Adjust aruco.launch arguments

* docs: Add contributed models for Jetson Nano

* Add Vyacheslav Buzov’s contact link

Co-authored-by: Oleg Kalachev <okalachev@gmail.com>

.travis.yml

@@ -1,4 +1,5 @@
-sudo: required
+os: linux
+dist: xenial
 language: generic
 services:
   - docker
@@ -43,7 +44,7 @@ jobs:
         - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
       deploy:
         provider: releases
-        api_key: ${GITHUB_OAUTH_TOKEN}
+        token: ${GITHUB_OAUTH_TOKEN}
         file: ${IMAGE_NAME}.zip
         skip_cleanup: true
         on:
@@ -72,8 +73,11 @@ jobs:
       node_js:
         - "10"
       before_script:
+        - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
+        - sudo apt update && sudo apt install -y calibre msttcorefonts
         - npm install gitbook-cli -g
         - npm install markdownlint-cli -g
+        - npm install svgexport -g
         - gitbook -V
         - markdownlint -V
       script:
@@ -82,15 +86,16 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
+        - gitbook pdf ./ _book/clover.pdf
       deploy:
         provider: pages
-        local-dir: _book
+        local_dir: _book
-        skip-cleanup: true
+        skip_cleanup: true
-        github-token: ${GITHUB_OAUTH_TOKEN}
+        token: ${GITHUB_OAUTH_TOKEN}
-        keep-history: true
+        keep_history: true
-        target-branch: master
+        target_branch: master
-        repo: CopterExpress/clever.coex.tech
+        repo: CopterExpress/clover.coex.tech
-        fqdn: clever.coex.tech
+        fqdn: clover.coex.tech
         verbose: true
         on:
           branch: master

README.md

@@ -1,103 +1,40 @@
-# CLEVER
+# COEX Clover Drone Kit
 
-<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="CLEVER drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">
 
-CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
+Clover is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
 
-Copter Express has implemented a large number of different autonomous drone projects using exactly the same platform: [automated pizza delivery](https://www.youtube.com/watch?v=hmkAoZOtF58) in Samara and Kazan, coffee delivery in Skolkovo Innovation Center, [autonomous quadcopter with charging station](https://www.youtube.com/watch?v=RjX6nUqw1mI) for site monitoring and security, winning drones on [Robocross-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU) and [Robocross-2017](https://youtu.be/AQnd2CRczbQ) competitions and many others.
+The main documentation is available [on Gitbook](https://clover.coex.tech/).
 
-**The main documentation is available [on Gitbook](https://clever.coex.tech/).**
+Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
 
-Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.
+## Video compilation
+
+[![Clover Drone Kit autonomy compilation](http://img.youtube.com/vi/u3omgsYC4Fk/hqdefault.jpg)](https://youtu.be/u3omgsYC4Fk)
+
+Clover drone is used on a wide range of educational events, including [Copter Hack](https://www.youtube.com/watch?v=xgXheg3TTs4), WorldSkills Drone Operation competition, [Autonomous Vehicles Track of NTI Olympics 2016–2020](https://www.youtube.com/watch?v=E1_ehvJRKxg), Quadro Hack 2019 (National University of Science and Technology MISiS), Russian Robot Olympiad (autonomous flights), and others.
 
 ## Raspberry Pi image
 
-**Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases).**
+Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
-[![Build Status](https://travis-ci.org/CopterExpress/clever.svg?branch=master)](https://travis-ci.org/CopterExpress/clever)
+[![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
 
-Image includes:
+Image features:
 
 * Raspbian Buster
-* ROS Melodic
+* [ROS Melodic](http://wiki.ros.org/melodic)
 * Configured networking
 * OpenCV
-* mavros
+* [`mavros`](http://wiki.ros.org/mavros)
-* Periphery drivers (`pigpiod`, `rpi_ws281x`, etc)
+* Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)
-* CLEVER software bundle for autonomous drone control
+* `aruco_pose` package for marker-assisted navigation
+* `clover` package for autonomous drone control
 
-API description (in Russian) for autonomous flights is available [on GitBook](https://clever.coex.tech/simple_offboard.html).
+API description for autonomous flights is available [on GitBook](https://clover.coex.tech/en/simple_offboard.html).
 
-## Manual installation
+For manual package installation and running see [`clover` package documentation](clover/README.md).
-
-Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
-
-Clone this repo to directory `~/catkin_ws/src/clever`:
-
-```bash
-cd ~/catkin_ws/src
-git clone https://github.com/CopterExpress/clever.git clever
-```
-
-All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:
-
-```bash
-cd ~/catkin_ws/
-rosdep install -y --from-paths src --ignore-src
-```
-
-Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):
-
-```bash
-cd ~/catkin_ws
-catkin_make -j1
-```
-
-To complete `mavros` install you'll need to install `geographiclib` datasets:
-
-```bash
-curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
-```
-
-You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
-
-```bash
-cd ~/catkin_ws/src/clever/clever/config
-sudo cp 99-px4fmu.rules /lib/udev/rules.d
-```
-
-Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.
-
-## Running
-
-Enable systemd service `roscore` (if not running):
-
-```bash
-sudo systemctl enable /home/<username>/catkin_ws/src/clever/builder/assets/roscore.service
-sudo systemctl start roscore
-```
-
-To start connection to SITL, use:
-
-```bash
-roslaunch clever sitl.launch
-```
-
-To start connection to the flight controller, use:
-
-```bash
-roslaunch clever clever.launch
-```
-
-> Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.
-
-Also, you can enable and start the systemd service:
-
-```bash
-sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/clever.service
-sudo systemctl start clever
-```
 
 ## License
 
-While the Clever platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
+While the Clover platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

aruco_pose/CMakeLists.txt

@@ -1,8 +1,6 @@
 cmake_minimum_required(VERSION 3.0)
 project(aruco_pose)
 
-add_definitions(-std=c++11 -Wall -g)
-
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
 
@@ -25,7 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
-if ("${OpenCV_VERSION_MINOR}" LESS "3")
+if ("${OpenCV_VERSION_MINOR}" LESS "9")
   message(STATUS "OpenCV version too low, using vendored ArUco package")
   include(vendor/VendorOpenCV.cmake)
 else()
@@ -229,4 +227,5 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_parser_empty_map.test)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
+  add_rostest(test/crash_opencv.test)
 endif()

aruco_pose/src/aruco_detect.cpp

@@ -58,10 +58,9 @@ using cv::Mat;
 
 class ArucoDetect : public nodelet::Nodelet {
 private:
-	ros::NodeHandle nh_, nh_priv_;
+	std::unique_ptr<tf2_ros::TransformBroadcaster> br_;
-	tf2_ros::TransformBroadcaster br_;
+	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-	tf2_ros::Buffer tf_buffer_;
+	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
-	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_;
@@ -81,30 +80,32 @@ private:
 public:
 	virtual void onInit()
 	{
-		nh_ = getNodeHandle();
+		ros::NodeHandle& nh_ = getNodeHandle();
-		nh_priv_ = getPrivateNodeHandle();
+		ros::NodeHandle& nh_priv_ = getPrivateNodeHandle();
+
+		br_.reset(new tf2_ros::TransformBroadcaster());
+		tf_buffer_.reset(new tf2_ros::Buffer());
+		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh_));
 
 		int dictionary;
-		nh_priv_.param("dictionary", dictionary, 2);
+		dictionary = nh_priv_.param("dictionary", 2);
-		nh_priv_.param("estimate_poses", estimate_poses_, true);
+		estimate_poses_ = nh_priv_.param("estimate_poses", true);
-		nh_priv_.param("send_tf", send_tf_, true);
+		send_tf_ = nh_priv_.param("send_tf", true);
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
 			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
 		}
-		readLengthOverride();
+		readLengthOverride(nh_priv_);
 
-		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		nh_priv_.param("auto_flip", auto_flip_, false);
+		auto_flip_ = nh_priv_.param("auto_flip", false);
 
-		nh_priv_.param<std::string>("frame_id_prefix", frame_id_prefix_, "aruco_");
+		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
 
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
-		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
 
 		dictionary_ = cv::aruco::getPredefinedDictionary(static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(dictionary));
 		parameters_ = cv::aruco::DetectorParameters::create();
-		parameters_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
 
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);
@@ -170,8 +171,8 @@ private:
 
 				if (!known_tilt_.empty()) {
 					try {
-						snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, known_tilt_,
+						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                     msg->header.stamp, ros::Duration(0.02));
+						                                      msg->header.stamp, ros::Duration(0.02));
 					} catch (const tf2::TransformException& e) {
 						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
@@ -205,7 +206,7 @@ private:
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
 							transform.transform.rotation = marker.pose.orientation;
 							fillTranslation(transform.transform.translation, tvecs[i]);
-							br_.sendTransform(transform);
+							br_->sendTransform(transform);
 						}
 					}
 				}
@@ -326,10 +327,10 @@ private:
 		return frame_id_prefix_ + std::to_string(id);
 	}
 
-	void readLengthOverride()
+	void readLengthOverride(ros::NodeHandle& nh)
 	{
 		std::map<std::string, double> length_override;
-		nh_priv_.getParam("length_override", length_override);
+		nh.getParam("length_override", length_override);
 		for (auto const& item : length_override) {
 			length_override_[std::stoi(item.first)] = item.second;
 		}

aruco_pose/src/aruco_map.cpp

@@ -58,7 +58,6 @@ typedef message_filters::sync_policies::ExactTime<Image, CameraInfo, MarkerArray
 
 class ArucoMap : public nodelet::Nodelet {
 private:
-	ros::NodeHandle nh_, nh_priv_;
 	ros::Publisher img_pub_, pose_pub_, markers_pub_, vis_markers_pub_;
 	image_transport::Publisher debug_pub_;
 	message_filters::Subscriber<Image> image_sub_;
@@ -83,8 +82,8 @@ private:
 public:
 	virtual void onInit()
 	{
-		nh_ = getNodeHandle();
+		ros::NodeHandle &nh_ = getNodeHandle();
-		nh_priv_ = getPrivateNodeHandle();
+		ros::NodeHandle &nh_priv_ = getPrivateNodeHandle();
 
 		image_transport::ImageTransport it_priv(nh_priv_);
 
@@ -96,19 +95,18 @@ public:
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
 			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
-		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
 
 		std::string type, map;
-		nh_priv_.param<std::string>("type", type, "map");
+		type = nh_priv_.param<std::string>("type", "map");
-		nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
+		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		nh_priv_.param("auto_flip", auto_flip_, false);
+		auto_flip_ = nh_priv_.param("auto_flip", false);
-		nh_priv_.param("image_width", image_width_, 2000);
+		image_width_ = nh_priv_.param("image_width" , 2000);
-		nh_priv_.param("image_height", image_height_, 2000);
+		image_height_ = nh_priv_.param("image_height", 2000);
-		nh_priv_.param("image_margin", image_margin_, 200);
+		image_margin_ = nh_priv_.param("image_margin", 200);
-		nh_priv_.param("image_axis", image_axis_, true);
+		image_axis_ = nh_priv_.param("image_axis", true);
-		nh_priv_.param<std::string>("markers/frame_id", markers_parent_frame_, transform_.child_frame_id);
+		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
-		nh_priv_.param<std::string>("markers/child_frame_id_prefix", markers_frame_, "");
+		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
 
 		// createStripLine();
 
@@ -116,7 +114,7 @@ public:
 			param(nh_priv_, "map", map);
 			loadMap(map);
 		} else if (type == "gridboard") {
-			createGridBoard();
+			createGridBoard(nh_priv_);
 		} else {
 			NODELET_FATAL("unknown type: %s", type.c_str());
 			ros::shutdown();
@@ -331,7 +329,7 @@ publish_debug:
 		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}
 
-	void createGridBoard()
+	void createGridBoard(ros::NodeHandle& nh)
 	{
 		NODELET_INFO("generate gridboard");
 		NODELET_WARN("gridboard maps are deprecated");
@@ -339,15 +337,15 @@ publish_debug:
 		int markers_x, markers_y, first_marker;
 		double markers_side, markers_sep_x, markers_sep_y;
 		std::vector<int> marker_ids;
-		nh_priv_.param<int>("markers_x", markers_x, 10);
+		markers_x = nh.param("markers_x", 10);
-		nh_priv_.param<int>("markers_y", markers_y, 10);
+		markers_y = nh.param("markers_y", 10);
-		nh_priv_.param<int>("first_marker", first_marker, 0);
+		first_marker = nh.param("first_marker", 0);
 
-		param(nh_priv_, "markers_side", markers_side);
+		param(nh, "markers_side", markers_side);
-		param(nh_priv_, "markers_sep_x", markers_sep_x);
+		param(nh, "markers_sep_x", markers_sep_x);
-		param(nh_priv_, "markers_sep_y", markers_sep_y);
+		param(nh, "markers_sep_y", markers_sep_y);
 
-		if (nh_priv_.getParam("marker_ids", marker_ids)) {
+		if (nh.getParam("marker_ids", marker_ids)) {
 			if ((unsigned int)(markers_x * markers_y) != marker_ids.size()) {
 				NODELET_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
 				ros::shutdown();
@@ -394,7 +392,7 @@ publish_debug:
 		int num_markers = board_->dictionary->bytesList.rows;
 		if (num_markers <= id) {
 			NODELET_ERROR("Marker id %d is not in dictionary; current dictionary contains %d markers. "
-			              "Please see https://github.com/CopterExpress/clever/blob/master/aruco_pose/README.md#parameters for details",
+			              "Please see https://github.com/CopterExpress/clover/blob/master/aruco_pose/README.md#parameters for details",
 					  id, num_markers);
 			return;
 		}

aruco_pose/src/genmap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 
 # Copyright (C) 2018 Copter Express Technologies
 #
@@ -13,7 +13,7 @@
 Generate map file for aruco_map nodelet.
 
 Usage:
-  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [--top-left | --bottom-left]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left]
   genmap.py (-h | --help)
 
 Options:
@@ -23,6 +23,8 @@ Options:
   <dist_x>       Distance between markers along X axis
   <dist_y>       Distance between markers along Y axis
   <first>        First marker ID [default: 0]
+  <x0>           X coordinate for the first marker [default: 0]
+  <y0>           Y coordinate for the first marker [default: 0]
   --top-left     First marker is on top-left (default)
   --bottom-left  First marker is on bottom-left
 
@@ -39,20 +41,22 @@ arguments = docopt(__doc__)
 
 length = float(arguments['<length>'])
 first = int(arguments['<first>'] if arguments['<first>'] is not None else 0)
+x0 = float(arguments['<x0>'] if arguments['<x0>'] is not None else 0)
+y0 = float(arguments['<y0>'] if arguments['<y0>'] 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>'])
 bottom_left = arguments['--bottom-left']
 
-max_y = (markers_y - 1) * dist_y
+max_y = y0 + (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_x = x0 + x * dist_x
-        pos_y = y * dist_y
+        pos_y = y0 + y * dist_y
         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))
+        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1

aruco_pose/src/utils.h

@@ -35,9 +35,7 @@ static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo, cv::Ma
 	for (unsigned int i = 0; i < 3; ++i)
 		for (unsigned int j = 0; j < 3; ++j)
 			matrix.at<double>(i, j) = cinfo->K[3 * i + j];
-
+	dist = cv::Mat(cinfo->D, true);
-	for (unsigned int k = 0; k < cinfo->D.size(); k++)
-		dist.at<double>(k) = cinfo->D[k];
 }
 
 inline void rotatePoint(cv::Point3f& p, cv::Point3f origin, float angle)

aruco_pose/test/crash_opencv.py

@@ -0,0 +1,18 @@
+import rospy
+import pytest
+
+from visualization_msgs.msg import MarkerArray as VisMarkerArray
+
+
+@pytest.fixture
+def node():
+    return rospy.init_node('aruco_pose_opencv_crash', anonymous=True)
+
+def test_opencv_crashes_img01(node):
+    rospy.wait_for_message('aruco_detect_01/visualization', VisMarkerArray, timeout=5)
+
+def test_opencv_crashes_img02(node):
+    rospy.wait_for_message('aruco_detect_02/visualization', VisMarkerArray, timeout=5)
+
+def test_opencv_crashes_img03(node):
+    rospy.wait_for_message('aruco_detect_03/visualization', VisMarkerArray, timeout=5)

aruco_pose/test/crash_opencv.test

@@ -0,0 +1,51 @@
+<launch>
+    <arg name="corner_method" default="2"/>
+
+    <node pkg="image_publisher" type="image_publisher" name="imgpub_01" args="$(find aruco_pose)/test/crash_image_01.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="image_publisher" type="image_publisher" name="imgpub_02" args="$(find aruco_pose)/test/crash_image_02.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="image_publisher" type="image_publisher" name="imgpub_03" args="$(find aruco_pose)/test/crash_image_03.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager_01" args="manager"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_01" args="load aruco_pose/aruco_detect nodelet_manager_01">
+        <remap from="image_raw" to="imgpub_01/image_raw"/>
+        <remap from="camera_info" to="imgpub_01/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager_02" args="manager"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_02" args="load aruco_pose/aruco_detect nodelet_manager_02">
+        <remap from="image_raw" to="imgpub_02/image_raw"/>
+        <remap from="camera_info" to="imgpub_02/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager_03" args="manager"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_03" args="load aruco_pose/aruco_detect nodelet_manager_03">
+        <remap from="image_raw" to="imgpub_03/image_raw"/>
+        <remap from="camera_info" to="imgpub_03/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
+    </node>
+
+    <param name="test_module" value="$(find aruco_pose)/test/crash_opencv.py"/>
+    <test test-name="crash_opencv" pkg="ros_pytest" type="ros_pytest_runner"/>
+</launch>

aruco_pose/test/largemap.py

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

aruco_pose/test/largemap.test

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

aruco_pose/vendor/aruco/src/aruco.cpp

@@ -924,6 +924,8 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
 	// calculate the line :: who passes through the grouped points
 	Point3f lines[4];
 	for(int i=0; i<4; i++){
+		// Don't try to "interpolate" single points
+		if (cntPts[i].size() < 2) return;
 		lines[i]=_interpolate2Dline(cntPts[i]);
 	}
 

book.json

@@ -1,5 +1,5 @@
 {
-    "title": "Clever",
+    "title": "Clover",
     "description": "Конструктор квадрокоптера «Клевер»",
     "author": "Copter Express",
     "language": "en",
@@ -28,7 +28,7 @@
             "blank": true
         },
         "sitemap": {
-            "hostname": "https://clever.coex.tech"
+            "hostname": "https://clover.coex.tech"
         },
         "toolbar": {
             "buttons":
@@ -37,19 +37,19 @@
                     "label": "Edit page on github",
                     "icon": "fa fa-pencil-square-o",
                     "position" : "left",
-                    "url": "https://github.com/CopterExpress/clever/edit/master/docs/{{filepath_lang}}"
+                    "url": "https://github.com/CopterExpress/clover/edit/master/docs/{{filepath_lang}}"
                 },
                 {
                     "label": "GitHub",
                     "icon": "fa fa-github",
                     "position" : "left",
-                    "url": "https://github.com/CopterExpress/clever"
+                    "url": "https://github.com/CopterExpress/clover"
                 }
             ]
         },
         "addcssjs": {
-            "css": ["../clever.css"],
+            "css": ["../clover.css"],
-            "js": ["../clever.js"]
+            "js": ["../clover.js"]
         },
         "language-picker": {
             "languages": [["ru", "Russian"], ["en", "English"]]

builder/assets/avahi-services/sftp-ssh.service

@@ -0,0 +1,34 @@
+<?xml version="1.0" standalone='no'?><!--*-nxml-*-->
+<!DOCTYPE service-group SYSTEM "avahi-service.dtd">
+
+<!--
+  This file is part of avahi.
+
+  avahi is free software; you can redistribute it and/or modify it
+  under the terms of the GNU Lesser General Public License as
+  published by the Free Software Foundation; either version 2 of the
+  License, or (at your option) any later version.
+
+  avahi is distributed in the hope that it will be useful, but
+  WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+  General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with avahi; if not, write to the Free Software
+  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
+  02111-1307 USA.
+-->
+
+<!-- See avahi.service(5) for more information about this configuration file -->
+
+<service-group>
+
+  <name replace-wildcards="yes">%h</name>
+
+  <service>
+    <type>_sftp-ssh._tcp</type>
+    <port>22</port>
+  </service>
+
+</service-group>

builder/assets/clever/setup.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 
 from distutils.core import setup
 

builder/assets/examples/flight.py

@@ -1,4 +1,4 @@
-# Information: https://clever.coex.tech/en/programming.html
+# Information: https://clover.coex.tech/programming
 
 import rospy
 from clover import srv
@@ -15,7 +15,7 @@ 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
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 
 # Wait for 3 seconds

builder/assets/examples/flight_marker.py

@@ -0,0 +1,37 @@
+# Information: https://clover.coex.tech/en/aruco.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)
+
+# Take off 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 1 meter above ArUco marker 0
+navigate(x=0, y=0, z=1, frame_id='aruco_0')
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Fly to x=1 y=1 z=1 relative to ArUco markers map
+navigate(x=1, y=1, z=1, frame_id='aruco_map')
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Perform landing
+land()

builder/assets/examples/leds.py

@@ -1,4 +1,4 @@
-# Information: https://clever.coex.tech/en/leds.html
+# Information: https://clover.coex.tech/en/leds.html
 
 import rospy
 from clover.srv import SetLEDEffect

builder/assets/examples/navigate_wait.py

@@ -0,0 +1,41 @@
+# Information: https://clover.coex.tech/en/snippets.html#block-nav
+
+import math
+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)
+
+def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)
+
+    if not res.success:
+        return res
+
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
+            return res
+        rospy.sleep(0.2)
+
+# Take off 1 meter
+navigate_wait(z=1, frame_id='body', auto_arm=True)
+
+# Fly forward 1 m
+navigate_wait(x=1, frame_id='body')
+
+# Land
+land()

builder/assets/init_rpi.sh

@@ -62,6 +62,10 @@ hostnamectl set-hostname $NEW_HOSTNAME
 sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_HOSTNAME}' '${NEW_HOSTNAME}'.local/g' /etc/hosts
 # .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces are down
 
+echo_stamp "Enable ROS services"
+systemctl enable roscore
+systemctl enable clover
+
 echo_stamp "Harware setup"
 /root/hardware_setup.sh
 

builder/assets/monkey

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

builder/assets/python3.yaml

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

builder/image-build.sh

@@ -108,6 +108,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
+# avahi setup
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-services/sftp-ssh.service' '/etc/avahi/services'
 
 # 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)
@@ -115,7 +117,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.
 ${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 ${SCRIPTS_DIR}'/assets/melodic-rosdep-clover.yaml' '/etc/ros/rosdep/'
-${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/image-ros.sh

@@ -68,8 +68,7 @@ my_travis_retry() {
 # 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-clover.yaml" > /etc/ros/rosdep/sources.list.d/30-clover.list
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.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"
@@ -88,7 +87,6 @@ resolve_rosdep() {
 }
 
 export ROS_IP='127.0.0.1' # needed for running tests
-export ROS_PYTHON_VERSION=3
 
 echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
 cd /home/pi/catkin_ws/src/clover
@@ -97,15 +95,11 @@ git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
 resolve_rosdep $(pwd)
-my_travis_retry pip3 install wheel
+my_travis_retry pip install wheel
-my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
+my_travis_retry pip 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 "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
@@ -135,7 +129,7 @@ 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)
-pip3 install tornado==4.2.1
+pip install tornado==4.2.1
 
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws
@@ -149,7 +143,6 @@ echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
-ROS_DISTRO='melodic'
 export ROS_HOSTNAME=\`hostname\`.local
 source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash

builder/image-software.sh

@@ -57,6 +57,10 @@ my_travis_retry() {
   return $result
 }
 
+echo_stamp "Increase apt retries"
+
+echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries
+
 echo_stamp "Install apt keys & repos"
 
 # TODO: This STDOUT consist 'OK'
@@ -67,7 +71,7 @@ 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/melodic-py3 buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.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/clover buster main" > /etc/apt/sources.list.d/clover.list
 
 echo_stamp "Update apt cache"
@@ -95,21 +99,21 @@ libjpeg8 \
 tcpdump \
 ltrace \
 libpoco-dev \
-python3-rosdep \
+libzbar0 \
-python3-rosinstall-generator \
+python-rosdep \
-python3-wstool \
+python-rosinstall-generator \
-python3-rosinstall \
+python-wstool \
+python-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python3-espeak \
+espeak espeak-data python-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python3-venv \
+python-systemd \
-python3-systemd \
 mjpg-streamer \
 python3-opencv \
 && echo_stamp "Everything was installed!" "SUCCESS" \
@@ -133,14 +137,13 @@ 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==4.2.1
+my_travis_retry pip3 install tornado==5.1.1
 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 pip2 install --prefer-binary rpi_ws281x
+my_travis_retry pip 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
@@ -156,9 +159,13 @@ 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 pip install ptvsd
 my_travis_retry pip3 install ptvsd
 
+echo_stamp "Installing pyzbar"
+my_travis_retry pip install pyzbar
+my_travis_retry pip3 install pyzbar
+
 echo_stamp "Add .vimrc"
 cat << EOF > /home/pi/.vimrc
 set mouse-=a

builder/image-validate.sh

@@ -18,15 +18,13 @@ 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/clover/builder/test/
 ./tests.sh
 ./tests.py
-# Disable Python 2 tests for image - we're dropping support, right?
+./tests_py3.py
-# ./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"

builder/standalone-install.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Perform a "standalone install" in a Docker container
-
+set -e
 # Step 1: Install pip
 apt update
 apt install -y curl

builder/test/tests.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 
 # validate all required modules installed
 
@@ -17,8 +17,6 @@ from std_srvs.srv import Trigger
 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
 
@@ -28,5 +26,6 @@ from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
 from espeak import espeak
+from pyzbar import pyzbar
 
-print(cv2.getBuildInformation())
+print cv2.getBuildInformation()

builder/test/tests_clever.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 
 # test backwards compatibility
 

builder/test/tests_py2.py

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

builder/test/tests_py3.py

@@ -0,0 +1,8 @@
+#!/usr/bin/env python3
+
+# Make sure our Python 3 software is installed
+
+import cv2
+from pyzbar import pyzbar
+
+print(cv2.getBuildInformation())

clover/CMakeLists.txt

@@ -30,6 +30,12 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 find_package(GeographicLib REQUIRED)
 
+find_package(OpenCV 3 REQUIRED
+  COMPONENTS
+    calib3d
+    imgproc
+)
+
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
@@ -204,6 +210,7 @@ add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
+  ${OpenCV_LIBRARIES}
 )
 
 #############

clover/README.md

@@ -0,0 +1,73 @@
+# `clover` ROS package
+
+A bundle for autonomous navigation and drone control.
+
+## Manual installation
+
+Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
+
+Clone this repo to directory `~/catkin_ws/src/clover`:
+
+```bash
+cd ~/catkin_ws/src
+git clone https://github.com/CopterExpress/clover.git clover
+```
+
+All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:
+
+```bash
+cd ~/catkin_ws/
+rosdep install -y --from-paths src --ignore-src
+```
+
+Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):
+
+```bash
+cd ~/catkin_ws
+catkin_make -j1
+```
+
+To complete `mavros` install you'll need to install `geographiclib` datasets:
+
+```bash
+curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
+```
+
+You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
+
+```bash
+cd ~/catkin_ws/src/clover/clover/config
+sudo cp 99-px4fmu.rules /lib/udev/rules.d
+```
+
+Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.
+
+## Running
+
+Enable systemd service `roscore` (if not running):
+
+```bash
+sudo systemctl enable /home/<username>/catkin_ws/src/clover/builder/assets/roscore.service
+sudo systemctl start roscore
+```
+
+To start connection to SITL, use:
+
+```bash
+roslaunch clover sitl.launch
+```
+
+To start connection to the flight controller, use:
+
+```bash
+roslaunch clover clover.launch
+```
+
+> Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.
+
+Also, you can enable and start the systemd service:
+
+```bash
+sudo systemctl enable /home/<username>/catkin_ws/src/clover/deploy/clover.service
+sudo systemctl start clover
+```

clover/camera_info/fisheye_cam.yaml

@@ -1,17 +1,17 @@
 image_width: 640
 image_height: 480
 distortion_model: plumb_bob
-camera_name: raspicam
+camera_name: main_camera_optical
 camera_matrix:
   rows: 3
   cols: 3
   data:
   - 332.47884746146343
   - 0.
-  - 324.38022493658536
+  - 320.0
   - 0.
   - 333.1761847948052
-  - 219.6445547142857
+  - 240.0
   - 0.
   - 0.
   - 1.

clover/camera_info/fisheye_cam_320.yaml

@@ -1,45 +0,0 @@
-image_width: 320
-image_height: 240
-distortion_model: plumb_bob
-camera_name: raspicam
-camera_matrix:
-  rows: 3
-  cols: 3
-  data:
-  - 166.23942373073172
-  - 0.
-  - 162.19011246829268
-  - 0.
-  - 166.5880923974026
-  - 109.82227735714285
-  - 0.
-  - 0.
-  - 1.
-distortion_coefficients:
-  rows: 1
-  cols: 8
-  data:  [  2.15356885e-01,  -1.17472846e-01,  -3.06197672e-04,
-   -1.09444025e-04,  -4.53657258e-03,   5.73090623e-01,
-   -1.27574577e-01,  -2.86125589e-02,   0.00000000e+00,
-    0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
-    0.00000000e+00,   0.00000000e+00]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data:
-  - 166.23942373073172
-  - 0.
-  - 162.19011246829268
-  - 0.
-  - 0.
-  - 166.5880923974026
-  - 109.82227735714285
-  - 0.
-  - 0.
-  - 0.
-  - 1.
-  - 0.

clover/launch/aruco.launch

@@ -1,20 +1,26 @@
 <launch>
-    <arg name="aruco_detect" default="true"/>
+    <arg name="aruco_detect" default="false"/> <!-- markers recognition enabled -->
-    <arg name="aruco_map" default="false"/>
+    <arg name="aruco_map" default="false"/> <!-- markers map recognition enabled -->
-    <arg name="aruco_vpe" default="false"/>
+    <arg name="aruco_vpe" default="false"/> <!-- markers map positioning enabled -->
+    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
+    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
+    <arg name="map" default="map.txt"/> <!-- markers map file name -->
 
-    <!-- For additional help go to https://clever.coex.tech/aruco -->
+    <!-- For additional help go to https://clover.coex.tech/aruco -->
 
     <!-- aruco_detect: detect aruco markers, estimate poses -->
     <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="map_markers" to="aruco_map/markers" if="$(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"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="length" value="0.33"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval position == 'ceiling')"/>
+        <param name="length" value="$(arg length)"/>
+        <!-- aruco detector parameters -->
+        <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
+        <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->
@@ -22,8 +28,9 @@
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
-        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
+        <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_tilt" value="map"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>

clover/launch/clover.launch

@@ -1,15 +1,15 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/>
+    <arg name="fcu_conn" default="usb"/> <!-- FCU connection type: usb, uart, tcp, udp, sitl -->
-    <arg name="fcu_ip" default="127.0.0.1"/>
+    <arg name="fcu_ip" default="127.0.0.1"/> <!-- FCU IP adddress (if using TCP/UDP) -->
-    <arg name="gcs_bridge" default="tcp"/>
+    <arg name="fcu_sys_id" default="1"/> <!-- MAVLink system ID, noeditor -->
-    <arg name="web_video_server" default="true"/>
+    <arg name="gcs_bridge" default="tcp"/> <!-- GCS bridge type: tcp, udp, udp-b, udp-pb -->
-    <arg name="rosbridge" default="true"/>
+    <arg name="web_video_server" default="true"/> <!-- web video server enabled -->
-    <arg name="main_camera" default="true"/>
+    <arg name="rosbridge" default="true"/> <!-- rosbridge_suite enabled, noeditor -->
-    <arg name="optical_flow" default="true"/>
+    <arg name="main_camera" default="true"/> <!-- main camera enabled -->
-    <arg name="aruco" default="false"/>
+    <arg name="optical_flow" default="true"/> <!-- optical flow enabled -->
-    <arg name="rangefinder_vl53l1x" default="true"/>
+    <arg name="rangefinder_vl53l1x" default="true"/> <!-- VL53l1X rangefinder enabled -->
-    <arg name="led" default="true"/>
+    <arg name="led" default="true"/> <!-- LED strip driver enabled -->
-    <arg name="rc" default="true"/>
+    <arg name="rc" default="true"/> <!-- support for mobile RC enabled -->
     <arg name="shell" default="true"/>
 
     <!-- log formatting -->
@@ -19,6 +19,7 @@
     <include file="$(find clover)/launch/mavros.launch">
         <arg name="fcu_conn" value="$(arg fcu_conn)"/>
         <arg name="fcu_ip" value="$(arg fcu_ip)"/>
+        <arg name="fcu_sys_id" value="$(arg fcu_sys_id)"/>
         <arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
     </include>
 
@@ -29,7 +30,7 @@
     </node>
 
     <!-- aruco markers -->
-    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
+    <include file="$(find clover)/launch/aruco.launch"/>
 
     <!-- optical flow -->
     <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
@@ -80,4 +81,16 @@
 
     <!-- Shell access through ROS service -->
     <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
+
+    <!-- Update static directory -->
+    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
+        <param name="default_package" value="clover"/>
+    </node>
+
+    <!-- roslaunch editor parameters -->
+    <group ns="roslaunch_editor">
+        <param name="items" type="yaml" value="[clover/clover.launch, clover/main_camera.launch, clover/aruco.launch, clover/led.launch]"/>
+        <param name="apply_command" value="sudo systemctl restart clover"/>
+        <param name="hide_uncommented" value="true"/>
+    </group>
 </launch>

clover/launch/led.launch

@@ -1,7 +1,7 @@
 <launch>
-    <arg name="ws281x" default="true"/>
+    <arg name="ws281x" default="true"/> <!-- LED strip driver enabled -->
-    <arg name="led_effect" default="true"/>
+    <arg name="led_effect" default="true"/> <!-- LED effect API enabled -->
-    <arg name="led_notify" default="true"/>
+    <arg name="led_notify" default="all"/> <!-- LED strip notifications: all, battery, none -->
 
     <!-- For additional help go to https://clover.coex.tech/led -->
 
@@ -22,7 +22,7 @@
         <param name="fade_period" value="0.5"/>
         <param name="rainbow_period" value="5"/>
         <!-- events effects table -->
-        <rosparam param="notify" if="$(arg led_notify)">
+        <rosparam param="notify" if="$(eval led_notify == 'all')">
             startup: { r: 255, g: 255, b: 255 }
             connected: { effect: rainbow }
             disconnected: { effect: blink, r: 255, g: 50, b: 50 }
@@ -34,5 +34,8 @@
             low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
             error: { effect: flash, r: 255, g: 0, b: 0 }
         </rosparam>
+        <rosparam param="notify" if="$(eval led_notify == 'battery')">
+            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
+        </rosparam>
     </node>
 </launch>

clover/launch/main_camera.launch

@@ -1,5 +1,5 @@
 <launch>
-    <!-- article about camera setup: https://clever.coex.tech/camera_frame -->
+    <!-- article about camera setup: https://clover.coex.tech/camera_setup -->
 
     <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 -->
@@ -18,14 +18,14 @@
     <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://$(find clover)/camera_info/fisheye_cam_320.yaml"/>
+        <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.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 -->
+        <!-- camera resolution -->
         <param name="image_width" value="320"/>
         <param name="image_height" value="240"/>
     </node>

clover/launch/mavros.launch

@@ -1,6 +1,7 @@
 <launch>
     <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
     <arg name="fcu_ip" default="127.0.0.1"/>
+    <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
@@ -19,6 +20,9 @@
         <!-- sitl since PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
 
+        <!-- set target_system_id -->
+        <param name="target_system_id" value="$(arg fcu_sys_id)" />
+
         <!-- gcs bridge -->
         <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
         <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>

clover/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="3">
+<package format="2">
   <name>clover</name>
   <version>0.0.1</version>
   <description>The Clover package</description>
@@ -7,7 +7,7 @@
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>
 
-  <url type="website">https://clever.coex.tech/</url>
+  <url type="website">https://clover.coex.tech/</url>
   <author email="okalachev@gmail.com">Oleg Kalachev</author>
   <author email="urpylka@gmail.com">Artem Smirnov</author>
 
@@ -37,10 +37,8 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
+  <depend>python-lxml</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
+  <exec_depend>python-pymavlink</exec_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

@@ -1,5 +1,5 @@
 flask==1.1.1
 docopt==0.6.2
-geopy==1.20.0
+geopy==1.11.0
-smbus2==0.3.0
+smbus2==0.2.1
-VL53L1X==0.0.4
+VL53L1X==0.0.2

clover/src/optical_flow.cpp

@@ -34,9 +34,7 @@ class OpticalFlow : public nodelet::Nodelet
 {
 public:
 	OpticalFlow():
-		camera_matrix_(3, 3, CV_64F),
+		camera_matrix_(3, 3, CV_64F)
-		dist_coeffs_(8, 1, CV_64F),
-		tf_listener_(tf_buffer_)
 	{}
 
 private:
@@ -52,8 +50,8 @@ private:
 	Mat hann_;
 	Mat prev_, curr_;
 	Mat camera_matrix_, dist_coeffs_;
-	tf2_ros::Buffer tf_buffer_;
+	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-	tf2_ros::TransformListener tf_listener_;
+	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
 
 	void onInit()
@@ -63,11 +61,14 @@ private:
 		image_transport::ImageTransport it(nh);
 		image_transport::ImageTransport it_priv(nh_priv);
 
-		nh.param<std::string>("mavros/local_position/tf/frame_id", local_frame_id_, "map");
+		tf_buffer_.reset(new tf2_ros::Buffer());
-		nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
+		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh));
-		nh_priv.param("roi", roi_px_, 128);
+
-		nh_priv.param("roi_rad", roi_rad_, 0.0);
+		local_frame_id_ = nh.param<std::string>("mavros/local_position/tf/frame_id", "map");
-		nh_priv.param("calc_flow_gyro", calc_flow_gyro_, false);
+		fcu_frame_id_ = nh.param<std::string>("mavros/local_position/tf/child_frame_id", "base_link");
+		roi_px_ = nh_priv.param("roi", 128);
+		roi_rad_ = nh_priv.param("roi_rad", 0.0);
+		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
@@ -91,9 +92,7 @@ private:
 				camera_matrix_.at<double>(i, j) = cinfo->K[3 * i + j];
 			}
 		}
-		for (int k = 0; k < cinfo->D.size(); k++) {
+		dist_coeffs_ = cv::Mat(cinfo->D, true);
-			dist_coeffs_.at<double>(k) = cinfo->D[k];
-		}
 	}
 
 	void drawFlow(Mat& frame, double x, double y, double quality) const
@@ -186,7 +185,7 @@ private:
 			flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
 			flow_camera.vector.y = -flow_x; // +x means clockwise rotation around X axis
 			try {
-				tf_buffer_.transform(flow_camera, flow_fcu, fcu_frame_id_);
+				tf_buffer_->transform(flow_camera, flow_fcu, fcu_frame_id_);
 			} catch (const tf2::TransformException& e) {
 				// transform is not available yet
 				return;
@@ -200,7 +199,7 @@ private:
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
 					static geometry_msgs::Vector3Stamped flow_gyro_fcu;
-					tf_buffer_.transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
+					tf_buffer_->transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
 					flow_.integrated_xgyro = flow_gyro_fcu.vector.x;
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
@@ -247,8 +246,8 @@ private:
 	geometry_msgs::Vector3Stamped calcFlowGyro(const std::string& frame_id, const ros::Time& prev, const ros::Time& curr)
 	{
 		tf2::Quaternion prev_rot, curr_rot;
-		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, prev).transform.rotation, prev_rot);
+		tf2::fromMsg(tf_buffer_->lookupTransform(frame_id, local_frame_id_, prev).transform.rotation, prev_rot);
-		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, curr, ros::Duration(0.1)).transform.rotation, curr_rot);
+		tf2::fromMsg(tf_buffer_->lookupTransform(frame_id, local_frame_id_, curr, ros::Duration(0.1)).transform.rotation, curr_rot);
 
 		geometry_msgs::Vector3Stamped flow;
 		flow.header.frame_id = frame_id;

clover/src/selfcheck.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 # 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=[ord(c) for c in cmd.ljust(70, '\0')])
+        data=map(ord, cmd.ljust(70, '\0')))
     msg.pack(link)
     ros_msg = mavlink.convert_to_rosmsg(msg)
     mavlink_pub.publish(ros_msg)
@@ -210,7 +210,7 @@ def check_fcu():
                     is_clover_firmware = True
 
         if not is_clover_firmware:
-            failure('not running Clover PX4 firmware, https://clever.coex.tech/firmware')
+            failure('not running Clover PX4 firmware, https://clover.coex.tech/firmware')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
@@ -250,11 +250,11 @@ def check_fcu():
         try:
             battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
             if not battery.cell_voltage:
-                failure('cell voltage is not available, https://clever.coex.tech/power')
+                failure('cell voltage is not available, https://clover.coex.tech/power')
             else:
                 cell = battery.cell_voltage[0]
                 if cell > 4.3 or cell < 3.0:
-                    failure('incorrect cell voltage: %.2f V, https://clever.coex.tech/power', cell)
+                    failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
                 elif cell < 3.7:
                     failure('critically low cell voltage: %.2f V, recharge battery', cell)
         except rospy.ROSException:
@@ -609,7 +609,7 @@ def check_rangefinder():
 
 @check('Boot duration')
 def check_boot_duration():
-    output = subprocess.check_output('systemd-analyze').decode()
+    output = subprocess.check_output('systemd-analyze')
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
     if duration > 15:
@@ -620,7 +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).decode()
+    output = subprocess.check_output(CMD, shell=True)
     processes = output.split('\n')
     for process in processes:
         if not process:
@@ -636,7 +636,7 @@ def check_cpu_usage():
 def check_clover_service():
     try:
         output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
-                                         stderr=subprocess.STDOUT).decode()
+                                         stderr=subprocess.STDOUT)
     except subprocess.CalledProcessError as e:
         failure('systemctl returned %s: %s', e.returncode, e.output)
         return
@@ -701,7 +701,7 @@ def check_preflight_status():
 
 @check('Network')
 def check_network():
-    ros_hostname = os.environ.get('ROS_HOSTNAME').strip()
+    ros_hostname = os.environ.get('ROS_HOSTNAME', '').strip()
 
     if not ros_hostname:
         failure('no ROS_HOSTNAME is set')
@@ -718,7 +718,7 @@ def check_network():
                 if ros_hostname in parts:
                     break
         else:
-            failure('not found %s in /etc/hosts, ROS will malfunction if network interfaces are down, https://clever.coex.tech/hostname', ros_hostname)
+            failure('not found %s in /etc/hosts, ROS will malfunction if network interfaces are down, https://clover.coex.tech/hostname', ros_hostname)
 
 
 @check('RPi health')
@@ -751,7 +751,7 @@ def check_rpi_health():
         # <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']).decode()
+        output = subprocess.check_output(['vcgencmd', 'get_throttled'])
     except OSError:
         failure('could not call vcgencmd binary; not a Raspberry Pi?')
         return

clover/src/simple_offboard.cpp

@@ -490,7 +490,7 @@ inline void checkState()
 		throw std::runtime_error("State timeout, check mavros settings");
 
 	if (!state.connected)
-		throw std::runtime_error("No connection to FCU, https://clever.coex.tech/connection");
+		throw std::runtime_error("No connection to FCU, https://clover.coex.tech/connection");
 }
 
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }

clover/test/basic.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 import rospy
 import pytest
 from mavros_msgs.msg import State

clover/www/index.html

@@ -1,7 +1,7 @@
 <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>
+	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
 	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
 	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
 	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
@@ -12,8 +12,8 @@
 
 <script src="js/roslib.js"></script>
 <script type="text/javascript">
-	document.querySelector("#wvs").href = location.origin + ':8080';
+	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
-	document.querySelector("#butterfly").href = location.origin + ':57575';
+	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
 	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });