Redesign web part a bit

* 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

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/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/launch/clover.launch

@@ -11,8 +11,7 @@
     <arg name="rangefinder_vl53l1x" default="true"/>
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
-    <arg name="rc" default="true"/>
+    <arg name="rc" default="false"/>
-    <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 +6,16 @@
     <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="" unless="$(eval fcu_conn == 'usb')"/>
+    <arg name="prefix" default="rosrun clover waitfile $(arg usb_device)" if="$(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/src/optical_flow.cpp

@@ -206,7 +206,7 @@ private:
 				} catch (const tf2::TransformException& e) {
 					// Invalidate previous frame
 					prev_.release();
-					return;
+					goto publish_debug;
 				}
 			}
 
@@ -218,6 +218,10 @@ private:
 			flow_.quality = (uint8_t)(response * 255);
 			flow_pub_.publish(flow_);
 
+			prev_ = curr_.clone();
+			prev_stamp_ = msg->header.stamp;
+
+publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
 				// publish debug image
@@ -234,12 +238,9 @@ private:
 			static geometry_msgs::TwistStamped velo;
 			velo.header.stamp = msg->header.stamp;
 			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_.integrated_x / integration_time.toSec();
+			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
-			velo.twist.angular.y = flow_.integrated_y / integration_time.toSec();
+			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
 			velo_pub_.publish(velo);
-
-			prev_ = curr_.clone();
-			prev_stamp_ = msg->header.stamp;
 		}
 	}
 

clover/src/waitfile

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+
+# $ ./waitfile <file> <command> <args...> 
+# wait until <file> appears and then invoke <command> with <args>
+
+echo "wait for file $1"
+while [ ! -e "$1" ]; do sleep 1; done;
+echo "file $1 appeared"
+"${@:2}"

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.err

@@ -0,0 +1 @@
+/tmp/clover.err

clover/www/clover_version

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

clover/www/index.html

@@ -1,27 +1,35 @@
+<style>
+	body { font-family: sans-serif; }
+	main { max-width: 600px; margin: 50px auto; }
+</style>
+
 <title>Clover Drone Kit Tools</title>
 
-<h1>Clover Drone Kit Tools</h1>
+<main>
+	<h1>Clover Drone Kit Tools</h1>
 
-<ul>
+	<ul>
-	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
+		<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
-	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
+		<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
-	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
+		<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
-	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
+		<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
-	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
+		<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
-	<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
+		<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
-</ul>
+		<li><a href="clover.err">Clover console</a> (<code>/tmp/clover.err</code>)</li>
+	</ul>
 
-<div class="version"></div>
+	<div class="version"></div>
+</main>
 
-<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' });
+	fetch('clover_version').then(function(response) {
-	var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
+		if (response.status !== 200) return;
-	exec.callService(new ROSLIB.ServiceRequest({ cmd: 'cat /etc/clover_version' }), function(result) {
+		response.text().then(function(text) {
-		document.querySelector('.version').innerHTML = 'Version: ' + result.output;
+			document.querySelector('.version').innerHTML = 'Version: <code>' + text + '</code>';
+		});
 	});
 </script>

clover_blocks/src/clover_blocks

@@ -11,7 +11,8 @@
 from __future__ import print_function
 
 import rospy
-import os
+import os, sys
+import traceback
 import threading
 import re
 import uuid
@@ -116,7 +117,12 @@ def run(req):
                 rospy.loginfo('Program forced to stop')
             except Exception as e:
                 rospy.logerr(str(e))
-                error_pub.publish(str(e))
+                traceback.print_exc()
+                etype, value, tb = sys.exc_info()
+                fmt = traceback.format_exception(etype, value, tb)
+                fmt.pop(1) # remove 'clover_blocks' file frame
+                exc_info = ''.join(fmt)
+                error_pub.publish(str(e) + '\n\n' + exc_info)
 
             rospy.loginfo('Program terminated')
             running_lock.release()

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/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/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" }