generation
+  #tf2
+  #tf2_ros
+  #aruco_msgs
 )
 
-find_package(OpenCV REQUIRED)
+find_package(OpenCV 3 REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -59,12 +57,11 @@ find_package(OpenCV REQUIRED)
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  Point2D.msg
-  Marker.msg
-  MarkerArray.msg
-)
+#add_message_files(
+#  FILES
+#  Marker.msg
+#  MarkerArray.msg
+#)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -81,11 +78,10 @@ add_message_files(
 # )
 
 ## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  geometry_msgs
-)
+#generate_messages(
+#  DEPENDENCIES
+#  std_msgs  # Or other packages containing msgs
+#)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -117,9 +113,9 @@ generate_messages(
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-  INCLUDE_DIRS DEPENDS OpenCV
+#  INCLUDE_DIRS include
   LIBRARIES aruco_pose
-  CATKIN_DEPENDS message_runtime
+#  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
 
@@ -132,13 +128,11 @@ catkin_package(
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
-  ${OpenCV_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
-add_library(aruco_pose
-  src/aruco_detect.cpp
-  src/aruco_map.cpp
+add_library(${PROJECT_NAME}
+  src/aruco_pose.cpp
 )
 
 ## Add cmake target dependencies of the library
@@ -162,9 +156,11 @@ add_library(aruco_pose
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(aruco_pose
+link_directories(/opt/ros/kinetic/lib)
+
+target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
-  ${OpenCV_LIBS}
+  ${OpenCV_LIBRARIES}
 )
 
 #############

aruco_pose/map/map.txt

@@ -1,4 +0,0 @@
-1	0.33	0	0	0	0	0	0
-2	0.33	1	0	0	0	0	0
-3	0.33	0	1	0	0	0	0
-4	0.33	1	1	0	0	0	0

aruco_pose/msg/Marker.msg

@@ -1,6 +0,0 @@
-uint32 id
-geometry_msgs/PoseWithCovariance pose
-Point2D c1
-Point2D c2
-Point2D c3
-Point2D c4

aruco_pose/msg/MarkerArray.msg

@@ -1,2 +0,0 @@
-Header header
-Marker[] markers

aruco_pose/msg/Point2D.msg

@@ -1,2 +0,0 @@
-float32 x
-float32 y

aruco_pose/nodelet_plugins.xml

@@ -1,8 +1,5 @@
 <library path="lib/libaruco_pose">
-   <class name="aruco_pose/aruco_detect" type="ArucoDetect" base_class_type="nodelet::Nodelet">
-      <description/>
-   </class>
-   <class name="aruco_pose/aruco_map" type="ArucoMap" base_class_type="nodelet::Nodelet">
+   <class name="aruco_pose/aruco_pose" type="ArucoPose" base_class_type="nodelet::Nodelet">
       <description/>
    </class>
 </library>

aruco_pose/package.xml

@@ -2,7 +2,7 @@
 <package>
   <name>aruco_pose</name>
   <version>0.0.0</version>
-  <description>Positioning by ArUco markers</description>
+  <description>ArUco maps precise pose estimation nodelet</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>
@@ -11,30 +11,21 @@
   <author email="okalachev@gmail.com">Oleg Kalachev</author>
   <author email="urpylka@gmail.com">Artem Smirnov</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>tf</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_ros</build_depend>
-  <build_depend>tf2_geometry_msgs</build_depend>
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>
+  <!-- Use build_depend for packages you need at compile time: -->
   <build_depend>nodelet</build_depend>
   <build_depend>roscpp</build_depend>
-  <build_depend>std_msgs</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>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>tf2</run_depend>
-  <run_depend>tf2_ros</run_depend>
-  <run_depend>tf2_geometry_msgs</run_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

aruco_pose/src/aruco_detect.cpp

@@ -1,293 +0,0 @@
-/*
- * Detecting and positioning ArUco markers
- * 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.
- */
-
-/*
- * Code is based on https://github.com/UbiquityRobotics/fiducials, which is distributed
- * under the BSD license.
- */
-
-#include <math.h>
-#include <vector>
-#include <string>
-#include <ros/ros.h>
-#include <nodelet/nodelet.h>
-#include <pluginlib/class_list_macros.h>
-#include <tf/transform_datatypes.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <image_transport/image_transport.h>
-#include <cv_bridge/cv_bridge.h>
-#include <geometry_msgs/Vector3.h>
-#include <geometry_msgs/Pose.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <geometry_msgs/PoseWithCovarianceStamped.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <visualization_msgs/Marker.h>
-#include <visualization_msgs/MarkerArray.h>
-
-#include <opencv2/opencv.hpp>
-#include <opencv2/highgui.hpp>
-#include <opencv2/aruco.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-
-#include <aruco_pose/Marker.h>
-#include <aruco_pose/MarkerArray.h>
-
-#include "utils.h"
-
-using std::vector;
-using cv::Mat;
-
-class ArucoDetect : public nodelet::Nodelet {
-private:
-	ros::NodeHandle nh_, nh_priv_;
-	tf2_ros::TransformBroadcaster br_;
-	tf2_ros::Buffer tf_buffer_;
-	tf2_ros::TransformListener tf_listener_{tf_buffer_};
-	cv::Ptr<cv::aruco::Dictionary> dictionary_;
-	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
-	image_transport::Publisher debug_pub_;
-	image_transport::CameraSubscriber img_sub_;
-	ros::Publisher markers_pub_, vis_markers_pub_;
-	bool estimate_poses_, send_tf_;
-	double length_;
-	std::string snap_orientation_;
-	Mat camera_matrix_, dist_coeffs_;
-	aruco_pose::MarkerArray array_;
-	visualization_msgs::MarkerArray vis_array_;
-
-public:
-	virtual void onInit()
-	{
-		nh_ = getNodeHandle();
-		nh_priv_ = getPrivateNodeHandle();
-
-		int dictionary;
-		nh_priv_.param("dictionary", dictionary, 2);
-		nh_priv_.param("estimate_poses", estimate_poses_, true);
-		nh_priv_.param("send_tf", send_tf_, true);
-		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
-			ROS_FATAL("aruco_detect: can't estimate marker's poses as ~length parameter is not defined");
-			ros::shutdown();
-		}
-		nh_priv_.param<std::string>("snap_orientation", snap_orientation_, "");
-
-		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
-		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
-
-		dictionary_ = cv::aruco::getPredefinedDictionary(static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(dictionary));
-		parameters_ = cv::aruco::DetectorParameters::create();
-		parameters_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
-
-		image_transport::ImageTransport it(nh_);
-		image_transport::ImageTransport it_priv(nh_priv_);
-
-		debug_pub_ = it_priv.advertise("debug", 1);
-		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
-		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
-		img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
-
-		ROS_INFO("aruco_detect: ready");
-	}
-
-private:
-	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
-	{
-		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
-
-		vector<int> ids;
-		vector<vector<cv::Point2f>> corners, rejected;
-		vector<cv::Vec3d> rvecs, tvecs;
-		vector<cv::Point3f> obj_points;
-		geometry_msgs::TransformStamped snap_to;
-
-		// Detect markers
-		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
-
-		array_.header.stamp = msg->header.stamp;
-		array_.header.frame_id = msg->header.frame_id;
-		array_.markers.clear();
-
-		if (ids.size() != 0) {
-			parseCameraInfo(cinfo, camera_matrix_, dist_coeffs_);
-
-			// Estimate individual markers' poses
-			if (estimate_poses_) {
-				cv::aruco::estimatePoseSingleMarkers(corners, length_, camera_matrix_, dist_coeffs_,
-				                                     rvecs, tvecs);
-
-				if (!snap_orientation_.empty()) {
-					try {
-						snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, snap_orientation_,
-						                                     msg->header.stamp, ros::Duration(0.02));
-					} catch (const tf2::TransformException& e) {
-						ROS_WARN_THROTTLE(5, "aruco_detect: can't snap: %s", e.what());
-					}
-				}
-			}
-
-			array_.markers.reserve(ids.size());
-			aruco_pose::Marker marker;
-			geometry_msgs::TransformStamped transform;
-			transform.header.stamp = msg->header.stamp;
-			transform.header.frame_id = msg->header.frame_id;
-
-			for (unsigned int i = 0; i < ids.size(); i++) {
-				marker.id = ids[i];
-				fillCorners(marker, corners[i]);
-
-				if (estimate_poses_) {
-					fillPose(marker.pose.pose, rvecs[i], tvecs[i]);
-
-					// snap orientation (if enabled and snap frame avaiable)
-					if (!snap_orientation_.empty() && !snap_to.header.frame_id.empty()) {
-						snapOrientation(marker.pose.pose, snap_to.transform.rotation);
-					}
-
-					// TODO: check IDs are unique
-					if (send_tf_) {
-						transform.child_frame_id = getChildFrameId(ids[i]);
-						transform.transform.rotation = marker.pose.pose.orientation;
-						fillTranslation(transform.transform.translation, tvecs[i]);
-						br_.sendTransform(transform);
-					}
-				}
-				array_.markers.push_back(marker);
-			}
-		}
-
-		markers_pub_.publish(array_);
-
-		// Publish visualization markers
-		if (estimate_poses_ && vis_markers_pub_.getNumSubscribers() != 0) {
-			// Delete all markers
-			visualization_msgs::Marker vis_marker;
-			vis_marker.action = visualization_msgs::Marker::DELETEALL;
-			vis_array_.markers.clear();
-			vis_array_.markers.reserve(ids.size() + 1);
-			vis_array_.markers.push_back(vis_marker);
-
-			for (unsigned int i = 0; i < ids.size(); i++)
-				pushVisMarkers(msg->header.frame_id, msg->header.stamp, array_.markers[i].pose.pose,
-				               length_, ids[i], i);
-
-			vis_markers_pub_.publish(vis_array_);
-		}
-
-		// Publish debug image
-		if (debug_pub_.getNumSubscribers() != 0) {
-			Mat debug = image.clone();
-			cv::aruco::drawDetectedMarkers(debug, corners, ids); // draw markers
-			if (estimate_poses_)
-				for (unsigned int i = 0; i < ids.size(); i++)
-					cv::aruco::drawAxis(debug, camera_matrix_, dist_coeffs_, rvecs[i], tvecs[i], length_);
-
-			cv_bridge::CvImage out_msg;
-			out_msg.header.frame_id = msg->header.frame_id;
-			out_msg.header.stamp = msg->header.stamp;
-			out_msg.encoding = sensor_msgs::image_encodings::BGR8;
-			out_msg.image = debug;
-			debug_pub_.publish(out_msg.toImageMsg());
-		}
-	}
-
-	inline void fillCorners(aruco_pose::Marker& marker, const vector<cv::Point2f>& corners) const
-	{
-		marker.c1.x = corners[0].x;
-		marker.c2.x = corners[1].x;
-		marker.c3.x = corners[2].x;
-		marker.c4.x = corners[3].x;
-		marker.c1.y = corners[0].y;
-		marker.c2.y = corners[1].y;
-		marker.c3.y = corners[2].y;
-		marker.c4.y = corners[3].y;
-	}
-
-	inline void fillPose(geometry_msgs::Pose& pose, const cv::Vec3d& rvec, const cv::Vec3d& tvec) const
-	{
-		pose.position.x = tvec[0];
-		pose.position.y = tvec[1];
-		pose.position.z = tvec[2];
-
-		double angle = norm(rvec);
-		cv::Vec3d axis = rvec / angle;
-
-		tf2::Quaternion q;
-		q.setRotation(tf2::Vector3(axis[0], axis[1], axis[2]), angle);
-
-		pose.orientation.w = q.w();
-		pose.orientation.x = q.x();
-		pose.orientation.y = q.y();
-		pose.orientation.z = q.z();
-	}
-
-	inline void fillTranslation(geometry_msgs::Vector3& translation, const cv::Vec3d& tvec) const
-	{
-		translation.x = tvec[0];
-		translation.y = tvec[1];
-		translation.z = tvec[2];
-	}
-
-	void pushVisMarkers(const std::string& frame_id, const ros::Time& stamp,
-	                    const geometry_msgs::Pose &pose, double length, int id, int index)
-	{
-		visualization_msgs::Marker marker;
-		marker.header.frame_id = frame_id;
-		marker.header.stamp = stamp;
-		marker.action = visualization_msgs::Marker::ADD;
-		marker.id = index;
-
-		// Marker
-		marker.ns = "aruco_marker";
-		marker.type = visualization_msgs::Marker::CUBE;
-		marker.scale.x = length;
-		marker.scale.y = length;
-		marker.scale.z = 0.001;
-		marker.color.r = 1;
-		marker.color.g = 1;
-		marker.color.b = 1;
-		marker.color.a = 0.9;
-		marker.pose = pose;
-		vis_array_.markers.push_back(marker);
-
-		// Label
-		marker.ns = "aruco_marker_label";
-		marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
-		marker.scale.z = length * 0.6;
-		marker.color.r = 0;
-		marker.color.g = 0;
-		marker.color.b = 0;
-		marker.color.a = 1;
-		marker.text = std::to_string(id);
-		marker.pose = pose;
-		vis_array_.markers.push_back(marker);
-	}
-
-	void snapOrientation(geometry_msgs::Pose& pose, const geometry_msgs::Quaternion orientation)
-	{
-		tf::Quaternion q;
-		q.setRPY(0, 0, -tf::getYaw(pose.orientation) + tf::getYaw(orientation) + M_PI / 2);
-		tf::Quaternion pq;
-		tf::quaternionMsgToTF(orientation, pq);
-		pq = pq * q;
-		tf::quaternionTFToMsg(pq, pose.orientation);
-	}
-
-	inline std::string getChildFrameId(int id) const
-	{
-		return "aruco_" + std::to_string(id);
-	}
-};
-
-PLUGINLIB_EXPORT_CLASS(ArucoDetect, nodelet::Nodelet)

aruco_pose/src/aruco_map.cpp

@@ -1,307 +0,0 @@
-/*
- * Positioning ArUco markers maps
- * 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.
- */
-
-/*
- * Code is based on https://github.com/UbiquityRobotics/fiducials, which is distributed
- * under the BSD license.
- */
-
-#include <math.h>
-#include <string>
-#include <vector>
-#include <fstream>
-#include <ros/ros.h>
-#include <nodelet/nodelet.h>
-#include <pluginlib/class_list_macros.h>
-#include <image_transport/image_transport.h>
-#include <cv_bridge/cv_bridge.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <geometry_msgs/PoseWithCovarianceStamped.h>
-#include <sensor_msgs/Image.h>
-#include <visualization_msgs/Marker.h>
-#include <visualization_msgs/MarkerArray.h>
-
-#include <aruco_pose/MarkerArray.h>
-#include <aruco_pose/Marker.h>
-
-#include <opencv2/opencv.hpp>
-#include <opencv2/aruco.hpp>
-
-#include "utils.h"
-#include "gridboard.h"
-
-using std::vector;
-using cv::Mat;
-
-class ArucoMap : public nodelet::Nodelet {
-private:
-	ros::NodeHandle nh_, nh_priv_;
-	ros::Publisher img_pub_, pose_pub_;
-	ros::Subscriber markers_sub_, cinfo_sub;
-	cv::Ptr<cv::aruco::Board> board_;
-	Mat camera_matrix_, dist_coeffs_;
-	geometry_msgs::TransformStamped transform_;
-	geometry_msgs::PoseWithCovarianceStamped pose_;
-	tf2_ros::TransformBroadcaster br_;
-	tf2_ros::Buffer tf_buffer_;
-	tf2_ros::TransformListener tf_listener_{tf_buffer_};
-	visualization_msgs::MarkerArray vis_markers;
-	std::string snap_orientation_;
-	bool has_camera_info_ = false;
-
-public:
-	virtual void onInit()
-	{
-		nh_ = getNodeHandle();
-		nh_priv_ = getPrivateNodeHandle();
-
-		image_transport::ImageTransport it_priv(nh_priv_);
-
-		// TODO: why image_transport doesn't work here?
-		img_pub_ = nh_priv_.advertise<sensor_msgs::Image>("image", 1, true);
-
-		board_ = cv::makePtr<cv::aruco::Board>();
-		board_->dictionary = cv::aruco::getPredefinedDictionary(
-			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
-		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
-		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
-
-		std::string type, map, map_name;
-		nh_priv_.param<std::string>("type", type, "map");
-
-		if (type == "map") {
-			param(nh_priv_, "map", map);
-			loadMap(map);
-		} else if (type == "gridboard") {
-			createGridBoard();
-		} else {
-			ROS_FATAL("aruco_map: unknown type: %s", type.c_str());
-			ros::shutdown();
-		}
-
-		nh_priv_.param<std::string>("name", map_name, "map");
-		nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
-		nh_priv_.param<std::string>("snap_orientation", snap_orientation_, "");
-
-		pose_pub_ = nh_priv_.advertise<geometry_msgs::PoseWithCovarianceStamped>("pose", 1);
-
-		// TODO: use synchronised subscriber
-		markers_sub_ = nh_.subscribe("markers", 1, &ArucoMap::markersCallback, this);
-		cinfo_sub = nh_.subscribe("camera_info", 1, &ArucoMap::cinfoCallback, this);
-
-		publishMapImage();
-		ROS_INFO("aruco_map: ready");
-	}
-
-	void markersCallback(const aruco_pose::MarkerArray& markers)
-	{
-		if (!has_camera_info_) return;
-		if (markers.markers.empty()) return;
-
-		int count = markers.markers.size();
-		std::vector<int> ids;
-		std::vector<std::vector<cv::Point2f>> corners;
-		ids.reserve(count);
-		corners.reserve(count);
-
-		for(auto const &marker : markers.markers) {
-			ids.push_back(marker.id);
-			std::vector<cv::Point2f> marker_corners = {
-				cv::Point2f(marker.c1.x, marker.c1.y),
-				cv::Point2f(marker.c2.x, marker.c2.y),
-				cv::Point2f(marker.c3.x, marker.c3.y),
-				cv::Point2f(marker.c4.x, marker.c4.y)
-			};
-			corners.push_back(marker_corners);
-		}
-
-		Mat obj_points, img_points;
-		cv::Vec3d rvec, tvec;
-
-		if (snap_orientation_.empty()) {
-			// simple estimation
-			int valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
-		                                             rvec, tvec, false);
-			if (!valid) return;
-
-			transform_.header.stamp = markers.header.stamp;
-			transform_.header.frame_id = markers.header.frame_id;
-			pose_.header = transform_.header;
-			fillPose(pose_.pose.pose, rvec, tvec);
-			fillTransform(transform_.transform, rvec, tvec);
-
-		} else {
-			// estimation with "snapping"
-			cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
-			if (obj_points.empty()) return;
-
-			double center_x = 0, center_y = 0;
-			alignObjPointsToCenter(obj_points, center_x, center_y);
-
-			int res = solvePnP(obj_points, img_points, camera_matrix_, dist_coeffs_, rvec, tvec, false);
-			if (!res) return;
-
-			fillTransform(transform_.transform, rvec, tvec);
-			try {
-				geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers.header.frame_id,
-				                                          snap_orientation_, markers.header.stamp, ros::Duration(0.02));
-				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation);
-			} catch (const tf2::TransformException& e) {
-				ROS_WARN_THROTTLE(1, "aruco_map: can't snap: %s", e.what());
-			}
-
-			geometry_msgs::TransformStamped shift;
-			shift.transform.translation.x = -center_x;
-			shift.transform.translation.y = -center_y;
-			shift.transform.rotation.w = 1;
-			tf2::doTransform(shift, transform_, transform_);
-
-			transform_.header.stamp = markers.header.stamp;
-			transform_.header.frame_id = markers.header.frame_id;
-			pose_.header = transform_.header;
-			transformToPose(transform_.transform, pose_.pose.pose);
-		}
-
-		br_.sendTransform(transform_);
-		pose_pub_.publish(pose_);
-	}
-
-	void cinfoCallback(const sensor_msgs::CameraInfoConstPtr& cinfo)
-	{
-		parseCameraInfo(cinfo, camera_matrix_, dist_coeffs_);
-		has_camera_info_ = true;
-	}
-
-	void alignObjPointsToCenter(Mat &obj_points, double &center_x, double &center_y) const
-	{
-		// Align object points to the center of mass
-		double sum_x = 0;
-		double sum_y = 0;
-
-		for (int i = 0; i < obj_points.rows; i++) 		{
-			sum_x += obj_points.at<float>(i, 0);
-			sum_y += obj_points.at<float>(i, 1);
-		}
-
-		center_x = sum_x / obj_points.rows;
-		center_y = sum_y / obj_points.rows;
-
-		for (int i = 0; i < obj_points.rows; i++) 		{
-			obj_points.at<float>(i, 0) -= center_x;
-			obj_points.at<float>(i, 1) -= center_y;
-		}
-	}
-
-	void loadMap(std::string filename)
-	{
-		std::ifstream f(filename);
-		std::string line;
-
-		if (!f.good()) {
-			ROS_FATAL("aruco_map: %s - %s", strerror(errno), filename.c_str());
-			ros::shutdown();
-		}
-
-		while (std::getline(f, line)) {
-			int id;
-			double length, x, y, z, yaw, pitch, roll;
-
-			std::istringstream s(line);
-			ROS_INFO("aruco_map: parse line: %s", line.c_str());
-
-			if (!(s >> id >> length >> x >> y >> z >> yaw >> pitch >> roll)) {
-				ROS_ERROR("aruco_map: cannot parse line: %s", line.c_str());
-				continue;
-			}
-			addMarker(id, length, x, y, z, yaw, pitch, roll);
-		}
-
-		ROS_INFO("aruco_map: loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
-	}
-
-	void createGridBoard()
-	{
-		ROS_INFO("aruco_map: generate gridboard");
-		ROS_WARN("aruco_map: gridboard maps are deprecated");
-
-		int markers_x, markers_y, first_marker;
-		double markers_side, markers_sep_x, markers_sep_y;
-		std::vector<int> marker_ids;
-		nh_priv_.param<int>("markers_x", markers_x, 10);
-		nh_priv_.param<int>("markers_y", markers_y, 10);
-		nh_priv_.param<int>("first_marker", first_marker, 0);
-
-		param(nh_priv_, "markers_side", markers_side);
-		param(nh_priv_, "markers_sep_x", markers_sep_x);
-		param(nh_priv_, "markers_sep_y", markers_sep_y);
-
-		if (nh_priv_.getParam("marker_ids", marker_ids)) {
-			if ((unsigned int)(markers_x * markers_y) != marker_ids.size()) {
-				ROS_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
-				exit(1);
-			}
-		} else {
-			// Fill marker_ids automatically
-			marker_ids.resize(markers_x * markers_y);
-			for (int i = 0; i < markers_x * markers_y; i++)
-			{
-				marker_ids.at(i) = first_marker++;
-			}
-		}
-
-		createCustomGridBoard(board_, markers_x, markers_y, markers_side, markers_sep_x, markers_sep_y, marker_ids);
-	}
-
-	void addMarker(int id, double length, double x, double y, double z,
-				   double yaw, double pitch, double roll)
-	{
-		// Create transform
-		geometry_msgs::TransformStamped t;
-		t.transform.translation.x = x;
-		t.transform.translation.y = y;
-		t.transform.translation.z = z;
-		tf::Quaternion q;
-		q.setRPY(roll, pitch, yaw);
-		tf::quaternionTFToMsg(q, t.transform.rotation);
-
-		// TODO: process roll pitch yaw
-		vector<cv::Point3f> obj_points(4);
-		setMarkerObjectPoints(x, y, z, yaw, length, obj_points);
-		board_->ids.push_back(id);
-		board_->objPoints.push_back(obj_points);
-	}
-
-	void setMarkerObjectPoints(float x, float y, float z, float yaw, float length,
-	                           vector<cv::Point3f>& obj_points)
-	{
-		obj_points[0] = cv::Point3f(x - length / 2, y + length / 2, 0);
-		obj_points[1] = obj_points[0] + cv::Point3f(length, 0, 0);
-		obj_points[2] = obj_points[0] + cv::Point3f(length, -length, 0);
-		obj_points[3] = obj_points[0] + cv::Point3f(0, -length, 0);
-	}
-
-	void publishMapImage()
-	{
-		cv::Mat image;
-		cv_bridge::CvImage msg;
-		cv::aruco::drawPlanarBoard(board_, cv::Size(2000, 2000), image, 50, 1);
-		cv::cvtColor(image, image, CV_GRAY2BGR);
-		msg.encoding = sensor_msgs::image_encodings::BGR8;
-		msg.image = image;
-		img_pub_.publish(msg.toImageMsg());
-	}
-};
-
-PLUGINLIB_EXPORT_CLASS(ArucoMap, nodelet::Nodelet)

aruco_pose/src/aruco_pose.cpp

@@ -0,0 +1,350 @@
+#include <algorithm>
+#include <nodelet/nodelet.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <pluginlib/class_list_macros.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <visualization_msgs/MarkerArray.h>
+#include <tf/transform_datatypes.h>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/aruco/dictionary.hpp>
+#include <stdio.h>
+#include <tf/transform_broadcaster.h>
+
+#include "util.h"
+
+using std::vector;
+using std::string;
+
+namespace aruco_pose {
+
+class ArucoPose : public nodelet::Nodelet {
+    tf::TransformBroadcaster br;
+    cv::Ptr<cv::aruco::Dictionary> dictionary;
+    cv::Ptr<cv::aruco::DetectorParameters> parameters;
+    cv::Ptr<cv::aruco::Board> board;
+    std::string frame_id_;
+    image_transport::CameraSubscriber img_sub;
+    image_transport::Publisher img_pub;
+    ros::Publisher marker_pub;
+    ros::Publisher pose_pub;
+    ros::NodeHandle nh_, nh_priv_;
+
+    virtual void onInit();
+    void createBoard();
+    cv::Point3f getObjPointsCenter(cv::Mat objPoints);
+    void detect(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&);
+    void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr&, cv::Mat&, cv::Mat&);
+    tf::Transform aruco2tf(cv::Mat rvec, cv::Mat tvec);
+};
+
+void ArucoPose::onInit() {
+    ROS_INFO("Initializing aruco_pose");
+    nh_ = getNodeHandle();
+    nh_priv_ = getPrivateNodeHandle();
+
+    nh_priv_.param("frame_id", frame_id_, std::string("aruco_map"));
+
+    dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_1000);
+    parameters = cv::aruco::DetectorParameters::create();
+
+    try
+    {
+        createBoard();
+    }
+    catch (const std::exception &exc)
+    {
+        std::cerr << exc.what();
+        exit(0);
+    }
+
+    image_transport::ImageTransport it(nh_);
+    img_sub = it.subscribeCamera("image", 1, &ArucoPose::detect, this);
+
+    image_transport::ImageTransport it_priv(nh_priv_);
+    img_pub = it_priv.advertise("debug", 1);
+
+    pose_pub = nh_priv_.advertise<geometry_msgs::PoseStamped>("pose", 1);
+
+    ROS_INFO("aruco_pose nodelet inited");
+}
+
+cv::Ptr<cv::aruco::Board> createCustomGridBoard(int markersX, int markersY, float markerLength, float markerSeparationX, float markerSeparationY,
+                            const cv::Ptr<cv::aruco::Dictionary> &dictionary, std::vector<int> ids) {
+
+    CV_Assert(markersX > 0 && markersY > 0 && markerLength > 0 && markerSeparationX > 0 && markerSeparationY > 0);
+
+    cv::Ptr<cv::aruco::Board> res = cv::makePtr<cv::aruco::Board>();
+
+    res->dictionary = dictionary;
+
+    size_t totalMarkers = (size_t) markersX * markersY;
+    res->ids = ids;
+    res->objPoints.reserve(totalMarkers);
+
+    // calculate Board objPoints
+    float maxY = (float)markersY * markerLength + (markersY - 1) * markerSeparationY;
+    for(int y = 0; y < markersY; y++) {
+        for(int x = 0; x < markersX; x++) {
+            std::vector< cv::Point3f > corners;
+            corners.resize(4);
+            corners[0] = cv::Point3f(x * (markerLength + markerSeparationX),
+                                 maxY - y * (markerLength + markerSeparationY), 0);
+            corners[1] = corners[0] + cv::Point3f(markerLength, 0, 0);
+            corners[2] = corners[0] + cv::Point3f(markerLength, -markerLength, 0);
+            corners[3] = corners[0] + cv::Point3f(0, -markerLength, 0);
+            res->objPoints.push_back(corners);
+        }
+    }
+
+    return res;
+}
+
+cv::Ptr<cv::aruco::Board> createCustomBoard(std::map<string, string> markers, const cv::Ptr<cv::aruco::Dictionary> &dictionary) {
+    cv::Ptr<cv::aruco::Board> res = cv::makePtr<cv::aruco::Board>();
+
+    res->dictionary = dictionary;
+
+    size_t total_markers = markers.size();
+    res->ids.reserve(total_markers);
+    res->objPoints.reserve(total_markers);
+
+    // Generate ids and objPoints
+    for(auto const &marker : markers) {
+        res->ids.push_back(std::stoi(marker.first));
+
+        vector<string> parts;
+        parts = strSplit(marker.second, " ");
+
+        float size = std::stof(parts.at(0));
+        float x = std::stof(parts.at(1));
+        float y = std::stof(parts.at(2));
+        float z = std::stof(parts.at(3));
+        float yaw = std::stof(parts.at(4));
+        float pitch = std::stof(parts.at(5));
+        float roll = std::stof(parts.at(6));
+
+        vector<cv::Point3f> corners;
+        corners.resize(4);
+        corners[0] = cv::Point3f(x - size / 2, y + size / 2, 0);
+        corners[1] = corners[0] + cv::Point3f(size, 0, 0);
+        corners[2] = corners[0] + cv::Point3f(size, -size, 0);
+        corners[3] = corners[0] + cv::Point3f(0, -size, 0);
+
+        // TODO: process yaw, pitch, roll
+
+        res->objPoints.push_back(corners);
+    }
+
+    return res;
+}
+
+#include "fix.cpp"
+
+void ArucoPose::createBoard()
+{
+    static auto map_image_pub = nh_priv_.advertise<sensor_msgs::Image>("map_image", 1, true);
+    cv_bridge::CvImage map_image_msg;
+    cv::Mat map_image;
+
+    std::string type;
+
+    nh_priv_.param<std::string>("type", type, "gridboard");
+    if (type == "gridboard")
+    {
+        ROS_INFO("Initialize gridboard");
+
+        int markers_x, markers_y, first_marker;
+        float markers_side, markers_sep_x, markers_sep_y;
+        std::vector<int> marker_ids;
+        nh_priv_.param<int>("markers_x", markers_x, 10);
+        nh_priv_.param<int>("markers_y", markers_y, 10);
+        nh_priv_.param<int>("first_marker", first_marker, 0);
+
+        if (!nh_priv_.getParam("markers_side", markers_side))
+        {
+            ROS_ERROR("gridboard: required parameter ~markers_side is not set.");
+            exit(1);
+        }
+
+        if (!nh_priv_.getParam("markers_sep_x", markers_sep_x))
+        {
+            if (!nh_priv_.getParam("markers_sep", markers_sep_x))
+            {
+               ROS_ERROR("gridboard: ~markers_sep_x or ~markers_sep parameters are required");
+               exit(1);
+            }
+        }
+
+        if (!nh_priv_.getParam("markers_sep_y", markers_sep_y))
+        {
+            if (!nh_priv_.getParam("markers_sep", markers_sep_y))
+            {
+               ROS_ERROR("gridboard: ~markers_sep_y or ~markers_sep parameters are required");
+               exit(1);
+            }
+        }
+
+        if (nh_priv_.getParam("marker_ids", marker_ids))
+        {
+            if (markers_x * markers_y != marker_ids.size())
+            {
+                ROS_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
+                exit(1);
+            }
+        }
+        else
+        {
+            // Fill marker_ids automatically
+            marker_ids.resize(markers_x * markers_y);
+            for(int i = 0; i < markers_x * markers_y; i++)
+            {
+                marker_ids.at(i) = first_marker++;
+            }
+        }
+
+        // Create grid board
+        board = createCustomGridBoard(markers_x, markers_y, markers_side, markers_sep_x, markers_sep_y, dictionary, marker_ids);
+
+        // Publish map image for debugging
+        _drawPlanarBoard(board,  cv::Size(2000, 2000), map_image, 50, 1);
+
+        cv::cvtColor(map_image, map_image, CV_GRAY2BGR);
+
+        map_image_msg.encoding = sensor_msgs::image_encodings::BGR8;
+        map_image_msg.image = map_image;
+        map_image_pub.publish(map_image_msg.toImageMsg());
+    }
+    else if (type == "custom")
+    {
+        ROS_INFO("Initialize a custom board");
+
+        std::map<string, string> markers;
+        nh_priv_.getParam("markers", markers);
+
+        board = createCustomBoard(markers, dictionary);
+
+        ROS_INFO("Draw a custom board");
+        // Publish map image for debugging
+        _drawPlanarBoard(board,  cv::Size(2000, 2000), map_image, 50, 1);
+
+        cv::cvtColor(map_image, map_image, CV_GRAY2BGR);
+
+        map_image_msg.encoding = sensor_msgs::image_encodings::BGR8;
+        map_image_msg.image = map_image;
+        map_image_pub.publish(map_image_msg.toImageMsg());
+    }
+    else
+    {
+        ROS_ERROR("Incorrect map type '%s'", type.c_str());
+    }
+}
+
+cv::Point3f ArucoPose::getObjPointsCenter(cv::Mat objPoints) {
+    float min_x = std::numeric_limits<float>::max();
+    float max_x = std::numeric_limits<float>::min();
+    float min_y = min_x, max_y = max_x;
+    for (int i = 0; i < objPoints.rows; i++) {
+        max_x = std::max(max_x, objPoints.at<float>(i, 0));
+        max_y = std::max(max_y, objPoints.at<float>(i, 1));
+        min_x = std::min(min_x, objPoints.at<float>(i, 0));
+        min_y = std::min(min_y, objPoints.at<float>(i, 1));
+    }
+    cv::Point3f res((min_x + max_x) / 2, (min_y + max_y) / 2, 0);
+    return res;
+}
+
+void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo) {
+    cv::Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
+
+    std::vector<int> markerIds;
+    std::vector<std::vector<cv::Point2f>> markerCorners;
+    std::vector<std::vector<cv::Point2f>> rejectedCandidates;
+
+    cv::aruco::detectMarkers(image, dictionary, markerCorners, markerIds, parameters, rejectedCandidates);
+
+    cv::Mat cameraMatrix(3, 3, CV_64F);
+    cv::Mat distCoeffs(8, 1, CV_64F);
+    parseCameraInfo(cinfo, cameraMatrix, distCoeffs);
+
+    int valid = 0;
+    cv::Mat rvec, tvec, objPoints;
+
+    if (markerIds.size() > 0) {
+
+        valid = _estimatePoseBoard(markerCorners, markerIds, board, cameraMatrix, distCoeffs,
+                                       rvec, tvec, false, objPoints);
+
+        if (valid) {
+            // Send map transform
+            tf::StampedTransform transform(aruco2tf(rvec, tvec), msg->header.stamp, cinfo->header.frame_id, frame_id_);
+            br.sendTransform(transform);
+
+            // Publish map pose
+            static geometry_msgs::PoseStamped ps;
+            ps.header.frame_id = frame_id_;
+            ps.header.stamp = msg->header.stamp;
+            ps.pose.orientation.w = 1;
+            pose_pub.publish(ps);
+
+            // Send reference point
+            cv::Point3f ref = getObjPointsCenter(objPoints);
+            tf::Vector3 ref_vector3 = tf::Vector3(ref.x, ref.y, ref.z);
+            tf::Quaternion q(0, 0, 0);
+            static tf::StampedTransform ref_transform;
+            ref_transform.stamp_ = msg->header.stamp;
+            ref_transform.frame_id_ = frame_id_;
+            ref_transform.child_frame_id_ = "aruco_map_reference";
+            ref_transform.setOrigin(ref_vector3);
+            ref_transform.setRotation(q);
+            br.sendTransform(ref_transform);
+        }
+    }
+
+    if (img_pub.getNumSubscribers() > 0)
+    {
+        cv::aruco::drawDetectedMarkers(image, markerCorners, markerIds); // draw markers
+        if (valid)
+        {
+            cv::aruco::drawAxis(image, cameraMatrix, distCoeffs, rvec, tvec, 0.3); // draw board axis
+        }
+        cv_bridge::CvImage out_msg;
+        out_msg.header.frame_id = msg->header.frame_id;
+        out_msg.header.stamp = msg->header.stamp;
+        out_msg.encoding = sensor_msgs::image_encodings::BGR8;
+        out_msg.image = image;
+        img_pub.publish(out_msg.toImageMsg());
+    }
+}
+
+void ArucoPose::parseCameraInfo(const sensor_msgs::CameraInfoConstPtr &cinfo, cv::Mat &cameraMat, cv::Mat &distCoeffs) {
+    for (int i = 0; i < 3; ++i) {
+        for (int j = 0; j < 3; ++j) {
+            cameraMat.at<double>(i, j) = cinfo->K[3 * i + j];
+        }
+    }
+    for (int k = 0; k < cinfo->D.size(); k++) {
+        distCoeffs.at<double>(k) = cinfo->D[k];
+    }
+}
+
+tf::Transform ArucoPose::aruco2tf(cv::Mat rvec, cv::Mat tvec) {
+
+    cv::Mat rot;
+    cv::Rodrigues(rvec, rot);
+
+    tf::Matrix3x3 tf_rot(rot.at<double>(0,0), rot.at<double>(0,1), rot.at<double>(0,2),
+                         rot.at<double>(1,0), rot.at<double>(1,1), rot.at<double>(1,2),
+                         rot.at<double>(2,0), rot.at<double>(2,1), rot.at<double>(2,2));
+    tf::Vector3 tf_orig(tvec.at<double>(0,0), tvec.at<double>(1,0), tvec.at<double>(2,0));
+    return tf::Transform(tf_rot, tf_orig);
+}
+
+PLUGINLIB_EXPORT_CLASS(ArucoPose, nodelet::Nodelet)
+
+}

aruco_pose/src/fix.cpp

@@ -0,0 +1,145 @@
+using namespace cv;
+using namespace cv::aruco;
+
+// Temporal fix!
+// TODO: remove
+// fix strange bug in our OpenCV version
+
+void _getBoardObjectAndImagePoints(const Ptr<aruco::Board> &board, InputArrayOfArrays detectedCorners,
+    InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints) {
+
+    CV_Assert(board->ids.size() == board->objPoints.size());
+    CV_Assert(detectedIds.total() == detectedCorners.total());
+
+    size_t nDetectedMarkers = detectedIds.total();
+
+    std::vector< Point3f > objPnts;
+    objPnts.reserve(nDetectedMarkers);
+
+    std::vector< Point2f > imgPnts;
+    imgPnts.reserve(nDetectedMarkers);
+
+    // look for detected markers that belong to the board and get their information
+    for(unsigned int i = 0; i < nDetectedMarkers; i++) {
+        int currentId = detectedIds.getMat().ptr< int >(0)[i];
+        for(unsigned int j = 0; j < board->ids.size(); j++) {
+            if(currentId == board->ids[j]) {
+                for(int p = 0; p < 4; p++) {
+                    objPnts.push_back(board->objPoints[j][p]);
+                    imgPnts.push_back(detectedCorners.getMat(i).ptr< Point2f >(0)[p]);
+                }
+            }
+        }
+    }
+
+    // create output
+    Mat(objPnts).copyTo(objPoints);
+    Mat(imgPnts).copyTo(imgPoints);
+}
+
+int _estimatePoseBoard(InputArrayOfArrays _corners, InputArray _ids, const Ptr<aruco::Board> &board,
+                      InputArray _cameraMatrix, InputArray _distCoeffs, OutputArray _rvec,
+                      OutputArray _tvec, bool useExtrinsicGuess, Mat &objPoints) {
+
+    CV_Assert(_corners.total() == _ids.total());
+
+    // get object and image points for the solvePnP function
+    Mat /*objPoints, */imgPoints;
+    _getBoardObjectAndImagePoints(board, _corners, _ids, objPoints, imgPoints);
+
+    CV_Assert(imgPoints.total() == objPoints.total());
+
+    if(objPoints.total() == 0) // 0 of the detected markers in board
+        return 0;
+
+//    std::cout << "objPoints: " << objPoints << std::endl;
+//    std::cout << "imgPoints: " << imgPoints << std::endl;
+
+    solvePnP(objPoints, imgPoints, _cameraMatrix, _distCoeffs, _rvec, _tvec, useExtrinsicGuess);
+
+    // divide by four since all the four corners are concatenated in the array for each marker
+    return (int)objPoints.total() / 4;
+}
+
+void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
+                     int borderBits) {
+
+    CV_Assert(outSize.area() > 0);
+    CV_Assert(marginSize >= 0);
+
+    _img.create(outSize, CV_8UC1);
+    Mat out = _img.getMat();
+    out.setTo(Scalar::all(255));
+    out.adjustROI(-marginSize, -marginSize, -marginSize, -marginSize);
+
+    // calculate max and min values in XY plane
+    CV_Assert(_board->objPoints.size() > 0);
+    float minX, maxX, minY, maxY;
+    minX = maxX = _board->objPoints[0][0].x;
+    minY = maxY = _board->objPoints[0][0].y;
+
+    for(unsigned int i = 0; i < _board->objPoints.size(); i++) {
+        for(int j = 0; j < 4; j++) {
+            minX = min(minX, _board->objPoints[i][j].x);
+            maxX = max(maxX, _board->objPoints[i][j].x);
+            minY = min(minY, _board->objPoints[i][j].y);
+            maxY = max(maxY, _board->objPoints[i][j].y);
+        }
+    }
+
+    float sizeX = maxX - minX;
+    float sizeY = maxY - minY;
+
+    // proportion transformations
+    float xReduction = sizeX / float(out.cols);
+    float yReduction = sizeY / float(out.rows);
+
+    // determine the zone where the markers are placed
+    if(xReduction > yReduction) {
+        int nRows = int(sizeY / xReduction);
+        int rowsMargins = (out.rows - nRows) / 2;
+        out.adjustROI(-rowsMargins, -rowsMargins, 0, 0);
+    } else {
+        int nCols = int(sizeX / yReduction);
+        int colsMargins = (out.cols - nCols) / 2;
+        out.adjustROI(0, 0, -colsMargins, -colsMargins);
+    }
+
+    // now paint each marker
+    Dictionary &dictionary = *(_board->dictionary);
+    Mat marker;
+    Point2f outCorners[3];
+    Point2f inCorners[3];
+    for(unsigned int m = 0; m < _board->objPoints.size(); m++) {
+        // transform corners to markerZone coordinates
+        for(int j = 0; j < 3; j++) {
+            Point2f pf = Point2f(_board->objPoints[m][j].x, _board->objPoints[m][j].y);
+            // move top left to 0, 0
+            pf -= Point2f(minX, minY);
+            pf.x = pf.x / sizeX * float(out.cols);
+            pf.y = (1.0f - pf.y / sizeY) * float(out.rows);
+            outCorners[j] = pf;
+        }
+
+        // get marker
+        Size dst_sz(outCorners[2] - outCorners[0]); // assuming CCW order
+        dst_sz.width = dst_sz.height = std::min(dst_sz.width, dst_sz.height); //marker should be square
+        dictionary.drawMarker(_board->ids[m], dst_sz.width, marker, borderBits);
+
+        if((outCorners[0].y == outCorners[1].y) && (outCorners[1].x == outCorners[2].x)) {
+            // marker is aligned to image axes
+            marker.copyTo(out(Rect(outCorners[0], dst_sz)));
+            continue;
+        }
+
+        // interpolate tiny marker to marker position in markerZone
+        inCorners[0] = Point2f(-0.5f, -0.5f);
+        inCorners[1] = Point2f(marker.cols - 0.5f, -0.5f);
+        inCorners[2] = Point2f(marker.cols - 0.5f, marker.rows - 0.5f);
+
+        // remove perspective
+        Mat transformation = getAffineTransform(inCorners, outCorners);
+        warpAffine(marker, out, transformation, out.size(), INTER_LINEAR,
+                        BORDER_TRANSPARENT);
+    }
+}

aruco_pose/src/gridboard.h

@@ -1,22 +0,0 @@
-void createCustomGridBoard(cv::Ptr<cv::aruco::Board>& board, int markersX, int markersY, float markerLength,
-                           float markerSeparationX, float markerSeparationY, std::vector<int> ids)
-{
-	size_t totalMarkers = (size_t) markersX * markersY;
-	board->ids = ids;
-	board->objPoints.reserve(totalMarkers);
-
-	// calculate Board objPoints
-	float maxY = (float)markersY * markerLength + (markersY - 1) * markerSeparationY;
-	for(int y = 0; y < markersY; y++) {
-		for(int x = 0; x < markersX; x++) {
-			std::vector< cv::Point3f > corners;
-			corners.resize(4);
-			corners[0] = cv::Point3f(x * (markerLength + markerSeparationX),
-								 maxY - y * (markerLength + markerSeparationY), 0);
-			corners[1] = corners[0] + cv::Point3f(markerLength, 0, 0);
-			corners[2] = corners[0] + cv::Point3f(markerLength, -markerLength, 0);
-			corners[3] = corners[0] + cv::Point3f(0, -markerLength, 0);
-			board->objPoints.push_back(corners);
-		}
-	}
-}

aruco_pose/src/util.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <vector>
+#include <string>
+
+std::vector<std::string> strSplit(const std::string& str, const std::string& delim)
+{
+    std::vector<std::string> tokens;
+    size_t prev = 0, pos = 0;
+    do
+    {
+        pos = str.find(delim, prev);
+        if (pos == std::string::npos) pos = str.length();
+        std::string token = str.substr(prev, pos-prev);
+        if (!token.empty()) tokens.push_back(token);
+        prev = pos + delim.length();
+    }
+    while (pos < str.length() && prev < str.length());
+    return tokens;
+}

aruco_pose/src/utils.h

@@ -1,109 +0,0 @@
-#pragma once
-
-#include <ros/ros.h>
-#include <tf/transform_datatypes.h>
-#include <geometry_msgs/Quaternion.h>
-#include <geometry_msgs/Pose.h>
-#include <geometry_msgs/Vector3.h>
-#include <sensor_msgs/CameraInfo.h>
-#include <opencv2/opencv.hpp>
-
-// Read required param or shutdown the node
-template<typename T>
-static void param(ros::NodeHandle nh, const std::string& param_name, T& param_val)
-{
-	if (!nh.getParam(param_name, param_val)) {
-		ROS_FATAL("Required param %s is not defined", param_name.c_str());
-		ros::shutdown();
-	}
-}
-
-static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo,
-                     cv::Mat& matrix, cv::Mat& dist)
-{
-	for (unsigned int i = 0; i < 3; ++i)
-		for (unsigned int j = 0; j < 3; ++j)
-			matrix.at<double>(i, j) = cinfo->K[3 * i + j];
-
-	for (unsigned int k = 0; k < cinfo->D.size(); k++)
-		dist.at<double>(k) = cinfo->D[k];
-}
-
-inline void rotatePoint(cv::Point3f& p, cv::Point3f origin, float angle)
-{
-	float s = sin(angle);
-	float c = cos(angle);
-
-	// translate point back to origin:
-	p.x -= origin.x;
-	p.y -= origin.y;
-
-	// rotate point
-	float xnew = p.x * c - p.y * s;
-	float ynew = p.x * s + p.y * c;
-
-	// translate point back:
-	p.x = xnew + origin.x;
-	p.y = ynew + origin.y;
-}
-
-inline void fillPose(geometry_msgs::Pose& pose, const cv::Vec3d& rvec, const cv::Vec3d& tvec)
-{
-	pose.position.x = tvec[0];
-	pose.position.y = tvec[1];
-	pose.position.z = tvec[2];
-
-	double angle = norm(rvec);
-	cv::Vec3d axis = rvec / angle;
-
-	tf2::Quaternion q;
-	q.setRotation(tf2::Vector3(axis[0], axis[1], axis[2]), angle);
-
-	pose.orientation.w = q.w();
-	pose.orientation.x = q.x();
-	pose.orientation.y = q.y();
-	pose.orientation.z = q.z();
-}
-
-inline void fillTransform(geometry_msgs::Transform& transform, const cv::Vec3d& rvec, const cv::Vec3d& tvec)
-{
-	transform.translation.x = tvec[0];
-	transform.translation.y = tvec[1];
-	transform.translation.z = tvec[2];
-
-	double angle = norm(rvec);
-	cv::Vec3d axis = rvec / angle;
-
-	tf2::Quaternion q;
-	q.setRotation(tf2::Vector3(axis[0], axis[1], axis[2]), angle);
-
-	transform.rotation.w = q.w();
-	transform.rotation.x = q.x();
-	transform.rotation.y = q.y();
-	transform.rotation.z = q.z();
-}
-
-inline void fillTranslation(geometry_msgs::Vector3& translation, const cv::Vec3d& tvec)
-{
-	translation.x = tvec[0];
-	translation.y = tvec[1];
-	translation.z = tvec[2];
-}
-
-inline void snapOrientation(geometry_msgs::Quaternion& to, const geometry_msgs::Quaternion& from)
-{
-	tf::Quaternion q;
-	q.setRPY(0, 0, -tf::getYaw(to) + tf::getYaw(from));
-	tf::Quaternion pq;
-	tf::quaternionMsgToTF(from, pq);
-	pq = pq * q;
-	tf::quaternionTFToMsg(pq, to);
-}
-
-inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)
-{
-	pose.position.x = transform.translation.x;
-	pose.position.y = transform.translation.y;
-	pose.position.z = transform.translation.z;
-	pose.orientation = transform.rotation;
-}

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/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/kinetic-rosdep-clever.yaml

@@ -526,3 +526,6 @@ theora_image_transport:
 libogg:
   debian:
     stretch: [libtheora0=1.1.1+dfsg.1-14]
+vl53l1x:
+  debian:
+    stretch: [ros-kinetic-vl53l1x]

builder/image-build.sh

@@ -84,6 +84,15 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-init.sh'
 ${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/image-ros.sh

@@ -92,7 +92,7 @@ if [ "${INSTALL_ROS_PACK_SOURCES}" = "true" ]; then
     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 \
+    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 vl53l1x \
     --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 \
@@ -148,6 +148,16 @@ echo_stamp "Installing CLEVER" \
 && echo_stamp "All CLEVER was installed!" "SUCCESS" \
 || (echo_stamp "CLEVER installation was failed!" "ERROR"; exit 1)
 
+echo_stamp "Installing additional ROS packages"
+apt-get install -y --no-install-recommends \
+    ros-kinetic-dynamic-reconfigure \
+    ros-kinetic-compressed-image-transport \
+    ros-kinetic-rosbridge-suite \
+    ros-kinetic-rosserial \
+    ros-kinetic-usb-cam \
+    ros-kinetic-vl53l1x \
+    ros-kinetic-opencv3=3.3.1neon-0stretch
+
 # 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

builder/image-software.sh

@@ -58,7 +58,7 @@ 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~deb9u2 > /dev/null \
+&& 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
@@ -92,13 +92,15 @@ libjpeg8-dev=8d1-2 \
 tcpdump \
 ltrace \
 libpoco-dev=1.7.6+dfsg1-5+deb9u1 \
-python-rosdep=0.12.2-1 \
+python-rosdep=0.14.0-1 \
 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 \
+i2c-tools \
 && echo_stamp "Everything was installed!" "SUCCESS" \
 || (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
 
@@ -106,15 +108,24 @@ monkey=1.6.9-1 \
 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 pip3
+#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
@@ -127,4 +138,10 @@ syntax on
 autocmd BufNewFile,BufRead *.launch set syntax=xml
 EOF
 
+echo_stamp "Attempting to kill dirmngr"
+gpgconf --kill dirmngr
+# dirmngr is only used by apt-key, so we can safely kill it.
+# We ignore killall's exit value as well.
+killall -w -9 dirmngr || true
+
 echo_stamp "End of software installation"

clever/CMakeLists.txt

@@ -26,6 +26,9 @@ find_package(catkin REQUIRED COMPONENTS
   cv_bridge
 )
 
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
+
+find_package(GeographicLib REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -74,7 +77,6 @@ add_service_files(
   Navigate.srv
   NavigateGlobal.srv
   SetPosition.srv
-  SetPositionGlobal.srv
   SetVelocity.srv
   SetAttitude.srv
   SetRates.srv
@@ -138,6 +140,7 @@ catkin_package(
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
+  ${GeographicLib_INCLUDE_DIRS}
 )
 
 # Declare a C++ library
@@ -145,10 +148,6 @@ add_library(clever
   src/optical_flow.cpp
 )
 
-add_library(fcu_horiz
-  src/fcu_horiz.cpp
-)
-
 add_library(aruco_vpe
   src/aruco_vpe.cpp
 )
@@ -161,13 +160,18 @@ add_library(aruco_vpe
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
+add_executable(simple_offboard src/simple_offboard.cpp)
+
 add_executable(rc src/rc.cpp)
 
 add_executable(camera_markers src/camera_markers.cpp)
 
 add_executable(frames src/frames.cpp)
 
-add_executable(vpe_publisher src/vpe_publisher.cpp)
+target_link_libraries(simple_offboard
+  ${catkin_LIBRARIES}
+  ${GeographicLib_LIBRARIES}
+)
 
 target_link_libraries(rc ${catkin_LIBRARIES})
 
@@ -175,7 +179,7 @@ target_link_libraries(camera_markers ${catkin_LIBRARIES})
 
 target_link_libraries(frames ${catkin_LIBRARIES})
 
-target_link_libraries(vpe_publisher ${catkin_LIBRARIES})
+add_dependencies(simple_offboard clever_generate_messages_cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -192,11 +196,6 @@ target_link_libraries(clever
   ${catkin_LIBRARIES}
 )
 
-target_link_libraries(fcu_horiz
-  ${catkin_LIBRARIES}
-  "/opt/ros/kinetic/lib/libtf2_ros.so"
-)
-
 target_link_libraries(aruco_vpe
   ${catkin_LIBRARIES}
 )

clever/cmake/FindGeographicLib.cmake

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

clever/launch/aruco.launch

@@ -1,35 +1,24 @@
 <launch>
-    <arg name="aruco_detect" default="true"/>
-    <arg name="aruco_map" default="false"/>
-    <arg name="aruco_vpe" default="false"/>
+    <remap from="image" to="main_camera/image_raw"/>
+    <remap from="camera_info" to="main_camera/camera_info"/>
 
-    <!-- detect aruco markers, estimate poses -->
-    <node pkg="nodelet" if="$(arg aruco_detect)" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager" output="screen">
-        <remap from="image_raw" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
+    <node pkg="nodelet" type="nodelet" name="aruco_pose" args="load aruco_pose/aruco_pose nodelet_manager" clear_params="true">
+        <param name="frame_id" value="aruco_map_raw"/>
+        <param name="type" value="gridboard"/>
+        <param name="markers_x" value="1"/>
+        <param name="markers_y" value="6"/>
+        <param name="first_marker" value="240"/>
+        <param name="markers_side" value="0.3362"/>
+        <param name="markers_sep" value="0.46"/>
 
-        <param name="length" value="0.32"/>
-        <param name="snap_orientation" value="local_origin"/>
-        <param name="estimate_poses" value="true"/>
+        <!-- Custom gridboard: -->
+        <!--<rosparam param="marker_ids">[6, 5, 4, 3, 2, 1]</rosparam>-->
     </node>
 
-    <!-- estimate aruco map pose -->
-    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_map" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen">
-        <remap from="markers" to="aruco_detect/markers"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <param name="type" value="map"/>
-        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
-        <param name="snap_orientation" value="local_origin"/>
-    </node>
+    <node pkg="nodelet" type="nodelet" name="aruco_vpe" args="load clever/aruco_vpe nodelet_manager" clear_params="true">
+        <param name="aruco_orientation" value="map"/>
+        <!--<param name="aruco_orientation" value="map_upside_down"/>-->
 
-    <!-- vpe publisher from aruco markers -->
-    <node name="vpe_publisher" pkg="clever" type="vpe_publisher" output="screen" if="$(arg aruco_vpe)">
-        <!-- <remap from="~markers" to="aruco_detect/markers"/> -->
-        <!-- <remap from="~pose_pub" to="mavros/mocap/pose"/> --> <!-- publish MOCAP -->
-        <remap from="~pose_cov" to="aruco_map/pose"/>
-        <remap from="~pose_pub" to="mavros/vision_pose/pose"/> <!-- publish VPE -->
-        <param name="frame_id" value="aruco_map"/>
-        <param name="child_frame_id" value="fcu"/>
-        <param name="publish_zero" value="true"/>
+        <param name="use_mocap" value="true"/>
     </node>
 </launch>

clever/launch/clever.launch

@@ -8,8 +8,8 @@
     <arg name="optical_flow" default="false"/>
     <arg name="aruco" default="false"/>
     <arg name="rc" default="true"/>
+    <arg name="rangefinder_vl53l1x" default="false"/>
     <arg name="arduino" default="false"/>
-    <arg name="vl53l1x" default="false"/>
 
     <!-- mavros -->
     <include file="$(find clever)/launch/mavros.launch">
@@ -22,7 +22,7 @@
     <!-- web video server -->
     <node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5"/>
 
-    <!-- aruco -->
+    <!-- aruco vpe -->
     <include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
 
     <!-- optical flow -->
@@ -33,19 +33,23 @@
 
     <!-- main nodelet manager -->
     <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
-        <param name="num_worker_threads" value="4"/>
+        <param name="num_worker_threads" value="2"/>
     </node>
 
-    <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"/>
-
+    <node pkg="tf2_ros" type="static_transform_publisher" name="map_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 map map_upside_down"/>
 
     <!-- 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 name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
+        <rosparam param="reference_frames">
+            body: map
+            base_link: map
+        </rosparam>
     </node>
 
+    <!-- Auxiliary frames -->
+    <node name="frames" pkg="clever" type="frames" output="screen">
+        <param name="body/frame_id" value="body"/>
+    </node>
 
     <!-- main camera -->
     <include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
@@ -54,9 +58,10 @@
     <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="$(arg vl53l1x)">
-        <param name="z_shift" value="-0.05"/>
-        <!-- <remap from="~range" to="mavros/distance_sensor/rangefinder_3_sub"/> -->
+    <node name="vl53l1x" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
+        <param name="frame_id" value="rangefinder"/>
+        <param name="offset" value="-0.05"/>
+        <remap from="~range" to="mavros/distance_sensor/rangefinder_3_sub"/> <!-- redirect data to FCU -->
     </node>
 
     <!-- rc backend -->

clever/launch/main_camera.launch

@@ -1,15 +1,20 @@
 <launch>
-    <!-- Camera position and orientation are represented by fcu -> main_camera_optical transform -->
+    <!-- Camera position and orientation are represented by base_link -> 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 base_link main_camera_optical"/>
 
-    <!-- clever 3, upwards -->
-    <!--<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 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 base_link 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 base_link 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 base_link main_camera_optical"/>-->
 
     <!-- camera node -->
     <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">

clever/launch/mavros.launch

@@ -5,7 +5,7 @@
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="5" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="2" output="screen">
         <!-- UART connection -->
         <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
@@ -27,6 +27,9 @@
         <!-- default px4 params -->
         <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
 
+        <!-- enable setpoint_attitude/attitude -->
+        <param name="setpoint_attitude/use_quaternion" value="true"/>
+
         <!-- rangefinders -->
         <rosparam>
             distance_sensor:
@@ -51,12 +54,12 @@
         </rosparam>
 
         <!-- additional params -->
-        <param name="local_position/frame_id" value="local_origin"/>
+        <param name="local_position/frame_id" value="map"/>
         <param name="local_position/tf/send" value="true"/>
-        <param name="local_position/tf/frame_id" value="local_origin"/>
-        <param name="local_position/tf/child_frame_id" value="fcu"/>
+        <param name="local_position/tf/frame_id" value="map"/>
+        <param name="local_position/tf/child_frame_id" value="base_link"/>
         <param name="global_position/tf/send" value="false"/>
-        <param name="imu/frame_id" value="fcu"/>
+        <param name="imu/frame_id" value="base_link"/>
         <rosparam param="plugin_blacklist">
             - safety_area
             - image_pub
@@ -81,14 +84,14 @@
     </node>
 
     <!-- Rangefinders frame -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>
+    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
 
     <!-- Copter visualization -->
     <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
         <remap to="mavros/local_position/pose" from="local_position"/>
         <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
-        <param name="fixed_frame_id" value="local_origin"/>
-        <param name="child_frame_id" value="fcu"/>
+        <param name="fixed_frame_id" value="map"/>
+        <param name="child_frame_id" value="base_link"/>
         <param name="marker_scale" value="1"/>
         <param name="max_track_size" value="20"/>
         <param name="num_rotors" value="4"/>

clever/launch/sitl.launch

@@ -8,12 +8,11 @@
         <arg name="fcu_ip" value="$(arg ip)"/>
         <arg name="gcs_bridge" value="false"/>
         <arg name="optical_flow" value="false"/>
-        <arg name="web_server" default="false"/>
         <arg name="web_video_server" default="false"/>
         <arg name="main_camera" default="false"/>
         <arg name="rosbridge" value="$(arg rosbridge)"/>
         <arg name="aruco" default="false"/>
-        <arg name="vl53l1x" default="false"/>
+        <arg name="rangefinder_vl53l1x" default="false"/>
         <arg name="rc" default="false"/>
     </include>
 </launch>

clever/nodelet_plugins.xml

@@ -3,11 +3,6 @@
       <description/>
    </class>
 </library>
-<library path="lib/libfcu_horiz">
-   <class name="clever/fcu_horiz" type="FcuHoriz" base_class_type="nodelet::Nodelet">
-      <description/>
-   </class>
-</library>
 <library path="lib/libaruco_vpe">
    <class name="clever/aruco_vpe" type="ArucoVPE" base_class_type="nodelet::Nodelet">
       <description/>

clever/package.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
   <name>clever</name>
   <version>0.0.1</version>
   <description>The CLEVER package</description>
@@ -11,25 +12,23 @@
   <author email="okalachev@gmail.com">Oleg Kalachev</author>
   <author email="urpylka@gmail.com">Artem Smirnov</author>
 
-  <!-- Use build_depend for packages you need at compile time: -->
-  <build_depend>nodelet</build_depend>
-  <build_depend>roscpp</build_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
+
+  <!-- Package format specifier version 2.0 allows specifying dependencies for both
+   build- and runtime in a single <depend> element -->
+  <depend>visualization_msgs</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>geographiclib</depend>
+  <depend>roscpp</depend>
+  <depend>nodelet</depend>
+  <depend>mavros</depend>
+  <depend>mavros_extras</depend>
+  <depend>lxml</depend>
+  <depend>cv_camera</depend>
+  <depend>mjpg-streamer</depend>
+  <depend>rosbridge_server</depend>
+  <depend>web_video_server</depend>
+  <depend>ros_comm</depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
 

clever/src/aruco_vpe.cpp

@@ -39,7 +39,7 @@ private:
         ros::NodeHandle& nh = getNodeHandle();
         ros::NodeHandle& nh_priv = getPrivateNodeHandle();
 
-        nh_priv.param<string>("aruco_orientation", aruco_orientation_, "local_origin");
+        nh_priv.param<string>("aruco_orientation", aruco_orientation_, "map");
         bool use_mocap;
         nh_priv.param<bool>("use_mocap", use_mocap, false);
         nh_priv.param<bool>("reset_vpe", reset_vpe_, !use_mocap);
@@ -107,20 +107,20 @@ private:
                (reset_vpe_ && (ros::Time::now() - last_published_ > reset_timeout_))) // vpe origin outdated
             {
                 ROS_INFO("Reset VPE");
-                t = tf_buffer.lookupTransform("local_origin", "aruco_map_vision", stamp, lookup_timeout_);
+                t = tf_buffer.lookupTransform("map", "aruco_map_vision", stamp, lookup_timeout_);
                 t.child_frame_id = "aruco_map";
                 static_br.sendTransform(t);
             }
 
             // Calculate VPE
-            ps.header.frame_id = "fcu_horiz";
+            ps.header.frame_id = "body";
             ps.header.stamp = stamp;
             ps.pose.orientation.w = 1;
 
             tf_buffer.transform(ps, vpe_raw, "aruco_map_vision", lookup_timeout_);
 
             vpe_raw.header.frame_id = "aruco_map";
-            tf_buffer.transform(vpe_raw, vpe, "local_origin", lookup_timeout_);
+            tf_buffer.transform(vpe_raw, vpe, "map", lookup_timeout_);
 
             vision_position_pub_.publish(vpe);
 

clever/src/fcu_horiz.cpp

@@ -1,40 +0,0 @@
-#include <nodelet/nodelet.h>
-#include <pluginlib/class_list_macros.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <geometry_msgs/PoseStamped.h>
-
-#include "util.h"
-
-class FcuHoriz : public nodelet::Nodelet
-{
-    geometry_msgs::TransformStamped t_;
-
-    void handlePose(const geometry_msgs::PoseStampedConstPtr& msg)
-    {
-        static tf2_ros::TransformBroadcaster br;
-        double roll, pitch, yaw;
-
-        t_.header.stamp = msg->header.stamp;
-        t_.header.frame_id = msg->header.frame_id;
-        t_.transform.translation.x = msg->pose.position.x;
-        t_.transform.translation.y = msg->pose.position.y;
-        t_.transform.translation.z = msg->pose.position.z;
-
-        // Warning: this is not thead-safe
-        quaternionToEuler(msg->pose.orientation, roll, pitch, yaw);
-        eulerToQuaternion(t_.transform.rotation, 0, 0, yaw);
-
-        br.sendTransform(t_);
-    }
-
-    void onInit()
-    {
-        t_.child_frame_id = "fcu_horiz";
-        t_.transform.rotation.w = 1;
-        static ros::Subscriber pose_sub = getNodeHandle().subscribe("mavros/local_position/pose", 1, &FcuHoriz::handlePose, this);
-        ROS_INFO("fcu_horiz initialized");
-    }
-};
-
-PLUGINLIB_EXPORT_CLASS(FcuHoriz, nodelet::Nodelet)

clever/src/global_local.py

@@ -1,43 +0,0 @@
-import rospy
-import math
-import geopy
-from geometry_msgs.msg import PoseStamped
-from geopy.distance import VincentyDistance, vincenty
-from sensor_msgs.msg import NavSatFix
-
-
-def global_to_local(lat, lon):
-    # TODO: refactor
-
-    try:
-        position_global = rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.5)
-    except rospy.exceptions.ROSException:
-        raise Exception('No global position')
-
-    try:
-        pose = rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=0.5)
-    except rospy.exceptions.ROSException:
-        raise Exception('No local position')
-
-    d = math.hypot(pose.pose.position.x, pose.pose.position.y)
-
-    bearing = math.degrees(math.atan2(-pose.pose.position.x, -pose.pose.position.y))
-    if bearing < 0:
-        bearing += 360
-
-    cur = geopy.Point(position_global.latitude, position_global.longitude)
-    origin = VincentyDistance(meters=d).destination(cur, bearing)
-
-    _origin = origin.latitude, origin.longitude
-    olat_tlon = origin.latitude, lon
-    tlat_olon = lat, origin.longitude
-
-    N = vincenty(_origin, tlat_olon)
-    if lat < origin.latitude:
-        N = -N
-
-    E = vincenty(_origin, olat_tlon)
-    if lon < origin.longitude:
-        E = -E
-
-    return E.meters, N.meters

clever/src/interactive.py

@@ -35,7 +35,7 @@ def make_box_control(msg):
 
 def make_quadcopter_marker():
     marker = InteractiveMarker()
-    marker.header.frame_id = 'fcu'
+    marker.header.frame_id = 'base_link'
     marker.header.stamp = rospy.get_rostime()
     marker.scale = 1
     marker.pose.orientation.w = 1

clever/src/optical_flow.cpp

@@ -19,6 +19,7 @@
 #include <tf/transform_datatypes.h>
 #include <tf2/exceptions.h>
 #include <tf2/convert.h>
+#include <tf2/utils.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <mavros_msgs/OpticalFlowRad.h>
@@ -41,7 +42,7 @@ public:
 private:
 	ros::Publisher flow_pub_, velo_pub_, shift_pub_;
 	ros::Time prev_stamp_;
-	std::string fcu_frame_id_;
+	std::string fcu_frame_id_, local_frame_id_;
 	image_transport::CameraSubscriber img_sub_;
 	image_transport::Publisher img_pub_;
 	mavros_msgs::OpticalFlowRad flow_;
@@ -51,6 +52,7 @@ private:
 	Mat camera_matrix_, dist_coeffs_;
 	tf2_ros::Buffer tf_buffer_;
 	tf2_ros::TransformListener tf_listener_;
+	bool calc_flow_gyro_;
 
 	void onInit()
 	{
@@ -59,9 +61,11 @@ private:
 		image_transport::ImageTransport it(nh);
 		image_transport::ImageTransport it_priv(nh_priv);
 
-		nh_priv.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "fcu");
+		nh.param<std::string>("mavros/local_position/tf/frame_id", local_frame_id_, "map");
+		nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
 		nh_priv.param("roi", roi_, 128);
 		roi_2_ = roi_ / 2;
+		nh_priv.param("calc_flow_gyro", calc_flow_gyro_, false);
 
 		img_sub_ = it.subscribeCamera("image", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
@@ -163,6 +167,19 @@ private:
 			ros::Duration integration_time = msg->header.stamp - prev_stamp_;
 			uint32_t integration_time_us = integration_time.toSec() * 1.0e6;
 
+			if (calc_flow_gyro_) {
+				try {
+					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
+					static geometry_msgs::Vector3Stamped flow_gyro_fcu;
+					tf_buffer_.transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
+					flow_.integrated_xgyro = flow_gyro_fcu.vector.x;
+					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
+					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
+				} catch (const tf2::TransformException& e) {
+					return;
+				}
+			}
+
 			// Publish flow in fcu frame
 			flow_.header.stamp = /*prev_stamp_*/ msg->header.stamp;
 			flow_.integration_time_us = integration_time_us;
@@ -195,6 +212,23 @@ private:
 			prev_stamp_ = msg->header.stamp;
 		}
 	}
+
+	geometry_msgs::Vector3Stamped calcFlowGyro(const std::string& frame_id, const ros::Time& prev, const ros::Time& curr)
+	{
+		tf2::Quaternion prev_rot, curr_rot;
+		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, prev).transform.rotation, prev_rot);
+		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, curr).transform.rotation, curr_rot);
+
+		geometry_msgs::Vector3Stamped flow;
+		flow.header.frame_id = frame_id;
+		flow.header.stamp = curr;
+		auto diff = ((curr_rot - prev_rot) * prev_rot.inverse()) * 2.0f;
+		flow.vector.x = diff.x();
+		flow.vector.y = diff.y();
+		flow.vector.z = diff.z();
+
+		return flow;
+	}
 };
 
 PLUGINLIB_EXPORT_CLASS(OpticalFlow, nodelet::Nodelet)

clever/src/selfcheck.py

@@ -9,14 +9,14 @@ from std_srvs.srv import Trigger
 from sensor_msgs.msg import Image, CameraInfo, NavSatFix, Imu, Range
 from mavros_msgs.msg import State, OpticalFlowRad
 from geometry_msgs.msg import PoseStamped, TwistStamped
-from aruco_pose.msg import MarkerArray
+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: map, base_link, body
 # TODO: rc service
 # TODO: perform commander check, ekf2 status on PX4
 # TODO: check if FCU params setter succeed
@@ -56,9 +56,9 @@ def check_fcu():
     try:
         state = rospy.wait_for_message('mavros/state', State, timeout=3)
         if not state.connected:
-            failure('No connection to the FCU (check wiring)')
+            failure('no connection to the FCU (check wiring)')
     except rospy.ROSException:
-        failure('No MAVROS state (check wiring)')
+        failure('no MAVROS state (check wiring)')
 
 
 @check('Camera')
@@ -66,37 +66,58 @@ def check_camera(name):
     try:
         img = rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
     except rospy.ROSException:
-        failure('%s: No images (is the camera connected properly?)', name)
+        failure('%s: no images (is the camera connected properly?)', name)
         return
     try:
         info = rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=1)
     except rospy.ROSException:
-        failure('%s: No calibration 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)
+        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)
+        failure('%s: calibration height doesn\'t match image height (%d != %d))', name, info.height, img.height)
 
 
 @check('Aruco detector')
 def check_aruco():
     try:
-        rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.5)
+        rospy.wait_for_message('aruco_pose/debug', Image, timeout=1)
     except rospy.ROSException:
-        failure('No aruco markers detection')
+        failure('no aruco_pose/debug messages')
 
 
-@check('Visual position estimate')
+@check('Vision position estimate')
 def check_vpe():
     try:
-        rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
+        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
     except rospy.ROSException:
         try:
-            rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
+            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
         except rospy.ROSException:
-            failure('No VPE or MoCap messages')
+            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')
@@ -106,7 +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')
@@ -114,15 +135,25 @@ def check_imu():
     try:
         rospy.wait_for_message('mavros/imu/data', Imu, timeout=1)
     except rospy.ROSException:
-        failure('No IMU data (check flight controller calibration)')
+        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')
@@ -132,23 +163,23 @@ 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 %.2f m/s; is 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 %.2f m/s; is 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?',
+            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?',
+            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?',
+            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)')
@@ -156,7 +187,7 @@ def check_global_position():
     try:
         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')
@@ -165,7 +196,7 @@ def check_optical_flow():
     try:
         rospy.wait_for_message('mavros/px4flow/raw/send', OpticalFlowRad, timeout=0.5)
     except rospy.ROSException:
-        failure('No optical flow data (from Raspberry)')
+        failure('no optical flow data (from Raspberry)')
 
 
 @check('Rangefinder')
@@ -174,11 +205,11 @@ def check_rangefinder():
     try:
         rospy.wait_for_message('mavros/distance_sensor/rangefinder_3_sub', Range, timeout=0.5)
     except rospy.ROSException:
-        failure('No randefinder data from Raspberry')
+        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')
+        failure('no rangefinder data from PX4')
 
 
 @check('Boot duration')
@@ -206,7 +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())
 
 

clever/src/simple_offboard.cpp

@@ -0,0 +1,742 @@
+/*
+ * Simplified copter control in OFFBOARD mode
+ * Copyright (C) 2019 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.
+ */
+
+#include <algorithm>
+#include <string>
+#include <cmath>
+#include <boost/format.hpp>
+#include <stdexcept>
+#include <GeographicLib/Geodesic.hpp>
+#include <ros/ros.h>
+#include <tf/transform_datatypes.h>
+#include <tf2/utils.h>
+#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <std_srvs/Trigger.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/TwistStamped.h>
+#include <geometry_msgs/Vector3Stamped.h>
+#include <geometry_msgs/QuaternionStamped.h>
+#include <sensor_msgs/NavSatFix.h>
+#include <sensor_msgs/BatteryState.h>
+#include <mavros_msgs/CommandBool.h>
+#include <mavros_msgs/SetMode.h>
+#include <mavros_msgs/PositionTarget.h>
+#include <mavros_msgs/AttitudeTarget.h>
+#include <mavros_msgs/Thrust.h>
+#include <mavros_msgs/State.h>
+
+#include <clever/GetTelemetry.h>
+#include <clever/Navigate.h>
+#include <clever/NavigateGlobal.h>
+#include <clever/SetPosition.h>
+#include <clever/SetVelocity.h>
+#include <clever/SetAttitude.h>
+#include <clever/SetRates.h>
+
+using std::string;
+using namespace geometry_msgs;
+using namespace sensor_msgs;
+using namespace clever;
+using mavros_msgs::PositionTarget;
+using mavros_msgs::AttitudeTarget;
+using mavros_msgs::Thrust;
+
+// tf2
+tf2_ros::Buffer tf_buffer;
+
+// Parameters
+string local_frame;
+string fcu_frame;
+ros::Duration transform_timeout;
+ros::Duration telemetry_transform_timeout;
+ros::Duration offboard_timeout;
+ros::Duration land_timeout;
+ros::Duration arming_timeout;
+ros::Duration local_position_timeout;
+ros::Duration state_timeout;
+ros::Duration velocity_timeout;
+ros::Duration global_position_timeout;
+ros::Duration battery_timeout;
+float default_speed;
+bool auto_release;
+std::map<string, string> reference_frames;
+
+// Publishers
+ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub;
+
+// Service clients
+ros::ServiceClient arming, set_mode;
+
+// Containers
+ros::Timer setpoint_timer;
+tf::Quaternion tq;
+PoseStamped position_msg;
+PositionTarget position_raw_msg;
+AttitudeTarget att_raw_msg;
+Thrust thrust_msg;
+TwistStamped rates_msg;
+TransformStamped target;
+
+// State
+PoseStamped nav_start;
+PoseStamped setpoint_position, setpoint_position_transformed;
+Vector3Stamped setpoint_velocity, setpoint_velocity_transformed;
+QuaternionStamped setpoint_attitude, setpoint_attitude_transformed;
+float setpoint_yaw_rate;
+float nav_speed;
+bool busy = false;
+bool wait_armed = false;
+
+enum setpoint_type_t {
+	NONE,
+	NAVIGATE,
+	NAVIGATE_GLOBAL,
+	POSITION,
+	VELOCITY,
+	ATTITUDE,
+	RATES
+};
+
+enum setpoint_type_t setpoint_type = NONE;
+
+enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
+
+// Last received telemetry messages
+mavros_msgs::State state;
+PoseStamped local_position;
+TwistStamped velocity;
+NavSatFix global_position;
+BatteryState battery;
+
+// Common subcriber callback template that stores message to the variable
+template<typename T, T& STORAGE>
+void handleMessage(const T& msg)
+{
+	STORAGE = msg;
+}
+
+// wait for transform without interrupting publishing setpoints
+inline bool waitTransform(const string& target, const string& source,
+                          const ros::Time& stamp, const ros::Duration& timeout)
+{
+	ros::Rate r(10);
+	auto start = ros::Time::now();
+	while (ros::ok()) {
+		if (ros::Time::now() - start > timeout) return false;
+		if (tf_buffer.canTransform(target, source, stamp)) return true;
+		ros::spinOnce();
+		r.sleep();
+	}
+}
+
+#define TIMEOUT(msg, timeout) (ros::Time::now() - msg.header.stamp > timeout)
+
+bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
+{
+	ros::Time stamp = ros::Time::now();
+
+	if (req.frame_id.empty())
+		req.frame_id = local_frame;
+
+	res.frame_id = req.frame_id;
+	res.x = NAN;
+	res.y = NAN;
+	res.z = NAN;
+	res.lat = NAN;
+	res.lon = NAN;
+	res.alt = NAN;
+	res.vx = NAN;
+	res.vy = NAN;
+	res.vz = NAN;
+	res.pitch = NAN;
+	res.roll = NAN;
+	res.yaw = NAN;
+	res.pitch_rate = NAN;
+	res.roll_rate = NAN;
+	res.yaw_rate = NAN;
+	res.voltage = NAN;
+	res.cell_voltage = NAN;
+
+	if (!TIMEOUT(state, state_timeout)) {
+		res.connected = state.connected;
+		res.armed = state.armed;
+		res.mode = state.mode;
+	}
+
+	waitTransform(local_frame, req.frame_id, stamp, telemetry_transform_timeout);
+
+	if (!TIMEOUT(local_position, local_position_timeout)) {
+		try {
+			// transform pose
+			PoseStamped pose;
+			tf_buffer.transform(local_position, pose, req.frame_id);
+			res.x = pose.pose.position.x;
+			res.y = pose.pose.position.y;
+			res.z = pose.pose.position.z;
+
+			// Tait-Bryan angles, order z-y-x
+			double yaw, pitch, roll;
+			tf2::getEulerYPR(pose.pose.orientation, yaw, pitch, roll);
+			res.yaw = yaw;
+			res.pitch = pitch;
+			res.roll = roll;
+		} catch (const tf2::TransformException& e) {}
+	}
+
+	if (!TIMEOUT(velocity, velocity_timeout)) {
+		try {
+			// transform velocity
+			Vector3Stamped vec, vec_out;
+			vec.header = velocity.header;
+			vec.vector = velocity.twist.linear;
+			tf_buffer.transform(vec, vec_out, req.frame_id);
+
+			res.vx = vec_out.vector.x;
+			res.vy = vec_out.vector.y;
+			res.vz = vec_out.vector.z;
+		} catch (const tf2::TransformException& e) {}
+
+		// use angular velocities as they are
+		res.yaw_rate = velocity.twist.angular.z;
+		res.pitch_rate = velocity.twist.angular.y;
+		res.roll_rate = velocity.twist.angular.x;
+	}
+
+	if (!TIMEOUT(global_position, global_position_timeout)) {
+		res.lat = global_position.latitude;
+		res.lon = global_position.longitude;
+		res.alt = global_position.altitude;
+	}
+
+	if (!TIMEOUT(battery, battery_timeout)) {
+		res.voltage = battery.voltage;
+		if (!battery.cell_voltage.empty()) {
+			res.cell_voltage = battery.cell_voltage[0];
+		}
+	}
+
+	return true;
+}
+
+// throws std::runtime_error
+void offboardAndArm()
+{
+	ros::Rate r(10);
+
+	if (state.mode != "OFFBOARD") {
+		auto start = ros::Time::now();
+		ROS_INFO("simple_offboard: switch to OFFBOARD");
+		static mavros_msgs::SetMode sm;
+		sm.request.custom_mode = "OFFBOARD";
+
+		if (!set_mode.call(sm))
+			throw std::runtime_error("Error calling set_mode service");
+
+		// wait for OFFBOARD mode
+		while (ros::ok()) {
+			ros::spinOnce();
+			if (state.mode == "OFFBOARD") {
+				break;
+			} else if (ros::Time::now() - start > offboard_timeout) {
+				throw std::runtime_error("OFFBOARD request timed out");
+			}
+			ros::spinOnce();
+			r.sleep();
+		}
+	}
+
+	if (!state.armed) {
+		ros::Time start = ros::Time::now();
+		ROS_INFO("simple_offboard: arming");
+		mavros_msgs::CommandBool srv;
+		srv.request.value = true;
+		if (!arming.call(srv)) {
+			throw std::runtime_error("Error calling arming service");
+		}
+
+		// wait until armed
+		while (ros::ok()) {
+			ros::spinOnce();
+			if (state.armed) {
+				break;
+			} else if (ros::Time::now() - start > arming_timeout) {
+				throw std::runtime_error("Arming timed out");
+			}
+			ros::spinOnce();
+			r.sleep();
+		}
+	}
+}
+
+inline double hypot(double x, double y, double z)
+{
+	return std::sqrt(x * x + y * y + z * z);
+}
+
+inline float getDistance(const Point& from, const Point& to)
+{
+	return hypot(from.x - to.x, from.y - to.y, from.z - to.z);
+}
+
+void getNavigateSetpoint(const ros::Time& stamp, float speed, Point& nav_setpoint)
+{
+	if (wait_armed) {
+		// don't start navigating if we're waiting arming
+		nav_start.header.stamp = stamp;
+	}
+
+	float distance = getDistance(nav_start.pose.position, setpoint_position_transformed.pose.position);
+	float time = distance / speed;
+	float passed = std::min((stamp - nav_start.header.stamp).toSec() / time, 1.0);
+
+	nav_setpoint.x = nav_start.pose.position.x + (setpoint_position_transformed.pose.position.x - nav_start.pose.position.x) * passed;
+	nav_setpoint.y = nav_start.pose.position.y + (setpoint_position_transformed.pose.position.y - nav_start.pose.position.y) * passed;
+	nav_setpoint.z = nav_start.pose.position.z + (setpoint_position_transformed.pose.position.z - nav_start.pose.position.z) * passed;
+}
+
+PoseStamped globalToLocal(double lat, double lon)
+{
+	auto earth = GeographicLib::Geodesic::WGS84();
+
+	// Determine azimuth and distance between current and destination point
+	double _, distance, azimuth;
+	earth.Inverse(global_position.latitude, global_position.longitude, lat, lon, distance, _, azimuth);
+
+	double x_offset, y_offset;
+	double azimuth_radians = azimuth * M_PI / 180;
+	x_offset = distance * sin(azimuth_radians);
+	y_offset = distance * cos(azimuth_radians);
+
+	auto local = tf_buffer.lookupTransform(local_frame, fcu_frame, global_position.header.stamp);
+
+	PoseStamped pose;
+	pose.header.stamp = global_position.header.stamp; // TODO: ?
+	pose.header.frame_id = local_frame;
+	pose.pose.position.x = local.transform.translation.x + x_offset;
+	pose.pose.position.y = local.transform.translation.y + y_offset;
+	pose.pose.orientation.w = 1;
+	return pose;
+}
+
+void publish(const ros::Time stamp)
+{
+	if (setpoint_type == NONE) return;
+
+	position_raw_msg.header.stamp = stamp;
+	thrust_msg.header.stamp = stamp;
+	rates_msg.header.stamp = stamp;
+
+	try {
+		// transform position and/or yaw
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION || setpoint_type == VELOCITY || setpoint_type == ATTITUDE) {
+			setpoint_position.header.stamp = stamp;
+			tf_buffer.transform(setpoint_position, setpoint_position_transformed, local_frame, ros::Duration(0.05));
+		}
+
+		// transform velocity
+		if (setpoint_type == VELOCITY) {
+			setpoint_velocity.header.stamp = stamp;
+			tf_buffer.transform(setpoint_velocity, setpoint_velocity_transformed, local_frame, ros::Duration(0.05));
+		}
+
+	} catch (const tf2::TransformException& e) {
+		ROS_WARN_THROTTLE(10, "simple_offboard: can't transform");
+	}
+
+	if (!target.child_frame_id.empty()) {
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+			static tf2_ros::TransformBroadcaster tf_broadcaster;
+			target.header = setpoint_position_transformed.header;
+			target.transform.translation.x = setpoint_position_transformed.pose.position.x;
+			target.transform.translation.y = setpoint_position_transformed.pose.position.y;
+			target.transform.translation.z = setpoint_position_transformed.pose.position.z;
+			target.transform.rotation = setpoint_position_transformed.pose.orientation;
+			tf_broadcaster.sendTransform(target);
+		}
+	}
+
+	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
+		position_msg.pose.orientation = setpoint_position_transformed.pose.orientation; // copy yaw
+		getNavigateSetpoint(stamp, nav_speed, position_msg.pose.position);
+
+		if (setpoint_yaw_type == TOWARDS) {
+			double yaw_towards = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
+			                           position_msg.pose.position.x - nav_start.pose.position.x);
+			position_msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, yaw_towards);
+		}
+	}
+
+	if (setpoint_type == POSITION) {
+		position_msg = setpoint_position_transformed;
+	}
+
+	if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
+		if (setpoint_yaw_type == YAW || setpoint_yaw_type == TOWARDS) {
+			position_msg.header.stamp = stamp;
+			position_pub.publish(position_msg);
+
+		} else {
+			position_raw_msg.type_mask = PositionTarget::IGNORE_VX +
+			                             PositionTarget::IGNORE_VY +
+			                             PositionTarget::IGNORE_VZ +
+			                             PositionTarget::IGNORE_AFX +
+			                             PositionTarget::IGNORE_AFY +
+			                             PositionTarget::IGNORE_AFZ +
+			                             PositionTarget::IGNORE_YAW;
+			position_raw_msg.yaw_rate = setpoint_yaw_rate;
+			position_raw_msg.position = position_msg.pose.position;
+			position_raw_pub.publish(position_raw_msg);
+		}
+	}
+
+	if (setpoint_type == VELOCITY) {
+		position_raw_msg.type_mask = PositionTarget::IGNORE_PX +
+		                             PositionTarget::IGNORE_PY +
+		                             PositionTarget::IGNORE_PZ +
+		                             PositionTarget::IGNORE_AFX +
+		                             PositionTarget::IGNORE_AFY +
+		                             PositionTarget::IGNORE_AFZ;
+		position_raw_msg.type_mask += setpoint_yaw_type == YAW ? PositionTarget::IGNORE_YAW_RATE : PositionTarget::IGNORE_YAW;
+		position_raw_msg.velocity = setpoint_velocity_transformed.vector;
+		position_raw_msg.yaw = tf2::getYaw(setpoint_position_transformed.pose.orientation);
+		position_raw_msg.yaw_rate = setpoint_yaw_rate;
+		position_raw_pub.publish(position_raw_msg);
+	}
+
+	if (setpoint_type == ATTITUDE) {
+		attitude_pub.publish(setpoint_position_transformed);
+		thrust_pub.publish(thrust_msg);
+	}
+
+	if (setpoint_type == RATES) {
+		// rates_pub.publish(rates_msg);
+		// thrust_pub.publish(thrust_msg);
+		// mavros rates topics waits for rates in local frame
+		// use rates in body frame for simplicity
+		att_raw_msg.header.stamp = stamp;
+		att_raw_msg.header.frame_id = fcu_frame;
+		att_raw_msg.type_mask = AttitudeTarget::IGNORE_ATTITUDE;
+		att_raw_msg.body_rate = rates_msg.twist.angular;
+		att_raw_msg.thrust = thrust_msg.thrust;
+		attitude_raw_pub.publish(att_raw_msg);
+	}
+}
+
+void publishSetpoint(const ros::TimerEvent& event)
+{
+	publish(event.current_real);
+}
+
+inline void checkState()
+{
+	if (TIMEOUT(state, state_timeout))
+		throw std::runtime_error("State timeout, check mavros settings");
+
+	if (!state.connected)
+		throw std::runtime_error("No connection to FCU, https://clever.copterexpress.com/connection.html");
+}
+
+inline void serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, float vy, float vz,
+                  float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate,
+                  float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm,
+                  uint8_t& success, string& message)
+{
+	auto stamp = ros::Time::now();
+
+	try {
+		if (busy)
+			throw std::runtime_error("Busy");
+
+		busy = true;
+
+		// Checks
+		checkState();
+
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
+			if (TIMEOUT(local_position, local_position_timeout))
+				throw std::runtime_error("No local position, check settings");
+
+			if (speed < 0)
+				throw std::runtime_error("Navigate speed must be positive, " + std::to_string(speed) + " passed");
+
+			if (speed == 0)
+				speed = default_speed;
+		}
+
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
+			if (yaw_rate != 0 && !std::isnan(yaw))
+				throw std::runtime_error("Yaw value should be NaN for setting yaw rate");
+
+			if (std::isnan(yaw_rate) && std::isnan(yaw))
+				throw std::runtime_error("Both yaw and yaw_rate cannot be NaN");
+		}
+
+		if (sp_type == NAVIGATE_GLOBAL) {
+			if (TIMEOUT(global_position, global_position_timeout))
+				throw std::runtime_error("No global position");
+		}
+
+		// default frame is local frame
+		if (frame_id.empty())
+			frame_id = local_frame;
+
+		// look up for reference frame
+		auto search = reference_frames.find(frame_id);
+		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
+
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE) {
+			// make sure transform from frame_id to reference frame available
+			if (!waitTransform(reference_frame, frame_id, stamp, transform_timeout))
+				throw std::runtime_error("Can't transform from " + frame_id + " to " + reference_frame);
+
+			// make sure transform from reference frame to local frame available
+			if (!waitTransform(local_frame, reference_frame, stamp, transform_timeout))
+				throw std::runtime_error("Can't transform from " + reference_frame + " to " + local_frame);
+		}
+
+		if (sp_type == NAVIGATE_GLOBAL) {
+			// Calculate x and from lat and lot in request's frame
+			auto xy_in_req_frame = tf_buffer.transform(globalToLocal(lat, lon), frame_id);
+			x = xy_in_req_frame.pose.position.x;
+			y = xy_in_req_frame.pose.position.y;
+		}
+
+		// Everything fine - switch setpoint type
+		setpoint_type = sp_type;
+
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
+			// starting point
+			nav_start = local_position;
+			nav_speed = speed;
+		}
+
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
+			if (std::isnan(yaw) && yaw_rate == 0) {
+				// keep yaw unchanged
+				yaw = tf2::getYaw(local_position.pose.orientation);
+			}
+		}
+
+		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
+			// destination point and/or yaw
+			static PoseStamped ps;
+			ps.header.frame_id = frame_id;
+			ps.header.stamp = stamp;
+			ps.pose.position.x = x;
+			ps.pose.position.y = y;
+			ps.pose.position.z = z;
+
+			if (std::isnan(yaw)) {
+				setpoint_yaw_type = YAW_RATE;
+				setpoint_yaw_rate = yaw_rate;
+			} else if (std::isinf(yaw) && yaw > 0) {
+				// yaw towards
+				setpoint_yaw_type = TOWARDS;
+				yaw = 0;
+				setpoint_yaw_rate = 0;
+			} else {
+				setpoint_yaw_type = YAW;
+				setpoint_yaw_rate = 0;
+				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
+			}
+
+			tf_buffer.transform(ps, setpoint_position, reference_frame);
+		}
+
+		if (sp_type == VELOCITY) {
+			static Vector3Stamped vel;
+			vel.header.frame_id = frame_id;
+			vel.header.stamp = stamp;
+			vel.vector.x = vx;
+			vel.vector.y = vy;
+			vel.vector.z = vz;
+			tf_buffer.transform(vel, setpoint_velocity, reference_frame);
+		}
+
+		if (sp_type == ATTITUDE || sp_type == RATES) {
+			thrust_msg.thrust = thrust;
+		}
+
+		if (sp_type == RATES) {
+			rates_msg.twist.angular.x = roll_rate;
+			rates_msg.twist.angular.y = pitch_rate;
+			rates_msg.twist.angular.z = yaw_rate;
+		}
+
+		wait_armed = auto_arm;
+
+		publish(stamp); // calculate initial transformed messages first
+		setpoint_timer.start();
+
+		if (auto_arm) {
+			offboardAndArm();
+			wait_armed = false;
+		} else if (state.mode != "OFFBOARD") {
+			setpoint_timer.stop();
+			throw std::runtime_error("Copter is not in OFFBOARD mode, use auto_arm?");
+		} else if (!state.armed) {
+			setpoint_timer.stop();
+			throw std::runtime_error("Copter is not armed, use auto_arm?");
+		}
+
+	} catch (const std::exception& e) {
+		message = e.what();
+		ROS_INFO("simple_offboard: %s", message.c_str());
+		busy = false;
+		return;
+	}
+
+	success = true;
+	busy = false;
+	return;
+}
+
+bool navigate(Navigate::Request& req, Navigate::Response& res) {
+	serve(NAVIGATE, req.x, req.y, req.z, 0, 0, 0, 0, 0, req.yaw, 0, 0, req.yaw_rate, 0, 0, 0, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return true;
+}
+
+bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res) {
+	serve(NAVIGATE_GLOBAL, 0, 0, req.z, 0, 0, 0, 0, 0, req.yaw, 0, 0, req.yaw_rate, req.lat, req.lon, 0, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return true;
+}
+
+bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
+	serve(POSITION, req.x, req.y, req.z, 0, 0, 0, 0, 0, req.yaw, 0, 0, req.yaw_rate, 0, 0, 0, 0, req.frame_id, req.auto_arm, res.success, res.message);
+	return true;
+}
+
+bool setVelocity(SetVelocity::Request& req, SetVelocity::Response& res) {
+	serve(VELOCITY, 0, 0, 0, req.vx, req.vy, req.vz, 0, 0, req.yaw, 0, 0, req.yaw_rate, 0, 0, 0, 0, req.frame_id, req.auto_arm, res.success, res.message);
+	return true;
+}
+
+bool setAttitude(SetAttitude::Request& req, SetAttitude::Response& res) {
+	serve(ATTITUDE, 0, 0, 0, 0, 0, 0, req.pitch, req.roll, req.yaw, 0, 0, 0, 0, 0, req.thrust, 0, req.frame_id, req.auto_arm, res.success, res.message);
+	return true;
+}
+
+bool setRates(SetRates::Request& req, SetRates::Response& res) {
+	serve(RATES, 0, 0, 0, 0, 0, 0, 0, 0, 0, req.pitch_rate, req.roll_rate, req.yaw_rate, 0, 0, req.thrust, 0, "", req.auto_arm, res.success, res.message);
+	return true;
+}
+
+bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
+{
+	try {
+		if (busy)
+			throw std::runtime_error("Busy");
+
+		busy = true;
+
+		checkState();
+
+		static mavros_msgs::SetMode sm;
+		sm.request.custom_mode = "AUTO.LAND";
+
+		if (!set_mode.call(sm))
+			throw std::runtime_error("Can't call set_mode service");
+
+		if (!sm.response.mode_sent)
+			throw std::runtime_error("Can't send set_mode request");
+
+		static ros::Rate r(10);
+		auto start = ros::Time::now();
+		while (ros::ok()) {
+			if (state.mode == "AUTO.LAND") {
+				res.success = true;
+				busy = false;
+				return true;
+			}
+			if (ros::Time::now() - start > land_timeout)
+				throw std::runtime_error("Land request timed out");
+
+			ros::spinOnce();
+			r.sleep();
+		}
+
+	} catch (const std::exception& e) {
+		res.message = e.what();
+		ROS_INFO("simple_offboard: %s", e.what());
+		busy = false;
+		return true;
+	}
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "simple_offboard");
+	ros::NodeHandle nh, nh_priv("~");
+
+	tf2_ros::TransformListener tf_listener(tf_buffer);
+
+	// Params
+	nh.param<string>("mavros/local_position/tf/frame_id", local_frame, "map");
+	nh.param<string>("mavros/local_position/tf/child_frame_id", fcu_frame, "base_link");
+	nh_priv.param("target_frame", target.child_frame_id, string("target"));
+	nh_priv.param("auto_release", auto_release, true);
+	nh_priv.param("default_speed", default_speed, 0.5f);
+	nh_priv.getParam("reference_frames", reference_frames);
+
+	state_timeout = ros::Duration(nh_priv.param("state_timeout", 3.0));
+	local_position_timeout = ros::Duration(nh_priv.param("local_position_timeout", 2.0));
+	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
+	global_position_timeout = ros::Duration(nh_priv.param("global_position_timeout", 10.0));
+	battery_timeout = ros::Duration(nh_priv.param("battery_timeout", 2.0));
+
+	transform_timeout = ros::Duration(nh_priv.param("transform_timeout", 0.5));
+	telemetry_transform_timeout = ros::Duration(nh_priv.param("telemetry_transform_timeout", 0.5));
+	offboard_timeout = ros::Duration(nh_priv.param("offboard_timeout", 3.0));
+	land_timeout = ros::Duration(nh_priv.param("land_timeout", 3.0));
+	arming_timeout = ros::Duration(nh_priv.param("arming_timeout", 4.0));
+
+	// Service clients
+	arming = nh.serviceClient<mavros_msgs::CommandBool>("mavros/cmd/arming");
+	set_mode = nh.serviceClient<mavros_msgs::SetMode>("mavros/set_mode");
+
+	// Telemetry subscribers
+	auto state_sub = nh.subscribe("mavros/state", 1, &handleMessage<mavros_msgs::State, state>);
+	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleMessage<PoseStamped, local_position>);
+	auto velocity_sub = nh.subscribe("mavros/local_position/velocity", 1, &handleMessage<TwistStamped, velocity>);
+	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
+	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
+
+	// Setpoint publishers
+	position_pub = nh.advertise<PoseStamped>("mavros/setpoint_position/local", 1);
+	position_raw_pub = nh.advertise<PositionTarget>("mavros/setpoint_raw/local", 1);
+	attitude_pub = nh.advertise<PoseStamped>("mavros/setpoint_attitude/attitude", 1);
+	attitude_raw_pub = nh.advertise<AttitudeTarget>("mavros/setpoint_raw/attitude", 1);
+	rates_pub = nh.advertise<TwistStamped>("mavros/setpoint_attitude/cmd_vel", 1);
+	thrust_pub = nh.advertise<Thrust>("mavros/setpoint_attitude/thrust", 1);
+
+	 // Service servers
+	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
+	auto na_serv = nh.advertiseService("navigate", &navigate);
+	auto ng_serv = nh.advertiseService("navigate_global", &navigateGlobal);
+	auto sp_serv = nh.advertiseService("set_position", &setPosition);
+	auto sv_serv = nh.advertiseService("set_velocity", &setVelocity);
+	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
+	auto sr_serv = nh.advertiseService("set_rates", &setRates);
+	auto ld_serv = nh.advertiseService("land", &land);
+
+	// Setpoint timer
+	setpoint_timer = nh.createTimer(ros::Duration(1 / nh_priv.param("setpoint_rate", 30.0)), &publishSetpoint, false, false);
+
+	position_msg.header.frame_id = local_frame;
+	position_raw_msg.header.frame_id = local_frame;
+	position_raw_msg.coordinate_frame = PositionTarget::FRAME_LOCAL_NED;
+	rates_msg.header.frame_id = fcu_frame;
+
+	ROS_INFO("simple_offboard: ready");
+	ros::spin();
+}

clever/src/simple_offboard.py

@@ -1,480 +0,0 @@
-#!/usr/bin/env python
-from __future__ import division
-
-import rospy
-from geometry_msgs.msg import TransformStamped, PoseStamped, Point, PointStamped, Vector3, \
-    Vector3Stamped, TwistStamped, QuaternionStamped
-from sensor_msgs.msg import NavSatFix, BatteryState
-import tf2_ros
-import tf2_geometry_msgs
-from mavros_msgs.msg import PositionTarget, AttitudeTarget, State
-from mavros_msgs.srv import CommandBool, SetMode
-from threading import Lock
-import math
-
-from global_local import global_to_local
-from util import euler_from_orientation, vector3_from_point, orientation_from_euler
-from std_srvs.srv import Trigger
-from clever import srv
-
-
-rospy.init_node('simple_offboard')
-
-
-# TF2 stuff
-tf_broadcaster = tf2_ros.TransformBroadcaster()
-static_tf_broadcaster = tf2_ros.StaticTransformBroadcaster()
-
-tf_buffer = tf2_ros.Buffer()
-tf_listener = tf2_ros.TransformListener(tf_buffer)
-
-
-position_pub = rospy.Publisher('/mavros/setpoint_raw/local', PositionTarget, queue_size=1)
-attitude_pub = rospy.Publisher('/mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
-target_pub = rospy.Publisher('~target', PoseStamped, queue_size=1)
-
-arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool, persistent=True)
-set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode, persistent=True)
-
-
-pose = None
-global_position = None
-velocity = None
-state = None
-battery = None
-
-
-def pose_update(data):
-    global pose
-    pose = data
-
-
-def global_position_update(data):
-    global global_position
-    global_position = data
-
-
-def velocity_update(data):
-    global velocity
-    velocity = data
-
-
-def state_update(data):
-    global state
-    state = data
-
-
-def battery_update(data):
-    global battery
-    battery = data
-
-
-rospy.Subscriber('/mavros/state', State, state_update)
-rospy.Subscriber('/mavros/local_position/pose', PoseStamped, pose_update)
-rospy.Subscriber('/mavros/local_position/velocity', TwistStamped, velocity_update)
-rospy.Subscriber('/mavros/global_position/global', NavSatFix, global_position_update)
-rospy.Subscriber('/mavros/battery', BatteryState, battery_update)
-
-
-PT = PositionTarget
-AT = AttitudeTarget
-AUTO_OFFBOARD = rospy.get_param('~auto_offboard', True)
-AUTO_ARM = AUTO_OFFBOARD and rospy.get_param('~auto_arm', True)
-OFFBOARD_TIMEOUT = rospy.Duration(rospy.get_param('~offboard_timeout', 3))
-ARM_TIMEOUT = rospy.Duration(rospy.get_param('~arm_timeout', 5))
-LOCAL_POSITION_TIMEOUT = rospy.Duration(rospy.get_param('~local_position_timeout', 0.5))
-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('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)
-
-
-def offboard_and_arm():
-    if AUTO_OFFBOARD and state.mode != 'OFFBOARD':
-        rospy.sleep(.3)
-        rospy.loginfo('Switch mode to OFFBOARD')
-        res = set_mode(base_mode=0, custom_mode='OFFBOARD')
-
-        start = rospy.get_rostime()
-        while True:
-            if state.mode == 'OFFBOARD':
-                break
-            if rospy.get_rostime() - start > OFFBOARD_TIMEOUT:
-                raise Exception('OFFBOARD request timed out')
-            rospy.sleep(0.1)
-
-    if AUTO_ARM and not state.armed:
-        rospy.loginfo('Arming')
-        res = arming(True)
-
-        start = rospy.get_rostime()
-        while True:
-            if state.armed:
-                return True
-            if rospy.get_rostime() - start > ARM_TIMEOUT:
-                raise Exception('Arming timed out')
-            rospy.sleep(0.1)
-
-
-ps = PoseStamped()
-vs = Vector3Stamped()
-pt = PositionTarget()
-at = AttitudeTarget()
-
-
-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)
-    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:
-        # time to brake
-        time_before_braking = time - BRAKE_TIME
-        brake_time_passed = (stamp - start_stamp - time_before_braking)
-
-        if brake_time_passed > 2 * BRAKE_TIME:
-            # finish
-            k = 1
-        else:
-            # brake!
-            k_before_braking = time_before_braking / time
-            k_after_braking = (speed * brake_time_passed.to_sec() - brake_time_passed.to_sec() ** 2 * speed / 4 / BRAKE_TIME.to_sec()) / distance
-            k = k_before_braking + k_after_braking
-
-    k = min(k, 1)
-
-    p = Point()
-    p.x = start.x + (finish.x - start.x) * k
-    p.y = start.y + (finish.y - start.y) * k
-    p.z = start.z + (finish.z - start.z) * k
-    return p
-
-
-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
-
-        if update_frame:
-            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)
-
-            if isinstance(req, srv.NavigateGlobalRequest):
-                # Recalculate x and y from lat and lon
-                current_nav_finish.pose.position.x, current_nav_finish.pose.position.y = \
-                    global_to_local(req.lat, req.lon)
-
-        if not continued:
-            current_nav_start = pose.pose.position
-            current_nav_start_stamp = stamp
-
-        if NAVIGATE_AFTER_ARMED and not state.armed:
-            current_nav_start_stamp = stamp
-
-        setpoint = get_navigate_setpoint(stamp, current_nav_start, current_nav_finish.pose.position,
-                                         current_nav_start_stamp, req.speed)
-
-        yaw_rate_flag = math.isnan(req.yaw)
-        msg = pt
-        msg.coordinate_frame = PT.FRAME_LOCAL_NED
-        msg.type_mask = PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ + \
-                        PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ + \
-                        (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE)
-        msg.position = setpoint
-        msg.yaw = euler_from_orientation(current_nav_finish.pose.orientation, 'sxyz')[2]
-        msg.yaw_rate = req.yaw_rate
-        return position_pub, msg
-
-    elif isinstance(req, (srv.SetPositionRequest, srv.SetPositionGlobalRequest)):
-        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)
-
-        if isinstance(req, srv.SetPositionGlobalRequest):
-            pose_local.pose.position.x, pose_local.pose.position.y = global_to_local(req.lat, req.lon)
-
-        yaw_rate_flag = math.isnan(req.yaw)
-        msg = pt
-        msg.coordinate_frame = PT.FRAME_LOCAL_NED
-        msg.type_mask = PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ + \
-                        PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ + \
-                        (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE)
-        msg.position = pose_local.pose.position
-        msg.yaw = euler_from_orientation(pose_local.pose.orientation, 'sxyz')[2]
-        msg.yaw_rate = req.yaw_rate
-        return position_pub, msg
-
-    elif isinstance(req, srv.SetVelocityRequest):
-        vs.vector = Vector3(req.vx, req.vy, req.vz)
-        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)
-
-        yaw_rate_flag = math.isnan(req.yaw)
-        msg = pt
-        msg.coordinate_frame = PT.FRAME_LOCAL_NED
-        msg.type_mask = PT.IGNORE_PX + PT.IGNORE_PY + PT.IGNORE_PZ + \
-                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ + \
-                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE)
-        msg.velocity = vector_local.vector
-        msg.yaw = euler_from_orientation(pose_local.pose.orientation, 'sxyz')[2]
-        msg.yaw_rate = req.yaw_rate
-        return position_pub, msg
-
-    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)
-        msg = at
-        msg.orientation = pose_local.pose.orientation
-        msg.thrust = req.thrust
-        msg.type_mask = AT.IGNORE_YAW_RATE + AT.IGNORE_PITCH_RATE + AT.IGNORE_ROLL_RATE
-        return attitude_pub, msg
-
-    elif isinstance(req, srv.SetRatesRequest):
-        msg = at
-        msg.thrust = req.thrust
-        msg.type_mask = AT.IGNORE_ATTITUDE
-        msg.body_rate.x = req.roll_rate
-        msg.body_rate.y = req.pitch_rate
-        msg.body_rate.z = req.yaw_rate
-        return attitude_pub, msg
-
-
-current_pub = None
-current_msg = None
-current_req = None
-current_nav_start = None
-current_nav_finish = None
-current_nav_start_stamp = None
-handle_lock = Lock()
-
-
-def handle(req):
-    global current_pub, current_msg, current_req
-
-    if not state or not state.connected:
-        rospy.logwarn('No connection to the FCU')
-        return {'message': 'No connection to the FCU'}
-
-    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)):
-        if req.speed < 0:
-            rospy.logwarn('Navigate speed must be positive, %s passed')
-            return {'message': 'Navigate speed must be positive, %s passed' % req.speed}
-        elif req.speed == 0:
-            req.speed = DEFAULT_SPEED
-
-    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)) and \
-            (pose is None or rospy.get_rostime() - pose.header.stamp > LOCAL_POSITION_TIMEOUT):
-        rospy.logwarn('No local position')
-        return {'message': 'No local position'}
-
-    if getattr(req, 'yaw_rate', 0) != 0 and not math.isnan(getattr(req, 'yaw')):
-        rospy.logwarn('Yaw value should be NaN for setting yaw rate')
-        return {'message': 'Yaw value should be NaN for setting yaw rate'}
-
-    if math.isnan(getattr(req, 'yaw', 0)) and math.isnan(getattr(req, 'yaw_rate', 0)):
-        rospy.logwarn('Both yaw and yaw_rate cannot be NaN')
-        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:
-            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)
-
-            current_msg.header.stamp = stamp
-            current_pub.publish(current_msg)
-
-        if req.auto_arm:
-            offboard_and_arm()
-        else:
-            if state.mode != 'OFFBOARD':
-                return {'message': 'Copter is not in OFFBOARD mode, use auto_arm?'}
-            if not state.armed:
-                return {'message': 'Copter is not armed, use auto_arm?'}
-
-        return {'success': True}
-
-    except Exception as e:
-        rospy.logerr(str(e))
-        return {'success': False, 'message': str(e)}
-
-
-def land(req):
-    if not state or not state.connected:
-        rospy.logwarn('No connection to the FCU')
-        return {'message': 'No connection to the FCU'}
-
-    rospy.loginfo('Set %s mode', LAND_MODE)
-    res = set_mode(custom_mode=LAND_MODE)
-    if not res.mode_sent:
-        return {'message': 'Cannot send %s mode request' % LAND_MODE}
-
-    start = rospy.get_rostime()
-    while True:
-        if state.mode == LAND_MODE:
-            return {'success': True}
-        if rospy.get_rostime() - start > LAND_TIMEOUT:
-            return {'message': '%s mode request timed out' % LAND_MODE}
-        rospy.sleep(0.1)
-
-
-def release(req):
-    global current_pub
-    current_pub = None
-    rospy.loginfo('simple_offboard: release')
-    return {'success': True}
-
-
-rospy.Service('navigate', srv.Navigate, handle)
-rospy.Service('navigate_global', srv.NavigateGlobal, handle)
-rospy.Service('set_position', srv.SetPosition, handle)
-rospy.Service('set_position_global', srv.SetPositionGlobal, handle)
-rospy.Service('set_velocity', srv.SetVelocity, handle)
-rospy.Service('set_attitude', srv.SetAttitude, handle)
-rospy.Service('set_rates', srv.SetRates, handle)
-rospy.Service('land', Trigger, land)
-rospy.Service('release', Trigger, release)
-
-
-def get_telemetry(req):
-    res = {
-        'frame_id': req.frame_id or LOCAL_FRAME,
-        'x': float('nan'),
-        'y': float('nan'),
-        'z': float('nan'),
-        'lat': float('nan'),
-        'lon': float('nan'),
-        'alt': float('nan'),
-        'vx': float('nan'),
-        'vy': float('nan'),
-        'vz': float('nan'),
-        'pitch': float('nan'),
-        'roll': float('nan'),
-        'yaw': float('nan'),
-        'pitch_rate': float('nan'),
-        'roll_rate': float('nan'),
-        'yaw_rate': float('nan'),
-        'voltage': float('nan'),
-        'cell_voltage': float('nan')
-    }
-    frame_id = req.frame_id or LOCAL_FRAME
-    stamp = rospy.get_rostime()
-
-    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')
-    except:
-        pass
-
-    if velocity:
-        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
-        res['roll_rate'] = velocity.twist.angular.x
-
-    if global_position and stamp - global_position.header.stamp < rospy.Duration(5):
-        res['lat'] = global_position.latitude
-        res['lon'] = global_position.longitude
-        res['alt'] = global_position.altitude
-
-    if state:
-        res['connected'] = state.connected
-        res['armed'] = state.armed
-        res['mode'] = state.mode
-
-    if battery:
-        res['voltage'] = battery.voltage
-        try:
-            res['cell_voltage'] = battery.cell_voltage[0]
-        except:
-            pass
-
-    return res
-
-
-rospy.Service('get_telemetry', srv.GetTelemetry, get_telemetry)
-
-
-rospy.loginfo('simple_offboard inited')
-
-
-def start_loop():
-    global current_pub, current_msg, current_req
-    r = rospy.Rate(SETPOINT_RATE)
-
-    while not rospy.is_shutdown():
-        with handle_lock:
-            if current_pub is not None:
-                try:
-                    stamp = rospy.get_rostime()
-
-                    if getattr(current_req, 'update_frame', False) or \
-                            isinstance(current_req, (srv.NavigateRequest, srv.NavigateGlobalRequest)):
-                        current_pub, current_msg = get_publisher_and_message(current_req, stamp, True,
-                                                                             getattr(current_req, 'update_frame', False))
-
-                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()
-
-
-start_loop()

clever/src/utils.h

@@ -1,36 +0,0 @@
-#pragma once
-// TODO: merge with util.h
-
-#include <string>
-#include <ros/ros.h>
-#include <geometry_msgs/Vector3.h>
-#include <geometry_msgs/Point.h>
-
-// Read required param or shutdown the node
-template<typename T>
-static void param(ros::NodeHandle nh, const std::string& param_name, T& param_val)
-{
-	if (!nh.getParam(param_name, param_val)) {
-		ROS_FATAL("Required param %s is not defined", param_name);
-		ros::shutdown();
-	}
-}
-
-static inline double hypot(double x, double y, double z)
-{
-	return std::sqrt(x*x + y*y + z*z);
-}
-
-static inline void vectorToPoint(const geometry_msgs::Vector3& vector, geometry_msgs::Point& point)
-{
-	point.x = vector.x;
-	point.y = vector.y;
-	point.z = vector.z;
-}
-
-static inline void pointToVector(const geometry_msgs::Point& point, geometry_msgs::Vector3& vector)
-{
-	vector.x = point.x;
-	vector.y = point.y;
-	vector.z = point.z;
-}