Merge branch 'master' into nti2019

.markdownlint.json

@@ -24,8 +24,6 @@
             "Python",
             "C++",
             "PX4",
-            "px4.io",
-            "logs.px4.io",
             "QGroundControl",
             "QGC",
             "WireShark",
@@ -40,10 +38,6 @@
             "RPi",
             "Linux",
             "Windows",
-            "Docker",
-            "Travis",
-            "travis-ci.org",
-            "travis-ci.com",
             "macOS",
             "iOS",
             "Android",

.travis.yml

@@ -23,16 +23,7 @@ jobs:
 # Check if there are any cached images, copy them to our "images" directory
         - if [ -n "$(ls -A imgcache/*.zip)" ]; then mkdir -p images && cp imgcache/*.zip images; fi
       script:
-        - if [[ -z ${TRAVIS_TAG} && ${TRAVIS_PULL_REQUEST} ]]; then
+        - docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER}
-            echo "Commit range is ${TRAVIS_COMMIT_RANGE}" &&
-            if [ $(git diff --name-only ${TRAVIS_COMMIT_RANGE} | grep -v ^"docs/" | wc -l) -eq 0 ]; then
-              echo " === Docs-only change; skipping build ===" &&
-              export SKIP_BUILD=true;
-            fi;
-          fi
-        - if [ -z ${SKIP_BUILD} ]; then
-            docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER};
-          fi
       before_cache:
         - cp images/*.zip imgcache
       before_deploy:
@@ -64,18 +55,19 @@ jobs:
         - markdownlint docs
         - gitbook install
         - gitbook build
-      deploy:
+# ***
-        provider: pages
+# Disable deployments for now, revisit this later
-        local-dir: _book
+#   --sfalexrog, 06.02.2019
-        skip-cleanup: true
+# ***
-        github-token: ${GITHUB_OAUTH_TOKEN}
+#      deploy:
-        keep-history: true
+#        provider: pages
-        target-branch: master
+#        local-dir: _book
-        repo: CopterExpress/clever-gitbook
+#        skip-cleanup: true
-        fqdn: clever.copterexpress.com
+#        github-token: ${GITHUB_OAUTH_TOKEN}
-        verbose: true
+#        keep-history: true
-        on:
+#        target-branch: gh-pages
-          branch: master
+#        on:
+#          branch: WIP/gitbook-autobuild
     - stage: Annotate
       name: Auto-generate changelog
       language: python

aruco_pose/CMakeLists.txt

@@ -216,7 +216,4 @@ target_link_libraries(aruco_pose
 if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/basic.test)
-  add_rostest(test/test_parser_pass.test)
-  add_rostest(test/test_parser_empty_map.test)
-  add_rostest(test/test_node_failure.test)
 endif()

aruco_pose/README.md

@@ -74,7 +74,6 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)
-* `~dictionary` (*int*) – ArUco dictionary (default: 2) - should be the same as `dictionary` parameter of `aruco_detect` nodelet
 
 Map file has one marker per line with the following line format:
 

aruco_pose/map/cmit.txt

@@ -1,100 +0,0 @@
-0	0.33	0.0	9.0	0	0	0	0	
-1	0.33	1.0	9.0	0	0	0	0	
-2	0.33	2.0	9.0	0	0	0	0	
-3	0.33	3.0	9.0	0	0	0	0	
-4	0.33	4.0	9.0	0	0	0	0	
-5	0.33	5.0	9.0	0	0	0	0	
-6	0.33	6.0	9.0	0	0	0	0	
-7	0.33	7.0	9.0	0	0	0	0	
-8	0.33	8.0	9.0	0	0	0	0	
-9	0.33	9.0	9.0	0	0	0	0	
-10	0.33	0.0	8.0	0	0	0	0	
-11	0.33	1.0	8.0	0	0	0	0	
-12	0.33	2.0	8.0	0	0	0	0	
-13	0.33	3.0	8.0	0	0	0	0	
-14	0.33	4.0	8.0	0	0	0	0	
-15	0.33	5.0	8.0	0	0	0	0	
-16	0.33	6.0	8.0	0	0	0	0	
-#17	0.33	7.0	8.0	0	0	0	0	
-18	0.33	8.0	8.0	0	0	0	0	
-19	0.33	9.0	8.0	0	0	0	0	
-20	0.33	0.0	7.0	0	0	0	0	
-21	0.33	1.0	7.0	0	0	0	0	
-22	0.33	2.0	7.0	0	0	0	0	
-23	0.33	3.0	7.0	0	0	0	0	
-24	0.33	4.0	7.0	0	0	0	0	
-25	0.33	5.0	7.0	0	0	0	0	
-26	0.33	6.0	7.0	0	0	0	0	
-27	0.33	7.0	7.0	0	0	0	0	
-28	0.33	8.0	7.0	0	0	0	0	
-29	0.33	9.0	7.0	0	0	0	0	
-30	0.33	0.0	6.0	0	0	0	0	
-31	0.33	1.0	6.0	0	0	0	0	
-32	0.33	2.0	6.0	0	0	0	0	
-33	0.33	3.0	6.0	0	0	0	0	
-34	0.33	4.0	6.0	0	0	0	0	
-35	0.33	5.0	6.0	0	0	0	0	
-36	0.33	6.0	6.0	0	0	0	0	
-37	0.33	7.0	6.0	0	0	0	0	
-38	0.33	8.0	6.0	0	0	0	0	
-39	0.33	9.0	6.0	0	0	0	0	
-40	0.33	0.0	5.0	0	0	0	0	
-41	0.33	1.0	5.0	0	0	0	0	
-42	0.33	2.0	5.0	0	0	0	0	
-43	0.33	3.0	5.0	0	0	0	0	
-44	0.33	4.0	5.0	0	0	0	0	
-45	0.33	5.0	5.0	0	0	0	0	
-46	0.33	6.0	5.0	0	0	0	0	
-47	0.33	7.0	5.0	0	0	0	0	
-48	0.33	8.0	5.0	0	0	0	0	
-49	0.33	9.0	5.0	0	0	0	0	
-50	0.33	0.0	4.0	0	0	0	0	
-51	0.33	1.0	4.0	0	0	0	0	
-52	0.33	2.0	4.0	0	0	0	0	
-53	0.33	3.0	4.0	0	0	0	0	
-54	0.33	4.0	4.0	0	0	0	0	
-55	0.33	5.0	4.0	0	0	0	0	
-56	0.33	6.0	4.0	0	0	0	0	
-57	0.33	7.0	4.0	0	0	0	0	
-58	0.33	8.0	4.0	0	0	0	0	
-59	0.33	9.0	4.0	0	0	0	0	
-60	0.33	0.0	3.0	0	0	0	0	
-61	0.33	1.0	3.0	0	0	0	0	
-62	0.33	2.0	3.0	0	0	0	0	
-63	0.33	3.0	3.0	0	0	0	0	
-64	0.33	4.0	3.0	0	0	0	0	
-65	0.33	5.0	3.0	0	0	0	0	
-66	0.33	6.0	3.0	0	0	0	0	
-67	0.33	7.0	3.0	0	0	0	0	
-68	0.33	8.0	3.0	0	0	0	0	
-69	0.33	9.0	3.0	0	0	0	0	
-70	0.33	0.0	2.0	0	0	0	0	
-71	0.33	1.0	2.0	0	0	0	0	
-72	0.33	2.0	2.0	0	0	0	0	
-73	0.33	3.0	2.0	0	0	0	0	
-74	0.33	4.0	2.0	0	0	0	0	
-75	0.33	5.0	2.0	0	0	0	0	
-76	0.33	6.0	2.0	0	0	0	0	
-77	0.33	7.0	2.0	0	0	0	0	
-78	0.33	8.0	2.0	0	0	0	0	
-79	0.33	9.0	2.0	0	0	0	0	
-80	0.33	0.0	1.0	0	0	0	0	
-81	0.33	1.0	1.0	0	0	0	0	
-82	0.33	2.0	1.0	0	0	0	0	
-83	0.33	3.0	1.0	0	0	0	0	
-84	0.33	4.0	1.0	0	0	0	0	
-85	0.33	5.0	1.0	0	0	0	0	
-86	0.33	6.0	1.0	0	0	0	0	
-87	0.33	7.0	1.0	0	0	0	0	
-88	0.33	8.0	1.0	0	0	0	0	
-89	0.33	9.0	1.0	0	0	0	0	
-90	0.33	0.0	0.0	0	0	0	0	
-91	0.33	1.0	0.0	0	0	0	0	
-92	0.33	2.0	0.0	0	0	0	0	
-93	0.33	3.0	0.0	0	0	0	0	
-94	0.33	4.0	0.0	0	0	0	0	
-95	0.33	5.0	0.0	0	0	0	0	
-96	0.33	6.0	0.0	0	0	0	0	
-97	0.33	7.0	0.0	0	0	0	0	
-98	0.33	8.0	0.0	0	0	0	0	
-99	0.33	9.0	0.0	0	0	0	0	

aruco_pose/map/nti_novgorod.txt

@@ -0,0 +1,6 @@
+34	0.33	0	0	0	0	0	0
+37	0.33	0.74	0	0	0	0	0
+25	0.33	0	0.54	0	0	0	0
+28	0.33	0.74	0.54	0	0	0	0
+32	0.33	2.79	-0.15	1.20	0	0	0
+29	0.33	2.46	0.65	1.20	0	0	0

aruco_pose/src/aruco_map.cpp

@@ -36,7 +36,6 @@
 #include <sensor_msgs/Image.h>
 #include <visualization_msgs/Marker.h>
 #include <visualization_msgs/MarkerArray.h>
-#include <algorithm>
 
 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/Marker.h>
@@ -271,50 +270,10 @@ publish_debug:
 
 			std::istringstream s(line);
 
-			// Read first character to see whether it's a comment
+			if (!(s >> id >> length >> x >> y >> z >> yaw >> pitch >> roll)) {
-			char first = 0;
+				ROS_ERROR("aruco_map: cannot parse line: %s", line.c_str());
-			if (!(s >> first)) {
-				// No non-whitespace characters, must be a blank line
 				continue;
 			}
-
-			if (first == '#') {
-				ROS_DEBUG("aruco_map: Skipping line as a comment: %s", line.c_str());
-				continue;
-			} else if (isdigit(first)) {
-				// Put the digit back into the stream
-				// Note that this is a non-modifying putback, so this should work with istreams
-				// (see https://en.cppreference.com/w/cpp/io/basic_istream/putback)
-				s.putback(first);
-			} else {
-				// Probably garbage data; inform user and throw an exception, possibly killing nodelet
-				ROS_FATAL("aruco_map: Malformed input: %s", line.c_str());
-				ros::shutdown();
-				throw std::runtime_error("Malformed input");
-			}
-
-			if (!(s >> id >> length >> x >> y)) {
-				ROS_ERROR("aruco_map: Not enough data in line: %s; "
-				          "Each marker must have at least id, length, x, y fields", line.c_str());
-				continue;
-			}
-			// Be less strict about z, yaw, pitch roll
-			if (!(s >> z)) {
-				ROS_DEBUG("aruco_map: No z coordinate provided for marker %d, assuming 0", id);
-				z = 0;
-			}
-			if (!(s >> yaw)) {
-				ROS_DEBUG("aruco_map: No yaw provided for marker %d, assuming 0", id);
-				yaw = 0;
-			}
-			if (!(s >> pitch)) {
-				ROS_DEBUG("aruco_map: No pitch provided for marker %d, assuming 0", id);
-				pitch = 0;
-			}
-			if (!(s >> roll)) {
-				ROS_DEBUG("aruco_map: No roll provided for marker %d, assuming 0", id);
-				roll = 0;
-			}
 			addMarker(id, length, x, y, z, yaw, pitch, roll);
 		}
 
@@ -380,19 +339,6 @@ publish_debug:
 	void addMarker(int id, double length, double x, double y, double z,
 				   double yaw, double pitch, double roll)
 	{
-		// Check whether the id is in range for current dictionary
-		int num_markers = board_->dictionary->bytesList.rows;
-		if (num_markers <= id) {
-			ROS_ERROR("aruco_map: Marker id %d is not in dictionary; current dictionary contains %d markers. "
-			          "Please see https://github.com/CopterExpress/clever/blob/master/aruco_pose/README.md#parameters for details",
-					  id, num_markers);
-			return;
-		}
-		// Check if marker is already in the board
-		if (std::count(board_->ids.begin(), board_->ids.end(), id) > 0) {
-			ROS_ERROR("aruco_map: Marker id %d is already in the map", id);
-			return;
-		}
 		// Create transform
 		tf::Quaternion q;
 		q.setRPY(roll, pitch, yaw);

aruco_pose/src/genmap.py

@@ -1,13 +1,5 @@
 #!/usr/bin/env python
 
-# Copyright (C) 2018 Copter Express Technologies
-#
-# Author: Oleg Kalachev <okalachev@gmail.com>
-#
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
 """Markers map generator
 
 Generate map file for aruco_map nodelet.

aruco_pose/src/utils.h

@@ -1,14 +1,3 @@
-/*
- * Utility functions
- * Copyright (C) 2018 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
 #pragma once
 
 #include <cmath>

aruco_pose/test/basic.txt

@@ -1,11 +1,7 @@
-# Default markers
 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
-# Marker with non-zero yaw rotation
 10	0.5	0.5	2	0	1.2	0	0
-# Marker with non-zero pitch and roll rotation
 11	0.2	0.5	0.5	0	0.0	-1	1
-# Marker with yaw, pitch and roll rotation
 12	0.4	0.2	0.5	0	0.1	-1.2	-0.5

aruco_pose/test/test_node_failure.py

@@ -1,27 +0,0 @@
-#!/usr/bin/env python
-import sys
-import unittest
-import json
-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 TestArucoMapPass(unittest.TestCase):
-    def setUp(self):
-        rospy.init_node('test_parser_fail', anonymous=True)
-
-    def test_node_failure(self):
-        try:
-            markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-            did_post_message = True
-        except rospy.exceptions.ROSException:
-            did_post_message = False
-        self.assertFalse(did_post_message)
-
-
-rostest.rosrun('aruco_pose', 'test_aruco_map', TestArucoMapPass, sys.argv)

aruco_pose/test/test_node_failure.test

@@ -1,13 +0,0 @@
-<launch>
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
-
-    <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/test_node_failure.txt"/>
-    </node>
-
-    <test test-name="test_aruco_map_fail_dict" pkg="aruco_pose" type="test_node_failure.py"/>
-</launch>

aruco_pose/test/test_node_failure.txt

@@ -1,4 +0,0 @@
-# Any garbage data (pretty much anything apart from a comment starting with a hash starting
-# with a hash sign or a number) will be interpreted as garbage data; the node should fail
-# after reading it.
-// Don't try to put your comments this way, it will kill your node!

aruco_pose/test/test_parser_empty_map.py

@@ -1,24 +0,0 @@
-#!/usr/bin/env python
-import sys
-import unittest
-import json
-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 TestArucoMapPass(unittest.TestCase):
-    def setUp(self):
-        rospy.init_node('test_parser_fail', anonymous=True)
-
-
-    def test_node_failure(self):
-        markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-        self.assertEquals(len(markers.markers), 0)
-
-
-rostest.rosrun('aruco_pose', 'test_aruco_map', TestArucoMapPass, sys.argv)

aruco_pose/test/test_parser_empty_map.test

@@ -1,13 +0,0 @@
-<launch>
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
-
-    <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/test_parser_empty_map.txt"/>
-    </node>
-
-    <test test-name="test_aruco_map_incomplete" pkg="aruco_pose" type="test_parser_empty_map.py"/>
-</launch>

aruco_pose/test/test_parser_empty_map.txt

@@ -1,6 +0,0 @@
-# Failing markers: Not enough parameters to add a marker
-1
-2 1
-3 0.5 1
-# Failing markers: Marker IDs outside of dictionary range
-1001 1 1 0

aruco_pose/test/test_parser_pass.py

@@ -1,75 +0,0 @@
-#!/usr/bin/env python
-import sys
-import unittest
-import json
-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 TestArucoMapPass(unittest.TestCase):
-    def setUp(self):
-        rospy.init_node('test_parser_pass', anonymous=True)
-
-    def test_markers(self):
-        markers = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-        
-        self.assertEqual(len(markers.markers), 6)
-# FIXME: visual marker id is not ArUco marker id
-#        self.assertEqual(markers.markers[0].id, 1)
-#        self.assertEqual(markers.markers[1].id, 2)
-#        self.assertEqual(markers.markers[2].id, 3)
-#        self.assertEqual(markers.markers[3].id, 4)
-
-        self.assertAlmostEqual(markers.markers[0].pose.position.x, 0, places=7)
-        self.assertAlmostEqual(markers.markers[0].pose.position.y, 0, places=7)
-        self.assertAlmostEqual(markers.markers[0].pose.position.z, 0, places=7)
-        
-        self.assertAlmostEqual(markers.markers[1].pose.position.x, 1, places=7)
-        self.assertAlmostEqual(markers.markers[1].pose.position.y, 1, places=7)
-        self.assertAlmostEqual(markers.markers[1].pose.position.z, 1, places=7)
-        
-        self.assertAlmostEqual(markers.markers[2].pose.position.x, 1, places=7)
-        self.assertAlmostEqual(markers.markers[2].pose.position.y, 0, places=7)
-        self.assertAlmostEqual(markers.markers[2].pose.position.z, 0.5, places=7)
-        
-        self.assertAlmostEqual(markers.markers[3].pose.position.x, 0, places=7)
-        self.assertAlmostEqual(markers.markers[3].pose.position.y, 1, places=7)
-        self.assertAlmostEqual(markers.markers[3].pose.position.z, 0, places=7)
-        
-        self.assertAlmostEqual(markers.markers[4].pose.position.x, 1, places=7)
-        self.assertAlmostEqual(markers.markers[4].pose.position.y, 0.5, places=7)
-        self.assertAlmostEqual(markers.markers[4].pose.position.z, 0, places=7)
-        
-        self.assertAlmostEqual(markers.markers[5].pose.position.x, 2.2, places=7)
-        self.assertAlmostEqual(markers.markers[5].pose.position.y, 0.2, places=7)
-        self.assertAlmostEqual(markers.markers[5].pose.position.z, 0, places=7)
-
-        self.assertAlmostEqual(markers.markers[0].scale.x, 0.33, places=7)
-        self.assertAlmostEqual(markers.markers[0].scale.y, 0.33, places=7)
-        self.assertAlmostEqual(markers.markers[1].scale.x, 0.225, places=7)
-        self.assertAlmostEqual(markers.markers[1].scale.y, 0.225, places=7)
-        self.assertAlmostEqual(markers.markers[2].scale.x, 0.45, places=7)
-        self.assertAlmostEqual(markers.markers[2].scale.y, 0.45, places=7)
-        self.assertAlmostEqual(markers.markers[3].scale.x, 0.15, places=7)
-        self.assertAlmostEqual(markers.markers[3].scale.y, 0.15, places=7)
-        self.assertAlmostEqual(markers.markers[4].scale.x, 0.25, places=7)
-        self.assertAlmostEqual(markers.markers[4].scale.y, 0.25, places=7)
-        self.assertAlmostEqual(markers.markers[5].scale.x, 0.35, places=7)
-        self.assertAlmostEqual(markers.markers[5].scale.y, 0.35, places=7)
-
-    def test_map_image(self):
-        img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
-        self.assertEqual(img.width, 2000)
-        self.assertEqual(img.height, 2000)
-        self.assertEqual(img.encoding, 'mono8')
-
-    # def test_transforms(self):
-    #     pass
-
-
-rostest.rosrun('aruco_pose', 'test_aruco_map', TestArucoMapPass, sys.argv)

aruco_pose/test/test_parser_pass.test

@@ -1,13 +0,0 @@
-<launch>
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
-
-    <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/test_parser_pass.txt"/>
-    </node>
-
-    <test test-name="test_aruco_map" pkg="aruco_pose" type="test_parser_pass.py"/>
-</launch>

aruco_pose/test/test_parser_pass.txt

@@ -1,23 +0,0 @@
-# Parser test #1 - correct file
-# 1. Commentary test
-#Commentary text without space after pound sign
-# Commentary text with space after pound sign
-    # Commentary text with spaces before pound sign
-	# Commentary text with tab before pound sign
-			# Text with tabs before pound sign
-# Empty line test:
-
-# All-whitespace line test:
-		    
-# 2. Default coordinates test
-# Fully filled marker description, tab-delimited:
-1	0.33	0	0	0	0	0	0
-# Fully filled marker description, space-delimited:
-2 0.225 1 1 1 0 0 0
-# Default roll, pitch, yaw angles
-3 0.45 1 0 0.5
-# Default roll, pitch, yaw, z
-4 0.15 0 1
-# Inline commentary
-5 0.25 1 0.5# Comment straight after digit
-6 0.35 2.2 0.2 # Comment with a space after digit

book.json

@@ -4,7 +4,6 @@
     "author": "Copter Express",
     "language": "ru",
     "root": "docs/",
-    "gitbook": "^3.2.2",
     "plugins": [
         "youtube",
         "richquotes@https://github.com/okalachev/gitbook-plugin-richquotes.git",

builder/assets/hardware_setup.sh

@@ -8,10 +8,6 @@
 #
 # Author: Artem Smirnov <urpylka@gmail.com>
 #
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
 
 set -e # Exit immidiately on non-zero result
 

builder/assets/init_rpi.sh

@@ -8,10 +8,6 @@
 #
 # Author: Artem Smirnov <urpylka@gmail.com>
 #
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
 
 set -e # Exit immidiately on non-zero result
 

builder/assets/kinetic-rosdep-clever.yaml

@@ -541,12 +541,3 @@ tf2_web_republisher:
 image_publisher:
   debian:
     stretch: [ros-kinetic-image-publisher]
-raspberry-kernel-headers:
-  debian:
-    stretch: [raspberry-kernel-headers]
-ddynamic_reconfigure:
-  debian:
-    stretch: [ros-kinetic-ddynamic-reconfigure]
-realsense2_camera:
-  debian:
-    stretch: [ros-kinetic-realsense2-camera]

builder/assets/pigpiod.service

@@ -1,8 +0,0 @@
-[Unit]
-Description=Daemon required to control GPIO pins via pigpio
-[Service]
-ExecStart=/usr/bin/pigpiod -l -t 0 -x 0x0FFF3FF0
-ExecStop=/bin/systemctl kill pigpiod
-Type=forking
-[Install]
-WantedBy=multi-user.target

builder/assets/rosled.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=ROS ws281x support
+Requires=roscore.service
+After=roscore.service
+
+[Service]
+EnvironmentFile=/lib/systemd/system/roscore.env
+ExecStart=/opt/ros/kinetic/bin/roslaunch ros_ws281x clever4.launch --wait --screen
+Restart=on-failure
+RestartSec=3
+TimeoutSec=infinity
+
+[Install]
+WantedBy=multi-user.target

builder/image-build.sh

@@ -1,21 +1,17 @@
 #! /usr/bin/env bash
 
 #
-# Script for build the image. Used builder script of the target repo.
+# Script for build the image. Used builder script of the target repo
 # For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
 #
 # Copyright (C) 2018 Copter Express Technologies
 #
 # Author: Artem Smirnov <urpylka@gmail.com>
 #
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2019-04-09/2019-04-08-raspbian-stretch-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2018-11-15/2018-11-13-raspbian-stretch-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -113,10 +109,10 @@ ${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 ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/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} copy ${SCRIPTS_DIR}'/assets/rosled.service' '/lib/systemd/system/'
 # Add rename script
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever_rename' '/usr/local/bin/clever_rename'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}

builder/image-init.sh

@@ -1,16 +1,12 @@
 #! /usr/bin/env bash
 
 #
-# Script for image initialisation
+# Script for initialisation image
 #
 # Copyright (C) 2018 Copter Express Technologies
 #
 # Author: Artem Smirnov <urpylka@gmail.com>
 #
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
 
 set -e # Exit immidiately on non-zero result
 

builder/image-network.sh

@@ -1,16 +1,12 @@
 #! /usr/bin/env bash
 
 #
-# Script for network configuration
+# Script for network configure
 #
 # Copyright (C) 2018 Copter Express Technologies
 #
 # Author: Artem Smirnov <urpylka@gmail.com>
 #
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
 
 set -e # Exit immidiately on non-zero result
 

builder/image-ros.sh

@@ -8,10 +8,6 @@
 #
 # Author: Artem Smirnov <urpylka@gmail.com>
 #
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
 
 set -e # Exit immidiately on non-zero result
 
@@ -46,10 +42,9 @@ echo_stamp() {
 my_travis_retry() {
   local result=0
   local count=1
-  local max_count=50
+  while [ $count -le 3 ]; do
-  while [ $count -le $max_count ]; do
     [ $result -ne 0 ] && {
-      echo -e "\nThe command \"$@\" failed. Retrying, $count of $max_count.\n" >&2
+      echo -e "\n${ANSI_RED}The command \"$@\" failed. Retrying, $count of 3.${ANSI_RESET}\n" >&2
     }
     # ! { } ignores set -e, see https://stackoverflow.com/a/4073372
     ! { "$@"; result=$?; }
@@ -58,21 +53,21 @@ my_travis_retry() {
     sleep 1
   done
 
-  [ $count -gt $max_count ] && {
+  [ $count -gt 3 ] && {
-    echo -e "\nThe command \"$@\" failed $max_count times.\n" >&2
+    echo -e "\n${ANSI_RED}The command \"$@\" failed 3 times.${ANSI_RESET}\n" >&2
   }
 
   return $result
 }
 
 # TODO: 'kinetic-rosdep-clever.yaml' should add only if we use our repo?
-echo_stamp "Init rosdep"
+echo_stamp "Init rosdep" \
-my_travis_retry rosdep init
+&& rosdep init \
-echo "yaml file:///etc/ros/rosdep/kinetic-rosdep-clever.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+&& echo "yaml file:///etc/ros/rosdep/kinetic-rosdep-clever.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list \
-my_travis_retry rosdep update
+&& rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
-my_travis_retry sudo -u pi rosdep update
+sudo -u pi rosdep update
 
 resolve_rosdep() {
   # TEMPLATE: resolve_rosdep <CATKIN_PATH> <ROS_DISTRO> <OS_DISTRO> <OS_VERSION>
@@ -142,9 +137,9 @@ fi
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-echo_stamp "Reconfiguring Clever repository for simplier unshallowing"
+echo_stamp "Adding ros_ws281x ROS package"
-cd /home/pi/catkin_ws/src/clever
+cd /home/pi/catkin_ws/src
-git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
+git clone https://github.com/sfalexrog/ros_ws281x
 
 echo_stamp "Installing CLEVER" \
 && cd /home/pi/catkin_ws/src/clever \
@@ -154,7 +149,7 @@ echo_stamp "Installing CLEVER" \
 && 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 -j2 -DCMAKE_BUILD_TYPE=Release -DROS_WS2811_REAL_LIB=ON \
 && catkin_make run_tests \
 && catkin_test_results \
 && systemctl enable roscore \
@@ -162,6 +157,9 @@ echo_stamp "Installing CLEVER" \
 && echo_stamp "All CLEVER was installed!" "SUCCESS" \
 || (echo_stamp "CLEVER installation was failed!" "ERROR"; exit 1)
 
+echo_stamp "Enabling ROS LED service"
+systemctl enable rosled
+
 echo_stamp "Build CLEVER documentation"
 cd /home/pi/catkin_ws/src/clever
 NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
@@ -177,8 +175,7 @@ apt-get install -y --no-install-recommends \
     ros-kinetic-rosserial \
     ros-kinetic-usb-cam \
     ros-kinetic-vl53l1x \
-    ros-kinetic-opencv3=3.3.19-0stretch \
+    ros-kinetic-opencv3=3.3.19-0stretch
-    ros-kinetic-rosshow
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needs for mavros)" \

builder/image-software.sh

@@ -1,16 +1,12 @@
 #! /usr/bin/env bash
 
 #
-# Script for installing software to the image.
+# Script for install software to the image.
 #
 # Copyright (C) 2018 Copter Express Technologies
 #
 # Author: Artem Smirnov <urpylka@gmail.com>
 #
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
 
 set -e # Exit immidiately on non-zero result
 
@@ -90,7 +86,7 @@ dnsmasq=2.76-5+rpt1+deb9u1  \
 tmux=2.3-4 \
 vim=2:8.0.0197-4+deb9u1 \
 cmake=3.7.2-1 \
-libjpeg8=8d1-2 \
+libjpeg8-dev=8d1-2 \
 tcpdump \
 ltrace \
 libpoco-dev=1.7.6+dfsg1-5+deb9u1 \
@@ -103,23 +99,14 @@ libffi-dev \
 monkey=1.6.9-1 \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python-systemd \
 && echo_stamp "Everything was installed!" "SUCCESS" \
 || (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
 
 echo_stamp "Updating kernel to fix camera bug"
-apt-get install --no-install-recommends -y \
+apt-get install --no-install-recommends -y raspberrypi-kernel=1.20190215-1
-	raspberrypi-kernel=1.20190517-1 \
-	raspberrypi-bootloader=1.20190517-1 \
-	libraspberrypi-bin=1.20190517-1 \
-	libraspberrypi-dev=1.20190517-1 \
-	libraspberrypi0=1.20190517-1 \
-	wireless-regdb=2018.05.09-0~rpt1 \
-	wpasupplicant=2:2.6-21~bpo9~rpt1
 
 # Deny byobu to check available updates
 sed -i "s/updates_available//" /usr/share/byobu/status/status
@@ -152,6 +139,9 @@ mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
 systemctl enable monkey.service
 
+echo_stamp "Install paho-mqtt"
+my_travis_retry pip install paho-mqtt
+
 echo_stamp "Install Node.js"
 cd /home/pi
 wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
@@ -167,9 +157,6 @@ syntax on
 autocmd BufNewFile,BufRead *.launch set syntax=xml
 EOF
 
-echo_stamp "Change default keyboard layout to US"
-sed -i 's/XKBLAYOUT="gb"/XKBLAYOUT="us"/g' /etc/default/keyboard
-
 echo_stamp "Attempting to kill dirmngr"
 gpgconf --kill dirmngr
 # dirmngr is only used by apt-key, so we can safely kill it.

builder/image-validate.sh

@@ -7,10 +7,6 @@
 #
 # Author: Oleg Kalachev <okalachev@gmail.com>
 #
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
 
 set -ex
 

builder/test/tests.py

@@ -25,6 +25,6 @@ import pymavlink
 from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
-from espeak import espeak
 
 print cv2.getBuildInformation()
+

builder/test/tests.sh

@@ -28,7 +28,6 @@ monkey --version
 pigpiod -v
 i2cdetect -V
 butterfly -h
-espeak --version
 
 # ros stuff
 
@@ -47,4 +46,4 @@ rosversion rosserial
 rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
-rosversion rosshow
+rosversion ros_ws281x

clever/launch/aruco.launch

@@ -1,7 +1,7 @@
 <launch>
     <arg name="aruco_detect" default="true"/>
-    <arg name="aruco_map" default="false"/>
+    <arg name="aruco_map" default="true"/>
-    <arg name="aruco_vpe" default="false"/>
+    <arg name="aruco_vpe" default="true"/>
 
     <!-- For additional help go to https://clever.copterexpress.com/aruco.html -->
 

clever/launch/clever.launch

@@ -5,10 +5,11 @@
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
-    <arg name="optical_flow" default="false"/>
+    <arg name="optical_flow" default="true"/>
-    <arg name="aruco" default="false"/>
+    <arg name="aruco" default="true"/>
-    <arg name="rc" default="true"/>
+    <arg name="rc" default="false"/>
-    <arg name="rangefinder_vl53l1x" default="false"/>
+    <arg name="rangefinder_vl53l1x" default="true"/>
+    <arg name="arduino" default="false"/>
 
     <!-- mavros -->
     <include file="$(find clever)/launch/mavros.launch">
@@ -20,7 +21,6 @@
     <!-- web video server -->
     <node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5">
         <param name="default_stream_type" value="ros_compressed"/>
-        <param name="publish_rate" value="1.0"/>
     </node>
 
     <!-- aruco markers -->
@@ -63,9 +63,15 @@
     <!-- 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>
 
     <!-- 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>
 </launch>

clever/launch/main_camera.launch

@@ -5,10 +5,10 @@
     <!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
 
     <!-- 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"/>
+    <!-- <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 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"/>-->
+        <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.04 0 -0.08 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"/>-->

clever/package.xml

@@ -37,7 +37,6 @@
   <depend>mjpg-streamer</depend>
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
-  <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
 

clever/requirements.txt

@@ -1,5 +1,6 @@
 flask==0.12.3
 docopt==0.6.2
 geopy==1.11.0
+pymavlink==2.2.10
 smbus2==0.2.1
 VL53L1X==0.0.2

clever/src/selfcheck.py

@@ -1,34 +1,21 @@
 #!/usr/bin/env python
 
-# Copyright (C) 2018 Copter Express Technologies
-#
-# Author: Oleg Kalachev <okalachev@gmail.com>
-#
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
 import math
-import subprocess
+from subprocess import Popen, PIPE
 import re
 import traceback
-from threading import Event
-import numpy
 import rospy
-from systemd import journal
-import tf2_ros
-import tf2_geometry_msgs
-from pymavlink import mavutil
 from std_srvs.srv import Trigger
 from sensor_msgs.msg import Image, CameraInfo, NavSatFix, Imu, Range
-from mavros_msgs.msg import State, OpticalFlowRad, Mavlink
+from mavros_msgs.msg import State, OpticalFlowRad
 from mavros_msgs.srv import ParamGet
-from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped, Vector3Stamped
+from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped
 import tf.transformations as t
 from aruco_pose.msg import MarkerArray
-from mavros import mavlink
 
 
+# TODO: roscore is running
+# TODO: clever.service is running
 # TODO: check attitude is present
 # TODO: disk free space
 # TODO: map, base_link, body
@@ -41,41 +28,28 @@ from mavros import mavlink
 rospy.init_node('selfcheck')
 
 
-tf_buffer = tf2_ros.Buffer()
-tf_listener = tf2_ros.TransformListener(tf_buffer)
-
-
 failures = []
-infos = []
-current_check = None
 
 
 def failure(text, *args):
-    msg = text % args
+    failures.append(text % args)
-    rospy.logwarn('%s: %s', current_check, msg)
-    failures.append(msg)
-
-
-def info(text, *args):
-    msg = text % args
-    rospy.loginfo('%s: %s', current_check, msg)
-    infos.append(msg)
 
 
 def check(name):
     def inner(fn):
         def wrapper(*args, **kwargs):
             failures[:] = []
-            infos[:] = []
-            global current_check
-            current_check = name
             try:
                 fn(*args, **kwargs)
+                for f in failures:
+                    rospy.logwarn('%s: %s', name, f)
             except Exception as e:
+                for f in failures:
+                    rospy.logwarn('%s: %s', name, f)
                 traceback.print_exc()
-                rospy.logerr('%s: exception occurred', name)
+                rospy.logwarn('%s: exception occurred', name)
                 return
-            if not failures and not infos:
+            if not failures:
                 rospy.loginfo('%s: OK', name)
         return wrapper
     return inner
@@ -85,12 +59,7 @@ param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
 
 
 def get_param(name):
-    try:
+    res = param_get(param_id=name)
-        res = param_get(param_id=name)
-    except rospy.ServiceException as e:
-        failure('%s: %s', name, str(e))
-        return None
-
     if not res.success:
         failure('Unable to retrieve PX4 parameter %s', name)
     else:
@@ -99,116 +68,36 @@ def get_param(name):
         return res.value.real
 
 
-recv_event = Event()
-link = mavutil.mavlink.MAVLink('', 255, 1)
-mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
-mavlink_recv = ''
-
-
-def mavlink_message_handler(msg):
-    global mavlink_recv
-    if msg.msgid == 126:
-        mav_bytes_msg = mavlink.convert_to_bytes(msg)
-        mav_msg = link.decode(mav_bytes_msg)
-        mavlink_recv += ''.join(chr(x) for x in mav_msg.data[:mav_msg.count])
-        if 'nsh>' in mavlink_recv:
-            # Remove the last line, including newline before prompt
-            mavlink_recv = mavlink_recv[:mavlink_recv.find('nsh>') - 1]
-            recv_event.set()
-
-
-mavlink_sub = rospy.Subscriber('mavlink/from', Mavlink, mavlink_message_handler)
-# FIXME: not sleeping here still breaks things
-rospy.sleep(0.5)
-
-
-def mavlink_exec(cmd, timeout=3.0):
-    global mavlink_recv
-    mavlink_recv = ''
-    recv_event.clear()
-    if not cmd.endswith('\n'):
-        cmd += '\n'
-    msg = mavutil.mavlink.MAVLink_serial_control_message(
-        device=mavutil.mavlink.SERIAL_CONTROL_DEV_SHELL,
-        flags=mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND | mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE |
-              mavutil.mavlink.SERIAL_CONTROL_FLAG_MULTI,
-        timeout=3,
-        baudrate=0,
-        count=len(cmd),
-        data=map(ord, cmd.ljust(70, '\0')))
-    msg.pack(link)
-    ros_msg = mavlink.convert_to_rosmsg(msg)
-    mavlink_pub.publish(ros_msg)
-    recv_event.wait(timeout)
-    return mavlink_recv
-
-
 @check('FCU')
 def check_fcu():
     try:
         state = rospy.wait_for_message('mavros/state', State, timeout=3)
         if not state.connected:
             failure('no connection to the FCU (check wiring)')
-            return
-
-        # Make sure the console is available to us
-        mavlink_exec('\n')
-        version_str = mavlink_exec('ver all')
-        if version_str == '':
-            info('no version data available from SITL')
-
-        r = re.compile(r'^FW (git tag|version): (v?\d\.\d\.\d.*)$')
-        is_clever_firmware = False
-        for ver_line in version_str.split('\n'):
-            match = r.search(ver_line)
-            if match is not None:
-                field, version = match.groups()
-                info('firmware %s: %s' % (field, version))
-                if 'clever' in version:
-                    is_clever_firmware = True
-
-        if not is_clever_firmware:
-            failure('not running Clever PX4 firmware, check http://clever.copterexpress.com/firmware.html')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
-            info('selected estimator: LPE')
+            rospy.loginfo('Selected estimator: LPE')
             fuse = get_param('LPE_FUSION')
             if fuse & (1 << 4):
-                info('LPE_FUSION: land detector fusion is enabled')
+                rospy.loginfo('LPE_FUSION: land detector fusion is enabled')
             else:
-                info('LPE_FUSION: land detector fusion is disabled')
+                rospy.loginfo('LPE_FUSION: land detector fusion is disabled')
             if fuse & (1 << 7):
-                info('LPE_FUSION: barometer fusion is enabled')
+                rospy.loginfo('LPE_FUSION: barometer fusion is enabled')
             else:
-                info('LPE_FUSION: barometer fusion is disabled')
+                rospy.loginfo('LPE_FUSION: barometer fusion is disabled')
 
         elif est == 2:
-            info('selected estimator: EKF2')
+            rospy.loginfo('Selected estimator: EKF2')
         else:
-            failure('unknown selected estimator: %s', est)
+            failure('Unknown selected estimator: %s', est)
 
     except rospy.ROSException:
         failure('no MAVROS state (check wiring)')
 
 
-def describe_direction(v):
+@check('Camera')
-    if v.x > 0.9:
-        return 'forward'
-    elif v.x < - 0.9:
-        return 'backward'
-    elif v.y > 0.9:
-        return 'left'
-    elif v.y < -0.9:
-        return 'right'
-    elif v.z > 0.9:
-        return 'upward'
-    elif v.z < -0.9:
-        return 'downward'
-    else:
-        return None
-
-
 def check_camera(name):
     try:
         img = rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
@@ -216,91 +105,32 @@ def check_camera(name):
         failure('%s: no images (is the camera connected properly?)', name)
         return
     try:
-        camera_info = rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=1)
+        info = rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=1)
     except rospy.ROSException:
         failure('%s: no calibration info', name)
         return
 
-    if img.width != camera_info.width:
+    if img.width != info.width:
-        failure('%s: calibration width doesn\'t match image width (%d != %d)', name, camera_info.width, img.width)
+        failure('%s: calibration width doesn\'t match image width (%d != %d)', name, info.width, img.width)
-    if img.height != camera_info.height:
+    if img.height != info.height:
-        failure('%s: calibration height doesn\'t match image height (%d != %d))', name, camera_info.height, img.height)
+        failure('%s: calibration height doesn\'t match image height (%d != %d))', name, info.height, img.height)
-
-    try:
-        optical = Vector3Stamped()
-        optical.header.frame_id = img.header.frame_id
-        optical.vector.z = 1
-        cable = Vector3Stamped()
-        cable.header.frame_id = img.header.frame_id
-        cable.vector.y = 1
-
-        optical = describe_direction(tf_buffer.transform(optical, 'base_link').vector)
-        cable = describe_direction(tf_buffer.transform(cable, 'base_link').vector)
-        if not optical or not cable:
-            info('%s: custom camera orientation detected', name)
-        else:
-           info('camera is oriented %s, camera cable goes %s', optical, cable)
-
-    except tf2_ros.TransformException:
-        failure('cannot transform from base_link to camera frame')
 
 
-@check('Main camera')
+@check('ArUco detector')
-def check_main_camera():
-    check_camera('main_camera')
-
-
-def is_process_running(binary, exact=False, full=False):
-    try:
-        args = ['pgrep']
-        if exact:
-            args.append('-x')  # match exactly with the command name
-        if full:
-            args.append('-f')  # use full process name to match
-        args.append(binary)
-        subprocess.check_output(args)
-        return True
-    except subprocess.CalledProcessError:
-        return False
-
-
-@check('ArUco markers')
 def check_aruco():
-    if is_process_running('aruco_detect', full=True):
+    try:
-        info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
+        rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
-        known_tilt = rospy.get_param('aruco_detect/known_tilt')
+    except rospy.ROSException:
-        if known_tilt == 'map':
+        failure('no markers detection')
-            known_tilt += ' (ALL markers are on the floor)'
-        elif known_tilt == 'map_flipped':
-            known_tilt += ' (ALL markers are on the ceiling)'
-        info('aruco_detector/known_tilt = %s', known_tilt)
-        try:
-            rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
-        except rospy.ROSException:
-            failure('no markers detection')
-            return
-    else:
-        info('aruco_detect is not running')
         return
-
+    try:
-    if is_process_running('aruco_map', full=True):
+        rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1)
-        known_tilt = rospy.get_param('aruco_map/known_tilt')
+    except rospy.ROSException:
-        if known_tilt == 'map':
+        failure('no map detection')
-            known_tilt += ' (marker\'s map is on the floor)'
-        elif known_tilt == 'map_flipped':
-            known_tilt += ' (marker\'s map is on the ceiling)'
-        info('aruco_map/known_tilt = %s', known_tilt)
-        try:
-            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1)
-        except rospy.ROSException:
-            failure('no map detection')
-    else:
-        info('aruco_map is not running')
 
 
 @check('Vision position estimate')
 def check_vpe():
-    vis = None
     try:
         vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
     except rospy.ROSException:
@@ -308,11 +138,7 @@ def check_vpe():
             vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
         except rospy.ROSException:
             failure('no VPE or MoCap messages')
-            # check if vpe_publisher is running
+            return
-            try:
-                subprocess.check_output(['pgrep', '-x', 'vpe_publisher'])
-            except subprocess.CalledProcessError:
-                return  # it's not running, skip following checks
 
     # check PX4 settings
     est = get_param('SYS_MC_EST_GROUP')
@@ -324,29 +150,26 @@ def check_vpe():
         if vision_yaw_w == 0:
             failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter')
         else:
-            info('Vision yaw weight: %.2f', vision_yaw_w)
+            rospy.loginfo('Vision yaw weight: %.2f', vision_yaw_w)
         fuse = get_param('LPE_FUSION')
         if not fuse & (1 << 2):
-            failure('vision position fusion is disabled, change LPE_FUSION parameter')
+            failure('vision position fusing is disabled, change LPE_FUSION parameter')
         delay = get_param('LPE_VIS_DELAY')
         if delay != 0:
             failure('LPE_VIS_DELAY parameter is %s, but it should be zero', delay)
-        info('LPE_VIS_XY is %.2f m, LPE_VIS_Z is %.2f m', get_param('LPE_VIS_XY'), get_param('LPE_VIS_Z'))
+        rospy.loginfo('LPE_VIS_XY is %.2f m, LPE_VIS_Z is %.2f m', get_param('LPE_VIS_XY'), get_param('LPE_VIS_Z'))
     elif est == 2:
         fuse = get_param('EKF2_AID_MASK')
         if not fuse & (1 << 3):
-            failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
+            failure('vision position fusing is disabled, change EKF2_AID_MASK parameter')
         if not fuse & (1 << 4):
-            failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
+            failure('vision yaw fusing is disabled, change EKF2_AID_MASK parameter')
         delay = get_param('EKF2_EV_DELAY')
         if delay != 0:
             failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
-        info('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
+        rospy.loginfo('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
-                      get_param('EKF2_EVA_NOISE'),
+            get_param('EKF2_EVA_NOISE'),
-                      get_param('EKF2_EVP_NOISE'))
+            get_param('EKF2_EVP_NOISE'))
-
-    if not vis:
-        return
 
     # check vision pose and estimated pose inconsistency
     try:
@@ -417,7 +240,7 @@ def check_velocity():
             failure('vertical velocity estimation is %.2f m/s; is copter staying still?' % vert)
 
         angular = velocity.twist.angular
-        ANGULAR_VELOCITY_LIMIT = 0.1
+        ANGULAR_VELOCITY_LIMIT = 0.01
         if abs(angular.x) > ANGULAR_VELOCITY_LIMIT:
             failure('pitch rate estimation is %.2f rad/s (%.2f deg/s); is copter staying still?',
                     angular.x, math.degrees(angular.x))
@@ -453,32 +276,32 @@ def check_optical_flow():
         if est == 1:
             fuse = get_param('LPE_FUSION')
             if not fuse & (1 << 1):
-                failure('optical flow fusion is disabled, change LPE_FUSION parameter')
+                failure('optical flow fusing is disabled, change LPE_FUSION parameter')
             if not fuse & (1 << 1):
                 failure('flow gyro compensation is disabled, change LPE_FUSION parameter')
             scale = get_param('LPE_FLW_SCALE')
-            if not numpy.isclose(scale, 1.0):
+            if scale != 0:
                 failure('LPE_FLW_SCALE parameter is %.2f, but it should be 1.0', scale)
 
-            info('LPE_FLW_QMIN is %s, LPE_FLW_R is %.4f, LPE_FLW_RR is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+            rospy.loginfo('LPE_FLW_QMIN is %s, LPE_FLW_R is %.4f, LPE_FLW_RR is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
-                          get_param('LPE_FLW_QMIN'),
+                get_param('LPE_FLW_QMIN'),
-                          get_param('LPE_FLW_R'),
+                get_param('LPE_FLW_R'),
-                          get_param('LPE_FLW_RR'),
+                get_param('LPE_FLW_RR'),
-                          get_param('SENS_FLOW_MINHGT'),
+                get_param('SENS_FLOW_MINHGT'),
-                          get_param('SENS_FLOW_MAXHGT'))
+                get_param('SENS_FLOW_MAXHGT'))
         elif est == 2:
             fuse = get_param('EKF2_AID_MASK')
             if not fuse & (1 << 1):
-                failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
+                failure('optical flow fusing is disabled, change EKF2_AID_MASK parameter')
             delay = get_param('EKF2_OF_DELAY')
             if delay != 0:
                 failure('EKF2_OF_DELAY is %.2f, but it should be zero', delay)
-            info('EKF2_OF_QMIN is %s, EKF2_OF_N_MIN is %.4f, EKF2_OF_N_MAX is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+            rospy.loginfo('EKF2_OF_QMIN is %s, EKF2_OF_N_MIN is %.4f, EKF2_OF_N_MAX is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
-                          get_param('EKF2_OF_QMIN'),
+                get_param('EKF2_OF_QMIN'),
-                          get_param('EKF2_OF_N_MIN'),
+                get_param('EKF2_OF_N_MIN'),
-                          get_param('EKF2_OF_N_MAX'),
+                get_param('EKF2_OF_N_MAX'),
-                          get_param('SENS_FLOW_MINHGT'),
+                get_param('SENS_FLOW_MINHGT'),
-                          get_param('SENS_FLOW_MAXHGT'))
+                get_param('SENS_FLOW_MAXHGT'))
 
     except rospy.ROSException:
         failure('no optical flow data (from Raspberry)')
@@ -489,13 +312,13 @@ def check_rangefinder():
     # TODO: check FPS!
     rng = False
     try:
-        rospy.wait_for_message('mavros/distance_sensor/rangefinder_sub', Range, timeout=4)
+        rospy.wait_for_message('mavros/distance_sensor/rangefinder_sub', Range, timeout=0.5)
         rng = True
     except rospy.ROSException:
         failure('no rangefinder data from Raspberry')
 
     try:
-        rospy.wait_for_message('mavros/distance_sensor/rangefinder', Range, timeout=4)
+        rospy.wait_for_message('mavros/distance_sensor/rangefinder', Range, timeout=0.5)
         rng = True
     except rospy.ROSException:
         failure('no rangefinder data from PX4')
@@ -507,26 +330,28 @@ def check_rangefinder():
     if est == 1:
         fuse = get_param('LPE_FUSION')
         if not fuse & (1 << 5):
-            info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
+            rospy.loginfo('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
         else:
-            info('"pub agl as lpos down" in LPE_FUSION is enabled, operating over flat surface')
+            rospy.loginfo('"pub agl as lpos down" in LPE_FUSION is enabled, operating over flat surface')
 
     elif est == 2:
         hgt = get_param('EKF2_HGT_MODE')
         if hgt != 2:
-            info('EKF2_HGT_MODE != Range sensor, NOT operating over flat surface')
+            rospy.loginfo('EKF2_HGT_MODE != Range sensor, NOT operating over flat surface')
         else:
-            info('EKF2_HGT_MODE = Range sensor, operating over flat surface')
+            rospy.loginfo('EKF2_HGT_MODE = Range sensor, operating over flat surface')
         aid = get_param('EKF2_RNG_AID')
         if aid != 1:
-            info('EKF2_RNG_AID != 1, range sensor aiding disabled')
+            rospy.loginfo('EKF2_RNG_AID != 1, range sensor aiding disabled')
         else:
-            info('EKF2_RNG_AID = 1, range sensor aiding enabled')
+            rospy.loginfo('EKF2_RNG_AID = 1, range sensor aiding enabled')
 
 
 @check('Boot duration')
 def check_boot_duration():
-    output = subprocess.check_output('systemd-analyze')
+    proc = Popen('systemd-analyze', stdout=PIPE)
+    proc.wait()
+    output = proc.communicate()[0]
     r = re.compile(r'([\d\.]+)s$')
     duration = float(r.search(output).groups()[0])
     if duration > 15:
@@ -537,7 +362,9 @@ def check_boot_duration():
 def check_cpu_usage():
     WHITELIST = 'nodelet',
     CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
-    output = subprocess.check_output(CMD, shell=True)
+    proc = Popen(CMD, stdout=PIPE, shell=True)
+    proc.wait()
+    output = proc.communicate()[0]
     processes = output.split('\n')
     for process in processes:
         if not process:
@@ -549,68 +376,13 @@ def check_cpu_usage():
                     cpu.strip(), cmd.strip(), pid.strip())
 
 
-@check('clever.service')
-def check_clever_service():
-    output = subprocess.check_output('systemctl show -p ActiveState --value clever.service'.split())
-    if 'inactive' in output:
-        failure('clever.service is not running, try sudo systemctl restart clever')
-        return
-    j = journal.Reader()
-    j.this_boot()
-    j.add_match(_SYSTEMD_UNIT='clever.service')
-    j.add_disjunction()
-    j.add_match(UNIT='clever.service')
-    node_errors = []
-    r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*)$')
-    for event in j:
-        msg = event['MESSAGE']
-        if ('Stopped Clever ROS package' in msg) or ('Started Clever ROS package' in msg):
-            node_errors = []
-        elif ('[ERROR]' in msg) or ('[FATAL]' in msg):
-            msg = r.search(msg).groups()[2]
-            if msg in node_errors:
-                continue
-            node_errors.append(msg)
-    for error in node_errors:
-        failure(error)
-
-
-@check('Image')
-def check_image():
-    info('version: %s', open('/etc/clever_version').read().strip())
-
-
-@check('Preflight status')
-def check_preflight_status():
-    # Make sure the console is available to us
-    mavlink_exec('\n')
-    cmdr_output = mavlink_exec('commander check')
-    if cmdr_output == '':
-        failure('No data from FCU')
-        return
-    cmdr_lines = cmdr_output.split('\n')
-    r = re.compile(r'^(.*)(Preflight|Prearm) check: (.*)')
-    for line in cmdr_lines:
-        if 'WARN' in line:
-            failure(line[line.find(']') + 2:])
-            continue
-        match = r.search(line)
-        if match is not None:
-            check_status = match.groups()[2]
-            if check_status != 'OK':
-                failure(' '.join([match.groups()[1], 'check:', check_status]))
-
-
 def selfcheck():
-    check_image()
-    check_clever_service()
     check_fcu()
     check_imu()
     check_local_position()
     check_velocity()
     check_global_position()
-    check_preflight_status()
+    check_camera('main_camera')
-    check_main_camera()
     check_aruco()
     check_simpleoffboard()
     check_optical_flow()

clever/src/simple_offboard.cpp

@@ -70,7 +70,6 @@ ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard;
 std::map<string, string> reference_frames;
 
 // Publishers
@@ -645,12 +644,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 
 		checkState();
 
-		if (land_only_in_offboard) {
-			if (state.mode != "OFFBOARD") {
-				throw std::runtime_error("Copter is not in OFFBOARD mode");
-			}
-		}
-
 		static mavros_msgs::SetMode sm;
 		sm.request.custom_mode = "AUTO.LAND";
 
@@ -695,7 +688,6 @@ int main(int argc, char **argv)
 	nh.param<string>("mavros/local_position/tf/child_frame_id", fcu_frame, "base_link");
 	nh_priv.param("target_frame", target.child_frame_id, string("navigate_target"));
 	nh_priv.param("auto_release", auto_release, true);
-	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.getParam("reference_frames", reference_frames);
 

docs/en/4in1.md

@@ -27,4 +27,4 @@ Using Fig. 1a, 1b, 2a, 2b, map its own control signal to each motor, and connect
 
 For example, motor M3 that rotates counter-clockwise (top left corner) is controlled by signal S4 (green wire). It is connected to port 3.
 
-![Connecting 4 in 1 ESCs](../assets/en/cl3_connectionESC4in1.jpg)
+![Connecting 4 in 1 ESCs](../assets/cl3_connectionESC4in1.jpg)

docs/en/SUMMARY.md

@@ -43,15 +43,12 @@
   * [Working with a LED strip on Raspberry 3](leds.md)
   * [Using rviz and rqt](rviz.md)
   * [Working with the ultrasonic distance gage](sonar.md)
-  * [Working with a laser rangefinder](laser.md)
   * [PX4 Simulation](sitl.md)
   * [Software autorun](autolaunch.md)
   * [Controlling the copter from Arduino](arduino.md)
   * [Using an external 3G modem](3g.md)
 * Clever-based projects
   * [Copter spheric guard](shield.md)
-  * [Face recognition system](face_recognition.md)
-  * [An Android transmitter](android.md)
   * [Copter Hack 2018](copterhack2018.md)
   * [Copter Hack 2017](copterhack2017.md)
 * Supplementary materials
@@ -59,7 +56,5 @@
   * [Flashing ESCs using BLHeliSuite](esc_firmware.md)
   * [MAVLink](mavlink.md)
   * [PX4 Logs and Topics](flight_logs.md)
-  * [Camera calibration](calibration.md)
-  * [Working with IR sensors on Raspberry Pi 3](ir_sensors.md)
 * Textbook
   * [Theory and Videos](lessons.md)

docs/en/android.md

@@ -1,141 +0,0 @@
-# An Android transmitter
-
-As early as in the frosty January 2018, all owners of Apple mobile devices got a nice Wi-Fi piloting app for iOS. And now, a year later, such an application is available for another operating system. The latest version may be downloaded [**here**](https://vk.com/away.php?to=https%3A%2F%2Fplay.google.com%2Fstore%2Fapps%2Fdetails%3Fid%3Dexpress.copter.cleverrc&cc_key=).
-
-## Introduction
-
-In this article, I will tell you how to write your own or modify an existing transmitter for Android yourself. We will use the popular language *Kotlin*, and we will use *Android Studio* for an IDE. For those who never used it, I recommend reading the following [*materials*](https://www.google.com/search?ei=xQxDXMH0C8OOmgW4mYigDQ&q=%D0%A7%D1%82%D0%BE+%D0%B4%D0%B5%D0%BB%D0%B0%D1%82%D1%8C+%D0%B5%D1%81%D0%BB%D0%B8+%D1%8F+%D0%BD%D0%B5+%D1%83%D0%BC%D0%B5%D1%8E+%D0%BF%D0%B8%D1%81%D0%B0%D1%82%D1%8C+%D0%BF%D0%BE%D0%B4+%D0%B0%D0%BD%D0%B4%D1%80%D0%BE%D0%B8%D0%B4%3F&oq=%D0%A7%D1%82%D0%BE+%D0%B4%D0%B5%D0%BB%D0%B0%D1%82%D1%8C+%D0%B5%D1%81%D0%BB%D0%B8+%D1%8F+%D0%BD%D0%B5+%D1%83%D0%BC%D0%B5%D1%8E+%D0%BF%D0%B8%D1%81%D0%B0%D1%82%D1%8C+%D0%BF%D0%BE%D0%B4+%D0%B0%D0%BD%D0%B4%D1%80%D0%BE%D0%B8%D0%B4%3F&gs_l=psy-ab.3...4413.17423..17726...9.0..2.442.4577.45j5j1j0j1....2..0....1..gws-wiz.....6..0i71j35i39j0i131j0j0i67j0i131i67j0i22i30j33i22i29i30j33i21j33i160.0bZz-WGxoHY). The entire application code can be found [**here**](https://github.com/Tennessium/android). If you want to immediately get an app to further tuning, run the following command:
-
-```Bash
-git clone https://github.com/Tennessium/android
-```
-
-However, to make you fully understand the application, I will tell you about each stage of the project, as if you were building it from scratch.
-
-## Wrapper
-
-Let's start with the simplest thing — the appearance of our application. At [**GitHub**](https://github.com/CopterExpress/clever/tree/master/apps/android/app/src/main/assets), you can find *HTML*, *CSS* and *JavaScript* files, which make up the web page to be used for controlling the copter. To have this page displayed in our application, do the following:
-
-1. Create folder **assets** in the main folder of the app named **app**
-
-2. Add to it all files from [here](https://github.com/CopterExpress/clever/tree/master/apps/android/app/src/main/assets)
-
-If you reached this stage, you already have the web page you want, congratulations! Now we have to display it somehow in the app. To do this, in class *activity* in method **onCreate**, write the following code:
-
-```Kotlin
-main_web.loadUrl("file:///android_asset/index.html")
-```
-
-Where *main_web* is the ID of your *WebView*, which is in the *xml* file of the *activity* selected by you.
-
-Unfortunately, the quadcopter transmitter requires the entire screen of the device, while the interface elements of the system interfere with full-fledged use of the program. For this purpose, at the beginning of method **onCreate**, call the following function:
-
-```Kotlin
-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
-	}
-}
-```
-
-This feature allows getting rid of the system interface elements. Let's go ahead.
-
-This is how the transmitter looks at this stage:
-
-<img src="../assets/IMG_4397.PNG" width="50%">
-
-If you run your application, you will see that the sticks are not functioning. This is due to the fact that *JavaScript* is disabled in our page. To enable it, write the following code:
-
-```Kotlin
-	main_web.settings.apply {
-	domStorageEnabled = true
-	javaScriptEnabled = true
-	loadWithOverviewMode = true
-	useWideViewPort = true
-	setSupportZoom(false)
-}
-```
-
-This piece of code allows the page to use *JavaScript* and at the same time prepares for the next stage - **logics**.
-
-## Receiving data from the web page
-
-To let your phone receive data from the *HTML page*, create a class for interacting with the web interface
-
-```Kotlin
-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()))
-	}
-}
-```
-
-This class will receive messages from the web page sent by the *postMessage* where argument *message* is the message from the page.
-
-Now we have to link classes **WebAppInterface** and **MainActivity**. For this you have to add just one line to method **onCreate**:
-
-```Kotlin
-main_web.addJavascriptInterface(WebAppInterface(this), "appInterface")
-```
-
-## Sending data to the copter
-
-**Important!**
-For working in Internet in the *Android* platform, add the following line to tag *manifest* in file **AndroidManifest.xml**:
-
-```XML
-<uses-permission android:name="android.permission.INTERNET"/>
-```
-
-It will grant your application access to the Internet, and the ability to send data via **Wi-Fi**. And you will now learn how to do that. Let's go ahead.
-
-You have probably noticed function *send* in class **WebAppInterface**. It is this function that sends data to the copter. Let's declare it **outside classes**:
-
-```Kotlin
-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
-}
-```
-
-This function sends data via the [*user datagram protocol*](https://www.google.com/search?q=udp+%D0%BF%D1%80%D0%BE%D1%82%D0%BE%D0%BA%D0%BE%D0%BB&oq=udp+&aqs=chrome.0.69i59j69i57j35i39j0l3.1434j1j7&sourceid=chrome&ie=UTF-8) to the copter. The program sends **bytes**, so it would be a good idea to declare the function for creating an array of **bytes** from four variables:
-
-```Kotlin
-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()
-}
-```
-
-## Summary
-
-Now your app has the full functionality of its analog for **iOS**. You can customize it as you wish. For any questions about the app, contact us in Telegram @Tenessinum.

docs/en/assemble_2.md

@@ -154,7 +154,7 @@ Solder the prepared wires of the motors to the pads of ESC.
 * Length 7 cm (XT60 pin power connector) - 1 red, 1 black
 * Length 9 cm (XT60 socket power connector) - 1 red, 1 black
 
-![Preparing wires for the power connector](../assets/en/cutwire14AWG.jpg)
+![Preparing wires for the power connector](../assets/cutwire14AWG.jpg)
 
 #### Preparing XT60 pin and XT60 socket high-power connectors
 
@@ -178,7 +178,7 @@ Solder the prepared wires of the motors to the pads of ESC.
 3. Remove the 3rd (orange) wire from the connector, since it is not needed.
 4. The length of the remaining black and red wires should be 10 – 12 cm.
 
-![Installation of the 5V connector](../assets/en/mount5vconnector.jpg)
+![Installation of the 5V connector](../assets/mount5vconnector.jpg)
 
 ### Installation of the power distribution board
 
@@ -204,7 +204,7 @@ Check CLOSED CONDITION of the following circuits (presence of the multimeter sou
 1. [Blanch*] (zap.md) the contact pads of the power board
 2. Using a multimeter, check absence of contact closure on the PCB (check continuity)
 
-![ After-soldering check](../assets/en/zapPDBtest.jpg)
+![ After-soldering check](../assets/zapPDBtest.jpg)
 
 To make solder neatly fill the entire pad, it should be warmed up. For this purpose, hold the tip of the soldering gun to the contact pad for 2 seconds (or more if needed)
 
@@ -279,7 +279,7 @@ IMPORTANT NOTE about polarity
 
 #### SAFETY when working with the battery
 
-![SAFETY when working with the battery](../assets/en/safetyPower.png)
+![SAFETY when working with the battery](../assets/safetyPower.png)
 
 #### Enabling the transmitter
 
@@ -337,7 +337,7 @@ should be increased up to 4 – 5.
 2. Motors to MAIN OUT ports 1,2,3,4, according to the circuit diagram
 3. Power by PDB (5V/VCC) to any port except for SB (SBUS)
 
- ![Connecting the flight controller](../assets/en/connectionPixhawk.png)
+ ![Connecting the flight controller](../assets/connectionPixhawk.png)
 
 ### ESC assembly
 

docs/en/assemble_3.md

@@ -14,11 +14,11 @@ TODO
 
 ## Additional equipment
 
-![Additional equipment](../assets/en/additonal_eqipment.jpg)
+![Additional equipment](../assets/additonal_eqipment.jpg)
 
 ## Conventional symbols
 
-![Conventional symbols](../assets/en/conditional_refer.jpg)
+![Conventional symbols](../assets/conditional_refer.jpg)
 
 ## Installation of motors
 
@@ -36,7 +36,7 @@ TODO
 
     Cut the remaining part of the clamp (tie wrap) with scissors.
 
-    ![Preparation of motors](../assets/en/cl3_prepareMotors.JPG)
+    ![Preparation of motors](../assets/cl3_prepareMotors.JPG)
 
 ## Installation of frame elements
 
@@ -45,7 +45,7 @@ TODO
 3. Attach the assembled unit to the frame with М3х16 screws, complying with the layout.
 4. Install the frame for the LED strip, using the slots in the leg holders.
 
-![Legs installation on the frame](../assets/en/cl3_mountElements.JPG)
+![Legs installation on the frame](../assets/cl3_mountElements.JPG)
 
 ## Installation of the BEC voltage converter (to be soldered and tested)
 
@@ -93,7 +93,7 @@ TODO
             Black -> GND
             Blue -> Din
 
-![Installation of the BEC voltage Converter](../assets/en/cl3_mountBEC.JPG)
+![Installation of the BEC voltage Converter](../assets/cl3_mountBEC.JPG)
 
 ## Installation of the 4 in 1 ESC board and the PDB power-board
 
@@ -213,7 +213,7 @@ article [remote faults](radioerrors.md).
 
 5. Install the legs into the mounts (4 pcs).
 
-![Mounting the RPi camera](../assets/en/cl3_mountRpiCamera.JPG)
+![Mounting the RPi camera](../assets/cl3_mountRpiCamera.JPG)
 
 ## Installation of the remaining structural elements
 

docs/en/autolaunch.md

@@ -56,4 +56,4 @@ When scripting languages are used, [shebang] should be placed at the beginning o
 
 ```(bash)
 #!/usr/bin/env python
-```
+```

docs/en/calibratePID.md

@@ -13,4 +13,4 @@ The Rate Pitch and Rate Roll parameters should be the same.
 
 YAW parameters should be changed individually, according to the above instruction (usually the yaw doesn't require serious adjustment, you may leave it default).
 
-![ROLL oscillations](../assets/en/oscillRoll.jpg)
+![ROLL oscillations](../assets/oscillRoll.jpg)

docs/en/calibration.md

@@ -1,228 +0,0 @@
-# Camera calibration
-
-Computer vision is becoming more and more widespread. Often, computer vision algorithms are not precise and obtain distorted images from the camera, which is especially true for fisheye cameras.
-
-![img](../assets/img1.jpg)
-
-> The image is "rounded" closer to the edge.
-
-Any computer vision algorithm will perceive the picture incorrectly. To remove such distortion, the camera that receives the image is to be calibrated in accordance with its own peculiarities.
-
-## Script installation
-
-First, you have to install the necessary libraries:
-
-```
-pip install numpy
-pip install opencv-python
-pip install glob
-pip install pyyaml
-pip install urllib.request
-```
-
-Then download the script from the repository:
-
-```(bash)
-git clone https://github.com/tinderad/clever_cam_calibration.git
-```
-
-Go to the downloaded folder and install the script:
-
-```(bash)
-cd clever_cam_calibration
-sudo python setup.py build
-sudo python setup.py install
-```
-
-If you are using Windows, download the archive from the [repository](https://github.com/tinderad/clever_cam_calibration/archive/master.zip), unzip it and install:
-
-```(bash)
-cd path\to\archive\clever_cam_calibration\
-python setup.py build
-python setup.py install
-```
-
-> path\to\archive – path to unpacked archive.
-
-## Preparing for calibration
-
-You will have to prepare a calibration target. It looks like a chessboard. The file is available for downloading [here](https://www.oreilly.com/library/view/learning-opencv-3/9781491937983/assets/lcv3_ac01.png).
-Glue a printed target to any solid surface. Count the number of intersections on the board lengthwise and widthwise, measure the size of a cell (mm).
-
-![img](../assets/chessboard.jpg)
-
-Turn on Clever and connect to its Wi-Fi.
-
-> Navigate to 192.168.11.1:8080 and check whether the computer receives images from the image_raw topic.
-
-## Calibration
-
-Run script **_calibrate_cam_**:
-
-**Windows:**
-
- ```(bash)
->path\to\python\Scripts\calibrate_cam.exe
-```
-
-> path\to\Python – path to the Python folder
-
-**Linux:**
-
-```(bash)
->calibrate_cam
-```
-
-Specify board parameters:
-
-```(bash)
->calibrate_cam
-Chessboard width: # Intersections widthwise
-Chessboard height: # Intersections heightwise
-Square size: # Length of cell edge (mm)
-Saving mode (YES - on): # Save mode
-```
-
-> Save mode: if enabled, all received pictures will be saved in the current folder.
-
-The script will start running:
-
-```
-Calibration started!
-Commands:
-help, catch (key: Enter), delete, restart, stop, finish
-```
-
-To calibrate the camera, make at least 25 photos of the chessboard at various angles.
-
-![img](../assets/calibration.jpg)
-
-To make a photo, enter command **_catch_**.
-
-```(bash)
->catch
-```
-
-The program will inform you about the calibration status.
-
-```(bash)
-...
-Chessboard not found, now 0 (25 required)
->  # Enter
----
-Image added, now 1 (25 required)
-```
-
-> Instead of entering command **_catch_** each time, you can just press **_Enter_** (enter a blank line).
-
-After you have made a sufficient number of images, enter command **_finish_**.
-
-```(bash)
-...
->finish
-Calibration successful!
-```
-
-### Calibration by the existing images
-
-If you already have images, you can calibrate the camera by them with the help of script **_calibrate_cam_ex_**.
-
-```(bash)
->calibrate_cam_ex
-```
-
-Specify target characteristics and the path to the folder with images:
-
-```(bash)
->calibrate_cam_ex
-Chessboard width: # Intersections widthwise
-Chessboard height: # Intersections heightwise
-Square size: # Length of cell edge (mm)
-Path: # Path to the folder with images
-```
-
-Apart from that, this script works similarly to **_calibrate_cam_**.
-
-The program will process all received pictures, and create file **_camera_info_****_._****_yaml_** in the current folder. Using this file, you can equalize distortions in the images obtained from this camera.
-
-> If you change the resolution of the received image, you will have to re-calibrate the camera.
-
-## Correcting distortions
-
-Function **_get_undistorted_image(cv2_image, camera_info)_** is responsible for obtaining a corrected image:
-
-* **_cv2_image_**: An image encoded into a cv2 array.
-* **_camera_****___****_info_**: The path to the calibration file.¬
-
-The function returns a cv2 array, into which the corrected image is coded.
-
-> If you are using a fisheye camera provided with Clever, for processing images with resolution 320x240 or 640x480, you can use the existing calibration settings. To do this, pass parameters **_clever_cam_calibration.clevercamcalib.CLEVER_FISHEYE_CAM_320_** or **_clever_cam_calibration.clevercamcalib.CLEVER_FISHEYE_CAM_640_** as argument **_camera_info_**, respectively.
-
-## Examples of operation
-
-Source images:
-
-![img](../assets/img1.jpg)
-
-![img](../assets/img2.jpg)
-
-Corrected images:
-
-![img](../assets/calibresult.jpg)
-
-![img](../assets/calibresult1.jpg)
-
-## An example of usage
-
-**Processing image stream from the camera**.
-
-This program receives images from the camera on Clever and displays them on the screen in corrected for, using the existing calibration file.
-
-```python
-import clevercamcalib.clevercamcalib as ccc
-import cv2
-import urllib.request
-import numpy as np
-while True:
-	req = urllib.request.urlopen('http://192.168.11.1:8080/snapshot?topic=/main_camera/image_raw')
-    arr = np.asarray(bytearray(req.read()), dtype=np.uint8)
-    image = cv2.imdecode(arr, -1)
-    undistorted_img = ccc.get_undistorted_image(image, ccc.CLEVER_FISHEYE_CAM_640)
-    cv2.imshow("undistort", undistorted_img)
-    cv2.waitKey(33)
-cv2.destroyAllWindows()
-```
-
-## The usage for ArUco
-
-To apply the calibration parameters to the ArUco navigation system, move the calibration .yaml file to Raspberry Pi of Clever, and initialize it.
-
-> Don't forget to connect to Wi-Fi of Clever.
-
-The SFTP protocol is used for transferring the file. This example, WinSCP program is used.
-
-Connect to Raspberry Pi via SFTP:
-
-> Password: _**raspberry**_
-
-![img](../assets/wcp1.png)
-
-Press “Enter”. Go to _**/home/pi/catkin_ws/src/clever/clever/camera_info/**_, and copy the calibration .yaml file to this folder:
-
-![img](../assets/wcp2.jpg)
-
-Now we have to select this file in ArUco configuration. Connection via SSH is used for this purpose. This example, PuTTY program is used.
-
-Connect to Raspberry Pi via SSH:
-
-![img](../assets/pty1.jpg)
-
-Log in with username _**pi**_ and password _**raspberry**_, go to directory _**/home/pi/catkin_ws/src/clever/clever/launch**_ and start editing configuration _**main_camera.launch**_:
-
-![img](../assets/pty2.jpg)
-
-In line _**camera node**_, change parameter _**camera_info**_ to _**camera_info.yaml**_:
-
-![img](../assets/pty3.jpg)
-
-> Don't forget to change camera resolution.

docs/en/camera_frame.md

@@ -60,4 +60,4 @@ The first image — how a copter model looks in rviz with these settings, the se
 ```
 
 <img src="../assets/camera_option_4_rviz.png" width=400>
-<img src="../assets/camera_option_4_clever.jpg" width=400>
+<img src="../assets/camera_option_4_clever.jpg" width=400>

docs/en/copterhack2018.md

@@ -34,4 +34,4 @@ Winning teams:
 4. International Post (Novosibirsk) — automatic scattering leaflets from the drone.
 5. LAMAR (Yekaterinburg) — an automatic quadcopter battery replacement station.
 
-<img src="../assets/alcopter.jpg" title="Alcopter Team" height=300px>
+<img src="../assets/alcopter.jpg" title="Alcopter Team" height=300px>