builder: Don't test for what's not there

(we don't install pip2 anymore, but this may be reverted eventually)

aruco_pose/src/genmap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Copyright (C) 2018 Copter Express Technologies
 #

aruco_pose/test/largemap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sys
 import unittest
 import json

builder/assets/butterfly.service

@@ -2,5 +2,5 @@
 Description=Butterfly Terminal Server
 
 [Service]
-ExecStart=/usr/local/bin/butterfly.server.py --host="0.0.0.0" --unsecure
+ExecStart=/bin/bash -c ". /root/butterfly_env/bin/activate; butterfly.server.py --host="0.0.0.0" --unsecure"
 User=pi

builder/assets/python3.yaml

@@ -0,0 +1,22 @@
+python3-crypto:
+  debian:
+    buster: [python3-crypto]
+python3-imaging:
+  debian:
+    buster: [python3-pil]
+python3-wxtools:
+  debian:
+    pip:
+      packages: [wxPython]
+python3-future:
+  debian:
+    buster: [python3-future]
+python3-twisted:
+  debian:
+    buster: [python3-twisted]
+python3-serial:
+  debian:
+    buster: [python3-serial]
+python3-requests:
+  debian:
+    buster: [python3-requests]

builder/image-build.sh

@@ -111,6 +111,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/melodic-rosdep-clever.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/python3.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'

builder/image-ros.sh

@@ -68,7 +68,8 @@ my_travis_retry() {
 # TODO: 'kinetic-rosdep-clever.yaml' should add only if we use our repo?
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
-echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clever.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clever.yaml" > /etc/ros/rosdep/sources.list.d/30-clever.list
+echo "yaml file:///etc/ros/rosdep/python3.yaml" > /etc/ros/rosdep/sources.list.d/40-python3.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
@@ -93,12 +94,13 @@ cd /home/pi/catkin_ws/src/clever
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
 echo_stamp "Installing CLEVER" \
+&& export ROS_PYTHON_VERSION=3 \
 && cd /home/pi/catkin_ws/src/clever \
 && git status \
 && cd /home/pi/catkin_ws \
 && resolve_rosdep $(pwd) \
-&& my_travis_retry pip install wheel \
+&& my_travis_retry pip3 install wheel \
-&& my_travis_retry pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
+&& my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
 && source /opt/ros/melodic/setup.bash \
 && catkin_make -j2 -DCMAKE_BUILD_TYPE=Release \
 && systemctl enable roscore \
@@ -128,8 +130,7 @@ echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
 
 # FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
-# (note that Python 3 will still have a more recent version)
+pip3 install tornado==4.2.1
-pip install tornado==4.2.1
 
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws

builder/image-software.sh

@@ -66,7 +66,8 @@ apt-get update \
 && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
-echo "deb http://deb.coex.tech/rpi-ros-melodic buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+echo "deb http://deb.coex.tech/opencv3 buster main" > /etc/apt/sources.list.d/opencv3.list
+echo "deb http://deb.coex.tech/melodic-py3 buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
 # FIXME: We still don't have these packages built for Buster
 # FIXME: Check these packages after their installation
 echo "deb http://deb.coex.tech/clever stretch main" > /etc/apt/sources.list.d/clever.list
@@ -96,20 +97,21 @@ libjpeg8 \
 tcpdump \
 ltrace \
 libpoco-dev \
-python-rosdep \
+python3-rosdep \
-python-rosinstall-generator \
+python3-rosinstall-generator \
-python-wstool \
+python3-wstool \
-python-rosinstall \
+python3-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak \
+espeak espeak-data python-espeak python3-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python-systemd \
+python3-venv \
+python3-systemd \
 mjpg-streamer \
 && echo_stamp "Everything was installed!" "SUCCESS" \
 || (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
@@ -121,10 +123,9 @@ sed -i "s/updates_available//" /usr/share/byobu/status/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
+# Don't even bother installing pip for python2.7
+# python get-pip.py
 rm 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
@@ -132,10 +133,14 @@ pip3 --version
 
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
-my_travis_retry pip3 install tornado==5.1.1
+cd /root
-my_travis_retry pip3 install butterfly
+python3 -m venv butterfly_env
-my_travis_retry pip3 install butterfly[systemd]
+source butterfly_env/bin/activate
+my_travis_retry pip install tornado==5.1.1
+my_travis_retry pip install butterfly
+my_travis_retry pip install butterfly[systemd]
 systemctl enable butterfly.socket
+deactivate
 
 echo_stamp "Install ws281x library"
 my_travis_retry pip install --prefer-binary rpi_ws281x

builder/image-validate.sh

@@ -18,6 +18,7 @@ echo "Run image tests"
 
 export ROS_DISTRO='melodic'
 export ROS_IP='127.0.0.1'
+export ROS_PYTHON_VERSION=3
 source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 

builder/test/tests.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # validate all required modules installed
 
@@ -27,4 +27,4 @@ import rpi_ws281x
 import pigpio
 from espeak import espeak
 
-print cv2.getBuildInformation()
+print(cv2.getBuildInformation())

builder/test/tests.sh

@@ -20,14 +20,16 @@ nmap --version
 lsof -v
 git --version
 vim --version
-pip --version
-pip2 --version
 pip3 --version
 tcpdump --version
 monkey --version
 pigpiod -v
 i2cdetect -V
+# butterfly uses its own venv, so we honor that
+. /root/butterfly_env/bin/activate
 butterfly -h
+# deactivate venv as needed
+deactivate
 espeak --version
 mjpg_streamer --version
 

clever/package.xml

@@ -38,7 +38,7 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>python-lxml</depend>
+  <depend>python3-lxml</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 +1,5 @@
 flask==1.1.1
 docopt==0.6.2
-geopy==1.11.0
+geopy==1.20.0
-smbus2==0.2.1
+smbus2==0.3.0
-VL53L1X==0.0.2
+VL53L1X==0.0.4

clever/src/selfcheck.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # coding=utf-8
 
 # Copyright (C) 2018 Copter Express Technologies
@@ -597,7 +597,7 @@ def check_rangefinder():
 @check('Boot duration')
 def check_boot_duration():
     output = subprocess.check_output('systemd-analyze')
-    r = re.compile(r'([\d\.]+)s$')
+    r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
     if duration > 15:
         failure('long Raspbian boot duration: %ss (systemd-analyze for analyzing)', duration)

clever/src/simple_offboard.cpp

@@ -177,6 +177,8 @@ inline bool waitTransform(const string& target, const string& source,
 		ros::spinOnce();
 		r.sleep();
 	}
+	// At this point our node has been shut down
+	return false;
 }
 
 #define TIMEOUT(msg, timeout) (ros::Time::now() - msg.header.stamp > timeout)
@@ -749,6 +751,8 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		busy = false;
 		return true;
 	}
+	// We should not end up here, but if we did, our node has been shut down
+	return false;
 }
 
 int main(int argc, char **argv)

clever/test/basic.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import rospy
 import pytest
 from mavros_msgs.msg import State

docs/ru/copterhack2019.md

@@ -1,6 +1,6 @@
 # Copter Hack 2019
 
-Хакатон [Copter Hack 2018](https://copterexpress.timepad.ru/event/768108/) проходит 11–13 октября в Технополисе "Москва".
+Хакатон [Copter Hack 2019](https://copterexpress.timepad.ru/event/768108/) проходит 11–13 октября в Технополисе "Москва".
 
 Официальный сайт: https://ru.coex.tech/copterhack.
 
@@ -10,6 +10,26 @@ Timepad: https://copterexpress.timepad.ru/event/1017592/.
 
 ## Информация для участников
 
+### Особенности настройки полетного контроллера COEX PIX
+
+При использовании полетного контроллера *COEX Pix* перед калибровкой датчиков вам стоит обратить внимание, что в графе *Autopilot orientation* вы должны выбрать параметр `ROTATION_ROLL_180_YAW_90`. Данную настройку требуется проводить при калибровке каждого из датчиков.
+
+<img src="../assets/autopilot_orientation.png" class="center" width=600>
+
+Этот параметр устанавливается для того, чтобы на программном уровне настроить ориентацию вашего *IMU* датчика находящегося на полетном контроллере.
+
+### Полет с использованием Optical Flow
+
+При полете только с использованием Optical Flow необходимо в QGroundControl в параметре `LPE_FUSION` включить галочку `pub agl as lpos down`.
+
+Необходимо также убедиться, что лазерный дальномер корректно установлен и работает (см. [конфигурирование дальномера](laser.md)).
+
+### Ориентация камеры
+
+На многих дронах камера ориентирована шлейфом вперёд. Это следует отразить в файле `main_camera.launch` в пакете `clever`.
+
+Подробнее см. статью [Ориентация камеры](camera_frame.md).
+
 ## Лекции
 
 Лекция 1: введение – https://www.youtube.com/watch?v=cjtmZNuq7z0.
@@ -17,3 +37,7 @@ Timepad: https://copterexpress.timepad.ru/event/1017592/.
 Лекция 2: настройка полетного контроллера – https://www.youtube.com/watch?v=PJNDYFPZQms.
 
 Лекция 3: архитектура полетного контроллера PX4 – https://www.youtube.com/watch?v=_jl7FImq3jk.
+
+Лекция 4: автономные полеты: https://www.youtube.com/watch?v=ThXiNG1IzvI.
+
+См. также другие видео на канале COEX на YouTube: https://www.youtube.com/channel/UCeCu93sLBkcgbIkIC7Jaauw/featured.