Add a TODO

* Catkin install testing

* Update standalone-install.sh

* Fix aruco_pose DetectorParams generating

* Update builder/standalone-install.sh

* Fix

* Fix

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

.travis.yml

@@ -77,6 +77,7 @@ jobs:
         - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
         - sudo apt update && sudo apt install -y calibre msttcorefonts
         - npm install gitbook-cli -g
+        - gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
         - npm install markdownlint-cli -g
         - npm install svgexport -g
         - gitbook -V

README.md

@@ -21,6 +21,7 @@ Clover drone is used on a wide range of educational events, including [Copter Ha
 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
 [![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
+![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:
 

aruco_pose/CMakeLists.txt

@@ -111,7 +111,7 @@ generate_messages(
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
-  cfg/DetectorParams.cfg
+  cfg/Detector.cfg
 )
 
 ###################################

builder/assets/examples/get_telemetry.py

@@ -0,0 +1,11 @@
+# Information: https://clover.coex.tech/en/simple_offboard.html#gettelemetry
+
+import rospy
+from clover import srv
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+
+# Print drone's state
+print(get_telemetry())

builder/assets/hardware_setup.sh

@@ -83,6 +83,10 @@ echo_stamp "#8 Check if Compute Module 4"
 if grep -q "Compute Module 4" "/proc/device-tree/model"; then
   echo_stamp "Enable USB on Compute Module 4"
   echo "dtoverlay=dwc2,dr_mode=host" >> /boot/config.txt
+
+  echo_stamp "Enable OV7251 camera overlay"
+  echo "#dtoverlay=ov7251 # OV7251 camera on CAM1" >> /boot/config.txt
+  echo "dtoverlay=ov7251cam0 # OV7251 camera on CAM0" >> /boot/config.txt
 fi
 
 echo_stamp "#9 End of configure hardware interfaces"

builder/assets/ov7251cam0-overlay.dts

@@ -0,0 +1,111 @@
+// SPDX-License-Identifier: GPL-2.0-only
+// Definitions for OV7251 camera module on VC I2C bus
+/dts-v1/;
+/plugin/;
+
+//#include <dt-bindings/gpio/gpio.h>
+
+/{
+	compatible = "brcm,bcm2835";
+
+	fragment@0 {
+		target = <&i2c_vc>;
+		__overlay__ {
+			#address-cells = <1>;
+			#size-cells = <0>;
+			status = "okay";
+
+			ov7251: ov7251@60 {
+				compatible = "ovti,ov7251";
+				reg = <0x60>;
+				status = "okay";
+
+				clocks = <&ov7251_clk>;
+				clock-names = "xclk";
+				clock-frequency = <24000000>;
+
+				vdddo-supply = <&ov7251_dovdd>;
+				vdda-supply = <&ov7251_avdd>;
+				vddd-supply = <&ov7251_dvdd>;
+
+				enable-gpios = <&gpio 41 0>;
+
+				port {
+					ov7251_0: endpoint {
+						remote-endpoint = <&csi0_ep>;
+						clock-lanes = <0>;
+						data-lanes = <1>;
+						clock-noncontinuous;
+						link-frequencies =
+							/bits/ 64 <456000000>;
+					};
+				};
+			};
+		};
+	};
+
+	fragment@1 {
+		target = <&csi0>;
+		__overlay__ {
+			status = "okay";
+
+			port {
+				csi0_ep: endpoint {
+					remote-endpoint = <&ov7251_0>;
+					data-lanes = <1>;
+				};
+			};
+		};
+	};
+
+	fragment@2 {
+		target = <&i2c0if>;
+		__overlay__ {
+			status = "okay";
+		};
+	};
+
+	fragment@3 {
+		target-path="/";
+		__overlay__ {
+			ov7251_avdd: fixedregulator@0 {
+				compatible = "regulator-fixed";
+				regulator-name = "ov7251_avdd";
+				regulator-min-microvolt = <2800000>;
+				regulator-max-microvolt = <2800000>;
+			};
+			ov7251_dovdd: fixedregulator@1 {
+				compatible = "regulator-fixed";
+				regulator-name = "ov7251_dovdd";
+				regulator-min-microvolt = <1800000>;
+				regulator-max-microvolt = <1800000>;
+			};
+			ov7251_dvdd: fixedregulator@2 {
+				compatible = "regulator-fixed";
+				regulator-name = "ov7251_dvdd";
+				regulator-min-microvolt = <1200000>;
+				regulator-max-microvolt = <1200000>;
+			};
+			ov7251_clk: ov7251-clk {
+				compatible = "fixed-clock";
+				#clock-cells = <0>;
+				clock-frequency = <24000000>;
+			};
+		};
+	};
+
+	fragment@4 {
+		target = <&i2c0mux>;
+		__overlay__ {
+			status = "okay";
+		};
+	};
+
+	fragment@5 {
+		target-path="/__overrides__";
+		__overlay__ {
+			cam0-pwdn-ctrl = <&ov7251>,"enable-gpios:0";
+			cam0-pwdn      = <&ov7251>,"enable-gpios:4";
+		};
+	};
+};

builder/image-build.sh

@@ -15,7 +15,8 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-01-12/2021-01-11-raspios-buster-armhf-lite.zip"
+# https://www.raspberrypi.org/software/operating-systems/#raspberry-pi-os-32-bit
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-03-25/2021-03-04-raspios-buster-armhf-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -102,6 +103,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/rsysrot
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
+# build hardware drivers
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-hardware.sh'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # examples

builder/image-hardware.sh

@@ -0,0 +1,9 @@
+#! /usr/bin/env bash
+
+set -ex
+
+echo "Build overlay for OV7251 camera on CAM0"
+
+# TODO: check Raspberry Pi OS version /boot/issue.txt
+
+dtc -I dts -O dtb -o /boot/overlays/ov7251cam0.dtbo /home/pi/catkin_ws/src/clover/builder/assets/ov7251cam0-overlay.dts

builder/image-network.sh

@@ -61,8 +61,6 @@ quiet-dhcp6
 EOF
 
 echo_stamp "#4 Build the RTL8814AU Wi-Fi adapter driver"
-wget http://archive.raspberrypi.org/debian/pool/main/r/raspberrypi-firmware/raspberrypi-kernel-headers_1.20210108-1_armhf.deb
-dpkg -i raspberrypi-kernel-headers_1.20210108-1_armhf.deb
 cd /home/pi
 git clone https://github.com/aircrack-ng/rtl8812au.git --depth=1
 cd rtl8812au
@@ -73,12 +71,13 @@ sed -i 's/CONFIG_PLATFORM_I386_PC = y/CONFIG_PLATFORM_I386_PC = n/g' Makefile #
 sed -i 's/CONFIG_PLATFORM_ARM_RPI = n/CONFIG_PLATFORM_ARM_RPI = y/g' Makefile
 # sed -i 's/CONFIG_PLATFORM_ARM64_RPI = n/CONFIG_PLATFORM_ARM64_RPI = y/g' Makefile
 apt-cache policy raspberrypi-kernel-headers
-# apt-get install -y raspberrypi-kernel-headers=1.20210108 dkms
-apt-get install -y dkms
+apt-get install -y raspberrypi-kernel-headers dkms
 ls /lib/modules
+KERNEL_VERSION=$(cd /lib/modules && echo *-v7l+) # can't use `uname` as it gives incorrect value in emulated environment
 echo make
-make KERNEL_VER=5.4.83-v7l+ KVER=5.4.83-v7l+
+make KERNEL_VER=$KERNEL_VERSION KVER=$KERNEL_VERSION
 echo make install
-make install KERNEL_VER=5.4.83-v7l+ KVER=5.4.83-v7l+
+make install KERNEL_VER=$KERNEL_VERSION KVER=$KERNEL_VERSION
+# TODO: rm -rf /home/pi/rtl8812au
 
 echo_stamp "#5 End of network installation"

builder/image-ros.sh

@@ -101,6 +101,7 @@ rm -rf build  # remove build artifacts
 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
 NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
+NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
 NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin

builder/image-software.sh

@@ -149,6 +149,7 @@ my_travis_retry pip install --prefer-binary rpi_ws281x
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
+sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
 systemctl enable monkey.service
 
 echo_stamp "Install Node.js"

builder/standalone-install.sh

@@ -41,3 +41,6 @@ pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
+
+# Step 5: Install packages
+catkin_make install

clover/camera_info/ov7251.yaml

@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 480
+distortion_model: rational_polynomial
+camera_name: main_camera_optical
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 279.33, 0, 304.288, 0, 280.417, 268.697, 0, 0, 1, ]
+distortion_coefficients:
+  rows: 1
+  cols: 14
+  data: [ 0.155023, -0.0432218, 0.00152622, 6.48563e-05, 0.00390709, 0.495321, -0.0748121, 0.00553976, 0, 0, 0, 0, 0, 0, ]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1, 0, 0, 0, 1, 0, 0, 0, 1, ]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 279.33, 0, 304.288, 0, 0, 280.417, 268.697, 0, 0, 0, 1, 0, ]

clover/launch/clover.launch

@@ -12,7 +12,6 @@
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
     <arg name="rc" default="true"/>
-    <arg name="shell" default="true"/>
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 
@@ -91,9 +90,6 @@
         <param name="use_fake_gcs" value="false"/>
     </node>
 
-    <!-- Shell access through ROS service -->
-    <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
-
     <!-- Update static directory -->
     <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
         <param name="default_package" value="clover"/>

clover/launch/mavros.launch

@@ -6,13 +6,15 @@
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
     <arg name="distance_sensor_remap" default="rangefinder/range"/>
+    <arg name="usb_device" default="/dev/px4fmu"/>
+    <arg name="prefix" default="bash -c 'while [ ! -e $(arg usb_device) ]; do sleep 1; done; $0 $@'" if="$(eval fcu_conn == 'usb')"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->
         <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
         <!-- USB connection -->
-        <param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
+        <param name="fcu_url" value="$(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
 
         <!-- sitl before PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>

clover/test/basic.py

@@ -28,19 +28,3 @@ def test_simple_offboard_services_available():
 def test_web_video_server(node):
     import urllib2
     urllib2.urlopen("http://localhost:8080").read()
-
-def test_shell(node):
-    execute = rospy.ServiceProxy('exec', srv.Execute)
-    execute.wait_for_service(5)
-
-    res = execute(cmd='echo foo')
-    assert res.code == 0
-    assert res.output == 'foo\n'
-
-    res = execute(cmd='foo')
-    assert res.code == 32512
-    assert res.output == ''
-
-    res = execute(cmd='ls foo')
-    assert res.code == 512
-    assert res.output == ''

clover/www/clover_version

@@ -0,0 +1 @@
+/etc/clover_version

clover/www/index.html

@@ -13,15 +13,15 @@
 
 <div class="version"></div>
 
-<script src="js/roslib.js"></script>
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
 	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
-	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });
-	var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
-	exec.callService(new ROSLIB.ServiceRequest({ cmd: 'cat /etc/clover_version' }), function(result) {
-		document.querySelector('.version').innerHTML = 'Version: ' + result.output;
+	fetch('clover_version').then(function(response) {
+		if (response.status !== 200) return;
+		response.text().then(function(text) {
+			document.querySelector('.version').innerHTML = 'Version: ' + text;
+		});
 	});
 </script>

clover_simulation/CMakeLists.txt

@@ -52,7 +52,7 @@ target_compile_options(throttling_camera PRIVATE -std=c++11)
 add_dependencies(throttling_camera ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 catkin_install_python(PROGRAMS scripts/aruco_gen

docs/en/copterhack2021.md

@@ -1,6 +1,6 @@
 # CopterHack 2021
 
-CopterHack 2021 is a team competition for the development of open source projects for the Clover quadcopter platform.
+CopterHack 2021 is a team competition for the development of open source projects for the Clover quadcopter platform. Fifty-four teams from 12 countries took part in the competition.
 
 All information about the event can be found on the official website: https://coex.tech/copterhack.
 

docs/en/models.md

@@ -96,6 +96,16 @@ This page contains models and drawings of some of the drone parts. They can be u
         </td>
         <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/big_leg.dxf"><code>big_leg.dxf</code></a></td>
     </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/grip_spacer.png"></td>
+        <td>
+            <b>Grip spacer</b>.<br>
+            Function: spacer for the gripper plates.<br>
+            Material: monolithic polycarbonate 2mm.<br>
+            Quantity: 1 pcs.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/grip_spacer.dxf"><code>grip_spacer.dxf</code></a></td>
+    </tr>
 </table>
 
 ## Clover 4

docs/en/programming.md

@@ -34,7 +34,15 @@ 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.
+
+Before the first flight it's recommended to check the Clover's configuration with [selfcheck.py utility](selfcheck.md):
+
+```bash
+rosrun clover selfcheck.py
+```
+
+In order to run a Python script use the `python` command:
 
 ```bash
 python flight.py

docs/en/snippets.md

@@ -359,3 +359,28 @@ calibrate_gyro()
 ```
 
 > **Note** In process of calibration the drone should not be moved.
+
+<!-- markdownlint-disable MD044 -->
+
+### # {#aruco-detect-enabled}
+
+<!-- markdownlint-enable MD044 -->
+
+Enable and disable [ArUco markers recognition](aruco_marker.md) dynamically (for example, for saving CPU resources):
+
+```python
+import rospy
+import dynamic_reconfigure.client
+
+# ...
+
+client = dynamic_reconfigure.client.Client('aruco_detect')
+
+# Turn markers recognition off
+client.update_configuration({'enabled': False})
+
+rospy.sleep(5)
+
+# Turn markers recognition on
+client.update_configuration({'enabled': True})
+```

docs/ru/copterhack2021.md

@@ -1,6 +1,6 @@
 # CopterHack 2021
 
-CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер".
+CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер". В конкурсе приняло участие 54 команды из 12 стран.
 
 Все информацию о мероприятии смотрите на официальном сайте: https://ru.coex.tech/copterhack.
 

docs/ru/models.md

@@ -96,6 +96,16 @@
         </td>
         <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/big_leg.dxf"><code>big_leg.dxf</code></a></td>
     </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/grip_spacer.png"></td>
+        <td>
+            <b>Проставка для захвата</b>.<br>
+            Функция: Опорный элемент для механического захвата.<br>
+            Материал: Монолитный поликарбонат 2мм.<br>
+            Количество: 1 шт.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/grip_spacer.dxf"><code>grip_spacer.dxf</code></a></td>
+    </tr>
 </table>
 
 ## Клевер 4

docs/ru/programming.md

@@ -32,9 +32,17 @@
 
 ## Автономный полет {#flight}
 
-> **Info** Для изучения языка программирования Python обращайтесь к [самоучителю](https://pythonworld.ru/samouchitel-python).
+> **Info** Для изучения языка программирования Python вы можете обратиться к [самоучителю](https://pythonworld.ru/samouchitel-python).
 
-После настройки системы позиционирования становится возможным написание скриптов для автономных полетов. Для выполнения скриптов [подключитесь в Raspberry Pi по SSH](ssh.md). Для того, чтобы запустить Python-скрипт, используйте команду `python`:
+После настройки системы позиционирования становится возможным написание скриптов для автономных полетов. Для выполнения скриптов [подключитесь в Raspberry Pi по SSH](ssh.md).
+
+Перед первым полетом рекомендуется проверить конфигурацию Клевера при помощи [утилиты selfcheck.py](selfcheck.md):
+
+```bash
+rosrun clover selfcheck.py
+```
+
+Для того, чтобы запустить Python-скрипт, используйте команду `python`:
 
 ```bash
 python flight.py

docs/ru/snippets.md

@@ -377,3 +377,28 @@ calibrate_gyro()
 ```
 
 > **Note** В процессе калибровки гироскопов дрон нельзя двигать.
+
+<!-- markdownlint-disable MD044 -->
+
+### # {#aruco-detect-enabled}
+
+<!-- markdownlint-enable MD044 -->
+
+Динамически включать и отключать [распознавание ArUco-маркеров](aruco_marker.md) (например, для экономии ресурсов процессора):
+
+```python
+import rospy
+import dynamic_reconfigure.client
+
+# ...
+
+client = dynamic_reconfigure.client.Client('aruco_detect')
+
+# Turn markers recognition off
+client.update_configuration({'enabled': False})
+
+rospy.sleep(5)
+
+# Turn markers recognition on
+client.update_configuration({'enabled': True})
+```

redirects.json

@@ -49,7 +49,8 @@
 
         { "from": "modes/", "to": "ru/modes.html" },
         { "from": "firmware/", "to": "en/firmware.html" },
-        { "from": "simple_offboard/", "to": "ru/simple_offboard.html" },
+        { "from": "simple_offboard/", "to": "en/simple_offboard.html" },
+        { "from": "offboard/", "to": "en/simple_offboard.html" },
         { "from": "camera/", "to": "ru/camera.html" },
         { "from": "snippets/", "to": "ru/snippets.html" },
         { "from": "optical_flow/", "to": "ru/optical_flow.html" },
@@ -61,6 +62,7 @@
         { "from": "camera_setup/", "to": "en/camera_setup.html" },
         { "from": "power/", "to": "en/power.html" },
         { "from": "connection/", "to": "en/connection.html" },
+        { "from": "clover_vm/", "to": "en/simulation_vm.html" },
 
         { "from": "ru/microsd_images.html", "to": "image.html" },
         { "from": "en/microsd_images.html", "to": "image.html" }