Continue working on the new readme page

* Package for generating static web sites for ROS

* rosstatic: add CMakeLists.txt

* rosstatic: utilize rospkg, store static directory in ROS_HOME

* rosstatic: default_package param

* rosstatic: fix URLs in docs

* clover.launch: make clover the default package for www

* Unused import

* Rename rosstatic to roswww_static

* Fixes

.travis.yml

@@ -83,18 +83,18 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
-      # deploy:
-      #   provider: pages
-      #   local_dir: _book
-      #   skip_cleanup: true
-      #   token: ${GITHUB_OAUTH_TOKEN}
-      #   keep_history: true
-      #   target_branch: master
-      #   repo: CopterExpress/clover.coex.tech
-      #   fqdn: clover.coex.tech
-      #   verbose: true
-      #   on:
-      #     branch: master
+      deploy:
+        provider: pages
+        local_dir: _book
+        skip_cleanup: true
+        token: ${GITHUB_OAUTH_TOKEN}
+        keep_history: true
+        target_branch: master
+        repo: CopterExpress/clover.coex.tech
+        fqdn: clover.coex.tech
+        verbose: true
+        on:
+          branch: master
     - stage: Annotate
       name: Auto-generate changelog
       language: python

README.md

@@ -1,40 +1,173 @@
 # COEX Clover Drone Kit
 
-<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">
+<table align=center>
+    <tr>
+        <td align=center><a href="https://px4.io"><img src="docs/assets/px4.svg" height=60></a></td>
+        <td align=center><a href="https://www.raspberrypi.org"><img src="docs/assets/rpi.svg" height=60></a></td>
+        <td align=center><a href="https://www.ros.org"><img src="docs/assets/ros.svg" height=60></a></td>
+    </tr>
+</table>
 
-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.
+This repository contains documentation, software platform source code and RPi image builder for COEX Clover drone kit.
 
-The main documentation is available [on Gitbook](https://clover.coex.tech/).
+<img src="docs/assets/clover42.png" align="right" width="400px" alt="COEX Clover">
 
-Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
+Clover is a [PX4](https://px4.io)- and [ROS](https://www.ros.org)-powered educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
 
-## Video compilation
+The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
+
+## Autonomous flights video
 
 [![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
+## Features
 
-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).
+### Prebuilt RPi image
 
-[![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
+...
 
-Image features:
+### Common robotics software
 
-* Raspbian Buster
-* [ROS Melodic](http://wiki.ros.org/melodic)
-* Configured networking
-* OpenCV
-* [`mavros`](http://wiki.ros.org/mavros)
-* Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)
-* `aruco_pose` package for marker-assisted navigation
-* `clover` package for autonomous drone control
+Prebuilt image for Raspberry Pi includes:
 
-API description for autonomous flights is available [on GitBook](https://clover.coex.tech/en/simple_offboard.html).
+|Software|Description|
+|-|-|
+|Raspbian Buster||
+|[ROS Melodic](http://wiki.ros.org/melodic)|Common robotics framework|
+|[OpenCV](https://opencv.org)|Computer vision library|
+|[`mavros`](http://wiki.ros.org/mavros)|ROS package for communication with the flight controller|
+|Configured networking||
+|Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)||
+|`clover`|package for autonomous drone control|
+|`aruco_pose`|Package for marker-assisted navigation|
+
+### QGroundControl Wi-Fi bridge
+
+...
+
+### Easy autonomous flights programming
+
+By using `clover` package, taking off, navigating and landing is just:
+
+```python
+navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)  # takeoff and hover 1 m above the ground
+```
+
+```python
+navigate(x=1, y=0, z=0, frame_id='body')  # fly forward 1 m
+```
+
+```
+land()
+```
+
+See [programming documentation](https://clover.coex.tech) for further information.
+
+### Optical flow positioning
+
+<img src="docs/assets/optical-flow.gif">
+
+RPi based optical flow....
+
+See [details](https://clover.coex.tech/en/optical_flow.html) in the documentation.
+
+### ArUco markers recognizing
+
+<img src="docs/assets/aruco.gif">
+
+...
+
+See [details](https://clover.coex.tech/en/aruco.html) in the documentation.
+
+### Easy working with peripheral devices
+
+Preinstalled package for the [LED strip](https://clover.coex.tech/en/leds.html) allows high-level control (such as rainbow effect or color fade) as well as individual LED low-level control:
+
+```python
+set_effect(r=0, g=100, b=0)  # fill strip with green color
+```
+
+```python
+set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
+```
+
+```python
+set_effect(effect='rainbow')  # show rainbow
+```
+
+Preinstalled [VL53L1X rangefinder driver](https://clover.coex.tech/en/laser.html) passes data to the flight controller automatically and allows the user to get its data:
+
+```python
+data = rospy.wait_for_message('rangefinder/range', Range)  # get data from the rangefinder
+```
+
+Preinstalled fast Python [GPIO library](https://clover.coex.tech/en/gpio.html).
+
+```python
+pi.write(11, 1)  # set signal of pin 11 to high
+```
+
+```python
+level = pi.read(12)  # read the state of pin 12
+```
+
+### Simulator
+
+<img src="docs/assets/simulator.jpg" width=400 align=center>
+
+Clover repository includes three simulation-related repository for Gazebo-based simulation.
+
+Screenshot...
+
+See details in the [documentation](https://clover.coex.tech/en/simulation.html). The simulation environment also available as a virtual machine image.
+
+### Remote control apps
+
+<table>
+    <tr>
+        <td>
+            <a href="https://itunes.apple.com/ru/app/clever-rc/id1396166572?mt=8">
+                <img src="docs/assets/appstore.svg" height=40>
+            </a>
+        </td>
+        <td>
+            <a href="https://play.google.com/store/apps/details?id=express.copter.cleverrc">
+                <img src="docs/assets/google_play.png" height=40>
+            </a>
+        </td>
+    </tr>
+</table>
+
+<!-- <a href="https://itunes.apple.com/ru/app/clever-rc/id1396166572?mt=8"><img src="docs/assets/appstore.svg"></a><a href="https://play.google.com/store/apps/details?id=express.copter.cleverrc"><img src="docs/assets/google_play.png" width="15%"></a> -->
+
+### Community
+
+<img src="docs/assets/community/collage.jpg" width=400 align=center>
+
+Clover is widely used ...
+
+[Telegram chat](tg://resolve?domain=COEXHelpdesk)...
+
+### Free and open source
+
+The Clover software bundle is free, open source, and compatible with any PX4/ROS-based drone.
+
+## Manual installation
 
 For manual package installation and running see [`clover` package documentation](clover/README.md).
 
+## PX4 Dev Summit 2019 talk
+
+[![](http://img.youtube.com/vi/CTG9E9PbJQ8/0.jpg)](http://www.youtube.com/watch?v=CTG9E9PbJQ8)
+
+## Other resources
+
+* Official documentation: [https://clover.coex.tech](https://clover.coex.tech).
+* ROS Wiki page: [https://wiki.ros.org/Robots/clover](https://wiki.ros.org/Robots/clover).
+* ROS Robots page: [https://robots.ros.org/clover](https://robots.ros.org/clover).
+
 ## 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_;
-	tf2_ros::TransformBroadcaster br_;
-	tf2_ros::Buffer tf_buffer_;
-	tf2_ros::TransformListener tf_listener_{tf_buffer_};
+	std::unique_ptr<tf2_ros::TransformBroadcaster> br_;
+	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
+	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	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();
-		nh_priv_ = getPrivateNodeHandle();
+		ros::NodeHandle& nh_ = getNodeHandle();
+		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);
-		nh_priv_.param("estimate_poses", estimate_poses_, true);
-		nh_priv_.param("send_tf", send_tf_, true);
+		dictionary = nh_priv_.param("dictionary", 2);
+		estimate_poses_ = nh_priv_.param("estimate_poses", 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_, "");
-		nh_priv_.param("auto_flip", auto_flip_, false);
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		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_,
-						                                     msg->header.stamp, ros::Duration(0.02));
+						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
+						                                      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();
-		nh_priv_ = getPrivateNodeHandle();
+		ros::NodeHandle &nh_ = getNodeHandle();
+		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");
-		nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
-		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
-		nh_priv_.param("auto_flip", auto_flip_, false);
-		nh_priv_.param("image_width", image_width_, 2000);
-		nh_priv_.param("image_height", image_height_, 2000);
-		nh_priv_.param("image_margin", image_margin_, 200);
-		nh_priv_.param("image_axis", image_axis_, true);
-		nh_priv_.param<std::string>("markers/frame_id", markers_parent_frame_, transform_.child_frame_id);
-		nh_priv_.param<std::string>("markers/child_frame_id_prefix", markers_frame_, "");
+		type = nh_priv_.param<std::string>("type", "map");
+		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		auto_flip_ = nh_priv_.param("auto_flip", false);
+		image_width_ = nh_priv_.param("image_width" , 2000);
+		image_height_ = nh_priv_.param("image_height", 2000);
+		image_margin_ = nh_priv_.param("image_margin", 200);
+		image_axis_ = nh_priv_.param("image_axis", true);
+		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
+		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);
-		nh_priv_.param<int>("markers_y", markers_y, 10);
-		nh_priv_.param<int>("first_marker", first_marker, 0);
+		markers_x = nh.param("markers_x", 10);
+		markers_y = nh.param("markers_y", 10);
+		first_marker = nh.param("first_marker", 0);
 
-		param(nh_priv_, "markers_side", markers_side);
-		param(nh_priv_, "markers_sep_x", markers_sep_x);
-		param(nh_priv_, "markers_sep_y", markers_sep_y);
+		param(nh, "markers_side", markers_side);
+		param(nh, "markers_sep_x", markers_sep_x);
+		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();

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];
-
-	for (unsigned int k = 0; k < cinfo->D.size(); k++)
-		dist.at<double>(k) = cinfo->D[k];
+	dist = cv::Mat(cinfo->D, true);
 }
 
 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/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]);
 	}
 

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/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/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)

builder/image-ros.sh

@@ -143,7 +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'

clover/launch/clover.launch

@@ -82,4 +82,9 @@
 
     <!-- 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>
 </launch>

clover/src/optical_flow.cpp

@@ -34,9 +34,7 @@ class OpticalFlow : public nodelet::Nodelet
 {
 public:
 	OpticalFlow():
-		camera_matrix_(3, 3, CV_64F),
-		dist_coeffs_(8, 1, CV_64F),
-		tf_listener_(tf_buffer_)
+		camera_matrix_(3, 3, CV_64F)
 	{}
 
 private:
@@ -52,8 +50,8 @@ private:
 	Mat hann_;
 	Mat prev_, curr_;
 	Mat camera_matrix_, dist_coeffs_;
-	tf2_ros::Buffer tf_buffer_;
-	tf2_ros::TransformListener tf_listener_;
+	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
+	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");
-		nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
-		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);
+		tf_buffer_.reset(new tf2_ros::Buffer());
+		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh));
+
+		local_frame_id_ = nh.param<std::string>("mavros/local_position/tf/frame_id", "map");
+		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_.at<double>(k) = cinfo->D[k];
-		}
+		dist_coeffs_ = cv::Mat(cinfo->D, true);
 	}
 
 	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_, curr, ros::Duration(0.1)).transform.rotation, 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_, curr, ros::Duration(0.1)).transform.rotation, curr_rot);
 
 		geometry_msgs::Vector3Stamped flow;
 		flow.header.frame_id = frame_id;

clover/src/selfcheck.py

@@ -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')

clover/www/index.html

@@ -12,8 +12,8 @@
 
 <script src="js/roslib.js"></script>
 <script type="text/javascript">
-	document.querySelector("#wvs").href = location.origin + ':8080';
-	document.querySelector("#butterfly").href = location.origin + ':57575';
+	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
+	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
 	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });

docs/assets/ros.svg

@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   id="svg2"
+   version="1.1"
+   viewBox="0 0 387 103"
+   height="103pt"
+   width="387pt">
+  <metadata
+     id="metadata58">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs4">
+    <clipPath
+       id="clip1">
+      <path
+         id="path7"
+         d="M 0.0585938 2 L 22 2 L 22 25 L 0.0585938 25 Z M 0.0585938 2 " />
+    </clipPath>
+    <clipPath
+       id="clip2">
+      <path
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+    </clipPath>
+    <clipPath
+       id="clip3">
+      <path
+         id="path13"
+         d="M 0.0585938 79 L 22 79 L 22 102 L 0.0585938 102 Z M 0.0585938 79 " />
+    </clipPath>
+    <clipPath
+       id="clip4">
+      <path
+         id="path16"
+         d="M 220 0.894531 L 302 0.894531 L 302 102.941406 L 220 102.941406 Z M 220 0.894531 " />
+    </clipPath>
+    <clipPath
+       id="clip5">
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+         d="M 316 0.894531 L 386.050781 0.894531 L 386.050781 102.941406 L 316 102.941406 Z M 316 0.894531 " />
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+  </defs>
+  <g
+     id="surface839">
+    <g
+       id="g22"
+       clip-rule="nonzero"
+       clip-path="url(#clip1)">
+      <path
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+    </g>
+    <g
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docs/assets/rpi.svg

@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   viewBox="0 0 656.47998 825.76001"
+   height="825.76001"
+   width="656.47998"
+   xml:space="preserve"
+   id="svg2"
+   version="1.1"><metadata
+     id="metadata8"><rdf:RDF><cc:Work
+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
+     id="defs6" /><g
+     transform="matrix(1.3333333,0,0,-1.3333333,0,825.76)"
+     id="g10"><g
+       transform="scale(0.1)"
+       id="g12"><path
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docs/en/SUMMARY.md

@@ -89,4 +89,5 @@
   * [Copter Hack 2019](copterhack2019.md)
   * [Copter Hack 2018](copterhack2018.md)
   * [Copter Hack 2017](copterhack2017.md)
+  * [Robocross-2019](robocross2019.md)
   * [Camera calibration (legacy)](camera_calib.md)

docs/en/aruco_map.md

@@ -91,13 +91,6 @@ The marker map adheres to the [ROS coordinate system convention](http://www.ros.
 
 In order to enable vision position estimation you should use the following [PX4 parameters](px4_parameters.md).
 
-If you're using **EKF2** estimator (`SYS_MC_EST_GROUP` parameter is set to `ekf2`), make sure the following is set:
-
-* `EKF2_AID_MASK` should have `vision position fusion` and `vision yaw fusion` flags set.
-* Vision angle observations noise: `EKF2_EVA_NOISE` = 0.1 rad.
-* Vision position observations noise: `EKF2_EVP_NOISE` = 0.1 m.
-* `EKF2_EV_DELAY` = 0.
-
 If you're using **LPE** (`SYS_MC_EST_GROUP` parameter is set to `local_position_estimator,attitude_estimator_q`):
 
 * `LPE_FUSION` should have `vision position` and `land detector` flags set. We suggest unsetting the `baro` flag for indoor flights.
@@ -108,6 +101,13 @@ If you're using **LPE** (`SYS_MC_EST_GROUP` parameter is set to `local_position_
 
 <!-- * Compass should not be fused: `ATT_W_MAG` = 0 -->
 
+If you're using **EKF2** estimator (`SYS_MC_EST_GROUP` parameter is set to `ekf2`), make sure the following is set:
+
+* `EKF2_AID_MASK` should have `vision position fusion` and `vision yaw fusion` flags set.
+* Vision angle observations noise: `EKF2_EVA_NOISE` = 0.1 rad.
+* Vision position observations noise: `EKF2_EVP_NOISE` = 0.1 m.
+* `EKF2_EV_DELAY` = 0.
+
 > **Hint** We recommend using **LPE** for marker-based navigation.
 
 You may use [the `selfcheck.py` utility](selfcheck.md) to check your settings.

docs/en/camera_setup.md

@@ -13,7 +13,7 @@ In order to focus the camera lens, do the following:
 1. Open the live camera stream in your browser using [web_video_server](web_video_server.md).
 2. Rotate the lens to adjust the image. Make sure the objects that are 2-3 m from the camera are in focus.
 
-|Focused image|Unfocused image|
+|Unfocused image|Focused image|
 |-|-|
 |<img src="../assets/unfocused.png" width=300 class=zoom>|<img src="../assets/focused.png" width=300 class=zoom>|
 

docs/en/javascript.md

@@ -41,7 +41,7 @@ An example of a web page, working with `roslib.js`:
 
 [Taking off, landing and all the rest operations](programming.md) can be implemented in a similar way.
 
-The page should be placed in the `/home/pi/catkin_ws/src/clover/clover/www/` directory. After that, it will be available at `http://192.168.11.1/<page_name>.html`. When the page is opened, browser should show an alert with the drone telemetry and constantly print the state of the flight controller to the console.
+The page should be placed in the `/home/pi/catkin_ws/src/clover/clover/www/` directory. After that, it will be available at `http://192.168.11.1/clover/<page_name>.html`. When the page is opened, browser should show an alert with the drone telemetry and constantly print the state of the flight controller to the console.
 
 <img src="../assets/js-ros.png" class="center zoom"/>
 
@@ -49,6 +49,6 @@ See additional information in [`roslibjs` tutorial](http://wiki.ros.org/roslibjs
 
 ## Web GCS
 
-See an example of simplified web ground control station on Clover at http://192.168.11.1/gcs.html.
+See an example of simplified web ground control station on Clover at http://192.168.11.1/clover/gcs.html.
 
 <img src="../assets/web-gcs.png" class="center zoom"/>

docs/en/leds.md

@@ -52,12 +52,10 @@ Python example:
 import rospy
 from clover.srv import SetLEDEffect
 
-# ...
+rospy.init_node('flight')
 
 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)
 
@@ -127,12 +125,10 @@ import rospy
 from led_msgs.srv import SetLEDs
 from led_msgs.msg import LEDStateArray, LEDState
 
-# ...
+rospy.init_node('flight')
 
 set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs)  # define proxy to ROS service
 
-# ...
-
 # switch LEDs number 0, 1 and 2 to red, green and blue color:
 set_leds([LEDState(0, 255, 0, 0), LEDState(1, 0, 255, 0), LEDState(2, 0, 0, 255)])
 ```

docs/en/robocross2019.md

@@ -0,0 +1,25 @@
+# Robocross-2019
+
+On July, 2019, for the fourth time in a row, the team Copter Express won the annual tests of unmanned vehicles "[Robocross](http://russianrobotics.ru/activities/robokross-2019/)". Tests are held at the GAZ test site near Nizhny Novgorod.
+
+The main objective of the tests in the UAV category was to localize and destroy the target - the red balloon - autonomously.
+
+## Video
+
+<iframe width="560" height="315" src="https://www.youtube.com/embed/zMh5THdHuX8" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+## Implementation
+
+The team used an F450 frame based quadcopter and [Clover software platform](https://github.com/CopterExpress/clover). The final source code is available [on GitHub](https://github.com/CopterExpress/robocross2019/).
+
+`robocross2019` ROS package is divided into two parts: `red_dead_detection` ROS nodelet recognizes the red ball, `ball.py` implements high-level flight logic.
+
+## red_dead_detection
+
+The `red_dead_detection` nodelet recognizes the red ball on the image from the forward looking quadcopter camera (`/front_camera/image_raw` and `/front_camera/camera_info` topics). The simplest method of filtering the image by color is applied. Then the nodelet calculates the geometric center of the detected segments, and performs camera distortion compensation (`cv::undistortPoints`).
+
+Using the known focal lengths of the camera (from `camera_info`), the nodelet calculates the vector directed towards the target. The resulting vector is published to the topic `/red_dead_detection/direction`; its coordinate system (`frame_id` is associated with the front camera `front_camera_optical`).
+
+## balloon.py
+
+To fly towards the ball, the direction vector `red_dead_detection/direction` is used, which is set as a setpoint for the velocity of the drone. The yaw angle is also set towards the ball. The target is considered destroyed when the total area of red pixels is less than the threshold for a certain amount of camera frames.

docs/en/ros-install.md

@@ -17,7 +17,7 @@ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main
 Configure access keys in your system for correct download:
 
 ```bash
-sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 ```
 
 Make sure that your packages are up to date:

docs/ru/aruco_map.md

@@ -91,23 +91,23 @@ rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/m
 
 Для работы механизма Vision Position Estimation необходимы следующие [настройки PX4](px4_parameters.md).
 
-При использовании **EKF2** (параметр `SYS_MC_EST_GROUP` = `ekf2`):
-
-* В параметре `EKF2_AID_MASK` включены флажки `vision position fusion`, `vision yaw fusion`.
-* Шум угла по зрению: `EKF2_EVA_NOISE` = 0.1 rad
-* Шум позиции по зрению: `EKF2_EVP_NOISE` = 0.1 m
-* `EKF2_EV_DELAY` = 0
-
 При использовании **LPE** (параметр `SYS_MC_EST_GROUP` = `local_position_estimator, attitude_estimator_q`):
 
 * В параметре `LPE_FUSION` включены флажки `vision position`, `land detector`. Флажок `baro` рекомендуется отключить.
 * Вес угла по рысканью по зрению: `ATT_W_EXT_HDG` = 0.5
 * Включена ориентация по Yaw по зрению: `ATT_EXT_HDG_M` = 1 `Vision`.
 * Шумы позиции по зрению: `LPE_VIS_XY` = 0.1 m, `LPE_VIS_Z` = 0.1 m.
-* `LPE_VIS_DELAY` = 0 sec
+* `LPE_VIS_DELAY` = 0 sec.
 
 <!-- * Выключен компас: `ATT_W_MAG` = 0 -->
 
+При использовании **EKF2** (параметр `SYS_MC_EST_GROUP` = `ekf2`):
+
+* В параметре `EKF2_AID_MASK` включены флажки `vision position fusion`, `vision yaw fusion`.
+* Шум угла по зрению: `EKF2_EVA_NOISE` = 0.1 rad.
+* Шум позиции по зрению: `EKF2_EVP_NOISE` = 0.1 m.
+* `EKF2_EV_DELAY` = 0.
+
 > **Hint** На данный момент для полета по маркерам рекомендуется использование **LPE**.
 
 Для проверки правильности всех настроек можно [воспользоваться утилитой `selfcheck.py`](selfcheck.md).

docs/ru/javascript.md

@@ -41,7 +41,7 @@
 
 [Взлет, посадка и все остальные операции](programming.md) могут быть осуществлены аналогичным образом.
 
-Страница должна быть помещена в каталог `/home/pi/catkin_ws/src/clover/clover/www/`. После этого она станет доступна по адресу `http://192.168.11.1/<имя_страницы>.html`. При открытии страницы браузер должен показать окно с телеметрией дрона, а также постоянно выводить состояние полетного контроллера в консоль.
+Страница должна быть помещена в каталог `/home/pi/catkin_ws/src/clover/clover/www/`. После этого она станет доступна по адресу `http://192.168.11.1/clover/<имя_страницы>.html`. При открытии страницы браузер должен показать окно с телеметрией дрона, а также постоянно выводить состояние полетного контроллера в консоль.
 
 <img src="../assets/js-ros.png" class="center zoom"/>
 
@@ -49,6 +49,6 @@
 
 ## Браузерная GCS
 
-Смотрите также пример реализации упрощенной браузерной наземной станции (GCS) на Клевере по адресу http://192.168.11.1/gcs.html.
+Смотрите также пример реализации упрощенной браузерной наземной станции (GCS) на Клевере по адресу http://192.168.11.1/clover/gcs.html.
 
 <img src="../assets/web-gcs.png" class="center zoom"/>

docs/ru/leds.md

@@ -52,12 +52,10 @@
 import rospy
 from clover.srv import SetLEDEffect
 
-# ...
+rospy.init_node('flight')
 
 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)
 
@@ -127,12 +125,10 @@ import rospy
 from led_msgs.srv import SetLEDs
 from led_msgs.msg import LEDStateArray, LEDState
 
-# ...
+rospy.init_node('flight')
 
 set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs)  # define proxy to ROS service
 
-# ...
-
 # switch LEDs number 0, 1 and 2 to red, green and blue color:
 set_leds([LEDState(0, 255, 0, 0), LEDState(1, 0, 255, 0), LEDState(2, 0, 0, 255)])
 ```

docs/ru/ros-install.md

@@ -17,7 +17,7 @@ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main
 Настройте ключи доступа в своей системе для правильной загрузки:
 
 ```bash
-sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 ```
 
 Убедитесь в том, что вы имеете последние версии индексов пакетов:

roswww_static/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.0)
+project(roswww_static)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

roswww_static/README.md

@@ -0,0 +1,17 @@
+# roswww_static
+
+roswww_static creates a static web directory for your ROS-powered system with symlinks to all the `www` subdirectories found in your ROS packages. This way you can use any external web server (e. g. [nginx](https://nginx.org/), [Monkey](https://github.com/monkey/monkey), [Caddy](https://caddyserver.com)) to serve you static data, in compatible with `roswww` manner.
+
+Note: you should configure your web server to make it follow symlinks.
+
+## Instructions
+
+* Run `main.py` node and it will generate the symlinks and index file.
+* Point your static web server path to `~/.ros/www`.
+
+You can rerun `main.py` if the list of installed packages changes.
+
+## Parameters
+
+* `index` – path for index page, otherwise packages list would be generated.
+* `default_package` – if set then the index page would redirect to this package's page.

roswww_static/launch/example.launch

@@ -0,0 +1,6 @@
+<launch>
+    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true" output="screen">
+        <!-- <param name="index" value="$(find my_package)/www/index.html"/> -->
+        <!-- <param name="default_package" value="my_package"/> -->
+    </node>
+</launch>

roswww_static/main.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+
+# TODO: add custom header, footer
+# TODO: symlinks or copy param
+
+import os
+import shutil
+import rospy
+import rospkg
+
+rospy.init_node('roswww_static')
+
+rospack = rospkg.RosPack()
+
+www = rospkg.get_ros_home() + '/www'
+index_file = rospy.get_param('~index_file', None)
+default_package = rospy.get_param('~default_package', None)
+
+shutil.rmtree(www, ignore_errors=True)  # reset www directory content
+os.mkdir(www)
+
+packages = rospack.list()
+
+index = '<h1>Packages list</h1>\n<ul>\n'
+
+for name in packages:
+    path = rospack.get_path(name)
+    if os.path.exists(path + '/www'):
+        rospy.loginfo('found www path for %s package', name)
+        os.symlink(path + '/www', www + '/' + name)
+        index += '<li><a href="{name}/">{name}</a></li>'.format(name=name)
+
+if default_package is not None:
+    redirect_html = '<meta http-equiv=refresh content="0; url={name}/">'.format(name=default_package)
+    open(www + '/index.html', 'w').write(redirect_html)
+elif index_file is not None:
+    rospy.loginfo('symlinking index file')
+    os.symlink(index_file, www + '/index.html')
+else:
+    open(www + '/index.html', 'w').write(index)

roswww_static/package.xml

@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>roswww_static</name>
+  <version>0.0.0</version>
+  <description>Static web pages for ROS packages</description>
+  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
+  <license>MIT</license>
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/roswww_static</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>