Merge branch 'master' into 22

* docs: Add translation of the article about assembling clover 4_2 WS

* Minor fix

* docs: Add new renders and update article

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

.markdownlint.json

@@ -21,6 +21,7 @@
             "ROS",
             "ROS Kinetic",
             "ROS Melodic",
+            "ROS Noetic",
             "OpenCV",
             "OpenVPN",
             "Gazebo",

.travis.yml

@@ -5,7 +5,7 @@ services:
   - docker
 env:
   global:
-    - DOCKER="sfalexrog/img-tool:qemu-update"
+    - DOCKER="sfalexrog/img-tool:qemu-aarch64"
     - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
     - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
     - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
@@ -68,6 +68,14 @@ jobs:
         - docker pull ${NATIVE_DOCKER}
       script:
         - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
+    - stage: Build
+      name: "Native Noetic build"
+      env:
+        - NATIVE_DOCKER=ros:noetic-ros-base
+      before_script:
+        - docker pull ${NATIVE_DOCKER}
+      script:
+        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
     - stage: Build
       name: "Documentation"
       language: node_js

README.md

@@ -25,7 +25,7 @@ Preconfigured image for Raspberry Pi with installed and configured software, rea
 Image features:
 
 * Raspbian Buster
-* [ROS Melodic](http://wiki.ros.org/melodic)
+* [ROS Noetic](http://wiki.ros.org/noetic)
 * Configured networking
 * OpenCV
 * [`mavros`](http://wiki.ros.org/mavros)

aruco_pose/CMakeLists.txt

@@ -22,13 +22,21 @@ find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure
 )
 
-find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
+# Workaround for OpenCV 3/4 support
+set(_opencv_version 4)
+find_package(OpenCV ${_opencv_version} QUIET COMPONENTS core imgproc calib3d)
+if (NOT OpenCV_FOUND)
+  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
+  set(_opencv_version 3)
+endif()
+
+find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS core imgproc calib3d)
 if ("${OpenCV_VERSION_MINOR}" LESS "9")
   message(STATUS "OpenCV version too low, using vendored ArUco package")
   include(vendor/VendorOpenCV.cmake)
 else()
   message(STATUS "Using system OpenCV ArUco package")
-  find_package(OpenCV 3 REQUIRED COMPONENTS aruco)
+  find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS aruco)
 endif()
 message(STATUS "OpenCV include dirs: ${OpenCV_INCLUDE_DIRS}")
 message(STATUS "OpenCV libraries: ${OpenCV_LIBRARIES}")
@@ -172,6 +180,13 @@ target_link_libraries(aruco_pose
   ${OpenCV_LIBRARIES}
 )
 
+# Prevent aruco_pose from having undefined symbols
+set_property(TARGET aruco_pose
+  APPEND
+  PROPERTY LINK_FLAGS
+  -Wl,--no-undefined
+)
+
 #############
 ## Install ##
 #############
@@ -207,6 +222,10 @@ target_link_libraries(aruco_pose
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+catkin_install_python(PROGRAMS src/genmap.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 #############
 ## Testing ##
 #############

aruco_pose/src/aruco_detect.cpp

@@ -110,17 +110,14 @@ public:
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);
 
-		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
+		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
+		dyn_srv_->setCallback(std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2));
+
 		debug_pub_ = it_priv.advertise("debug", 1);
 		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
 		img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
-
-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
-		dynamic_reconfigure::Server<aruco_pose::DetectorConfig>::CallbackType cb;
-
-		cb = std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
-		dyn_srv_->setCallback(cb);
+		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
 
 		NODELET_INFO("ready");
 	}

aruco_pose/src/aruco_map.cpp

@@ -124,6 +124,11 @@ public:
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1, true);
 		debug_pub_ = it_priv.advertise("debug", 1);
 
+		publishMarkersFrames();
+		publishMarkers();
+		publishMapImage();
+		vis_markers_pub_.publish(vis_array_);
+
 		image_sub_.subscribe(nh_, "image_raw", 1);
 		info_sub_.subscribe(nh_, "camera_info", 1);
 		markers_sub_.subscribe(nh_, "markers", 1);
@@ -131,11 +136,6 @@ public:
 		sync_.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(10), image_sub_, info_sub_, markers_sub_));
 		sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));
 
-		publishMarkersFrames();
-		publishMarkers();
-		publishMapImage();
-		vis_markers_pub_.publish(vis_array_);
-
 		NODELET_INFO("ready");
 	}
 

aruco_pose/src/draw.cpp

@@ -3,26 +3,11 @@
 
 #include "draw.h"
 #include <math.h>
+#include <vector>
 
 using namespace cv;
 using namespace cv::aruco;
 
-static void _cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
-                       const CvMat* translation_vector, const CvMat* camera_matrix,
-                       const CvMat* distortion_coeffs, CvMat* image_points,
-                       CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
-                       CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
-                       CvMat* dpddist CV_DEFAULT(NULL),
-                       double aspect_ratio CV_DEFAULT(0));
-
-static void _projectPoints( InputArray objectPoints,
-                    InputArray rvec, InputArray tvec,
-                    InputArray cameraMatrix, InputArray distCoeffs,
-                    OutputArray imagePoints,
-                    OutputArray jacobian = noArray(),
-                    double aspectRatio = 0 );
-
-
 void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
                       int borderBits, bool drawAxis) {
 
@@ -142,35 +127,194 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
 	}
 }
 
-/* Draw a (potentially partially visible) line. */
-static void linePartial(InputOutputArray image, Point3f p1, Point3f p2, const Scalar& color,
-                        int thickness = 1, int lineType = LINE_8, int shift = 0)
+/**
+ * @brief Convert point coordinates from world space to camera space.
+ *
+ * @param points A vector of points in world space.
+ * @param rvec Rotation matrix or Rodrigues rotation vector.
+ * @param tvec Translation vector from world to camera space.
+ *
+ * @return A vector of points in camera space.
+ */
+template<typename CvPointType>
+static std::vector<CvPointType> worldToCamera(const std::vector<CvPointType>& points,
+                                              const cv::Mat& rvec, const cv::Mat& tvec)
 {
-	// If both points are behind the screen, don't draw anything
-	if (p1.z <= 0 && p2.z <= 0) {
-		return;
+	// We operate with CV_64F matrices internally to avoid precision loss
+	cv::Mat rvec_64f;
+	cv::Mat tvec_64f;
+	rvec.convertTo(rvec_64f, CV_64F);
+	tvec.convertTo(tvec_64f, CV_64F);
+
+	// Convert Rodrigues vector to rotation matrix
+	cv::Mat rmat;
+	if ((rvec_64f.cols == 3 && rvec_64f.rows == 1) ||
+	    (rvec_64f.cols == 1 && rvec_64f.rows == 3))
+	{
+		Rodrigues(rvec_64f, rmat);
 	}
-	Point2f p1p{p1.x, p1.y};
-	Point2f p2p{p2.x, p2.y};
-	// If points are on the different sides of the plane, compute intersection point
-	if (p1.z * p2.z < 0) {
-		// Compute intersection point with the screen
-		// We denote alpha as such:
-		// xi = (1 - alpha) * x1 + alpha * x2
-		// yi = (1 - alpha) * y1 + alpha * y2
-		// zi = (1 - alpha) * z1 + alpha * z2 = 0
-		// Thus, alpha can be expressed as
-		// alpha = z1 / (z1 - z2)
-		float alpha = p1.z / (p1.z - p2.z);
-		Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
-		// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
-		if (p1.z < 0) {
-			p1p = pi;
-		} else {
-			p2p = pi;
-		}
+	else
+	{
+		rmat = rvec_64f.clone();
 	}
-	line(image, p1p, p2p, color, thickness, lineType, shift);
+	// Make sure tvec has a size of (3, 1)
+	if (tvec_64f.rows == 1)
+	{
+		tvec_64f = tvec_64f.t();
+	}
+	std::vector<CvPointType> result;
+	result.reserve(points.size());
+	for(const auto& point : points)
+	{
+		// Calculate point coordinates in camera frame
+		// static_casts are here to silence potential narrowing conversion warnings
+		CvPointType camPoint{
+			static_cast<decltype(CvPointType::x)>(point.x * rmat.at<double>(0,0) + point.y * rmat.at<double>(0,1) + point.z * rmat.at<double>(0,2) + tvec_64f.at<double>(0)),
+			static_cast<decltype(CvPointType::y)>(point.x * rmat.at<double>(1,0) + point.y * rmat.at<double>(1,1) + point.z * rmat.at<double>(1,2) + tvec_64f.at<double>(1)),
+			static_cast<decltype(CvPointType::z)>(point.x * rmat.at<double>(2,0) + point.y * rmat.at<double>(2,1) + point.z * rmat.at<double>(2,2) + tvec_64f.at<double>(2))
+		};
+		result.push_back(camPoint);
+	}
+	return result;
+}
+
+/**
+ * @brief Project points from camera space to screen space, applying distortion in the process.
+ *
+ * @param points A vector of points in camera space.
+ * @param cameraMatrix OpenCV intrinsic camera matrix.
+ * @param distCoeffs OpenCV distortion model coefficients.
+ *
+ * @return A vector of points in screen space.
+ */
+template<typename CvPointType>
+static std::vector<CvPointType> cameraToScreen(const std::vector<CvPointType>& points,
+                                               const cv::Mat& cameraMatrix,
+                                               const cv::Mat& distCoeffs)
+{
+	// We operate with CV_64F matrices internally to avoid precision loss
+	cv::Mat cm_64f; // camera matrix, CV_64F
+	cv::Mat dc_64f; // distortion coefficients, CV_64F
+	cameraMatrix.convertTo(cm_64f, CV_64F);
+	distCoeffs.convertTo(dc_64f, CV_64F);
+
+	// Make sure distortion vector has a size of (N, 1)
+	if (dc_64f.rows == 1)
+	{
+		dc_64f = dc_64f.t();
+	}
+
+	// We will always use 12 distortion coefficients,
+	// and we can safely pad missing ones with zeroes
+	dc_64f.resize(12, 0.0);
+
+	std::vector<CvPointType> result;
+	result.reserve(points.size());
+
+	for(const auto& point : points)
+	{
+		// Apply perspective projection, preserving initial Z coordinate
+		// Always use double-precision
+		cv::Point3d camPoint{
+			point.x / point.z,
+			point.y / point.z,
+			point.z
+		};
+
+		// Apply distortion
+		// Note that we do not consider tilted sensor distortion
+		// r^2 - distance from the image center squared
+		double r2 = camPoint.x * camPoint.x + camPoint.y * camPoint.y;
+		// r^4 - same, but to the 4th power
+		double r4 = r2 * r2;
+		// r^6 - same, but to the 6th power
+		double r6 = r4 * r2;
+		// tg1 - first tangential shift factor (2 * x * y)
+		double tg1 = 2 * camPoint.x * camPoint.y;
+		// tg2 - second tangential shift factor (r^2 + 2 * x^2)
+		double tg2 = r2 + 2 * camPoint.x * camPoint.x;
+		// tg3 - third tangential shift factor (r^2 + 2 * y^2)
+		double tg3 = r2 + 2 * camPoint.y * camPoint.y;
+		// polynomial distortion factor (numerator)
+		double pndist = 1 + dc_64f.at<double>(0) * r2 + dc_64f.at<double>(1) * r4 + dc_64f.at<double>(4) * r6;
+		// polynomial distortion factror (denominator)
+		double pddist = 1.0 / (1 + dc_64f.at<double>(5) * r2 + dc_64f.at<double>(6) * r4 + dc_64f.at<double>(7) * r6);
+		// Distorted point coordinates (always double-precision)
+		cv::Point3d distortedPoint{
+			camPoint.x * pndist * pddist + dc_64f.at<double>(2) * tg1 + dc_64f.at<double>(3) * tg2 + dc_64f.at<double>(8) * r2 + dc_64f.at<double>(9) * r4,
+			camPoint.y * pndist * pddist + dc_64f.at<double>(2) * tg3 + dc_64f.at<double>(3) * tg1 + dc_64f.at<double>(10) * r2 + dc_64f.at<double>(11) * r4,
+			camPoint.z
+		};
+
+		// Convert to screen space
+		// We use static_cast here to silence potential warnings about narrowing conversions
+		// (we expect that to be the case)
+		CvPointType screenPoint{
+			static_cast<decltype(CvPointType::x)>(distortedPoint.x * cm_64f.at<double>(0, 0) + cm_64f.at<double>(0, 2)),
+			static_cast<decltype(CvPointType::y)>(distortedPoint.y * cm_64f.at<double>(1, 1) + cm_64f.at<double>(1, 2)),
+			static_cast<decltype(CvPointType::z)>(distortedPoint.z)
+		};
+
+		result.push_back(screenPoint);
+	}
+	return result;
+}
+
+/**
+ * @brief Clip a line against a clip plane.
+ *
+ * This function "clips" a line (described by two points in *camera space*)
+ * against a clip plane that is `clipPlaneDistance` meters away from the
+ * camera focal point. If both points are further away from the focal point
+ * than `clipPlaneDistance`, they will be returned unmodified. If one of the
+ * points is behind the clipping plane, a point *on* the clipping plane will
+ * be computed and returned as one of the points.
+ *
+ * If none of the points are visible, an empty vector will be returned.
+ *
+ * @param p1 First point on the line, in camera space.
+ * @param p2 Second point on the line, in camera space.
+ * @param clipPlaneDistance Distance from the focal point to the clipping plane.
+ * @return A vector of zero or two points on the clipped line, in camera space.
+ */
+static std::vector<Point3f> lineClip(Point3f p1, Point3f p2, float clipPlaneDistance = 0.1f)
+{
+	// We don't need to compute an intersection if both points are
+	// behind us
+	if (p1.z < clipPlaneDistance && p2.z < clipPlaneDistance)
+	{
+		return {};
+	}
+	// We don't need to compute an intersection if both points are
+	// in front of us
+	if (p1.z > clipPlaneDistance && p2.z > clipPlaneDistance)
+	{
+		return {p1, p2};
+	}
+	// We don't really want to compute an intersection if both Z coordinates
+	// are sufficiently close to each other
+	if (std::abs(p1.z - p2.z) < 0.0001) // The number here is chosen arbitrarily
+	{
+		return {p1, p2};
+	}
+	// We compute the intersection as such:
+	// zi = (1 - alpha) * p1.z + alpha * p2.z = clipPlaneDistance
+	// alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z)
+	double alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z);
+	Point3f clipPlanePoint{
+		static_cast<float>((1 - alpha) * p1.x + alpha * p2.x),
+		static_cast<float>((1 - alpha) * p1.y + alpha * p2.y),
+		clipPlaneDistance
+	};
+	if (p1.z < clipPlaneDistance)
+	{
+		return {clipPlanePoint, p2};
+	}
+	else
+	{
+		return {p1, clipPlanePoint};
+	}
+	// Unreachable?
 }
 
 void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
@@ -186,647 +330,23 @@ void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _di
 	axisPoints.push_back(Point3f(length, 0, 0));
 	axisPoints.push_back(Point3f(0, length, 0));
 	axisPoints.push_back(Point3f(0, 0, length));
-	std::vector<Point3f> imagePointsZ;
-	_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
-
-	// draw axis lines
-	linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
-	linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
-	linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
-}
-
-static CvMat _cvMat(const cv::Mat& m)
-{
-	CvMat self;
-	CV_DbgAssert(m.dims <= 2);
-	self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
-	self.step = (int)m.step[0];
-	self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
-	return self;
-}
-
-static void _projectPoints( InputArray _opoints,
-                        InputArray _rvec,
-                        InputArray _tvec,
-                        InputArray _cameraMatrix,
-                        InputArray _distCoeffs,
-                        OutputArray _ipoints,
-                        OutputArray _jacobian,
-                        double aspectRatio )
-{
-	Mat opoints = _opoints.getMat();
-	int npoints = opoints.checkVector(3), depth = opoints.depth();
-	CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
-
-	CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
-	CvMat *pdpdrot = 0, *pdpdt = 0, *pdpdf = 0, *pdpdc = 0, *pdpddist = 0;
-
-	CV_Assert(_ipoints.needed());
-
-	_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
-	Mat imagePoints = _ipoints.getMat();
-	CvMat c_imagePoints = _cvMat(imagePoints);
-	CvMat c_objectPoints = _cvMat(opoints);
-	Mat cameraMatrix = _cameraMatrix.getMat();
-
-	Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
-	CvMat c_cameraMatrix = _cvMat(cameraMatrix);
-	CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
-
-	double dc0buf[5] = {0};
-	Mat dc0(5, 1, CV_64F, dc0buf);
-	Mat distCoeffs = _distCoeffs.getMat();
-	if (distCoeffs.empty())
-		distCoeffs = dc0;
-	CvMat c_distCoeffs = _cvMat(distCoeffs);
-	int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
-
-	Mat jacobian;
-	if (_jacobian.needed())
+	auto camAxisPoints = worldToCamera(axisPoints, _rvec.getMat(), _tvec.getMat());
+	auto axisX = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[1]), _cameraMatrix.getMat(), _distCoeffs.getMat());
+	auto axisY = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[2]), _cameraMatrix.getMat(), _distCoeffs.getMat());
+	auto axisZ = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[3]), _cameraMatrix.getMat(), _distCoeffs.getMat());
+	if (axisX.size() > 0)
 	{
-		_jacobian.create(npoints * 2, 3 + 3 + 2 + 2 + ndistCoeffs, CV_64F);
-		jacobian = _jacobian.getMat();
-		pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
-		pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
-		pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
-		pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
-		pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10 + ndistCoeffs)));
+		line(_image, Point2f{axisX[0].x, axisX[0].y}, Point2f{axisX[1].x, axisX[1].y},
+			Scalar(0, 0, 255), 3);
+	}
+	if (axisY.size() > 0)
+	{
+		line(_image, Point2f{axisY[0].x, axisY[0].y}, Point2f{axisY[1].x, axisY[1].y},
+			Scalar(0, 255, 0), 3);
+	}
+	if (axisZ.size() > 0)
+	{
+		line(_image, Point2f{axisZ[0].x, axisZ[0].y}, Point2f{axisZ[1].x, axisZ[1].y},
+			Scalar(255, 0, 0), 3);
 	}
-
-	_cvProjectPoints2(&c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
-					  &c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio);
-}
-
-namespace _detail
-{
-    template <typename FLOAT>
-    void computeTiltProjectionMatrix(FLOAT tauX,
-                                     FLOAT tauY,
-                                     Matx<FLOAT, 3, 3>* matTilt = 0,
-                                     Matx<FLOAT, 3, 3>* dMatTiltdTauX = 0,
-                                     Matx<FLOAT, 3, 3>* dMatTiltdTauY = 0,
-                                     Matx<FLOAT, 3, 3>* invMatTilt = 0)
-    {
-        FLOAT cTauX = cos(tauX);
-        FLOAT sTauX = sin(tauX);
-        FLOAT cTauY = cos(tauY);
-        FLOAT sTauY = sin(tauY);
-        Matx<FLOAT, 3, 3> matRotX = Matx<FLOAT, 3, 3>(1,0,0,0,cTauX,sTauX,0,-sTauX,cTauX);
-        Matx<FLOAT, 3, 3> matRotY = Matx<FLOAT, 3, 3>(cTauY,0,-sTauY,0,1,0,sTauY,0,cTauY);
-        Matx<FLOAT, 3, 3> matRotXY = matRotY * matRotX;
-        Matx<FLOAT, 3, 3> matProjZ = Matx<FLOAT, 3, 3>(matRotXY(2,2),0,-matRotXY(0,2),0,matRotXY(2,2),-matRotXY(1,2),0,0,1);
-        if (matTilt)
-        {
-            // Matrix for trapezoidal distortion of tilted image sensor
-            *matTilt = matProjZ * matRotXY;
-        }
-        if (dMatTiltdTauX)
-        {
-            // Derivative with respect to tauX
-            Matx<FLOAT, 3, 3> dMatRotXYdTauX = matRotY * Matx<FLOAT, 3, 3>(0,0,0,0,-sTauX,cTauX,0,-cTauX,-sTauX);
-            Matx<FLOAT, 3, 3> dMatProjZdTauX = Matx<FLOAT, 3, 3>(dMatRotXYdTauX(2,2),0,-dMatRotXYdTauX(0,2),
-                                                                 0,dMatRotXYdTauX(2,2),-dMatRotXYdTauX(1,2),0,0,0);
-            *dMatTiltdTauX = (matProjZ * dMatRotXYdTauX) + (dMatProjZdTauX * matRotXY);
-        }
-        if (dMatTiltdTauY)
-        {
-            // Derivative with respect to tauY
-            Matx<FLOAT, 3, 3> dMatRotXYdTauY = Matx<FLOAT, 3, 3>(-sTauY,0,-cTauY,0,0,0,cTauY,0,-sTauY) * matRotX;
-            Matx<FLOAT, 3, 3> dMatProjZdTauY = Matx<FLOAT, 3, 3>(dMatRotXYdTauY(2,2),0,-dMatRotXYdTauY(0,2),
-                                                                 0,dMatRotXYdTauY(2,2),-dMatRotXYdTauY(1,2),0,0,0);
-            *dMatTiltdTauY = (matProjZ * dMatRotXYdTauY) + (dMatProjZdTauY * matRotXY);
-        }
-        if (invMatTilt)
-        {
-            FLOAT inv = 1./matRotXY(2,2);
-            Matx<FLOAT, 3, 3> invMatProjZ = Matx<FLOAT, 3, 3>(inv,0,inv*matRotXY(0,2),0,inv,inv*matRotXY(1,2),0,0,1);
-            *invMatTilt = matRotXY.t()*invMatProjZ;
-        }
-    }
-}
-
-static const char* cvDistCoeffErr = "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8, 8x1, 1x12, 12x1, 1x14 or 14x1 floating-point vector";
-
-static void _cvProjectPoints2Internal( const CvMat* objectPoints,
-                                      const CvMat* r_vec,
-                                      const CvMat* t_vec,
-                                      const CvMat* A,
-                                      const CvMat* distCoeffs,
-                                      CvMat* imagePoints, CvMat* dpdr CV_DEFAULT(NULL),
-                                      CvMat* dpdt CV_DEFAULT(NULL), CvMat* dpdf CV_DEFAULT(NULL),
-                                      CvMat* dpdc CV_DEFAULT(NULL), CvMat* dpdk CV_DEFAULT(NULL),
-                                      CvMat* dpdo CV_DEFAULT(NULL),
-                                      double aspectRatio CV_DEFAULT(0) )
-{
-    Ptr<CvMat> matM, _m;
-    Ptr<CvMat> _dpdr, _dpdt, _dpdc, _dpdf, _dpdk;
-    Ptr<CvMat> _dpdo;
-
-    int i, j, count;
-    int calc_derivatives;
-    const CvPoint3D64f* M;
-    CvPoint3D64f* m;
-    double r[3], R[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
-    Matx33d matTilt = Matx33d::eye();
-    Matx33d dMatTiltdTauX(0,0,0,0,0,0,0,-1,0);
-    Matx33d dMatTiltdTauY(0,0,0,0,0,0,1,0,0);
-    CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
-    CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
-    double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
-    double* dpdo_p = 0;
-    int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
-    int dpdo_step = 0;
-    bool fixedAspectRatio = aspectRatio > FLT_EPSILON;
-
-    if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(r_vec) ||
-        !CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
-        /*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) )
-        CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" );
-
-    int total = objectPoints->rows * objectPoints->cols * CV_MAT_CN(objectPoints->type);
-    if(total % 3 != 0)
-    {
-        //we have stopped support of homogeneous coordinates because it cause ambiguity in interpretation of the input data
-        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
-    }
-    count = total / 3;
-
-    if( CV_IS_CONT_MAT(objectPoints->type) &&
-        (CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
-        ((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
-         (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3) ||
-         (objectPoints->rows == 3 && CV_MAT_CN(objectPoints->type) == 1 && objectPoints->cols == count)))
-    {
-        matM.reset(cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) ));
-        cvConvert(objectPoints, matM);
-    }
-    else
-    {
-//        matM = cvCreateMat( 1, count, CV_64FC3 );
-//        cvConvertPointsHomogeneous( objectPoints, matM );
-        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
-    }
-
-    if( CV_IS_CONT_MAT(imagePoints->type) &&
-        (CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
-        ((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 3) ||
-         (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 3) ||
-         (imagePoints->rows == 3 && CV_MAT_CN(imagePoints->type) == 1 && imagePoints->cols == count)))
-    {
-        _m.reset(cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) ));
-        cvConvert(imagePoints, _m);
-    }
-    else
-    {
-//        _m = cvCreateMat( 1, count, CV_64FC2 );
-        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
-    }
-
-    M = (CvPoint3D64f*)matM->data.db;
-    m = (CvPoint3D64f*)_m->data.db;
-
-    if( (CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F) ||
-        (((r_vec->rows != 1 && r_vec->cols != 1) ||
-          r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
-         ((r_vec->rows != 3 && r_vec->cols != 3) || CV_MAT_CN(r_vec->type) != 1)))
-        CV_Error( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
-                                "floating-point rotation vector, or 3x3 rotation matrix" );
-
-    if( r_vec->rows == 3 && r_vec->cols == 3 )
-    {
-        _r = cvMat( 3, 1, CV_64FC1, r );
-        cvRodrigues2( r_vec, &_r );
-        cvRodrigues2( &_r, &matR, &_dRdr );
-        cvCopy( r_vec, &matR );
-    }
-    else
-    {
-        _r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
-        cvConvert( r_vec, &_r );
-        cvRodrigues2( &_r, &matR, &_dRdr );
-    }
-
-    if( (CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F) ||
-        (t_vec->rows != 1 && t_vec->cols != 1) ||
-        t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
-        CV_Error( CV_StsBadArg,
-                  "Translation vector must be 1x3 or 3x1 floating-point vector" );
-
-    _t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
-    cvConvert( t_vec, &_t );
-
-    if( (CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1) ||
-        A->rows != 3 || A->cols != 3 )
-        CV_Error( CV_StsBadArg, "Instrinsic parameters must be 3x3 floating-point matrix" );
-
-    cvConvert( A, &_a );
-    fx = a[0]; fy = a[4];
-    cx = a[2]; cy = a[5];
-
-    if( fixedAspectRatio )
-        fx = fy*aspectRatio;
-
-    if( distCoeffs )
-    {
-        if( !CV_IS_MAT(distCoeffs) ||
-            (CV_MAT_DEPTH(distCoeffs->type) != CV_64F &&
-             CV_MAT_DEPTH(distCoeffs->type) != CV_32F) ||
-            (distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
-            (distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
-             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5 &&
-             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8 &&
-             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 12 &&
-             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 14) )
-            CV_Error( CV_StsBadArg, cvDistCoeffErr );
-
-        _k = cvMat( distCoeffs->rows, distCoeffs->cols,
-                    CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k );
-        cvConvert( distCoeffs, &_k );
-        if(k[12] != 0 || k[13] != 0)
-        {
-            _detail::computeTiltProjectionMatrix(k[12], k[13],
-                                                &matTilt, &dMatTiltdTauX, &dMatTiltdTauY);
-        }
-    }
-
-    if( dpdr )
-    {
-        if( !CV_IS_MAT(dpdr) ||
-            (CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
-             CV_MAT_TYPE(dpdr->type) != CV_64FC1) ||
-            dpdr->rows != count*2 || dpdr->cols != 3 )
-            CV_Error( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
-
-        if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
-        {
-            _dpdr.reset(cvCloneMat(dpdr));
-        }
-        else
-            _dpdr.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
-        dpdr_p = _dpdr->data.db;
-        dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
-    }
-
-    if( dpdt )
-    {
-        if( !CV_IS_MAT(dpdt) ||
-            (CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
-             CV_MAT_TYPE(dpdt->type) != CV_64FC1) ||
-            dpdt->rows != count*2 || dpdt->cols != 3 )
-            CV_Error( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
-
-        if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
-        {
-            _dpdt.reset(cvCloneMat(dpdt));
-        }
-        else
-            _dpdt.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
-        dpdt_p = _dpdt->data.db;
-        dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
-    }
-
-    if( dpdf )
-    {
-        if( !CV_IS_MAT(dpdf) ||
-            (CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1) ||
-            dpdf->rows != count*2 || dpdf->cols != 2 )
-            CV_Error( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
-
-        if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
-        {
-            _dpdf.reset(cvCloneMat(dpdf));
-        }
-        else
-            _dpdf.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
-        dpdf_p = _dpdf->data.db;
-        dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
-    }
-
-    if( dpdc )
-    {
-        if( !CV_IS_MAT(dpdc) ||
-            (CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1) ||
-            dpdc->rows != count*2 || dpdc->cols != 2 )
-            CV_Error( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
-
-        if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
-        {
-            _dpdc.reset(cvCloneMat(dpdc));
-        }
-        else
-            _dpdc.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
-        dpdc_p = _dpdc->data.db;
-        dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
-    }
-
-    if( dpdk )
-    {
-        if( !CV_IS_MAT(dpdk) ||
-            (CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
-            dpdk->rows != count*2 || (dpdk->cols != 14 && dpdk->cols != 12 && dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
-            CV_Error( CV_StsBadArg, "dp/df must be 2Nx14, 2Nx12, 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
-
-        if( !distCoeffs )
-            CV_Error( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
-
-        if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
-        {
-            _dpdk.reset(cvCloneMat(dpdk));
-        }
-        else
-            _dpdk.reset(cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
-        dpdk_p = _dpdk->data.db;
-        dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
-    }
-
-    if( dpdo )
-    {
-        if( !CV_IS_MAT( dpdo ) || ( CV_MAT_TYPE( dpdo->type ) != CV_32FC1
-                                    && CV_MAT_TYPE( dpdo->type ) != CV_64FC1 )
-            || dpdo->rows != count * 2 || dpdo->cols != count * 3 )
-            CV_Error( CV_StsBadArg, "dp/do must be 2Nx3N floating-point matrix" );
-
-        if( CV_MAT_TYPE( dpdo->type ) == CV_64FC1 )
-        {
-            _dpdo.reset( cvCloneMat( dpdo ) );
-        }
-        else
-            _dpdo.reset( cvCreateMat( 2 * count, 3 * count, CV_64FC1 ) );
-        cvZero(_dpdo);
-        dpdo_p = _dpdo->data.db;
-        dpdo_step = _dpdo->step / sizeof( dpdo_p[0] );
-    }
-
-    calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk || dpdo;
-
-    for( i = 0; i < count; i++ )
-    {
-        double X = M[i].x, Y = M[i].y, Z = M[i].z;
-        double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
-        double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
-        double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
-        double r2, r4, r6, a1, a2, a3, cdist, icdist2;
-        double xd, yd, xd0, yd0, invProj;
-        Vec3d vecTilt;
-        Vec3d dVecTilt;
-        Matx22d dMatTilt;
-        Vec2d dXdYd;
-
-        double z0 = z;
-        z = z ? 1./z : 1;
-        x *= z; y *= z;
-
-        r2 = x*x + y*y;
-        r4 = r2*r2;
-        r6 = r4*r2;
-        a1 = 2*x*y;
-        a2 = r2 + 2*x*x;
-        a3 = r2 + 2*y*y;
-        cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
-        icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
-        xd0 = x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
-        yd0 = y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
-
-        // additional distortion by projecting onto a tilt plane
-        vecTilt = matTilt*Vec3d(xd0, yd0, 1);
-        invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
-        xd = invProj * vecTilt(0);
-        yd = invProj * vecTilt(1);
-
-        m[i].x = xd*fx + cx;
-        m[i].y = yd*fy + cy;
-        m[i].z = z; // Just put the projected Z coordinate here, we mainly care about the sign
-
-        if( calc_derivatives )
-        {
-            if( dpdc_p )
-            {
-                dpdc_p[0] = 1; dpdc_p[1] = 0; // dp_xdc_x; dp_xdc_y
-                dpdc_p[dpdc_step] = 0;
-                dpdc_p[dpdc_step+1] = 1;
-                dpdc_p += dpdc_step*2;
-            }
-
-            if( dpdf_p )
-            {
-                if( fixedAspectRatio )
-                {
-                    dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio; // dp_xdf_x; dp_xdf_y
-                    dpdf_p[dpdf_step] = 0;
-                    dpdf_p[dpdf_step+1] = yd;
-                }
-                else
-                {
-                    dpdf_p[0] = xd; dpdf_p[1] = 0;
-                    dpdf_p[dpdf_step] = 0;
-                    dpdf_p[dpdf_step+1] = yd;
-                }
-                dpdf_p += dpdf_step*2;
-            }
-            for (int row = 0; row < 2; ++row)
-                for (int col = 0; col < 2; ++col)
-                    dMatTilt(row,col) = matTilt(row,col)*vecTilt(2)
-                                        - matTilt(2,col)*vecTilt(row);
-            double invProjSquare = (invProj*invProj);
-            dMatTilt *= invProjSquare;
-            if( dpdk_p )
-            {
-                dXdYd = dMatTilt*Vec2d(x*icdist2*r2, y*icdist2*r2);
-                dpdk_p[0] = fx*dXdYd(0);
-                dpdk_p[dpdk_step] = fy*dXdYd(1);
-                dXdYd = dMatTilt*Vec2d(x*icdist2*r4, y*icdist2*r4);
-                dpdk_p[1] = fx*dXdYd(0);
-                dpdk_p[dpdk_step+1] = fy*dXdYd(1);
-                if( _dpdk->cols > 2 )
-                {
-                    dXdYd = dMatTilt*Vec2d(a1, a3);
-                    dpdk_p[2] = fx*dXdYd(0);
-                    dpdk_p[dpdk_step+2] = fy*dXdYd(1);
-                    dXdYd = dMatTilt*Vec2d(a2, a1);
-                    dpdk_p[3] = fx*dXdYd(0);
-                    dpdk_p[dpdk_step+3] = fy*dXdYd(1);
-                    if( _dpdk->cols > 4 )
-                    {
-                        dXdYd = dMatTilt*Vec2d(x*icdist2*r6, y*icdist2*r6);
-                        dpdk_p[4] = fx*dXdYd(0);
-                        dpdk_p[dpdk_step+4] = fy*dXdYd(1);
-
-                        if( _dpdk->cols > 5 )
-                        {
-                            dXdYd = dMatTilt*Vec2d(
-                                    x*cdist*(-icdist2)*icdist2*r2, y*cdist*(-icdist2)*icdist2*r2);
-                            dpdk_p[5] = fx*dXdYd(0);
-                            dpdk_p[dpdk_step+5] = fy*dXdYd(1);
-                            dXdYd = dMatTilt*Vec2d(
-                                    x*cdist*(-icdist2)*icdist2*r4, y*cdist*(-icdist2)*icdist2*r4);
-                            dpdk_p[6] = fx*dXdYd(0);
-                            dpdk_p[dpdk_step+6] = fy*dXdYd(1);
-                            dXdYd = dMatTilt*Vec2d(
-                                    x*cdist*(-icdist2)*icdist2*r6, y*cdist*(-icdist2)*icdist2*r6);
-                            dpdk_p[7] = fx*dXdYd(0);
-                            dpdk_p[dpdk_step+7] = fy*dXdYd(1);
-                            if( _dpdk->cols > 8 )
-                            {
-                                dXdYd = dMatTilt*Vec2d(r2, 0);
-                                dpdk_p[8] = fx*dXdYd(0); //s1
-                                dpdk_p[dpdk_step+8] = fy*dXdYd(1); //s1
-                                dXdYd = dMatTilt*Vec2d(r4, 0);
-                                dpdk_p[9] = fx*dXdYd(0); //s2
-                                dpdk_p[dpdk_step+9] = fy*dXdYd(1); //s2
-                                dXdYd = dMatTilt*Vec2d(0, r2);
-                                dpdk_p[10] = fx*dXdYd(0);//s3
-                                dpdk_p[dpdk_step+10] = fy*dXdYd(1); //s3
-                                dXdYd = dMatTilt*Vec2d(0, r4);
-                                dpdk_p[11] = fx*dXdYd(0);//s4
-                                dpdk_p[dpdk_step+11] = fy*dXdYd(1); //s4
-                                if( _dpdk->cols > 12 )
-                                {
-                                    dVecTilt = dMatTiltdTauX * Vec3d(xd0, yd0, 1);
-                                    dpdk_p[12] = fx * invProjSquare * (
-                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
-                                    dpdk_p[dpdk_step+12] = fy*invProjSquare * (
-                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
-                                    dVecTilt = dMatTiltdTauY * Vec3d(xd0, yd0, 1);
-                                    dpdk_p[13] = fx * invProjSquare * (
-                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
-                                    dpdk_p[dpdk_step+13] = fy * invProjSquare * (
-                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
-                                }
-                            }
-                        }
-                    }
-                }
-                dpdk_p += dpdk_step*2;
-            }
-
-            if( dpdt_p )
-            {
-                double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
-                for( j = 0; j < 3; j++ )
-                {
-                    double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
-                    double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt + 3*k[4]*r4*dr2dt;
-                    double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
-                    double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
-                    double dmxdt = (dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
-                                    k[2]*da1dt + k[3]*(dr2dt + 4*x*dxdt[j]) + k[8]*dr2dt + 2*r2*k[9]*dr2dt);
-                    double dmydt = (dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
-                                    k[2]*(dr2dt + 4*y*dydt[j]) + k[3]*da1dt + k[10]*dr2dt + 2*r2*k[11]*dr2dt);
-                    dXdYd = dMatTilt*Vec2d(dmxdt, dmydt);
-                    dpdt_p[j] = fx*dXdYd(0);
-                    dpdt_p[dpdt_step+j] = fy*dXdYd(1);
-                }
-                dpdt_p += dpdt_step*2;
-            }
-
-            if( dpdr_p )
-            {
-                double dx0dr[] =
-                        {
-                                X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
-                                X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
-                                X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
-                        };
-                double dy0dr[] =
-                        {
-                                X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
-                                X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
-                                X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
-                        };
-                double dz0dr[] =
-                        {
-                                X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
-                                X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
-                                X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
-                        };
-                for( j = 0; j < 3; j++ )
-                {
-                    double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
-                    double dydr = z*(dy0dr[j] - y*dz0dr[j]);
-                    double dr2dr = 2*x*dxdr + 2*y*dydr;
-                    double dcdist_dr = (k[0] + 2*k[1]*r2 + 3*k[4]*r4)*dr2dr;
-                    double dicdist2_dr = -icdist2*icdist2*(k[5] + 2*k[6]*r2 + 3*k[7]*r4)*dr2dr;
-                    double da1dr = 2*(x*dydr + y*dxdr);
-                    double dmxdr = (dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
-                                    k[2]*da1dr + k[3]*(dr2dr + 4*x*dxdr) + (k[8] + 2*r2*k[9])*dr2dr);
-                    double dmydr = (dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
-                                    k[2]*(dr2dr + 4*y*dydr) + k[3]*da1dr + (k[10] + 2*r2*k[11])*dr2dr);
-                    dXdYd = dMatTilt*Vec2d(dmxdr, dmydr);
-                    dpdr_p[j] = fx*dXdYd(0);
-                    dpdr_p[dpdr_step+j] = fy*dXdYd(1);
-                }
-                dpdr_p += dpdr_step*2;
-            }
-
-            if( dpdo_p )
-            {
-                double dxdo[] = { z * ( R[0] - x * z * z0 * R[6] ),
-                                  z * ( R[1] - x * z * z0 * R[7] ),
-                                  z * ( R[2] - x * z * z0 * R[8] ) };
-                double dydo[] = { z * ( R[3] - y * z * z0 * R[6] ),
-                                  z * ( R[4] - y * z * z0 * R[7] ),
-                                  z * ( R[5] - y * z * z0 * R[8] ) };
-                for( j = 0; j < 3; j++ )
-                {
-                    double dr2do = 2 * x * dxdo[j] + 2 * y * dydo[j];
-                    double dr4do = 2 * r2 * dr2do;
-                    double dr6do = 3 * r4 * dr2do;
-                    double da1do = 2 * y * dxdo[j] + 2 * x * dydo[j];
-                    double da2do = dr2do + 4 * x * dxdo[j];
-                    double da3do = dr2do + 4 * y * dydo[j];
-                    double dcdist_do
-                            = k[0] * dr2do + k[1] * dr4do + k[4] * dr6do;
-                    double dicdist2_do = -icdist2 * icdist2
-                                         * ( k[5] * dr2do + k[6] * dr4do + k[7] * dr6do );
-                    double dxd0_do = cdist * icdist2 * dxdo[j]
-                                     + x * icdist2 * dcdist_do + x * cdist * dicdist2_do
-                                     + k[2] * da1do + k[3] * da2do + k[8] * dr2do
-                                     + k[9] * dr4do;
-                    double dyd0_do = cdist * icdist2 * dydo[j]
-                                     + y * icdist2 * dcdist_do + y * cdist * dicdist2_do
-                                     + k[2] * da3do + k[3] * da1do + k[10] * dr2do
-                                     + k[11] * dr4do;
-                    dXdYd = dMatTilt * Vec2d( dxd0_do, dyd0_do );
-                    dpdo_p[i * 3 + j] = fx * dXdYd( 0 );
-                    dpdo_p[dpdo_step + i * 3 + j] = fy * dXdYd( 1 );
-                }
-                dpdo_p += dpdo_step * 2;
-            }
-        }
-    }
-
-    if( _m != imagePoints )
-        cvConvert( _m, imagePoints );
-
-    if( _dpdr != dpdr )
-        cvConvert( _dpdr, dpdr );
-
-    if( _dpdt != dpdt )
-        cvConvert( _dpdt, dpdt );
-
-    if( _dpdf != dpdf )
-        cvConvert( _dpdf, dpdf );
-
-    if( _dpdc != dpdc )
-        cvConvert( _dpdc, dpdc );
-
-    if( _dpdk != dpdk )
-        cvConvert( _dpdk, dpdk );
-
-    if( _dpdo != dpdo )
-        cvConvert( _dpdo, dpdo );
-}
-
-static void _cvProjectPoints2( const CvMat* objectPoints,
-                        const CvMat* r_vec,
-                        const CvMat* t_vec,
-                        const CvMat* A,
-                        const CvMat* distCoeffs,
-                        CvMat* imagePoints, CvMat* dpdr,
-                        CvMat* dpdt, CvMat* dpdf,
-                        CvMat* dpdc, CvMat* dpdk,
-                        double aspectRatio )
-{
-    _cvProjectPoints2Internal( objectPoints, r_vec, t_vec, A, distCoeffs, imagePoints, dpdr, dpdt,
-                               dpdf, dpdc, dpdk, NULL, aspectRatio );
 }

aruco_pose/src/genmap.py

@@ -13,7 +13,7 @@
 Generate map file for aruco_map nodelet.
 
 Usage:
-  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left] [-o <filename>]
   genmap.py (-h | --help)
 
 Options:
@@ -27,6 +27,7 @@ Options:
   <y0>           Y coordinate for the first marker [default: 0]
   --top-left     First marker is on top-left (default)
   --bottom-left  First marker is on bottom-left
+  -o <filename>  Output map file name in the 'map' subdirectory of aruco_pose package
 
 Example:
   rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
@@ -34,6 +35,8 @@ Example:
 
 from __future__ import print_function
 
+import sys
+from os import path
 from docopt import docopt
 
 
@@ -49,14 +52,19 @@ dist_x = float(arguments['<dist_x>'])
 dist_y = float(arguments['<dist_y>'])
 bottom_left = arguments['--bottom-left']
 
+if arguments['-o'] is None:
+    output = sys.stdout
+else:
+    output = open(path.join(path.dirname(__file__), '..', 'map', arguments['-o']), 'w')
+
 max_y = y0 + (markers_y - 1) * dist_y
 
-print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
+output.write('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x\n')
 for y in range(markers_y):
     for x in range(markers_x):
         pos_x = x0 + x * dist_x
         pos_y = y0 + y * dist_y
         if not bottom_left:
             pos_y = max_y - pos_y
-        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
+        output.write('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\n'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1

aruco_pose/vendor/VendorOpenCV.cmake

@@ -7,6 +7,7 @@ endif()
 
 message(STATUS "Adding vendored aruco_pose OpenCV module")
 add_library(_opencv_aruco STATIC
+  vendor/aruco/src/apriltag_quad_thresh.cpp
   vendor/aruco/src/aruco.cpp
   vendor/aruco/src/charuco.cpp
   vendor/aruco/src/dictionary.cpp
@@ -23,7 +24,7 @@ target_compile_definitions(_opencv_aruco PRIVATE
   CV_OVERRIDE=override
 )
 target_compile_options(_opencv_aruco PRIVATE
-  -fpic -fPIC
+  -fpic -fPIC -fvisibility=hidden
 )
 
 target_include_directories(_opencv_aruco PUBLIC

aruco_pose/vendor/aruco/src/apriltag_quad_thresh.cpp

@@ -94,7 +94,7 @@ void ptsort_(struct pt *pts, int sz)
 
     // Use stack storage if it's not too big.
     cv::AutoBuffer<struct pt, 1024> _tmp_stack(sz);
-    memcpy(_tmp_stack.data(), pts, sizeof(struct pt) * sz);
+    memcpy(_tmp_stack, pts, sizeof(struct pt) * sz);
 
     int asz = sz/2;
     int bsz = sz - asz;
@@ -470,11 +470,11 @@ int quad_segment_agg(int sz, struct line_fit_pt *lfps, int indices[4]){
     int rvalloc_pos = 0;
     int rvalloc_size = 3*sz;
     cv::AutoBuffer<struct remove_vertex, 0> rvalloc_(std::max(1, rvalloc_size));
-    memset(rvalloc_.data(), 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
-    struct remove_vertex *rvalloc = rvalloc_.data();
+    memset(rvalloc_, 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
+    struct remove_vertex *rvalloc = rvalloc_;
     cv::AutoBuffer<struct segment, 0> segs_(std::max(1, sz)); // TODO Add AutoBuffer zero fill
-    memset(segs_.data(), 0, sizeof(segs_[0]) * segs_.size());
-    struct segment *segs = segs_.data();
+    memset(segs_, 0, sizeof(segs_[0]) * segs_.size());
+    struct segment *segs = segs_;
 
     // populate with initial entries
     for (int i = 0; i < sz; i++) {
@@ -753,8 +753,8 @@ int fit_quad(const Ptr<DetectorParameters> &_params, const Mat im, zarray_t *clu
     // efficiently computed for any contiguous range of indices.
 
     cv::AutoBuffer<struct line_fit_pt, 64> lfps_(sz);
-    memset(lfps_.data(), 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
-    struct line_fit_pt *lfps = lfps_.data();
+    memset(lfps_, 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
+    struct line_fit_pt *lfps = lfps_;
 
     for (int i = 0; i < sz; i++) {
         struct pt *p;

builder/assets/clever/setup.py

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

builder/assets/noetic-rosdep-clover.yaml

@@ -0,0 +1,18 @@
+async_web_server_cpp:
+  debian:
+    buster: [ros-noetic-async-web-server-cpp]
+led_msgs:
+  debian:
+    buster: [ros-noetic-led-msgs]
+ros_pytest:
+  debian:
+    buster: [ros-noetic-ros-pytest]
+tf2_web_republisher:
+  debian:
+    buster: [ros-noetic-tf2-web-republisher]
+web_video_server:
+  debian:
+    buster: [ros-noetic-web-video-server]
+ws281x:
+  debian:
+    buster: [ros-noetic-ws281x]

builder/assets/roscore.service

@@ -3,7 +3,7 @@ Description=Launcher for the ROS master, parameter server and rosout logging nod
 
 [Service]
 User=pi
-ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
+ExecStart=/bin/sh -c ". /opt/ros/noetic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
 Restart=on-failure
 RestartSec=3
 

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_arm64/images/raspios_lite_arm64-2020-08-24/2020-08-20-raspios-buster-arm64-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -116,7 +116,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # Clover
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/melodic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'

builder/image-init.sh

@@ -55,7 +55,4 @@ echo_stamp "Set max space for syslogs"
 # https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
 sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
 
-echo_stamp "Move /etc/ld.so.preload out of the way"
-mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
-
 echo_stamp "End of init image"

builder/image-ros.sh

@@ -21,6 +21,9 @@ INSTALL_ROS_PACK_SOURCES=$3
 DISCOVER_ROS_PACK=$4
 NUMBER_THREADS=$5
 
+# Current ROS distribution
+ROS_DISTRO=noetic
+
 echo_stamp() {
   # TEMPLATE: echo_stamp <TEXT> <TYPE>
   # TYPE: SUCCESS, ERROR, INFO
@@ -68,7 +71,8 @@ my_travis_retry() {
 # TODO: 'kinetic-rosdep-clover.yaml' should add only if we use our repo?
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
-echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+# FIXME: Re-add this after missing packages are built
+echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
@@ -80,16 +84,32 @@ echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
 cd /home/pi/catkin_ws/src/clover
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
+# This is sort of a hack to force "custom" packages to be installed - the ones built by COEX, linked against OpenCV 4.2
+# I **wish** OpenCV would not be such a mess, but, well, here we are.
+echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
+apt install -y --no-install-recommends \
+ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
+ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
+ros-${ROS_DISTRO}-cv-camera=0.5.0-0buster \
+ros-${ROS_DISTRO}-image-publisher=1.15.2-0buster \
+ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
+apt-mark hold \
+ros-${ROS_DISTRO}-compressed-image-transport \
+ros-${ROS_DISTRO}-cv-bridge \
+ros-${ROS_DISTRO}-cv-camera \
+ros-${ROS_DISTRO}-image-publisher \
+ros-${ROS_DISTRO}-web-video-server
+
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
 # Don't try to install gazebo_ros
-my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro melodic --os=debian:buster \
+my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=debian:buster \
   --skip-keys=gazebo_ros --skip-keys=gazebo_plugins
-my_travis_retry pip install wheel
-my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
-source /opt/ros/melodic/setup.bash
+my_travis_retry pip3 install wheel
+my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
+source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
+catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
 
 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -105,23 +125,18 @@ touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/w
 
 echo_stamp "Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
-    ros-melodic-dynamic-reconfigure \
-    ros-melodic-compressed-image-transport \
-    ros-melodic-rosbridge-suite \
-    ros-melodic-rosserial \
-    ros-melodic-usb-cam \
-    ros-melodic-vl53l1x \
-    ros-melodic-ws281x \
-    ros-melodic-rosshow
+    ros-${ROS_DISTRO}-dynamic-reconfigure \
+    ros-${ROS_DISTRO}-rosbridge-suite \
+    ros-${ROS_DISTRO}-rosserial \
+    ros-${ROS_DISTRO}-usb-cam \
+    ros-${ROS_DISTRO}-vl53l1x \
+    ros-${ROS_DISTRO}-ws281x \
+    ros-${ROS_DISTRO}-rosshow
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
 
-# FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
-# (note that Python 3 will still have a more recent version)
-pip install tornado==4.2.1
-
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws
 # FIXME: Investigate failing tests
@@ -138,7 +153,7 @@ cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
 export ROS_HOSTNAME=\`hostname\`.local
-source /opt/ros/melodic/setup.bash
+source /opt/ros/${ROS_DISTRO}/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 EOF
 

builder/image-software.sh

@@ -70,8 +70,8 @@ apt-get update \
 && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
-echo "deb http://deb.coex.tech/opencv3 buster main" > /etc/apt/sources.list.d/opencv3.list
-echo "deb http://deb.coex.tech/rpi-ros-melodic buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+echo "deb http://deb.coex.tech/opencv4 buster main" > /etc/apt/sources.list.d/opencv3.list
+echo "deb http://deb.coex.tech/ros buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
 echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list
 
 echo_stamp "Update apt cache"
@@ -96,21 +96,19 @@ dnsmasq  \
 tmux \
 vim \
 cmake \
-libjpeg8 \
 tcpdump \
-ltrace \
 libpoco-dev \
 libzbar0 \
-python-rosdep \
-python-rosinstall-generator \
-python-wstool \
-python-rosinstall \
+python3-rosdep \
+python3-rosinstall-generator \
+python3-wstool \
+python3-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak \
+espeak espeak-data python-espeak python3-espeak \
 ntpdate \
 python-dev \
 python3-dev \
@@ -142,7 +140,7 @@ my_travis_retry pip3 install butterfly[systemd]
 systemctl enable butterfly.socket
 
 echo_stamp "Install ws281x library"
-my_travis_retry pip install --prefer-binary rpi_ws281x
+my_travis_retry pip3 install --prefer-binary rpi_ws281x
 
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
@@ -151,11 +149,11 @@ systemctl enable monkey.service
 
 echo_stamp "Install Node.js"
 cd /home/pi
-wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
-tar -xzf node-v10.15.0-linux-armv6l.tar.gz
-cp -R node-v10.15.0-linux-armv6l/* /usr/local/
-rm -rf node-v10.15.0-linux-armv6l/
-rm node-v10.15.0-linux-armv6l.tar.gz
+wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-arm64.tar.gz
+tar -xzf node-v10.15.0-linux-arm64.tar.gz
+cp -R node-v10.15.0-linux-arm64/* /usr/local/
+rm -rf node-v10.15.0-linux-arm64/
+rm node-v10.15.0-linux-arm64.tar.gz
 
 echo_stamp "Installing ptvsd"
 my_travis_retry pip install ptvsd

builder/image-validate.sh

@@ -16,9 +16,9 @@ set -ex
 
 echo "Run image tests"
 
-export ROS_DISTRO='melodic'
+export ROS_DISTRO='noetic'
 export ROS_IP='127.0.0.1'
-source /opt/ros/melodic/setup.bash
+source /opt/ros/${ROS_DISTRO}/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 
 cd /home/pi/catkin_ws/src/clover/builder/test/
@@ -26,6 +26,3 @@ cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.py
 ./tests_py3.py
 [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
-
-echo "Move /etc/ld.so.preload back to its original position"
-mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload

builder/standalone-install.sh

@@ -6,20 +6,39 @@ set -e
 apt update
 apt install -y curl
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-python ./get-pip.py
+if [ "x${ROS_PYTHON_VERSION}" = "x3" ]; then
+  PYTHON=python3
+else
+  PYTHON=python
+fi
+
+${PYTHON} ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt
 curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 echo "deb http://deb.coex.tech/ros xenial main" > /etc/apt/sources.list.d/coex.tech.list
 echo "yaml file:///etc/ros/rosdep/coex.yaml" > /etc/ros/rosdep/sources.list.d/99-coex.list
+CODENAME=$(lsb_release -sc)
+
 cat <<EOF > /etc/ros/rosdep/coex.yaml
 led_msgs:
   ubuntu:
-    xenial: ros-kinetic-led-msgs
-    bionic: ros-melodic-led-msgs
-  debian:
-    stretch: ros-kinetic-led-msgs
-    buster: ros-melodic-led-msgs
+    ${CODENAME}: [ros-${ROS_DISTRO}-led-msgs]
+async_web_server_cpp:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-async-web-server-cpp]
+ros_pytest:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-ros-pytest]
+tf2_web_republisher:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-tf2-web-republisher]
+web_video_server:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-web-video-server]
+ws281x:
+  ubuntu:
+    ${CODENAME}: [ros-${ROS_DISTRO}-ws281x]
 EOF
 apt update
 rosdep update
@@ -37,7 +56,7 @@ cd /root/catkin_ws
 catkin_make
 
 # Step 4: Run tests
-pip install --upgrade pytest
+${PYTHON} -m pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results

builder/test/tests.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # validate all required modules installed
 
@@ -28,4 +28,4 @@ import pigpio
 from espeak import espeak
 from pyzbar import pyzbar
 
-print cv2.getBuildInformation()
+print(cv2.getBuildInformation())

builder/test/tests_clever.py

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

clover/CMakeLists.txt

@@ -30,7 +30,15 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 find_package(GeographicLib REQUIRED)
 
-find_package(OpenCV 3 REQUIRED
+# Workaround for OpenCV 3/4 support
+set(_opencv_version 4)
+find_package(OpenCV ${_opencv_version} QUIET COMPONENTS calib3d imgproc)
+if (NOT OpenCV_FOUND)
+  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
+  set(_opencv_version 3)
+endif()
+
+find_package(OpenCV ${_opencv_version} REQUIRED
   COMPONENTS
     calib3d
     imgproc
@@ -254,6 +262,10 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+catkin_install_python(PROGRAMS src/selfcheck.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)

clover/README.md

@@ -4,7 +4,7 @@ A bundle for autonomous navigation and drone control.
 
 ## Manual installation
 
-Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
+Install ROS Noetic according to the [documentation](http://wiki.ros.org/noetic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
 
 Clone this repo to directory `~/catkin_ws/src/clover`:
 

clover/launch/aruco.launch

@@ -2,30 +2,37 @@
     <arg name="aruco_detect" default="true"/>
     <arg name="aruco_map" default="false"/>
     <arg name="aruco_vpe" default="false"/>
+    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
+    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
+    <arg name="map" default="map.txt"/> <!-- markers map file name -->
 
     <!-- For additional help go to https://clover.coex.tech/aruco -->
 
     <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
-        <param name="known_tilt" value="map"/>
-        <param name="length" value="0.33"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="length" value="$(arg length)"/>
         <!-- aruco detector parameters -->
         <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
         <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
+        <!-- length override example: -->
+        <!-- <param name="length_override/3" value="0.1"/> -->
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
-        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
-        <param name="known_tilt" value="map"/>
+        <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>

clover/launch/clover.launch

@@ -37,7 +37,7 @@
     <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
 
     <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
@@ -45,7 +45,7 @@
     </node>
 
     <!-- main nodelet manager -->
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
         <param name="num_worker_threads" value="2"/>
     </node>
 

clover/launch/main_camera.launch

@@ -18,7 +18,7 @@
     <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->
 
     <!-- camera node -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)">
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)" respawn="true">
         <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
         <param name="frame_id" value="main_camera_optical"/>
         <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>

clover/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>clover</name>
   <version>0.0.1</version>
   <description>The Clover package</description>
@@ -37,7 +37,8 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>python-lxml</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->

clover/src/optical_flow.cpp

@@ -70,7 +70,6 @@ private:
 		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);
 		flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
 		velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
@@ -83,6 +82,8 @@ private:
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;
 
+		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
+
 		NODELET_INFO("Optical Flow initialized");
 	}
 

clover/src/selfcheck.py

@@ -138,7 +138,7 @@ def mavlink_exec(cmd, timeout=3.0):
         timeout=3,
         baudrate=0,
         count=len(cmd),
-        data=map(ord, cmd.ljust(70, '\0')))
+        data=[ord(c) for c in cmd.ljust(70, '\0')])
     msg.pack(link)
     ros_msg = mavlink.convert_to_rosmsg(msg)
     mavlink_pub.publish(ros_msg)
@@ -609,7 +609,7 @@ def check_rangefinder():
 
 @check('Boot duration')
 def check_boot_duration():
-    output = subprocess.check_output('systemd-analyze')
+    output = subprocess.check_output('systemd-analyze').decode()
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
     if duration > 15:
@@ -620,7 +620,7 @@ def check_boot_duration():
 def check_cpu_usage():
     WHITELIST = 'nodelet',
     CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
-    output = subprocess.check_output(CMD, shell=True)
+    output = subprocess.check_output(CMD, shell=True).decode()
     processes = output.split('\n')
     for process in processes:
         if not process:
@@ -636,7 +636,7 @@ def check_cpu_usage():
 def check_clover_service():
     try:
         output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
-                                         stderr=subprocess.STDOUT)
+                                         stderr=subprocess.STDOUT).decode()
     except subprocess.CalledProcessError as e:
         failure('systemctl returned %s: %s', e.returncode, e.output)
         return
@@ -751,7 +751,7 @@ def check_rpi_health():
         # <parameter>=<value>
         # In case of `get_throttled`, <value> is a hexadecimal number
         # with some of the FLAGs OR'ed together
-        output = subprocess.check_output(['vcgencmd', 'get_throttled'])
+        output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
     except OSError:
         failure('could not call vcgencmd binary; not a Raspberry Pi?')
         return

clover/src/simple_offboard.cpp

@@ -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");
 	}
 }

clover/test/basic.py

@@ -26,8 +26,13 @@ def test_simple_offboard_services_available():
     rospy.wait_for_service('land', timeout=5)
 
 def test_web_video_server(node):
-    import urllib2
-    urllib2.urlopen("http://localhost:8080").read()
+    try:
+        # Python 2
+        import urllib2 as urllib
+    except ModuleNotFoundError:
+        # Python 3
+        import urllib.request as urllib
+    urllib.urlopen("http://localhost:8080").read()
 
 def test_shell(node):
     execute = rospy.ServiceProxy('exec', srv.Execute)

clover_blocks/programs/examples/aruco-marker.xml

@@ -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">

clover_blocks/programs/examples/led-compass.xml

@@ -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>

clover_blocks/src/clover_blocks

@@ -111,7 +111,7 @@ def run(req):
                 'print': _print,
                 'raw_input': _input}
             try:
-                exec req.code in g
+                exec(req.code, g)
             except Stop:
                 rospy.loginfo('Program forced to stop')
             except Exception as e:

clover_blocks/www/blocks.js

@@ -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');
 	}
 };

clover_blocks/www/index.html

@@ -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">

clover_blocks/www/python.js

@@ -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();
@@ -388,29 +391,48 @@ Blockly.Python.set_led = function(block) {
 
 	if (/^'(.*)'$/.test(colorCode)) { // is simple string
 		let color = parseColor(colorCode);
-		return `set_leds([LEDState(index=${index}, r=${color.r}, g=${color.g}, b=${color.b})])\n`;
+		return `set_leds([LEDState(index=int(${index}), r=${color.r}, g=${color.g}, b=${color.b})])\n`; // TODO: check for simple int
 	} else {
 		let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
 		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode}))])\n`;
 	}
 }
 
+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`;
+}

clover_simulation/src/clover_simulation/__init__.py

@@ -88,6 +88,6 @@ def aruco_gen():
                     off_x + marker.x, off_y + marker.y, off_z + marker.z,
                     marker.roll, marker.pitch, marker.yaw)
 
-        output = open(source_world, 'w') if inplace else stdout
+        output = open(source_world, 'wb') if inplace else stdout
 
         save_world(world_tree, output)

docs/assets/sphere_guard/sphere_13.svg

@@ -0,0 +1,801 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 23.0.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Слой_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 429 547.11" style="enable-background:new 0 0 429 547.11;" xml:space="preserve">
+<style type="text/css">
+	.st0{enable-background:new    ;}
+	.st1{fill:none;stroke:#000000;stroke-width:0.51;stroke-miterlimit:10;}
+	.st2{fill:none;stroke:#000000;stroke-width:0.51;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:10;}
+	.st3{fill:none;stroke:#000000;stroke-width:0.709;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:10;}
+</style>
+<g class="st0">
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+	l-0.15-0.01l-0.2,0.01l-0.64,0.07l-0.86,0.15l-1.02,0.2 M582.3,477.47l-0.05,0.01l-1.07,0.24l-0.94,0.23l-0.71,0.21l-0.29,0.11
+	l-0.18,0.1l-0.18,0.14l-0.19,0.23l-0.14,0.34l-0.02,0.4l0.03,0.1 M586.62,480.11l-0.46-2.17 M578.53,479.58l0.46,2.16
+	 M581.95,487.06l0.46,2.15 M586.58,488.36l-0.47-2.2 M581.28,493.05l0.11,0.53 M589.29,491.88l-0.11-0.53 M581.39,493.58l0.25,0.24
+	l0.26,0.22l0.28,0.2l0.29,0.18l0.31,0.16l0.32,0.14l0.33,0.11l0.33,0.09 M587.68,494.08l0.27-0.22l0.25-0.24l0.23-0.25l0.21-0.27
+	l0.19-0.29l0.17-0.3l0.15-0.31l0.13-0.32 M200.01,486.03l-0.4,2.02 M203.78,488.82l0.39-1.96 M197,491.26l-0.11,0.53 M204.82,493.38
+	l0.1-0.53 M196.9,491.8l0.13,0.32l0.15,0.31l0.18,0.3l0.2,0.28l0.22,0.27l0.24,0.25l0.26,0.23l0.27,0.21 M202.45,494.76l0.33-0.09
+	l0.32-0.12l0.32-0.14l0.31-0.16l0.29-0.18l0.28-0.2l0.26-0.23l0.24-0.24"/>
+<line class="st3" x1="170.27" y1="510.35" x2="170.27" y2="510.35"/>
+</svg>

docs/en/SUMMARY.md

@@ -5,6 +5,7 @@
 * [Safety tips](safety.md)
 * [Assembly](assembly.md)
   * [Clover 4.2 assembly](assemble_4_2.md)
+  * [Clover 4.2 WorldSkills](assemble_4_2_ws.md)
   * [Clover 4 assembly](assemble_4.md)
   * [Clover 3 assembly](assemble_3.md)
   * [Clover 2 assembly](assemble_2.md)
@@ -84,6 +85,7 @@
   * [LED strip (legacy)](leds_old.md)
   * [Contribution Guidelines](contributing.md)
   * [Migration to v0.20](migrate20.md)
+  * [Migration to v0.22](migrate22.md)
 * [Clover-based projects](projects.md)
   * [Drone show](clever-show.md)
   * [Innopolis Open 2020 (L22_ÆRO)](innopolis_open_L22_AERO.md)

docs/en/aruco_map.md

@@ -1,5 +1,9 @@
 # Map-based navigation with ArUco markers
 
+> **Note** The following applies to [image versions](image.md) **0.22** and up. Older documentation is still available for [for version **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/en/aruco_map.md).
+
+<!-- -->
+
 > **Info** Marker detection requires the camera module to be correctly plugged in and [configured](camera_setup.md).
 
 <!-- -->
@@ -39,18 +43,19 @@ marker_id marker_size x y z z_angle y_angle x_angle
 
 `N_angle` is the angle of rotation along the `N` axis in radians.
 
-Map path is defined in the `map` parameter:
+Файлы карт располагаются в каталоге `~/catkin_ws/src/clover/aruco_pose/map`. Название файла с картой задается в аргументе `map`:
+Map files are located at the `~/catkin_ws/src/clover/aruco_pose/map` directory. Map file name is defined in the `map` argument:
 
 ```xml
-<param name="map" value="$(find aruco_pose)/map/map.txt"/>
+<arg name="map" default="map.txt"/>
 ```
 
-Some map examples are provided in [`~/catkin_ws/src/clover/aruco_pose/map`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
+Some map examples are provided in [the directory](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
 
 Grid maps may be generated using the `genmap.py` script:
 
 ```bash
-rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
+rosrun aruco_pose genmap.py length x y dist_x dist_y first -o test_map.txt
 ```
 
 `length` is the size of each marker, `x` is the marker count along the *x* axis, `y` is the marker count along the *y* axis, `dist_x` is the distance between the centers of adjacent markers along the *x* axis, `dist_y` is the distance between the centers of the *y* axis, `first` is the ID of the first marker (top left marker, unless `--bottom-left` is specified), `test_map.txt` is the name of the generated map file. The optional `--bottom-left` parameter changes the numbering of markers, making the bottom left marker the first one.
@@ -58,7 +63,7 @@ rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clo
 Usage example:
 
 ```bash
-rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
+rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
 ```
 
 Additional information on the utility can be obtained using `-h` key: `rosrun aruco_pose genmap.py -h`.
@@ -152,10 +157,10 @@ If the drone's altitude is not stable, try increasing the `MPC_Z_VEL_P` paramete
 
 In order to navigate using markers on the ceiling, mount the onboard camera so that it points up and [adjust the camera frame accordingly](camera_setup.md).
 
-You should also set the `known_tilt` parameter to `map_flipped` in both `aruco_detect` and `aruco_map` sections of `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
+You should also set the `placement` parameter to `ceilin` in `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
 
 ```xml
-<param name="known_tilt" value="map_flipped"/>
+<arg name="placement" default="ceiling"/>
 ```
 
 This will flip the `aruco_map` frame (making its **<font color=blue>z</font>** axis point downward). Thus, in order to fly 2 metres below ceiling, the `z` argument for the `navigate` service should be set to 2:

docs/en/aruco_marker.md

@@ -1,5 +1,9 @@
 # ArUco marker detection
 
+> **Note** The following applies to [image versions](image.md) **0.22** and up. Older documentation is still available for [for version **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/en/aruco_marker.md).
+
+<!-- -->
+
 > **Info** Marker detection requires the camera module to be correctly plugged in and [configured](camera.md).
 
 `aruco_detect` module detects ArUco markers and publishes their positions in ROS topics and as [TF frames](frames.md).
@@ -22,22 +26,20 @@ For enabling detection set the `aruco_detect` argument in `~/catkin_ws/src/clove
 <arg name="aruco_detect" default="true"/>
 ```
 
-For the module to work correctly the following parameters should be set:
+For the module to work correctly the following arguments should also be set:
 
 ```xml
-<param name="length" value="0.32"/>          <!-- length of a single marker, in meters (excluding the white border) -->
-<param name="estimate_poses" value="true"/>  <!-- position estimation for single markers -->
-<param name="send_tf" value="true"/>         <!-- TF frame creation for markers -->
-<param name="known_tilt" value="map"/>       <!-- Marker tilt, explained below -->
+<arg name="placement" default="floor"/> <!-- markers' placement, explained below  -->
+<arg name="length" default="0.33"/>     <!-- length of a single marker, in meters (excluding the white border) -->
 ```
 
-`known_tilt` should be set to:
+`placement` argument should be set to:
 
-* `map` if *all* markers are on the ground;
-* `map_flipped` if *all* markers are on the ceiling;
+* `floor` if *all* markers are on the ground;
+* `ceiling` if *all* markers are on the ceiling;
 * an empty string otherwise.
 
-You may specify length for each marker individually by using the `length_override` parameter:
+You may specify length for each marker individually by using the `length_override` parameter of the node `aruco_detect`:
 
 ```xml
 <param name="length_override/3" value="0.1"/>    <!-- marker with id=3 has a side of 0.1m -->
@@ -98,9 +100,9 @@ rospy.init_node('my_node')
 # ...
 
 def markers_callback(msg):
-    print 'Detected markers:':
+    print('Detected markers:'):
     for marker in msg.markers:
-        print 'Marker: %s' % marker
+        print('Marker: %s' % marker)
 
 # Create a Subscription object. Each time a message is posted in aruco_detect/markers, the markers_callback function is called with this message as its argument.
 rospy.Subscriber('aruco_detect/markers', MarkerArray, markers_callback)

docs/en/assemble_4_2_ws.md

@@ -0,0 +1,352 @@
+# Clover 4 assembly
+
+## Fasteners size
+
+> **Hint** During assembly, screws and racks of various sizes are used, using fasteners of the wrong size can damage the copter.
+
+<table class="type_table">
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/m3x10.png" width=70 class="center"></td>
+        <td>Screw M3x10</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/aluminium_40.png" width=100 class="center"></td>
+        <td>Aluminium rack 40mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/m3x8.png" width=60 class="center"></td>
+        <td>Screw M3x8</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/aluminium_20.png" width=70 class="center"></td>
+        <td>Aluminium rack 15mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/m3x5.png" width=40 class="center"></td>
+        <td>Screw M3x5</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/htp-40.png" width=100 class="center"></td>
+        <td>Nylon rack 40mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/m2x5.png" width=40 class="center"></td>
+        <td>Screw M2x5</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/htp-30.png" width=80 class="center"></td>
+        <td>Nylon rack 30mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/nut_metal.png" width=25 class="center"></td>
+        <td> Nut M3 (self-locking)</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/htp-20.png" width=70 class="center"></td>
+        <td>Nylon rack 20mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/nut_nylon.png" width=25 class="center"></td>
+        <td> Nut M3 (nylon)</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/htp-15.png" width=60 class="center"></td>
+        <td>Nylon rack 15mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/dumper.png" width=50 class="center"></td>
+        <td>Damper rack</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/hts-6.png" width=50 class="center"></td>
+        <td> Nylon rack 6mm</td>
+    </tr>
+</table>
+
+## Frame Assembly
+
+1. Align the 4 beams with the center deck, fix them with the M3x8 screws and self-locking nuts.
+
+    <div class="image-group">
+        <img src="../assets/assembling_clever4_2/frame_1.png" width=300 class="zoom border">
+        <img src="../assets/assembling_clever4_2/frame_2.png" width=300 class="zoom border">
+    </div>
+
+2. Install 2 15mm posts on the center holes in the main deck and fix them with the M3x8 screws.
+
+    <img src="../assets/assembling_clever4_2/frame_3.png" width=300 class="zoom border center">
+
+3. Install the stiffener hook into the groove in the beam.
+
+    <img src="../assets/assembling_clever4_2/frame_4.png" width=300 class="zoom border center">
+
+4. Hold the stiffeners tight to the main deck.
+
+    <img src="../assets/assembling_clever4_2/frame_5.png" width=300 class="zoom border center">
+
+5. Tighten the stiffeners with a small carbon deck.
+
+    <img src="../assets/assembling_clever4_2/frame_6.png" width=300 class="zoom border center">
+
+6. Install 4 6mm nylon posts and fix them with the M3x5 screws.
+
+    <img src="../assets/assembling_clever4_2/frame_7.png" width=300 class="zoom border center">
+
+## Installing of motors
+
+1. When installing motors, pay attention to the rotation scheme of the motors. The rotation mark on the motors must match the rotation scheme.
+
+    <img id="prop_rotation" src="../assets/assembling_clever4/props_rotation.png" width=300 class="zoom border center">
+
+2. Mount the motor on the corresponding holes in the beam using **M3x5 screws**.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/motor_1.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/motor_2.png" width=300 class="zoom border">
+    </div>
+
+> **Caution** Make sure that the motors are secured with M3x5 screws, otherwise a short circuit between the windings may occur.
+
+## Installing ESC and PDB
+
+1. Install the Power Distribution Board (PDB) on the pre-mounted stands, it must be installed with the power cable pointing towards the rear of the aircraft.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_1.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_2.png" width=300 class="zoom border">
+    </div>
+
+2. Install the speed controllers (ESC) to the appropriate positions on the beam.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_3.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_4.png" width=300 class="zoom border">
+    </div>
+
+3. Tighten the speed controllers (ESC) with cable ties.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/esc_5.png" width=300 class="zoom border center">
+
+4. Measure out the required amount of ESC power wire, and cut off the excess.
+
+5. Strip and tin the cut wires
+
+6. Tin the contact pads on the power distribution board.
+
+7. Solder the ESC power wires to the power distribution board.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_5.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_6.png" width=300 class="zoom border">
+    </div>
+
+     > **Caution** Be careful with the pin signatures on the board. The red wire should go to the site with the signature *+*, and the black one to the signature *-*.
+
+8. Cut off the excess phase cable coming from the motors.
+
+9. Strip and tin the phase cables.
+
+10. Tin the contact pads of the governors.
+
+11. Solder the phase cables to the contact pads of the regulators in any order.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_7.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_8.png" width=300 class="zoom border">
+    </div>
+
+12. Solder 3 female JST connectors to *5V* pads and *bat+* pad
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_9.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_10.png" width=300 class="zoom border">
+    </div>
+
+## Installing the flight controller
+
+The *Clover 4* set allows you to install various flight controllers, for example *COEX Pix* and *Pixracer*.
+
+> **Caution** When installing the flight controller, pay attention to the arrow located on the board, when installing it must be directed towards the nose of the aircraft.
+
+### COEX Pix
+
+> **Hint** Before installing the damper struts, screw in 2 layers of nylon nuts for a stronger hold or bite off excess threads with side cutters.
+
+1. Secure the power distribution board with nylon nuts and mount the damper posts on top.
+
+2. Install the flight controller and secure with nylon nuts.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_pix_1.png" width=300 class="zoom border center">
+
+3. Insert the flash card for logging into the flight controller.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_pix_2.png" width=300 class="zoom border center">
+
+### Pixracer
+
+1. Secure the power distribution board with 6mm nylon struts.
+
+2. Install the small mounting deck and secure with nylon nuts.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_fc_1.png" width=300 class="zoom border center">
+
+3. Glue 3-4 layers of double-sided tape, glue it in the center of the small deck and place the *Pixracer* on top.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_fc_2.png" width=300 class="zoom border center">
+
+4. Insert the MicroSD card into the flight controller.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_fc_3.png" width=300 class="zoom border center">
+
+## Connecting a flight controller
+
+1. Connect the ESCs to the flight controller according to the scheme.
+
+    <img src="../assets/assembling_soldering_clever_4/fc_connection_1.png" width=300 class="zoom border center">
+
+2. Connect the power cable to the power distribution board (PDB) and the corresponding connector on the flight controller.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/fc_connection_2.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/fc_connection_3.png" width=300 class="zoom border">
+    </div>
+
+3. Install the 40mm aluminum posts onto the M3x12 screws.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/fc_connection_4.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/fc_connection_5.png" width=300 class="zoom border">
+    </div>
+
+## Installing Raspberry Pi
+
+1. Place the 20 mm and 40 mm posts on the mounting deck, fix them with M3x8 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_1.png" width=300 class="zoom border center">
+
+2. Use an M3x12 bolt to cut M3 carving in the Raspberry Pi mounting holes.
+
+3. Screw the 6mm racks into the Raspberry Pi board, secure them with nylon nuts if necessary.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_2.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_3.png" width=300 class="zoom border">
+    </div>
+
+4. Mount the Raspberry Pi onto the mounting deck using M3x6 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_4.png" width=300 class="zoom border center">
+
+5. Install the assembled module into the corresponding slots on the main deck of the drone.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_5.png" width=300 class="zoom border center">
+
+6. Plug the 5V JST into the corresponding power pins on the Raspberry Pi.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_6.png" width=300 class="zoom border center">
+
+7. Take 4 Dupont wires, cut 5–7 cm of cable and solder to the corresponding pins of the rangefinder.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_7.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_8.png" width=300 class="zoom border">
+    </div>
+
+    | Wire | Rangefinder pin |
+    |------|-----------------|
+    | <font color=red>Red</font> | 5v |
+    | <font color=black>Black</font> | GND |
+    | <font color=yellow>Yellow</font> | SDA |
+    | <font color=green>Green</font> | SCL |
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_9.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_10.png" width=300 class="zoom border">
+    </div>
+
+8. Install the rangefinder on the grip deck and glue the radio to the 3M tape.
+
+    > **Caution** Install the rangefinder so that the nuts do not rest directly on the board. With this installation, if there is a high probability of damaging the board elements.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_11.png" width=300 class="zoom border center">
+
+9. Install 4 20mm nylon posts and fix them with M3x8 bolts.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_12.png" width=300 class="zoom border center">
+
+10. Place the camera on the small mounting deck and secure it with two short self-tapping screws.
+
+    > **Caution** If you attach the camera to the upper right corner and the screw head touches the element on the camera, the camera will not work.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_13.png" width=300 class="zoom border center">
+
+11. Place the small mounting deck with the camera on the stands and secure with the M3x8 bolts.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_14.png" width=300 class="zoom border center">
+
+12. Place the assembled module over the Raspberry Pi module and fix it with M3x8 bolts.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_15.png" width=300 class="zoom border center">
+
+13. Connect the camera and Raspberry Pi with a ribbon cable.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_16.png" width=300 class="zoom border center">
+
+14. Connect the rangefinder to the Raspberry Pi into the appropriate pins.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_17.png" width=300 class="zoom border center">
+
+15. Connect the radio and the flight controller with a 4-pin cable.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_18.png" width=300 class="zoom border center">
+
+## Installing LED strip and legs
+
+1. Assemble the hoop for the LED strip by locking the ends together.
+
+    <img src="../assets/assembling_soldering_clever_4/led_1.png" width=300 class="zoom border center">
+
+2. Solder the JST male to the power pad and the Dupont-female to the signal pad.
+
+    <img src="../assets/assembling_soldering_clever_4/led_2.png" width=300 class="zoom border center">
+
+3. Stick the LED strip to the hoop, for greater strength, tighten it with 3-4 clamps.
+
+    <img src="../assets/assembling_soldering_clever_4/led_3.png" width=300 class="zoom border center">
+
+4. Install the feet on the stiffener plate with self-locking nuts and M3x8 screws only using the outermost mounting holes. From below, between the plates of the legs, install a damper silicone ring.
+
+    <img src="../assets/assembling_soldering_clever_4/led_4.png" width=300 class="zoom border center">
+
+5. Bend the legs back and install the hoop with the LED strip in the special groove on them, so that the connection cables exit from the tail side of the copter.
+
+    <img src="../assets/assembling_soldering_clever_4/led_5.png" width=300 class="zoom border center">
+
+6. Secure the legs with self-locking nuts and M3x8 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/led_6.png" width=300 class="zoom border center">
+
+7. Connect the LED strip power to the JST 5V connector on the power distribution board.
+
+    <img src="../assets/assembling_soldering_clever_4/led_7.png" width=300 class="zoom border center">
+
+8. Connect the signal output of the LED strip in the Raspberry Ri to pin *GPIO21*.
+
+    <img src="../assets/assembling_soldering_clever_4/led_8.png" width=300 class="zoom border center">
+
+9. Install the mounting deck and secure it with M3x8 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/led_9.png" width=300 class="zoom border center">
+
+## Setting protection
+
+1. Assemble the lower level of protection using 40mm posts and M3x12 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/guard_1.png" width=300 class="zoom border center">
+
+2. Assemble the upper layer of protection using the M3x12 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/guard_2.png" width=300 class="zoom border center">
+
+3. Install the protection and fix it to the beams with self-locking nuts and M3x8 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/guard_3.png" width=300 class="zoom border center">
+
+4. Connect the flight controller to your Raspberry Pi using the USB cable.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/guard_4.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/guard_5.png" width=300 class="zoom border">
+    </div>
+
+5. Install the battery strap.
+
+    <img src="../assets/assembling_soldering_clever_4/guard_6.png" width=300 class="zoom border center">
+
+> **Success** The drone is assembled, next perform the ["setup"](setup.md) step.

docs/en/assembly.md

@@ -5,13 +5,12 @@ This section contains articles describing the assembly of each version of Clover
 <table class=versions>
      <tr><th>Version</th><th>Image</th></tr>
      <tr>
-          <td><a href="assemble_4_2.md">Clover&nbsp;4.2</a></td>
-          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
+          <td>
+               <a href="assemble_4_2.md">Clover&nbsp;4.2</a>
+               <div class=subversion>(<a href="assemble_4_2_ws.md">4.2&nbsp;WorldSkills</a>)</div>
+          </td>
+          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4_2.jpg" width=200></a></td>
      </tr>
-     <!-- <tr>
-          <td><a href="assemble_4_1.md">Clover&nbsp;4.1</a></td>
-          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
-     </tr> -->
      <tr>
           <td><a href="assemble_4.md">Clover&nbsp;4</a></td>
           <td><a href="assemble_4.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>

docs/en/auto_setup.md

@@ -126,7 +126,7 @@ Ctrl+C
 Start a program `myprogram.py` using Python:
 
 ```bash
-python myprogram.py
+python3 myprogram.py
 ```
 
 Journal of the events related to `clover` package. Scroll the list by pressing Enter or Ctrl+V (scrolls faster):
@@ -411,7 +411,7 @@ The easiest way to send the program is to copy the content of the program, creat
 - Run the program:
 
   ```bash
-  python my_program.py
+  python3 my_program.py
   ```
 
   > **Warning** After completion of the program , the drone can land incorrectly and continue to fly over the floor. In this case, you need to intercept control.

docs/en/blocks.md

@@ -108,3 +108,14 @@ The block allows to set animations to LED strip, similarly to [`set_effect`](led
 Example of using the block with a random color (colors-related blocks are located in *Colour* category):
 
 <img src="../assets/blocks/random-color.png" srcset="../assets/blocks/random-color.png 2x">
+
+### Work with GPIO {#GPIO}
+
+<span style="padding:2px;color:white;background:#5b97cc">GPIO</span> category contains blocks for working with GPIO. Note, that for correct work of these blocks, `pigpiod` daemon should be running:
+
+```bash
+sudo systemctl enable pigpiod.service
+sudo systemctl start pigpiod.service
+```
+
+See details on GPIO in the [appropriate article](gpio.md).

docs/en/camera.md

@@ -138,7 +138,7 @@ def image_callback(data):
         (x, y, w, h) = barcode.rect
         xc = x + w/2
         yc = y + h/2
-        print ("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
+        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
 
 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
 

docs/en/cli.md

@@ -39,7 +39,7 @@ cat file.py
 Run `file.py` as a Python script:
 
 ```bash
-python file.py
+python3 file.py
 ```
 
 Reboot Raspberry Pi:

docs/en/coex_pix.md

@@ -58,3 +58,18 @@ The FCU has power passthrough from the *PWR* input to the servo rail. Supplying
 ### Board specifics
 
 The board utilizes low-noise DC-DC converters, voltage inputs have LC and ferrite filters.
+
+## Revision 1.2
+
+### Innovations
+
+* Replaced USB Micro-B connector with USB Type-C connector.
+* Changed the slot for microSD cards to a deeper one.
+* Changed pin assignments on the I2C connector.
+* Added ferrite filters in the power circuit.
+
+### Port pinouts
+
+<img src="../assets/coex_pix/coexpix-top-rev1.2.jpg" width=400 class=zoom>
+
+<img src="../assets/coex_pix/coexpix-bottom-rev1.2.jpg" width=400 class=zoom>

docs/en/laser.md

@@ -59,7 +59,7 @@ rospy.init_node('flight')
 
 def range_callback(msg):
     # Process data from the rangefinder
-    print 'Rangefinder distance:', msg.range
+    print('Rangefinder distance:', msg.range)
 
 rospy.Subscriber('rangefinder/range', Range, range_callback)
 

docs/en/migrate20.md

@@ -70,56 +70,6 @@ The `~/catkin_ws/src/clever/` directory is renamed to `~/catkin_ws/src/clover`.
 
 For example, `~/catkin_ws/src/clever/clever/launch/clever.launch` file is now `~/catkin_ws/src/clover/clover/launch/clover.launch`.
 
-<!--
-## Python 3 transition
-
-Python 2 is depracated since, January 1st, 2020. The Clover platform moves to Python 3.
-
-For running flight script instead of `python` command:
-
-```bash
-python flight.py
-```
-
-use `python3` command:
-
-```bash
-python3 flight.py
-```
-
-Python 3 has certain syntax differences in comparison with the old version. Instead of `print` *operator*:
-
-```python
-print 'Clover is the best'
-```
-
-use `print` *function*:
-
-```python
-print('Clover is the best')
-```
-
-The division operator operates floating points by default (instead of integer). Python 2:
-
-```python
->>> 10 / 4
-2
-```
-
-Python 3:
-
-```python
->>> 10 / 4
-2.5
-```
-
-For strings `unicode` type is used by default (instead of `str` type).
-
-Encoding specification (`# coding: utf8`) is not necessary any more.
-
-More details on all the language changes see in [appropriate article](https://sebastianraschka.com/Articles/2014_python_2_3_key_diff.html).
--->
-
 ## Wi-Fi network configuration
 
 Wi-Fi networks' SSID is changed to `clover-XXXX` (where X is a random number), password is changed to `cloverwifi`.

docs/en/migrate22.md

@@ -0,0 +1,59 @@
+# Migration to version 0.22
+
+## Python 3 transition
+
+Python 2 is [deprecated](https://www.python.org/doc/sunset-python-2/) since January 1st, 2020. The Clover platform moves to Python 3.
+
+For running flight script instead of `python` command:
+
+```bash
+python flight.py
+```
+
+use `python3` command:
+
+```bash
+python3 flight.py
+```
+
+Python 3 has certain syntax differences in comparison with the old version. Instead of `print` *operator*:
+
+```python
+print 'Clover is the best'  # this won't work
+```
+
+use `print` *function*:
+
+```python
+print('Clover is the best')
+```
+
+The division operator operates floating points by default (instead of integer). Python 2:
+
+```python
+>>> 10 / 4
+2
+```
+
+Python 3:
+
+```python
+>>> 10 / 4
+2.5
+```
+
+For strings `unicode` type is used by default (instead of `str` type).
+
+Encoding specification (`# coding: utf8`) is not necessary any more.
+
+More details on all the language changes see in [appropriate article](https://sebastianraschka.com/Articles/2014_python_2_3_key_diff.html).
+
+## Move to ROS Noetic
+
+<img src="../assets/noetic.png" width=200>
+
+ROS Melodic version was updated to ROS Noetic. See the full list of changes in the [ROS official documentation](http://wiki.ros.org/noetic/Migration).
+
+## Changes in launch-files
+
+Configuration of ArUco-markers navigation is simplified. See details in [markers navigation](aruco_marker.md) and [markers map navigation](aruco_map.md) articles.

docs/en/programming.md

@@ -34,10 +34,10 @@ Read more in the [GPS connection](gps.md) article.
 
 > **Info** For studying Python programming language, see [tutorial](https://www.learnpython.org/en/Welcome).
 
-After you've configured your positioning system, you can start writing programs for autonomous flights. Use the [SSH connection to the Raspberry Pi](ssh.md) to run your scripts. In order to run a Python script use the `python` command:
+After you've configured your positioning system, you can start writing programs for autonomous flights. Use the [SSH connection to the Raspberry Pi](ssh.md) to run your scripts. In order to run a Python script use the `python3` command:
 
 ```bash
-python flight.py
+python3 flight.py
 ```
 
 Below is a complete flight program that performs a takeoff, flies forward and lands:
@@ -92,6 +92,8 @@ Read more in the [coordinate systems](frames.md) article.
 
 You can also use the ["Autonomous flight"](simple_offboard.md) article as an API reference.
 
+> **Hint** Clover supports [blocks-based programming](blocks.md) as well.
+
 ## Additional periphery
 
 The Clover platform also exposes APIs for interacting with other peripherals. Read more in the following articles:

docs/en/ros.md

@@ -63,7 +63,7 @@ An example of subscription to topic `/foo`:
 
 ```python
 def foo_callback(msg):
-    print msg.data
+    print(msg.data)
 
 # Subscribing. When a message is received in topic /foo, function foo_callback will be invoked.
 rospy.Subscriber('/foo', String, foo_callback)

docs/en/simple_offboard.md

@@ -75,14 +75,14 @@ Displaying drone coordinates `x`, `y` and `z` in the local system of coordinates
 
 ```python
 telemetry = get_telemetry()
-print telemetry.x, telemetry.y, telemetry.z
+print(telemetry.x, telemetry.y, telemetry.z)
 ```
 
 Displaying drone altitude relative to [the ArUco map](aruco.md):
 
 ```python
 telemetry = get_telemetry(frame_id='aruco_map')
-print telemetry.z
+print(telemetry.z)
 ```
 
 Checking global position availability:
@@ -90,9 +90,9 @@ Checking global position availability:
 ```python
 import math
 if not math.isnan(get_telemetry().lat):
-    print 'Global position is available'
+    print('Global position is available')
 else:
-    print 'No global position'
+    print('No global position')
 ```
 
 Output of current telemetry (command line):
@@ -307,7 +307,7 @@ Landing the drone:
 res = land()
 
 if res.success:
-    print 'drone is landing'
+    print('drone is landing')
 ```
 
 Landing the drone (command line):

docs/en/snippets.md

@@ -319,7 +319,7 @@ def flip():
     rospy.loginfo('finish flip')
     set_position(x=start.x, y=start.y, z=start.z, yaw=start.yaw)  # finish flip
 
-print navigate(z=2, speed=1, frame_id='body', auto_arm=True)  # take off
+print(navigate(z=2, speed=1, frame_id='body', auto_arm=True))  # take off
 rospy.sleep(10)
 
 rospy.loginfo('flip')

docs/en/sonar.md

@@ -83,7 +83,7 @@ pi.callback(ECHO, pigpio.FALLING_EDGE, fall)
 
 while True:
     # Reading the distance:
-    print read_distance()
+    print(read_distance())
 
 ```
 
@@ -104,7 +104,7 @@ def read_distance_filtered():
     return numpy.median(history)
 
 while True:
-    print read_distance_filtered()
+    print(read_distance_filtered())
 ```
 
 An example of charts of initial and filtered data:

docs/ru/SUMMARY.md

@@ -80,6 +80,7 @@
   * [Подключение GPS](gps.md)
   * [Работа с ИК датчиками](ir_sensors.md)
   * [Установка FPV](fpv.md)
+  * [Сборка шаровой защиты](sphere_guard.md)
   * [Управление в режиме тренера](trainer_mode.md)
   * [Техника лужения](tinning.md)
   * [Подключение PX4FLOW](px4flow.md)
@@ -90,6 +91,7 @@
   * [Светодиодная лента (legacy)](leds_old.md)
   * [Вклад в Клевер](contributing.md)
   * [Переход на версию 0.20](migrate20.md)
+  * [Переход на версию 0.22](migrate22.md)
 * [Мероприятия](events.md)
   * [CopterHack-2021](copterhack2021.md)
   * [CopterHack-2019](copterhack2019.md)

docs/ru/aruco_map.md

@@ -1,5 +1,9 @@
 # Навигация по картам ArUco-маркеров
 
+> **Note** Документация для версий [образа](image.md), начиная с версии **0.22**. Для более ранних версий см. [документацию для версии **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/ru/aruco_map.md).
+
+<!-- -->
+
 > **Info** Для распознавания маркеров модуль камеры должен быть корректно подключен и [сконфигурирован](camera.md).
 
 <!-- -->
@@ -39,18 +43,18 @@ id_маркера размер_маркера x y z угол_z угол_y уго
 
 Где `угол_N` – это угол поворота маркера вокруг оси N в радианах.
 
-Путь к файлу с картой задается в параметре `map`:
+Файлы карт располагаются в каталоге `~/catkin_ws/src/clover/aruco_pose/map`. Название файла с картой задается в аргументе `map`:
 
 ```xml
-<param name="map" value="$(find aruco_pose)/map/map.txt"/>
+<arg name="map" default="map.txt"/>
 ```
 
-Смотрите примеры карт маркеров в каталоге [`~/catkin_ws/src/clover/aruco_pose/map`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
+Смотрите примеры карт маркеров в [`вышеуказанном каталоге`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
 
 Файл карты может быть сгенерирован с помощью инструмента `genmap.py`:
 
 ```bash
-rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
+rosrun aruco_pose genmap.py length x y dist_x dist_y first -o test_map.txt
 ```
 
 Где `length` – размер маркера, `x` – количество маркеров по оси *x*, `y` - количество маркеров по оси *y*, `dist_x` – расстояние между центрами маркеров по оси *x*, `y` – расстояние между центрами маркеров по оси *y*, `first` – ID первого (левого нижнего) маркера, `test_map.txt` – название файла с картой. Дополнительный ключ `--bottom-left` позволяет нумеровать маркеры с левого нижнего угла.
@@ -58,7 +62,7 @@ rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clo
 Пример:
 
 ```bash
-rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
+rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
 ```
 
 Дополнительную информацию по утилите можно получить по ключу `-h`: `rosrun aruco_pose genmap.py -h`.
@@ -154,10 +158,10 @@ navigate(frame_id='aruco_5', x=0, y=0, z=1)
 
 Для навигации по маркерам, расположенным на потолке, необходимо поставить основную камеру так, чтобы она смотрела вверх и [установить соответствующий фрейм камеры](camera_setup.md#frame).
 
-Также в файле `~/catkin_ws/src/clover/clover/launch/aruco.launch` необходимо установить параметр `known_tilt` в секциях `aruco_detect` и `aruco_map` в значение `map_flipped`:
+Также в файле `~/catkin_ws/src/clover/clover/launch/aruco.launch` необходимо выставить аргумент `placement` в значение `ceiling`:
 
 ```xml
-<param name="known_tilt" value="map_flipped"/>
+<arg name="placement" default="ceiling"/>
 ```
 
 При такой конфигурации фрейм `aruco_map` также окажется перевернутым. Таким образом, для полета на высоту 2 метра ниже потолка, аргумент `z` нужно устанавливать в 2:

docs/ru/aruco_marker.md

@@ -1,5 +1,9 @@
 # Распознавание ArUco-маркеров
 
+> **Note** Документация для версий [образа](image.md), начиная с версии **0.22**. Для более ранних версий см. [документацию для версии **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/ru/aruco_marker.md).
+
+<!-- -->
+
 > **Info** Для распознавания маркеров модуль камеры должен быть корректно подключен и [сконфигурирован](camera_setup.md).
 
 Модуль `aruco_detect` распознает ArUco-маркеры и публикует их позиции в ROS-топики и в [TF](frames.md).
@@ -22,22 +26,20 @@
 <arg name="aruco_detect" default="true"/>
 ```
 
-Для правильной работы в этом же файле в секции `aruco_detect` должны быть выставлены параметры:
+Для правильной работы в этом же файле также должны быть выставлены аргументы:
 
 ```xml
-<param name="length" value="0.32"/>          <!-- размер маркеров в метрах (не включая белую рамку) -->
-<param name="estimate_poses" value="true"/>  <!-- включение вычисления позиций маркеров -->
-<param name="send_tf" value="true"/>         <!-- отправлять позиции маркеров в виде TF-фреймов -->
-<param name="known_tilt" value="map"/>       <!-- наклон маркеров, см. далее -->
+<arg name="placement" default="floor"/> <!-- расположение маркеров, см. далее -->
+<arg name="length" default="0.33"/>     <!-- размер маркеров в метрах (не включая белую рамку) -->
 ```
 
-Значение параметра `known_tilt` следует выставлять следующим образом:
+Значение аргумента `placement` следует выставлять следующим образом:
 
-* если *все* маркеры наклеены на полу (земле), выставить значение `map`;
-* если *все* маркеры наклеены на потолке, выставить значение `map_flipped`;
+* если *все* маркеры наклеены на полу (земле), выставить значение `floor`;
+* если *все* маркеры наклеены на потолке, выставить значение `ceiling`;
 * в противном случае удалить строку с параметром.
 
-Если некоторые маркеры имеют размер, отличный значения `length`, их размер может быть переопределен с помощью параметра `length_override`:
+Если некоторые маркеры имеют размер, отличный значения `length`, их размер может быть переопределен с помощью параметра `length_override` ноды `aruco_detect`:
 
 ```xml
 <param name="length_override/3" value="0.1"/>    <!-- маркер c id 3 имеет размер 10 см -->
@@ -110,9 +112,9 @@ rospy.init_node('my_node')
 # ...
 
 def markers_callback(msg):
-    print 'Detected markers:':
+    print('Detected markers:'):
     for marker in msg.markers:
-        print 'Marker: %s' % marker
+        print('Marker: %s' % marker)
 
 # Подписываемся. При получении сообщения в топик aruco_detect/markers будет вызвана функция markers_callback.
 rospy.Subscriber('aruco_detect/markers', MarkerArray, markers_callback)

docs/ru/assemble_4_2_ws.md

@@ -51,7 +51,7 @@
 
 ## Сборка рамы
 
-1. Совместите 4 луча с центральной декой, зафиксируйте их при помощи винтов М3х8 и гаек с нейлоновой вставкой.
+1. Совместите 4 луча с центральной декой, зафиксируйте их при помощи винтов М3х8 и самоконтрящихся гаек.
 
     <div class="image-group">
         <img src="../assets/assembling_soldering_clever_4/frame_1.png" width=300 class="zoom border">
@@ -219,7 +219,7 @@
         <img src="../assets/assembling_soldering_clever_4/raspberry_3.png" width=300 class="zoom border">
     </div>
 
-4. Установите Raspberry Pi на монтажную деку закрепив ее болтами М3х6.
+4. Установите Raspberry Pi на монтажную деку, закрепив ее болтами М3х6.
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_4.png" width=300 class="zoom border center">
 
@@ -260,7 +260,7 @@
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_12.png" width=300 class="zoom border center">
 
-10. На малую монтажную деку установите камеру и зафиксируйте ее двумя короткими саморезами, как указано на рисунке.
+10. На малую монтажную деку установите камеру и зафиксируйте ее двумя короткими саморезами.
 
     > **Caution** Если закрепить камеру в верхнем правом углу и шляпка самореза будет касаться элемента на камере, камера не будет работать.
 
@@ -270,7 +270,7 @@
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_14.png" width=300 class="zoom border center">
 
-12. Собранный модуль установите на над модулем Raspberry Pi и зафиксируйте болтами М3х8.
+12. Собранный модуль установите над модулем Raspberry Pi и зафиксируйте болтами М3х8.
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_15.png" width=300 class="zoom border center">
 
@@ -282,7 +282,7 @@
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_17.png" width=300 class="zoom border center">
 
-15. Соедините с радиоприемник и полетный контроллер с помощью соответствующего кабеля.
+15. Соедините радиоприемник и полетный контроллер с помощью 4-х пинового кабеля.
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_18.png" width=300 class="zoom border center">
 

docs/ru/assembly.md

@@ -9,11 +9,11 @@
                <a href="assemble_4_2.md">Клевер&nbsp;4.2</a>
                <div class=subversion>(<a href="assemble_4_2_ws.md">4.2&nbsp;WorldSkills</a>)</div>
           </td>
-          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
+          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4_2.jpg" width=200></a></td>
      </tr>
      <tr>
           <td><a href="assemble_4_1.md">Клевер&nbsp;4.1</a></td>
-          <td><a href="assemble_4_1.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
+          <td><a href="assemble_4_1.md"><img src="../assets/versions/clover_4_1.jpg" width=200></a></td>
      </tr>
      <tr>
           <td><a href="assemble_4.md">Клевер&nbsp;4</a></td>

docs/ru/auto_setup.md

@@ -126,7 +126,7 @@ Ctrl+C
 Запустить программу myprogram.py на Питоне:
 
 ```bash
-python myprogram.py
+python3 myprogram.py
 ```
 
 Журнал событий процессов Клевера. Пролистывать список можно нажатием Enter или сочетанием клавиш Ctrl+V (пролистывает быстрее):
@@ -406,7 +406,7 @@ sudo nano /etc/sudoers
 - Запустите программу. Для этого выполните команду:
 
   ```bash
-  python my_program.py
+  python3 my_program.py
   ```
 
   > **Warning** После выполнения программы дрон может некорректно приземлиться и продолжать лететь над полом. В таком случае нужно перехватить управление.

docs/ru/blocks.md

@@ -108,3 +108,14 @@
 Пример использования блока для установки случайного цвета (блоки, связанные с цветами находятся в категории *Colour*):
 
 <img src="../assets/blocks/random-color.png" srcset="../assets/blocks/random-color.png 2x">
+
+### Работа с GPIO {#GPIO}
+
+Категория <span style="padding:2px;color:white;background:#5b97cc">GPIO</span> содержит блоки для работы с GPIO. Обратите внимание, что для корректной работы этих блоков демон для работы с GPIO `pigpiod` должен быть включен:
+
+```bash
+sudo systemctl enable pigpiod.service
+sudo systemctl start pigpiod.service
+```
+
+Более подробную информацию о GPIO читайте в [соответствующей статье](gpio.md).