clover: Update ros3djs, THREE.js

This shebang will be ignored with newer dynamic_reconfigure packages, and its presence should allow builds to succeed when older dynamic_reconfigure is used.

.travis.yml

@@ -57,7 +57,7 @@ jobs:
       before_script:
         - docker pull ${NATIVE_DOCKER}
       script:
-        - docker run --rm -v $(pwd):/root/catkin_ws/src/clever ${NATIVE_DOCKER} /root/catkin_ws/src/clever/builder/standalone-install.sh
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
     - stage: Build
       name: "Native Melodic build"
       env:
@@ -65,7 +65,7 @@ jobs:
       before_script:
         - docker pull ${NATIVE_DOCKER}
       script:
-        - docker run --rm -v $(pwd):/root/catkin_ws/src/clever ${NATIVE_DOCKER} /root/catkin_ws/src/clever/builder/standalone-install.sh
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
     - stage: Build
       name: "Documentation"
       language: node_js

aruco_pose/CMakeLists.txt

@@ -21,6 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_geometry_msgs
   sensor_msgs
   message_generation
+  dynamic_reconfigure
 )
 
 find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
@@ -111,10 +112,9 @@ generate_messages(
 ##     and list every .cfg file to be processed
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
+generate_dynamic_reconfigure_options(
+  cfg/DetectorParams.cfg
+)
 
 ###################################
 ## catkin specific configuration ##
@@ -151,7 +151,7 @@ add_library(aruco_pose
   src/draw.cpp
 )
 
-add_dependencies(${PROJECT_NAME} aruco_pose_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
 
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context

aruco_pose/cfg/DetectorParams.cfg

@@ -0,0 +1,107 @@
+#!/usr/bin/env python
+PACKAGE = "aruco_pose"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+import cv2.aruco
+
+p = cv2.aruco.DetectorParameters_create()
+
+gen = ParameterGenerator()
+
+gen.add("adaptiveThreshConstant",                 double_t, 0,
+        "Constant for adaptive thresholding before finding contours",
+         p.adaptiveThreshConstant, 0, 100)
+
+gen.add("adaptiveThreshWinSizeMin",               int_t,    0,
+        "Minimum window size for adaptive thresholding before finding contours",
+         p.adaptiveThreshWinSizeMin, 1, 100)
+
+gen.add("adaptiveThreshWinSizeMax",               int_t,    0,
+        "Maximum window size for adaptive thresholding before finding contours",
+        p.adaptiveThreshWinSizeMax, 1, 100)
+
+gen.add("adaptiveThreshWinSizeStep",              int_t,    0,
+        "Increments from adaptiveThreshWinSizeMin to adaptiveThreshWinSizeMax during the thresholding",
+        p.adaptiveThreshWinSizeStep, 1, 100)
+
+gen.add("cornerRefinementMaxIterations",          int_t,    0,
+        "Maximum number of iterations for stop criteria of the corner refinement process",
+        p.cornerRefinementMaxIterations, 1, 1000)
+
+corner_refine_enum = gen.enum([ gen.const("CORNER_REFINE_NONE",      int_t, 0, "No refinement"),
+                       gen.const("CORNER_REFINE_SUBPIX",     int_t, 1, "Do subpixel refinement"),
+                       gen.const("CORNER_REFINE_CONTOUR",      int_t, 2, "Use contour-Points"),
+                       gen.const("CORNER_REFINE_APRILTAG", int_t, 3, "Use the AprilTag2 approach")],
+                     "An enum to set corner refinement method")
+
+gen.add("cornerRefinementMethod", int_t, 0, "Corner refinement method", 0, 0, 3, edit_method=corner_refine_enum)
+
+gen.add("cornerRefinementMinAccuracy",            double_t, 0,
+        "Minimum error for the stop criteria of the corner refinement process",
+        p.cornerRefinementMinAccuracy, 0, 1)
+
+gen.add("cornerRefinementWinSize",                int_t,    0,
+        "Window size for the corner refinement process (in pixels)",
+         p.cornerRefinementWinSize, 1, 100)
+
+gen.add("detectInvertedMarker",                   bool_t,   0,
+        "check if there is a white marker. In order to generate a 'white' marker just invert a normal marker by using a tilde",
+        False)
+
+gen.add("errorCorrectionRate",                    double_t, 0,
+        "Error correction rate respect to the maximum error correction capability for each dictionary",
+        p.errorCorrectionRate, 0, 1)
+
+gen.add("minCornerDistanceRate",                  double_t, 0,
+        "Minimum distance between corners for detected markers relative to its perimeter",
+        p.minCornerDistanceRate, 0, 0.25)
+
+gen.add("markerBorderBits",                       int_t,    0,
+        "Number of bits of the marker border, i.e. marker border width",
+        p.markerBorderBits, 1, 10)
+
+gen.add("maxErroneousBitsInBorderRate",           double_t, 0,
+        "Maximum number of accepted erroneous bits in the border (i.e. number of allowed white bits in the border)",
+        p.maxErroneousBitsInBorderRate, 0, 1)
+
+gen.add("minDistanceToBorder",                    int_t,    0,
+        "Minimum distance of any corner to the image border for detected markers (in pixels)",
+        p.minDistanceToBorder, 0, 1000)
+
+gen.add("minMarkerDistanceRate",                  double_t, 0,
+        "minimum mean distance beetween two marker corners to be considered similar, so that the smaller one is removed. The rate is relative to the smaller perimeter of the two markers",
+        p.minMarkerDistanceRate, 0, 1)
+
+gen.add("minMarkerPerimeterRate",                 double_t, 0,
+        "Determine minimum perimeter for marker contour to be detected. This is defined as a rate respect to the maximum dimension of the input image",
+        p.minMarkerPerimeterRate, 0, 4)
+
+gen.add("maxMarkerPerimeterRate",                 double_t, 0,
+        "Determine maximum perimeter for marker contour to be detected. This is defined as a rate respect to the maximum dimension of the input image",
+        p.maxMarkerPerimeterRate, 0, 4)
+
+gen.add("minOtsuStdDev",                          double_t, 0,
+        "Minimun standard deviation in pixels values during the decodification step to apply Otsu thresholding (otherwise, all the bits are set to 0 or 1 depending on mean higher than 128 or not)",
+        p.minOtsuStdDev, 0, 100)
+
+gen.add("perspectiveRemoveIgnoredMarginPerCell",  double_t, 0,
+        "Width of the margin of pixels on each cell not considered for the determination of the cell bit. Represents the rate respect to the total size of the cell, i.e. perpectiveRemovePixelPerCell",
+        p.perspectiveRemoveIgnoredMarginPerCell, 0, 1)
+
+gen.add("perspectiveRemovePixelPerCell",          int_t,    0,
+        "Number of bits (per dimension) for each cell of the marker when removing the perspective",
+        p.perspectiveRemovePixelPerCell, 1, 100)
+
+gen.add("polygonalApproxAccuracyRate",            double_t, 0,
+        "Minimum accuracy during the polygonal approximation process to determine which contours are squares",
+        p.polygonalApproxAccuracyRate, 0, 1)
+
+gen.add("aprilTagQuadDecimate",            double_t, 0,
+        "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution",
+        0, 0, 1000)
+
+gen.add("aprilTagQuadSigma",            double_t, 0,
+        "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values",
+        0, 0, 1000)
+
+exit(gen.generate(PACKAGE, "aruco_pose", "Detector"))

aruco_pose/map/map.txt

@@ -1,3 +1,4 @@
+# id	length	x	y	z	rot_z	rot_y	rot_x
 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

aruco_pose/package.xml

@@ -27,6 +27,7 @@
   <depend>visualization_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>rostest</depend>
+  <depend>dynamic_reconfigure</depend>
 
   <test_depend>image_publisher</test_depend>
   <test_depend>ros_pytest</test_depend>

aruco_pose/src/aruco_detect.cpp

@@ -30,6 +30,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
+#include <dynamic_reconfigure/server.h>
 #include <geometry_msgs/Vector3.h>
 #include <geometry_msgs/Pose.h>
 #include <geometry_msgs/PoseStamped.h>
@@ -46,8 +47,11 @@
 
 #include <aruco_pose/Marker.h>
 #include <aruco_pose/MarkerArray.h>
+#include <aruco_pose/DetectorConfig.h>
 
 #include "utils.h"
+#include <memory>
+#include <functional>
 
 using std::vector;
 using cv::Mat;
@@ -58,6 +62,7 @@ private:
 	tf2_ros::TransformBroadcaster br_;
 	tf2_ros::Buffer tf_buffer_;
 	tf2_ros::TransformListener tf_listener_{tf_buffer_};
+	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
 	image_transport::Publisher debug_pub_;
@@ -110,6 +115,12 @@ public:
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
 		img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
 
+		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
+		dynamic_reconfigure::Server<aruco_pose::DetectorConfig>::CallbackType cb;
+
+		cb = std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
+		dyn_srv_->setCallback(cb);
+
 		NODELET_INFO("ready");
 	}
 
@@ -341,6 +352,37 @@ private:
 			map_markers_ids_.insert(marker.id);
 		}
 	}
+
+	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
+	{
+		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
+		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
+		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;
+		parameters_->adaptiveThreshWinSizeStep = config.adaptiveThreshWinSizeStep;
+		parameters_->cornerRefinementMaxIterations = config.cornerRefinementMaxIterations;
+		parameters_->cornerRefinementMethod = config.cornerRefinementMethod;
+		parameters_->cornerRefinementMinAccuracy = config.cornerRefinementMinAccuracy;
+		parameters_->cornerRefinementWinSize = config.cornerRefinementWinSize;
+#if ((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR >= 4) && (CV_VERSION_REVISION >= 7)) || (CV_VERSION_MAJOR > 3)
+		parameters_->detectInvertedMarker = config.detectInvertedMarker;
+#endif
+		parameters_->errorCorrectionRate = config.errorCorrectionRate;
+		parameters_->minCornerDistanceRate = config.minCornerDistanceRate;
+		parameters_->markerBorderBits = config.markerBorderBits;
+		parameters_->maxErroneousBitsInBorderRate = config.maxErroneousBitsInBorderRate;
+		parameters_->minDistanceToBorder = config.minDistanceToBorder;
+		parameters_->minMarkerDistanceRate = config.minMarkerDistanceRate;
+		parameters_->minMarkerPerimeterRate = config.minMarkerPerimeterRate;
+		parameters_->maxMarkerPerimeterRate = config.maxMarkerPerimeterRate;
+		parameters_->minOtsuStdDev = config.minOtsuStdDev;
+		parameters_->perspectiveRemoveIgnoredMarginPerCell = config.perspectiveRemoveIgnoredMarginPerCell;
+		parameters_->perspectiveRemovePixelPerCell = config.perspectiveRemovePixelPerCell;
+		parameters_->polygonalApproxAccuracyRate = config.polygonalApproxAccuracyRate;
+#if ((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR >= 4) && (CV_VERSION_REVISION >= 2)) || (CV_VERSION_MAJOR > 3)
+		parameters_->aprilTagQuadDecimate = config.aprilTagQuadDecimate;
+		parameters_->aprilTagQuadSigma = config.aprilTagQuadSigma;
+#endif
+	}
 };
 
 PLUGINLIB_EXPORT_CLASS(ArucoDetect, nodelet::Nodelet)

aruco_pose/src/genmap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Copyright (C) 2018 Copter Express Technologies
 #
@@ -13,17 +13,21 @@
 Generate map file for aruco_map nodelet.
 
 Usage:
-  genmap.py <length> <x> <y> <dist_x> <dist_y> <first> [--top-left]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [--top-left | --bottom-left]
   genmap.py (-h | --help)
 
 Options:
-  <length>    Marker side length
-  <x>         Marker count along X axis
-  <y>         Marker count along Y axis
-  <dist_x>    Distance between markers along X axis
-  <dist_y>    Distance between markers along Y axis
-  <first>     First marker ID
-  --top-left  First marker is on top-left (not bottom-left)
+  <length>       Marker side length
+  <x>            Marker count along X axis
+  <y>            Marker count along Y axis
+  <dist_x>       Distance between markers along X axis
+  <dist_y>       Distance between markers along Y axis
+  <first>        First marker ID [default: 0]
+  --top-left     First marker is on top-left (default)
+  --bottom-left  First marker is on bottom-left
+
+Example:
+  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
 """
 
 from __future__ import print_function
@@ -34,20 +38,21 @@ from docopt import docopt
 arguments = docopt(__doc__)
 
 length = float(arguments['<length>'])
-first = int(arguments['<first>'])
+first = int(arguments['<first>'] if arguments['<first>'] is not None else 0)
 markers_x = int(arguments['<x>'])
 markers_y = int(arguments['<y>'])
 dist_x = float(arguments['<dist_x>'])
 dist_y = float(arguments['<dist_y>'])
-top_left = arguments['--top-left']
+bottom_left = arguments['--bottom-left']
 
 max_y = (markers_y - 1) * dist_y
 
+print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
 for y in range(markers_y):
     for x in range(markers_x):
         pos_x = x * dist_x
         pos_y = y * dist_y
-        if top_left:
+        if not bottom_left:
             pos_y = max_y - pos_y
         print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\t'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1

aruco_pose/test/basic.test

@@ -14,6 +14,7 @@
         <param name="length_override/3" value="0.1"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
+        <param name="cornerRefinementMethod" value="1"/>
     </node>
 
     <node name="aruco_map" pkg="nodelet" type="nodelet" args="load aruco_pose/aruco_map nodelet_manager" clear_params="true" required="true">

aruco_pose/test/largemap.py

@@ -1,26 +1,19 @@
-#!/usr/bin/env python
-import sys
-import unittest
-import json
 import rospy
-import rostest
+import pytest
 
 from sensor_msgs.msg import Image
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
 
+@pytest.fixture
+def node():
+    return rospy.init_node('test_aruco_largemap', anonymous=True)
 
-class TestArucoPose(unittest.TestCase):
-    def setUp(self):
-        rospy.init_node('test_aruco_largemap', anonymous=True)
+def test_large_map_image(node):
+    img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
+    assert img.width == 2000
+    assert img.height == 2000
+    assert img.encoding in ('mono8', 'rgb8')
 
-    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.assertIn(img.encoding, ('mono8', 'rgb8'))
-
-    def test_map_visualization(self):
-        vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-
-
-rostest.rosrun('aruco_pose', 'test_aruco_largemap', TestArucoPose, sys.argv)
+def test_large_map_visualization(node):
+    vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+    assert len(vis.markers) == 11

aruco_pose/test/largemap.test

@@ -9,5 +9,6 @@
         <param name="map" value="$(find aruco_pose)/test/largemap.txt"/>
     </node>
 
-    <test test-name="test_aruco_pose_largemap" pkg="aruco_pose" type="largemap.py"/>
+    <param name="test_module" value="$(find aruco_pose)/test/largemap.py"/>
+    <test test-name="test_node_pass" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

builder/assets/clever/clever/srv.py

@@ -0,0 +1,3 @@
+print("Warning: clever package is renamed to clover")
+
+from clover.srv import *

builder/assets/clever/setup.py

@@ -0,0 +1,10 @@
+#!/usr/bin/env python3
+
+from distutils.core import setup
+
+setup(name='clever',
+      version='1.0',
+      description='Clever transitional package for backwards compatibility',
+      author='Oleg Kalachev',
+      packages=['clever'],
+     )

builder/assets/clover.service

@@ -1,12 +1,12 @@
 [Unit]
-Description=Clever ROS package
+Description=Clover ROS package
 Requires=roscore.service
 
 [Service]
 User=pi
 ExecStart=/bin/bash -c ". /home/pi/catkin_ws/devel/setup.sh; \
-                      ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clever clever.launch --wait --screen --skip-log-check \
-                      2> >(tee /tmp/clever.err)"
+                      ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clover clover.launch --wait --screen --skip-log-check \
+                      2> >(tee /tmp/clover.err)"
 
 [Install]
 WantedBy=multi-user.target

builder/assets/examples/flight.py

@@ -0,0 +1,31 @@
+# Information: https://clever.coex.tech/en/programming.html
+
+import rospy
+from clover import srv
+from std_srvs.srv import Trigger
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+land = rospy.ServiceProxy('land', Trigger)
+
+# Takeoff and hover 1 m above the ground
+navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Fly forward 1 m
+navigate(x=1, y=0, z=0, frame_id='body')
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Perform landing
+land()

builder/assets/examples/leds.py

@@ -0,0 +1,25 @@
+# Information: https://clever.coex.tech/en/leds.html
+
+import rospy
+from clover.srv import SetLEDEffect
+
+rospy.init_node('leds')
+
+set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
+
+set_effect(r=255, g=0, b=0)  # fill strip with red color
+rospy.sleep(2)
+
+set_effect(r=0, g=100, b=0)  # fill strip with green color
+rospy.sleep(2)
+
+set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
+rospy.sleep(2)
+
+set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
+rospy.sleep(5)
+
+set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
+rospy.sleep(5)
+
+set_effect(effect='rainbow')  # show rainbow

builder/assets/init_rpi.sh

@@ -35,9 +35,26 @@ echo_stamp() {
   echo -e ${TEXT}
 }
 
-NEW_SSID='CLEVER-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
+NEW_SSID='clover-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
 echo_stamp "Setting SSID to ${NEW_SSID}"
-sudo sed -i.OLD "s/CLEVER/${NEW_SSID}/" /etc/wpa_supplicant/wpa_supplicant.conf
+# TODO: Use wpa_cli insted direct file edit
+# FIXME: We rely on raspberrypi-net-mods to copy our file to /etc/wpa_supplicant.
+# This is not very reliable, but seems to fix our rfkill problem.
+cat << EOF >> /boot/wpa_supplicant.conf
+ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
+update_config=1
+country=GB
+network={
+    ssid="${NEW_SSID}"
+    psk="cloverwifi"
+    mode=2
+    proto=WPA RSN
+    key_mgmt=WPA-PSK
+    pairwise=CCMP
+    group=CCMP
+    auth_alg=OPEN
+}
+EOF
 
 NEW_HOSTNAME=$(echo ${NEW_SSID} | tr '[:upper:]' '[:lower:]')
 echo_stamp "Setting hostname to $NEW_HOSTNAME"

builder/assets/melodic-rosdep-clover.yaml

@@ -0,0 +1,735 @@
+catkin:
+  debian:
+    buster: [ros-melodic-catkin]
+genmsg:
+  debian:
+    buster: [ros-melodic-genmsg]
+gencpp:
+  debian:
+    buster: [ros-melodic-gencpp]
+geneus:
+  debian:
+    buster: [ros-melodic-geneus]
+genlisp:
+  debian:
+    buster: [ros-melodic-genlisp]
+gennodejs:
+  debian:
+    buster: [ros-melodic-gennodejs]
+genpy:
+  debian:
+    buster: [ros-melodic-genpy]
+bond_core:
+  debian:
+    buster: [ros-melodic-bond-core]
+cmake_modules:
+  debian:
+    buster: [ros-melodic-cmake-modules]
+class_loader:
+  debian:
+    buster: [ros-melodic-class-loader]
+common_msgs:
+  debian:
+    buster: [ros-melodic-common-msgs]
+common_tutorials:
+  debian:
+    buster: [ros-melodic-common-tutorials]
+cpp_common:
+  debian:
+    buster: [ros-melodic-cpp-common]
+desktop:
+  debian:
+    buster: [ros-melodic-desktop]
+diagnostics:
+  debian:
+    buster: [ros-melodic-diagnostics]
+executive_smach:
+  debian:
+    buster: [ros-melodic-executive-smach]
+geometry:
+  debian:
+    buster: [ros-melodic-geometry]
+geometry_tutorials:
+  debian:
+    buster: [ros-melodic-geometry-tutorials]
+gl_dependency:
+  debian:
+    buster: [ros-melodic-gl-dependency]
+image_common:
+  debian:
+    buster: [ros-melodic-image-common]
+image_pipeline:
+  debian:
+    buster: [ros-melodic-image-pipeline]
+image_transport_plugins:
+  debian:
+    buster: [ros-melodic-image-transport-plugins]
+laser_pipeline:
+  debian:
+    buster: [ros-melodic-laser-pipeline]
+mavlink:
+  debian:
+    buster: [ros-melodic-mavlink]
+media_export:
+  debian:
+    buster: [ros-melodic-media-export]
+message_generation:
+  debian:
+    buster: [ros-melodic-message-generation]
+message_runtime:
+  debian:
+    buster: [ros-melodic-message-runtime]
+mk:
+  debian:
+    buster: [ros-melodic-mk]
+nodelet_core:
+  debian:
+    buster: [ros-melodic-nodelet-core]
+orocos_kdl:
+  debian:
+    buster: [ros-melodic-orocos-kdl]
+perception:
+  debian:
+    buster: [ros-melodic-perception]
+perception_pcl:
+  debian:
+    buster: [ros-melodic-perception-pcl]
+python_orocos_kdl:
+  debian:
+    buster: [ros-melodic-python-orocos-kdl]
+qt_dotgraph:
+  debian:
+    buster: [ros-melodic-qt-dotgraph]
+qt_gui:
+  debian:
+    buster: [ros-melodic-qt-gui]
+qt_gui_py_common:
+  debian:
+    buster: [ros-melodic-qt-gui-py-common]
+qwt_dependency:
+  debian:
+    buster: [ros-melodic-qwt-dependency]
+robot:
+  debian:
+    buster: [ros-melodic-robot]
+ros:
+  debian:
+    buster: [ros-melodic-ros]
+ros_base:
+  debian:
+    buster: [ros-melodic-ros-base]
+ros_comm:
+  debian:
+    buster: [ros-melodic-ros-comm]
+ros_core:
+  debian:
+    buster: [ros-melodic-ros-core]
+ros_environment:
+  debian:
+    buster: [ros-melodic-ros-environment]
+ros_tutorials:
+  debian:
+    buster: [ros-melodic-ros-tutorials]
+rosapi:
+  debian:
+    buster: [ros-melodic-rosapi]
+rosbag_migration_rule:
+  debian:
+    buster: [ros-melodic-rosbag-migration-rule]
+rosbash:
+  debian:
+    buster: [ros-melodic-rosbash]
+rosboost_cfg:
+  debian:
+    buster: [ros-melodic-rosboost-cfg]
+rosbridge_server:
+  debian:
+    buster: [ros-melodic-rosbridge-server]
+rosbridge_suite:
+  debian:
+    buster: [ros-melodic-rosbridge-suite]
+rosbuild:
+  debian:
+    buster: [ros-melodic-rosbuild]
+rosclean:
+  debian:
+    buster: [ros-melodic-rosclean]
+roscpp_core:
+  debian:
+    buster: [ros-melodic-roscpp-core]
+roscpp_traits:
+  debian:
+    buster: [ros-melodic-roscpp-traits]
+roscreate:
+  debian:
+    buster: [ros-melodic-roscreate]
+rosgraph:
+  debian:
+    buster: [ros-melodic-rosgraph]
+roslang:
+  debian:
+    buster: [ros-melodic-roslang]
+roslint:
+  debian:
+    buster: [ros-melodic-roslint]
+roslisp:
+  debian:
+    buster: [ros-melodic-roslisp]
+rosmake:
+  debian:
+    buster: [ros-melodic-rosmake]
+rosmaster:
+  debian:
+    buster: [ros-melodic-rosmaster]
+rospack:
+  debian:
+    buster: [ros-melodic-rospack]
+roslib:
+  debian:
+    buster: [ros-melodic-roslib]
+rosparam:
+  debian:
+    buster: [ros-melodic-rosparam]
+rospy:
+  debian:
+    buster: [ros-melodic-rospy]
+rosserial:
+  debian:
+    buster: [ros-melodic-rosserial]
+rosserial_msgs:
+  debian:
+    buster: [ros-melodic-rosserial-msgs]
+rosserial_python:
+  debian:
+    buster: [ros-melodic-rosserial-python]
+rosservice:
+  debian:
+    buster: [ros-melodic-rosservice]
+rostime:
+  debian:
+    buster: [ros-melodic-rostime]
+roscpp_serialization:
+  debian:
+    buster: [ros-melodic-roscpp-serialization]
+python_qt_binding:
+  debian:
+    buster: [ros-melodic-python-qt-binding]
+roslaunch:
+  debian:
+    buster: [ros-melodic-roslaunch]
+rosunit:
+  debian:
+    buster: [ros-melodic-rosunit]
+angles:
+  debian:
+    buster: [ros-melodic-angles]
+libmavconn:
+  debian:
+    buster: [ros-melodic-libmavconn]
+rosconsole:
+  debian:
+    buster: [ros-melodic-rosconsole]
+pluginlib:
+  debian:
+    buster: [ros-melodic-pluginlib]
+qt_gui_cpp:
+  debian:
+    buster: [ros-melodic-qt-gui-cpp]
+resource_retriever:
+  debian:
+    buster: [ros-melodic-resource-retriever]
+rosconsole_bridge:
+  debian:
+    buster: [ros-melodic-rosconsole-bridge]
+roslz4:
+  debian:
+    buster: [ros-melodic-roslz4]
+rosserial_client:
+  debian:
+    buster: [ros-melodic-rosserial-client]
+rostest:
+  debian:
+    buster: [ros-melodic-rostest]
+rqt_action:
+  debian:
+    buster: [ros-melodic-rqt-action]
+rqt_bag:
+  debian:
+    buster: [ros-melodic-rqt-bag]
+rqt_bag_plugins:
+  debian:
+    buster: [ros-melodic-rqt-bag-plugins]
+rqt_common_plugins:
+  debian:
+    buster: [ros-melodic-rqt-common-plugins]
+rqt_console:
+  debian:
+    buster: [ros-melodic-rqt-console]
+rqt_dep:
+  debian:
+    buster: [ros-melodic-rqt-dep]
+rqt_graph:
+  debian:
+    buster: [ros-melodic-rqt-graph]
+rqt_gui:
+  debian:
+    buster: [ros-melodic-rqt-gui]
+rqt_logger_level:
+  debian:
+    buster: [ros-melodic-rqt-logger-level]
+rqt_moveit:
+  debian:
+    buster: [ros-melodic-rqt-moveit]
+rqt_msg:
+  debian:
+    buster: [ros-melodic-rqt-msg]
+rqt_nav_view:
+  debian:
+    buster: [ros-melodic-rqt-nav-view]
+rqt_plot:
+  debian:
+    buster: [ros-melodic-rqt-plot]
+rqt_pose_view:
+  debian:
+    buster: [ros-melodic-rqt-pose-view]
+rqt_publisher:
+  debian:
+    buster: [ros-melodic-rqt-publisher]
+rqt_py_console:
+  debian:
+    buster: [ros-melodic-rqt-py-console]
+rqt_reconfigure:
+  debian:
+    buster: [ros-melodic-rqt-reconfigure]
+rqt_robot_dashboard:
+  debian:
+    buster: [ros-melodic-rqt-robot-dashboard]
+rqt_robot_monitor:
+  debian:
+    buster: [ros-melodic-rqt-robot-monitor]
+rqt_robot_plugins:
+  debian:
+    buster: [ros-melodic-rqt-robot-plugins]
+rqt_robot_steering:
+  debian:
+    buster: [ros-melodic-rqt-robot-steering]
+rqt_runtime_monitor:
+  debian:
+    buster: [ros-melodic-rqt-runtime-monitor]
+rqt_service_caller:
+  debian:
+    buster: [ros-melodic-rqt-service-caller]
+rqt_shell:
+  debian:
+    buster: [ros-melodic-rqt-shell]
+rqt_srv:
+  debian:
+    buster: [ros-melodic-rqt-srv]
+rqt_tf_tree:
+  debian:
+    buster: [ros-melodic-rqt-tf-tree]
+rqt_top:
+  debian:
+    buster: [ros-melodic-rqt-top]
+rqt_topic:
+  debian:
+    buster: [ros-melodic-rqt-topic]
+rqt_web:
+  debian:
+    buster: [ros-melodic-rqt-web]
+smach:
+  debian:
+    buster: [ros-melodic-smach]
+smclib:
+  debian:
+    buster: [ros-melodic-smclib]
+std_msgs:
+  debian:
+    buster: [ros-melodic-std-msgs]
+actionlib_msgs:
+  debian:
+    buster: [ros-melodic-actionlib-msgs]
+bond:
+  debian:
+    buster: [ros-melodic-bond]
+diagnostic_msgs:
+  debian:
+    buster: [ros-melodic-diagnostic-msgs]
+geometry_msgs:
+  debian:
+    buster: [ros-melodic-geometry-msgs]
+eigen_conversions:
+  debian:
+    buster: [ros-melodic-eigen-conversions]
+kdl_conversions:
+  debian:
+    buster: [ros-melodic-kdl-conversions]
+nav_msgs:
+  debian:
+    buster: [ros-melodic-nav-msgs]
+rosbridge_msgs:
+  debian:
+    buster: [ros-melodic-rosbridge-msgs]
+rosgraph_msgs:
+  debian:
+    buster: [ros-melodic-rosgraph-msgs]
+rosmsg:
+  debian:
+    buster: [ros-melodic-rosmsg]
+rqt_py_common:
+  debian:
+    buster: [ros-melodic-rqt-py-common]
+shape_msgs:
+  debian:
+    buster: [ros-melodic-shape-msgs]
+smach_msgs:
+  debian:
+    buster: [ros-melodic-smach-msgs]
+std_srvs:
+  debian:
+    buster: [ros-melodic-std-srvs]
+tf2_msgs:
+  debian:
+    buster: [ros-melodic-tf2-msgs]
+tf2:
+  debian:
+    buster: [ros-melodic-tf2]
+tf2_eigen:
+  debian:
+    buster: [ros-melodic-tf2-eigen]
+trajectory_msgs:
+  debian:
+    buster: [ros-melodic-trajectory-msgs]
+control_msgs:
+  debian:
+    buster: [ros-melodic-control-msgs]
+urdf_parser_plugin:
+  debian:
+    buster: [ros-melodic-urdf-parser-plugin]
+urdfdom_py:
+  debian:
+    buster: [ros-melodic-urdfdom-py]
+uuid_msgs:
+  debian:
+    buster: [ros-melodic-uuid-msgs]
+geographic_msgs:
+  debian:
+    buster: [ros-melodic-geographic-msgs]
+vision_opencv:
+  debian:
+    buster: [ros-melodic-vision-opencv]
+visualization_msgs:
+  debian:
+    buster: [ros-melodic-visualization-msgs]
+visualization_tutorials:
+  debian:
+    buster: [ros-melodic-visualization-tutorials]
+viz:
+  debian:
+    buster: [ros-melodic-viz]
+webkit_dependency:
+  debian:
+    buster: [ros-melodic-webkit-dependency]
+xmlrpcpp:
+  debian:
+    buster: [ros-melodic-xmlrpcpp]
+roscpp:
+  debian:
+    buster: [ros-melodic-roscpp]
+bondcpp:
+  debian:
+    buster: [ros-melodic-bondcpp]
+bondpy:
+  debian:
+    buster: [ros-melodic-bondpy]
+nodelet:
+  debian:
+    buster: [ros-melodic-nodelet]
+nodelet_tutorial_math:
+  debian:
+    buster: [ros-melodic-nodelet-tutorial-math]
+pluginlib_tutorials:
+  debian:
+    buster: [ros-melodic-pluginlib-tutorials]
+roscpp_tutorials:
+  debian:
+    buster: [ros-melodic-roscpp-tutorials]
+rosout:
+  debian:
+    buster: [ros-melodic-rosout]
+async_web_server_cpp:
+  debian:
+    buster: [ros-melodic-async-web-server-cpp]
+camera_calibration:
+  debian:
+    buster: [ros-melodic-camera-calibration]
+diagnostic_aggregator:
+  debian:
+    buster: [ros-melodic-diagnostic-aggregator]
+diagnostic_updater:
+  debian:
+    buster: [ros-melodic-diagnostic-updater]
+diagnostic_common_diagnostics:
+  debian:
+    buster: [ros-melodic-diagnostic-common-diagnostics]
+dynamic_reconfigure:
+  debian:
+    buster: [ros-melodic-dynamic-reconfigure]
+filters:
+  debian:
+    buster: [ros-melodic-filters]
+joint_state_publisher:
+  debian:
+    buster: [ros-melodic-joint-state-publisher]
+message_filters:
+  debian:
+    buster: [ros-melodic-message-filters]
+ros_pytest:
+  debian:
+    buster: [ros-melodic-ros-pytest]
+rosauth:
+  debian:
+    buster: [ros-melodic-rosauth]
+rosbag_storage:
+  debian:
+    buster: [ros-melodic-rosbag-storage]
+rosnode:
+  debian:
+    buster: [ros-melodic-rosnode]
+rospy_tutorials:
+  debian:
+    buster: [ros-melodic-rospy-tutorials]
+rosshow:
+  debian:
+    buster: [ros-melodic-rosshow]
+rostopic:
+  debian:
+    buster: [ros-melodic-rostopic]
+rqt_gui_cpp:
+  debian:
+    buster: [ros-melodic-rqt-gui-cpp]
+rqt_gui_py:
+  debian:
+    buster: [ros-melodic-rqt-gui-py]
+self_test:
+  debian:
+    buster: [ros-melodic-self-test]
+smach_ros:
+  debian:
+    buster: [ros-melodic-smach-ros]
+tf2_py:
+  debian:
+    buster: [ros-melodic-tf2-py]
+topic_tools:
+  debian:
+    buster: [ros-melodic-topic-tools]
+rosbag:
+  debian:
+    buster: [ros-melodic-rosbag]
+actionlib:
+  debian:
+    buster: [ros-melodic-actionlib]
+actionlib_tutorials:
+  debian:
+    buster: [ros-melodic-actionlib-tutorials]
+diagnostic_analysis:
+  debian:
+    buster: [ros-melodic-diagnostic-analysis]
+nodelet_topic_tools:
+  debian:
+    buster: [ros-melodic-nodelet-topic-tools]
+roswtf:
+  debian:
+    buster: [ros-melodic-roswtf]
+rqt_launch:
+  debian:
+    buster: [ros-melodic-rqt-launch]
+sensor_msgs:
+  debian:
+    buster: [ros-melodic-sensor-msgs]
+camera_calibration_parsers:
+  debian:
+    buster: [ros-melodic-camera-calibration-parsers]
+cv_bridge:
+  debian:
+    buster: [ros-melodic-cv-bridge]
+image_geometry:
+  debian:
+    buster: [ros-melodic-image-geometry]
+image_transport:
+  debian:
+    buster: [ros-melodic-image-transport]
+camera_info_manager:
+  debian:
+    buster: [ros-melodic-camera-info-manager]
+compressed_depth_image_transport:
+  debian:
+    buster: [ros-melodic-compressed-depth-image-transport]
+compressed_image_transport:
+  debian:
+    buster: [ros-melodic-compressed-image-transport]
+cv_camera:
+  debian:
+    buster: [ros-melodic-cv-camera]
+image_proc:
+  debian:
+    buster: [ros-melodic-image-proc]
+image_publisher:
+  debian:
+    buster: [ros-melodic-image-publisher]
+map_msgs:
+  debian:
+    buster: [ros-melodic-map-msgs]
+mavros_msgs:
+  debian:
+    buster: [ros-melodic-mavros-msgs]
+pcl_msgs:
+  debian:
+    buster: [ros-melodic-pcl-msgs]
+pcl_conversions:
+  debian:
+    buster: [ros-melodic-pcl-conversions]
+polled_camera:
+  debian:
+    buster: [ros-melodic-polled-camera]
+rqt_image_view:
+  debian:
+    buster: [ros-melodic-rqt-image-view]
+stereo_msgs:
+  debian:
+    buster: [ros-melodic-stereo-msgs]
+image_view:
+  debian:
+    buster: [ros-melodic-image-view]
+rosbridge_library:
+  debian:
+    buster: [ros-melodic-rosbridge-library]
+stereo_image_proc:
+  debian:
+    buster: [ros-melodic-stereo-image-proc]
+tf2_ros:
+  debian:
+    buster: [ros-melodic-tf2-ros]
+depth_image_proc:
+  debian:
+    buster: [ros-melodic-depth-image-proc]
+mavros:
+  debian:
+    buster: [ros-melodic-mavros]
+tf:
+  debian:
+    buster: [ros-melodic-tf]
+interactive_markers:
+  debian:
+    buster: [ros-melodic-interactive-markers]
+interactive_marker_tutorials:
+  debian:
+    buster: [ros-melodic-interactive-marker-tutorials]
+laser_geometry:
+  debian:
+    buster: [ros-melodic-laser-geometry]
+laser_assembler:
+  debian:
+    buster: [ros-melodic-laser-assembler]
+laser_filters:
+  debian:
+    buster: [ros-melodic-laser-filters]
+pcl_ros:
+  debian:
+    buster: [ros-melodic-pcl-ros]
+tf2_geometry_msgs:
+  debian:
+    buster: [ros-melodic-tf2-geometry-msgs]
+image_rotate:
+  debian:
+    buster: [ros-melodic-image-rotate]
+tf2_kdl:
+  debian:
+    buster: [ros-melodic-tf2-kdl]
+tf2_web_republisher:
+  debian:
+    buster: [ros-melodic-tf2-web-republisher]
+tf_conversions:
+  debian:
+    buster: [ros-melodic-tf-conversions]
+theora_image_transport:
+  debian:
+    buster: [ros-melodic-theora-image-transport]
+turtlesim:
+  debian:
+    buster: [ros-melodic-turtlesim]
+turtle_actionlib:
+  debian:
+    buster: [ros-melodic-turtle-actionlib]
+turtle_tf:
+  debian:
+    buster: [ros-melodic-turtle-tf]
+turtle_tf2:
+  debian:
+    buster: [ros-melodic-turtle-tf2]
+urdf:
+  debian:
+    buster: [ros-melodic-urdf]
+kdl_parser:
+  debian:
+    buster: [ros-melodic-kdl-parser]
+kdl_parser_py:
+  debian:
+    buster: [ros-melodic-kdl-parser-py]
+mavros_extras:
+  debian:
+    buster: [ros-melodic-mavros-extras]
+robot_state_publisher:
+  debian:
+    buster: [ros-melodic-robot-state-publisher]
+rviz:
+  debian:
+    buster: [ros-melodic-rviz]
+librviz_tutorial:
+  debian:
+    buster: [ros-melodic-librviz-tutorial]
+rqt_rviz:
+  debian:
+    buster: [ros-melodic-rqt-rviz]
+rviz_plugin_tutorials:
+  debian:
+    buster: [ros-melodic-rviz-plugin-tutorials]
+rviz_python_tutorial:
+  debian:
+    buster: [ros-melodic-rviz-python-tutorial]
+urdf_tutorial:
+  debian:
+    buster: [ros-melodic-urdf-tutorial]
+usb_cam:
+  debian:
+    buster: [ros-melodic-usb-cam]
+visualization_marker_tutorials:
+  debian:
+    buster: [ros-melodic-visualization-marker-tutorials]
+vl53l1x:
+  debian:
+    buster: [ros-melodic-vl53l1x]
+web_video_server:
+  debian:
+    buster: [ros-melodic-web-video-server]
+xacro:
+  debian:
+    buster: [ros-melodic-xacro]
+led_msgs:
+  debian:
+    buster: [ros-melodic-led-msgs]
+ws281x:
+  debian:
+    buster: [ros-melodic-ws281x]
+ddynamic_reconfigure:
+  debian:
+    buster: [ros-melodic-ddynamic-reconfigure]
+librealsense2:
+  debian:
+    buster: [ros-melodic-librealsense2]
+realsense2_camera:
+  debian:
+    buster: [ros-melodic-realsense2-camera]
+realsense2_description:
+  debian:
+    buster: [ros-melodic-realsense2-description]

builder/assets/monkey

@@ -20,7 +20,7 @@
     # Example:
     #      DocumentRoot /home/krypton/htdocs
 
-    DocumentRoot /home/pi/catkin_ws/src/clever/clever/www
+    DocumentRoot /home/pi/catkin_ws/src/clover/clover/www
 
     # Redirect:
     # ---------

builder/assets/python3.yaml

@@ -0,0 +1,9 @@
+python3-wxgtk:
+  debian:
+    buster: [python3-wxgtk4.0]
+python3-serial:
+  debian:
+    buster: [python3-serial]
+python3-requests:
+  debian:
+    buster: [python3-requests]

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2019-09-30/2019-09-26-raspbian-buster-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -89,7 +89,7 @@ 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/'
+    ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy $dir '/home/pi/catkin_ws/src/clover/'
   fi;
 done
 
@@ -104,21 +104,24 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
+# examples
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
-# Clever
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
+# Clover
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.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 ${SCRIPTS_DIR}'/assets/melodic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${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_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
+# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add PX4 udev rules
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clever/config/99-px4fmu.rules' '/lib/udev/rules.d/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clover/config/99-px4fmu.rules' '/lib/udev/rules.d/'
 # Add rename script
 ${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/image-init.sh

@@ -34,12 +34,12 @@ echo_stamp() {
   echo -e ${TEXT}
 }
 
-echo_stamp "Write CLEVER information"
+echo_stamp "Write Clover information"
 
-# Clever image version
-echo "$1" >> /etc/clever_version
+# Clover image version
+echo "$1" >> /etc/clover_version
 # Origin image file name
-echo "${2%.*}" >> /etc/clever_origin
+echo "${2%.*}" >> /etc/clover_origin
 
 echo_stamp "Write magic script to /etc/rc.local"
 MAGIC_SCRIPT="sudo /root/init_rpi.sh; sudo sed -i '/sudo \\\/root\\\/init_rpi.sh/d' /etc/rc.local && sudo reboot"

builder/image-network.sh

@@ -34,34 +34,24 @@ echo_stamp() {
   echo -e ${TEXT}
 }
 
-echo_stamp "#1 Write to /etc/wpa_supplicant/wpa_supplicant.conf"
-
-# TODO: Use wpa_cli insted direct file edit
-cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
-network={
-    ssid="CLEVER"
-    psk="cleverwifi"
-    mode=2
-    proto=WPA RSN
-    key_mgmt=WPA-PSK
-    pairwise=CCMP
-    group=CCMP
-    auth_alg=OPEN
-}
-EOF
-
-echo_stamp "#2 Write STATIC to /etc/dhcpcd.conf"
+echo_stamp "#1 Write STATIC to /etc/dhcpcd.conf"
 
 cat << EOF >> /etc/dhcpcd.conf
 interface wlan0
 static ip_address=192.168.11.1/24
 EOF
 
+echo_stamp "#2 Set wpa_supplicant country"
+
+cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
+country=GB
+EOF
+
 echo_stamp "#3 Write dhcp-config to /etc/dnsmasq.conf"
 
 cat << EOF >> /etc/dnsmasq.conf
 interface=wlan0
-address=/clever/coex/192.168.11.1
+address=/clover/coex/192.168.11.1
 dhcp-range=192.168.11.100,192.168.11.200,12h
 no-hosts
 filterwin2k
@@ -70,8 +60,4 @@ domain-needed
 quiet-dhcp6
 EOF
 
-#echo_stamp "#4 Write magic script for rename SSID to /etc/rc.local"
-#RENAME_SSID="sudo sed -i.OLD \"s/CLEVER/CLEVER-\$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g\" /etc/wpa_supplicant/wpa_supplicant.conf && sudo sed -i '/sudo sed/d' /etc/rc.local && sudo reboot"
-#sed -i "19a$RENAME_SSID" /etc/rc.local
-
-echo_stamp "#5 End of network installation"
+echo_stamp "#4 End of network installation"

builder/image-ros.sh

@@ -65,10 +65,11 @@ my_travis_retry() {
   return $result
 }
 
-# TODO: 'kinetic-rosdep-clever.yaml' should add only if we use our repo?
+# TODO: 'kinetic-rosdep-clover.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-clover.yaml" > /etc/ros/rosdep/sources.list.d/30-clover.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"
@@ -87,31 +88,35 @@ resolve_rosdep() {
 }
 
 export ROS_IP='127.0.0.1' # needed for running tests
+export ROS_PYTHON_VERSION=3
 
-echo_stamp "Reconfiguring Clever repository for simplier unshallowing"
-cd /home/pi/catkin_ws/src/clever
+echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
+cd /home/pi/catkin_ws/src/clover
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
-echo_stamp "Installing CLEVER" \
-&& 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 pip 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 \
-&& systemctl enable clever \
-&& echo_stamp "All CLEVER was installed!" "SUCCESS" \
-|| (echo_stamp "CLEVER installation was failed!" "ERROR"; exit 1)
+echo_stamp "Build and install Clover"
+cd /home/pi/catkin_ws
+resolve_rosdep $(pwd)
+my_travis_retry pip3 install wheel
+my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
+source /opt/ros/melodic/setup.bash
+catkin_make -j2 -DCMAKE_BUILD_TYPE=Release
 
-echo_stamp "Build CLEVER documentation"
-cd /home/pi/catkin_ws/src/clever
+echo_stamp "Enable ROS services"
+systemctl enable roscore
+systemctl enable clover
+
+echo_stamp "Install clever package (for backwards compatibility)"
+cd /home/pi/catkin_ws/src/clover/builder/assets/clever
+./setup.py install
+rm -rf build  # remove build artifacts
+
+echo_stamp "Build Clover documentation"
+cd /home/pi/catkin_ws/src/clover
 NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
 NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
-touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clever/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
+touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
 
 echo_stamp "Installing additional ROS packages"
 apt-get install -y --no-install-recommends \
@@ -130,7 +135,7 @@ echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 
 # 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)
-pip install tornado==4.2.1
+pip3 install tornado==4.2.1
 
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws

builder/image-software.sh

@@ -67,8 +67,8 @@ apt-get update \
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
 echo "deb http://deb.coex.tech/opencv3 buster main" > /etc/apt/sources.list.d/opencv3.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/clever buster main" > /etc/apt/sources.list.d/clever.list
+echo "deb http://deb.coex.tech/melodic-py3 buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list
 
 echo_stamp "Update apt cache"
 
@@ -95,20 +95,21 @@ libjpeg8 \
 tcpdump \
 ltrace \
 libpoco-dev \
-python-rosdep \
-python-rosinstall-generator \
-python-wstool \
-python-rosinstall \
+python3-rosdep \
+python3-rosinstall-generator \
+python3-wstool \
+python3-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak \
+espeak espeak-data python3-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python-systemd \
+python3-venv \
+python3-systemd \
 mjpg-streamer \
 python3-opencv \
 && echo_stamp "Everything was installed!" "SUCCESS" \
@@ -132,13 +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
+my_travis_retry pip3 install tornado==4.2.1
 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
+my_travis_retry pip2 install --prefer-binary rpi_ws281x
+my_travis_retry pip3 install --prefer-binary rpi_ws281x
 
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
@@ -153,6 +155,10 @@ cp -R node-v10.15.0-linux-armv6l/* /usr/local/
 rm -rf node-v10.15.0-linux-armv6l/
 rm node-v10.15.0-linux-armv6l.tar.gz
 
+echo_stamp "Installing ptvsd"
+my_travis_retry pip2 install ptvsd
+my_travis_retry pip3 install ptvsd
+
 echo_stamp "Add .vimrc"
 cat << EOF > /home/pi/.vimrc
 set mouse-=a

builder/image-validate.sh

@@ -18,13 +18,16 @@ 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
 
-cd /home/pi/catkin_ws/src/clever/builder/test/
+cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.sh
 ./tests.py
-./tests_py3.py
+# Disable Python 2 tests for image - we're dropping support, right?
+# ./tests_py2.py
+[[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
 
 echo "Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload

builder/test/tests.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # validate all required modules installed
 
@@ -14,9 +14,11 @@ 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, \
+from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
     SetAttitude, SetRates, SetLEDEffect
 
+get_telemetry = rospy.ServiceProxy('get_telemetry', GetTelemetry)
+
 import tf2_ros
 import tf2_geometry_msgs
 
@@ -27,4 +29,4 @@ import rpi_ws281x
 import pigpio
 from espeak import espeak
 
-print cv2.getBuildInformation()
+print(cv2.getBuildInformation())

builder/test/tests.sh

@@ -12,6 +12,10 @@ python3 --version
 ipython --version
 ipython3 --version
 
+# ptvsd does not have a stand-alone binary
+python -m ptvsd --version
+python3 -m ptvsd --version
+
 node -v
 npm -v
 
@@ -34,7 +38,7 @@ mjpg_streamer --version
 # ros stuff
 
 roscore -h
-rosversion clever
+rosversion clover
 rosversion aruco_pose
 rosversion vl53l1x
 rosversion mavros
@@ -48,3 +52,6 @@ rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
 rosversion rosshow
+
+# validate examples are present
+[[ $(ls /home/pi/examples/*) ]]

builder/test/tests_clever.py

@@ -0,0 +1,6 @@
+#!/usr/bin/env python3
+
+# test backwards compatibility
+
+from clever.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
+    SetAttitude, SetRates, SetLEDEffect

builder/test/tests_py2.py

@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+
+# Make sure our Python 2 software is installed
+
+import cv2
+
+print(cv2.getBuildInformation())

builder/test/tests_py3.py

@@ -1,7 +0,0 @@
-#!/usr/bin/env python3
-
-# Make sure our Python 3 software is installed
-
-import cv2
-
-print(cv2.getBuildInformation())

check_assets_size.py

@@ -17,7 +17,8 @@ EXCLUDE = 'rviz.png', 'ssid.png', 'sitl_docker_demo.png', 'qgc-params.png', 'but
     'cl3_mountBEC.JPG', 'cl3_mountRpiCamera.JPG', 'clever4-front-black-large.png', \
     'qgc-battery.png', 'qgc-radio.png', 'qgc-cal-acc.png', 'qgc-esc.png', 'qgc-cal-compass.png', \
     'qgc.png', 'qgc-parameters.png', 'clever4-front-white-large.png', 'qgc-modes.png', \
-    'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png', 'battery_holder.stl'
+    'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png', 'battery_holder.stl', \
+    'camera_case.stl', 'camera_mount.stl'
 
 code = 0
 

clever/launch/fpv_camera.launch

@@ -1,6 +0,0 @@
-<launch>
-    <arg name="device" default="/dev/video1"/>
-    <arg name="port" default="9999"/>
-
-    <node name="fpv_camera" pkg="clever" type="fpv_camera" args="$(arg device) $(arg port)" output="screen"/>
-</launch>

clever/launch/main_camera.launch

@@ -1,39 +0,0 @@
-<launch>
-    <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
-    <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
-
-    <!-- article about camera setup: https://clever.coex.tech/camera_frame -->
-
-    <!-- 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"/>
-
-    <!-- camera is oriented downward, camera cable goes forward  [option 2] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>-->
-
-    <!-- camera is oriented upward, camera cable goes backward   [option 3] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>-->
-
-    <!-- camera is oriented upward, camera cable goes forward    [option 4] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>-->
-
-    <!-- camera node -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
-        <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
-
-        <param name="rate" value="100"/> <!-- poll rate -->
-        <param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
-        <param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
-        <param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
-
-        <!-- camera resolution, NOTE: camera_info file should match it -->
-        <param name="image_width" value="320"/>
-        <param name="image_height" value="240"/>
-    </node>
-
-    <!-- camera visualization markers -->
-    <node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
-        <param name="scale" value="3.0"/>
-    </node>
-</launch>

clever/nodelet_plugins.xml

@@ -1,5 +0,0 @@
-<library path="lib/libclever">
-   <class name="clever/optical_flow" type="OpticalFlow" base_class_type="nodelet::Nodelet">
-      <description/>
-   </class>
-</library>

clever/requirements.txt

@@ -1,5 +0,0 @@
-flask==1.1.1
-docopt==0.6.2
-geopy==1.11.0
-smbus2==0.2.1
-VL53L1X==0.0.2

clover/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(clever)
+project(clover)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
@@ -81,6 +81,7 @@ add_service_files(
   SetAttitude.srv
   SetRates.srv
   SetLEDEffect.srv
+  Execute.srv
 )
 
 ## Generate actions in the 'action' folder
@@ -127,7 +128,7 @@ generate_messages(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-  LIBRARIES clever
+  LIBRARIES ${PROJECT_NAME}
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -145,7 +146,7 @@ include_directories(
 )
 
 # Declare a C++ library
-add_library(clever
+add_library(${PROJECT_NAME}
   src/optical_flow.cpp
 )
 
@@ -167,6 +168,8 @@ add_executable(vpe_publisher src/vpe_publisher.cpp)
 
 add_executable(led src/led.cpp)
 
+add_executable(shell src/shell.cpp)
+
 target_link_libraries(simple_offboard
   ${catkin_LIBRARIES}
   ${GeographicLib_LIBRARIES}
@@ -180,9 +183,13 @@ target_link_libraries(vpe_publisher ${catkin_LIBRARIES})
 
 target_link_libraries(led ${catkin_LIBRARIES})
 
-add_dependencies(simple_offboard clever_generate_messages_cpp)
+target_link_libraries(shell ${catkin_LIBRARIES})
 
-add_dependencies(led clever_generate_messages_cpp)
+add_dependencies(simple_offboard ${PROJECT_NAME}_generate_messages_cpp)
+
+add_dependencies(led ${PROJECT_NAME}_generate_messages_cpp)
+
+add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -195,7 +202,7 @@ add_dependencies(led clever_generate_messages_cpp)
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(clever
+target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
 )
 
@@ -252,7 +259,7 @@ endif()
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_clever.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_${PROJECT_NAME}.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

clover/launch/aruco.launch

@@ -10,6 +10,7 @@
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
+        <param name="cornerRefinementMethod" value="2"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map"/>
@@ -31,7 +32,7 @@
     </node>
 
     <!-- vpe publisher from aruco markers -->
-    <node name="vpe_publisher" pkg="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
+    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
         <remap from="~pose_cov" to="aruco_map/pose"/>
         <remap from="~vpe" to="mavros/vision_pose/pose"/>
         <param name="frame_id" value="aruco_map_detected"/>

clover/launch/clover.launch

@@ -5,17 +5,18 @@
     <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="rangefinder_vl53l1x" default="false"/>
+    <arg name="rangefinder_vl53l1x" default="true"/>
     <arg name="led" default="true"/>
     <arg name="rc" default="true"/>
+    <arg name="shell" default="true"/>
 
     <!-- log formatting -->
     <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
 
     <!-- mavros -->
-    <include file="$(find clever)/launch/mavros.launch">
+    <include file="$(find clover)/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)"/>
@@ -28,13 +29,14 @@
     </node>
 
     <!-- aruco markers -->
-    <include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
+    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
 
     <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
+        <param name="roi_rad" value="0.8"/>
     </node>
 
     <!-- main nodelet manager -->
@@ -45,14 +47,14 @@
     <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
 
     <!-- simplified offboard control -->
-    <node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
+    <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
         <param name="reference_frames/body" value="map"/>
         <param name="reference_frames/base_link" value="map"/>
         <param name="reference_frames/navigate_target" value="map"/>
     </node>
 
     <!-- main camera -->
-    <include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
+    <include file="$(find clover)/launch/main_camera.launch" if="$(arg main_camera)"/>
 
     <!-- rosbridge -->
     <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
@@ -68,11 +70,14 @@
     </node>
 
     <!-- led strip -->
-    <include file="$(find clever)/launch/led.launch" if="$(arg led)"/>
+    <include file="$(find clover)/launch/led.launch" if="$(arg led)"/>
 
     <!-- rc backend -->
-    <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)" clear_params="true">
+    <node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
         <!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
         <param name="use_fake_gcs" value="false"/>
     </node>
+
+    <!-- Shell access through ROS service -->
+    <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
 </launch>

clover/launch/led.launch

@@ -3,7 +3,7 @@
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
 
-    <!-- For additional help go to https://clever.coex.tech/led -->
+    <!-- For additional help go to https://clover.coex.tech/led -->
 
     <!-- ws281x led strip driver -->
     <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(arg ws281x)">
@@ -17,7 +17,7 @@
     </node>
 
     <!-- high level led effects control, events notification with leds -->
-    <node pkg="clever" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
+    <node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
         <param name="blink_rate" value="2"/>
         <param name="fade_period" value="0.5"/>
         <param name="rainbow_period" value="5"/>

clover/launch/main_camera.launch

@@ -0,0 +1,37 @@
+<launch>
+    <!-- article about camera setup: https://clever.coex.tech/camera_frame -->
+
+    <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
+    <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
+
+    <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'down' and direction_y == 'forward')" 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 if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'up' and direction_y == 'forward')" 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"/>
+
+    <!-- Template for custom camera orientation -->
+    <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
+    <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
+    <!-- <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 node -->
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
+        <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam_320.yaml"/>
+
+        <param name="rate" value="100"/> <!-- poll rate -->
+        <param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
+        <param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
+        <param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
+
+        <!-- camera resolution, NOTE: camera_info file should match it -->
+        <param name="image_width" value="320"/>
+        <param name="image_height" value="240"/>
+    </node>
+
+    <!-- camera visualization markers -->
+    <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
+        <param name="scale" value="3.0"/>
+    </node>
+</launch>

clover/launch/mavros.launch

@@ -29,7 +29,7 @@
         <param name="conn/timeout" value="8"/>
 
         <!-- basic params -->
-        <rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
+        <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
 
         <!-- remap rangefinder -->
         <remap from="mavros/distance_sensor/rangefinder_sub" to="rangefinder/range"/>

clover/launch/sitl.launch

@@ -1,9 +1,9 @@
 <launch>
-    <!-- Clever configuration for testing in sitl -->
+    <!-- clover configuration for testing in sitl -->
     <arg name="ip" default="127.0.0.1"/>
     <arg name="rosbridge" default="false"/>
 
-    <include file="$(find clever)/launch/clever.launch">
+    <include file="$(find clover)/launch/clover.launch">
         <arg name="fcu_conn" value="udp"/>
         <arg name="fcu_ip" value="$(arg ip)"/>
         <arg name="gcs_bridge" value="false"/>

clover/nodelet_plugins.xml

@@ -0,0 +1,5 @@
+<library path="lib/libclover">
+   <class name="clover/optical_flow" type="OpticalFlow" base_class_type="nodelet::Nodelet">
+      <description/>
+   </class>
+</library>

clover/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
-<package format="2">
-  <name>clever</name>
+<package format="3">
+  <name>clover</name>
   <version>0.0.1</version>
-  <description>The CLEVER package</description>
+  <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>
@@ -15,6 +15,7 @@
 
   <!-- Package format specifier version 2.0 allows specifying dependencies for both
    build- and runtime in a single <depend> element -->
+  <depend>message_generation</depend>
   <depend>roscpp</depend>
   <depend>rospy</depend>
   <depend>std_srvs</depend>
@@ -36,8 +37,10 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>python-lxml</depend>
-  <exec_depend>python-pymavlink</exec_depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pymavlink</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
 

clover/requirements.txt

@@ -0,0 +1,5 @@
+flask==1.1.1
+docopt==0.6.2
+geopy==1.20.0
+smbus2==0.3.0
+VL53L1X==0.0.4

clover/src/camera_stream

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 # Usage
-# fpv_camera <video_device> <http port>
+# camera_stream <video_device> <http port>
 
-echo "Starting FPV camera $1 on :$2"
+echo "Starting camera stream $1 on :$2"
 mjpg_streamer -i "/usr/lib/input_uvc.so -d $1 -r 320x240 -f 30" -o "/usr/lib/output_http.so -w /usr/share/mjpg_streamer/www -p $2"

clover/src/led.cpp

@@ -14,7 +14,7 @@
 #include <string>
 #include <boost/algorithm/string.hpp>
 
-#include <clever/SetLEDEffect.h>
+#include <clover/SetLEDEffect.h>
 #include <led_msgs/SetLEDs.h>
 #include <led_msgs/LEDState.h>
 #include <led_msgs/LEDStateArray.h>
@@ -23,7 +23,7 @@
 #include <mavros_msgs/State.h>
 #include <rosgraph_msgs/Log.h>
 
-clever::SetLEDEffect::Request current_effect;
+clover::SetLEDEffect::Request current_effect;
 int led_count;
 ros::Timer timer;
 ros::Time start_time;
@@ -144,7 +144,7 @@ void proceed(const ros::TimerEvent& event)
 	}
 }
 
-bool setEffect(clever::SetLEDEffect::Request& req, clever::SetLEDEffect::Response& res)
+bool setEffect(clover::SetLEDEffect::Request& req, clover::SetLEDEffect::Response& res)
 {
 	res.success = true;
 
@@ -237,7 +237,7 @@ void notify(const std::string& event)
 	    ros::param::has("~notify/" + event + "/g") ||
 	    ros::param::has("~notify/" + event + "/b")) {
 		ROS_INFO_THROTTLE(5, "led: notify %s", event.c_str());
-		clever::SetLEDEffect effect;
+		clover::SetLEDEffect effect;
 		effect.request.effect = ros::param::param("~notify/" + event + "/effect", std::string(""));
 		effect.request.r = ros::param::param("~notify/" + event + "/r", 0);
 		effect.request.g = ros::param::param("~notify/" + event + "/g", 0);
@@ -263,7 +263,10 @@ void handleMavrosState(const mavros_msgs::State& msg)
 			// remove the part before "."
 			mode = mode.substr(mode.find(".") + 1);
 		}
-		notify(mode);
+		std::string err;
+		if (ros::names::validate(mode, err)) {
+			notify(mode);
+		}
 	}
 	mavros_state = msg;
 }

clover/src/optical_flow.cpp

@@ -46,7 +46,9 @@ private:
 	image_transport::CameraSubscriber img_sub_;
 	image_transport::Publisher img_pub_;
 	mavros_msgs::OpticalFlowRad flow_;
-	int roi_, roi_2_;
+	int roi_px_;
+	double roi_rad_;
+	cv::Rect roi_;
 	Mat hann_;
 	Mat prev_, curr_;
 	Mat camera_matrix_, dist_coeffs_;
@@ -63,8 +65,8 @@ private:
 
 		nh.param<std::string>("mavros/local_position/tf/frame_id", local_frame_id_, "map");
 		nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
-		nh_priv.param("roi", roi_, 128);
-		roi_2_ = roi_ / 2;
+		nh_priv.param("roi", roi_px_, 128);
+		nh_priv.param("roi_rad", roi_rad_, 0.0);
 		nh_priv.param("calc_flow_gyro", calc_flow_gyro_, false);
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
@@ -112,9 +114,31 @@ private:
 
 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
 
-		// Apply ROI
-		if (roi_ != 0) {
-			img = img(cv::Rect((msg->width / 2 - roi_2_), (msg->height / 2 - roi_2_), roi_, roi_));
+		if (roi_.width == 0) { // ROI is not calculated
+			// Calculate ROI
+			if (roi_rad_ != 0) {
+				std::vector<cv::Point3f> object_points = {
+					cv::Point3f(-sin(roi_rad_ / 2), -sin(roi_rad_ / 2), cos(roi_rad_ / 2)),
+					cv::Point3f(sin(roi_rad_ / 2), sin(roi_rad_ / 2), cos(roi_rad_ / 2)),
+				};
+
+				std::vector<double> vec { 0, 0, 0 };
+				std::vector<cv::Point2f> img_points;
+				cv::projectPoints(object_points, vec, vec, camera_matrix_, dist_coeffs_, img_points);
+
+				roi_ = cv::Rect(cv::Point2i(round(img_points[0].x), round(img_points[0].y)), 
+					cv::Point2i(round(img_points[1].x), round(img_points[1].y)));
+
+				ROS_INFO("ROI: %d %d - %d %d ", roi_.tl().x, roi_.tl().y, roi_.br().x, roi_.br().y);
+
+			} else if (roi_px_ != 0) {
+				roi_ = cv::Rect((msg->width / 2 - roi_px_ / 2), (msg->height / 2 - roi_px_ / 2), roi_px_, roi_px_);
+			}
+		}
+
+		if (roi_.width != 0) { // ROI is set
+			// Apply ROI
+			img = img(roi_);
 		}
 
 		img.convertTo(curr_, CV_32F);

clover/src/rc.cpp

@@ -1,5 +1,5 @@
 /*
- * CLEVER mobile remote control backend
+ * Clover mobile remote control backend
  * Send ManualControl messages through UDP
  * 'latched_state' topic
  *

clover/src/selfcheck.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # coding=utf-8
 
 # Copyright (C) 2018 Copter Express Technologies
@@ -138,7 +138,7 @@ def mavlink_exec(cmd, timeout=3.0):
         timeout=3,
         baudrate=0,
         count=len(cmd),
-        data=map(ord, cmd.ljust(70, '\0')))
+        data=[ord(c) for c in cmd.ljust(70, '\0')])
     msg.pack(link)
     ros_msg = mavlink.convert_to_rosmsg(msg)
     mavlink_pub.publish(ros_msg)
@@ -200,17 +200,17 @@ def check_fcu():
             info('no version data available from SITL')
 
         r = re.compile(r'^FW (git tag|version): (v?\d\.\d\.\d.*)$')
-        is_clever_firmware = False
+        is_clover_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 'clover' in version or 'clever' in version:
+                    is_clover_firmware = True
 
-        if not is_clever_firmware:
-            failure('not running Clever PX4 firmware, https://clever.coex.tech/firmware')
+        if not is_clover_firmware:
+            failure('not running Clover PX4 firmware, https://clever.coex.tech/firmware')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
@@ -311,7 +311,7 @@ def check_camera(name):
         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)
+            info('camera is oriented %s, cable from camera goes %s', optical, cable)
 
     except tf2_ros.TransformException:
         failure('cannot transform from base_link to camera frame')
@@ -339,8 +339,11 @@ def is_process_running(binary, exact=False, full=False):
 @check('ArUco markers')
 def check_aruco():
     if is_process_running('aruco_detect', full=True):
-        info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
-        known_tilt = rospy.get_param('aruco_detect/known_tilt')
+        try:
+            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
+        except KeyError:
+            failure('aruco_detect/length parameter is not set')
+        known_tilt = rospy.get_param('aruco_detect/known_tilt', '')
         if known_tilt == 'map':
             known_tilt += ' (ALL markers are on the floor)'
         elif known_tilt == 'map_flipped':
@@ -356,7 +359,7 @@ def check_aruco():
         return
 
     if is_process_running('aruco_map', full=True):
-        known_tilt = rospy.get_param('aruco_map/known_tilt')
+        known_tilt = rospy.get_param('aruco_map/known_tilt', '')
         if known_tilt == 'map':
             known_tilt += ' (marker\'s map is on the floor)'
         elif known_tilt == 'map_flipped':
@@ -516,7 +519,7 @@ def check_global_position():
     try:
         rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
     except rospy.ROSException:
-        failure('no global position')
+        info('no global position')
 
 
 @check('Optical flow')
@@ -606,7 +609,7 @@ def check_rangefinder():
 
 @check('Boot duration')
 def check_boot_duration():
-    output = subprocess.check_output('systemd-analyze')
+    output = subprocess.check_output('systemd-analyze').decode()
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
     if duration > 15:
@@ -617,7 +620,7 @@ 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)
+    output = subprocess.check_output(CMD, shell=True).decode()
     processes = output.split('\n')
     for process in processes:
         if not process:
@@ -629,16 +632,16 @@ def check_cpu_usage():
                     cpu.strip(), cmd.strip(), pid.strip())
 
 
-@check('clever.service')
-def check_clever_service():
+@check('clover.service')
+def check_clover_service():
     try:
-        output = subprocess.check_output('systemctl show -p ActiveState --value clever.service'.split(),
-                                         stderr=subprocess.STDOUT)
+        output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
+                                         stderr=subprocess.STDOUT).decode()
     except subprocess.CalledProcessError as e:
         failure('systemctl returned %s: %s', e.returncode, e.output)
         return
     if 'inactive' in output:
-        failure('service is not running, try sudo systemctl restart clever')
+        failure('service is not running, try sudo systemctl restart clover')
         return
     elif 'failed' in output:
         failure('service failed to run, check your launch-files')
@@ -646,7 +649,7 @@ def check_clever_service():
     r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
     error_count = OrderedDict()
     try:
-        for line in open('/tmp/clever.err', 'r'):
+        for line in open('/tmp/clover.err', 'r'):
             node_error = r.search(line)
             if node_error:
                 msg = node_error.groups()[1] + ': ' + node_error.groups()[2]
@@ -670,9 +673,9 @@ def check_clever_service():
 @check('Image')
 def check_image():
     try:
-        info('version: %s', open('/etc/clever_version').read().strip())
+        info('version: %s', open('/etc/clover_version').read().strip())
     except IOError:
-        info('no /etc/clever_version file, not the Clever image?')
+        info('no /etc/clover_version file, not the Clover image?')
 
 
 @check('Preflight status')
@@ -730,32 +733,47 @@ def check_rpi_health():
     FLAG_UNDERVOLTAGE_OCCURRED = 0x10000
     FLAG_FREQ_CAP_OCCURRED = 0x20000
     FLAG_THROTTLING_OCCURRED = 0x40000
-    FLAG_THERMAL_LIMIT_OUCCURRED = 0x80000
+    FLAG_THERMAL_LIMIT_OCCURRED = 0x80000
+
+    FLAG_DESCRIPTIONS = (
+        (FLAG_THROTTLING_NOW, 'system throttled to prevent damage'),
+        (FLAG_THROTTLING_OCCURRED, 'your system is susceptible to throttling'),
+        (FLAG_UNDERVOLTAGE_NOW, 'not enough power for onboard computer, flight inadvisable'),
+        (FLAG_UNDERVOLTAGE_OCCURRED, 'power supply cannot provide enough power'),
+        (FLAG_FREQ_CAP_NOW, 'CPU reached thermal limit and is throttled now'),
+        (FLAG_FREQ_CAP_OCCURRED, 'CPU may overheat during drone operation, consider additional cooling'),
+        (FLAG_THERMAL_LIMIT_NOW, 'CPU reached soft thermal limit, frequency reduced'),
+        (FLAG_THERMAL_LIMIT_OCCURRED, 'CPU may reach soft thermal limit, consider additional cooling'),
+    )
 
     try:
         # vcgencmd outputs a single string in a form of
         # <parameter>=<value>
         # In case of `get_throttled`, <value> is a hexadecimal number
         # with some of the FLAGs OR'ed together
-        output = subprocess.check_output(['vcgencmd', 'get_throttled'])
+        output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
     except OSError:
         failure('could not call vcgencmd binary; not a Raspberry Pi?')
         return
 
     throttle_mask = int(output.split('=')[1], base=16)
-    if throttle_mask & (FLAG_THROTTLING_NOW | FLAG_THROTTLING_OCCURRED):
-        failure('system throttled to prevent damage')
-    if throttle_mask & (FLAG_UNDERVOLTAGE_NOW | FLAG_UNDERVOLTAGE_OCCURRED):
-        failure('not enough power for onboard computer, flight inadvisable')
-    if throttle_mask & (FLAG_FREQ_CAP_NOW | FLAG_FREQ_CAP_OCCURRED):
-        failure('CPU frequency reduced to avoid overheating')
-    if throttle_mask & (FLAG_THERMAL_LIMIT_NOW | FLAG_THERMAL_LIMIT_OUCCURRED):
-        failure('CPU over soft temperature limit, expect performance loss')
+    for flag_description in FLAG_DESCRIPTIONS:
+        if throttle_mask & flag_description[0]:
+            failure(flag_description[1])
+
+
+@check('Board')
+def check_board():
+    try:
+        info('%s', open('/proc/device-tree/model').readline())
+    except IOError:
+        info('could not open /proc/device-tree/model, not a Raspberry Pi?')
 
 
 def selfcheck():
     check_image()
-    check_clever_service()
+    check_board()
+    check_clover_service()
     check_network()
     check_fcu()
     check_imu()

clover/src/shell.cpp

@@ -0,0 +1,50 @@
+#include <ros/ros.h>
+#include <cstdio>
+#include <iostream>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <array>
+#include <std_msgs/String.h>
+
+#include <clover/Execute.h>
+
+ros::Duration timeout;
+
+// TODO: handle timeout
+bool handle(clover::Execute::Request& req, clover::Execute::Response& res)
+{
+	ROS_INFO("Execute: %s", req.cmd.c_str());
+
+	std::array<char, 128> buffer;
+	std::string result;
+
+	FILE *fp = popen(req.cmd.c_str(), "r");
+
+	if (fp == NULL) {
+		res.code = clover::Execute::Request::CODE_FAIL;
+		res.output = "popen() failed";
+		return true;
+	}
+
+	while (fgets(buffer.data(), buffer.size(), fp) != nullptr) {
+		res.output += buffer.data();
+	}
+
+	res.code = pclose(fp);
+	return true;
+}
+
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "shell");
+	ros::NodeHandle nh, nh_priv("~");
+
+	timeout = ros::Duration(nh_priv.param("timeout", 3.0));
+
+	auto gt_serv = nh.advertiseService("exec", &handle);
+
+	ROS_INFO("shell: ready");
+	ros::spin();
+}

clover/src/simple_offboard.cpp

@@ -37,18 +37,18 @@
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
 
-#include <clever/GetTelemetry.h>
-#include <clever/Navigate.h>
-#include <clever/NavigateGlobal.h>
-#include <clever/SetPosition.h>
-#include <clever/SetVelocity.h>
-#include <clever/SetAttitude.h>
-#include <clever/SetRates.h>
+#include <clover/GetTelemetry.h>
+#include <clover/Navigate.h>
+#include <clover/NavigateGlobal.h>
+#include <clover/SetPosition.h>
+#include <clover/SetVelocity.h>
+#include <clover/SetAttitude.h>
+#include <clover/SetRates.h>
 
 using std::string;
 using namespace geometry_msgs;
 using namespace sensor_msgs;
-using namespace clever;
+using namespace clover;
 using mavros_msgs::PositionTarget;
 using mavros_msgs::AttitudeTarget;
 using mavros_msgs::Thrust;
@@ -90,7 +90,7 @@ PositionTarget position_raw_msg;
 AttitudeTarget att_raw_msg;
 Thrust thrust_msg;
 TwistStamped rates_msg;
-TransformStamped target;
+TransformStamped target, setpoint;
 geometry_msgs::TransformStamped body;
 
 // State
@@ -433,6 +433,17 @@ void publish(const ros::Time stamp)
 			position_raw_msg.position = position_msg.pose.position;
 			position_raw_pub.publish(position_raw_msg);
 		}
+
+		// publish setpoint frame
+		if (!setpoint.child_frame_id.empty()) {
+			setpoint.transform.translation.x = position_msg.pose.position.x;
+			setpoint.transform.translation.y = position_msg.pose.position.y;
+			setpoint.transform.translation.z = position_msg.pose.position.z;
+			setpoint.transform.rotation = position_msg.pose.orientation;
+			setpoint.header.frame_id = position_msg.header.frame_id;
+			setpoint.header.stamp = position_msg.header.stamp;
+			transform_broadcaster->sendTransform(setpoint);
+		}
 	}
 
 	if (setpoint_type == VELOCITY) {
@@ -764,6 +775,7 @@ int main(int argc, char **argv)
 	nh.param<string>("mavros/local_position/tf/frame_id", local_frame, "map");
 	nh.param<string>("mavros/local_position/tf/child_frame_id", fcu_frame, "base_link");
 	nh_priv.param("target_frame", target.child_frame_id, string("navigate_target"));
+	nh_priv.param("setpoint", setpoint.child_frame_id, string("setpoint"));
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);

clover/srv/Execute.srv

@@ -0,0 +1,7 @@
+int32 CODE_FAIL = -1
+int32 CODE_TIMEOUT = -2
+
+string cmd
+---
+string output
+int32 code

clover/test/basic.py

@@ -1,11 +1,11 @@
-#!/usr/bin/env python
 import rospy
 import pytest
 from mavros_msgs.msg import State
+from clover import srv
 
 @pytest.fixture()
 def node():
-    return rospy.init_node('clever_test', anonymous=True)
+    return rospy.init_node('clover_test', anonymous=True)
 
 def test_state(node):
     state = rospy.wait_for_message('mavros/state', State, timeout=10)
@@ -27,3 +27,19 @@ def test_simple_offboard_services_available():
 def test_web_video_server(node):
     import urllib2
     urllib2.urlopen("http://localhost:8080").read()
+
+def test_shell(node):
+    execute = rospy.ServiceProxy('exec', srv.Execute)
+    execute.wait_for_service(5)
+
+    res = execute(cmd='echo foo')
+    assert res.code == 0
+    assert res.output == 'foo\n'
+
+    res = execute(cmd='foo')
+    assert res.code == 32512
+    assert res.output == ''
+
+    res = execute(cmd='ls foo')
+    assert res.code == 512
+    assert res.output == ''

clover/test/basic.test

@@ -3,7 +3,7 @@
 
     <node pkg="mavros" type="mavros_node" name="mavros" required="true" output="screen">
         <param name="fcu_url" value="udp://@127.0.1:14557"/>
-        <rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
+        <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
     </node>
 
     <node name="visualization" pkg="mavros_extras" type="visualization" required="true">
@@ -23,19 +23,21 @@
 
     <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped" required="true"/>
 
-    <node name="simple_offboard" pkg="clever" type="simple_offboard" required="true" output="screen">
+    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen">
         <param name="reference_frames/body" value="map"/>
         <param name="reference_frames/base_link" value="map"/>
     </node>
 
     <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" required="true"/>
 
-    <node name="rc" pkg="clever" type="rc" required="true" output="screen"/>
+    <node name="rc" pkg="clover" type="rc" required="true" output="screen"/>
 
-    <node pkg="clever" name="led_effect" type="led" ns="led" clear_params="true" output="screen" required="true">
+    <node name="shell" pkg="clover" type="shell" required="true" output="screen"/>
+
+    <node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" required="true">
         <rosparam param="notify">startup: { r: 255, g: 255, b: 255 }</rosparam>
     </node>
 
-    <param name="test_module" value="$(find clever)/test/basic.py"/>
+    <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clover/www/index.html

@@ -1,4 +1,4 @@
-<h1>CLEVER Drone Kit Tools</h1>
+<h1>Clover Drone Kit Tools</h1>
 
 <ul>
 	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clever.coex.tech">clever.coex.tech</a>)</li>
@@ -8,7 +8,17 @@
 	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
 </ul>
 
+<div class="version"></div>
+
+<script src="js/roslib.js"></script>
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.origin + ':8080';
 	document.querySelector("#butterfly").href = location.origin + ':57575';
+
+	// Determine image version
+	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });
+	var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
+	exec.callService(new ROSLIB.ServiceRequest({ cmd: 'cat /etc/clover_version' }), function(result) {
+		document.querySelector('.version').innerHTML = 'Version: ' + result.output;
+	});
 </script>

clover/www/js/viz.js

@@ -7,7 +7,7 @@ var titleEl = document.querySelector('title');
 ros.on('error', function(error) {
 	titleEl.innerText = 'Disconnected';
 	err = error;
-	alert('Connection error: please enable \'rosbridge\' in clever.launch!');
+	alert('Connection error: please enable \'rosbridge\' in clover.launch!');
 });
 
 ros.on('connection', function() {