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11 Commits
v0.20-rc.3
...
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24
.travis.yml
24
.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
|
||||
|
||||
169
README.md
169
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
|
||||
|
||||
[](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
|
||||
|
||||
[](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://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.
|
||||
|
||||
0
apps/CATKIN_IGNORE
Normal file
0
apps/CATKIN_IGNORE
Normal file
34
builder/assets/avahi-services/sftp-ssh.service
Normal file
34
builder/assets/avahi-services/sftp-ssh.service
Normal file
@@ -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>
|
||||
@@ -20,7 +20,7 @@
|
||||
# Example:
|
||||
# DocumentRoot /home/krypton/htdocs
|
||||
|
||||
DocumentRoot /home/pi/catkin_ws/src/clover/clover/www
|
||||
DocumentRoot /home/pi/.ros/www
|
||||
|
||||
# Redirect:
|
||||
# ---------
|
||||
|
||||
@@ -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)
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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>
|
||||
|
||||
@@ -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')
|
||||
|
||||
0
clover/www/CATKIN_IGNORE
Normal file
0
clover/www/CATKIN_IGNORE
Normal file
@@ -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' });
|
||||
|
||||
0
docs/CATKIN_IGNORE
Normal file
0
docs/CATKIN_IGNORE
Normal file
BIN
docs/assets/aruco.gif
Normal file
BIN
docs/assets/aruco.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.1 MiB |
BIN
docs/assets/clover.png
Normal file
BIN
docs/assets/clover.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 614 KiB |
BIN
docs/assets/clover42.png
Normal file
BIN
docs/assets/clover42.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.2 MiB |
BIN
docs/assets/community/collage.jpg
Normal file
BIN
docs/assets/community/collage.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.3 MiB |
BIN
docs/assets/optical-flow.gif
Normal file
BIN
docs/assets/optical-flow.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 3.5 MiB |
1
docs/assets/px4.svg
Normal file
1
docs/assets/px4.svg
Normal file
File diff suppressed because one or more lines are too long
|
After Width: | Height: | Size: 13 KiB |
134
docs/assets/ros.svg
Normal file
134
docs/assets/ros.svg
Normal file
@@ -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
|
||||
id="path10"
|
||||
d="M 0.0585938 40 L 22 40 L 22 64 L 0.0585938 64 Z M 0.0585938 40 " />
|
||||
</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">
|
||||
<path
|
||||
id="path19"
|
||||
d="M 316 0.894531 L 386.050781 0.894531 L 386.050781 102.941406 L 316 102.941406 Z M 316 0.894531 " />
|
||||
</clipPath>
|
||||
</defs>
|
||||
<g
|
||||
id="surface839">
|
||||
<g
|
||||
id="g22"
|
||||
clip-rule="nonzero"
|
||||
clip-path="url(#clip1)">
|
||||
<path
|
||||
id="path24"
|
||||
d="M 21.839844 13.492188 C 21.839844 19.722656 16.949219 24.777344 10.921875 24.777344 C 4.890625 24.777344 0 19.722656 0 13.492188 C 0 7.257812 4.890625 2.207031 10.921875 2.207031 C 16.949219 2.207031 21.839844 7.257812 21.839844 13.492188 "
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d="m 4594.78,4119.88 c -150.79,0 -273.01,122.19 -273.01,273.02 0,150.91 122.22,273.01 273.01,273.01 150.78,0 273.01,-122.1 273.01,-273.01 0,-150.83 -122.23,-273.02 -273.01,-273.02 z m 0,600.67 c -180.97,0 -327.6,-146.68 -327.6,-327.65 0,-180.88 146.63,-327.56 327.6,-327.56 180.96,0 327.6,146.68 327.6,327.56 0,180.97 -146.64,327.65 -327.6,327.65" /><path
|
||||
id="path44"
|
||||
style="fill:#171818;fill-opacity:1;fill-rule:nonzero;stroke:none"
|
||||
d="m 4533.92,4413.81 h 84.36 c 34.39,0 52.99,14.79 52.99,50.12 0,33.72 -18.6,48.51 -52.99,48.51 h -84.36 z m -77.02,158.46 h 188.88 c 62.84,0 102.55,-43.62 102.55,-96.47 0,-41.36 -16.67,-72.25 -55.44,-87.99 v -0.94 c 37.78,-9.8 48.52,-46.54 51.02,-81.96 1.46,-22.05 0.98,-63.21 14.74,-82.91 h -77.01 c -9.37,22.15 -8.39,55.87 -12.3,83.94 -5.37,36.83 -19.59,52.95 -58.36,52.95 h -77.06 V 4222 h -77.02 v 350.27" /></g></g></svg>
|
||||
|
After Width: | Height: | Size: 9.7 KiB |
BIN
docs/assets/simulator.jpg
Normal file
BIN
docs/assets/simulator.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 164 KiB |
@@ -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>|
|
||||
|
||||
|
||||
@@ -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"/>
|
||||
|
||||
@@ -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)])
|
||||
```
|
||||
|
||||
@@ -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:
|
||||
|
||||
@@ -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"/>
|
||||
|
||||
@@ -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)])
|
||||
```
|
||||
|
||||
@@ -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:
|
||||
|
||||
8
roswww_static/CMakeLists.txt
Normal file
8
roswww_static/CMakeLists.txt
Normal file
@@ -0,0 +1,8 @@
|
||||
cmake_minimum_required(VERSION 3.0)
|
||||
project(roswww_static)
|
||||
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
catkin_package()
|
||||
|
||||
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
|
||||
17
roswww_static/README.md
Normal file
17
roswww_static/README.md
Normal file
@@ -0,0 +1,17 @@
|
||||
# roswww_static
|
||||
|
||||
roswww_static creates a static web directory for your ROS-powered system with symlinks to all the `www` subdirectories found in your ROS packages. This way you can use any external web server (e. g. [nginx](https://nginx.org/), [Monkey](https://github.com/monkey/monkey), [Caddy](https://caddyserver.com)) to serve you static data, in compatible with `roswww` manner.
|
||||
|
||||
Note: you should configure your web server to make it follow symlinks.
|
||||
|
||||
## Instructions
|
||||
|
||||
* Run `main.py` node and it will generate the symlinks and index file.
|
||||
* Point your static web server path to `~/.ros/www`.
|
||||
|
||||
You can rerun `main.py` if the list of installed packages changes.
|
||||
|
||||
## Parameters
|
||||
|
||||
* `index` – path for index page, otherwise packages list would be generated.
|
||||
* `default_package` – if set then the index page would redirect to this package's page.
|
||||
6
roswww_static/launch/example.launch
Normal file
6
roswww_static/launch/example.launch
Normal file
@@ -0,0 +1,6 @@
|
||||
<launch>
|
||||
<node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true" output="screen">
|
||||
<!-- <param name="index" value="$(find my_package)/www/index.html"/> -->
|
||||
<!-- <param name="default_package" value="my_package"/> -->
|
||||
</node>
|
||||
</launch>
|
||||
40
roswww_static/main.py
Executable file
40
roswww_static/main.py
Executable file
@@ -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)
|
||||
49
roswww_static/package.xml
Normal file
49
roswww_static/package.xml
Normal file
@@ -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>
|
||||
Reference in New Issue
Block a user