aruco_pose: Make vendored library compatible with older OpenCVs

Also, compile in apriltag_quad_thresh.cpp - it contains some of the functions referenced
in aruco.cpp, which would otherwise be undefined.

.markdownlint.json

@@ -23,7 +23,6 @@
             "ROS Melodic",
             "ROS Noetic",
             "OpenCV",
-            "OpenVPN",
             "Gazebo",
             "GitHub",
             "FPV",
@@ -108,9 +107,7 @@
             "UDP",
             "QR",
             "Li-ion",
-            "Nvidia",
-            "VirtualBox",
-            "VMware"
+            "Nvidia"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -5,12 +5,12 @@ 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"
 git:
-  depth: 1
+  depth: 50
 jobs:
   fast_finish: true
   include:
@@ -38,7 +38,7 @@ jobs:
         - cp images/*.zip imgcache
       after_success:
         - sudo chmod -R 777 *
-        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
+        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
       before_deploy:
         # Set up git user name and tag this commit
         - git config --local user.name "goldarte"
@@ -85,7 +85,6 @@ 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
@@ -96,13 +95,7 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
-        - for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
-        - sudo apt-get install ghostscript
-        - gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_ru_compressed.pdf _book/clover_ru.pdf
-        - gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_en_compressed.pdf _book/clover_en.pdf
-        - rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf
-        - rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf
-        - ls -lah _book/clover*.pdf
+        - gitbook pdf ./ _book/clover.pdf
       deploy:
         provider: pages
         local_dir: _book

README.md

@@ -1,14 +1,12 @@
-# clover🍀: create autonomous drones easily
+# COEX Clover Drone Kit
 
-<img src="docs/assets/clover42-main.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">
 
-Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
+Clover is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
 
-COEX Clover Drone is an educational programmable drone kit, suited perfectly for running clover software. The kit is shipped unassembled and includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as a companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. Batteries included.
+The main documentation is available [on Gitbook](https://clover.coex.tech/).
 
-The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: [coex.tech/clover](https://coex.tech/clover).
-
-[__Support us on Kickstarter!__](https://www.kickstarter.com/projects/copterexpress/cloverdrone)
+Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
 
 ## Video compilation
 
@@ -21,7 +19,6 @@ 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/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package aruco_pose
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of aruco_pose package to ROS
-* Contributors: Alamoris, Alexey Rogachevskiy, Arthur Golubtsov, Ilya Petrov, Oleg Kalachev

aruco_pose/CMakeLists.txt

@@ -24,7 +24,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 # Workaround for OpenCV 3/4 support
 set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET COMPONENTS core imgproc calib3d)
+find_package(OpenCV ${_opencv_version} QUIET)
 if (NOT OpenCV_FOUND)
   message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
   set(_opencv_version 3)
@@ -159,9 +159,6 @@ add_library(aruco_pose
 
 add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
 
-# FIXME: hack to fix https://travis-ci.org/github/CopterExpress/clover/jobs/766318908#L6532
-string(REPLACE "-lpthreads;" "" catkin_LIBRARIES "${catkin_LIBRARIES}")
-
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide

aruco_pose/cfg/DetectorParams.cfg

@@ -8,8 +8,6 @@ p = cv2.aruco.DetectorParameters_create()
 
 gen = ParameterGenerator()
 
-gen.add("enabled", bool_t, 0, "if detection enabled", True)
-
 gen.add("adaptiveThreshConstant",                 double_t, 0,
         "Constant for adaptive thresholding before finding contours",
          p.adaptiveThreshConstant, 0, 100)

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.21.1</version>
+  <version>0.0.1</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

aruco_pose/src/aruco_detect.cpp

@@ -62,7 +62,6 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
-	bool enabled_ = true;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
 	image_transport::Publisher debug_pub_;
@@ -111,14 +110,17 @@ public:
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);
 
-		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));
-
+		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
 		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);
-		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, 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);
 
 		NODELET_INFO("ready");
 	}
@@ -126,8 +128,6 @@ public:
 private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
-		if (!enabled_) return;
-
 		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
 
 		vector<int> ids;
@@ -356,7 +356,6 @@ private:
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
 	{
-		enabled_ = config.enabled;
 		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
 		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
 		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;

aruco_pose/src/aruco_map.cpp

@@ -124,11 +124,6 @@ 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);
@@ -136,6 +131,11 @@ 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/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] [-o <filename>]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left]
   genmap.py (-h | --help)
 
 Options:
@@ -27,7 +27,6 @@ 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
@@ -35,8 +34,6 @@ Example:
 
 from __future__ import print_function
 
-import sys
-from os import path
 from docopt import docopt
 
 
@@ -52,19 +49,14 @@ 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
 
-output.write('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x\n')
+print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
 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
-        output.write('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\n'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
+        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1

aruco_pose/vendor/VendorOpenCV.cmake

@@ -24,7 +24,7 @@ target_compile_definitions(_opencv_aruco PRIVATE
   CV_OVERRIDE=override
 )
 target_compile_options(_opencv_aruco PRIVATE
-  -fpic -fPIC -fvisibility=hidden
+  -fpic -fPIC
 )
 
 target_include_directories(_opencv_aruco PUBLIC

builder/assets/examples/flight_marker.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/aruco
+# Information: https://clover.coex.tech/en/aruco.html
 
 import rospy
 from clover import srv

builder/assets/examples/leds.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/led
+# Information: https://clover.coex.tech/en/leds.html
 
 import rospy
 from clover.srv import SetLEDEffect
@@ -7,25 +7,19 @@ rospy.init_node('leds')
 
 set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
 
-print('Fill red')
 set_effect(r=255, g=0, b=0)  # fill strip with red color
 rospy.sleep(2)
 
-print('Fill green')
 set_effect(r=0, g=100, b=0)  # fill strip with green color
 rospy.sleep(2)
 
-print('Fade to blue')
 set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
 rospy.sleep(2)
 
-print('Flash red')
 set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
-rospy.sleep(2)
+rospy.sleep(5)
 
-print('Blink white')
 set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
 rospy.sleep(5)
 
-print('Rainbow')
 set_effect(effect='rainbow')  # show rainbow

builder/assets/hardware_setup.sh

@@ -65,7 +65,7 @@ echo_stamp "#6 Turn on UART"
 # https://github.com/RPi-Distro/raspi-config/pull/75
 /usr/bin/raspi-config nonint do_serial 1
 /usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt
-echo dtoverlay=pi3-disable-bt >> /boot/config.txt
+/usr/bin/raspi-config nonint set_config_var dtoverlay pi3-disable-bt /boot/config.txt
 systemctl disable hciuart.service
 
 # After adding to Raspbian OS

builder/image-build.sh

@@ -15,8 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-# 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"
+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'}
@@ -106,7 +105,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # examples
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup

builder/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

@@ -80,7 +80,7 @@ my_travis_retry sudo -u pi rosdep update
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-# echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
+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/*"
 
@@ -91,7 +91,7 @@ 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=1.15.3-0buster \
+ros-${ROS_DISTRO}-image-publisher=1.15.2-0buster \
 ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
 apt-mark hold \
 ros-${ROS_DISTRO}-compressed-image-transport \
@@ -100,9 +100,6 @@ ros-${ROS_DISTRO}-cv-camera \
 ros-${ROS_DISTRO}-image-publisher \
 ros-${ROS_DISTRO}-web-video-server
 
-echo_stamp "Installing libboost-dev" # https://travis-ci.org/github/CopterExpress/clover/jobs/766318908#L6536
-my_travis_retry apt-get install -y --no-install-recommends libboost-dev libboost-all-dev
-
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
 # Don't try to install gazebo_ros
@@ -112,7 +109,7 @@ 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=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
+catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
 
 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -122,7 +119,6 @@ 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
@@ -149,9 +145,6 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
-echo_stamp "Change permissions for examples"
-chown -Rf pi:pi /home/pi/examples
-
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'

builder/image-software.sh

@@ -64,14 +64,15 @@ echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries
 echo_stamp "Install apt keys & repos"
 
 # TODO: This STDOUT consist 'OK'
+curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 apt-get update \
 && apt-get install --no-install-recommends -y dirmngr > /dev/null \
 && 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
-
-wget -O - 'http://packages.coex.tech/key.asc' | apt-key add - 
-echo 'deb http://packages.coex.tech buster main' >> /etc/apt/sources.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"
 
@@ -81,7 +82,6 @@ apt-get update
 
 # Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
-my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1 # FIXME: using older CMake due to https://travis-ci.org/github/CopterExpress/clover/jobs/764367665#L6984
 my_travis_retry apt-get install --no-install-recommends -y \
 unzip \
 zip \
@@ -94,9 +94,8 @@ lsof \
 git \
 dnsmasq  \
 tmux \
-tree \
 vim \
-libjpeg8 \
+cmake \
 tcpdump \
 libpoco-dev \
 libzbar0 \
@@ -123,10 +122,9 @@ sed -i "s/updates_available//" /usr/share/byobu/status/status
 
 echo_stamp "Installing pip"
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip2.py
 python3 get-pip.py
-python get-pip2.py
-rm get-pip.py get-pip2.py
+python get-pip.py
+rm get-pip.py
 #my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
 
@@ -136,7 +134,6 @@ pip3 --version
 
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
-export CRYPTOGRAPHY_DONT_BUILD_RUST=1
 my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
@@ -152,11 +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

@@ -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

@@ -6,7 +6,13 @@ set -e
 apt update
 apt install -y curl
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-python3 ./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 -
@@ -50,7 +56,7 @@ cd /root/catkin_ws
 catkin_make
 
 # Step 4: Run tests
-python3 -m pip install --upgrade pytest # TODO: https://github.com/CopterExpress/clover/commit/5b970d51970cfa6f46e5c0b34acb7889d36b89c8
+${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

@@ -25,7 +25,7 @@ import pymavlink
 from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
-# from espeak import espeak
+from espeak import espeak
 from pyzbar import pyzbar
 
 print(cv2.getBuildInformation())

builder/test/tests.sh

@@ -32,7 +32,7 @@ monkey --version
 pigpiod -v
 i2cdetect -V
 butterfly -h
-# espeak --version
+espeak --version
 mjpg_streamer --version
 
 # ros stuff
@@ -43,8 +43,6 @@ rosversion aruco_pose
 rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
-rosversion ws281x
-rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
 rosversion compressed_image_transport

check_unused_assets.py

@@ -4,9 +4,7 @@ import os
 import sys
 import subprocess
 
-EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
-    'clever4-front-black-large.png','clover42-black.png')
-
+EXCLUDE = ('clever4-front-white.png', '.DS_Store', 'clever4-front-black-large.png')
 code = 0
 
 os.chdir('./docs')

clover/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover package to ROS
-* Contributors: Alexey Rogachevskiy, Arthur Golubtsov, Oleg Kalachev

clover/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.8.3)
 project(clover)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -32,7 +32,7 @@ find_package(GeographicLib REQUIRED)
 
 # Workaround for OpenCV 3/4 support
 set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET COMPONENTS calib3d imgproc)
+find_package(OpenCV ${_opencv_version} QUIET)
 if (NOT OpenCV_FOUND)
   message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
   set(_opencv_version 3)
@@ -185,9 +185,6 @@ add_executable(clover_led src/led.cpp)
 
 add_executable(shell src/shell.cpp)
 
-# FIXME: hack to fix https://travis-ci.org/github/CopterExpress/clover/jobs/766318908#L6532
-string(REPLACE "-lpthreads;" "" catkin_LIBRARIES "${catkin_LIBRARIES}")
-
 target_link_libraries(simple_offboard
   ${catkin_LIBRARIES}
   ${GeographicLib_LIBRARIES}

clover/README.md

@@ -44,12 +44,16 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p
 
 ## Running
 
+To start connection to SITL, use:
+
+```bash
+roslaunch clover sitl.launch
+```
+
 To start connection to the flight controller, use:
 
 ```bash
 roslaunch clover clover.launch
 ```
 
-For the simulation information see the [corresponding article](https://clover.coex.tech/en/simulation.html).
-
 > Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.

clover/launch/aruco.launch

@@ -2,37 +2,30 @@
     <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="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
         <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="$(arg aruco_map)"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
-        <param name="length" value="$(arg length)"/>
+        <param name="known_tilt" value="map"/>
+        <param name="length" value="0.33"/>
         <!-- 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="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
         <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="$(find aruco_pose)/map/$(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="map" value="$(find aruco_pose)/map/map.txt"/>
+        <param name="known_tilt" value="map"/>
         <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(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="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
         <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" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
         <param name="num_worker_threads" value="2"/>
     </node>
 

clover/launch/led.launch

@@ -2,7 +2,7 @@
     <arg name="ws281x" default="true"/>
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
-    <arg name="led_count" default="72"/>
+    <arg name="led_count" default="58"/>
     <arg name="gpio_pin" default="21"/>
 
     <arg name="simulator" default="false"/>

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="$(arg simulator)" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)">
         <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/launch/sitl.launch

@@ -0,0 +1,19 @@
+<launch>
+    <!-- clover configuration for testing in sitl -->
+    <arg name="ip" default="127.0.0.1"/>
+    <arg name="rosbridge" default="false"/>
+
+    <include file="$(find clover)/launch/clover.launch">
+        <arg name="fcu_conn" value="udp"/>
+        <arg name="fcu_ip" value="$(arg ip)"/>
+        <arg name="gcs_bridge" value="false"/>
+        <arg name="optical_flow" value="false"/>
+        <arg name="web_video_server" default="false"/>
+        <arg name="main_camera" default="false"/>
+        <arg name="rosbridge" value="$(arg rosbridge)"/>
+        <arg name="aruco" default="false"/>
+        <arg name="rangefinder_vl53l1x" default="false"/>
+        <arg name="led" default="false"/>
+        <arg name="rc" default="false"/>
+    </include>
+</launch>

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>clover</name>
-  <version>0.21.1</version>
+  <version>0.0.1</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

clover/src/optical_flow.cpp

@@ -70,6 +70,7 @@ 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);
@@ -82,8 +83,6 @@ 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/simple_offboard.cpp

@@ -73,7 +73,6 @@ ros::Duration state_timeout;
 ros::Duration velocity_timeout;
 ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
-ros::Duration manual_control_timeout;
 float default_speed;
 bool auto_release;
 bool land_only_in_offboard, nav_from_sp, check_kill_switch;
@@ -489,25 +488,16 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
-inline void checkManualControl()
+inline void checkKillSwitch()
 {
-	if (!manual_control_timeout.isZero() && TIMEOUT(manual_control, manual_control_timeout)) {
-		throw std::runtime_error("Manual control timeout, RC is switched off?");
-	}
+	if (!TIMEOUT(manual_control, state_timeout))
+		throw std::runtime_error("Manual control timeout, can't check kill switch status");
 
-	if (check_kill_switch) {
-		// 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
+	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);
 
-		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");
-	}
+	if (kill_switch)
+		throw std::runtime_error("Kill switch is on");
 }
 
 inline void checkState()
@@ -537,8 +527,8 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// Checks
 		checkState();
 
-		if (auto_arm) {
-			checkManualControl();
+		if (auto_arm && check_kill_switch) {
+			checkKillSwitch();
 		}
 
 		// default frame is local frame
@@ -872,7 +862,6 @@ int main(int argc, char **argv)
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
 	global_position_timeout = ros::Duration(nh_priv.param("global_position_timeout", 10.0));
 	battery_timeout = ros::Duration(nh_priv.param("battery_timeout", 2.0));
-	manual_control_timeout = ros::Duration(nh_priv.param("manual_control_timeout", 0.0));
 
 	transform_timeout = ros::Duration(nh_priv.param("transform_timeout", 0.5));
 	telemetry_transform_timeout = ros::Duration(nh_priv.param("telemetry_transform_timeout", 0.5));

clover/www/index.html

@@ -1,5 +1,3 @@
-<title>Clover Drone Kit Tools</title>
-
 <h1>Clover Drone Kit Tools</h1>
 
 <ul>

clover_blocks/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_blocks
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_blocks package to ROS
-* Contributors: Oleg Kalachev

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.21.1</version>
+  <version>0.0.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

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">1</field>
+                <field name="NUM">0</field>
               </shadow>
             </value>
             <value name="ID">

clover_blocks/programs/examples/led-compass.xml

@@ -1,91 +1,106 @@
 <xml xmlns="https://developers.google.com/blockly/xml">
-  <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>
+  <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$3,VFwZjcc|?|1o`l">
+        <field name="NUM">58</field>
       </block>
     </value>
-    <statement name="DO">
-      <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
-        <field name="EFFECT">FILL</field>
-        <value name="COLOR">
-          <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
-            <field name="COLOUR">#000000</field>
-          </shadow>
+    <next>
+      <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1">
+        <field name="MODE">WHILE</field>
+        <value name="BOOL">
+          <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
+            <field name="BOOL">TRUE</field>
+          </block>
         </value>
-        <next>
-          <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
-            <value name="INDEX">
-              <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
-                <field name="NUM">0</field>
+        <statement name="DO">
+          <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
+            <field name="EFFECT">FILL</field>
+            <value name="COLOR">
+              <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
+                <field name="COLOUR">#000000</field>
               </shadow>
-              <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
-                <field name="OP">MULTIPLY</field>
-                <value name="A">
-                  <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
-                    <field name="NUM">1</field>
+            </value>
+            <next>
+              <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
+                <value name="INDEX">
+                  <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
+                    <field name="NUM">0</field>
                   </shadow>
-                  <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
-                    <field name="OP">DIVIDE</field>
+                  <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
+                    <field name="OP">MULTIPLY</field>
                     <value name="A">
-                      <shadow type="math_number" id="::st;ot}[r]csqceURu*">
+                      <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
                         <field name="NUM">1</field>
                       </shadow>
-                      <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
-                        <field name="OP">ADD</field>
+                      <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
+                        <field name="OP">DIVIDE</field>
                         <value name="A">
-                          <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
+                          <shadow type="math_number" id="::st;ot}[r]csqceURu*">
                             <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>
+                          <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>
                               </shadow>
                             </value>
                           </block>
                         </value>
                         <value name="B">
-                          <shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
-                            <field name="NUM">180</field>
+                          <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
+                            <field name="NUM">360</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="jENTcXz0C5/=)Xpd!}LL">
+                        <field name="NUM">1</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="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>
+                <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>
+                  </block>
+                </next>
               </block>
             </next>
           </block>
-        </next>
+        </statement>
       </block>
-    </statement>
+    </next>
   </block>
-</xml>
+</xml>

clover_blocks/www/blocks.js

@@ -353,17 +353,6 @@ 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")
@@ -546,7 +535,7 @@ 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 + '#GPIO');
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
 
@@ -563,7 +552,7 @@ Blockly.Blocks['gpio_write'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setTooltip("Set GPIO pin level.");
-		this.setHelpUrl(DOCS_URL + '#GPIO');
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
 
@@ -579,24 +568,7 @@ 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 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');
+		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);
 	}
 };

clover_blocks/www/index.html

@@ -106,7 +106,6 @@
 				<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">
@@ -120,10 +119,6 @@
 				<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,led_count,get_led_count');
+Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
 Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
 
 const IMPORT_SRV = `from clover import srv
@@ -87,9 +87,6 @@ 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();
@@ -391,48 +388,29 @@ Blockly.Python.set_led = function(block) {
 
 	if (/^'(.*)'$/.test(colorCode)) { // is simple string
 		let color = parseColor(colorCode);
-		return `set_leds([LEDState(index=int(${index}), r=${color.r}, g=${color.g}, b=${color.b})])\n`; // TODO: check for simple int
+		return `set_leds([LEDState(index=${index}, r=${color.r}, g=${color.g}, b=${color.b})])\n`;
 	} else {
 		let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
-		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode}))])\n`;
+		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`;
-
-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`;
+	pi.set_mode(pin, pigpio.OUTPUT)
+	pi.set_servo_pulsewidth(pin, pwm)\n`;
 
 Blockly.Python.gpio_read = function(block) {
 	pigpio();
@@ -456,11 +434,3 @@ 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_description/CHANGELOG.rst

@@ -1,9 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_description
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_description package to ROS
-* Contributors: Alexey Rogachevskiy
-

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.21.1</version>
+  <version>0.0.1</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_simulation/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_simulation
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_simulation package to ROS
-* Contributors: Alexey Rogachevskiy

clover_simulation/launch/simulator.launch

@@ -1,5 +1,4 @@
 <launch>
-    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
     <arg name="mav_id" default="0"/>
     <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
     <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
@@ -10,22 +9,22 @@
     <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
 
     <!-- Gazebo instance -->
-    <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <!-- Workaround for crashes in VMware -->
         <env name="SVGA_VGPU10" value="0"/>
         <arg name="gui" value="true"/>
-        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
+        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover.world"/>
         <arg name="verbose" value="true"/>
     </include>
 
     <!-- PX4 instance -->
-    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
+    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)">
         <env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
         <env name="PX4_ESTIMATOR" value="$(arg est)"/>
     </node>
 
     <!-- Clover model -->
-    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
+    <include file="$(find clover_description)/launch/spawn_drone.launch">
         <arg name="main_camera" value="$(arg main_camera)"/>
         <arg name="rangefinder" value="$(arg rangefinder)"/>
         <arg name="led" value="$(arg led)"/>
@@ -33,20 +32,10 @@
         <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
     </include>
 
-    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>
-
-    <param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>
-
     <!-- Clover services -->
     <include file="$(find clover)/launch/clover.launch">
         <arg name="simulator" value="true"/>
         <arg name="fcu_conn" value="sitl"/>
         <arg name="fcu_ip" value="127.0.0.1"/>
-        <arg name="gcs_bridge" value=""/>
-        <arg name="rc" default="false"/>
-        <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
     </include>
 </launch>