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62 Commits
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b90dc3c020 |
@@ -10,7 +10,7 @@ env:
|
||||
- IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
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||||
- IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
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||||
git:
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||||
depth: 25
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||||
depth: 1
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||||
jobs:
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||||
fast_finish: true
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||||
include:
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||||
|
||||
@@ -1,6 +1,6 @@
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||||
# clover🍀: create autonomous drones easily
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||||
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||||
<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="COEX Clover Drone">
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||||
<img src="docs/assets/clover42-main.png" align="right" width="400px" alt="COEX Clover Drone">
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||||
|
||||
Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
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||||
|
||||
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||||
8
aruco_pose/CHANGELOG.rst
Normal file
@@ -0,0 +1,8 @@
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||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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||||
Changelog for package aruco_pose
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||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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||||
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||||
0.21.1 (2020-11-17)
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||||
-------------------
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||||
* First release of aruco_pose package to ROS
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||||
* Contributors: Alamoris, Alexey Rogachevskiy, Arthur Golubtsov, Ilya Petrov, Oleg Kalachev
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||||
@@ -8,6 +8,8 @@ p = cv2.aruco.DetectorParameters_create()
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||||
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||||
gen = ParameterGenerator()
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gen.add("enabled", bool_t, 0, "if detection enabled", True)
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gen.add("adaptiveThreshConstant", double_t, 0,
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"Constant for adaptive thresholding before finding contours",
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p.adaptiveThreshConstant, 0, 100)
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||||
|
||||
@@ -1,7 +1,7 @@
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||||
<?xml version="1.0"?>
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||||
<package format="2">
|
||||
<name>aruco_pose</name>
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||||
<version>0.0.1</version>
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||||
<version>0.21.1</version>
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||||
<description>Positioning with ArUco markers</description>
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||||
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||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
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||||
|
||||
@@ -62,6 +62,7 @@ private:
|
||||
std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
|
||||
std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
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||||
std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
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||||
bool enabled_ = true;
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||||
cv::Ptr<cv::aruco::Dictionary> dictionary_;
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||||
cv::Ptr<cv::aruco::DetectorParameters> parameters_;
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||||
image_transport::Publisher debug_pub_;
|
||||
@@ -128,6 +129,8 @@ public:
|
||||
private:
|
||||
void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
|
||||
{
|
||||
if (!enabled_) return;
|
||||
|
||||
Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
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||||
|
||||
vector<int> ids;
|
||||
@@ -356,6 +359,7 @@ private:
|
||||
|
||||
void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
|
||||
{
|
||||
enabled_ = config.enabled;
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||||
parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
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||||
parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
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||||
parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;
|
||||
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||||
@@ -1,4 +1,4 @@
|
||||
# Information: https://clover.coex.tech/en/aruco.html
|
||||
# Information: https://clover.coex.tech/aruco
|
||||
|
||||
import rospy
|
||||
from clover import srv
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
# Information: https://clover.coex.tech/en/leds.html
|
||||
# Information: https://clover.coex.tech/led
|
||||
|
||||
import rospy
|
||||
from clover.srv import SetLEDEffect
|
||||
|
||||
@@ -110,7 +110,6 @@ libffi-dev \
|
||||
monkey \
|
||||
pigpio python-pigpio python3-pigpio \
|
||||
i2c-tools \
|
||||
espeak espeak-data python-espeak \
|
||||
ntpdate \
|
||||
python-dev \
|
||||
python3-dev \
|
||||
|
||||
@@ -25,7 +25,7 @@ import pymavlink
|
||||
from pymavlink import mavutil
|
||||
import rpi_ws281x
|
||||
import pigpio
|
||||
from espeak import espeak
|
||||
# from espeak import espeak
|
||||
from pyzbar import pyzbar
|
||||
|
||||
print cv2.getBuildInformation()
|
||||
|
||||
@@ -32,7 +32,7 @@ monkey --version
|
||||
pigpiod -v
|
||||
i2cdetect -V
|
||||
butterfly -h
|
||||
espeak --version
|
||||
# espeak --version
|
||||
mjpg_streamer --version
|
||||
|
||||
# ros stuff
|
||||
|
||||
@@ -4,7 +4,9 @@ import os
|
||||
import sys
|
||||
import subprocess
|
||||
|
||||
EXCLUDE = ('clever4-front-white.png', '.DS_Store', 'clever4-front-black-large.png')
|
||||
EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
|
||||
'clever4-front-black-large.png','clover42-black.png')
|
||||
|
||||
code = 0
|
||||
|
||||
os.chdir('./docs')
|
||||
|
||||
8
clover/CHANGELOG.rst
Normal file
@@ -0,0 +1,8 @@
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package clover
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.21.1 (2020-11-17)
|
||||
-------------------
|
||||
* First release of clover package to ROS
|
||||
* Contributors: Alexey Rogachevskiy, Arthur Golubtsov, Oleg Kalachev
|
||||
@@ -44,16 +44,12 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p
|
||||
|
||||
## Running
|
||||
|
||||
To start connection to SITL, use:
|
||||
|
||||
```bash
|
||||
roslaunch clover sitl.launch
|
||||
```
|
||||
|
||||
To start connection to the flight controller, use:
|
||||
|
||||
```bash
|
||||
roslaunch clover clover.launch
|
||||
```
|
||||
|
||||
For the simulation information see the [corresponding article](https://clover.coex.tech/en/simulation.html).
|
||||
|
||||
> 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`.
|
||||
|
||||
@@ -1,19 +0,0 @@
|
||||
<launch>
|
||||
<!-- clover configuration for testing in sitl -->
|
||||
<arg name="ip" default="127.0.0.1"/>
|
||||
<arg name="rosbridge" default="false"/>
|
||||
|
||||
<include file="$(find clover)/launch/clover.launch">
|
||||
<arg name="fcu_conn" value="udp"/>
|
||||
<arg name="fcu_ip" value="$(arg ip)"/>
|
||||
<arg name="gcs_bridge" value="false"/>
|
||||
<arg name="optical_flow" value="false"/>
|
||||
<arg name="web_video_server" default="false"/>
|
||||
<arg name="main_camera" default="false"/>
|
||||
<arg name="rosbridge" value="$(arg rosbridge)"/>
|
||||
<arg name="aruco" default="false"/>
|
||||
<arg name="rangefinder_vl53l1x" default="false"/>
|
||||
<arg name="led" default="false"/>
|
||||
<arg name="rc" default="false"/>
|
||||
</include>
|
||||
</launch>
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>clover</name>
|
||||
<version>0.0.1</version>
|
||||
<version>0.21.1</version>
|
||||
<description>The Clover package</description>
|
||||
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
|
||||
@@ -496,10 +496,16 @@ inline void checkManualControl()
|
||||
}
|
||||
|
||||
if (check_kill_switch) {
|
||||
const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
|
||||
bool kill_switch = manual_control.buttons & (1 << KILL_SWITCH_BIT);
|
||||
// switch values: https://github.com/PX4/PX4-Autopilot/blob/c302514a0809b1765fafd13c014d705446ae1113/msg/manual_control_setpoint.msg#L3
|
||||
const uint8_t SWITCH_POS_NONE = 0; // switch is not mapped
|
||||
const uint8_t SWITCH_POS_ON = 1; // switch activated
|
||||
const uint8_t SWITCH_POS_MIDDLE = 2; // middle position
|
||||
const uint8_t SWITCH_POS_OFF = 3; // switch not activated
|
||||
|
||||
if (kill_switch)
|
||||
const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
|
||||
uint8_t kill_switch = (manual_control.buttons & (0b11 << KILL_SWITCH_BIT)) >> KILL_SWITCH_BIT;
|
||||
|
||||
if (kill_switch == SWITCH_POS_ON)
|
||||
throw std::runtime_error("Kill switch is on");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,3 +1,5 @@
|
||||
<title>Clover Drone Kit Tools</title>
|
||||
|
||||
<h1>Clover Drone Kit Tools</h1>
|
||||
|
||||
<ul>
|
||||
|
||||
8
clover_blocks/CHANGELOG.rst
Normal file
@@ -0,0 +1,8 @@
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package clover_blocks
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.21.1 (2020-11-17)
|
||||
-------------------
|
||||
* First release of clover_blocks package to ROS
|
||||
* Contributors: Oleg Kalachev
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>clover_blocks</name>
|
||||
<version>0.0.0</version>
|
||||
<version>0.21.1</version>
|
||||
<description>Blockly programming support for Clover</description>
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
@@ -29,7 +29,7 @@
|
||||
</value>
|
||||
<value name="Z">
|
||||
<shadow type="math_number" id="n0ULZn64%k.:,l(,D?TZ">
|
||||
<field name="NUM">0</field>
|
||||
<field name="NUM">1</field>
|
||||
</shadow>
|
||||
</value>
|
||||
<value name="ID">
|
||||
|
||||
@@ -1,106 +1,91 @@
|
||||
<xml xmlns="https://developers.google.com/blockly/xml">
|
||||
<variables>
|
||||
<variable id="_{V-S5HPBUl]CcJkL1Jw">led_count</variable>
|
||||
</variables>
|
||||
<block type="variables_set" id="{)^J~:UMX%D;RWvztWLN" x="113" y="87">
|
||||
<field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
|
||||
<value name="VALUE">
|
||||
<block type="math_number" id="V_W$3,VFwZjcc|?|1o`l">
|
||||
<field name="NUM">58</field>
|
||||
<block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1" x="113" y="113">
|
||||
<field name="MODE">WHILE</field>
|
||||
<value name="BOOL">
|
||||
<block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
|
||||
<field name="BOOL">TRUE</field>
|
||||
</block>
|
||||
</value>
|
||||
<next>
|
||||
<block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1">
|
||||
<field name="MODE">WHILE</field>
|
||||
<value name="BOOL">
|
||||
<block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
|
||||
<field name="BOOL">TRUE</field>
|
||||
</block>
|
||||
<statement name="DO">
|
||||
<block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
|
||||
<field name="EFFECT">FILL</field>
|
||||
<value name="COLOR">
|
||||
<shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
|
||||
<field name="COLOUR">#000000</field>
|
||||
</shadow>
|
||||
</value>
|
||||
<statement name="DO">
|
||||
<block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
|
||||
<field name="EFFECT">FILL</field>
|
||||
<value name="COLOR">
|
||||
<shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
|
||||
<field name="COLOUR">#000000</field>
|
||||
<next>
|
||||
<block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
|
||||
<value name="INDEX">
|
||||
<shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
|
||||
<field name="NUM">0</field>
|
||||
</shadow>
|
||||
</value>
|
||||
<next>
|
||||
<block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
|
||||
<value name="INDEX">
|
||||
<shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
|
||||
<field name="NUM">0</field>
|
||||
<block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
|
||||
<field name="OP">MULTIPLY</field>
|
||||
<value name="A">
|
||||
<shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
|
||||
<field name="NUM">1</field>
|
||||
</shadow>
|
||||
<block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
|
||||
<field name="OP">MULTIPLY</field>
|
||||
<block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
|
||||
<field name="OP">DIVIDE</field>
|
||||
<value name="A">
|
||||
<shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
|
||||
<shadow type="math_number" id="::st;ot}[r]csqceURu*">
|
||||
<field name="NUM">1</field>
|
||||
</shadow>
|
||||
<block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
|
||||
<field name="OP">DIVIDE</field>
|
||||
<block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
|
||||
<field name="OP">ADD</field>
|
||||
<value name="A">
|
||||
<shadow type="math_number" id="::st;ot}[r]csqceURu*">
|
||||
<shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
|
||||
<field name="NUM">1</field>
|
||||
</shadow>
|
||||
<block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
|
||||
<field name="OP">ADD</field>
|
||||
<value name="A">
|
||||
<shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
|
||||
<field name="NUM">1</field>
|
||||
</shadow>
|
||||
<block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
|
||||
<field name="FRAME_ID">MAP</field>
|
||||
<value name="ID">
|
||||
<shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
|
||||
<field name="NUM">0</field>
|
||||
</shadow>
|
||||
</value>
|
||||
</block>
|
||||
</value>
|
||||
<value name="B">
|
||||
<shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
|
||||
<field name="NUM">180</field>
|
||||
<block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
|
||||
<field name="FRAME_ID">MAP</field>
|
||||
<value name="ID">
|
||||
<shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
|
||||
<field name="NUM">0</field>
|
||||
</shadow>
|
||||
</value>
|
||||
</block>
|
||||
</value>
|
||||
<value name="B">
|
||||
<shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
|
||||
<field name="NUM">360</field>
|
||||
<shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
|
||||
<field name="NUM">180</field>
|
||||
</shadow>
|
||||
</value>
|
||||
</block>
|
||||
</value>
|
||||
<value name="B">
|
||||
<shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
|
||||
<field name="NUM">1</field>
|
||||
<shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
|
||||
<field name="NUM">360</field>
|
||||
</shadow>
|
||||
<block type="variables_get" id="Ko,`n=i88FY~`YbQLA?[">
|
||||
<field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
|
||||
</block>
|
||||
</value>
|
||||
</block>
|
||||
</value>
|
||||
<value name="COLOR">
|
||||
<shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
|
||||
<field name="COLOUR">#3366ff</field>
|
||||
<value name="B">
|
||||
<shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
|
||||
<field name="NUM">1</field>
|
||||
</shadow>
|
||||
<block type="led_count" id="vM@X8s!xa]v}AaK6PWF5"></block>
|
||||
</value>
|
||||
</block>
|
||||
</value>
|
||||
<value name="COLOR">
|
||||
<shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
|
||||
<field name="COLOUR">#3366ff</field>
|
||||
</shadow>
|
||||
</value>
|
||||
<next>
|
||||
<block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
|
||||
<value name="TIME">
|
||||
<shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
|
||||
<field name="NUM">0.1</field>
|
||||
</shadow>
|
||||
</value>
|
||||
<next>
|
||||
<block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
|
||||
<value name="TIME">
|
||||
<shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
|
||||
<field name="NUM">0.1</field>
|
||||
</shadow>
|
||||
</value>
|
||||
</block>
|
||||
</next>
|
||||
</block>
|
||||
</next>
|
||||
</block>
|
||||
</statement>
|
||||
</next>
|
||||
</block>
|
||||
</next>
|
||||
</statement>
|
||||
</block>
|
||||
</xml>
|
||||
</xml>
|
||||
@@ -353,6 +353,17 @@ Blockly.Blocks['set_effect'] = {
|
||||
}
|
||||
};
|
||||
|
||||
Blockly.Blocks['led_count'] = {
|
||||
init: function () {
|
||||
this.appendDummyInput()
|
||||
.appendField("LED count");
|
||||
this.setOutput(true, "Number");
|
||||
this.setColour(COLOR_LED);
|
||||
this.setTooltip("Returns the number of LEDs (configured in led.launch).");
|
||||
this.setHelpUrl(DOCS_URL + '#' + this.type);
|
||||
}
|
||||
};
|
||||
|
||||
Blockly.Blocks['take_off'] = {
|
||||
init: function () {
|
||||
this.appendValueInput("ALT")
|
||||
@@ -535,7 +546,7 @@ Blockly.Blocks['gpio_read'] = {
|
||||
this.setOutput(true, "Boolean");
|
||||
this.setColour(COLOR_GPIO);
|
||||
this.setTooltip("Returns if there is voltage on a GPIO pin.");
|
||||
this.setHelpUrl(DOCS_URL + '#' + this.type);
|
||||
this.setHelpUrl(DOCS_URL + '#GPIO');
|
||||
}
|
||||
};
|
||||
|
||||
@@ -552,7 +563,7 @@ Blockly.Blocks['gpio_write'] = {
|
||||
this.setPreviousStatement(true, null);
|
||||
this.setNextStatement(true, null);
|
||||
this.setTooltip("Set GPIO pin level.");
|
||||
this.setHelpUrl(DOCS_URL + '#' + this.type);
|
||||
this.setHelpUrl(DOCS_URL + '#GPIO');
|
||||
}
|
||||
};
|
||||
|
||||
@@ -568,7 +579,24 @@ Blockly.Blocks['set_servo'] = {
|
||||
this.setColour(COLOR_GPIO);
|
||||
this.setPreviousStatement(true, null);
|
||||
this.setNextStatement(true, null);
|
||||
this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 ms.");
|
||||
this.setHelpUrl(DOCS_URL + '#' + this.type);
|
||||
this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 μs.");
|
||||
this.setHelpUrl(DOCS_URL + '#GPIO');
|
||||
}
|
||||
};
|
||||
|
||||
Blockly.Blocks['set_duty_cycle'] = {
|
||||
init: function () {
|
||||
this.appendValueInput("PIN")
|
||||
.setCheck("Number")
|
||||
.appendField("set GPIO pin");
|
||||
this.appendValueInput("DUTY_CYCLE")
|
||||
.setCheck("Number")
|
||||
.appendField("to duty cycle");
|
||||
this.setInputsInline(true);
|
||||
this.setColour(COLOR_GPIO);
|
||||
this.setPreviousStatement(true, null);
|
||||
this.setNextStatement(true, null);
|
||||
this.setTooltip("Set PWM duty cycle on a GPIO pin (better to control LEDs, etc). Duty cycle is set in range of 0–1.");
|
||||
this.setHelpUrl(DOCS_URL + '#GPIO');
|
||||
}
|
||||
};
|
||||
|
||||
@@ -106,6 +106,7 @@
|
||||
<value name="INDEX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
|
||||
<value name="COLOR"><shadow type="colour_picker"></shadow></value>
|
||||
</block>
|
||||
<block type="led_count"></block>
|
||||
</category>
|
||||
<category name="GPIO" colour="#5b97cc">
|
||||
<block type="gpio_read">
|
||||
@@ -119,6 +120,10 @@
|
||||
<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
|
||||
<value name="PWM"><shadow type="math_number"><field name="NUM">1500</field></shadow></value>
|
||||
</block>
|
||||
<block type="set_duty_cycle">
|
||||
<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
|
||||
<value name="DUTY_CYCLE"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
|
||||
</block>
|
||||
</category>
|
||||
<sep></sep>
|
||||
<category name="Logic" colour="#5b80a5">
|
||||
|
||||
@@ -15,7 +15,7 @@ Blockly.Python.addReservedWords('_b,_print');
|
||||
Blockly.Python.addReservedWords('rospy,srv,Trigger,get_telemetry,navigate,set_velocity,land');
|
||||
Blockly.Python.addReservedWords('navigate_wait,land_wait,wait_arrival,wait_yaw,get_distance');
|
||||
Blockly.Python.addReservedWords('pigpio,pi,Range');
|
||||
Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
|
||||
Blockly.Python.addReservedWords('SetLEDEffect,set_effect,led_count,get_led_count');
|
||||
Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
|
||||
|
||||
const IMPORT_SRV = `from clover import srv
|
||||
@@ -87,6 +87,9 @@ function generateROSDefinitions() {
|
||||
Blockly.Python.definitions_['import_set_led'] = 'from led_msgs.srv import SetLEDs\nfrom led_msgs.msg import LEDState';
|
||||
code += `set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs, persistent=True)\n`;
|
||||
}
|
||||
if (rosDefinitions.ledStateArray) {
|
||||
Blockly.Python.definitions_['import_led_state_array'] = 'from led_msgs.msg import LEDStateArray';
|
||||
}
|
||||
if (rosDefinitions.navigateWait) {
|
||||
Blockly.Python.definitions_['import_math'] = 'import math';
|
||||
code += NAVIGATE_WAIT();
|
||||
@@ -395,22 +398,41 @@ Blockly.Python.set_led = function(block) {
|
||||
}
|
||||
}
|
||||
|
||||
const GET_LED_COUNT = `led_count = None
|
||||
|
||||
def get_led_count():
|
||||
global led_count
|
||||
if led_count is None:
|
||||
led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
|
||||
return led_count\n`;
|
||||
|
||||
Blockly.Python.led_count = function(block) {
|
||||
rosDefinitions.ledStateArray = true;
|
||||
initNode();
|
||||
Blockly.Python.definitions_['get_led_count'] = GET_LED_COUNT;
|
||||
return [`get_led_count()`, Blockly.Python.ORDER_FUNCTION_CALL]
|
||||
}
|
||||
|
||||
function pigpio() {
|
||||
Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
|
||||
Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
|
||||
}
|
||||
|
||||
const GPIO_READ = `\ndef gpio_read(pin):
|
||||
pi.set_mode(pin, pigpio.INPUT)
|
||||
return pi.read(pin)\n`;
|
||||
pi.set_mode(pin, pigpio.INPUT)
|
||||
return pi.read(pin)\n`;
|
||||
|
||||
const GPIO_WRITE = `\ndef gpio_write(pin, level):
|
||||
pi.set_mode(pin, pigpio.OUTPUT)
|
||||
pi.write(pin, level)\n`;
|
||||
pi.set_mode(pin, pigpio.OUTPUT)
|
||||
pi.write(pin, level)\n`;
|
||||
|
||||
const SET_SERVO = `\ndef set_servo(pin, pwm):
|
||||
pi.set_mode(pin, pigpio.OUTPUT)
|
||||
pi.set_servo_pulsewidth(pin, pwm)\n`;
|
||||
pi.set_mode(pin, pigpio.OUTPUT)
|
||||
pi.set_servo_pulsewidth(pin, pwm)\n`;
|
||||
|
||||
const SET_DUTY_CYCLE = `\ndef set_duty_cycle(pin, duty_cycle):
|
||||
pi.set_mode(pin, pigpio.OUTPUT)
|
||||
pi.set_PWM_dutycycle(pin, duty_cycle * 255)\n`;
|
||||
|
||||
Blockly.Python.gpio_read = function(block) {
|
||||
pigpio();
|
||||
@@ -434,3 +456,11 @@ Blockly.Python.set_servo = function(block) {
|
||||
var pwm = Blockly.Python.valueToCode(block, 'PWM', Blockly.Python.ORDER_NONE);
|
||||
return `set_servo(${pin}, ${pwm})\n`;
|
||||
}
|
||||
|
||||
Blockly.Python.set_duty_cycle = function(block) {
|
||||
pigpio();
|
||||
Blockly.Python.definitions_['set_duty_cycle'] = SET_DUTY_CYCLE;
|
||||
var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
|
||||
var dutyCycle = Blockly.Python.valueToCode(block, 'DUTY_CYCLE', Blockly.Python.ORDER_NONE);
|
||||
return `set_duty_cycle(${pin}, ${dutyCycle})\n`;
|
||||
}
|
||||
|
||||
9
clover_description/CHANGELOG.rst
Normal file
@@ -0,0 +1,9 @@
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package clover_description
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.21.1 (2020-11-17)
|
||||
-------------------
|
||||
* First release of clover_description package to ROS
|
||||
* Contributors: Alexey Rogachevskiy
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
<package format="2">
|
||||
<name>clover_description</name>
|
||||
<version>0.0.1</version>
|
||||
<version>0.21.1</version>
|
||||
<description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
|
||||
|
||||
<maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>
|
||||
|
||||
8
clover_simulation/CHANGELOG.rst
Normal file
@@ -0,0 +1,8 @@
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package clover_simulation
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.21.1 (2020-11-17)
|
||||
-------------------
|
||||
* First release of clover_simulation package to ROS
|
||||
* Contributors: Alexey Rogachevskiy
|
||||
@@ -1,4 +1,5 @@
|
||||
<launch>
|
||||
<arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
|
||||
<arg name="mav_id" default="0"/>
|
||||
<arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
|
||||
<arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
|
||||
@@ -9,22 +10,22 @@
|
||||
<arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
|
||||
|
||||
<!-- Gazebo instance -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
|
||||
<!-- Workaround for crashes in VMware -->
|
||||
<env name="SVGA_VGPU10" value="0"/>
|
||||
<arg name="gui" value="true"/>
|
||||
<arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover.world"/>
|
||||
<arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
|
||||
<arg name="verbose" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- PX4 instance -->
|
||||
<node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)">
|
||||
<node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
|
||||
<env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
|
||||
<env name="PX4_ESTIMATOR" value="$(arg est)"/>
|
||||
</node>
|
||||
|
||||
<!-- Clover model -->
|
||||
<include file="$(find clover_description)/launch/spawn_drone.launch">
|
||||
<include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
|
||||
<arg name="main_camera" value="$(arg main_camera)"/>
|
||||
<arg name="rangefinder" value="$(arg rangefinder)"/>
|
||||
<arg name="led" value="$(arg led)"/>
|
||||
@@ -32,10 +33,20 @@
|
||||
<arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
|
||||
</include>
|
||||
|
||||
<node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>
|
||||
|
||||
<param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>
|
||||
|
||||
<!-- Clover services -->
|
||||
<include file="$(find clover)/launch/clover.launch">
|
||||
<arg name="simulator" value="true"/>
|
||||
<arg name="fcu_conn" value="sitl"/>
|
||||
<arg name="fcu_ip" value="127.0.0.1"/>
|
||||
<arg name="gcs_bridge" value=""/>
|
||||
<arg name="rc" default="false"/>
|
||||
<arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
|
||||
<arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
|
||||
<arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
|
||||
<arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
|
||||
</include>
|
||||
</launch>
|
||||
|
||||
1693
clover_simulation/models/aruco_cmit_txt/aruco_model.sdf
Normal file
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
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|
After Width: | Height: | Size: 93 B |
|
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|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 93 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |
|
After Width: | Height: | Size: 94 B |