mirror of
https://github.com/CopterExpress/clover.git
synced 2026-06-04 08:49:33 +00:00
Compare commits
2 Commits
v0.16-alph
...
v0.13
| Author | SHA1 | Date | |
|---|---|---|---|
|
594d8b4fc8 | ||
|
|
e238032de7 |
@@ -9,12 +9,5 @@ charset = utf-8
|
||||
indent_style = space
|
||||
indent_size = 4
|
||||
|
||||
[*.{cpp,h,js,html,txt}]
|
||||
[*.{js,html}]
|
||||
indent_style = tab
|
||||
|
||||
[*.txt]
|
||||
tab_width = 8
|
||||
|
||||
[CMakeLists.txt]
|
||||
indent_style = space
|
||||
indent_size = 2
|
||||
|
||||
5
.gitattributes
vendored
5
.gitattributes
vendored
@@ -1,5 +1,2 @@
|
||||
apps/ios/cleverrc/roslib.js linguist-vendored
|
||||
apps/ios/cleverrc/BinUtils.swift linguist-vendored
|
||||
roslib.js linguist-vendored
|
||||
eventemitter2.js linguist-vendored
|
||||
ros3d.js linguist-vendored
|
||||
three.min.js linguist-vendored
|
||||
|
||||
5
.gitignore
vendored
5
.gitignore
vendored
@@ -1,6 +1,3 @@
|
||||
*.pyc
|
||||
*.DS_Store
|
||||
/images
|
||||
node_modules/
|
||||
_book/
|
||||
package-lock.json
|
||||
/images
|
||||
@@ -1,75 +1,22 @@
|
||||
{
|
||||
"MD003": false,
|
||||
"MD010": {
|
||||
"code_blocks": false
|
||||
},
|
||||
"MD013": false,
|
||||
"MD024": false,
|
||||
"MD026" :{
|
||||
"punctuation": ".,;:!"
|
||||
},
|
||||
"MD033": false,
|
||||
"MD034": false,
|
||||
"MD040": false,
|
||||
"MD044": {
|
||||
"names": [
|
||||
"MAVLink",
|
||||
"ROS",
|
||||
"ROS Kinetic",
|
||||
"OpenCV",
|
||||
"GitHub",
|
||||
"FPV",
|
||||
"PPM",
|
||||
"PWM",
|
||||
"Python",
|
||||
"C++",
|
||||
"PX4",
|
||||
"QGroundControl",
|
||||
"QGC",
|
||||
"WireShark",
|
||||
"FlightPlot",
|
||||
"OFFBOARD",
|
||||
"LPE",
|
||||
"EKF2",
|
||||
"SITL",
|
||||
"PID",
|
||||
"Wi-Fi",
|
||||
"Raspberry Pi",
|
||||
"RPi",
|
||||
"Linux",
|
||||
"Windows",
|
||||
"macOS",
|
||||
"iOS",
|
||||
"Android",
|
||||
"Bluetooth",
|
||||
"Raspbian",
|
||||
"Raspbian Jesse",
|
||||
"Raspbian Stretch",
|
||||
"Pixhawk",
|
||||
"Pixracer",
|
||||
"Arduino",
|
||||
"GPS",
|
||||
"ArUco",
|
||||
"LIRC",
|
||||
"GPIO",
|
||||
"HC-SR04",
|
||||
"STM",
|
||||
"LED",
|
||||
"USB",
|
||||
"FAT32",
|
||||
"uORB",
|
||||
"SSH",
|
||||
"API",
|
||||
"UART",
|
||||
"GND",
|
||||
"VCC",
|
||||
"SCL",
|
||||
"SDA",
|
||||
"TCP",
|
||||
"UDP",
|
||||
"QR"
|
||||
"ArUco"
|
||||
],
|
||||
"code_blocks": false
|
||||
},
|
||||
"MD045": false
|
||||
}
|
||||
}
|
||||
|
||||
74
.travis.yml
74
.travis.yml
@@ -4,67 +4,29 @@ services:
|
||||
- docker
|
||||
env:
|
||||
global:
|
||||
- DOCKER="sfalexrog/img-tool:qemu-update"
|
||||
- DOCKER="smirart/img-tool:v0.1"
|
||||
- TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
|
||||
- if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="${TRAVIS_COMMIT}}"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
|
||||
- IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
|
||||
git:
|
||||
depth: 1
|
||||
matrix:
|
||||
fast_finish: true
|
||||
include:
|
||||
- name: "Raspberry Pi Image Build"
|
||||
cache:
|
||||
directories:
|
||||
- imgcache
|
||||
before_script:
|
||||
- docker pull ${DOCKER}
|
||||
# Check if there are any cached images, copy them to our "images" directory
|
||||
- if [ -n "$(ls -A imgcache/*.zip)" ]; then mkdir -p images && cp imgcache/*.zip images; fi
|
||||
script:
|
||||
- docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER}
|
||||
before_cache:
|
||||
- cp images/*.zip imgcache
|
||||
before_deploy:
|
||||
# Set up git user name and tag this commit
|
||||
- git config --local user.name "goldarte"
|
||||
- git config --local user.email "goldartt@gmail.com"
|
||||
- sudo chmod -R 777 *
|
||||
- cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
|
||||
deploy:
|
||||
provider: releases
|
||||
api_key: ${GITHUB_OAUTH_TOKEN}
|
||||
file: ${IMAGE_NAME}.zip
|
||||
skip_cleanup: true
|
||||
on:
|
||||
tags: true
|
||||
draft: true
|
||||
- name: "Documentation"
|
||||
language: node_js
|
||||
node_js:
|
||||
- "10"
|
||||
before_script:
|
||||
- npm install gitbook-cli -g
|
||||
- npm install markdownlint-cli -g
|
||||
- gitbook -V
|
||||
- markdownlint -V
|
||||
script:
|
||||
- markdownlint docs
|
||||
- gitbook install
|
||||
- gitbook build
|
||||
# ***
|
||||
# Disable deployments for now, revisit this later
|
||||
# --sfalexrog, 06.02.2019
|
||||
# ***
|
||||
# deploy:
|
||||
# provider: pages
|
||||
# local-dir: _book
|
||||
# skip-cleanup: true
|
||||
# github-token: ${GITHUB_OAUTH_TOKEN}
|
||||
# keep-history: true
|
||||
# target-branch: gh-pages
|
||||
# on:
|
||||
# branch: WIP/gitbook-autobuild
|
||||
before_script:
|
||||
- docker pull ${DOCKER}
|
||||
script:
|
||||
- docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER}
|
||||
before_deploy:
|
||||
# Set up git user name and tag this commit
|
||||
- git config --local user.name "urpylka"
|
||||
- git config --local user.email "urpylka@gmail.com"
|
||||
- sudo chmod -R 777 *
|
||||
- cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
|
||||
deploy:
|
||||
provider: releases
|
||||
api_key: ${GITHUB_OAUTH_TOKEN}
|
||||
file: ${IMAGE_NAME}.zip
|
||||
skip_cleanup: true
|
||||
on:
|
||||
tags: true
|
||||
|
||||
# More info there
|
||||
# https://github.com/travis-ci/travis-ci/issues/6893
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
<img src="docs/assets/clever3.png" align="right" width="300px" alt="CLEVER drone">
|
||||
|
||||
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.
|
||||
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.
|
||||
|
||||
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).**
|
||||
|
||||
[](https://travis-ci.org/CopterExpress/clever)
|
||||
[](https://travis-ci.org/urpylka/clever)
|
||||
|
||||
Image includes:
|
||||
|
||||
@@ -23,10 +23,9 @@ 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://clever.copterexpress.com/simple_offboard.html).
|
||||
API description (in Russian) for autonomous flights is available [on GitBook](https://copterexpress.gitbooks.io/clever/simple_offboard.html).
|
||||
|
||||
## Manual installation
|
||||
|
||||
|
||||
11
apps/android/.gitignore
vendored
11
apps/android/.gitignore
vendored
@@ -1,11 +0,0 @@
|
||||
*.iml
|
||||
.gradle
|
||||
/local.properties
|
||||
/.idea/caches/build_file_checksums.ser
|
||||
/.idea/libraries
|
||||
/.idea/modules.xml
|
||||
/.idea/workspace.xml
|
||||
.DS_Store
|
||||
/build
|
||||
/captures
|
||||
.externalNativeBuild
|
||||
57
apps/android/.idea/assetWizardSettings.xml
generated
57
apps/android/.idea/assetWizardSettings.xml
generated
@@ -1,57 +0,0 @@
|
||||
<?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>
|
||||
35
apps/android/.idea/codeStyles/Project.xml
generated
35
apps/android/.idea/codeStyles/Project.xml
generated
@@ -1,35 +0,0 @@
|
||||
<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>
|
||||
@@ -1,5 +0,0 @@
|
||||
<component name="ProjectCodeStyleConfiguration">
|
||||
<state>
|
||||
<option name="USE_PER_PROJECT_SETTINGS" value="true" />
|
||||
</state>
|
||||
</component>
|
||||
18
apps/android/.idea/gradle.xml
generated
18
apps/android/.idea/gradle.xml
generated
@@ -1,18 +0,0 @@
|
||||
<?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>
|
||||
38
apps/android/.idea/misc.xml
generated
38
apps/android/.idea/misc.xml
generated
@@ -1,38 +0,0 @@
|
||||
<?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$/build/classes" />
|
||||
</component>
|
||||
<component name="ProjectType">
|
||||
<option name="id" value="Android" />
|
||||
</component>
|
||||
</project>
|
||||
12
apps/android/.idea/runConfigurations.xml
generated
12
apps/android/.idea/runConfigurations.xml
generated
@@ -1,12 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="RunConfigurationProducerService">
|
||||
<option name="ignoredProducers">
|
||||
<set>
|
||||
<option value="org.jetbrains.plugins.gradle.execution.test.runner.AllInPackageGradleConfigurationProducer" />
|
||||
<option value="org.jetbrains.plugins.gradle.execution.test.runner.TestClassGradleConfigurationProducer" />
|
||||
<option value="org.jetbrains.plugins.gradle.execution.test.runner.TestMethodGradleConfigurationProducer" />
|
||||
</set>
|
||||
</option>
|
||||
</component>
|
||||
</project>
|
||||
6
apps/android/.idea/vcs.xml
generated
6
apps/android/.idea/vcs.xml
generated
@@ -1,6 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="VcsDirectoryMappings">
|
||||
<mapping directory="$PROJECT_DIR$" vcs="Git" />
|
||||
</component>
|
||||
</project>
|
||||
1
apps/android/app/.gitignore
vendored
1
apps/android/app/.gitignore
vendored
@@ -1 +0,0 @@
|
||||
/build
|
||||
@@ -1,33 +0,0 @@
|
||||
apply plugin: 'com.android.application'
|
||||
|
||||
apply plugin: 'kotlin-android'
|
||||
|
||||
apply plugin: 'kotlin-android-extensions'
|
||||
|
||||
android {
|
||||
compileSdkVersion 28
|
||||
defaultConfig {
|
||||
applicationId "express.copter.cleverrc"
|
||||
minSdkVersion 19
|
||||
targetSdkVersion 28
|
||||
versionCode 1
|
||||
versionName "1.0"
|
||||
testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
|
||||
}
|
||||
buildTypes {
|
||||
release {
|
||||
minifyEnabled false
|
||||
proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
dependencies {
|
||||
implementation fileTree(dir: 'libs', include: ['*.jar'])
|
||||
implementation"org.jetbrains.kotlin:kotlin-stdlib-jdk7:$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'
|
||||
}
|
||||
21
apps/android/app/proguard-rules.pro
vendored
21
apps/android/app/proguard-rules.pro
vendored
@@ -1,21 +0,0 @@
|
||||
# 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
|
||||
Binary file not shown.
@@ -1,24 +0,0 @@
|
||||
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)
|
||||
}
|
||||
}
|
||||
@@ -1,25 +0,0 @@
|
||||
<?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>
|
||||
|
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</manifest>
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@@ -1,57 +0,0 @@
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|
||||
d="m 0,0 c 0.721,0.884 1.337,1.848 1.832,2.865 0.359,0.739 0.659,1.516 0.89,2.311 0.244,0.839 0.413,1.706 0.503,2.579 0.173,1.678 0.063,3.352 -0.329,4.976 -0.323,1.339 -0.834,2.625 -1.518,3.823 -0.416,0.728 -0.898,1.425 -1.432,2.072 -0.597,0.724 -1.268,1.394 -1.993,1.994 -0.636,0.525 -1.32,0.999 -2.034,1.409 -0.75,0.431 -1.539,0.796 -2.345,1.086 -1,0.359 -2.041,0.609 -3.095,0.743 -0.401,0.051 -0.808,0.086 -1.209,0.104 -0.205,0.009 -0.41,0.014 -0.615,0.015 h -0.098 c -0.479,-0.003 -0.943,-0.026 -1.379,-0.069 -0.825,-0.08 -1.65,-0.231 -2.451,-0.45 -0.861,-0.235 -1.705,-0.551 -2.509,-0.941 -0.765,-0.371 -1.502,-0.811 -2.191,-1.308 -0.571,-0.411 -1.115,-0.866 -1.618,-1.352 -0.236,-0.227 -0.471,-0.469 -0.698,-0.72 v -6.121 c 0.079,-0.052 0.161,-0.1 0.245,-0.144 0.07,-0.037 0.143,-0.071 0.216,-0.102 0.064,-0.027 0.13,-0.051 0.195,-0.074 0.394,-0.132 0.784,-0.158 1.127,-0.077 0.053,0.012 0.105,0.027 0.156,0.045 0.069,0.024 0.136,0.054 0.201,0.088 0.088,0.047 0.173,0.104 0.251,0.169 0.04,0.034 0.078,0.071 0.116,0.107 l 0.029,0.028 c 0.035,0.029 0.055,0.046 0.077,0.063 l 0.107,0.085 c 0.164,0.132 0.314,0.24 0.466,0.338 0.319,0.205 0.662,0.373 1.018,0.502 0.317,0.115 0.649,0.198 0.987,0.245 0.56,0.082 1.126,0.068 1.681,-0.038 0.51,-0.098 1,-0.273 1.455,-0.521 0.473,-0.257 0.901,-0.587 1.272,-0.981 0.394,-0.418 0.711,-0.894 0.942,-1.414 0.248,-0.558 0.392,-1.151 0.427,-1.762 0.037,-0.645 -0.052,-1.307 -0.258,-1.914 -0.22,-0.652 -0.583,-1.267 -1.049,-1.781 -0.491,-0.54 -1.105,-0.976 -1.776,-1.26 -0.352,-0.149 -0.724,-0.259 -1.106,-0.325 -0.421,-0.072 -0.849,-0.091 -1.272,-0.057 -0.371,0.03 -0.739,0.1 -1.09,0.21 -0.365,0.113 -0.716,0.267 -1.042,0.458 -0.167,0.096 -0.336,0.209 -0.503,0.334 -0.051,0.039 -0.102,0.078 -0.151,0.118 l -0.108,0.086 c -0.028,0.022 -0.053,0.043 -0.079,0.065 -0.03,0.028 -0.056,0.054 -0.082,0.079 -0.029,0.026 -0.061,0.054 -0.094,0.081 -0.064,0.05 -0.132,0.095 -0.201,0.133 -0.064,0.035 -0.132,0.065 -0.201,0.091 -0.051,0.018 -0.101,0.034 -0.154,0.046 C -20.829,6.024 -21.219,6 -21.613,5.873 -21.677,5.852 -21.742,5.828 -21.806,5.802 -21.887,5.768 -21.967,5.73 -22.045,5.689 -22.129,5.645 -22.21,5.598 -22.289,5.546 v -7.162 l 7.532,-0.003 c 0.02,-0.001 0.04,-0.002 0.06,-0.005 0.098,-0.015 0.192,-0.052 0.272,-0.107 0.026,-0.018 0.053,-0.039 0.076,-0.062 0.035,-0.033 0.058,-0.061 0.085,-0.096 l 0.053,-0.068 c 0.094,-0.125 0.184,-0.257 0.267,-0.395 0.362,-0.608 0.557,-1.269 0.563,-1.912 0.002,-0.099 -0.002,-0.198 -0.01,-0.298 -0.009,-0.11 -0.025,-0.221 -0.046,-0.33 -0.072,-0.362 -0.213,-0.711 -0.41,-1.008 -0.074,-0.11 -0.153,-0.214 -0.238,-0.309 -0.026,-0.029 -0.053,-0.057 -0.08,-0.086 l -0.025,-0.026 v 10e-4 l -0.18,-0.227 c -0.083,-0.106 -0.161,-0.219 -0.23,-0.334 -0.143,-0.233 -0.26,-0.483 -0.349,-0.744 -0.223,-0.654 -0.261,-1.359 -0.109,-2.037 0.084,-0.378 0.229,-0.742 0.429,-1.083 0.208,-0.351 0.47,-0.665 0.779,-0.932 0.323,-0.28 0.687,-0.5 1.081,-0.656 0.429,-0.17 0.884,-0.257 1.352,-0.26 h 0.026 c 0.482,0 0.951,0.09 1.397,0.269 0.473,0.19 0.913,0.483 1.274,0.848 0.383,0.388 0.682,0.862 0.865,1.371 0.203,0.566 0.267,1.184 0.184,1.786 -0.066,0.477 -0.221,0.931 -0.461,1.349 -0.117,0.204 -0.256,0.4 -0.413,0.584 l -0.073,0.089 0.005,0.01 -0.002,0.006 0.007,0.002 0.017,0.033 0.035,0.065 -0.091,-0.085 -0.053,0.057 c -0.051,0.06 -0.101,0.12 -0.148,0.182 -0.091,0.121 -0.173,0.253 -0.243,0.391 -0.067,0.13 -0.125,0.27 -0.172,0.417 -0.038,0.116 -0.068,0.239 -0.091,0.363 -0.018,0.097 -0.031,0.196 -0.039,0.294 -0.052,0.624 0.082,1.281 0.385,1.901 0.109,0.221 0.239,0.436 0.386,0.639 0.031,0.043 0.064,0.085 0.096,0.127 0.032,0.041 0.055,0.069 0.09,0.102 0.025,0.023 0.051,0.045 0.078,0.063 0.079,0.054 0.172,0.091 0.27,0.106 0.02,0.003 0.04,0.004 0.06,0.005 l 0.038,0.003 h 6.454 C -0.981,-1.113 -0.465,-0.57 0,0" /></g>
|
||||
</g></g></g></svg>
|
||||
|
Before Width: | Height: | Size: 13 KiB |
@@ -1,24 +0,0 @@
|
||||
<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>
|
||||
@@ -1,125 +0,0 @@
|
||||
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;
|
||||
}
|
||||
@@ -1,139 +0,0 @@
|
||||
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);
|
||||
@@ -1,142 +0,0 @@
|
||||
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);
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,115 +0,0 @@
|
||||
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 }));
|
||||
}
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 30 KiB |
@@ -1,86 +0,0 @@
|
||||
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()))
|
||||
}
|
||||
}
|
||||
@@ -1,34 +0,0 @@
|
||||
<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>
|
||||
@@ -1,74 +0,0 @@
|
||||
<?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>
|
||||
@@ -1,14 +0,0 @@
|
||||
<?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>
|
||||
@@ -1,5 +0,0 @@
|
||||
<?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>
|
||||
@@ -1,5 +0,0 @@
|
||||
<?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>
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 1.8 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 2.9 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 3.7 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 1.3 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 1.6 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 2.3 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 2.6 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 4.5 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 5.4 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 4.3 KiB |
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|
Before Width: | Height: | Size: 8.8 KiB |
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|
Before Width: | Height: | Size: 8.8 KiB |
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|
Before Width: | Height: | Size: 6.4 KiB |
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|
Before Width: | Height: | Size: 14 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 13 KiB |
@@ -1,6 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<resources>
|
||||
<color name="colorPrimary">#fafafa</color>
|
||||
<color name="colorPrimaryDark">#d1d1d1</color>
|
||||
<color name="colorAccent">#757575</color>
|
||||
</resources>
|
||||
@@ -1,4 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<resources>
|
||||
<color name="ic_launcher_background">#FFFFFF</color>
|
||||
</resources>
|
||||
@@ -1,3 +0,0 @@
|
||||
<resources>
|
||||
<string name="app_name">CLEVER RC</string>
|
||||
</resources>
|
||||
@@ -1,18 +0,0 @@
|
||||
<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>
|
||||
@@ -1,17 +0,0 @@
|
||||
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)
|
||||
}
|
||||
}
|
||||
@@ -1,27 +0,0 @@
|
||||
// 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
|
||||
}
|
||||
@@ -1,15 +0,0 @@
|
||||
# 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
|
||||
BIN
apps/android/gradle/wrapper/gradle-wrapper.jar
vendored
BIN
apps/android/gradle/wrapper/gradle-wrapper.jar
vendored
Binary file not shown.
@@ -1,5 +0,0 @@
|
||||
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
|
||||
172
apps/android/gradlew
vendored
172
apps/android/gradlew
vendored
@@ -1,172 +0,0 @@
|
||||
#!/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" "$@"
|
||||
84
apps/android/gradlew.bat
vendored
84
apps/android/gradlew.bat
vendored
@@ -1,84 +0,0 @@
|
||||
@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
|
||||
@@ -1 +0,0 @@
|
||||
include ':app'
|
||||
@@ -64,19 +64,9 @@ 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');
|
||||
|
||||
@@ -23,7 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
|
||||
message_generation
|
||||
)
|
||||
|
||||
find_package(OpenCV 3 REQUIRED)
|
||||
find_package(OpenCV REQUIRED)
|
||||
|
||||
## System dependencies are found with CMake's conventions
|
||||
# find_package(Boost REQUIRED COMPONENTS system)
|
||||
@@ -139,10 +139,12 @@ include_directories(
|
||||
add_library(aruco_pose
|
||||
src/aruco_detect.cpp
|
||||
src/aruco_map.cpp
|
||||
src/draw.cpp
|
||||
)
|
||||
|
||||
add_dependencies(${PROJECT_NAME} aruco_pose_generate_messages_cpp)
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Declare a C++ executable
|
||||
## With catkin_make all packages are built within a single CMake context
|
||||
@@ -162,7 +164,7 @@ add_dependencies(${PROJECT_NAME} aruco_pose_generate_messages_cpp)
|
||||
## Specify libraries to link a library or executable target against
|
||||
target_link_libraries(aruco_pose
|
||||
${catkin_LIBRARIES}
|
||||
${OpenCV_LIBRARIES}
|
||||
${OpenCV_LIBS}
|
||||
)
|
||||
|
||||
#############
|
||||
|
||||
@@ -1,119 +0,0 @@
|
||||
# Positioning with ArUco markers
|
||||
|
||||
`aruco_pose` package consists of two nodelets: `aruco_detect` detects individual ArUco-markers and estimates their poses, `aruco_map` detects maps of markers using `aruco_detect` output.
|
||||
|
||||
## Quick start
|
||||
|
||||
To run a camera nodelet, markers and maps detector:
|
||||
|
||||
```bash
|
||||
roslaunch aruco_pose sample.launch
|
||||
```
|
||||
|
||||
You're going to need [`cv_camera`](http://wiki.ros.org/cv_camera) package installed.
|
||||
|
||||
## aruco_detect nodelet
|
||||
|
||||
`aruco_detect` detects ArUco markers on the image, publishes list of them (with poses), TF transformations, visualization markers and processed image for debugging.
|
||||
|
||||
It's recommended to run it within the same nodelet manager with the camera nodelet (e. g. [`cv_camera`](http://wiki.ros.org/cv_camera)).
|
||||
|
||||
### Parameters
|
||||
|
||||
* `~dictionary` (*int*) – ArUco dictionary (default: 2)
|
||||
* 0 = DICT_4X4_50
|
||||
* 1 = DICT_4X4_100,
|
||||
* 2 = DICT_4X4_250,
|
||||
* 3 = DICT_4X4_1000,
|
||||
* 4 = DICT_5X5_50,
|
||||
* 5 = DICT_5X5_100,
|
||||
* 6 = DICT_5X5_250,
|
||||
* 7 = DICT_5X5_1000,
|
||||
* 8 = DICT_6X6_50,
|
||||
* 9 = DICT_6X6_100,
|
||||
* 10 = DICT_6X6_250,
|
||||
* 11 = DICT_6X6_1000,
|
||||
* 12 = DICT_7X7_50,
|
||||
* 13 = DICT_7X7_100,
|
||||
* 14 = DICT_7X7_250,
|
||||
* 15 = DICT_7X7_1000,
|
||||
* 16 = DICT_ARUCO_ORIGINAL
|
||||
* `~estimate_poses` (*bool*) – estimate single markers' poses (default: true)
|
||||
* `~send_tf` (*bool*) – send TF transforms (default: true)
|
||||
* `~frame_id_prefix` (*string*) – prefix for TF transforms names, marker's ID is appended (default: `aruco_`)
|
||||
* `~length` (*double*) – markers' sides length
|
||||
* `~length_override` (*map*) – lengths of markers with specified ids
|
||||
* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame
|
||||
|
||||
### Topics
|
||||
|
||||
#### Subscribed
|
||||
|
||||
* `image_raw` (*sensor_msgs/Image*) – camera image
|
||||
* `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info
|
||||
|
||||
#### Published
|
||||
|
||||
* `~markers` (*aruco_pose/MarkerArray*) – list of detected markers with their corners and poses
|
||||
* `~visualization` (*visualization_msgs/MarkerArray*) – visualization markers for rviz
|
||||
* `~debug` (*sensor_msgs/Image*) – debug image with detected markers
|
||||
|
||||
### Published transforms
|
||||
|
||||
* `<camera_frame>` => `<frame_id_prefix><id>` – markers' poses
|
||||
|
||||
## aruco_map nodelet
|
||||
|
||||
`aruco_map` nodelet estimates position of markers map.
|
||||
|
||||
### Parameters
|
||||
|
||||
* `~map` – path to text file with markers list
|
||||
* `~frame_id` – published frame id (default: `aruco_map`)
|
||||
* `~known_tilt` – debug image width
|
||||
* `~image_width` – debug image width (default: 2000)
|
||||
* `~image_height` – debug image height (default: 2000)
|
||||
* `~image_margin` – debug image margin (default: 200)
|
||||
|
||||
Map file has one marker per line with the following line format:
|
||||
|
||||
```
|
||||
marker_id marker_length x y z yaw pitch roll
|
||||
```
|
||||
|
||||
Where yaw, pitch and roll are extrinsic rotation around Z, Y, X axis, respectively.
|
||||
|
||||
See examples in [`map`](map/) directory.
|
||||
|
||||
### Topics
|
||||
|
||||
#### Subscribed
|
||||
|
||||
* `image_raw` (*sensor_msgs/Image*) – camera image (used for debug image)
|
||||
* `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info (used for debug image)
|
||||
* `markers` (*aruco_pose/MarkerArray*) – list of markers detected by `aruco_pose` nodelet
|
||||
|
||||
#### Published
|
||||
|
||||
* `~pose` (*geometry_msgs/PoseWithCovarianceStamped*) – estimated map pose
|
||||
* `~image` (*sensor_msgs/Image*) – planarized map image
|
||||
* `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz
|
||||
* `~debug` (*sensor_msgs/Image*) – debug image with detected markers and map axis
|
||||
|
||||
### Published transforms
|
||||
|
||||
* `<camera_frame>` => `<map_name>` – markers map pose
|
||||
|
||||
## Running tests
|
||||
|
||||
Command for running tests:
|
||||
|
||||
```bash
|
||||
rostest aruco_pose basic.test
|
||||
```
|
||||
|
||||
## Copyright
|
||||
|
||||
Copyright © 2018 Copter Express Technologies. Author: Oleg Kalachev.
|
||||
|
||||
Distributed under MIT License (https://opensource.org/licenses/MIT).
|
||||
@@ -1,26 +0,0 @@
|
||||
<launch>
|
||||
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
|
||||
|
||||
<!-- camera node -->
|
||||
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager">
|
||||
<param name="frame_id" value="main_camera_optical"/>
|
||||
<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
|
||||
<param name="image_width" value="640"/>
|
||||
<param name="image_height" value="480"/>
|
||||
</node>
|
||||
|
||||
<!-- detect aruco markers -->
|
||||
<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<param name="length" value="0.33"/>
|
||||
</node>
|
||||
|
||||
<!-- aruco map -->
|
||||
<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_map" args="load aruco_pose/aruco_map nodelet_manager">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<remap from="markers" to="aruco_detect/markers"/>
|
||||
<param name="map" value="$(find aruco_pose)/map/map.txt"/>
|
||||
</node>
|
||||
</launch>
|
||||
@@ -1,8 +0,0 @@
|
||||
107 0.33 0 0 0 0 0 0
|
||||
106 0.33 0.77 0 0 0 0 0
|
||||
105 0.33 0 0.77 0 0 0 0
|
||||
104 0.33 0.77 0.77 0 0 0 0
|
||||
103 0.33 0 1.54 0 0 0 0
|
||||
102 0.33 0.77 1.54 0 0 0 0
|
||||
101 0.33 0 2.31 0 0 0 0
|
||||
100 0.33 0.77 2.31 0 0 0 0
|
||||
@@ -1,6 +1,5 @@
|
||||
uint32 id
|
||||
float32 length
|
||||
geometry_msgs/Pose pose
|
||||
geometry_msgs/PoseWithCovariance pose
|
||||
Point2D c1
|
||||
Point2D c2
|
||||
Point2D c3
|
||||
|
||||
@@ -1,33 +1,40 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<package>
|
||||
<name>aruco_pose</name>
|
||||
<version>0.0.1</version>
|
||||
<description>Positioning with ArUco markers</description>
|
||||
<version>0.0.0</version>
|
||||
<description>Positioning by ArUco markers</description>
|
||||
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
<!--url type="website">http://wiki.ros.org/aruco_pose</url-->
|
||||
<author email="okalachev@gmail.com">Oleg Kalachev</author>
|
||||
<author email="urpylka@gmail.com">Artem Smirnov</author>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
<depend>roscpp</depend>
|
||||
<depend>nodelet</depend>
|
||||
<depend>tf</depend>
|
||||
<depend>tf2</depend>
|
||||
<depend>tf2_ros</depend>
|
||||
<depend>tf2_geometry_msgs</depend>
|
||||
<depend>opencv3</depend>
|
||||
<depend>cv_bridge</depend>
|
||||
<depend>image_transport</depend>
|
||||
<depend>message_generation</depend>
|
||||
<depend>message_runtime</depend>
|
||||
<depend>std_msgs</depend>
|
||||
<depend>geometry_msgs</depend>
|
||||
<depend>visualization_msgs</depend>
|
||||
<depend>sensor_msgs</depend>
|
||||
<depend>rostest</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>
|
||||
<build_depend>nodelet</build_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<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>
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
/*
|
||||
* Detecting and pose estimation of ArUco markers
|
||||
* Detecting and positioning ArUco markers
|
||||
* Copyright (C) 2018 Copter Express Technologies
|
||||
*
|
||||
* Author: Oleg Kalachev <okalachev@gmail.com>
|
||||
@@ -17,8 +17,6 @@
|
||||
#include <math.h>
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <map>
|
||||
#include <unordered_map>
|
||||
#include <ros/ros.h>
|
||||
#include <nodelet/nodelet.h>
|
||||
#include <pluginlib/class_list_macros.h>
|
||||
@@ -64,8 +62,7 @@ private:
|
||||
ros::Publisher markers_pub_, vis_markers_pub_;
|
||||
bool estimate_poses_, send_tf_;
|
||||
double length_;
|
||||
std::unordered_map<int, double> length_override_;
|
||||
std::string frame_id_prefix_, known_tilt_;
|
||||
std::string snap_orientation_;
|
||||
Mat camera_matrix_, dist_coeffs_;
|
||||
aruco_pose::MarkerArray array_;
|
||||
visualization_msgs::MarkerArray vis_array_;
|
||||
@@ -84,10 +81,7 @@ public:
|
||||
ROS_FATAL("aruco_detect: can't estimate marker's poses as ~length parameter is not defined");
|
||||
ros::shutdown();
|
||||
}
|
||||
readLengthOverride();
|
||||
|
||||
nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
|
||||
nh_priv_.param<std::string>("frame_id_prefix", frame_id_prefix_, "aruco_");
|
||||
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);
|
||||
@@ -133,27 +127,9 @@ private:
|
||||
cv::aruco::estimatePoseSingleMarkers(corners, length_, camera_matrix_, dist_coeffs_,
|
||||
rvecs, tvecs);
|
||||
|
||||
// process length override, TODO: efficiency
|
||||
if (!length_override_.empty()) {
|
||||
for (unsigned int i = 0; i < ids.size(); i++) {
|
||||
int id = ids[i];
|
||||
auto item = length_override_.find(id);
|
||||
if (item != length_override_.end()) { // found override
|
||||
vector<cv::Vec3d> rvecs_current, tvecs_current;
|
||||
vector<vector<cv::Point2f>> corners_current;
|
||||
corners_current.push_back(corners[i]);
|
||||
cv::aruco::estimatePoseSingleMarkers(corners_current, item->second,
|
||||
camera_matrix_, dist_coeffs_,
|
||||
rvecs_current, tvecs_current);
|
||||
rvecs[i] = rvecs_current[0];
|
||||
tvecs[i] = tvecs_current[0];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (!known_tilt_.empty()) {
|
||||
if (!snap_orientation_.empty()) {
|
||||
try {
|
||||
snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, known_tilt_,
|
||||
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());
|
||||
@@ -169,21 +145,20 @@ private:
|
||||
|
||||
for (unsigned int i = 0; i < ids.size(); i++) {
|
||||
marker.id = ids[i];
|
||||
marker.length = getMarkerLength(marker.id);
|
||||
fillCorners(marker, corners[i]);
|
||||
|
||||
if (estimate_poses_) {
|
||||
fillPose(marker.pose, rvecs[i], tvecs[i]);
|
||||
fillPose(marker.pose.pose, rvecs[i], tvecs[i]);
|
||||
|
||||
// snap orientation (if enabled and snap frame available)
|
||||
if (!known_tilt_.empty() && !snap_to.header.frame_id.empty()) {
|
||||
snapOrientation(marker.pose.orientation, snap_to.transform.rotation);
|
||||
// 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.orientation;
|
||||
transform.transform.rotation = marker.pose.pose.orientation;
|
||||
fillTranslation(transform.transform.translation, tvecs[i]);
|
||||
br_.sendTransform(transform);
|
||||
}
|
||||
@@ -204,8 +179,8 @@ private:
|
||||
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,
|
||||
getMarkerLength(ids[i]), ids[i], i);
|
||||
pushVisMarkers(msg->header.frame_id, msg->header.stamp, array_.markers[i].pose.pose,
|
||||
length_, ids[i], i);
|
||||
|
||||
vis_markers_pub_.publish(vis_array_);
|
||||
}
|
||||
@@ -216,8 +191,7 @@ private:
|
||||
cv::aruco::drawDetectedMarkers(debug, corners, ids); // draw markers
|
||||
if (estimate_poses_)
|
||||
for (unsigned int i = 0; i < ids.size(); i++)
|
||||
cv::aruco::drawAxis(debug, camera_matrix_, dist_coeffs_,
|
||||
rvecs[i], tvecs[i], getMarkerLength(ids[i]));
|
||||
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;
|
||||
@@ -300,28 +274,19 @@ private:
|
||||
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 frame_id_prefix_ + std::to_string(id);
|
||||
}
|
||||
|
||||
void readLengthOverride()
|
||||
{
|
||||
std::map<std::string, double> length_override;
|
||||
nh_priv_.getParam("length_override", length_override);
|
||||
for (auto const& item : length_override) {
|
||||
length_override_[std::stoi(item.first)] = item.second;
|
||||
}
|
||||
}
|
||||
|
||||
inline double getMarkerLength(int id)
|
||||
{
|
||||
auto item = length_override_.find(id);
|
||||
if (item != length_override_.end()) {
|
||||
return item->second;
|
||||
} else {
|
||||
return length_;
|
||||
}
|
||||
return "aruco_" + std::to_string(id);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
/*
|
||||
* Detecting and pose estimation of ArUco markers maps
|
||||
* Positioning ArUco markers maps
|
||||
* Copyright (C) 2018 Copter Express Technologies
|
||||
*
|
||||
* Author: Oleg Kalachev <okalachev@gmail.com>
|
||||
@@ -23,14 +23,10 @@
|
||||
#include <pluginlib/class_list_macros.h>
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <cv_bridge/cv_bridge.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 <message_filters/subscriber.h>
|
||||
#include <message_filters/synchronizer.h>
|
||||
#include <message_filters/sync_policies/exact_time.h>
|
||||
#include <geometry_msgs/TransformStamped.h>
|
||||
#include <geometry_msgs/PoseWithCovarianceStamped.h>
|
||||
#include <sensor_msgs/Image.h>
|
||||
@@ -43,26 +39,17 @@
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <opencv2/aruco.hpp>
|
||||
|
||||
#include "draw.h"
|
||||
#include "utils.h"
|
||||
#include "gridboard.h"
|
||||
|
||||
using std::vector;
|
||||
using cv::Mat;
|
||||
using sensor_msgs::Image;
|
||||
using sensor_msgs::CameraInfo;
|
||||
using aruco_pose::MarkerArray;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<Image, CameraInfo, MarkerArray> SyncPolicy;
|
||||
|
||||
class ArucoMap : public nodelet::Nodelet {
|
||||
private:
|
||||
ros::NodeHandle nh_, nh_priv_;
|
||||
ros::Publisher img_pub_, pose_pub_, vis_markers_pub_;
|
||||
image_transport::Publisher debug_pub_;
|
||||
message_filters::Subscriber<Image> image_sub_;
|
||||
message_filters::Subscriber<CameraInfo> info_sub_;
|
||||
message_filters::Subscriber<MarkerArray> markers_sub_;
|
||||
boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
|
||||
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_;
|
||||
@@ -70,9 +57,9 @@ private:
|
||||
tf2_ros::TransformBroadcaster br_;
|
||||
tf2_ros::Buffer tf_buffer_;
|
||||
tf2_ros::TransformListener tf_listener_{tf_buffer_};
|
||||
visualization_msgs::MarkerArray vis_array_;
|
||||
std::string known_tilt_;
|
||||
int image_width_, image_height_, image_margin_;
|
||||
visualization_msgs::MarkerArray vis_markers;
|
||||
std::string snap_orientation_;
|
||||
bool has_camera_info_ = false;
|
||||
|
||||
public:
|
||||
virtual void onInit()
|
||||
@@ -91,15 +78,8 @@ public:
|
||||
camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
|
||||
dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
|
||||
|
||||
std::string type, map;
|
||||
std::string type, map, map_name;
|
||||
nh_priv_.param<std::string>("type", type, "map");
|
||||
nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
|
||||
nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
|
||||
nh_priv_.param("image_width", image_width_, 2000);
|
||||
nh_priv_.param("image_height", image_height_, 2000);
|
||||
nh_priv_.param("image_margin", image_margin_, 200);
|
||||
|
||||
// createStripLine();
|
||||
|
||||
if (type == "map") {
|
||||
param(nh_priv_, "map", map);
|
||||
@@ -111,40 +91,32 @@ public:
|
||||
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);
|
||||
vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1, true);
|
||||
debug_pub_ = it_priv.advertise("debug", 1);
|
||||
|
||||
image_sub_.subscribe(nh_, "image_raw", 1);
|
||||
info_sub_.subscribe(nh_, "camera_info", 1);
|
||||
markers_sub_.subscribe(nh_, "markers", 1);
|
||||
|
||||
sync_.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(10), image_sub_, info_sub_, markers_sub_));
|
||||
sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));
|
||||
// TODO: use synchronised subscriber
|
||||
markers_sub_ = nh_.subscribe("markers", 1, &ArucoMap::markersCallback, this);
|
||||
cinfo_sub = nh_.subscribe("camera_info", 1, &ArucoMap::cinfoCallback, this);
|
||||
|
||||
publishMapImage();
|
||||
vis_markers_pub_.publish(vis_array_);
|
||||
|
||||
ROS_INFO("aruco_map: ready");
|
||||
}
|
||||
|
||||
void callback(const sensor_msgs::ImageConstPtr& image,
|
||||
const sensor_msgs::CameraInfoConstPtr& cinfo,
|
||||
const aruco_pose::MarkerArrayConstPtr& markers)
|
||||
void markersCallback(const aruco_pose::MarkerArray& markers)
|
||||
{
|
||||
int valid = 0;
|
||||
int count = markers->markers.size();
|
||||
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;
|
||||
cv::Vec3d rvec, tvec;
|
||||
|
||||
parseCameraInfo(cinfo, camera_matrix_, dist_coeffs_);
|
||||
if (markers->markers.empty()) goto publish_debug;
|
||||
|
||||
ids.reserve(count);
|
||||
corners.reserve(count);
|
||||
|
||||
for(auto const &marker : markers->markers) {
|
||||
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),
|
||||
@@ -155,34 +127,36 @@ public:
|
||||
corners.push_back(marker_corners);
|
||||
}
|
||||
|
||||
if (known_tilt_.empty()) {
|
||||
// simple estimation
|
||||
valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
|
||||
rvec, tvec, false);
|
||||
if (!valid) goto publish_debug;
|
||||
Mat obj_points, img_points;
|
||||
cv::Vec3d rvec, tvec;
|
||||
|
||||
transform_.header.stamp = markers->header.stamp;
|
||||
transform_.header.frame_id = markers->header.frame_id;
|
||||
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 {
|
||||
Mat obj_points, img_points;
|
||||
// estimation with "snapping"
|
||||
cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
|
||||
if (obj_points.empty()) goto publish_debug;
|
||||
if (obj_points.empty()) return;
|
||||
|
||||
double center_x = 0, center_y = 0, center_z = 0;
|
||||
alignObjPointsToCenter(obj_points, center_x, center_y, center_z);
|
||||
double center_x = 0, center_y = 0;
|
||||
alignObjPointsToCenter(obj_points, center_x, center_y);
|
||||
|
||||
valid = solvePnP(obj_points, img_points, camera_matrix_, dist_coeffs_, rvec, tvec, false);
|
||||
if (!valid) goto publish_debug;
|
||||
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,
|
||||
known_tilt_, markers->header.stamp, ros::Duration(0.02));
|
||||
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());
|
||||
@@ -191,65 +165,42 @@ public:
|
||||
geometry_msgs::TransformStamped shift;
|
||||
shift.transform.translation.x = -center_x;
|
||||
shift.transform.translation.y = -center_y;
|
||||
shift.transform.translation.z = -center_z;
|
||||
shift.transform.rotation.w = 1;
|
||||
tf2::doTransform(shift, transform_, transform_);
|
||||
|
||||
// for debug topic
|
||||
tvec[0] = transform_.transform.translation.x;
|
||||
tvec[1] = transform_.transform.translation.y;
|
||||
tvec[2] = transform_.transform.translation.z;
|
||||
|
||||
transform_.header.stamp = markers->header.stamp;
|
||||
transform_.header.frame_id = markers->header.frame_id;
|
||||
transform_.header.stamp = markers.header.stamp;
|
||||
transform_.header.frame_id = markers.header.frame_id;
|
||||
pose_.header = transform_.header;
|
||||
transformToPose(transform_.transform, pose_.pose.pose);
|
||||
}
|
||||
|
||||
if (!transform_.child_frame_id.empty()) {
|
||||
br_.sendTransform(transform_);
|
||||
}
|
||||
br_.sendTransform(transform_);
|
||||
pose_pub_.publish(pose_);
|
||||
|
||||
publish_debug:
|
||||
// publish debug image (even if no map detected)
|
||||
if (debug_pub_.getNumSubscribers() > 0) {
|
||||
Mat mat = cv_bridge::toCvCopy(image, "bgr8")->image; // copy image as we're planning to modify it
|
||||
cv::aruco::drawDetectedMarkers(mat, corners, ids); // draw detected markers
|
||||
if (valid) {
|
||||
cv::aruco::drawAxis(mat, camera_matrix_, dist_coeffs_, rvec, tvec, 1.0); // draw board axis
|
||||
}
|
||||
cv_bridge::CvImage out_msg;
|
||||
out_msg.header.frame_id = image->header.frame_id;
|
||||
out_msg.header.stamp = image->header.stamp;
|
||||
out_msg.encoding = sensor_msgs::image_encodings::BGR8;
|
||||
out_msg.image = mat;
|
||||
debug_pub_.publish(out_msg.toImageMsg());
|
||||
}
|
||||
}
|
||||
|
||||
// TODO consider z
|
||||
void alignObjPointsToCenter(Mat &obj_points, double ¢er_x, double ¢er_y, double ¢er_z) const
|
||||
void cinfoCallback(const sensor_msgs::CameraInfoConstPtr& cinfo)
|
||||
{
|
||||
parseCameraInfo(cinfo, camera_matrix_, dist_coeffs_);
|
||||
has_camera_info_ = true;
|
||||
}
|
||||
|
||||
void alignObjPointsToCenter(Mat &obj_points, double ¢er_x, double ¢er_y) const
|
||||
{
|
||||
// Align object points to the center of mass
|
||||
double sum_x = 0;
|
||||
double sum_y = 0;
|
||||
double sum_z = 0;
|
||||
|
||||
for (int i = 0; i < obj_points.rows; i++) {
|
||||
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);
|
||||
sum_z += obj_points.at<float>(i, 2);
|
||||
}
|
||||
|
||||
center_x = sum_x / obj_points.rows;
|
||||
center_y = sum_y / obj_points.rows;
|
||||
center_z = sum_z / obj_points.rows;
|
||||
|
||||
for (int i = 0; i < obj_points.rows; i++) {
|
||||
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;
|
||||
obj_points.at<float>(i, 2) -= center_z;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -268,6 +219,7 @@ publish_debug:
|
||||
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());
|
||||
@@ -298,7 +250,7 @@ publish_debug:
|
||||
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");
|
||||
ros::shutdown();
|
||||
exit(1);
|
||||
}
|
||||
} else {
|
||||
// Fill marker_ids automatically
|
||||
@@ -309,109 +261,44 @@ publish_debug:
|
||||
}
|
||||
}
|
||||
|
||||
double max_y = markers_y * markers_side + (markers_y - 1) * markers_sep_y;
|
||||
for(int y = 0; y < markers_y; y++) {
|
||||
for(int x = 0; x < markers_x; x++) {
|
||||
double x_pos = x * (markers_side + markers_sep_x);
|
||||
double y_pos = max_y - y * (markers_side + markers_sep_y) - markers_side;
|
||||
ROS_INFO("add marker %d %g %g", marker_ids[y * markers_y + x], x_pos, y_pos);
|
||||
addMarker(marker_ids[y * markers_y + x], markers_side, x_pos, y_pos, 0, 0, 0, 0);
|
||||
}
|
||||
}
|
||||
createCustomGridBoard(board_, markers_x, markers_y, markers_side, markers_sep_x, markers_sep_y, marker_ids);
|
||||
}
|
||||
|
||||
// void createStripLine()
|
||||
// {
|
||||
// visualization_msgs::Marker marker;
|
||||
// marker.header.frame_id = transform_.child_frame_id;
|
||||
// marker.action = visualization_msgs::Marker::ADD;
|
||||
// marker.ns = "aruco_map_link";
|
||||
// marker.type = visualization_msgs::Marker::LINE_STRIP;
|
||||
// marker.scale.x = 0.02;
|
||||
// marker.color.g = 1;
|
||||
// marker.color.a = 0.8;
|
||||
// marker.frame_locked = true;
|
||||
// marker.pose.orientation.w = 1;
|
||||
// vis_array_.markers.push_back(marker);
|
||||
// }
|
||||
|
||||
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::Transform transform(q, tf::Vector3(x, y, z));
|
||||
|
||||
/* marker's corners:
|
||||
0 1
|
||||
3 2
|
||||
*/
|
||||
double halflen = length / 2;
|
||||
tf::Point p0(-halflen, halflen, 0);
|
||||
tf::Point p1(halflen, halflen, 0);
|
||||
tf::Point p2(halflen, -halflen, 0);
|
||||
tf::Point p3(-halflen, -halflen, 0);
|
||||
p0 = transform * p0;
|
||||
p1 = transform * p1;
|
||||
p2 = transform * p2;
|
||||
p3 = transform * p3;
|
||||
|
||||
vector<cv::Point3f> obj_points = {
|
||||
cv::Point3f(p0.x(), p0.y(), p0.z()),
|
||||
cv::Point3f(p1.x(), p1.y(), p1.z()),
|
||||
cv::Point3f(p2.x(), p2.y(), p2.z()),
|
||||
cv::Point3f(p3.x(), p3.y(), p3.z())
|
||||
};
|
||||
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);
|
||||
}
|
||||
|
||||
// Add visualization marker
|
||||
visualization_msgs::Marker marker;
|
||||
marker.header.frame_id = transform_.child_frame_id;
|
||||
// marker.header.stamp = stamp;
|
||||
marker.action = visualization_msgs::Marker::ADD;
|
||||
marker.id = vis_array_.markers.size();
|
||||
marker.ns = "aruco_map_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 = 0.5;
|
||||
marker.color.b = 0.5;
|
||||
marker.color.a = 0.8;
|
||||
marker.pose.position.x = x;
|
||||
marker.pose.position.y = y;
|
||||
marker.pose.position.z = z;
|
||||
tf::quaternionTFToMsg(q, marker.pose.orientation);
|
||||
marker.frame_locked = true;
|
||||
vis_array_.markers.push_back(marker);
|
||||
|
||||
// Add linking line
|
||||
// geometry_msgs::Point p;
|
||||
// p.x = x;
|
||||
// p.y = y;
|
||||
// p.z = z;
|
||||
// vis_array_.markers.at(0).points.push_back(p);
|
||||
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::Size size(image_width_, image_height_);
|
||||
cv::Mat image;
|
||||
cv_bridge::CvImage msg;
|
||||
|
||||
if (!board_->ids.empty()) {
|
||||
_drawPlanarBoard(board_, size, image, image_margin_, 1);
|
||||
} else {
|
||||
// empty map
|
||||
image.create(size, CV_8UC1);
|
||||
image.setTo(cv::Scalar::all(255));
|
||||
}
|
||||
|
||||
msg.encoding = sensor_msgs::image_encodings::MONO8;
|
||||
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());
|
||||
}
|
||||
|
||||
@@ -1,97 +0,0 @@
|
||||
// This code is basically taken from https://github.com/opencv/opencv_contrib/blob/master/modules/aruco/src/aruco.cpp
|
||||
// with some improvements and fixes
|
||||
|
||||
#include "draw.h"
|
||||
|
||||
using namespace cv;
|
||||
using namespace cv::aruco;
|
||||
|
||||
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
|
||||
double diag = std::round(std::hypot(dst_sz.width, dst_sz.height));
|
||||
int side = std::round(diag / std::sqrt(2));
|
||||
|
||||
dictionary.drawMarker(_board->ids[m], side, marker, borderBits);
|
||||
|
||||
try {
|
||||
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);
|
||||
} catch(cv::Exception& e) {
|
||||
ROS_INFO("Skip drawing marker %d", m);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,6 +0,0 @@
|
||||
#include <cmath>
|
||||
#include <ros/ros.h>
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <opencv2/aruco.hpp>
|
||||
|
||||
void _drawPlanarBoard(cv::aruco::Board *_board, cv::Size outSize, cv::OutputArray _img, int marginSize, int borderBits);
|
||||
22
aruco_pose/src/gridboard.h
Normal file
22
aruco_pose/src/gridboard.h
Normal file
@@ -0,0 +1,22 @@
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,102 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
import sys
|
||||
import unittest
|
||||
import json
|
||||
from pytest import approx
|
||||
import rospy
|
||||
import rostest
|
||||
|
||||
from geometry_msgs.msg import PoseWithCovarianceStamped
|
||||
from sensor_msgs.msg import Image
|
||||
from aruco_pose.msg import MarkerArray
|
||||
from visualization_msgs.msg import MarkerArray as VisMarkerArray
|
||||
|
||||
|
||||
class TestArucoPose(unittest.TestCase):
|
||||
def setUp(self):
|
||||
rospy.init_node('test_aruco_detect', anonymous=True)
|
||||
|
||||
def test_markers(self):
|
||||
markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=5)
|
||||
assert len(markers.markers) == 4
|
||||
assert markers.header.frame_id == 'main_camera_optical'
|
||||
|
||||
assert markers.markers[0].id == 2
|
||||
assert markers.markers[0].length == approx(0.33)
|
||||
assert markers.markers[0].pose.position.x == approx(0.36706567854)
|
||||
assert markers.markers[0].pose.position.y == approx(0.290484516644)
|
||||
assert markers.markers[0].pose.position.z == approx(2.18787602301)
|
||||
assert markers.markers[0].pose.orientation.x == approx(0.993997406299)
|
||||
assert markers.markers[0].pose.orientation.y == approx(-0.00532003481626)
|
||||
assert markers.markers[0].pose.orientation.z == approx(-0.107390951553)
|
||||
assert markers.markers[0].pose.orientation.w == approx(0.0201999263402)
|
||||
assert markers.markers[0].c1.x == approx(415.557739258)
|
||||
assert markers.markers[0].c1.y == approx(335.557739258)
|
||||
assert markers.markers[0].c2.x == approx(509.442260742)
|
||||
assert markers.markers[0].c2.y == approx(335.557739258)
|
||||
assert markers.markers[0].c3.x == approx(509.442260742)
|
||||
assert markers.markers[0].c3.y == approx(429.442260742)
|
||||
assert markers.markers[0].c4.x == approx(415.557739258)
|
||||
assert markers.markers[0].c4.y == approx(429.442260742)
|
||||
|
||||
assert markers.markers[3].id == 3
|
||||
assert markers.markers[3].length == approx(0.1)
|
||||
assert markers.markers[3].pose.position.x == approx(-0.1805169666)
|
||||
assert markers.markers[3].pose.position.y == approx(-0.200697302327)
|
||||
assert markers.markers[3].pose.position.z == approx(0.585767514823)
|
||||
assert markers.markers[3].pose.orientation.x == approx(-0.961738074009)
|
||||
assert markers.markers[3].pose.orientation.y == approx(-0.0375180244707)
|
||||
assert markers.markers[3].pose.orientation.z == approx(-0.0115387773672)
|
||||
assert markers.markers[3].pose.orientation.w == approx(0.271144115664)
|
||||
assert markers.markers[3].c1.x == approx(129.557723999)
|
||||
assert markers.markers[3].c1.y == approx(49.557723999)
|
||||
assert markers.markers[3].c2.x == approx(223.442276001)
|
||||
assert markers.markers[3].c2.y == approx(49.557723999)
|
||||
assert markers.markers[3].c3.x == approx(223.442276001)
|
||||
assert markers.markers[3].c3.y == approx(143.442276001)
|
||||
assert markers.markers[3].c4.x == approx(129.557723999)
|
||||
assert markers.markers[3].c4.y == approx(143.442276001)
|
||||
|
||||
assert markers.markers[1].id == 1
|
||||
assert markers.markers[1].length == approx(0.33)
|
||||
assert markers.markers[2].id == 4
|
||||
assert markers.markers[2].length == approx(0.33)
|
||||
|
||||
def test_visualization(self):
|
||||
vis = rospy.wait_for_message('aruco_detect/visualization', VisMarkerArray, timeout=5)
|
||||
assert len(vis.markers) == 9
|
||||
|
||||
def test_debug(self):
|
||||
img = rospy.wait_for_message('aruco_detect/debug', Image, timeout=5)
|
||||
assert img.width == 640
|
||||
assert img.height == 480
|
||||
assert img.header.frame_id == 'main_camera_optical'
|
||||
|
||||
def test_map(self):
|
||||
pose = rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=5)
|
||||
assert pose.header.frame_id == 'main_camera_optical'
|
||||
assert pose.pose.pose.position.x == approx(-0.629167753342)
|
||||
assert pose.pose.pose.position.y == approx(0.293822650809)
|
||||
assert pose.pose.pose.position.z == approx(2.12641343155)
|
||||
assert pose.pose.pose.orientation.x == approx(-0.998383794799)
|
||||
assert pose.pose.pose.orientation.y == approx(-5.20919098575e-06)
|
||||
assert pose.pose.pose.orientation.z == approx(-0.0300861070302)
|
||||
assert pose.pose.pose.orientation.w == approx(0.0482143590507)
|
||||
|
||||
def test_map_image(self):
|
||||
img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
|
||||
assert img.width == 2000
|
||||
assert img.height == 2000
|
||||
assert img.encoding == 'mono8'
|
||||
|
||||
def test_map_visualization(self):
|
||||
vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
|
||||
|
||||
def test_map_debug(self):
|
||||
img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)
|
||||
|
||||
# def test_transforms(self):
|
||||
# pass
|
||||
|
||||
|
||||
rostest.rosrun('aruco_pose', 'test_aruco_detect', TestArucoPose, sys.argv)
|
||||
@@ -1,27 +0,0 @@
|
||||
<launch>
|
||||
<node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/map.png">
|
||||
<param name="frame_id" value="main_camera_optical"/>
|
||||
<param name="publish_rate" value="10"/>
|
||||
<param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
|
||||
</node>
|
||||
|
||||
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
|
||||
|
||||
<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<param name="length" value="0.33"/>
|
||||
<param name="length_override/3" value="0.1"/>
|
||||
<param name="estimate_poses" value="true"/>
|
||||
</node>
|
||||
|
||||
<node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<remap from="markers" to="aruco_detect/markers"/>
|
||||
<param name="type" value="map"/>
|
||||
<param name="map" value="$(find aruco_pose)/test/basic.txt"/>
|
||||
</node>
|
||||
|
||||
<test test-name="test_aruco_pose" pkg="aruco_pose" type="basic.py"/>
|
||||
</launch>
|
||||
@@ -1,5 +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
|
||||
10 0.5 0.5 2 0 1.2 0 0
|
||||
@@ -1,21 +0,0 @@
|
||||
# some random camera calibration for testing
|
||||
image_width: 640
|
||||
image_height: 480
|
||||
camera_name: test_camera
|
||||
camera_matrix:
|
||||
rows: 3
|
||||
cols: 3
|
||||
data: [643.229809, 0.000000, 356.811289, 0.000000, 644.318982, 299.150067, 0.000000, 0.000000, 1.000000]
|
||||
distortion_model: plumb_bob
|
||||
distortion_coefficients:
|
||||
rows: 1
|
||||
cols: 5
|
||||
data: [-0.422907, 0.202567, 0.000781, 0.000447, 0.000000]
|
||||
rectification_matrix:
|
||||
rows: 3
|
||||
cols: 3
|
||||
data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
|
||||
projection_matrix:
|
||||
rows: 3
|
||||
cols: 4
|
||||
data: [567.010193, 0.000000, 366.677428, 0.000000, 0.000000, 594.591980, 307.043423, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 2.1 KiB |
26
book.json
26
book.json
@@ -4,25 +4,19 @@
|
||||
"author": "Copter Express",
|
||||
"language": "ru",
|
||||
"root": "docs/",
|
||||
"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",
|
||||
"sitemap@https://github.com/okalachev/plugin-sitemap.git"
|
||||
],
|
||||
"plugins": ["youtube", "richquotes", "versions", "yametrika"],
|
||||
"pluginsConfig": {
|
||||
"disqus": {
|
||||
"shortName": "coex-clever"
|
||||
},
|
||||
"versions": {
|
||||
"type": "tags"
|
||||
},
|
||||
"yametrika": {
|
||||
"id": 49359238
|
||||
},
|
||||
"bulk-redirect": {
|
||||
"basepath": "",
|
||||
"redirectsFile": "redirects.json"
|
||||
},
|
||||
"sitemap": {
|
||||
"hostname": "https://clever.copterexpress.com"
|
||||
}
|
||||
},
|
||||
"structure": {
|
||||
"glossary": "_GLOSSARY.md"
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,15 +0,0 @@
|
||||
# PixHawk (px4fmu-v2), px4fmu-v3
|
||||
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", ATTRS{product}=="PX4 FMU v2.x", SYMLINK+="px4fmu"
|
||||
# PixRacer (px4fmu-v4)
|
||||
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU v4.x", SYMLINK+="px4fmu"
|
||||
# px4fmu-v5
|
||||
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0032", ATTRS{product}=="PX4 FMU v5.x", SYMLINK+="px4fmu"
|
||||
# auav
|
||||
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV x2.1", SYMLINK+="px4fmu"
|
||||
# crazyflie
|
||||
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
|
||||
# px4fmu-v4pro
|
||||
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
|
||||
# Omnibus
|
||||
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
|
||||
|
||||
@@ -4,9 +4,8 @@ Requires=roscore.service
|
||||
After=roscore.service
|
||||
|
||||
[Service]
|
||||
User=pi
|
||||
EnvironmentFile=/lib/systemd/system/roscore.env
|
||||
ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch --wait --screen
|
||||
ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch --wait
|
||||
Restart=on-abort
|
||||
|
||||
[Install]
|
||||
|
||||
@@ -1,10 +1,10 @@
|
||||
<h1>CLEVER Drone Kit Tools</h1>
|
||||
|
||||
<ul>
|
||||
<li><a href="docs">View documentation</a> (snapshot of <a href="http://clever.copterexpress.com">clever.copterexpress.com</a>)</li>
|
||||
<!-- <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="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
|
||||
<!-- <li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li> -->
|
||||
</ul>
|
||||
|
||||
<script type="text/javascript">
|
||||
@@ -526,15 +526,3 @@ theora_image_transport:
|
||||
libogg:
|
||||
debian:
|
||||
stretch: [libtheora0=1.1.1+dfsg.1-14]
|
||||
vl53l1x:
|
||||
debian:
|
||||
stretch: [ros-kinetic-vl53l1x]
|
||||
interactive_markers:
|
||||
debian:
|
||||
stretch: [ros-kinetic-interactive-markers]
|
||||
interactive_marker_proxy:
|
||||
debian:
|
||||
stretch: [ros-kinetic-interactive-marker-proxy]
|
||||
tf2_web_republisher:
|
||||
debian:
|
||||
stretch: [ros-kinetic-tf2-web-republisher]
|
||||
@@ -20,7 +20,7 @@
|
||||
# Example:
|
||||
# DocumentRoot /home/krypton/htdocs
|
||||
|
||||
DocumentRoot /home/pi/catkin_ws/src/clever/clever/www
|
||||
DocumentRoot /usr/share/monkey-static
|
||||
|
||||
# Redirect:
|
||||
# ---------
|
||||
@@ -36,13 +36,13 @@
|
||||
# ----------
|
||||
# Registration file of correct request.
|
||||
|
||||
AccessLog /var/log/monkey/access.log
|
||||
AccessLog /var/log/monkey-clever/access.log
|
||||
|
||||
# ErrorLog:
|
||||
# ---------
|
||||
# Registration file of incorrect request.
|
||||
|
||||
ErrorLog /var/log/monkey/error.log
|
||||
ErrorLog /var/log/monkey-clever/error.log
|
||||
|
||||
[ERROR_PAGES]
|
||||
404 404.html
|
||||
@@ -7,4 +7,4 @@ CMAKE_PREFIX_PATH=/home/pi/catkin_ws/devel:/opt/ros/kinetic
|
||||
PATH=/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
|
||||
LD_LIBRARY_PATH=/opt/ros/kinetic/lib
|
||||
PYTHONPATH=/home/pi/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages
|
||||
ROS_HOSTNAME=raspberrypi.local
|
||||
ROS_IP=192.168.11.1
|
||||
@@ -3,7 +3,6 @@ Description=Launcher for the ROS master, parameter server and rosout logging nod
|
||||
After=network.target
|
||||
|
||||
[Service]
|
||||
User=pi
|
||||
EnvironmentFile=/lib/systemd/system/roscore.env
|
||||
ExecStart=/opt/ros/kinetic/bin/roscore
|
||||
Restart=on-abort
|
||||
|
||||
@@ -11,7 +11,7 @@
|
||||
|
||||
set -e # Exit immidiately on non-zero result
|
||||
|
||||
SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2018-06-29/2018-06-27-raspbian-stretch-lite.zip"
|
||||
SOURCE_IMAGE="http://repo.coex.space/2018-06-27-raspbian-stretch-lite.zip"
|
||||
|
||||
export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
|
||||
export LANG=${LANG:='C.UTF-8'}
|
||||
@@ -53,15 +53,16 @@ IMAGE_NAME="${REPO_NAME}_${IMAGE_VERSION}.img"
|
||||
IMAGE_PATH="${IMAGES_DIR}/${IMAGE_NAME}"
|
||||
|
||||
get_image() {
|
||||
# TEMPLATE: get_image <IMAGE_PATH> <RPI_DONWLOAD_URL>
|
||||
# TEMPLATE: get_image <IMAGE_PATH> <RPI_DONWLOAD_URL>
|
||||
local BUILD_DIR=$(dirname $1)
|
||||
local RPI_ZIP_NAME=$(basename $2)
|
||||
local RPI_IMAGE_NAME=$(echo ${RPI_ZIP_NAME} | sed 's/zip/img/')
|
||||
|
||||
if [ ! -e "${BUILD_DIR}/${RPI_ZIP_NAME}" ]; then
|
||||
echo_stamp "Downloading original Linux distribution"
|
||||
wget --progress=dot:giga -O ${BUILD_DIR}/${RPI_ZIP_NAME} $2
|
||||
echo_stamp "Downloading complete" "SUCCESS" \
|
||||
echo_stamp "Downloading original Linux distribution" \
|
||||
&& wget -nv -O ${BUILD_DIR}/${RPI_ZIP_NAME} $2 \
|
||||
&& echo_stamp "Downloading complete" "SUCCESS" \
|
||||
|| (echo_stamp "Downloading was failed!" "ERROR"; exit 1)
|
||||
else echo_stamp "Linux distribution already donwloaded"; fi
|
||||
|
||||
echo_stamp "Unzipping Linux distribution image" \
|
||||
@@ -79,18 +80,9 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/init_rp
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/hardware_setup.sh' '/root/'
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-init.sh' ${IMAGE_VERSION} ${SOURCE_IMAGE}
|
||||
|
||||
# Copy cloned repository to the image
|
||||
# Include dotfiles in globs (asterisks)
|
||||
shopt -s dotglob
|
||||
for dir in ${REPO_DIR}/*; do
|
||||
# Don't try to copy image into itself
|
||||
if [[ $dir != *"images" && $dir != *"imgcache" ]]; then
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy $dir '/home/pi/catkin_ws/src/clever/'
|
||||
fi;
|
||||
done
|
||||
|
||||
# Monkey
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey' '/root/'
|
||||
${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/'
|
||||
|
||||
# Butterfly
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/lib/systemd/system/'
|
||||
@@ -109,9 +101,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
|
||||
# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
|
||||
# Add PX4 udev rules
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/99-px4fmu.rules' '/lib/udev/rules.d/'
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
|
||||
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
|
||||
|
||||
${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}
|
||||
|
||||
@@ -66,9 +66,6 @@ echo_stamp "Init rosdep" \
|
||||
&& echo "yaml file:///etc/ros/rosdep/kinetic-rosdep-clever.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list \
|
||||
&& rosdep update
|
||||
|
||||
echo_stamp "Populate rosdep for ROS user"
|
||||
sudo -u pi rosdep update
|
||||
|
||||
resolve_rosdep() {
|
||||
# TEMPLATE: resolve_rosdep <CATKIN_PATH> <ROS_DISTRO> <OS_DISTRO> <OS_VERSION>
|
||||
CATKIN_PATH=$1
|
||||
@@ -95,7 +92,7 @@ if [ "${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 vl53l1x \
|
||||
actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport compressed_image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras interactive_markers tf2_web_republisher interactive_marker_proxy \
|
||||
--rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
|
||||
&& wstool merge -j${NUMBER_THREADS} -t src kinetic-custom_ros.rosinstall \
|
||||
&& wstool update -j${NUMBER_THREADS} -t src \
|
||||
@@ -136,36 +133,21 @@ if [ "${INSTALL_ROS_PACK_SOURCES}" = "true" ]; then
|
||||
fi
|
||||
|
||||
echo_stamp "Installing CLEVER" \
|
||||
&& git clone ${REPO} /home/pi/catkin_ws/src/clever \
|
||||
&& cd /home/pi/catkin_ws/src/clever \
|
||||
&& git status \
|
||||
&& echo "REF: ${REF}" \
|
||||
&& git checkout ${REF} \
|
||||
&& cd /home/pi/catkin_ws \
|
||||
&& resolve_rosdep $(pwd) \
|
||||
&& my_travis_retry pip install wheel \
|
||||
&& my_travis_retry pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
|
||||
&& source /opt/ros/kinetic/setup.bash \
|
||||
&& catkin_make -j2 -DCMAKE_BUILD_TYPE=Release \
|
||||
&& catkin_make -j${NUMBER_THREADS} -DCMAKE_BUILD_TYPE=Release \
|
||||
&& systemctl enable roscore \
|
||||
&& systemctl enable clever \
|
||||
&& echo_stamp "All CLEVER was installed!" "SUCCESS" \
|
||||
|| (echo_stamp "CLEVER installation was failed!" "ERROR"; exit 1)
|
||||
|
||||
echo_stamp "Build CLEVER documentation"
|
||||
cd /home/pi/catkin_ws/src/clever
|
||||
NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
|
||||
NPM_CONFIG_UNSAFE_PERM=true gitbook install
|
||||
gitbook build
|
||||
|
||||
echo_stamp "Installing additional ROS packages"
|
||||
apt-get install -y --no-install-recommends \
|
||||
ros-kinetic-dynamic-reconfigure \
|
||||
ros-kinetic-tf2-web-republisher \
|
||||
ros-kinetic-compressed-image-transport \
|
||||
ros-kinetic-rosbridge-suite \
|
||||
ros-kinetic-rosserial \
|
||||
ros-kinetic-usb-cam \
|
||||
ros-kinetic-vl53l1x \
|
||||
ros-kinetic-opencv3=3.3.19-0stretch
|
||||
|
||||
# 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
|
||||
@@ -178,7 +160,7 @@ cat << EOF >> /home/pi/.bashrc
|
||||
LANG='C.UTF-8'
|
||||
LC_ALL='C.UTF-8'
|
||||
ROS_DISTRO='kinetic'
|
||||
export ROS_HOSTNAME='raspberrypi.local'
|
||||
export ROS_IP='192.168.11.1'
|
||||
source /opt/ros/kinetic/setup.bash
|
||||
source /home/pi/catkin_ws/devel/setup.bash
|
||||
EOF
|
||||
|
||||
@@ -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~deb9u4 > /dev/null \
|
||||
&& apt-get install --no-install-recommends -y -qq dirmngr=2.1.18-8~deb9u2 > /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
|
||||
@@ -86,22 +86,19 @@ dnsmasq=2.76-5+rpt1+deb9u1 \
|
||||
tmux=2.3-4 \
|
||||
vim=2:8.0.0197-4+deb9u1 \
|
||||
cmake=3.7.2-1 \
|
||||
python-pip=9.0.1-2+rpt2 \
|
||||
python3-pip=9.0.1-2+rpt2 \
|
||||
libjpeg8-dev=8d1-2 \
|
||||
tcpdump \
|
||||
ltrace \
|
||||
libpoco-dev=1.7.6+dfsg1-5+deb9u1 \
|
||||
python-rosdep \
|
||||
python-rosdep=0.12.2-1 \
|
||||
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 \
|
||||
ntpdate \
|
||||
python-dev \
|
||||
python3-dev \
|
||||
&& echo_stamp "Everything was installed!" "SUCCESS" \
|
||||
|| (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
|
||||
|
||||
@@ -109,37 +106,20 @@ python3-dev \
|
||||
sed -i "s/updates_available//" /usr/share/byobu/status/status
|
||||
# sed -i "s/updates_available//" /home/pi/.byobu/status
|
||||
|
||||
echo_stamp "Installing pip"
|
||||
curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
|
||||
python3 get-pip.py
|
||||
python get-pip.py
|
||||
#my_travis_retry pip install --upgrade pip
|
||||
#my_travis_retry pip3 install --upgrade pip
|
||||
|
||||
echo_stamp "Make sure both pip and pip3 are installed"
|
||||
pip --version
|
||||
pip3 --version
|
||||
echo_stamp "Upgrade pip"
|
||||
my_travis_retry pip install --upgrade pip
|
||||
my_travis_retry pip3 install --upgrade pip3
|
||||
|
||||
echo_stamp "Install and enable Butterfly (web terminal)"
|
||||
my_travis_retry pip3 install --prefer-binary butterfly
|
||||
my_travis_retry pip3 install --prefer-binary butterfly[systemd]
|
||||
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 --prefer-binary rpi_ws281x
|
||||
|
||||
echo_stamp "Setup Monkey"
|
||||
mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
|
||||
mv /root/monkey /etc/monkey/sites/default
|
||||
mv /root/monkey-clever /etc/monkey/sites/default
|
||||
systemctl enable monkey.service
|
||||
|
||||
echo_stamp "Install Node.js"
|
||||
cd /home/pi
|
||||
wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
|
||||
tar -xzf node-v10.15.0-linux-armv6l.tar.gz
|
||||
cp -R node-v10.15.0-linux-armv6l/* /usr/local/
|
||||
rm -rf node-v10.15.0-linux-armv6l/
|
||||
|
||||
echo_stamp "Add .vimrc"
|
||||
cat << EOF > /home/pi/.vimrc
|
||||
set mouse-=a
|
||||
@@ -147,10 +127,4 @@ 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 pkill's exit value as well.
|
||||
pkill -9 -f dirmngr || true
|
||||
|
||||
echo_stamp "End of software installation"
|
||||
|
||||
@@ -1,22 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
#
|
||||
# Validate built image using tests
|
||||
#
|
||||
# Copyright (C) 2018 Copter Express Technologies
|
||||
#
|
||||
# Author: Oleg Kalachev <okalachev@gmail.com>
|
||||
#
|
||||
|
||||
set -ex
|
||||
|
||||
echo "Run image tests"
|
||||
|
||||
export ROS_DISTRO='kinetic'
|
||||
export ROS_IP='127.0.0.1'
|
||||
source /opt/ros/kinetic/setup.bash
|
||||
source /home/pi/catkin_ws/devel/setup.bash
|
||||
|
||||
cd /home/pi/catkin_ws/src/clever/builder/test/
|
||||
./tests.sh
|
||||
./tests.py
|
||||
@@ -1,30 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
# validate all required modules installed
|
||||
|
||||
import rospy
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
|
||||
import cv2
|
||||
import cv2.aruco
|
||||
|
||||
import numpy
|
||||
import mavros
|
||||
from mavros_msgs.msg import State, StatusText, ExtendedState
|
||||
from mavros_msgs.srv import CommandBool, CommandLong, SetMode
|
||||
|
||||
from std_srvs.srv import Trigger
|
||||
from clever.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
|
||||
SetAttitude, SetRates
|
||||
|
||||
import tf2_ros
|
||||
import tf2_geometry_msgs
|
||||
|
||||
import VL53L1X
|
||||
import pymavlink
|
||||
from pymavlink import mavutil
|
||||
import rpi_ws281x
|
||||
import pigpio
|
||||
|
||||
print cv2.getBuildInformation()
|
||||
|
||||
@@ -1,46 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
set -ex
|
||||
|
||||
# TODO: validate versions
|
||||
|
||||
# validate required software is installed
|
||||
|
||||
python --version
|
||||
python2 --version
|
||||
python3 --version
|
||||
ipython --version
|
||||
ipython3 --version
|
||||
|
||||
node -v
|
||||
npm -v
|
||||
|
||||
byobu --version
|
||||
nmap --version
|
||||
lsof -v
|
||||
git --version
|
||||
vim --version
|
||||
pip --version
|
||||
pip2 --version
|
||||
pip3 --version
|
||||
tcpdump --version
|
||||
monkey --version
|
||||
pigpiod -v
|
||||
i2cdetect -V
|
||||
butterfly -h
|
||||
|
||||
# ros stuff
|
||||
|
||||
roscore -h
|
||||
rosversion clever
|
||||
rosversion aruco_pose
|
||||
rosversion vl53l1x
|
||||
rosversion opencv3
|
||||
rosversion mavros
|
||||
rosversion mavros_extras
|
||||
rosversion dynamic_reconfigure
|
||||
rosversion tf2_web_republisher
|
||||
rosversion compressed_image_transport
|
||||
rosversion rosbridge_suite
|
||||
rosversion rosserial
|
||||
rosversion usb_cam
|
||||
@@ -26,9 +26,6 @@ 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)
|
||||
@@ -77,6 +74,7 @@ add_service_files(
|
||||
Navigate.srv
|
||||
NavigateGlobal.srv
|
||||
SetPosition.srv
|
||||
SetPositionGlobal.srv
|
||||
SetVelocity.srv
|
||||
SetAttitude.srv
|
||||
SetRates.srv
|
||||
@@ -140,7 +138,6 @@ catkin_package(
|
||||
include_directories(
|
||||
# include
|
||||
${catkin_INCLUDE_DIRS}
|
||||
${GeographicLib_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
# Declare a C++ library
|
||||
@@ -148,6 +145,14 @@ add_library(clever
|
||||
src/optical_flow.cpp
|
||||
)
|
||||
|
||||
add_library(fcu_horiz
|
||||
src/fcu_horiz.cpp
|
||||
)
|
||||
|
||||
add_library(aruco_vpe
|
||||
src/aruco_vpe.cpp
|
||||
)
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
@@ -156,8 +161,6 @@ add_library(clever
|
||||
## 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)
|
||||
@@ -166,11 +169,6 @@ 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})
|
||||
|
||||
target_link_libraries(camera_markers ${catkin_LIBRARIES})
|
||||
@@ -179,8 +177,6 @@ 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
|
||||
## target back to the shorter version for ease of user use
|
||||
@@ -196,6 +192,15 @@ 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
|
||||
${catkin_LIBRARIES}
|
||||
)
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
#############
|
||||
|
||||
@@ -1,18 +0,0 @@
|
||||
# taken from: https://github.com/mavlink/mavros/blob/master/libmavconn/cmake/Modules/FindGeographicLib.cmake
|
||||
|
||||
# Look for GeographicLib
|
||||
#
|
||||
# Set
|
||||
# GEOGRAPHICLIB_FOUND = TRUE
|
||||
# GeographicLib_INCLUDE_DIRS = /usr/local/include
|
||||
# GeographicLib_LIBRARIES = /usr/local/lib/libGeographic.so
|
||||
# GeographicLib_LIBRARY_DIRS = /usr/local/lib
|
||||
|
||||
find_path (GeographicLib_INCLUDE_DIRS NAMES GeographicLib/Config.h)
|
||||
|
||||
find_library (GeographicLib_LIBRARIES NAMES Geographic)
|
||||
|
||||
include (FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args (GeographicLib DEFAULT_MSG
|
||||
GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
|
||||
mark_as_advanced (GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
|
||||
9
clever/launch/arduino.launch
Normal file
9
clever/launch/arduino.launch
Normal file
@@ -0,0 +1,9 @@
|
||||
<launch>
|
||||
<!-- Bridge to connected Arduino using rosserial -->
|
||||
<arg name="device" default="/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0"/>
|
||||
<!-- TODO: UART connection -->
|
||||
|
||||
<node pkg="rosserial_python" type="serial_node.py" name="serial_node" output="screen">
|
||||
<param name="port" value="$(arg device)"/>
|
||||
</node>
|
||||
</launch>
|
||||
@@ -3,33 +3,33 @@
|
||||
<arg name="aruco_map" default="false"/>
|
||||
<arg name="aruco_vpe" default="false"/>
|
||||
|
||||
<!-- aruco_detect: detect aruco markers, estimate poses -->
|
||||
<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
|
||||
<!-- detect aruco markers, estimate poses -->
|
||||
<node pkg="nodelet" if="$(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"/>
|
||||
|
||||
<param name="length" value="0.32"/>
|
||||
<param name="snap_orientation" value="local_origin"/>
|
||||
<param name="estimate_poses" value="true"/>
|
||||
<param name="send_tf" value="true"/>
|
||||
<param name="known_tilt" value="map"/>
|
||||
<param name="length" value="0.33"/>
|
||||
</node>
|
||||
|
||||
<!-- aruco_map: estimate aruco map pose -->
|
||||
<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<!-- estimate aruco map pose -->
|
||||
<node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_map" if="$(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="$(find aruco_pose)/map/map.txt"/>
|
||||
<param name="known_tilt" value="map"/>
|
||||
<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
|
||||
<param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
|
||||
<param name="snap_orientation" value="local_origin"/>
|
||||
</node>
|
||||
|
||||
<!-- vpe publisher from aruco markers -->
|
||||
<node name="vpe_publisher" pkg="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
|
||||
<node name="vpe_publisher" pkg="clever" type="vpe_publisher" output="screen" if="$(arg aruco_vpe)">
|
||||
<!-- <remap from="~markers" to="aruco_detect/markers"/> -->
|
||||
<!-- <remap from="~pose_pub" to="mavros/mocap/pose"/> --> <!-- publish MOCAP -->
|
||||
<remap from="~pose_cov" to="aruco_map/pose"/>
|
||||
<remap from="~vpe" to="mavros/vision_pose/pose"/>
|
||||
<param name="frame_id" value="aruco_map_detected"/>
|
||||
<remap from="~pose_pub" to="mavros/vision_pose/pose"/> <!-- publish VPE -->
|
||||
<param name="frame_id" value="aruco_map"/>
|
||||
<param name="child_frame_id" value="fcu"/>
|
||||
<param name="publish_zero" value="true"/>
|
||||
<param name="offset_frame_id" value="aruco_map"/>
|
||||
</node>
|
||||
</launch>
|
||||
|
||||
@@ -8,70 +8,60 @@
|
||||
<arg name="optical_flow" default="false"/>
|
||||
<arg name="aruco" default="false"/>
|
||||
<arg name="rc" default="true"/>
|
||||
<arg name="rangefinder_vl53l1x" default="false"/>
|
||||
<arg name="arduino" default="false"/>
|
||||
<arg name="vl53l1x" default="false"/>
|
||||
|
||||
<!-- mavros -->
|
||||
<include file="$(find clever)/launch/mavros.launch">
|
||||
<arg name="fcu_conn" value="$(arg fcu_conn)"/>
|
||||
<arg name="fcu_ip" value="$(arg fcu_ip)"/>
|
||||
<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
|
||||
<arg name="viz" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- web video server -->
|
||||
<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5">
|
||||
<param name="default_stream_type" value="ros_compressed"/>
|
||||
</node>
|
||||
<node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5"/>
|
||||
|
||||
<!-- aruco markers -->
|
||||
<!-- aruco -->
|
||||
<include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
|
||||
|
||||
<!-- optical flow -->
|
||||
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
|
||||
<remap from="image_raw" to="main_camera/image_raw"/>
|
||||
<node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true">
|
||||
<remap from="image" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<param name="calc_flow_gyro" value="true"/>
|
||||
</node>
|
||||
|
||||
<!-- main nodelet manager -->
|
||||
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
|
||||
<param name="num_worker_threads" value="2"/>
|
||||
<param name="num_worker_threads" value="4"/>
|
||||
</node>
|
||||
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="local_origin_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 local_origin local_origin_upside_down"/>
|
||||
|
||||
|
||||
<!-- simplified offboard control -->
|
||||
<node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
|
||||
<param name="reference_frames/body" value="map"/>
|
||||
<param name="reference_frames/base_link" value="map"/>
|
||||
</node>
|
||||
|
||||
<node name="simple_offboard" pkg="clever" type="simple_offboard.py" output="screen"/>
|
||||
<!-- Auxiliary frames -->
|
||||
<node name="frames" pkg="clever" type="frames" output="screen">
|
||||
<param name="body/frame_id" value="body"/>
|
||||
<param name="body/frame_id" value="fcu_horiz"/>
|
||||
</node>
|
||||
|
||||
|
||||
<!-- main camera -->
|
||||
<include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
|
||||
|
||||
<!-- rosbridge -->
|
||||
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
|
||||
|
||||
<!-- tf2 republisher for web visualization -->
|
||||
<node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
|
||||
|
||||
<!-- vl53l1x ToF rangefinder -->
|
||||
<node name="vl53l1x" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
|
||||
<param name="frame_id" value="rangefinder"/>
|
||||
<param name="offset" value="-0.05"/>
|
||||
<remap from="~range" to="mavros/distance_sensor/rangefinder_sub"/> <!-- redirect data to FCU -->
|
||||
<node name="vl53l1x" pkg="clever" type="vl53l1x.py" output="screen" if="$(arg vl53l1x)">
|
||||
<param name="z_shift" value="-0.05"/>
|
||||
<!-- <remap from="~range" to="mavros/distance_sensor/rangefinder_3_sub"/> -->
|
||||
</node>
|
||||
|
||||
<!-- rc backend -->
|
||||
<node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
|
||||
|
||||
<!-- Arduino bridge -->
|
||||
<node pkg="rosserial_python" type="serial_node.py" name="serial_node" output="screen" if="$(arg arduino)">
|
||||
<param name="port" value="/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0"/>
|
||||
</node>
|
||||
<include file="$(find clever)/launch/arduino.launch" if="$(arg arduino)"/>
|
||||
</launch>
|
||||
|
||||
19
clever/launch/main_camera.launch
Executable file → Normal file
19
clever/launch/main_camera.launch
Executable file → Normal file
@@ -1,20 +1,15 @@
|
||||
<launch>
|
||||
<!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
|
||||
<!-- Camera position and orientation are represented by fcu -> main_camera_optical transform -->
|
||||
<!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
|
||||
|
||||
<!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
|
||||
<!-- 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"/>-->
|
||||
|
||||
<!-- 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 -->
|
||||
<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 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"/>-->
|
||||
<!-- 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 node -->
|
||||
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
|
||||
|
||||
@@ -5,12 +5,12 @@
|
||||
<arg name="viz" default="true"/>
|
||||
<arg name="respawn" default="true"/>
|
||||
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
|
||||
<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="5" output="screen">
|
||||
<!-- UART connection -->
|
||||
<param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
|
||||
|
||||
<!-- USB connection -->
|
||||
<param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
|
||||
<param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
|
||||
|
||||
<!-- sitl -->
|
||||
<param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
|
||||
@@ -18,15 +18,45 @@
|
||||
<!-- gcs bridge -->
|
||||
<param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
|
||||
<param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
|
||||
<param name="gcs_url" value="udp-b://$(env ROS_HOSTNAME):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
|
||||
<param name="gcs_url" value="udp-pb://$(env ROS_HOSTNAME):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
|
||||
<param name="gcs_url" value="udp-b://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
|
||||
<param name="gcs_url" value="udp-pb://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
|
||||
<param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
|
||||
<param name="gcs_quiet_mode" value="true"/>
|
||||
<param name="conn/timeout" value="8"/>
|
||||
|
||||
<!-- basic params -->
|
||||
<rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
|
||||
<!-- default px4 params -->
|
||||
<rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
|
||||
|
||||
<!-- rangefinders -->
|
||||
<rosparam>
|
||||
distance_sensor:
|
||||
rangefinder_0:
|
||||
id: 0
|
||||
frame_id: "rangefinder"
|
||||
orientation: PITCH_270
|
||||
field_of_view: 0.5
|
||||
rangefinder_1:
|
||||
id: 1
|
||||
frame_id: "rangefinder"
|
||||
orientation: PITCH_270
|
||||
field_of_view: 0.5
|
||||
rangefinder_2_sub:
|
||||
subscriber: true
|
||||
id: 2
|
||||
orientation: PITCH_270
|
||||
rangefinder_3_sub:
|
||||
subscriber: true
|
||||
id: 3
|
||||
orientation: PITCH_270
|
||||
</rosparam>
|
||||
|
||||
<!-- additional params -->
|
||||
<param name="local_position/frame_id" value="local_origin"/>
|
||||
<param name="local_position/tf/send" value="true"/>
|
||||
<param name="local_position/tf/frame_id" value="local_origin"/>
|
||||
<param name="local_position/tf/child_frame_id" value="fcu"/>
|
||||
<param name="global_position/tf/send" value="false"/>
|
||||
<param name="imu/frame_id" value="fcu"/>
|
||||
<rosparam param="plugin_blacklist">
|
||||
- safety_area
|
||||
- image_pub
|
||||
@@ -51,14 +81,14 @@
|
||||
</node>
|
||||
|
||||
<!-- Rangefinders frame -->
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>
|
||||
|
||||
<!-- Copter visualization -->
|
||||
<node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(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="map"/>
|
||||
<param name="child_frame_id" value="base_link"/>
|
||||
<param name="fixed_frame_id" value="local_origin"/>
|
||||
<param name="child_frame_id" value="fcu"/>
|
||||
<param name="marker_scale" value="1"/>
|
||||
<param name="max_track_size" value="20"/>
|
||||
<param name="num_rotors" value="4"/>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user