image: enable USB in Compute Module 4

image: build rtl8812au wi-fi driver
2026-05-31 23:19:32 +00:00 · 2021-04-02 10:35:49 +03:00 · 2021-04-02 02:31:34 +03:00
69 changed files with 984 additions and 4852 deletions
--- a/.markdownlint.json
+++ b/.markdownlint.json
@@ -21,7 +21,6 @@
            "ROS",
            "ROS Kinetic",
            "ROS Melodic",
-            "ROS Noetic",
            "OpenCV",
            "OpenVPN",
            "Gazebo",
--- a/.travis.yml
+++ b/.travis.yml
@@ -68,14 +68,6 @@ 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
@@ -85,7 +77,6 @@ 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
--- a/README.md
+++ b/README.md
@@ -21,12 +21,11 @@ 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:

 * Raspbian Buster
-* [ROS Noetic](http://wiki.ros.org/noetic)
+* [ROS Melodic](http://wiki.ros.org/melodic)
 * Configured networking
 * OpenCV
 * [`mavros`](http://wiki.ros.org/mavros)
--- a/aruco_pose/CMakeLists.txt
+++ b/aruco_pose/CMakeLists.txt
@@ -22,21 +22,13 @@ find_package(catkin REQUIRED COMPONENTS
  dynamic_reconfigure
 )

-# 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 ${_opencv_version} REQUIRED COMPONENTS core imgproc calib3d)
+find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
 if ("${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 ${_opencv_version} REQUIRED COMPONENTS aruco)
+  find_package(OpenCV 3 REQUIRED COMPONENTS aruco)
 endif()
 message(STATUS "OpenCV include dirs: ${OpenCV_INCLUDE_DIRS}")
 message(STATUS "OpenCV libraries: ${OpenCV_LIBRARIES}")
@@ -159,9 +151,6 @@ 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
@@ -183,13 +172,6 @@ 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 ##
 #############
@@ -225,10 +207,6 @@ set_property(TARGET aruco_pose
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )

-catkin_install_python(PROGRAMS src/genmap.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 #############
 ## Testing ##
 #############
--- a/aruco_pose/src/aruco_detect.cpp
+++ b/aruco_pose/src/aruco_detect.cpp
@@ -111,14 +111,17 @@ 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");
 	}
--- a/aruco_pose/src/aruco_map.cpp
+++ b/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");
 	}

--- a/aruco_pose/src/draw.cpp
+++ b/aruco_pose/src/draw.cpp
@@ -3,11 +3,26 @@

 #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) {

@@ -127,194 +142,35 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
 	}
 }

-/**
- * @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)
+/* 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)
 {
-	// 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);
+	// If both points are behind the screen, don't draw anything
+	if (p1.z <= 0 && p2.z <= 0) {
+		return;
 	}
-	else
-	{
-		rmat = rvec_64f.clone();
+	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;
+		}
 	}
-	// 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?
+	line(image, p1p, p2p, color, thickness, lineType, shift);
 }

 void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
@@ -330,23 +186,647 @@ 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));
-	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)
-	{
-		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);
-	}
+	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())
+	{
+		_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)));
+	}
+
+	_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 );
 }
--- a/aruco_pose/src/genmap.py
+++ b/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
--- a/aruco_pose/vendor/VendorOpenCV.cmake
+++ b/aruco_pose/vendor/VendorOpenCV.cmake
@@ -7,7 +7,6 @@ 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
@@ -24,7 +23,7 @@ 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
--- a/aruco_pose/vendor/aruco/src/apriltag_quad_thresh.cpp
+++ b/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, pts, sizeof(struct pt) * sz);
+    memcpy(_tmp_stack.data(), 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_, 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
-    struct remove_vertex *rvalloc = rvalloc_;
+    memset(rvalloc_.data(), 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
+    struct remove_vertex *rvalloc = rvalloc_.data();
    cv::AutoBuffer<struct segment, 0> segs_(std::max(1, sz)); // TODO Add AutoBuffer zero fill
-    memset(segs_, 0, sizeof(segs_[0]) * segs_.size());
-    struct segment *segs = segs_;
+    memset(segs_.data(), 0, sizeof(segs_[0]) * segs_.size());
+    struct segment *segs = segs_.data();

    // 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_, 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
-    struct line_fit_pt *lfps = lfps_;
+    memset(lfps_.data(), 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
+    struct line_fit_pt *lfps = lfps_.data();

    for (int i = 0; i < sz; i++) {
        struct pt *p;
--- a/builder/assets/clever/setup.py
+++ b/builder/assets/clever/setup.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 from distutils.core import setup

--- a/builder/assets/hardware_setup.sh
+++ b/builder/assets/hardware_setup.sh
@@ -79,4 +79,10 @@ if ! grep -q "^bcm2835-v4l2" /etc/modules;
 then printf "bcm2835-v4l2\n" >> /etc/modules
 fi

-echo_stamp "#8 End of configure hardware interfaces"
+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
+fi
+
+echo_stamp "#9 End of configure hardware interfaces"
--- a/builder/assets/noetic-rosdep-clover.yaml
+++ b/builder/assets/noetic-rosdep-clover.yaml
@@ -1,18 +0,0 @@
-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]
--- a/builder/assets/roscore.service
+++ b/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/noetic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
+ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
 Restart=on-failure
 RestartSec=3

--- a/builder/image-build.sh
+++ b/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_armhf/images/raspios_lite_armhf-2021-01-12/2021-01-11-raspios-buster-armhf-lite.zip"

 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -117,7 +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 ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${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/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/'
--- a/builder/image-network.sh
+++ b/builder/image-network.sh
@@ -60,4 +60,25 @@ domain-needed
 quiet-dhcp6
 EOF

-echo_stamp "#4 End of network installation"
+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
+echo kernel version: $(uname -r)
+echo kernel version from procfs: $(cat /proc/version)
+echo version: $(git describe --tags --always)
+sed -i 's/CONFIG_PLATFORM_I386_PC = y/CONFIG_PLATFORM_I386_PC = n/g' Makefile # https://github.com/aircrack-ng/rtl8812au#for-raspberry-rpi
+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
+ls /lib/modules
+echo make
+make KERNEL_VER=5.4.83-v7l+ KVER=5.4.83-v7l+
+echo make install
+make install KERNEL_VER=5.4.83-v7l+ KVER=5.4.83-v7l+
+
+echo_stamp "#5 End of network installation"
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -21,9 +21,6 @@ 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
@@ -71,8 +68,7 @@ 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
-# 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
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
 my_travis_retry rosdep update

 echo_stamp "Populate rosdep for ROS user"
@@ -80,39 +76,22 @@ 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"
-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=1.15.3-0buster \
-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 "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 "Reconfiguring Clover repository for simplier unshallowing" # TODO: bring back
+# cd /home/pi/catkin_ws/src/clover
+# git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
+echo_stamp "Remove .git from Clover to reduce the size"
+rm -rf /home/pi/catkin_ws/src/clover/.git # TODO: remove

 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 ${ROS_DISTRO} --os=debian:buster \
+my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro melodic --os=debian:buster \
  --skip-keys=gazebo_ros --skip-keys=gazebo_plugins
-my_travis_retry pip3 install wheel
-my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
-source /opt/ros/${ROS_DISTRO}/setup.bash
+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
 # 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
@@ -122,25 +101,29 @@ 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

 echo_stamp "Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
-    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
+    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

 # 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
@@ -157,7 +140,7 @@ cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
 export ROS_HOSTNAME=\`hostname\`.local
-source /opt/ros/${ROS_DISTRO}/setup.bash
+source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 EOF

--- a/builder/image-software.sh
+++ b/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/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/clover buster main" > /etc/apt/sources.list.d/clover.list

 echo_stamp "Update apt cache"

@@ -98,18 +99,18 @@ tree \
 vim \
 libjpeg8 \
 tcpdump \
+ltrace \
 libpoco-dev \
 libzbar0 \
-python3-rosdep \
-python3-rosinstall-generator \
-python3-wstool \
-python3-rosinstall \
+python-rosdep \
+python-rosinstall-generator \
+python-wstool \
+python-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak python3-espeak \
 ntpdate \
 python-dev \
 python3-dev \
@@ -143,7 +144,7 @@ my_travis_retry pip3 install butterfly[systemd]
 systemctl enable butterfly.socket

 echo_stamp "Install ws281x library"
-my_travis_retry pip3 install --prefer-binary rpi_ws281x
+my_travis_retry pip install --prefer-binary rpi_ws281x

 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
--- a/builder/image-validate.sh
+++ b/builder/image-validate.sh
@@ -16,9 +16,9 @@ set -ex

 echo "Run image tests"

-export ROS_DISTRO='noetic'
+export ROS_DISTRO='melodic'
 export ROS_IP='127.0.0.1'
-source /opt/ros/${ROS_DISTRO}/setup.bash
+source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash

 cd /home/pi/catkin_ws/src/clover/builder/test/
--- a/builder/standalone-install.sh
+++ b/builder/standalone-install.sh
@@ -5,34 +5,21 @@ set -e
 # Step 1: Install pip
 apt update
 apt install -y curl
-curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-python3 ./get-pip.py
+curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
+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:
-    ${CODENAME}: [ros-${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]
+    xenial: ros-kinetic-led-msgs
+    bionic: ros-melodic-led-msgs
+  debian:
+    stretch: ros-kinetic-led-msgs
+    buster: ros-melodic-led-msgs
 EOF
 apt update
 rosdep update
@@ -50,7 +37,7 @@ cd /root/catkin_ws
 catkin_make

 # Step 4: Run tests
-python3 -m pip install --upgrade pytest # TODO: https://github.com/CopterExpress/clover/commit/5b970d51970cfa6f46e5c0b34acb7889d36b89c8
+pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
--- a/builder/test/tests.py
+++ b/builder/test/tests.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 # 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()
--- a/builder/test/tests_clever.py
+++ b/builder/test/tests_clever.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 # test backwards compatibility

--- a/clover/CMakeLists.txt
+++ b/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
@@ -30,15 +30,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")

 find_package(GeographicLib 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
+find_package(OpenCV 3 REQUIRED
  COMPONENTS
    calib3d
    imgproc
@@ -185,9 +177,6 @@ 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}
  ${GeographicLib_LIBRARIES}
@@ -265,10 +254,6 @@ target_link_libraries(${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)
--- a/clover/README.md
+++ b/clover/README.md
@@ -4,7 +4,7 @@ A bundle for autonomous navigation and drone control.

 ## Manual installation

-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).
+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).

 Clone this repo to directory `~/catkin_ws/src/clover`:

--- a/clover/launch/aruco.launch
+++ b/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="$(arg aruco_vpe)"/>
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -37,7 +37,7 @@
    <include file="$(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>

--- a/clover/launch/main_camera.launch
+++ b/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://$(find clover)/camera_info/fisheye_cam.yaml"/>
--- a/clover/package.xml
+++ b/clover/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="3">
+<package format="2">
  <name>clover</name>
  <version>0.21.1</version>
  <description>The Clover package</description>
@@ -37,8 +37,7 @@
  <depend>rosbridge_server</depend>
  <depend>web_video_server</depend>
  <depend>tf2_web_republisher</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
+  <depend>python-lxml</depend>
  <exec_depend>python-pymavlink</exec_depend>
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
--- a/clover/src/optical_flow.cpp
+++ b/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");
 	}

--- a/clover/src/selfcheck.py
+++ b/clover/src/selfcheck.py
@@ -138,7 +138,7 @@ def mavlink_exec(cmd, timeout=3.0):
        timeout=3,
        baudrate=0,
        count=len(cmd),
-        data=[ord(c) for c in cmd.ljust(70, '\0')])
+        data=map(ord, 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').decode()
+    output = subprocess.check_output('systemd-analyze')
    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).decode()
+    output = subprocess.check_output(CMD, shell=True)
    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).decode()
+                                         stderr=subprocess.STDOUT)
    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']).decode()
+        output = subprocess.check_output(['vcgencmd', 'get_throttled'])
    except OSError:
        failure('could not call vcgencmd binary; not a Raspberry Pi?')
        return
--- a/clover/test/basic.py
+++ b/clover/test/basic.py
@@ -26,13 +26,8 @@ def test_simple_offboard_services_available():
    rospy.wait_for_service('land', timeout=5)

 def test_web_video_server(node):
-    try:
-        # Python 2
-        import urllib2 as urllib
-    except ModuleNotFoundError:
-        # Python 3
-        import urllib.request as urllib
-    urllib.urlopen("http://localhost:8080").read()
+    import urllib2
+    urllib2.urlopen("http://localhost:8080").read()

 def test_shell(node):
    execute = rospy.ServiceProxy('exec', srv.Execute)
--- a/clover_blocks/src/clover_blocks
+++ b/clover_blocks/src/clover_blocks
@@ -111,7 +111,7 @@ def run(req):
                'print': _print,
                'raw_input': _input}
            try:
-                exec(req.code, g)
+                exec req.code in g
            except Stop:
                rospy.loginfo('Program forced to stop')
            except Exception as e:
--- a/clover_blocks/www/python.js
+++ b/clover_blocks/www/python.js
@@ -391,7 +391,7 @@ 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`;
--- a/clover_simulation/src/clover_simulation/init.py
+++ b/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, 'wb') if inplace else stdout
+        output = open(source_world, 'w') if inplace else stdout

        save_world(world_tree, output)
--- a/docs/assets/coex_pix/coexpix-bottom-rev1.2.png
+++ b/docs/assets/coex_pix/coexpix-bottom-rev1.2.png
--- a/docs/assets/dxf/4.2/grip_spacer.dxf
+++ b/docs/assets/dxf/4.2/grip_spacer.dxf
--- a/docs/assets/dxf/4.2/grip_spacer.png
+++ b/docs/assets/dxf/4.2/grip_spacer.png
--- a/docs/assets/noetic.png
+++ b/docs/assets/noetic.png
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -92,7 +92,6 @@
  * [LED strip (legacy)](leds_old.md)
  * [Contribution Guidelines](contributing.md)
  * [Migration to v0.20](migrate20.md)
-  * [Migration to v0.22](migrate22.md)
 * [Events](events.md)
  * [CopterHack-2021](copterhack2021.md)
  * [CopterHack-2019](copterhack2019.md)
--- a/docs/en/aruco_map.md
+++ b/docs/en/aruco_map.md
@@ -1,9 +1,5 @@
 # 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).

 <!-- -->
@@ -43,19 +39,18 @@ 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.

-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:
+Map path is defined in the `map` parameter:

 ```xml
-<arg name="map" default="map.txt"/>
+<param name="map" value="$(find aruco_pose)/map/map.txt"/>
 ```

-Some map examples are provided in [the directory](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
+Some map examples are provided in [`~/catkin_ws/src/clover/aruco_pose/map`](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 -o test_map.txt
+rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clover/aruco_pose/map/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.
@@ -63,7 +58,7 @@ rosrun aruco_pose genmap.py length x y dist_x dist_y first -o test_map.txt
 Usage example:

 ```bash
-rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
+rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
 ```

 Additional information on the utility can be obtained using `-h` key: `rosrun aruco_pose genmap.py -h`.
@@ -157,10 +152,10 @@ 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 `placement` parameter to `ceilin` in `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
+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`:

 ```xml
-<arg name="placement" default="ceiling"/>
+<param name="known_tilt" value="map_flipped"/>
 ```

 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:
--- a/docs/en/aruco_marker.md
+++ b/docs/en/aruco_marker.md
@@ -1,9 +1,5 @@
 # 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).
@@ -26,20 +22,22 @@ 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 arguments should also be set:
+For the module to work correctly the following parameters should be set:

 ```xml
-<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) -->
+<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 -->
 ```

-`placement` argument should be set to:
+`known_tilt` should be set to:

-* `floor` if *all* markers are on the ground;
-* `ceiling` if *all* markers are on the ceiling;
+* `map` if *all* markers are on the ground;
+* `map_flipped` 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 of the node `aruco_detect`:
+You may specify length for each marker individually by using the `length_override` parameter:

 ```xml
 <param name="length_override/3" value="0.1"/>    <!-- marker with id=3 has a side of 0.1m -->
@@ -100,9 +98,9 @@ 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)
--- a/docs/en/auto_setup.md
+++ b/docs/en/auto_setup.md
@@ -126,7 +126,7 @@ Ctrl+C
 Start a program `myprogram.py` using Python:

 ```bash
-python3 myprogram.py
+python 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
-  python3 my_program.py
+  python 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.
--- a/docs/en/camera.md
+++ b/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)

--- a/docs/en/cli.md
+++ b/docs/en/cli.md
@@ -39,7 +39,7 @@ cat file.py
 Run `file.py` as a Python script:

 ```bash
-python3 file.py
+python file.py
 ```

 Reboot Raspberry Pi:
--- a/docs/en/laser.md
+++ b/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)

--- a/docs/en/migrate20.md
+++ b/docs/en/migrate20.md
@@ -70,6 +70,56 @@ 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`.
--- a/docs/en/migrate22.md
+++ b/docs/en/migrate22.md
@@ -1,59 +0,0 @@
-# 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.
--- a/docs/en/models.md
+++ b/docs/en/models.md
@@ -96,16 +96,6 @@ 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
--- a/docs/en/programming.md
+++ b/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 `python3` 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 `python` command:

 ```bash
-python3 flight.py
+python flight.py
 ```

 Below is a complete flight program that performs a takeoff, flies forward and lands:
--- a/docs/en/ros.md
+++ b/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)
--- a/docs/en/simple_offboard.md
+++ b/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):
@@ -309,7 +309,7 @@ Landing the drone:
 res = land()

 if res.success:
-    print('drone is landing')
+    print 'drone is landing'
 ```

 Landing the drone (command line):
--- a/docs/en/snippets.md
+++ b/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')
--- a/docs/en/sonar.md
+++ b/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:
--- a/docs/ru/SUMMARY.md
+++ b/docs/ru/SUMMARY.md
@@ -97,7 +97,6 @@
  * [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)
  * [COEX Duocam](duocam.md)
    * [Виртуальная MAVLink-камера](duocam_mavlink.md)
 * [Мероприятия](events.md)
--- a/docs/ru/aruco_map.md
+++ b/docs/ru/aruco_map.md
@@ -1,9 +1,5 @@
 # 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).

 <!-- -->
@@ -43,18 +39,18 @@ id_маркера размер_маркера x y z угол_z угол_y уго

 Где `угол_N` – это угол поворота маркера вокруг оси N в радианах.

-Файлы карт располагаются в каталоге `~/catkin_ws/src/clover/aruco_pose/map`. Название файла с картой задается в аргументе `map`:
+Путь к файлу с картой задается в параметре `map`:

 ```xml
-<arg name="map" default="map.txt"/>
+<param name="map" value="$(find aruco_pose)/map/map.txt"/>
 ```

-Смотрите примеры карт маркеров в [`вышеуказанном каталоге`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
+Смотрите примеры карт маркеров в каталоге [`~/catkin_ws/src/clover/aruco_pose/map`](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 -o test_map.txt
+rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clover/aruco_pose/map/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.
@@ -62,7 +58,7 @@ rosrun aruco_pose genmap.py length x y dist_x dist_y first -o test_map.txt
 Пример:

 ```bash
-rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
+rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
 ```

 Дополнительную информацию по утилите можно получить по ключу `-h`: `rosrun aruco_pose genmap.py -h`.
@@ -158,10 +154,10 @@ 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 выставить аргумент `placement` в значение `ceiling`:
+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`:

 ```xml
-<arg name="placement" default="ceiling"/>
+<param name="known_tilt" value="map_flipped"/>
 ```

 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:
--- a/docs/ru/aruco_marker.md
+++ b/docs/ru/aruco_marker.md
@@ -1,9 +1,5 @@
 # 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).
@@ -26,20 +22,22 @@
 <arg name="aruco_detect" default="true"/>
 ```

-Для правильной работы в этом же файле также должны быть выставлены аргументы:
+Для правильной работы в этом же файле в секции `aruco_detect` должны быть выставлены параметры:

 ```xml
-<arg name="placement" default="floor"/> <!-- расположение маркеров, см. далее -->
-<arg name="length" default="0.33"/>     <!-- размер маркеров в метрах (не включая белую рамку) -->
+<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 -->
 ```

-Значение аргумента `placement` следует выставлять следующим образом:
+Значение параметра `known_tilt` следует выставлять следующим образом:

-* если *все* маркеры наклеены на полу (земле), выставить значение `floor`;
-* если *все* маркеры наклеены на потолке, выставить значение `ceiling`;
+* если *все* маркеры наклеены на полу (земле), выставить значение `map`;
+* если *все* маркеры наклеены на потолке, выставить значение `map_flipped`;
 * 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` ноды `aruco_detect`:
+Если некоторые маркеры имеют размер, отличный значения `length`, их размер может быть переопределен с помощью параметра `length_override`:

 ```xml
 <param name="length_override/3" value="0.1"/>    <!-- маркер c id 3 имеет размер 10 см -->
@@ -112,9 +110,9 @@ 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)
--- a/docs/ru/auto_setup.md
+++ b/docs/ru/auto_setup.md
@@ -126,7 +126,7 @@ Ctrl+C
 Запустить программу myprogram.py на Питоне:

 ```bash
-python3 myprogram.py
+python 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
-  python3 my_program.py
+  python my_program.py
  ```

  > **Warning** После выполнения программы дрон может некорректно приземлиться и продолжать лететь над полом. В таком случае нужно перехватить управление.
--- a/docs/ru/camera.md
+++ b/docs/ru/camera.md
@@ -140,7 +140,7 @@ 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)

--- a/docs/ru/cli.md
+++ b/docs/ru/cli.md
@@ -39,7 +39,7 @@ cat file.py
 Запустить Python-скрипт `file.py`:

 ```bash
-python3 file.py
+python file.py
 ```

 Перезагрузить Raspberry Pi:
--- a/docs/ru/laser.md
+++ b/docs/ru/laser.md
@@ -59,7 +59,7 @@ rospy.init_node('flight')

 def range_callback(msg):
    # Обработка новых данных с дальномера
-    print('Rangefinder distance:', msg.range)
+    print 'Rangefinder distance:', msg.range

 rospy.Subscriber('rangefinder/range', Range, range_callback)

--- a/docs/ru/migrate20.md
+++ b/docs/ru/migrate20.md
@@ -72,6 +72,56 @@ sudo systemctl restart clover

 Например, файл `~/catkin_ws/src/clever/clever/launch/clever.launch` теперь называется `~/catkin_ws/src/clover/clover/launch/clover.launch`.

+<!--
+## Переход на Python 3
+
+Python 2 был признан [устаревшим](https://www.python.org/doc/sunset-python-2/), начиная с 1 января 2020 года. Платформа Клевера переходит на использование Python 3.
+
+Для запуска полетных скриптов вместо команды `python`:
+
+```bash
+python flight.py
+```
+
+теперь следует использовать команду `python3`:
+
+```bash
+python3 flight.py
+```
+
+Синтаксис языка Python 3 имеет определенные изменения по сравнения со второй версией. Вместо *оператора* `print`:
+
+```python
+print 'Clover is the best'
+```
+
+теперь используется *функция* `print`:
+
+```python
+print('Clover is the best')
+```
+
+Оператор деления по умолчанию выполняет деление с плавающей точкой (вместо целочисленного). Python 2:
+
+```python
+>>> 10 / 4
+2
+```
+
+Python 3:
+
+```python
+>>> 10 / 4
+2.5
+```
+
+Для строк по умолчанию теперь используется тип `unicode` (вместо типа `str`).
+
+Указание кодировки файла (`# coding: utf8`) перестало быть необходимым.
+
+Полное описание всех изменений языка смотрите в [соответствующей статье](https://pythonworld.ru/osnovy/python2-vs-python3-razlichiya-sintaksisa.html).
+-->
+
 ## Настройки Wi-Fi сети

 SSID Wi-Fi сети изменен на `clover-XXXX` (где X – случайная цифра), пароль изменен на `cloverwifi`.
--- a/docs/ru/migrate22.md
+++ b/docs/ru/migrate22.md
@@ -1,59 +0,0 @@
-# Переход на версию 0.22
-
-## Переход на Python 3
-
-Python 2 был признан [устаревшим](https://www.python.org/doc/sunset-python-2/), начиная с 1 января 2020 года. Платформа Клевера переходит на использование Python 3.
-
-Для запуска полетных скриптов вместо команды `python`:
-
-```bash
-python flight.py
-```
-
-теперь следует использовать команду `python3`:
-
-```bash
-python3 flight.py
-```
-
-Синтаксис языка Python 3 имеет определенные изменения по сравнения со второй версией. Вместо *оператора* `print`:
-
-```python
-print 'Clover is the best'  # this won't work
-```
-
-теперь используется *функция* `print`:
-
-```python
-print('Clover is the best')
-```
-
-Оператор деления по умолчанию выполняет деление с плавающей точкой (вместо целочисленного). Python 2:
-
-```python
->>> 10 / 4
-2
-```
-
-Python 3:
-
-```python
->>> 10 / 4
-2.5
-```
-
-Для строк по умолчанию теперь используется тип `unicode` (вместо типа `str`).
-
-Указание кодировки файла (`# coding: utf8`) перестало быть необходимым.
-
-Полное описание всех изменений языка смотрите в [соответствующей статье](https://pythonworld.ru/osnovy/python2-vs-python3-razlichiya-sintaksisa.html).
-
-## Переход на ROS Noetic
-
-<img src="../assets/noetic.png" width=200>
-
-Версия ROS Melodic обновлена до ROS Noetic. Смотрите полный список изменений в [официальной документации ROS](http://wiki.ros.org/noetic/Migration).
-
-## Изменения в launch-файлах
-
-Упрощено конфигурирование навигации с использованием ArUco-маркеров. Подробнее в статьях по [навигации по маркерам](aruco_marker.md) и [навигации по картам маркеров](aruco_map.md).
--- a/docs/ru/models.md
+++ b/docs/ru/models.md
@@ -96,16 +96,6 @@
        </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
--- a/docs/ru/programming.md
+++ b/docs/ru/programming.md
@@ -34,10 +34,10 @@

 > **Info** Для изучения языка программирования Python обращайтесь 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 `python3`:
+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`:

 ```bash
-python3 flight.py
+python flight.py
 ```

 Пример программы для полета (взлет, пролет вперед, посадка):
--- a/docs/ru/ros.md
+++ b/docs/ru/ros.md
@@ -63,7 +63,7 @@ foo_pub.publish(data='Hello, world!')  # публикуем сообщение

 ```python
 def foo_callback(msg):
-    print(msg.data)
+    print msg.data

 # Подписываемся. При получении сообщения в топик /foo будет вызвана функция foo_callback.
 rospy.Subscriber('/foo', String, foo_callback)
--- a/docs/ru/simple_offboard.md
+++ b/docs/ru/simple_offboard.md
@@ -75,14 +75,14 @@ land = rospy.ServiceProxy('land', Trigger)

 ```python
 telemetry = get_telemetry()
-print(telemetry.x, telemetry.y, telemetry.z)
+print telemetry.x, telemetry.y, telemetry.z
 ```

 Вывод высоты коптера относительно [карты ArUco-меток](aruco.md):

 ```python
 telemetry = get_telemetry(frame_id='aruco_map')
-print(telemetry.z)
+print telemetry.z
 ```

 Проверка доступности глобальной позиции:
@@ -90,9 +90,9 @@ print(telemetry.z)
 ```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'
 ```

 Вывод текущей телеметрии (командная строка):
@@ -309,7 +309,7 @@ set_velocity(vx=0.4, vy=0.0, vz=0, yaw=float('nan'), yaw_rate=0.4, frame_id='bod
 res = land()

 if res.success:
-    print('Copter is landing')
+    print 'Copter is landing'
 ```

 Посадка коптера (командная строка):
--- a/docs/ru/snippets.md
+++ b/docs/ru/snippets.md
@@ -337,7 +337,7 @@ 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')
--- a/docs/ru/sonar.md
+++ b/docs/ru/sonar.md
@@ -83,7 +83,7 @@ pi.callback(ECHO, pigpio.FALLING_EDGE, fall)

 while True:
    # Читаем дистанцию:
-    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()
 ```

 Пример графиков исходных и отфильтрованных данных:
--- a/roswww_static/CMakeLists.txt
+++ b/roswww_static/CMakeLists.txt
@@ -6,7 +6,3 @@ find_package(catkin REQUIRED)
 catkin_package()

 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-catkin_install_python(PROGRAMS main.py
-    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
Author	SHA1	Message	Date
Oleg Kalachev	efaddd34c8	image: enable USB in Compute Module 4	2021-04-02 10:35:49 +03:00
Oleg Kalachev	5d29453ae0	image: build rtl8812au wi-fi driver	2021-04-02 02:31:34 +03:00