Merge branch 'master' into roswww-static-target

Clover package Python library added.

.gitattributes

@@ -3,6 +3,7 @@ roslib.js linguist-vendored
 eventemitter2.js linguist-vendored
 ros3d.js linguist-vendored
 three.min.js linguist-vendored
+json-to-pretty-yaml.js linguist-vendored
 aruco_pose/vendor/* linguist-vendored
 blockly/* linguist-vendored
 highlight/* linguist-vendored

.github/workflows/build-image.yaml

@@ -0,0 +1,29 @@
+name: RPi image
+
+on:
+  push:
+    branches: [ '*' ]
+  pull_request:
+    branches: [ master ]
+  release:
+    types: [ created ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build image
+        run: |
+          docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${{ github.event.release.tag_name }}" sfalexrog/img-tool:qemu-update
+      - name: Compress image
+        run: |
+          cd images && sudo chmod -R 777 . && zip -9 $(echo clover_*).zip clover_* && ls -l . && unzip -l clover_*.zip
+      - name: Upload image
+        uses: softprops/action-gh-release@v1
+        if: ${{ github.event_name == 'release' }}
+        with:
+          files: images/clover_*.zip
+          prerelease: true
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/build.yml

@@ -0,0 +1,51 @@
+name: Build
+
+on:
+  push:
+    branches: [ '*' ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  # melodic:
+  #   runs-on: ubuntu-latest
+  #   steps:
+  #     - uses: actions/checkout@v2
+  #     - name: Native Melodic build
+  #       run: |
+  #         docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
+  noetic:
+    runs-on: ubuntu-latest
+    container: ros:noetic-ros-base
+    defaults:
+      run:
+        working-directory: catkin_ws
+        shell: bash
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        path: catkin_ws/src/clover
+    - name: Install requirements
+      run: apt-get update && apt-get -y install python3-pip fakeroot python3-bloom debhelper dpkg-dev
+    - name: Install dependencies
+      run: rosdep update && rosdep install --from-paths src --ignore-src -y
+    - name: Install GeographicLib datasets
+      run: wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
+    - name: catkin_make
+      run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
+    - name: Run tests
+      run: source devel/setup.bash && catkin_make run_tests && catkin_test_results
+    - name: Build Debian packages
+      run: |
+        source devel/setup.bash
+        for file in `find . -name "package.xml"`; do
+          cd $(dirname ${file})
+          bloom-generate rosdebian --os-name ubuntu --os-version $(lsb_release -cs) --ros-distro $ROS_DISTRO  
+          fakeroot debian/rules binary
+          cd -
+        done
+    - uses: actions/upload-artifact@v3
+      with:
+        name: debian-packages
+        path: catkin_ws/src/clover/*.deb
+        retention-days: 1

.github/workflows/docs.yml

@@ -0,0 +1,86 @@
+name: Documentation
+
+on:
+  push:
+    branches: [ '*' ]
+  pull_request:
+    branches: [ '*' ]
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: "pages"
+  cancel-in-progress: true
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  docs:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v2
+      - name: Use Node.js
+        uses: actions/setup-node@v1
+        with: { node-version: '10' }
+      - name: Setup tools
+        run: |
+          sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
+          sudo apt-get update && sudo apt-get install -y calibre msttcorefonts
+          builder/assets/install_gitbook.sh
+          npm install markdownlint-cli@0.28.1 -g # FIXME: https://github.com/DavidAnson/markdownlint/issues/435
+          npm install svgexport -g
+          gitbook -V
+          markdownlint -V
+      - name: Run markdownlint
+        run: markdownlint docs
+      - name: Check Assets
+        run: |
+          ./check_assets_size.py
+          ./check_unused_assets.py
+      - name: Build GitBook
+        run: |
+         gitbook install
+         gitbook build
+      - name: Generate PDF
+        id: generate-pdf
+        env:
+          GITBOOK_SKIP_PDF: ${{ secrets.GITBOOK_SKIP_PDF }}
+        continue-on-error: ${{ env.GITBOOK_SKIP_PDF != '' }}
+        if: ${{ github.event_name == 'push' }}
+        run: |
+          for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
+          sudo apt-get -q install ghostscript
+          gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_ru_compressed.pdf _book/clover_ru.pdf
+          gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_en_compressed.pdf _book/clover_en.pdf
+          rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf
+          rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf
+          ls -lah _book/clover*.pdf
+          echo '::set-output name=GITBOOK_PDF_OK::1'
+      - name: Download older PDFs
+        if: ${{ !steps.generate-pdf.outputs.GITBOOK_PDF_OK }}
+        run: |
+          rm -f _book/clover*.pdf
+          wget --no-verbose https://clover.coex.tech/clover_ru.pdf -P _book/
+          wget --no-verbose https://clover.coex.tech/clover_en.pdf -P _book/
+      - name: Upload artifact
+        # if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+        uses: actions/upload-pages-artifact@v1
+        with:
+          path: _book
+
+  deploy-docs:
+    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    needs: docs
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v1

.github/workflows/editorconfig.yaml

@@ -0,0 +1,18 @@
+name: Editorconfig
+
+on:
+  push:
+    branches: [ '*' ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  editorconfig:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: .editorconfig Linter
+        run: |
+          wget --no-verbose https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
+          chmod +x ec-linux-amd64
+          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|json-to-pretty-yaml.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae|\.material"

.gitignore

@@ -6,3 +6,4 @@ _book/
 package-lock.json
 clover_blocks/programs/*.*
 !clover_blocks/programs/examples/*
+/.vscode/

.markdownlint.json

@@ -110,7 +110,8 @@
             "Li-ion",
             "Nvidia",
             "VirtualBox",
-            "VMware"
+            "VMware",
+            "DuoCam"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -1,132 +0,0 @@
-os: linux
-dist: xenial
-language: generic
-services:
-  - docker
-env:
-  global:
-    - DOCKER="sfalexrog/img-tool:qemu-update"
-    - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
-    - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
-    - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
-git:
-  depth: 1
-jobs:
-  fast_finish: true
-  include:
-    - stage: Build
-      name: "Raspberry Pi Image Build"
-      cache:
-        directories:
-        - imgcache
-      before_script:
-        - docker pull ${DOCKER}
-# Check if there are any cached images, copy them to our "images" directory
-        - if [ -n "$(ls -A imgcache/*.zip)" ]; then mkdir -p images && cp imgcache/*.zip images; fi
-      script:
-        - if [[ -z ${TRAVIS_TAG} && "${TRAVIS_PULL_REQUEST}" != "false" ]]; then
-            echo "Commit range is ${TRAVIS_COMMIT_RANGE}" &&
-            if [ $(git diff --name-only ${TRAVIS_COMMIT_RANGE} | grep -v ^"docs/" | wc -l) -eq 0 ]; then
-              echo " === Docs-only change; skipping build ===" &&
-              export SKIP_BUILD=true;
-            fi;
-          fi
-        - if [ -z ${SKIP_BUILD} ]; then
-            docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER};
-          fi
-      before_cache:
-        - cp images/*.zip imgcache
-      after_success:
-        - sudo chmod -R 777 *
-        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
-      before_deploy:
-        # Set up git user name and tag this commit
-        - git config --local user.name "goldarte"
-        - git config --local user.email "goldartt@gmail.com"
-      deploy:
-        provider: releases
-        token: ${GITHUB_OAUTH_TOKEN}
-        file: ${IMAGE_NAME}.zip
-        skip_cleanup: true
-        on:
-          tags: true
-        draft: true
-        name: ${TRAVIS_TAG}
-    - stage: Build
-      name: "Native Kinetic build"
-      env:
-        - NATIVE_DOCKER=ros:kinetic-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: "Native Melodic build"
-      env:
-        - NATIVE_DOCKER=ros:melodic-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: "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
-      node_js:
-        - "10"
-      before_script:
-        - 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
-        - markdownlint -V
-      script:
-        - markdownlint docs
-        - ./check_assets_size.py
-        - ./check_unused_assets.py
-        - gitbook install
-        - gitbook build
-        - for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
-        - sudo apt-get install ghostscript
-        - gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_ru_compressed.pdf _book/clover_ru.pdf
-        - gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_en_compressed.pdf _book/clover_en.pdf
-        - rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf
-        - rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf
-        - ls -lah _book/clover*.pdf
-      deploy:
-        provider: pages
-        local_dir: _book
-        skip_cleanup: true
-        token: ${GITHUB_OAUTH_TOKEN}
-        keep_history: true
-        target_branch: master
-        repo: CopterExpress/clover.coex.tech
-        fqdn: clover.coex.tech
-        verbose: true
-        on:
-          branch: master
-    - stage: Build
-      name: Editorconfig-lint
-      language: generic
-      before_script:
-        - wget https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
-        - chmod +x ec-linux-amd64
-      script:
-        - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
-stages:
-  - Build
-# More info there
-# https://github.com/travis-ci/travis-ci/issues/6893
-# https://docs.travis-ci.com/user/customizing-the-build/
-# https://docs.travis-ci.com/user/deployment/releases
-# https://docs.travis-ci.com/user/environment-variables/

README.md

@@ -1,6 +1,6 @@
 # clover🍀: create autonomous drones easily
 
-<img src="docs/assets/clover42-main.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clover42-main-margin.png" align="right" width="400px" alt="COEX Clover Drone">
 
 Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
 
@@ -20,7 +20,7 @@ Clover drone is used on a wide range of educational events, including [Copter Ha
 
 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
-[![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
+![GitHub Workflow Status](https://img.shields.io/github/workflow/status/CopterExpress/clover/CI)
 ![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:
@@ -38,6 +38,10 @@ API description for autonomous flights is available [on GitBook](https://clover.
 
 For manual package installation and running see [`clover` package documentation](clover/README.md).
 
+## Support
+
+[![Telegram Support Chat](https://img.shields.io/endpoint?label=Support%20Chat&url=https%3A%2F%2Ftelegram-badge-4mbpu8e0fit4.runkit.sh%2F%3Furl%3Dhttps%3A%2F%2Ft.me%2FCOEXHelpDesk)](https://t.me/COEXHelpdesk)
+
 ## License
 
 While the Clover platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

apps/ios/cleverrc/README.md

@@ -1,5 +1,4 @@
-iOS-приложение для управления Клевером
---------------------------------------
+# iOS-приложение для управления Клевером
 
 Для установки зависимостей необходим [CocoaPods](https://cocoapods.org):
 

aruco_pose/CMakeLists.txt

@@ -83,11 +83,10 @@ add_message_files(
 )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
+add_service_files(
+  FILES
+  SetMarkers.srv
+)
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -120,6 +119,7 @@ generate_messages(
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
   cfg/Detector.cfg
+  cfg/Map.cfg
 )
 
 ###################################
@@ -202,11 +202,11 @@ set_property(TARGET aruco_pose
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -226,6 +226,10 @@ catkin_install_python(PROGRAMS src/genmap.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY map DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 #############
 ## Testing ##
 #############
@@ -247,4 +251,5 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
   add_rostest(test/crash_opencv.test)
+  add_rostest(test/duplicate.test)
 endif()

aruco_pose/README.md

@@ -51,6 +51,7 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 
 * `image_raw` (*sensor_msgs/Image*) – camera image
 * `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info
+* `map_markers` (*aruco_pose/MarkerArray*) – list of markers to disable TF transform publishing
 
 #### Published
 
@@ -70,10 +71,11 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 
 * `~map` – path to text file with markers list
 * `~frame_id` – published frame id (default: `aruco_map`)
-* `~known_tilt` – debug image width
+* `~known_tilt` – known tilt (pitch and roll) of markers map as a frame
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)
+* `~image_axis` – whether debug image should contain axis (default: true)
 * `~dictionary` (*int*) – ArUco dictionary (default: 2) - should be the same as `dictionary` parameter of `aruco_detect` nodelet
 
 Map file has one marker per line with the following line format:
@@ -97,6 +99,7 @@ See examples in [`map`](map/) directory.
 #### Published
 
 * `~pose` (*geometry_msgs/PoseWithCovarianceStamped*) – estimated map pose
+* `~map` (*aruco_pose/MarkerArray*) – list of markers in the loaded map
 * `~image` (*sensor_msgs/Image*) – planarized map image
 * `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz
 * `~debug` (*sensor_msgs/Image*) – debug image with detected markers and map axis

aruco_pose/cfg/Detector.cfg

@@ -10,6 +10,8 @@ gen = ParameterGenerator()
 
 gen.add("enabled", bool_t, 0, "if detection enabled", True)
 
+gen.add("length", double_t, 0, "markers' side length", min=0, max=10)
+
 gen.add("adaptiveThreshConstant",                 double_t, 0,
         "Constant for adaptive thresholding before finding contours",
          p.adaptiveThreshConstant, 0, 100)

aruco_pose/cfg/Map.cfg

@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+PACKAGE = "aruco_pose"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("enabled", bool_t, 0, "if map detection enabled", True)
+
+gen.add("map", str_t, 0, "full path for the map file")
+
+gen.add("image_axis", bool_t, 0, "debug image axis", default=True)
+
+exit(gen.generate(PACKAGE, "aruco_pose", "Map"))

aruco_pose/map/cmit.txt

@@ -1,3 +1,4 @@
+# id	length	x	y	z	rot_z	rot_y	rot_x
 0	0.33	0.0	9.0	0	0	0	0	
 1	0.33	1.0	9.0	0	0	0	0	
 2	0.33	2.0	9.0	0	0	0	0	

aruco_pose/map/office.txt

@@ -1,3 +1,4 @@
+# id	length	x	y	z	rot_z	rot_y	rot_x
 107	0.33	0	0	0	0	0	0
 106	0.33	0.77	0	0	0	0	0
 105	0.33	0	0.77	0	0	0	0

aruco_pose/map/office_ceiling.txt

@@ -1,3 +1,4 @@
+# id	length	x	y	z	rot_z	rot_y	rot_x
 14	0.365	0.000	0.0	0	0	0	0
 15	0.365	1.335	0.0	0	0	0	0
 30	0.365	2.865	0.0	0	0	0	0

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

aruco_pose/src/aruco_detect.cpp

@@ -48,6 +48,7 @@
 #include <aruco_pose/Marker.h>
 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/DetectorConfig.h>
+#include <aruco_pose/SetMarkers.h>
 
 #include "utils.h"
 #include <memory>
@@ -69,8 +70,11 @@ private:
 	image_transport::CameraSubscriber img_sub_;
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
-	bool estimate_poses_, send_tf_, auto_flip_;
+	ros::ServiceServer set_markers_srv_;
+	bool estimate_poses_, send_tf_, auto_flip_, use_map_markers_;
+	bool waiting_for_map_;
 	double length_;
+	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
 	std::string frame_id_prefix_, known_tilt_;
 	Mat camera_matrix_, dist_coeffs_;
@@ -92,11 +96,14 @@ public:
 		dictionary = nh_priv_.param("dictionary", 2);
 		estimate_poses_ = nh_priv_.param("estimate_poses", true);
 		send_tf_ = nh_priv_.param("send_tf", true);
+		use_map_markers_ = nh_priv_.param("use_map_markers", false);
+		waiting_for_map_ = use_map_markers_;
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
 			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
 		}
 		readLengthOverride(nh_priv_);
+		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));
 
 		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
@@ -114,6 +121,8 @@ public:
 		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));
 
+		set_markers_srv_ = nh_priv_.advertiseService("set_length_override", &ArucoDetect::setMarkers, 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);
@@ -127,6 +136,7 @@ private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
 		if (!enabled_) return;
+		if (waiting_for_map_) return;
 
 		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
 
@@ -172,7 +182,7 @@ private:
 				if (!known_tilt_.empty()) {
 					try {
 						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                      msg->header.stamp, ros::Duration(0.02));
+						                                      msg->header.stamp, transform_timeout_);
 					} catch (const tf2::TransformException& e) {
 						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
@@ -181,6 +191,8 @@ private:
 
 			array_.markers.reserve(ids.size());
 			aruco_pose::Marker marker;
+			vector<geometry_msgs::TransformStamped> transforms;
+			transforms.reserve(ids.size());
 			geometry_msgs::TransformStamped transform;
 			transform.header.stamp = msg->header.stamp;
 			transform.header.frame_id = msg->header.frame_id;
@@ -198,20 +210,33 @@ private:
 						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
 					}
 
-					// TODO: check IDs are unique
 					if (send_tf_) {
 						transform.child_frame_id = getChildFrameId(ids[i]);
 
 						// check if such static transform is in the map
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
-							transform.transform.rotation = marker.pose.orientation;
-							fillTranslation(transform.transform.translation, tvecs[i]);
-							br_->sendTransform(transform);
+							// check if a markers with that id is already added
+							bool send = true;
+							for (auto &t : transforms) {
+								if (t.child_frame_id == transform.child_frame_id) {
+									send = false;
+									break;
+								}
+							}
+							if (send) {
+								transform.transform.rotation = marker.pose.orientation;
+								fillTranslation(transform.transform.translation, tvecs[i]);
+								transforms.push_back(transform);
+							}
 						}
 					}
 				}
 				array_.markers.push_back(marker);
 			}
+
+			if (send_tf_) {
+				br_->sendTransform(transforms);
+			}
 		}
 
 		markers_pub_.publish(array_);
@@ -346,17 +371,47 @@ private:
 		}
 	}
 
+	bool setMarkers(aruco_pose::SetMarkers::Request& req, aruco_pose::SetMarkers::Response& res)
+	{
+		for (auto const& marker : req.markers) {
+			if (marker.id > 999) {
+				res.message = "Invalid marker id: " + std::to_string(marker.id);
+				ROS_ERROR("%s", res.message.c_str());
+				return true;
+			}
+			if (!std::isfinite(marker.length) || marker.length <= 0) {
+				res.message = "Invalid marker " + std::to_string(marker.id) + " length: " + std::to_string(marker.length);
+				ROS_ERROR("%s", res.message.c_str());
+				return true;
+			}
+		}
+
+		for (auto const& marker : req.markers) {
+			length_override_[marker.id] = marker.length;
+		}
+
+		res.success = true;
+		return true;
+	}
+
 	void mapMarkersCallback(const aruco_pose::MarkerArray& msg)
 	{
 		map_markers_ids_.clear();
 		for (auto const& marker : msg.markers) {
 			map_markers_ids_.insert(marker.id);
+			if (use_map_markers_) {
+				if (length_override_.find(marker.id) == length_override_.end()) {
+					length_override_[marker.id] = marker.length;
+				}
+			}
 		}
+		waiting_for_map_ = false;
 	}
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
 	{
-		enabled_ = config.enabled;
+		enabled_ = config.enabled && config.length > 0;
+		length_ = config.length;
 		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
 		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
 		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;

aruco_pose/src/aruco_map.cpp

@@ -19,11 +19,13 @@
 #include <vector>
 #include <fstream>
 #include <algorithm>
+#include <memory>
 #include <ros/ros.h>
 #include <nodelet/nodelet.h>
 #include <pluginlib/class_list_macros.h>
 #include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
+#include <dynamic_reconfigure/server.h>
 #include <tf/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
@@ -41,6 +43,7 @@
 
 #include <aruco_pose/MarkerArray.h>
 #include <aruco_pose/Marker.h>
+#include <aruco_pose/MapConfig.h>
 
 #include <opencv2/opencv.hpp>
 #include <opencv2/aruco.hpp>
@@ -74,6 +77,9 @@ private:
 	tf2_ros::StaticTransformBroadcaster static_br_;
 	tf2_ros::Buffer tf_buffer_;
 	tf2_ros::TransformListener tf_listener_{tf_buffer_};
+	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::MapConfig>> dyn_srv_;
+	bool enabled_ = true;
+	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
 	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
@@ -89,15 +95,14 @@ public:
 
 		// TODO: why image_transport doesn't work here?
 		img_pub_ = nh_priv_.advertise<sensor_msgs::Image>("image", 1, true);
-		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1, true);
+		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("map", 1, true);
 
 		board_ = cv::makePtr<cv::aruco::Board>();
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
 			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
 
-		std::string type, map;
-		type = nh_priv_.param<std::string>("type", "map");
+		type_ = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
 		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
@@ -110,13 +115,13 @@ public:
 
 		// createStripLine();
 
-		if (type == "map") {
-			param(nh_priv_, "map", map);
-			loadMap(map);
-		} else if (type == "gridboard") {
+		if (type_ == "map") {
+			map_ = nh_priv_.param<std::string>("map" , "");
+			loadMap(map_);
+		} else if (type_ == "gridboard") {
 			createGridBoard(nh_priv_);
 		} else {
-			NODELET_FATAL("unknown type: %s", type.c_str());
+			NODELET_FATAL("unknown type: %s", type_.c_str());
 			ros::shutdown();
 		}
 
@@ -124,10 +129,7 @@ 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_);
+		publishMap();
 
 		image_sub_.subscribe(nh_, "image_raw", 1);
 		info_sub_.subscribe(nh_, "camera_info", 1);
@@ -136,6 +138,12 @@ 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));
 
+		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::MapConfig>>(nh_priv_);
+		dynamic_reconfigure::Server<aruco_pose::MapConfig>::CallbackType cb;
+
+		cb = std::bind(&ArucoMap::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
+		dyn_srv_->setCallback(cb);
+
 		NODELET_INFO("ready");
 	}
 
@@ -143,6 +151,9 @@ public:
 	              const sensor_msgs::CameraInfoConstPtr& cinfo,
 	              const aruco_pose::MarkerArrayConstPtr& markers)
 	{
+		if (!enabled_) return;
+		if (markers->markers.empty()) return; // map not loaded
+
 		int valid = 0;
 		int count = markers->markers.size();
 		std::vector<int> ids;
@@ -268,9 +279,17 @@ publish_debug:
 		std::ifstream f(filename);
 		std::string line;
 
+		clearMarkers();
+
+		if (map_ == "") {
+			NODELET_INFO("No map loaded");
+			return;
+		}
+
 		if (!f.good()) {
-			NODELET_FATAL("%s - %s", strerror(errno), filename.c_str());
-			ros::shutdown();
+			NODELET_ERROR("%s - %s", strerror(errno), filename.c_str());
+			map_ = "";
+			return;
 		}
 
 		while (std::getline(f, line)) {
@@ -296,9 +315,10 @@ publish_debug:
 				s.putback(first);
 			} else {
 				// Probably garbage data; inform user and throw an exception, possibly killing nodelet
-				NODELET_FATAL("Malformed input: %s", line.c_str());
-				ros::shutdown();
-				throw std::runtime_error("Malformed input");
+				NODELET_ERROR("Malformed input: %s", line.c_str());
+				map_ = "";
+				clearMarkers();
+				return;
 			}
 
 			if (!(s >> id >> length >> x >> y)) {
@@ -329,6 +349,14 @@ publish_debug:
 		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}
 
+	void publishMap()
+	{
+		publishMarkersFrames();
+		publishMarkers();
+		publishMapImage();
+		vis_markers_pub_.publish(vis_array_);
+	}
+
 	void createGridBoard(ros::NodeHandle& nh)
 	{
 		NODELET_INFO("generate gridboard");
@@ -370,6 +398,15 @@ publish_debug:
 		}
 	}
 
+	void clearMarkers()
+	{
+		board_->ids.clear();
+		board_->objPoints.clear();
+		markers_.markers.clear();
+		vis_array_.markers.clear();
+		markers_transforms_.clear();
+	}
+
 	// void createStripLine()
 	// {
 	// 	visualization_msgs::Marker marker;
@@ -466,7 +503,7 @@ publish_debug:
 		vis_marker.pose.position.x = x;
 		vis_marker.pose.position.y = y;
 		vis_marker.pose.position.z = z;
-		tf::quaternionTFToMsg(q, marker.pose.orientation);
+		tf::quaternionTFToMsg(q, vis_marker.pose.orientation);
 		vis_marker.frame_locked = true;
 		vis_array_.markers.push_back(vis_marker);
 
@@ -509,6 +546,22 @@ publish_debug:
 		msg.image = image;
 		img_pub_.publish(msg.toImageMsg());
 	}
+
+	void paramCallback(aruco_pose::MapConfig &config, uint32_t level)
+	{
+		// https://github.com/CopterExpress/clover/commit/2cd334c474e3ed04ef65ca1ba7f08ab535a3dc6d#diff-942723f9452c398ae93f1a91427f9a7b614be5e5871f8a3e590f324d804f0d58R356
+		enabled_ = config.enabled;
+		if (type_ == "map" && config.map != map_) {
+			map_ = config.map;
+			loadMap(map_);
+			publishMap();
+		}
+
+		if (config.image_axis != image_axis_) {
+			image_axis_ = config.image_axis;
+			publishMapImage();
+		}
+	}
 };
 
 PLUGINLIB_EXPORT_CLASS(ArucoMap, nodelet::Nodelet)

aruco_pose/src/genmap.py

@@ -30,7 +30,7 @@ Options:
   -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
+  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
 """
 
 from __future__ import print_function

aruco_pose/srv/SetMarkers.srv

@@ -0,0 +1,7 @@
+# * Add or change markers in the map
+# * Change markers' properties, e. g. lengths
+
+Marker[] markers # if length or pose is nan - remove from map
+---
+bool success
+string message

aruco_pose/test/basic.py

@@ -6,7 +6,7 @@ import tf2_geometry_msgs
 from geometry_msgs.msg import PoseWithCovarianceStamped
 from sensor_msgs.msg import Image
 from aruco_pose.msg import MarkerArray
-from visualization_msgs.msg import MarkerArray as VisMarkerArray
+from visualization_msgs.msg import MarkerArray as VisMarkerArray, Marker as VisMarker
 
 
 @pytest.fixture
@@ -143,7 +143,7 @@ def test_map_image(node):
     assert img.encoding in ('mono8', 'rgb8')
 
 def test_map_markers(node):
-    markers = rospy.wait_for_message('aruco_map/markers', MarkerArray, timeout=5)
+    markers = rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=5)
     assert markers.markers[0].id == 1
     assert markers.markers[1].id == 2
     assert markers.markers[2].id == 3
@@ -199,6 +199,36 @@ def test_map_markers(node):
 
 def test_map_visualization(node):
     vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+    assert len(vis.markers) == 7
+    assert vis.markers[0].header.frame_id == 'aruco_map'
+    assert vis.markers[0].type == VisMarker.CUBE
+    assert vis.markers[0].action == VisMarker.ADD
+    assert vis.markers[0].pose.position.x == 0
+    assert vis.markers[0].pose.position.y == 0
+    assert vis.markers[0].pose.position.z == 0
+    assert vis.markers[0].pose.orientation.x == 0
+    assert vis.markers[0].pose.orientation.y == 0
+    assert vis.markers[0].pose.orientation.z == 0
+    assert vis.markers[0].pose.orientation.w == 1
+    assert vis.markers[0].scale.x == approx(0.33)
+    assert vis.markers[0].scale.y == approx(0.33)
+    assert vis.markers[0].scale.z == approx(0.001)
+    assert vis.markers[1].pose.position.x == 1
+    assert vis.markers[1].pose.position.y == 0
+    assert vis.markers[1].pose.position.z == 0
+    assert vis.markers[1].pose.orientation.x == 0
+    assert vis.markers[1].pose.orientation.y == 0
+    assert vis.markers[1].pose.orientation.z == 0
+    assert vis.markers[1].pose.orientation.w == 1
+    # non-zero yaw marker:
+    assert vis.markers[4].scale.x == approx(0.5)
+    assert vis.markers[4].pose.position.x == approx(0.5)
+    assert vis.markers[4].pose.position.y == 2
+    assert vis.markers[4].pose.position.z == 0
+    assert vis.markers[4].pose.orientation.x == 0
+    assert vis.markers[4].pose.orientation.y == 0
+    assert vis.markers[4].pose.orientation.z == approx(0.5646424733950354)
+    assert vis.markers[4].pose.orientation.w == approx(0.8253356149096783)
 
 def test_map_debug(node):
     img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)

aruco_pose/test/duplicate.py

@@ -0,0 +1,8 @@
+import pytest
+import subprocess
+
+def test_no_tf_repeated_data():
+    # `/rosout` acts weirdly inside rostest, so using a subprocess
+    cmd = """python -c 'import rospy, tf; rospy.init_node("foo"); listener = tf.TransformListener(); rospy.sleep(2)'"""
+    output = str(subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT))
+    assert 'TF_REPEATED_DATA' not in output, 'TF_REPEATED_DATA was logged on duplicate markers'

aruco_pose/test/duplicate.test

@@ -0,0 +1,21 @@
+<launch>
+    <node pkg="image_publisher" type="image_publisher" name="main_camera" args="$(find aruco_pose)/test/duplicate.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" required="true"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager" required="true">
+        <remap from="image_raw" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="estimate_poses" value="true"/>
+        <param name="send_tf" value="true"/>
+        <param name="cornerRefinementMethod" value="1"/>
+    </node>
+
+	<param name="test_module" value="$(find aruco_pose)/test/duplicate.py"/>
+    <test test-name="aruco_pose_test" pkg="ros_pytest" type="ros_pytest_runner"/>
+</launch>

aruco_pose/test/test_node_failure.py

@@ -2,6 +2,7 @@ import rospy
 import pytest
 
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
+from aruco_pose.msg import MarkerArray
 
 
 @pytest.fixture
@@ -9,5 +10,5 @@ def node():
     return rospy.init_node('aruco_pose_test', anonymous=True)
 
 def test_node_failure(node):
-    with pytest.raises(rospy.exceptions.ROSException):
-        rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+    assert rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5).markers == []
+    assert rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=5).markers == []

book.json

@@ -10,7 +10,7 @@
         "yametrika",
         "anchors",
         "collapsible-menu",
-        "validate-links",
+        "validate-links@https://github.com/okalachev/gitbook-plugin-validate-links.git",
         "bulk-redirect@https://github.com/okalachev/gitbook-plugin-bulk-redirect.git",
         "sitemap@https://github.com/okalachev/plugin-sitemap.git",
         "toolbar@https://github.com/hamishwillee/gitbook-plugin-toolbar.git",

builder/assets/clover.service

@@ -8,5 +8,9 @@ ExecStart=/bin/bash -c ". /home/pi/catkin_ws/devel/setup.sh; \
                       ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clover clover.launch --wait --screen --skip-log-check \
                       2> >(tee /tmp/clover.err)"
 
+ExecStartPre=+rm /var/log/clover.log
+StandardOutput=file:/var/log/clover.log
+StandardError=file:/var/log/clover.log
+
 [Install]
 WantedBy=multi-user.target

builder/assets/install_gitbook.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+
+# GitBook CLI is deprecated, its installation is broken.
+# This script fixes it until we stop using GitBook.
+
+export NPM_CONFIG_UNSAFE_PERM=1
+
+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

builder/image-build.sh

@@ -16,7 +16,7 @@
 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-2021-05-28/2021-05-07-raspios-buster-armhf-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -105,8 +105,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
-# examples
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -115,15 +113,11 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
 # 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/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
-# Add PX4 udev rules
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clover/config/99-px4fmu.rules' '/lib/udev/rules.d/'
 # Add rename script
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'

builder/image-ros.sh

@@ -13,7 +13,7 @@
 # copies or substantial portions of the Software.
 #
 
-set -e # Exit immidiately on non-zero result
+set -ex # exit on error, echo commands
 
 REPO=$1
 REF=$2
@@ -90,7 +90,7 @@ echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
 apt install -y --no-install-recommends \
 ros-${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-${ROS_DISTRO}-cv-camera=0.5.1-0buster \
 ros-${ROS_DISTRO}-image-publisher=1.15.3-0buster \
 ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
 apt-mark hold \
@@ -112,7 +112,8 @@ my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
+sudo -E -u pi sh -c '. /opt/ros/${ROS_DISTRO}/setup.sh && catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo'
+source devel/setup.bash
 
 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -121,9 +122,8 @@ 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
+builder/assets/install_gitbook.sh
+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
 
@@ -151,9 +151,20 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
-echo_stamp "Change permissions for examples"
+echo_stamp "Make \$HOME/examples symlink"
+ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples
 
+echo_stamp "Make systemd services symlinks"
+ln -s /home/pi/catkin_ws/src/clover/builder/assets/clover.service /lib/systemd/system/
+ln -s /home/pi/catkin_ws/src/clover/builder/assets/roscore.service /lib/systemd/system/
+# validate
+[ -f /lib/systemd/system/clover.service ]
+[ -f /lib/systemd/system/roscore.service ]
+
+echo_stamp "Make udev rules symlink"
+ln -s "$(catkin_find clover udev --first-only)"/* /lib/udev/rules.d/
+
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'

builder/image-software.sh

@@ -137,6 +137,8 @@ pip3 --version
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
 export CRYPTOGRAPHY_DONT_BUILD_RUST=1
+my_travis_retry pip3 install cryptography==3.4.6 # https://stackoverflow.com/a/68472128/6850197
+my_travis_retry pip3 install pyOpenSSL==20.0.1
 my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
@@ -153,7 +155,7 @@ systemctl enable monkey.service
 
 echo_stamp "Install Node.js"
 cd /home/pi
-wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
+wget --no-verbose https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
 tar -xzf node-v10.15.0-linux-armv6l.tar.gz
 cp -R node-v10.15.0-linux-armv6l/* /usr/local/
 rm -rf node-v10.15.0-linux-armv6l/

builder/image-validate.sh

@@ -20,12 +20,20 @@ export ROS_DISTRO='noetic'
 export ROS_IP='127.0.0.1'
 source /opt/ros/${ROS_DISTRO}/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
+systemctl start roscore
 
 cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.sh
 ./tests.py
 ./tests_py3.py
+[[ $(./test_qr.py) == "Found QRCODE with data Проверка Unicode with center at x=66.0, y=66.0" ]] 
 [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
 
+systemctl stop roscore
+
+# check documented packages available
+apt-cache show gst-rtsp-launch
+apt-cache show openvpn
+
 echo "Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload

builder/standalone-install.sh

@@ -3,10 +3,17 @@
 # Perform a "standalone install" in a Docker container
 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
+apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 # https://github.com/osrf/docker_images/issues/535
+apt-get update
+apt-get install -y curl
+if [ "x${ROS_PYTHON_VERSION}" = "x3" ]; then
+  PYTHON=python3
+  curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
+else
+  PYTHON=python
+  curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
+fi
+${PYTHON} ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt
 curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
@@ -34,7 +41,7 @@ ws281x:
   ubuntu:
     ${CODENAME}: [ros-${ROS_DISTRO}-ws281x]
 EOF
-apt update
+apt-get update
 rosdep update
 
 # Step 2: Run rosdep to install all dependencies
@@ -50,7 +57,7 @@ cd /root/catkin_ws
 catkin_make
 
 # Step 4: Run tests
-python3 -m pip install --upgrade pytest # TODO: https://github.com/CopterExpress/clover/commit/5b970d51970cfa6f46e5c0b34acb7889d36b89c8
+${PYTHON} -m pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results

builder/test/test_qr.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+
+# Test QG recognition example
+# Should be synced with the documentation: /docs/en/camera.md, /docs/ru/camera.md
+# TODO: use real ROS topics
+
+import rospy
+from pyzbar import pyzbar
+from cv_bridge import CvBridge
+from sensor_msgs.msg import Image
+
+bridge = CvBridge()
+
+# rospy.init_node('barcode_test')
+
+# Image subscriber callback function
+def image_callback(data):
+    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    barcodes = pyzbar.decode(cv_image)
+    for barcode in barcodes:
+        b_data = barcode.data.decode("utf-8")
+        b_type = barcode.type
+        (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))
+    # rospy.signal_shutdown('done')
+
+# image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+
+# ==============================================================================
+# Publish test image
+# rospy.sleep(2)
+
+import cv2
+img = cv2.imread('qr.png')
+image_callback(bridge.cv2_to_imgmsg(img, 'bgr8'))
+
+# image_pub = rospy.Publisher('/main_camera/image_raw', Image, queue_size=1, latch=True)
+# image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
+
+# rospy.spin()

builder/test/tests.py

@@ -2,20 +2,30 @@
 
 # validate all required modules installed
 
+import os
 import rospy
 from geometry_msgs.msg import PoseStamped
+from sensor_msgs.msg import Range, BatteryState
 
 import cv2
 import cv2.aruco
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
 
 import numpy
 import mavros
-from mavros_msgs.msg import State, StatusText, ExtendedState
+from mavros_msgs.msg import State, StatusText, ExtendedState, RCIn, Mavlink
 from mavros_msgs.srv import CommandBool, CommandLong, SetMode
 
 from std_srvs.srv import Trigger
 from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
     SetAttitude, SetRates, SetLEDEffect
+from led_msgs.srv import SetLEDs
+from led_msgs.msg import LEDStateArray, LEDState
+from aruco_pose.msg import Marker, MarkerArray, Point2D
+from clover import long_callback
+
+import dynamic_reconfigure.client
 
 import tf2_ros
 import tf2_geometry_msgs
@@ -23,9 +33,11 @@ import tf2_geometry_msgs
 import VL53L1X
 import pymavlink
 from pymavlink import mavutil
-import rpi_ws281x
-import pigpio
 # from espeak import espeak
 from pyzbar import pyzbar
 
 print(cv2.getBuildInformation())
+
+if not os.environ.get('VM'):
+    import rpi_ws281x
+    import pigpio

builder/test/tests.sh

@@ -6,16 +6,10 @@ set -ex
 
 # validate required software is installed
 
-python --version
 python2 --version
 python3 --version
-ipython --version
 ipython3 --version
 
-# ptvsd does not have a stand-alone binary
-python -m ptvsd --version
-python3 -m ptvsd --version
-
 node -v
 npm -v
 
@@ -25,37 +19,64 @@ lsof -v
 git --version
 vim --version
 pip --version
-pip2 --version
 pip3 --version
 tcpdump --version
 monkey --version
-pigpiod -v
-i2cdetect -V
-butterfly -h
 # espeak --version
-mjpg_streamer --version
+systemctl --version
+
+if [ -z $VM ]; then
+	# rpi only software
+	python --version
+	ipython --version
+	pip2 --version
+	# `python` is python2 for now
+	[[ $(python -c 'import sys;print(sys.version_info.major)') == "2" ]]
+
+	# ptvsd does not have a stand-alone binary
+	python -m ptvsd --version
+	python3 -m ptvsd --version
+
+	pigpiod -v
+	i2cdetect -V
+	butterfly -h
+	mjpg_streamer --version
+fi
 
 # ros stuff
 
 roscore -h
 rosversion clover
 rosversion aruco_pose
-rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
 rosversion ws281x
 rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
-rosversion compressed_image_transport
-rosversion rosbridge_suite
-rosversion rosserial
+rosversion rosbridge_server
 rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
-rosversion rosshow
 rosversion nodelet
 rosversion image_view
 
+[[ $(rosversion ws281x) == "0.0.13" ]]
+
+if [ -z $VM ]; then
+	rosversion compressed_image_transport
+	rosversion rosshow
+	rosversion vl53l1x
+	rosversion rosserial
+	[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
+fi
+
+[ $VM ] && H="/home/clover" || H="/home/pi"
+
 # validate examples are present
-[[ $(ls /home/pi/examples/*) ]]
+[[ $(ls $H/examples/*) ]]
+
+# validate web tools present
+[ -d $H/.ros/www ]
+[ "$(readlink $H/.ros/www/clover)" = "$H/catkin_ws/src/clover/clover/www" ]
+[ "$(readlink $H/.ros/www/clover_blocks)" = "$H/catkin_ws/src/clover/clover_blocks/www" ]

check_unused_assets.py

@@ -5,7 +5,7 @@ import sys
 import subprocess
 
 EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
-    'clever4-front-black-large.png','clover42-black.png')
+    'clever4-front-black-large.png','clover42-black.png', 'clover42-main-margin.png')
 
 code = 0
 

clover/CMakeLists.txt

@@ -17,6 +17,7 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
   geometry_msgs
   sensor_msgs
+  led_msgs
   geographic_msgs
   tf
   tf2
@@ -24,6 +25,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_ros
   image_transport
   cv_bridge
+  dynamic_reconfigure
 )
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -51,7 +53,7 @@ find_package(OpenCV ${_opencv_version} REQUIRED
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -126,10 +128,9 @@ generate_messages(
 ##     and list every .cfg file to be processed
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
+generate_dynamic_reconfigure_options(
+  cfg/Flow.cfg
+)
 
 ###################################
 ## catkin specific configuration ##
@@ -211,6 +212,8 @@ add_dependencies(clover_led ${PROJECT_NAME}_generate_messages_cpp)
 
 add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
 
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
+
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
@@ -227,6 +230,9 @@ target_link_libraries(${PROJECT_NAME}
   ${OpenCV_LIBRARIES}
 )
 
+# Set Clover to default www page
+set(ROSWWW_STATIC_DEFAULT ${PROJECT_NAME})
+
 #############
 ## Install ##
 #############
@@ -241,12 +247,12 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+# Mark executables and/or libraries for installation
+install(TARGETS simple_offboard clover_rc camera_markers vpe_publisher clover_led shell clover
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -266,13 +272,21 @@ catkin_install_python(PROGRAMS src/selfcheck.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY examples DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# TODO: install www
+
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)
 if (${_PREFIX_INDEX} EQUAL 0)
   message(STATUS "Building as a Debian package - adding udev rules as installable files")
   install(FILES
-    config/99-px4fmu.rules
+    udev/99-px4fmu.rules
     DESTINATION /lib/udev/rules.d
   )
 else()

clover/README.md

@@ -36,7 +36,7 @@ curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/inst
 You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
 
 ```bash
-cd ~/catkin_ws/src/clover/clover/config
+cd ~/catkin_ws/src/clover/clover/udev
 sudo cp 99-px4fmu.rules /lib/udev/rules.d
 ```
 

clover/cfg/Flow.cfg

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+PACKAGE = "clover"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("enabled", bool_t, 0, "if optical flow enabled", True)
+
+exit(gen.generate(PACKAGE, "clover", "Flow"))

clover/examples/camera.py

@@ -0,0 +1,64 @@
+# Information: https://clover.coex.tech/camera
+
+# Example on basic working with the camera and image processing:
+
+# - cuts out a central square from the camera image;
+# - publishes this cropped image to the topic `/cv/center`;
+# - computes the average color of it;
+# - prints its name to the console. 
+
+import rospy
+import cv2
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+from clover import long_callback
+
+rospy.init_node('cv')
+bridge = CvBridge()
+
+printed_color = None
+center_pub = rospy.Publisher('~center', Image, queue_size=1)
+
+def get_color_name(h):
+    if h < 15: return 'red'
+    if h < 30: return 'orange'
+    elif h < 60: return 'yellow'
+    elif h < 90: return 'green'
+    elif h < 120: return 'cyan'
+    elif h < 150: return 'blue'
+    elif h < 170: return 'magenta'
+    else: return 'red'
+
+
+@long_callback
+def image_callback(msg):
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
+
+    # convert to HSV to work with color hue
+    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+    # cut out a central square
+    w = img.shape[1]
+    h = img.shape[0]
+    r = 20
+    center = img_hsv[h // 2 - r:h // 2 + r, w // 2 - r:w // 2 + r]
+
+    # compute and print the average hue
+    mean_hue = center[:, :, 0].mean()
+    color = get_color_name(mean_hue)
+    global printed_color
+    if color != printed_color:
+        print(color)
+        printed_color = color
+
+    # publish the cropped image
+    center = cv2.cvtColor(center, cv2.COLOR_HSV2BGR)
+    center_pub.publish(bridge.cv2_to_imgmsg(center, 'bgr8'))
+
+# process every frame:
+image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+
+# process 5 frames per second:
+# image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+
+rospy.spin()

clover/examples/flight.py

@@ -15,17 +15,17 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-# Take off and hover 1 m above the ground
+print('Take off and hover 1 m above the ground')
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Fly forward 1 m
+print('Fly forward 1 m')
 navigate(x=1, y=0, z=0, frame_id='body')
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Perform landing
+print('Perform landing')
 land()

clover/examples/flight_marker.py

@@ -15,23 +15,23 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-# Take off and hover 1 m above the ground
+print('Take off and hover 1 m above the ground')
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Fly 1 meter above ArUco marker 0
+print('Fly 1 meter above ArUco marker 0')
 navigate(x=0, y=0, z=1, frame_id='aruco_0')
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Fly to x=1 y=1 z=1 relative to ArUco markers map
+print('Fly to x=1 y=1 z=1 relative to ArUco markers map')
 navigate(x=1, y=1, z=1, frame_id='aruco_map')
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Perform landing
+print('Perform landing')
 land()

clover/examples/gps.py

@@ -0,0 +1,47 @@
+# Information: https://clover.coex.tech/en/simple_offboard.html#navigateglobal
+
+import rospy
+from clover import srv
+from std_srvs.srv import Trigger
+import math
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+land = rospy.ServiceProxy('land', Trigger)
+
+# https://clover.coex.tech/en/snippets.html#wait_arrival
+def wait_arrival(tolerance=0.2):
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
+            break
+        rospy.sleep(0.2)
+
+start = get_telemetry()
+
+if math.isnan(start.lat):
+    raise Exception('No global position, install and configure GPS sensor: https://clover.coex.tech/gps')
+
+print('Start point global position: lat={}, lon={}'.format(start.lat, start.lon))
+
+print('Take off 3 meters')
+navigate(x=0, y=0, z=3, frame_id='body', auto_arm=True)
+wait_arrival()
+
+print('Fly 1 arcsecond to the North (approx. 30 meters)')
+navigate_global(lat=start.lat+1.0/60/60, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
+wait_arrival()
+
+print('Fly to home position')
+navigate_global(lat=start.lat, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
+wait_arrival()
+
+print('Land')
+land()

clover/examples/navigate_wait.py

@@ -31,11 +31,11 @@ def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
             return res
         rospy.sleep(0.2)
 
-# Take off 1 meter
+print('Take off 1 meter')
 navigate_wait(z=1, frame_id='body', auto_arm=True)
 
-# Fly forward 1 m
+print('Fly forward 1 m')
 navigate_wait(x=1, frame_id='body')
 
-# Land
+print('Land')
 land()

clover/examples/subscriber.py

@@ -0,0 +1,15 @@
+# Information: https://clover.coex.tech/en/laser.html
+
+import rospy
+from sensor_msgs.msg import Range
+
+rospy.init_node('process_rangefinder')
+
+def range_callback(msg):
+    # Process data from the rangefinder
+    print('Rangefinder distance:', msg.range)
+
+# Subscribe to laser rangefinder data
+rospy.Subscriber('rangefinder/range', Range, range_callback)
+
+rospy.spin()

clover/launch/aruco.launch

@@ -3,21 +3,26 @@
     <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="length" default="0.22"/> <!-- 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 -->
 
+    <arg name="force_init" default="false"/>
+    <arg name="disable" default="false"/> <!-- only force init -->
+
     <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(eval aruco_detect and not disable)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
+        <remap from="map_markers" to="aruco_map/map"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
+        <param name="use_map_markers" value="true"/>
         <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
         <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="length" value="$(arg length)"/>
+        <param name="transform_timeout" value="0.1"/>
         <!-- aruco detector parameters -->
         <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
         <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
@@ -26,7 +31,7 @@
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(eval aruco_map and not disable)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
@@ -41,11 +46,15 @@
     </node>
 
     <!-- vpe publisher from aruco markers -->
-    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
-        <remap from="~pose_cov" to="aruco_map/pose"/>
+    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(eval aruco_vpe or force_init)" output="screen" clear_params="true">
+        <remap from="~pose_cov" to="aruco_map/pose" if="$(arg aruco_vpe)"/>
         <remap from="~vpe" to="mavros/vision_pose/pose"/>
-        <param name="frame_id" value="aruco_map_detected"/>
-        <param name="publish_zero" value="true"/>
+        <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
+        <param name="force_init" value="$(arg force_init)"/>
         <param name="offset_frame_id" value="aruco_map"/>
     </node>
+
+    <!-- run map_flipped frame if placement is ceiling -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame"
+        args="0 0 0 3.1415926 3.1415926 0 map map_flipped" if="$(eval placement == 'ceiling')"/>
 </launch>

clover/launch/clover.launch

@@ -12,6 +12,7 @@
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
     <arg name="rc" default="false"/>
+    <arg name="force_init" default="true"/> <!-- force estimator to init by publishing zero pose -->
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 
@@ -33,28 +34,22 @@
     </node>
 
     <!-- aruco markers -->
-    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
+    <include file="$(find clover)/launch/aruco.launch" if="$(eval aruco or force_init)">
+        <arg name="force_init" value="$(arg force_init)"/>
+        <arg name="disable" value="$(eval not aruco)"/>
+    </include>
 
     <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow main_camera_nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
         <param name="roi_rad" value="0.8"/>
+        <param name="disable_on_vpe" value="false"/>
     </node>
 
-    <!-- main nodelet manager -->
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
-        <param name="num_worker_threads" value="2"/>
-    </node>
-
-    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
-
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
-        <param name="reference_frames/body" value="map"/>
-        <param name="reference_frames/base_link" value="map"/>
-        <param name="reference_frames/navigate_target" value="map"/>
         <param name="reference_frames/main_camera_optical" value="map"/>
     </node>
 
@@ -89,9 +84,4 @@
         <!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
         <param name="use_fake_gcs" value="false"/>
     </node>
-
-    <!-- Update static directory -->
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
-        <param name="default_package" value="clover"/>
-    </node>
 </launch>

clover/launch/led.launch

@@ -36,7 +36,7 @@
             posctl: { r: 50, g: 100, b: 220 }
             offboard: { r: 220, g: 20, b: 250 }
             low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
-            error: { effect: flash, r: 255, g: 0, b: 0 }
+            error: { effect: flash, r: 255, g: 0, b: 0, ignore: [ "[lpe] vision position timeout" ]}
         </rosparam>
     </node>
 </launch>

clover/launch/main_camera.launch

@@ -3,6 +3,9 @@
 
     <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
     <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
+    <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
+    <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
+    <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
     <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" 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"/>
@@ -17,9 +20,14 @@
     <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
     <!-- <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 nodelet manager -->
+    <node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
+        <param name="num_worker_threads" value="2"/>
+    </node>
+
     <!-- 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">
-        <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet main_camera_nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" unless="$(arg simulator)" respawn="true">
+        <param name="device_path" value="$(arg device)"/>
         <param name="frame_id" value="main_camera_optical"/>
         <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>
 
@@ -37,4 +45,8 @@
     <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
         <param name="scale" value="3.0"/>
     </node>
+
+    <!-- image topic throttled -->
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
 </launch>

clover/launch/mavros.launch

@@ -1,5 +1,5 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
+    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl, hitl -->
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
@@ -23,6 +23,9 @@
         <!-- sitl since PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
 
+        <!-- hitl connection (to gazebo_mavlink_interface plugin) -->
+        <param name="fcu_url" value="udp://$(arg fcu_ip):14540@" if="$(eval fcu_conn == 'hitl')"/>
+
         <!-- set target_system_id -->
         <param name="target_system_id" value="$(arg fcu_sys_id)" />
 
@@ -39,7 +42,7 @@
         <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
 
         <!-- remap rangefinder -->
-        <remap from="mavros/distance_sensor/rangefinder_sub" to="rangefinder/range"/>
+        <remap from="mavros/distance_sensor/rangefinder_sub" to="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))"/>
 
         <rosparam param="plugin_whitelist">
             - altitude

clover/launch/mavros_config.yaml

@@ -1,11 +1,11 @@
 # Config file for mavros
 # Based on https://raw.githubusercontent.com/mavlink/mavros/master/mavros/launch/px4_config.yaml
 
-startup_px4_usb_quirk: true
+startup_px4_usb_quirk: false
 
 conn:
-  heartbeat_rate: 1.0    # send hertbeat rate in Hertz
-  timeout: 10.0          # hertbeat timeout in seconds
+  heartbeat_rate: 1.0    # send heartbeat rate in Hertz
+  timeout: 10.0          # heartbeat timeout in seconds
   timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
   system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)
 
@@ -13,6 +13,7 @@ time:
   time_ref_source: "fcu"  # time_reference source
   timesync_mode: MAVLINK
   timesync_avg_alpha: 0.6 # timesync averaging factor
+  publish_sim_time: false # don't publish /clock
 
 global_position:
   frame_id: "map"             # origin frame
@@ -77,6 +78,9 @@ distance_sensor:
       field_of_view: 0.5
   rangefinder_sub:
       subscriber: true
+      id: 1
+      orientation: PITCH_270
+      covariance: 1  # cm
 
 # fake_gps
 fake_gps:

clover/launch/simulator.launch

@@ -0,0 +1,4 @@
+<launch>
+    <!-- shurtcut for running the simulation (`roslaunch clover simulator.launch`) -->
+    <include file="$(find clover_simulation)/launch/simulator.launch"/>
+</launch>

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>clover</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -37,8 +37,11 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
+  <depend>libxml2</depend>
+  <depend>libxslt</depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
+  <depend>dynamic_reconfigure</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->

clover/setup.py

@@ -0,0 +1,11 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['clover'],
+    package_dir={'': 'src'})
+
+setup(**setup_args)

clover/src/autotest/autotest_aruco.py

@@ -0,0 +1,87 @@
+#!/usr/bin/env python3
+
+import rospy
+import math
+import signal
+import sys
+import dynamic_reconfigure.client
+from clover import srv
+from std_srvs.srv import Trigger
+from sensor_msgs.msg import Range
+from aruco_pose.msg import MarkerArray
+from util import handle_response
+
+rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c
+
+flow_client = dynamic_reconfigure.client.Client('optical_flow')
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
+land = handle_response(rospy.ServiceProxy('land', Trigger))
+
+def interrupt(sig, frame):
+    print('\nInterrupted, landing...')
+    land()
+    sys.exit(0)
+
+signal.signal(signal.SIGINT, interrupt)
+
+def print_current_map_position():
+    telem = get_telemetry()
+    dist = rospy.wait_for_message('rangefinder/range', Range).range
+    print('Map position:\tx={:.1f}\ty={:.1f}\tz={:.1f}\tyaw={:.1f}\tdist={:.2f}'.format(telem.x, telem.y, telem.z, telem.yaw, dist))
+
+def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)
+
+    if not res.success:
+        return res
+
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
+            return res
+        rospy.sleep(0.2)
+
+markers = rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=3)
+left = min(marker.pose.position.x for marker in markers.markers)
+bottom = min(marker.pose.position.y for marker in markers.markers)
+width = max(marker.pose.position.x for marker in markers.markers)
+height = max(marker.pose.position.y for marker in markers.markers)
+center_x = left + width / 2
+center_y = bottom + height / 2
+
+print('Map rect: %g %g - %g %g' % (left, bottom, width, height))
+
+input('Take off and hover 1 m [enter] ')
+navigate_wait(x=0, y=0, z=1, frame_id='body', auto_arm=True)
+print_current_map_position()
+
+input('Go to corner %g %g 1.5 speed 1 [enter] ' % (width, height))
+navigate_wait(x=width, y=height, z=1.5, speed=1, frame_id='aruco_map')
+print_current_map_position()
+
+input('Go to center %g %g 1.5 speed 5 [enter] ' % (center_x, center_y))
+navigate_wait(x=center_x, y=center_y, z=1.5, speed=5, frame_id='aruco_map')
+print_current_map_position()
+
+input('Disable optical flow and keep hovering [enter] ')
+flow_client.update_configuration({'enabled': False})
+rospy.sleep(5)
+
+input('Enable optical flow back [enter] ')
+flow_client.update_configuration({'enabled': True})
+
+input('Go to side 1 %g 2 heading top [enter] ' % (center_y))
+navigate_wait(x=1, y=center_y, z=2, yaw=1.57, frame_id='aruco_map')
+print_current_map_position()
+
+marker_id = markers.markers[0].id
+input('Go to marker %d z=1.5 [enter] ' % marker_id)
+navigate_wait(x=0, y=0, z=1.5, yaw=0, frame_id='aruco_%d' % marker_id)
+print_current_map_position()
+
+input('Perform landing [enter] ')
+land()

clover/src/autotest/autotest_flight.py

@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+
+import rospy
+import math
+from math import nan
+import signal
+import sys
+from clover import srv
+from std_srvs.srv import Trigger
+from sensor_msgs.msg import Range
+from util import handle_response
+
+rospy.init_node('autotest_flight', disable_signals=True) # disable signals to allow interrupting with ctrl+c
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
+navigate_global = handle_response(rospy.ServiceProxy('navigate_global', srv.NavigateGlobal))
+set_position = handle_response(rospy.ServiceProxy('set_position', srv.SetPosition))
+set_velocity = handle_response(rospy.ServiceProxy('set_velocity', srv.SetVelocity))
+set_attitude = handle_response(rospy.ServiceProxy('set_attitude', srv.SetAttitude))
+set_rates = handle_response(rospy.ServiceProxy('set_rates', srv.SetRates))
+land = handle_response(rospy.ServiceProxy('land', Trigger))
+
+def interrupt(sig, frame):
+    print('\nInterrupted, landing...')
+    land()
+    sys.exit(0)
+
+signal.signal(signal.SIGINT, interrupt)
+
+def navigate_wait(x=0, y=0, z=0, yaw=nan, yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)
+
+    if not res.success:
+        return res
+
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
+            return res
+        rospy.sleep(0.2)
+
+def print_distance():
+    dist = rospy.wait_for_message('rangefinder/range', Range).range
+    print('Distance: {:.2f}'.format(dist))
+
+input('Take off and hover 1 m [enter] ')
+navigate_wait(z=1, frame_id='body', auto_arm=True)
+print_distance()
+start = get_telemetry()
+
+input('Fly forward 2 m [enter] ')
+navigate_wait(x=2, frame_id='navigate_target')
+print_distance()
+
+input('Climb 0.5 m [enter] ')
+navigate_wait(z=0.5, frame_id='navigate_target')
+print_distance()
+
+input('Rotate left 90° [enter] ')
+navigate(yaw=math.pi / 2, frame_id='navigate_target')
+rospy.sleep(3)
+
+input('Use set_velocity to fly forward 2 m speed 1 [enter]')
+set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
+rospy.sleep(2)
+set_position(frame_id='body')
+
+input('Rotate right 90° [enter] ')
+navigate(yaw=-math.pi / 2, frame_id='navigate_target')
+rospy.sleep(3)
+
+input('Use set_attitude to fly backwards [enter]')
+set_attitude(pitch=-0.3, roll=0, yaw=0, thrust=0.5, frame_id='body')
+rospy.sleep(0.3)
+set_position(frame_id='body')
+
+input('Use set_attitude to fly right [enter]')
+set_attitude(pitch=0, roll=0.3, yaw=0, thrust=0.5, frame_id='body')
+rospy.sleep(0.5)
+set_position(frame_id='body')
+
+input('Use set_rates to fly right [enter]')
+set_rates(roll_rate=1.2, thrust=0.5)
+rospy.sleep(0.4)
+set_position(frame_id='body')
+
+input('Rotate 360° to the right using yaw_rate [enter]')
+set_position(x=nan, y=nan, z=nan, frame_id='body', yaw=nan, yaw_rate=-1)
+rospy.sleep(2 * math.pi)
+set_position(frame_id='body')
+
+input('Return to start point [enter]')
+navigate_wait(x=start.x, y=start.y, z=start.z, yaw=start.yaw, speed=1, frame_id='map')
+
+input('Land [enter]')
+land()

clover/src/autotest/autotest_led.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+import rospy
+import functools
+from clover.srv import SetLEDEffect
+from led_msgs.srv import SetLEDs
+from led_msgs.msg import LEDStateArray, LEDState
+from util import handle_response
+
+rospy.init_node('autotest_led', disable_signals=True)
+
+set_leds = handle_response(rospy.ServiceProxy('led/set_leds', SetLEDs))
+set_effect = handle_response(rospy.ServiceProxy('led/set_effect', SetLEDEffect))
+
+led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
+print('LED count =', led_count)
+
+print('== Testing effects ==')
+
+input('Fill red [enter] ')
+set_effect(r=255, g=0, b=0)
+
+input('Fill green [enter] ')
+set_effect(r=0, g=100, b=0)
+
+input('Blink white [enter] ')
+set_effect(effect='blink', r=255, g=255, b=255)
+rospy.sleep(3)
+
+input('Blink fast violet [enter] ')
+set_effect(effect='blink_fast', r=220, g=20, b=250)
+rospy.sleep(3)
+
+input('Fade to blue [enter] ')
+set_effect(effect='fade', r=0, g=0, b=255)
+
+input('Wipe to yellow [enter] ')
+set_effect(effect='wipe', r=255, g=255, b=40)
+
+input('Flash red [enter] ')
+set_effect(effect='flash', r=255, g=0, b=0)
+rospy.sleep(1)
+
+input('Rainbow [enter] ')
+set_effect(effect='rainbow')
+rospy.sleep(4)
+
+input('Rainbow fill [enter] ')
+set_effect(effect='rainbow_fill')
+rospy.sleep(4)
+
+input('Turn off [enter] ')
+set_effect()
+
+print('== Testing low-level control ==')
+
+input('Fill orange [enter] ')
+set_leds(leds=[LEDState(index=i, r=245, g=155, b=0) for i in range(led_count)])
+
+input('Fill blue gradient [enter] ')
+set_leds(leds=[LEDState(index=i, r=0, g=20, b=int(255 * i / led_count)) for i in range(led_count)])
+
+input('Animate green dot [enter] ')
+set_effect()
+for i in range(led_count):
+    if i > 0:
+        set_leds(leds=[LEDState(index=i - 1, r=0, g=0, b=0)])
+    set_leds(leds=[LEDState(index=i, r=0, g=255, b=0)])
+    rospy.sleep(0.05)
+
+input('Turn off [enter] ')
+set_effect()

clover/src/autotest/util.py

@@ -0,0 +1,11 @@
+import functools
+
+# decorator to handle response and print error message
+def handle_response(fn):
+    @functools.wraps(fn)
+    def wrapper(*args, **kwargs):
+        res = fn(*args, **kwargs)
+        if not res.success:
+            print('\033[91mError:\033[0m {}'.format(res.message))
+        return res
+    return wrapper

clover/src/clover/__init__.py

@@ -0,0 +1,35 @@
+import rospy
+from threading import Thread, Event
+
+def long_callback(fn):
+    """
+    Decorator fixing a rospy issue for long-running topic callbacks, primarily
+    for image processing.
+
+    See: https://github.com/ros/ros_comm/issues/1901.
+
+    Usage example:
+
+    @long_callback
+    def image_callback(msg):
+        # perform image processing
+        # ...
+
+    rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+    """
+    e = Event()
+
+    def thread():
+        while not rospy.is_shutdown():
+            e.wait()
+            e.clear()
+            fn(thread.current_msg)
+
+    thread.current_msg = None
+    Thread(target=thread, daemon=True).start()
+
+    def wrapper(msg):
+        thread.current_msg = msg
+        e.set()
+
+    return wrapper

clover/src/led.cpp

@@ -12,6 +12,7 @@
 
 #include <ros/ros.h>
 #include <string>
+#include <vector>
 #include <boost/algorithm/string.hpp>
 
 #include <clover/SetLEDEffect.h>
@@ -29,7 +30,7 @@ ros::Timer timer;
 ros::Time start_time;
 double blink_rate, blink_fast_rate, flash_delay, fade_period, wipe_period, rainbow_period;
 double low_battery_threshold;
-bool blink_state;
+std::vector<std::string> error_ignore;
 led_msgs::SetLEDs set_leds;
 led_msgs::LEDStateArray state, start_state;
 ros::ServiceClient set_leds_srv;
@@ -85,9 +86,8 @@ void proceed(const ros::TimerEvent& event)
 	set_leds.request.leds.resize(led_count);
 
 	if (current_effect.effect == "blink" || current_effect.effect == "blink_fast") {
-		blink_state = !blink_state;
-		// toggle all leds
-		if (blink_state) {
+		// enable on odd counter
+		if (counter % 2 != 0) {
 			fill(current_effect.r, current_effect.g, current_effect.b);
 		} else {
 			fill(0, 0, 0);
@@ -220,6 +220,7 @@ bool setEffect(clover::SetLEDEffect::Request& req, clover::SetLEDEffect::Respons
 	counter = 0;
 	start_state = state;
 	start_time = ros::Time::now();
+	proceed({ .current_real = start_time });
 
 	return true;
 }
@@ -274,6 +275,10 @@ void handleMavrosState(const mavros_msgs::State& msg)
 void handleLog(const rosgraph_msgs::Log& log)
 {
 	if (log.level >= rosgraph_msgs::Log::ERROR) {
+		// check if ignored
+		for (auto const& str : error_ignore) {
+			if (log.msg.find(str) != std::string::npos) return;
+		}
 		notify("error");
 	}
 }
@@ -302,6 +307,7 @@ int main(int argc, char **argv)
 	nh_priv.param("rainbow_period", rainbow_period, 5.0);
 
 	nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7);
+	nh_priv.param("notify/error/ignore", error_ignore, {});
 
 	ros::service::waitForService("set_leds"); // cannot work without set_leds service
 	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>("set_leds", true);
@@ -313,8 +319,8 @@ int main(int argc, char **argv)
 
 	auto set_effect = nh.advertiseService("set_effect", &setEffect);
 
-	auto mavros_state_sub = nh.subscribe("/mavros/state", 1, &handleMavrosState);
-	auto battery_sub = nh.subscribe("/mavros/battery", 1, &handleBattery);
+	auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState);
+	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery);
 	auto rosout_sub = nh.subscribe("/rosout_agg", 1, &handleLog);
 
 	timer = nh.createTimer(ros::Duration(0), &proceed, false, false);

clover/src/optical_flow.cpp

@@ -22,11 +22,14 @@
 #include <tf2/utils.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <dynamic_reconfigure/server.h>
 #include <mavros_msgs/OpticalFlowRad.h>
 #include <sensor_msgs/Imu.h>
+#include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/TwistStamped.h>
+#include <clover/FlowConfig.h>
 
 using cv::Mat;
 
@@ -38,6 +41,7 @@ public:
 	{}
 
 private:
+	bool enabled_;
 	ros::Publisher flow_pub_, velo_pub_, shift_pub_;
 	ros::Time prev_stamp_;
 	std::string fcu_frame_id_, local_frame_id_;
@@ -53,6 +57,11 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
+	float flow_gyro_default_;
+	bool disable_on_vpe_;
+	ros::Subscriber vpe_sub_;
+	ros::Time last_vpe_time_;
+	std::shared_ptr<dynamic_reconfigure::Server<clover::FlowConfig>> dyn_srv_;
 
 	void onInit()
 	{
@@ -69,21 +78,30 @@ private:
 		roi_px_ = nh_priv.param("roi", 128);
 		roi_rad_ = nh_priv.param("roi_rad", 0.0);
 		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
+		flow_gyro_default_ = nh_priv.param("flow_gyro_default", NAN);
 
 		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);
 		shift_pub_ = nh_priv.advertise<geometry_msgs::Vector3Stamped>("shift", 1);
 
-		flow_.integrated_xgyro = NAN; // no IMU available
-		flow_.integrated_ygyro = NAN;
-		flow_.integrated_zgyro = NAN;
 		flow_.time_delta_distance_us = 0;
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 
+		disable_on_vpe_ = nh_priv.param("disable_on_vpe", false);
+		if (disable_on_vpe_) {
+			vpe_sub_ = nh.subscribe("mavros/vision_pose/pose", 1, &OpticalFlow::vpeCallback, this);
+		}
+
+		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<clover::FlowConfig>>(nh_priv);
+		dynamic_reconfigure::Server<clover::FlowConfig>::CallbackType cb;
+
+		cb = std::bind(&OpticalFlow::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
+		dyn_srv_->setCallback(cb);
+
 		NODELET_INFO("Optical Flow initialized");
 	}
 
@@ -110,6 +128,14 @@ private:
 
 	void flow(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cinfo)
 	{
+		if (!enabled_) return;
+
+		if (disable_on_vpe_ &&
+			!last_vpe_time_.isZero() &&
+			(msg->header.stamp - last_vpe_time_).toSec() < 0.1) {
+			return;
+		}
+
 		parseCameraInfo(cinfo);
 
 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
@@ -143,7 +169,7 @@ private:
 
 		img.convertTo(curr_, CV_32F);
 
-		if (prev_.empty()) {
+		if (prev_.empty() || (msg->header.stamp - prev_stamp_).toSec() > 0.1) { // outdated previous frame
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;
 			cv::createHanningWindow(hann_, curr_.size(), CV_32F);
@@ -153,7 +179,7 @@ private:
 			cv::Point2d shift = cv::phaseCorrelate(prev_, curr_, hann_, &response);
 
 			// Publish raw shift in pixels
-			static geometry_msgs::Vector3Stamped shift_vec;
+			geometry_msgs::Vector3Stamped shift_vec;
 			shift_vec.header.stamp = msg->header.stamp;
 			shift_vec.header.frame_id = msg->header.frame_id;
 			shift_vec.vector.x = shift.x;
@@ -179,8 +205,8 @@ private:
 			double flow_x = atan2(points_undist[0].x, focal_length_x);
 			double flow_y = atan2(points_undist[0].y, focal_length_y);
 
-			// // Convert to FCU frame
-			static geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
+			// Convert to FCU frame
+			geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
 			flow_camera.header.frame_id = msg->header.frame_id;
 			flow_camera.header.stamp = msg->header.stamp;
 			flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
@@ -196,18 +222,21 @@ private:
 			ros::Duration integration_time = msg->header.stamp - prev_stamp_;
 			uint32_t integration_time_us = integration_time.toSec() * 1.0e6;
 
+			// Calculate flow gyro
+			flow_.integrated_xgyro = flow_gyro_default_;
+			flow_.integrated_ygyro = flow_gyro_default_;
+			flow_.integrated_zgyro = flow_gyro_default_;
+
 			if (calc_flow_gyro_) {
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
-					static geometry_msgs::Vector3Stamped flow_gyro_fcu;
+					geometry_msgs::Vector3Stamped flow_gyro_fcu;
 					tf_buffer_->transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
 					flow_.integrated_xgyro = flow_gyro_fcu.vector.x;
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
 				} catch (const tf2::TransformException& e) {
-					// Invalidate previous frame
-					prev_.release();
-					goto publish_debug;
+					// Transform not available, keep NANs in flow gyro
 				}
 			}
 
@@ -222,6 +251,14 @@ private:
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;
 
+			// Publish estimated angular velocity
+			geometry_msgs::TwistStamped velo;
+			velo.header.stamp = msg->header.stamp;
+			velo.header.frame_id = fcu_frame_id_;
+			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
+			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
+			velo_pub_.publish(velo);
+
 publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
@@ -234,14 +271,6 @@ publish_debug:
 				out_msg.image = img;
 				img_pub_.publish(out_msg.toImageMsg());
 			}
-
-			// Publish estimated angular velocity
-			static geometry_msgs::TwistStamped velo;
-			velo.header.stamp = msg->header.stamp;
-			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
-			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
-			velo_pub_.publish(velo);
 		}
 	}
 
@@ -262,6 +291,18 @@ publish_debug:
 
 		return flow;
 	}
+
+	void paramCallback(clover::FlowConfig &config, uint32_t level)
+	{
+		enabled_ = config.enabled;
+		if (!enabled_) {
+			prev_ = Mat(); // clear previous frame
+		}
+	}
+
+	void vpeCallback(const geometry_msgs::PoseStamped& vpe) {
+		last_vpe_time_ = vpe.header.stamp;
+	}
 };
 
 PLUGINLIB_EXPORT_CLASS(OpticalFlow, nodelet::Nodelet)

clover/src/rc.cpp

@@ -91,7 +91,7 @@ private:
 	void fakeGCSThread()
 	{
 		// Awful workaround for fixing PX4 not sending STATUSTEXTs
-		// if there is no GCS hearbeats.
+		// if there is no GCS heartbeats.
 		// TODO: use timer
 		// TODO: remove, when PX4 get this fixed.
 		ros::Publisher mavlink_pub = nh.advertise<mavros_msgs::Mavlink>("mavlink/to", 1);

clover/src/selfcheck.py

@@ -15,7 +15,8 @@ import subprocess
 import re
 from collections import OrderedDict
 import traceback
-from threading import Event
+import threading
+from threading import Event, Thread, Lock
 import numpy
 import rospy
 import tf2_ros
@@ -27,67 +28,76 @@ from mavros_msgs.msg import State, OpticalFlowRad, Mavlink
 from mavros_msgs.srv import ParamGet
 from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped, Vector3Stamped
 from visualization_msgs.msg import MarkerArray as VisualizationMarkerArray
+from diagnostic_msgs.msg import DiagnosticArray
 import tf.transformations as t
 from aruco_pose.msg import MarkerArray
 from mavros import mavlink
-
-
-# TODO: check attitude is present
-# TODO: disk free space
-# TODO: map, base_link, body
-# TODO: rc service
-# TODO: perform commander check, ekf2 status on PX4
-# TODO: check if FCU params setter succeed
-# TODO: selfcheck ROS service (with blacklists for checks)
+import locale
 
 
 rospy.init_node('selfcheck')
 
+os.environ['ROSCONSOLE_FORMAT']='${message}'
+
+# use user's locale to convert numbers, etc
+locale.setlocale(locale.LC_ALL, '')
 
 tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)
 
 
-failures = []
-infos = []
-current_check = None
+thread_local = threading.local()
+reports_lock = Lock()
 
 
 def failure(text, *args):
     msg = text % args
-    rospy.logwarn('%s: %s', current_check, msg)
-    failures.append(msg)
+    thread_local.reports += [{'failure': msg}]
 
 
 def info(text, *args):
     msg = text % args
-    rospy.loginfo('%s: %s', current_check, msg)
-    infos.append(msg)
+    thread_local.reports += [{'info': msg}]
 
 
 def check(name):
     def inner(fn):
         def wrapper(*args, **kwargs):
-            failures[:] = []
-            infos[:] = []
-            global current_check
-            current_check = name
+            start = rospy.get_time()
+            thread_local.reports = []
             try:
                 fn(*args, **kwargs)
             except Exception as e:
                 traceback.print_exc()
                 rospy.logerr('%s: exception occurred', name)
-                return
-            if not failures and not infos:
-                rospy.loginfo('%s: OK', name)
+            with reports_lock:
+                for report in thread_local.reports:
+                    if 'failure' in report:
+                        rospy.logerr('%s: %s', name, report['failure'])
+                    elif 'info' in report:
+                        rospy.loginfo('\033[90m%s\033[0m: %s', name, report['info'])
+                if not thread_local.reports:
+                    rospy.loginfo('\033[90m%s\033[0m: \033[92mOK\033[0m', name)
+                if rospy.get_param('~time', False):
+                    rospy.loginfo('%s: %.1f sec', name, rospy.get_time() - start)
         return wrapper
     return inner
 
 
+def ff(value, precision=2):
+    # safely format float or int
+    if value is None:
+        return '\033[31m???\033[0m'
+    if isinstance(value, float):
+        return ('{:.' + str(precision + 1) + '}').format(value)
+    elif isinstance(value, int):
+        return str(value)
+
+
 param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
 
 
-def get_param(name):
+def get_param(name, default=None):
     try:
         res = param_get(param_id=name)
     except rospy.ServiceException as e:
@@ -96,12 +106,17 @@ def get_param(name):
 
     if not res.success:
         failure('unable to retrieve PX4 parameter %s', name)
+        return default
     else:
         if res.value.integer != 0:
             return res.value.integer
         return res.value.real
 
 
+def get_paramf(name, precision=2):
+    return ff(get_param(name), precision)
+
+
 recv_event = Event()
 link = mavutil.mavlink.MAVLink('', 255, 1)
 mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
@@ -146,6 +161,24 @@ def mavlink_exec(cmd, timeout=3.0):
     return mavlink_recv
 
 
+def read_diagnostics(name, key):
+    e = Event()
+    def cb(msg):
+        for status in msg.status:
+            if status.name.lower() == name.lower():
+                for value in status.values:
+                    if value.key.lower() == key.lower():
+                        cb.value = value.value
+                        e.set()
+                        return
+
+    cb.value = None
+    sub = rospy.Subscriber('/diagnostics', DiagnosticArray, cb)
+    e.wait(1.0)  # wait to read all the diagnostics from nodes publishing them
+    sub.unregister()
+    return cb.value
+
+
 BOARD_ROTATIONS = {
     0: 'no rotation',
     1: 'yaw 45°',
@@ -193,24 +226,28 @@ def check_fcu():
             failure('no connection to the FCU (check wiring)')
             return
 
-        # Make sure the console is available to us
-        mavlink_exec('\n')
-        version_str = mavlink_exec('ver all')
-        if version_str == '':
-            info('no version data available from SITL')
+        if not is_process_running('px4', exact=True): # can't use px4 console in SITL
+            clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
+            clover_fw = False
 
-        r = re.compile(r'^FW (git tag|version): (v?\d\.\d\.\d.*)$')
-        is_clover_firmware = False
-        for ver_line in version_str.split('\n'):
-            match = r.search(ver_line)
-            if match is not None:
-                field, version = match.groups()
-                info('firmware %s: %s' % (field, version))
-                if 'clover' in version or 'clever' in version:
-                    is_clover_firmware = True
+            # Make sure the console is available to us
+            mavlink_exec('\n')
+            version_str = mavlink_exec('ver all')
+            if version_str == '':
+                info('no version data available from SITL')
 
-        if not is_clover_firmware:
-            failure('not running Clover PX4 firmware, https://clover.coex.tech/firmware')
+            for line in version_str.split('\n'):
+                if line.startswith('FW version: '):
+                    info(line[len('FW version: '):])
+                elif line.startswith('FW git tag: '): # only Clover's firmware
+                    tag = line[len('FW git tag: '):]
+                    clover_fw = clover_tag.search(tag)
+                    info(tag)
+                elif line.startswith('HW arch: '):
+                    info(line[len('HW arch: '):])
+
+            if not clover_fw:
+                info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
@@ -247,18 +284,25 @@ def check_fcu():
         if cbrk_usb_chk != 197848:
             failure('set parameter CBRK_USB_CHK to 197848 for flying with USB connected')
 
+        if not is_process_running('px4', exact=True): # skip battery check in SITL
+            try:
+                battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
+                if not battery.cell_voltage:
+                    failure('cell voltage is not available, https://clover.coex.tech/power')
+                else:
+                    cell = battery.cell_voltage[0]
+                    if cell > 4.3 or cell < 3.0:
+                        failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
+                    elif cell < 3.7:
+                        failure('critically low cell voltage: %.2f V, recharge battery', cell)
+            except rospy.ROSException:
+                failure('no battery state')
+
+        # time sync check
         try:
-            battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
-            if not battery.cell_voltage:
-                failure('cell voltage is not available, https://clover.coex.tech/power')
-            else:
-                cell = battery.cell_voltage[0]
-                if cell > 4.3 or cell < 3.0:
-                    failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
-                elif cell < 3.7:
-                    failure('critically low cell voltage: %.2f V, recharge battery', cell)
-        except rospy.ROSException:
-            failure('no battery state')
+            info('time sync offset: %.2f s', float(read_diagnostics('mavros: Time Sync', 'Estimated time offset (s)')))
+        except:
+            failure('cannot read time sync offset')
 
     except rospy.ROSException:
         failure('no MAVROS state (check wiring)')
@@ -328,7 +372,7 @@ def is_process_running(binary, exact=False, full=False):
         if exact:
             args.append('-x')  # match exactly with the command name
         if full:
-            args.append('-f')  # use full process name to match
+            args.append('-f')  # use full command line (including arguments) to match
         args.append(binary)
         subprocess.check_output(args)
         return True
@@ -338,6 +382,8 @@ def is_process_running(binary, exact=False, full=False):
 
 @check('ArUco markers')
 def check_aruco():
+    markers = None
+
     if is_process_running('aruco_detect', full=True):
         try:
             info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
@@ -348,9 +394,9 @@ def check_aruco():
             known_tilt += ' (ALL markers are on the floor)'
         elif known_tilt == 'map_flipped':
             known_tilt += ' (ALL markers are on the ceiling)'
-        info('aruco_detector/known_tilt = %s', known_tilt)
+        info('aruco_detect/known_tilt = %s', known_tilt)
         try:
-            rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
+            markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
         except rospy.ROSException:
             failure('no markers detection')
             return
@@ -367,34 +413,49 @@ def check_aruco():
         info('aruco_map/known_tilt = %s', known_tilt)
 
         try:
-            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=1)
+            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)
             info('map has %s markers', len(visualization.markers))
         except:
             failure('cannot read aruco_map/visualization topic')
 
         try:
-            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1)
+            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=0.8)
         except rospy.ROSException:
-            failure('no map detection')
+            if not markers:
+                info('no map detection as no markers detection')
+            elif not markers.markers:
+                info('no map detection as no markers detected')
+            else:
+                failure('no map detection')
     else:
         info('aruco_map is not running')
 
 
+def is_on_the_floor():
+    try:
+        dist = rospy.wait_for_message('rangefinder/range', Range, timeout=1)
+        return dist.range < 0.3
+    except rospy.ROSException:
+        return False
+
+
 @check('Vision position estimate')
 def check_vpe():
     vis = None
     try:
-        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
+        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=0.8)
     except rospy.ROSException:
         try:
-            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
+            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=0.8)
         except rospy.ROSException:
-            failure('no VPE or MoCap messages')
-            # check if vpe_publisher is running
-            try:
-                subprocess.check_output(['pgrep', '-x', 'vpe_publisher'])
-            except subprocess.CalledProcessError:
-                return  # it's not running, skip following checks
+            if not is_process_running('vpe_publisher', full=True):
+                info('no vision position estimate, vpe_publisher is not running')
+            elif rospy.get_param('aruco_map/known_tilt') == 'map_flipped':
+                failure('no vision position estimate, markers are on the ceiling')
+            elif is_on_the_floor():
+                info('no vision position estimate, the drone is on the floor')
+            else:
+                failure('no vision position estimate')
 
     # check PX4 settings
     est = get_param('SYS_MC_EST_GROUP')
@@ -406,14 +467,14 @@ def check_vpe():
         if vision_yaw_w == 0:
             failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter')
         else:
-            info('Vision yaw weight: %.2f', vision_yaw_w)
+            info('vision yaw weight: %s', ff(vision_yaw_w))
         fuse = get_param('LPE_FUSION')
         if not fuse & (1 << 2):
             failure('vision position fusion is disabled, change LPE_FUSION parameter')
         delay = get_param('LPE_VIS_DELAY')
         if delay != 0:
-            failure('LPE_VIS_DELAY parameter is %s, but it should be zero', delay)
-        info('LPE_VIS_XY is %.2f m, LPE_VIS_Z is %.2f m', get_param('LPE_VIS_XY'), get_param('LPE_VIS_Z'))
+            failure('LPE_VIS_DELAY = %s, but it should be zero', delay)
+        info('LPE_VIS_XY = %s m, LPE_VIS_Z = %s m', get_paramf('LPE_VIS_XY'), get_paramf('LPE_VIS_Z'))
     elif est == 2:
         fuse = get_param('EKF2_AID_MASK')
         if not fuse & (1 << 3):
@@ -422,10 +483,10 @@ def check_vpe():
             failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
         delay = get_param('EKF2_EV_DELAY')
         if delay != 0:
-            failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
-        info('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
-            get_param('EKF2_EVA_NOISE'),
-            get_param('EKF2_EVP_NOISE'))
+            failure('EKF2_EV_DELAY = %.2f, but it should be zero', delay)
+        info('EKF2_EVA_NOISE = %s, EKF2_EVP_NOISE = %s',
+            get_paramf('EKF2_EVA_NOISE', 3),
+            get_paramf('EKF2_EVP_NOISE', 3))
 
     if not vis:
         return
@@ -483,6 +544,12 @@ def check_local_position():
             failure('roll is %.2f deg; place copter horizontally or redo level horizon calib',
                     math.degrees(roll))
 
+        if not tf_buffer.can_transform('base_link', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
+            failure('can\'t transform from %s to base_link (timeout 0.5 s): is TF enabled?', pose.header.frame_id)
+
+        if not tf_buffer.can_transform('body', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
+            failure('can\'t transform from %s to body (timeout 0.5 s)', pose.header.frame_id)
+
     except rospy.ROSException:
         failure('no local position')
 
@@ -517,9 +584,11 @@ def check_velocity():
 @check('Global position (GPS)')
 def check_global_position():
     try:
-        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
+        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
     except rospy.ROSException:
         info('no global position')
+        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK', 0) & (1 << 0)):
+            failure('enabled GPS fusion may suppress vision position aiding')
 
 
 @check('Optical flow')
@@ -531,7 +600,7 @@ def check_optical_flow():
         # check PX4 settings
         rot = get_param('SENS_FLOW_ROT')
         if rot != 0:
-            failure('SENS_FLOW_ROT parameter is %s, but it should be zero', rot)
+            failure('SENS_FLOW_ROT = %s, but it should be zero', rot)
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
             fuse = get_param('LPE_FUSION')
@@ -539,32 +608,36 @@ def check_optical_flow():
                 failure('optical flow fusion is disabled, change LPE_FUSION parameter')
             if not fuse & (1 << 1):
                 failure('flow gyro compensation is disabled, change LPE_FUSION parameter')
-            scale = get_param('LPE_FLW_SCALE')
+            scale = get_param('LPE_FLW_SCALE', 1)
             if not numpy.isclose(scale, 1.0):
-                failure('LPE_FLW_SCALE parameter is %.2f, but it should be 1.0', scale)
+                failure('LPE_FLW_SCALE = %.2f, but it should be 1.0', scale)
 
-            info('LPE_FLW_QMIN is %s, LPE_FLW_R is %.4f, LPE_FLW_RR is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
-                          get_param('LPE_FLW_QMIN'),
-                          get_param('LPE_FLW_R'),
-                          get_param('LPE_FLW_RR'),
-                          get_param('SENS_FLOW_MINHGT'),
-                          get_param('SENS_FLOW_MAXHGT'))
+            info('LPE_FLW_QMIN = %s, LPE_FLW_R = %s, LPE_FLW_RR = %s',
+                          get_paramf('LPE_FLW_QMIN'),
+                          get_paramf('LPE_FLW_R', 4),
+                          get_paramf('LPE_FLW_RR', 4))
         elif est == 2:
-            fuse = get_param('EKF2_AID_MASK')
+            fuse = get_param('EKF2_AID_MASK', 0)
             if not fuse & (1 << 1):
                 failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
-            delay = get_param('EKF2_OF_DELAY')
+            delay = get_param('EKF2_OF_DELAY', 0)
             if delay != 0:
-                failure('EKF2_OF_DELAY is %.2f, but it should be zero', delay)
-            info('EKF2_OF_QMIN is %s, EKF2_OF_N_MIN is %.4f, EKF2_OF_N_MAX is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
-                          get_param('EKF2_OF_QMIN'),
-                          get_param('EKF2_OF_N_MIN'),
-                          get_param('EKF2_OF_N_MAX'),
-                          get_param('SENS_FLOW_MINHGT'),
-                          get_param('SENS_FLOW_MAXHGT'))
+                failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay)
+            info('EKF2_OF_QMIN = %s, EKF2_OF_N_MIN = %s, EKF2_OF_N_MAX = %s',
+                          get_paramf('EKF2_OF_QMIN'),
+                          get_paramf('EKF2_OF_N_MIN', 4),
+                          get_paramf('EKF2_OF_N_MAX', 4))
+        info('SENS_FLOW_MINHGT = %s, SENS_FLOW_MAXHGT = %s', get_paramf('SENS_FLOW_MINHGT', 3), get_paramf('SENS_FLOW_MAXHGT', 3))
 
     except rospy.ROSException:
-        failure('no optical flow data (from Raspberry)')
+        if rospy.get_param('optical_flow/disable_on_vpe', False):
+            try:
+                rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
+                info('no optical flow as disable_on_vpe is true')
+            except:
+                failure('no optical flow on RPi, disable_on_vpe is true, but no vision pose also')
+        else:
+            failure('no optical flow on RPi')
 
 
 @check('Rangefinder')
@@ -588,7 +661,7 @@ def check_rangefinder():
 
     est = get_param('SYS_MC_EST_GROUP')
     if est == 1:
-        fuse = get_param('LPE_FUSION')
+        fuse = get_param('LPE_FUSION', 0)
         if not fuse & (1 << 5):
             info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
         else:
@@ -609,16 +682,20 @@ def check_rangefinder():
 
 @check('Boot duration')
 def check_boot_duration():
+    if not os.path.exists('/etc/clover_version'):
+        info('skip check')
+        return # Don't check not on Clover's image
+
     output = subprocess.check_output('systemd-analyze').decode()
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
-    if duration > 15:
+    if duration > 20:
         failure('long Raspbian boot duration: %ss (systemd-analyze for analyzing)', duration)
 
 
 @check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet',
+    WHITELIST = 'nodelet', 'gzclient', 'gzserver', 'selfcheck.py'
     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()
     processes = output.split('\n')
@@ -627,13 +704,16 @@ def check_cpu_usage():
             continue
         pid, cpu, cmd = process.split('\t')
 
-        if cmd.strip() not in WHITELIST and float(cpu) > 30:
+        if cmd.strip() not in WHITELIST and locale.atof(cpu) > 30:
             failure('high CPU usage (%s%%) detected: %s (PID %s)',
                     cpu.strip(), cmd.strip(), pid.strip())
 
 
 @check('clover.service')
 def check_clover_service():
+    if not os.path.exists('/etc/clover_version'):
+        return # Don't check not on Clover's image
+
     try:
         output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
                                          stderr=subprocess.STDOUT).decode()
@@ -646,13 +726,22 @@ def check_clover_service():
     elif 'failed' in output:
         failure('service failed to run, check your launch-files')
 
-    r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
+    BLACKLIST = 'Unexpected command 520', 'Time jump detected', 'different index:'
+
+    r = re.compile(r'^(.*)\[(FATAL|ERROR| WARN)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
     error_count = OrderedDict()
     try:
         for line in open('/tmp/clover.err', 'r'):
+            skip = False
+            for substr in BLACKLIST:
+                if substr in line:
+                    skip = True
+            if skip:
+                continue
+
             node_error = r.search(line)
             if node_error:
-                msg = node_error.groups()[1] + ': ' + node_error.groups()[2]
+                msg = node_error.groups()[1].strip() + ': ' + node_error.groups()[2]
                 if msg in error_count:
                     error_count[msg] += 1
                 else:
@@ -675,11 +764,18 @@ def check_image():
     try:
         info('version: %s', open('/etc/clover_version').read().strip())
     except IOError:
-        info('no /etc/clover_version file, not the Clover image?')
+        try:
+            info('VM version: %s', open('/etc/clover_vm_version').read().strip())
+        except IOError:
+            info('no /etc/clover_version file, not the Clover image?')
 
 
 @check('Preflight status')
 def check_preflight_status():
+    if is_process_running('px4', exact=True):
+        info('can\'t check in SITL')
+        return
+
     # Make sure the console is available to us
     mavlink_exec('\n')
     cmdr_output = mavlink_exec('commander check')
@@ -701,6 +797,10 @@ def check_preflight_status():
 
 @check('Network')
 def check_network():
+    if not os.path.exists('/etc/clover_version'):
+        # TODO:
+        return # Don't check not on Clover's image
+
     ros_hostname = os.environ.get('ROS_HOSTNAME', '').strip()
 
     if not ros_hostname:
@@ -723,6 +823,14 @@ def check_network():
 
 @check('RPi health')
 def check_rpi_health():
+    try:
+        import shutil
+        total, used, free = shutil.disk_usage('/')
+        if free < 1024 * 1024 * 1024:
+            failure('disk space is less than 1 GB; consider removing logs (~/.ros/log/)')
+    except Exception as e:
+        info('could not check the disk free space: %s', str(e))
+
     # `vcgencmd get_throttled` output codes taken from
     # https://github.com/raspberrypi/documentation/blob/JamesH65-patch-vcgencmd-vcdbg-docs/raspbian/applications/vcgencmd.md#get_throttled
     # TODO: support more base platforms?
@@ -753,7 +861,7 @@ def check_rpi_health():
         # with some of the FLAGs OR'ed together
         output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
     except OSError:
-        failure('could not call vcgencmd binary; not a Raspberry Pi?')
+        info('could not call vcgencmd binary; not a Raspberry Pi?')
         return
 
     throttle_mask = int(output.split('=')[1], base=16)
@@ -770,26 +878,47 @@ def check_board():
         info('could not open /proc/device-tree/model, not a Raspberry Pi?')
 
 
+def parallel_for(fns):
+    threads = []
+    for fn in fns:
+        thread = Thread(target=fn)
+        thread.start()
+        threads.append(thread)
+    for thread in threads:
+        thread.join()
+
+
+def consequentially_for(fns):
+    for fn in fns:
+        fn()
+
+
 def selfcheck():
-    check_image()
-    check_board()
-    check_clover_service()
-    check_network()
-    check_fcu()
-    check_imu()
-    check_local_position()
-    check_velocity()
-    check_global_position()
-    check_preflight_status()
-    check_main_camera()
-    check_aruco()
-    check_simpleoffboard()
-    check_optical_flow()
-    check_vpe()
-    check_rangefinder()
-    check_rpi_health()
-    check_cpu_usage()
-    check_boot_duration()
+    checks = [
+        check_image,
+        check_board,
+        check_clover_service,
+        check_network,
+        check_fcu,
+        check_imu,
+        check_local_position,
+        check_velocity,
+        check_global_position,
+        check_preflight_status,
+        check_main_camera,
+        check_aruco,
+        check_simpleoffboard,
+        check_optical_flow,
+        check_vpe,
+        check_rangefinder,
+        check_rpi_health,
+        check_cpu_usage,
+        check_boot_duration,
+    ]
+    if rospy.get_param('~parallel', False):
+        parallel_for(checks)
+    else:
+        consequentially_for(checks)
 
 
 if __name__ == '__main__':

clover/src/simple_offboard.cpp

@@ -61,6 +61,7 @@ std::shared_ptr<tf2_ros::TransformBroadcaster> transform_broadcaster;
 std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_transform_broadcaster;
 
 // Parameters
+string mavros;
 string local_frame;
 string fcu_frame;
 ros::Duration transform_timeout;
@@ -149,6 +150,9 @@ void handleState(const mavros_msgs::State& s)
 inline void publishBodyFrame()
 {
 	if (body.child_frame_id.empty()) return;
+	if (!body.header.stamp.isZero() && body.header.stamp == local_position.header.stamp) {
+		return; // avoid TF_REPEATED_DATA warnings
+	}
 
 	tf::Quaternion q;
 	q.setRPY(0, 0, tf::getYaw(local_position.pose.orientation));
@@ -181,9 +185,10 @@ inline bool waitTransform(const string& target, const string& source,
 		ros::spinOnce();
 		r.sleep();
 	}
+	return false;
 }
 
-#define TIMEOUT(msg, timeout) (ros::Time::now() - msg.header.stamp > timeout)
+#define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
 
 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 {
@@ -441,6 +446,10 @@ void publish(const ros::Time stamp)
 
 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
+			if (setpoint.header.stamp == position_msg.header.stamp) {
+				return; // avoid TF_REPEATED_DATA warnings
+			}
+
 			setpoint.transform.translation.x = position_msg.pose.position.x;
 			setpoint.transform.translation.y = position_msg.pose.position.y;
 			setpoint.transform.translation.z = position_msg.pose.position.z;
@@ -685,7 +694,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// }
 
 		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
-			// destination point and/or yaw
+			// destination point and/or attitude
 			PoseStamped ps;
 			ps.header.frame_id = frame_id;
 			ps.header.stamp = stamp;
@@ -694,7 +703,12 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			ps.pose.position.z = z;
 			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
 
-			if (std::isnan(yaw)) {
+			if (sp_type == ATTITUDE) {
+				ps.pose.position.x = 0;
+				ps.pose.position.y = 0;
+				ps.pose.position.z = 0;
+				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
+			} else if (std::isnan(yaw)) {
 				setpoint_yaw_type = YAW_RATE;
 				setpoint_yaw_rate = yaw_rate;
 			} else if (std::isinf(yaw) && yaw > 0) {
@@ -712,7 +726,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		}
 
 		if (sp_type == VELOCITY) {
-			static Vector3Stamped vel;
+			Vector3Stamped vel;
 			vel.header.frame_id = frame_id;
 			vel.header.stamp = stamp;
 			vel.vector.x = vx;
@@ -843,6 +857,14 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		busy = false;
 		return true;
 	}
+	return false;
+}
+
+bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
+{
+	setpoint_timer.stop();
+	res.success = true;
+	return true;
 }
 
 int main(int argc, char **argv)
@@ -855,8 +877,9 @@ int main(int argc, char **argv)
 	static_transform_broadcaster = std::make_shared<tf2_ros::StaticTransformBroadcaster>();
 
 	// Params
-	nh.param<string>("mavros/local_position/tf/frame_id", local_frame, "map");
-	nh.param<string>("mavros/local_position/tf/child_frame_id", fcu_frame, "base_link");
+	nh_priv.param("mavros", mavros, string("mavros")); // for case of using multiple connections
+	nh.param<string>(mavros + "/local_position/tf/frame_id", local_frame, "map");
+	nh.param<string>(mavros + "/local_position/tf/child_frame_id", fcu_frame, "base_link");
 	nh_priv.param("target_frame", target.child_frame_id, string("navigate_target"));
 	nh_priv.param("setpoint", setpoint.child_frame_id, string("setpoint"));
 	nh_priv.param("auto_release", auto_release, true);
@@ -867,6 +890,13 @@ int main(int argc, char **argv)
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
 
+	// Default reference frames
+	std::map<string, string> default_reference_frames;
+	default_reference_frames[body.child_frame_id] = local_frame;
+	default_reference_frames[fcu_frame] = local_frame;
+	if (!target.child_frame_id.empty()) default_reference_frames[target.child_frame_id] = local_frame;
+	reference_frames.insert(default_reference_frames.begin(), default_reference_frames.end()); // merge defaults
+
 	state_timeout = ros::Duration(nh_priv.param("state_timeout", 3.0));
 	local_position_timeout = ros::Duration(nh_priv.param("local_position_timeout", 2.0));
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
@@ -881,25 +911,25 @@ int main(int argc, char **argv)
 	arming_timeout = ros::Duration(nh_priv.param("arming_timeout", 4.0));
 
 	// Service clients
-	arming = nh.serviceClient<mavros_msgs::CommandBool>("mavros/cmd/arming");
-	set_mode = nh.serviceClient<mavros_msgs::SetMode>("mavros/set_mode");
+	arming = nh.serviceClient<mavros_msgs::CommandBool>(mavros + "/cmd/arming");
+	set_mode = nh.serviceClient<mavros_msgs::SetMode>(mavros + "/set_mode");
 
 	// Telemetry subscribers
-	auto state_sub = nh.subscribe("mavros/state", 1, &handleState);
-	auto velocity_sub = nh.subscribe("mavros/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
-	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
-	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
-	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
-	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
-	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);
+	auto state_sub = nh.subscribe(mavros + "/state", 1, &handleState);
+	auto velocity_sub = nh.subscribe(mavros + "/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
+	auto global_position_sub = nh.subscribe(mavros + "/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
+	auto battery_sub = nh.subscribe(mavros + "/battery", 1, &handleMessage<BatteryState, battery>);
+	auto statustext_sub = nh.subscribe(mavros + "/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
+	auto manual_control_sub = nh.subscribe(mavros + "/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
+	auto local_position_sub = nh.subscribe(mavros + "/local_position/pose", 1, &handleLocalPosition);
 
 	// Setpoint publishers
-	position_pub = nh.advertise<PoseStamped>("mavros/setpoint_position/local", 1);
-	position_raw_pub = nh.advertise<PositionTarget>("mavros/setpoint_raw/local", 1);
-	attitude_pub = nh.advertise<PoseStamped>("mavros/setpoint_attitude/attitude", 1);
-	attitude_raw_pub = nh.advertise<AttitudeTarget>("mavros/setpoint_raw/attitude", 1);
-	rates_pub = nh.advertise<TwistStamped>("mavros/setpoint_attitude/cmd_vel", 1);
-	thrust_pub = nh.advertise<Thrust>("mavros/setpoint_attitude/thrust", 1);
+	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
+	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
+	attitude_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_attitude/attitude", 1);
+	attitude_raw_pub = nh.advertise<AttitudeTarget>(mavros + "/setpoint_raw/attitude", 1);
+	rates_pub = nh.advertise<TwistStamped>(mavros + "/setpoint_attitude/cmd_vel", 1);
+	thrust_pub = nh.advertise<Thrust>(mavros + "/setpoint_attitude/thrust", 1);
 
 	 // Service servers
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
@@ -910,6 +940,7 @@ int main(int argc, char **argv)
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
 	auto sr_serv = nh.advertiseService("set_rates", &setRates);
 	auto ld_serv = nh.advertiseService("land", &land);
+	auto rl_serv = nh_priv.advertiseService("release", &release);
 
 	// Setpoint timer
 	setpoint_timer = nh.createTimer(ros::Duration(1 / nh_priv.param("setpoint_rate", 30.0)), &publishSetpoint, false, false);

clover/src/vpe_publisher.cpp

@@ -33,14 +33,14 @@ ros::Subscriber local_position_sub;
 ros::Timer zero_timer;
 PoseStamped vpe, pose;
 ros::Time got_local_pos(0);
-ros::Duration publish_zero_timout, publish_zero_duration, offset_timeout;
+ros::Duration publish_zero_timeout, publish_zero_duration, offset_timeout;
 TransformStamped offset;
 
 void publishZero(const ros::TimerEvent& e)
 {
-	if (e.current_real - vpe.header.stamp < publish_zero_timout) return; // have vpe
+	if (!vpe.header.stamp.isZero() && e.current_real - vpe.header.stamp < publish_zero_timeout) return; // have vpe
 
-	if (e.current_real - pose.header.stamp < publish_zero_timout) { // have local position
+	if (!pose.header.stamp.isZero() && e.current_real - pose.header.stamp < publish_zero_timeout) { // have local position
 		if (got_local_pos.isZero()) {
 			ROS_INFO("got local position");
 			got_local_pos = e.current_real;
@@ -53,7 +53,7 @@ void publishZero(const ros::TimerEvent& e)
 	}
 
 	ROS_INFO_THROTTLE(10, "publish zero");
-	static geometry_msgs::PoseStamped zero;
+	geometry_msgs::PoseStamped zero;
 	zero.header.frame_id = local_frame_id;
 	zero.header.stamp = e.current_real;
 	zero.pose.orientation.w = 1;
@@ -124,8 +124,8 @@ int main(int argc, char **argv) {
 
 	nh_priv.param<string>("frame_id", frame_id, "");
 	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
-	nh_priv.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
-	nh_priv.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
+	nh.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
+	nh.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));
 
 	if (!frame_id.empty()) {
@@ -141,11 +141,11 @@ int main(int argc, char **argv) {
 	vpe_pub = nh_priv.advertise<PoseStamped>("vpe", 1);
 	//vpe_cov_pub = nh_priv_.advertise<PoseStamped>("pose_cov_pub", 1);
 
-	if (nh_priv.param("publish_zero", false)) {
+	if (nh_priv.param("force_init", false) || nh_priv.param("publish_zero", false)) { // publish_zero is old name
 		// publish zero to initialize the local position
 		zero_timer = nh.createTimer(ros::Duration(0.1), &publishZero);
-		publish_zero_timout = ros::Duration(nh_priv.param("publish_zero_timout", 5.0));
-		publish_zero_duration = ros::Duration(nh_priv.param("publish_zero_duration", 5.0));
+		publish_zero_timeout = ros::Duration(nh_priv.param("force_init_timeout", 5.0));
+		publish_zero_duration = ros::Duration(nh_priv.param("force_init_duration", 5.0));
 		local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
 	}
 

clover/src/waitfile

@@ -6,4 +6,4 @@
 echo "wait for file $1"
 while [ ! -e "$1" ]; do sleep 1; done;
 echo "file $1 appeared"
-"${@:2}"
+exec "${@:2}"

clover/test/basic.py

@@ -3,6 +3,7 @@ import rospy
 import pytest
 from mavros_msgs.msg import State
 from clover import srv
+import time
 
 @pytest.fixture()
 def node():
@@ -24,6 +25,7 @@ def test_simple_offboard_services_available():
     rospy.wait_for_service('set_attitude', timeout=5)
     rospy.wait_for_service('set_rates', timeout=5)
     rospy.wait_for_service('land', timeout=5)
+    rospy.wait_for_service('simple_offboard/release', timeout=5)
 
 def test_web_video_server(node):
     try:
@@ -33,3 +35,44 @@ def test_web_video_server(node):
         # Python 3
         import urllib.request as urllib
     urllib.urlopen("http://localhost:8080").read()
+
+def test_blocks(node):
+    rospy.wait_for_service('clover_blocks/run', timeout=5)
+    rospy.wait_for_service('clover_blocks/stop', timeout=5)
+    rospy.wait_for_service('clover_blocks/load', timeout=5)
+    rospy.wait_for_service('clover_blocks/store', timeout=5)
+
+    from std_msgs.msg import String
+    from clover_blocks.srv import Run
+
+    def wait_print():
+        try:
+            wait_print.result = rospy.wait_for_message('clover_blocks/print', String, timeout=5).data
+        except Exception as e:
+            wait_print.result = str(e)
+
+    import threading
+    t = threading.Thread(target=wait_print)
+    t.start()
+    rospy.sleep(0.1)
+
+    run = rospy.ServiceProxy('clover_blocks/run', Run)
+    assert run(code='print("test")').success == True
+
+    t.join()
+    assert wait_print.result == 'test'
+
+def test_long_callback():
+    from clover import long_callback
+    from time import sleep
+
+    # very basic test for long_callback
+    @long_callback
+    def cb(i):
+        cb.counter += i
+    cb.counter = 0
+    cb(2)
+    sleep(0.1)
+    cb(3)
+    sleep(1)
+    assert cb.counter == 5

clover/test/basic.test

@@ -23,10 +23,7 @@
 
     <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped" required="true"/>
 
-    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen">
-        <param name="reference_frames/body" value="map"/>
-        <param name="reference_frames/base_link" value="map"/>
-    </node>
+    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>
 
     <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" required="true"/>
 
@@ -38,6 +35,11 @@
         <rosparam param="notify">startup: { r: 255, g: 255, b: 255 }</rosparam>
     </node>
 
+    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
+
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw 5.0 image_raw_throttled" required="true"/>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clover/udev/99-px4fmu.rules

@@ -12,4 +12,6 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{produ
 SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
 # Omnibus
 SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
+# CUAV X7 Pro
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"
 

clover/www/clover.err

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

clover/www/clover.log

@@ -0,0 +1 @@
+/var/log/clover.log

clover/www/console.html

@@ -0,0 +1,23 @@
+<h1>
+	/var/log/clover.log
+	<a style="font-size: 0.5em; vertical-align: super; font-weight: normal" href="clover.log" download>download</a>
+</h1>
+
+<pre></pre>
+
+<script type="module">
+	var pre = document.querySelector('pre');
+
+	fetch('clover.log?' + Math.random()).then(function(response) { // random to forbid caching
+		if (response.status == 404) {
+			pre.innerHTML = '/var/log/clover.log does not exist';
+			return;
+		} else if (response.status !== 200) {
+			pre.innerHTML('Error ' + response.status);
+			return;
+		}
+		response.text().then(function(content) {
+			pre.innerHTML = content;
+		});
+	});
+</script>

clover/www/index.html

@@ -4,20 +4,32 @@
 
 <ul>
 	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
+	<li><a href="topics.html">View topics</a></li>
 	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
 	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
-	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
-	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
+	<li>View <a href="viz.html">View 3D visualization</a>, <a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
 	<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
-	<li><a href="clover.err">Clover console</a> (<code>tmp/clover.err</code>)</li>
+	<li><a href="console.html">Clover console</a> (<code>/var/log/clover.log</code>)</li>
 </ul>
 
+<p>
+	Update www using <code>rosrun roswww_static update</code>.
+</p>
+
 <div class="version"></div>
 
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
 	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
+	document.querySelector("#butterfly").addEventListener('click', function(e) {
+		if (location.hostname == 'localhost' || location.hostname == '127.0.0.1') {
+			if (!confirm('Please use regular Terminal app on a local machine.\nClick OK to proceed to Butterfly anyway.')) {
+				e.preventDefault();
+			}
+		}
+	});
+
 	// Determine image version
 	fetch('clover_version').then(function(response) {
 		if (response.status !== 200) return;

clover/www/js/json-to-pretty-yaml.js

@@ -0,0 +1,236 @@
+// Browserified https://www.npmjs.com/package/json-to-pretty-yaml module
+
+(function(){function r(e,n,t){function o(i,f){if(!n[i]){if(!e[i]){var c="function"==typeof require&&require;if(!f&&c)return c(i,!0);if(u)return u(i,!0);var a=new Error("Cannot find module '"+i+"'");throw a.code="MODULE_NOT_FOUND",a}var p=n[i]={exports:{}};e[i][0].call(p.exports,function(r){var n=e[i][1][r];return o(n||r)},p,p.exports,r,e,n,t)}return n[i].exports}for(var u="function"==typeof require&&require,i=0;i<t.length;i++)o(t[i]);return o}return r})()({1:[function(require,module,exports){
+(function() {
+    "use strict";
+
+    var typeOf = require('remedial').typeOf;
+    var trimWhitespace = require('remove-trailing-spaces');
+
+    function stringify(data) {
+        var handlers, indentLevel = '';
+
+        handlers = {
+            "undefined": function() {
+                // objects will not have `undefined` converted to `null`
+                // as this may have unintended consequences
+                // For arrays, however, this behavior seems appropriate
+                return 'null';
+            },
+            "null": function() {
+                return 'null';
+            },
+            "number": function(x) {
+                return x;
+            },
+            "boolean": function(x) {
+                return x ? 'true' : 'false';
+            },
+            "string": function(x) {
+                // to avoid the string "true" being confused with the
+                // the literal `true`, we always wrap strings in quotes
+                return JSON.stringify(x);
+            },
+            "array": function(x) {
+                var output = '';
+
+                if (0 === x.length) {
+                    output += '[]';
+                    return output;
+                }
+
+                indentLevel = indentLevel.replace(/$/, '  ');
+                x.forEach(function(y, i) {
+                    // TODO how should `undefined` be handled?
+                    var handler = handlers[typeOf(y)];
+
+                    if (!handler) {
+                        throw new Error('what the crap: ' + typeOf(y));
+                    }
+
+                    output += '\n' + indentLevel + '- ' + handler(y, true);
+
+                });
+                indentLevel = indentLevel.replace(/  /, '');
+
+                return output;
+            },
+            "object": function(x, inArray, rootNode) {
+                var output = '';
+
+                if (0 === Object.keys(x).length) {
+                    output += '{}';
+                    return output;
+                }
+
+                if (!rootNode) {
+                    indentLevel = indentLevel.replace(/$/, '  ');
+                }
+
+                Object.keys(x).forEach(function(k, i) {
+                    var val = x[k],
+                        handler = handlers[typeOf(val)];
+
+                    if ('undefined' === typeof val) {
+                        // the user should do
+                        // delete obj.key
+                        // and not
+                        // obj.key = undefined
+                        // but we'll error on the side of caution
+                        return;
+                    }
+
+                    if (!handler) {
+                        throw new Error('what the crap: ' + typeOf(val));
+                    }
+
+                    if (!(inArray && i === 0)) {
+                        output += '\n' + indentLevel;
+                    }
+
+                    output += k + ': ' + handler(val);
+                });
+                indentLevel = indentLevel.replace(/  /, '');
+
+                return output;
+            },
+            "function": function() {
+                // TODO this should throw or otherwise be ignored
+                return '[object Function]';
+            }
+        };
+        return trimWhitespace(handlers[typeOf(data)](data, true, true) + '\n');
+
+    }
+
+    window.yamlStringify = stringify;
+    module.exports.stringify = stringify;
+}());
+
+},{"remedial":2,"remove-trailing-spaces":3}],2:[function(require,module,exports){
+/*jslint onevar: true, undef: true, nomen: true, eqeqeq: true, plusplus: true, bitwise: true, regexp: true, newcap: true, immed: true */
+(function () {
+    "use strict";
+
+    var global = Function('return this')()
+      , classes = "Boolean Number String Function Array Date RegExp Object".split(" ")
+      , i
+      , name
+      , class2type = {}
+      ;
+
+    for (i in classes) {
+      if (classes.hasOwnProperty(i)) {
+        name = classes[i];
+        class2type["[object " + name + "]"] = name.toLowerCase();
+      }
+    }
+
+    function typeOf(obj) {
+      return (null === obj || undefined === obj) ? String(obj) : class2type[Object.prototype.toString.call(obj)] || "object";
+    }
+
+    function isEmpty(o) {
+        var i, v;
+        if (typeOf(o) === 'object') {
+            for (i in o) { // fails jslint
+                v = o[i];
+                if (v !== undefined && typeOf(v) !== 'function') {
+                    return false;
+                }
+            }
+        }
+        return true;
+    }
+
+    if (!String.prototype.entityify) {
+        String.prototype.entityify = function () {
+            return this.replace(/&/g, "&amp;").replace(/</g,
+                "&lt;").replace(/>/g, "&gt;");
+        };
+    }
+
+    if (!String.prototype.quote) {
+        String.prototype.quote = function () {
+            var c, i, l = this.length, o = '"';
+            for (i = 0; i < l; i += 1) {
+                c = this.charAt(i);
+                if (c >= ' ') {
+                    if (c === '\\' || c === '"') {
+                        o += '\\';
+                    }
+                    o += c;
+                } else {
+                    switch (c) {
+                    case '\b':
+                        o += '\\b';
+                        break;
+                    case '\f':
+                        o += '\\f';
+                        break;
+                    case '\n':
+                        o += '\\n';
+                        break;
+                    case '\r':
+                        o += '\\r';
+                        break;
+                    case '\t':
+                        o += '\\t';
+                        break;
+                    default:
+                        c = c.charCodeAt();
+                        o += '\\u00' + Math.floor(c / 16).toString(16) +
+                            (c % 16).toString(16);
+                    }
+                }
+            }
+            return o + '"';
+        };
+    } 
+
+    if (!String.prototype.supplant) {
+        String.prototype.supplant = function (o) {
+            return this.replace(/{([^{}]*)}/g,
+                function (a, b) {
+                    var r = o[b];
+                    return typeof r === 'string' || typeof r === 'number' ? r : a;
+                }
+            );
+        };
+    }
+
+    if (!String.prototype.trim) {
+        String.prototype.trim = function () {
+            return this.replace(/^\s*(\S*(?:\s+\S+)*)\s*$/, "$1");
+        };
+    }
+
+    // CommonJS / npm / Ender.JS
+    module.exports = {
+        typeOf: typeOf,
+        isEmpty: isEmpty
+    };
+    global.typeOf = global.typeOf || typeOf;
+    global.isEmpty = global.isEmpty || isEmpty;
+}());
+
+},{}],3:[function(require,module,exports){
+"use strict";
+
+/**
+ * removeTrailingSpaces
+ * Remove the trailing spaces from a string.
+ *
+ * @name removeTrailingSpaces
+ * @function
+ * @param {String} input The input string.
+ * @returns {String} The output string.
+ */
+
+module.exports = function removeTrailingSpaces(input) {
+  // TODO If possible, use a regex
+  return input.split("\n").map(function (x) {
+    return x.trimRight();
+  }).join("\n");
+};
+},{}]},{},[1]);

clover/www/js/topics.js

@@ -0,0 +1,86 @@
+const url = 'ws://' + location.hostname + ':9090';
+const ros = new ROSLIB.Ros({ url: url });
+const params = Object.fromEntries(new URLSearchParams(window.location.search).entries());
+
+ros.on('connection', function () {
+	document.body.classList.add('connected');
+	document.body.classList.remove('closed');
+	init();
+});
+
+ros.on('close', function () {
+	document.body.classList.remove('connected');
+	document.body.classList.add('closed');
+	setTimeout(function() {
+		// reconnect
+		ros.connect(url);
+	}, 2000);
+});
+
+const title = document.querySelector('h1');
+const topicsList = document.querySelector('#topics');
+const topicMessage = document.querySelector('#topic-message');
+
+function viewTopicsList() {
+	title.innerHTML = 'Topics:';
+
+	ros.getTopics(function(topics) {
+		topicsList.innerHTML = topics.topics.map(function(topic, i) {
+			const type = topics.types[i];
+			if (type == 'sensor_msgs/Image') {
+				let url = `${location.protocol}//${location.hostname}:8080/stream_viewer?topic=${topic}`; 
+				return `<li><a href="${url}" class=topic title=${type}>${topic}</a> &#x1F5BC;</li>`;
+			} else {
+				return `<li><a href="?topic=${topic}" class=topic title=${type}>${topic}</a></li>`;
+			}
+		}).join('');
+	});
+}
+
+let rosdistro;
+
+function viewTopic(topic) {
+	let counter = 0;
+	let index = '<a href=topics.html>Topics</a>';
+	title.innerHTML = `${index}: ${topic}`;
+	topicMessage.style.display = 'block';
+
+	ros.getTopicType(topic, function(typeStr) {
+		const [pack, type] = typeStr.split('/');
+		let href = `https://docs.ros.org/en/${rosdistro}/api/${pack}/html/msg/${type}.html`;
+		title.innerHTML = `${index}: ${topic} <a id="topic-type" href=${href} target="_blank">${typeStr}</a>`;
+	});
+
+	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
+		counter++;
+		document.title = topic;
+		if (mouseDown) return;
+
+		if (msg.header && msg.header.stamp) {
+			if (params.date || params.offset) {
+				let date = new Date(msg.header.stamp.secs * 1e3 + msg.header.stamp.nsecs * 1e-6);
+				if (params.date) msg.header.date = date.toISOString();
+				if (params.offset) msg.header.offset = (new Date() - date) * 1e-3;
+			}
+		}
+
+		let txt = `<div class=counter>${counter} received</div>${yamlStringify(msg)}`; // JSON.stringify(msg, null, 4);
+		topicMessage.innerHTML = txt;
+	});
+}
+
+let mouseDown;
+
+topicMessage.addEventListener('mousedown', function() { mouseDown = true; });
+topicMessage.addEventListener('mouseup', function() { mouseDown = false; });
+
+function init() {
+	if (!params.topic) {
+		viewTopicsList();
+	} else {
+		new ROSLIB.Param({ ros: ros, name: '/rosdistro'}).get(function(value) {
+			rosdistro = value.trim();
+			viewTopic(params.topic);
+		});
+	}
+}

clover/www/topics.html

@@ -0,0 +1,29 @@
+<html lang="en">
+	<head>
+		<title>ROS topics</title>
+		<script src="js/roslib.js"></script>
+		<link rel="icon" href="data:,"> <!-- make chrome don't request icon -->
+		<script type="module" src="js/topics.js"></script>
+		<script src="js/json-to-pretty-yaml.js"></script>
+		<style>
+			#topics { line-height: 1.2em; }
+			#topic-view {
+				display: none;
+			}
+			#topic-message {
+				display: none;
+				white-space: pre;
+				font-family: monospace;
+			}
+			.counter { color: #b9b9b9; margin-bottom: 1em; }
+			#topic-type { font-family: monospace; font-size: 0.5em; vertical-align: super; font-weight: normal; }
+			.topic { font-family: monospace; }
+			body.closed { background-color: rgb(207, 207, 207); }
+		</style>
+	</head>
+	<body>
+		<h1>&nbsp;</h1>
+		<ul id="topics"></ul>
+		<code id="topic-message">No messages received</code>
+	</body>
+</html>

clover_blocks/CMakeLists.txt

@@ -73,6 +73,13 @@ catkin_install_python(PROGRAMS src/clover_blocks
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+# TODO: store programs in home directory?
+install(DIRECTORY programs
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 #############
 ## Testing ##
 #############

clover_blocks/README.md

@@ -10,7 +10,7 @@ Internal package documentation is given below.
 
 ## Frontend
 
-The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roblib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
+The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roslib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
 
 ## `clover_blocks` node
 
@@ -19,7 +19,7 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 ### Services
 
 * `~run` ([*clover_blocks/Run*](srv/Run.srv)) – run Blockly-generated program (in Python).
-* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/melodic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
+* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/noetic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
 * `~store` ([*clover_blocks/load*](srv/Store.srv)) – store a user program (to `<package_path>/programs` by default).
 * `~load` ([*clover_blocks/load*](srv/Load.srv)) – load all the stored programs.
 
@@ -30,7 +30,8 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 Parameters read by frontend:
 
 * `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
-* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
+* `~navigate_global_tolerance` (*float*) – distance tolerance for global coordinates navigation (default: 1).
+* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 1).
 * `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
 * `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
 
@@ -44,11 +45,11 @@ http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
 
 #### Published
 
-* `~running` ([*std_msgs/Bool*](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
-* `~block` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
-* `~error` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
+* `~running` ([*std_msgs/Bool*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
+* `~block` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
+* `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
 * `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
 
 This topic is published from the frontend side:
 
-* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user input response.
+* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user input response.

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_blocks/src/clover_blocks

@@ -146,6 +146,7 @@ def stop(req):
     return {'success': True}
 
 
+# TODO: find dir in installed package
 programs_path = rospy.get_param('~programs_dir', os.path.dirname(os.path.abspath(__file__)) + '/../programs')
 
 

clover_blocks/www/blocks.js

@@ -31,6 +31,14 @@ function considerFrameId(e) {
 			this.getInput('Y').fieldRow[0].setValue('y');
 			this.getInput('Z').fieldRow[0].setValue('z');
 		}
+		if (this.getInput('LAT')) { // block has global coordinates
+			let global = frameId.startsWith('GLOBAL');
+			this.getInput('LAT').setVisible(global);
+			this.getInput('LON').setVisible(global);
+			this.getInput('X').setVisible(!global);
+			this.getInput('Y').setVisible(!global);
+			this.getInput('Z').fieldRow[0].setValue(frameId == 'GLOBAL' ? 'altitude' : 'z');
+		}
 	}
 	if (this.getInput('ID')) { // block has marker id field
 		this.getInput('ID').setVisible(frameId == 'ARUCO'); // toggle id field
@@ -65,6 +73,9 @@ function updateSetpointBlock(e) {
 
 Blockly.Blocks['navigate'] = {
 	init: function () {
+		let navFrameId = frameIds.slice();
+		navFrameId.push(['global', 'GLOBAL_LOCAL'])
+		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
 			.appendField("navigate to point");
 		this.appendValueInput("X")
@@ -73,12 +84,20 @@ Blockly.Blocks['navigate'] = {
 		this.appendValueInput("Y")
 			.setCheck("Number")
 			.appendField("left");
+		this.appendValueInput("LAT")
+			.setCheck("Number")
+			.appendField("latitude")
+			.setVisible(false);
+		this.appendValueInput("LON")
+			.setCheck("Number")
+			.appendField("longitude")
+			.setVisible(false)
 		this.appendValueInput("Z")
 			.setCheck("Number")
 			.appendField("up");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(navFrameId), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -268,7 +287,7 @@ Blockly.Blocks['mode'] = {
 			.appendField("current flight mode");
 		this.setOutput(true, "String");
 		this.setColour(COLOR_STATE);
-		this.setTooltip("");
+		this.setTooltip("Returns current flight mode (POSCTL, OFFBOARD, etc).");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -375,7 +394,7 @@ Blockly.Blocks['take_off'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setColour(COLOR_FLIGHT);
-		this.setTooltip("Take off on desired altitude in meters");
+		this.setTooltip("Take off on desired altitude in meters.");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -391,7 +410,7 @@ Blockly.Blocks['land'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setColour(COLOR_FLIGHT);
-		this.setTooltip("");
+		this.setTooltip("Land the drone.");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -400,10 +419,10 @@ Blockly.Blocks['global_position'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["latitude", "LATITUDE"], ["longitude", "LONGITUDE"], ["altitude", "ALTITUDE"]]), "NAME");
+			.appendField(new Blockly.FieldDropdown([["latitude", "LAT"], ["longitude", "LON"], ["altitude", "ALT"]]), "FIELD");
 		this.setOutput(true, "Number");
-		this.setColour(230);
-		this.setTooltip("");
+		this.setColour(COLOR_STATE);
+		this.setTooltip("Returns current global position (latitude, longitude, altitude above the WGS 84 ellipsoid).");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };

clover_blocks/www/index.html

@@ -52,6 +52,8 @@
 				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Z"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="LAT"><shadow type="math_number"><field name="NUM">47.397503</field></shadow></value>
+				<value name="LON"><shadow type="math_number"><field name="NUM">8.544945</field></shadow></value>
 				<value name="SPEED"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 			</block>
@@ -85,6 +87,7 @@
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 			</block>
 			<block type="get_attitude"></block>
+			<block type="global_position"></block>
 			<block type="distance">
 				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>

clover_blocks/www/main.js

@@ -39,7 +39,8 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('yaw_tolerance', true, 20),
+		ros.readParam('navigate_global_tolerance', true, 1),
+		ros.readParam('yaw_tolerance', true, 1),
 		ros.readParam('sleep_time', true, 0.2),
 		ros.readParam('confirm_run', true, true),
 	]);
@@ -210,7 +211,7 @@ function loadPrograms() {
 		updateChanged();
 	}, function(err) {
 		document.querySelector('.backend-fail').style.display = 'inline';
-		alert(`Error loading programs list.\n\nHave you enabled clover_blocks in clover.launch?`);
+		alert(`Error loading programs list.\n\nHave you enabled 'blocks' in clover.launch?`);
 		runButton.disabled = true;
 	})
 }

clover_blocks/www/python.js

@@ -33,6 +33,18 @@ const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame
             return
         rospy.sleep(${params.sleep_time})\n`;
 
+const NAVIGATE_GLOBAL_WAIT = () => `\ndef navigate_global_wait(lat, lon, z, speed=0.5):
+    res = navigate_global(lat=lat, lon=lon, z=z, yaw=float('inf'), speed=speed)
+
+    if not res.success:
+        raise Exception(res.message)
+
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_global_tolerance}:
+            return
+        rospy.sleep(${params.sleep_time})\n`;
+
 const LAND_WAIT = () => `\ndef land_wait():
     land()
     while get_telemetry().armed:
@@ -68,6 +80,9 @@ function generateROSDefinitions() {
 	if (rosDefinitions.offboard) {
 		code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
 		code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
+		if (rosDefinitions.navigateGlobal) {
+		code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
+		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
 		}
@@ -94,6 +109,10 @@ function generateROSDefinitions() {
 		Blockly.Python.definitions_['import_math'] = 'import math';
 		code += NAVIGATE_WAIT();
 	}
+	if (rosDefinitions.navigateGlobalWait) {
+		Blockly.Python.definitions_['import_math'] = 'import math';
+		code += NAVIGATE_GLOBAL_WAIT();
+	}
 	if (rosDefinitions.landWait) {
 		code += LAND_WAIT();
 	}
@@ -161,24 +180,48 @@ Blockly.Python.navigate = function(block) {
 	let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
 	let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
 	let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
-	let frameId = buildFrameId(block);
+	let lat = Blockly.Python.valueToCode(block, 'LAT', Blockly.Python.ORDER_NONE);
+	let lon = Blockly.Python.valueToCode(block, 'LON', Blockly.Python.ORDER_NONE);
+	let wait = block.getFieldValue('WAIT') == 'TRUE';
+	let frameId = block.getFieldValue('FRAME_ID');
 	let speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_NONE);
 
-	let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
-
 	simpleOffboard();
 
-	if (block.getFieldValue('WAIT') == 'TRUE') {
-		rosDefinitions.navigateWait = true;
+	// global coordinates
+	if (frameId.startsWith('GLOBAL')) {
+		rosDefinitions.navigateGlobal = true;
 		simpleOffboard();
 
-		return `navigate_wait(${params.join(', ')})\n`;
+		if (frameId == 'GLOBAL') {
+			z = `${z} + get_telemetry().alt - get_telemetry().z`;
+		}
+
+		if (wait) {
+			rosDefinitions.navigateGlobalWait = true;
+			simpleOffboard();
+			return `navigate_global_wait(lat=${lat}, lon=${lon}, z=${z}, speed=${speed})\n`;
+
+		} else {
+			return `navigate_global(lat=${lat}, lon=${lon}, z=${z}, yaw=float('inf'), speed=${speed})\n`;
+		}
 
 	} else {
-		if (frameId != 'body') {
-			params.push(`yaw=float('nan')`);
+		frameId = buildFrameId(block);
+		let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
+
+		if (wait) {
+			rosDefinitions.navigateWait = true;
+			simpleOffboard();
+
+			return `navigate_wait(${params.join(', ')})\n`;
+
+		} else {
+			if (frameId != 'body') {
+				params.push(`yaw=float('nan')`);
+			}
+			return `navigate(${params.join(', ')})\n`;
 		}
-		return `navigate(${params.join(', ')})\n`;
 	}
 }
 
@@ -315,6 +358,12 @@ Blockly.Python.get_attitude = function(block) {
 	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
 }
 
+Blockly.Python.global_position = function(block) {
+	simpleOffboard();
+	var code = `get_telemetry().${block.getFieldValue('FIELD').toLowerCase()}`;
+	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
 Blockly.Python.distance = function(block) {
 	rosDefinitions.distance = true;
 	simpleOffboard();
@@ -415,7 +464,7 @@ Blockly.Python.led_count = function(block) {
 
 function pigpio() {
 	Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
-	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
+	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()\nif not pi.connected: raise Exception(\'Cannot connect to pigpiod\')';
 }
 
 const GPIO_READ = `\ndef gpio_read(pin):

clover_description/README.md

@@ -14,7 +14,7 @@ You may provide additional parameters for `spawn_drone.launch` as well:
 * `rangefinder` (*boolean*, default: *true*) - controls whether the drone will have a downward-facing laser rangefinder attached;
 * `led` (*boolean*, default: *true*) - controls whether the drone will have a programmable LED strip (requires plugins from `clover_simulation`);
 * `gps` (*boolean*, default: *true*) - controls whether the drone will have a simulated GPS attached (requires plugins from `sitl_gazebo`);
-* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simultion to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)).
+* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simulation to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)).
 
 For example, in order to spawn a drone without a GPS module, you may use the following command:
 

clover_description/launch/view_drone.launch

@@ -1,7 +1,7 @@
 <launch>
-  <arg name="model" default="$(find clover_description)/urdf/drones/clover4.xacro"/>
+  <arg name="model" default="$(find clover_description)/urdf/clover/clover4.xacro"/>
 
-  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)"/>
+  <param name="robot_description" command="xacro $(arg model)"/>
 
   <node name="rviz" pkg="rviz" type="rviz" required="true"/>
 </launch>

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_description/urdf/clover/clover4.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="clover_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:arg name="main_camera" default="true"/>
   <xacro:arg name="rangefinder" default="true"/>
@@ -8,10 +8,10 @@
   <xacro:arg name="maintain_camera_rate" default="false"/>
   <xacro:arg name="use_clover_physics" default="false"/>
 
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_base.xacro" />
-  <xacro:include filename="$(find clover_description)/urdf/sensors/rpi_cam.urdf.xacro"/>
-  <xacro:include filename="$(find clover_description)/urdf/sensors/distance_sensor.urdf.xacro"/>
-  <xacro:include filename="$(find clover_description)/urdf/leds/led_strip.xacro"/>
+  <xacro:include filename="clover4_base.xacro" />
+  <xacro:include filename="../sensors/rpi_cam.urdf.xacro"/>
+  <xacro:include filename="../sensors/distance_sensor.urdf.xacro"/>
+  <xacro:include filename="../leds/led_strip.xacro"/>
 
   <!-- Create camera plugin -->
   <xacro:if value="$(arg main_camera)">
@@ -36,11 +36,17 @@
   </xacro:if>
 
   <xacro:if value="$(arg gps)">
-    <!-- Instantiate gps plugin. -->
-    <xacro:gps_plugin_macro
-      namespace="${namespace}"
-      gps_noise="true"
-      />
+    <gazebo>
+      <include>
+        <uri>model://gps</uri>
+        <pose>0.1 0 0 0 0 0</pose>
+        <name>gps0</name>
+      </include>
+      <joint name='gps0_joint' type='fixed'>
+        <child>gps0::link</child>
+        <parent>base_link</parent>
+      </joint>  
+    </gazebo>
   </xacro:if>
 
 </robot>

clover_description/urdf/clover/clover4_base.xacro

@@ -1,40 +1,15 @@
 <?xml version="1.0"?>
 
 <robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- Properties that can be assigned at build time as arguments.
-  Is there a reason not to make all properties arguments?
-  -->
-  <xacro:arg name='name' default='iris' />
-  <xacro:arg name='mavlink_addr' default='INADDR_ANY' />
-  <xacro:arg name='mavlink_udp_port' default='14560' />
-  <xacro:arg name='mavlink_tcp_port' default='4560' />
-  <xacro:arg name='serial_enabled' default='false' />
-  <xacro:arg name='serial_device' default='/dev/ttyACM0' />
-  <xacro:arg name='baudrate' default='921600' />
-  <xacro:arg name='qgc_addr' default='INADDR_ANY' />
-  <xacro:arg name='qgc_udp_port' default='14550' />
-  <xacro:arg name='sdk_addr' default='INADDR_ANY' />
-  <xacro:arg name='sdk_udp_port' default='14540' />
-  <xacro:arg name='hil_mode' default='false' />
-  <xacro:arg name='hil_state_level' default='false' />
-  <xacro:arg name='send_vision_estimation' default='false' />
-  <xacro:arg name='send_odometry' default='false' />
-  <xacro:arg name='enable_lockstep' default='true' />
-  <xacro:arg name='use_tcp' default='true' />
-  <xacro:arg name='vehicle_is_tailsitter' default='false' />
-  <xacro:arg name='visual_material' default='DarkGrey' />
-  <xacro:arg name='enable_mavlink_interface' default='true' />
   <xacro:arg name='enable_wind' default='false' />
-  <!-- The following causes segfault with multiple vehicles if defaults to true!!! -->
-  <xacro:arg name='enable_ground_truth' default='false' />
   <xacro:arg name='enable_logging' default='false' />
-  <xacro:arg name='log_file' default='iris' />
+  <xacro:arg name='log_file' default='clover' />
 
   <!-- macros for gazebo plugins, sensors -->
-  <xacro:include filename="$(find clover_description)/urdf/component_snippets.urdf.xacro" />
+  <xacro:include filename="../component_snippets.urdf.xacro" />
 
   <!-- Instantiate iris "mechanics" -->
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_physics.xacro" />
+  <xacro:include filename="clover4_physics.xacro" />
 
   <xacro:if value="$(arg enable_wind)">
     <xacro:wind_plugin_macro
@@ -49,126 +24,8 @@
         />
   </xacro:if>
 
-  <!-- Instantiate magnetometer plugin. -->
-  <xacro:magnetometer_plugin_macro
-    namespace="${namespace}"
-    pub_rate="20"
-    noise_density="0.0004"
-    random_walk="0.0000064"
-    bias_correlation_time="600"
-    mag_topic="/mag"
-    >
-  </xacro:magnetometer_plugin_macro>
-
-  <!-- Instantiate barometer plugin. -->
-  <xacro:barometer_plugin_macro
-    namespace="${namespace}"
-    pub_rate="10"
-    baro_topic="/baro"
-    >
-  </xacro:barometer_plugin_macro>
-
-  <xacro:if value="$(arg enable_mavlink_interface)">
-  <!-- Instantiate mavlink telemetry interface. -->
-  <xacro:mavlink_interface_macro
-    namespace="${namespace}"
-    imu_sub_topic="/imu"
-    gps_sub_topic="/gps"
-    mag_sub_topic="/mag"
-    baro_sub_topic="/baro"
-    mavlink_addr="$(arg mavlink_addr)"
-    mavlink_udp_port="$(arg mavlink_udp_port)"
-    mavlink_tcp_port="$(arg mavlink_tcp_port)"
-    serial_enabled="$(arg serial_enabled)"
-    serial_device="$(arg serial_device)"
-    baudrate="$(arg baudrate)"
-    qgc_addr="$(arg qgc_addr)"
-    qgc_udp_port="$(arg qgc_udp_port)"
-    sdk_addr="$(arg sdk_addr)"
-    sdk_udp_port="$(arg sdk_udp_port)"
-    hil_mode="$(arg hil_mode)"
-    hil_state_level="$(arg hil_state_level)"
-    vehicle_is_tailsitter="$(arg vehicle_is_tailsitter)"
-    send_vision_estimation="$(arg send_vision_estimation)"
-    send_odometry="$(arg send_odometry)"
-    enable_lockstep="$(arg enable_lockstep)"
-    use_tcp="$(arg use_tcp)"
-    >
-  </xacro:mavlink_interface_macro>
-  </xacro:if>
-
-  <!-- Mount an ADIS16448 IMU. -->
-  <xacro:imu_plugin_macro
-    namespace="${namespace}"
-    imu_suffix=""
-    parent_link="base_link"
-    imu_topic="/imu"
-    mass_imu_sensor="0.015"
-    gyroscope_noise_density="0.0003394"
-    gyroscopoe_random_walk="0.000038785"
-    gyroscope_bias_correlation_time="1000.0"
-    gyroscope_turn_on_bias_sigma="0.0087"
-    accelerometer_noise_density="0.004"
-    accelerometer_random_walk="0.006"
-    accelerometer_bias_correlation_time="300.0"
-    accelerometer_turn_on_bias_sigma="0.1960"
-  >
-    <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
-    <origin xyz="0 0 0" rpy="0 0 0" />
-  </xacro:imu_plugin_macro>
-
-  <xacro:if value="$(arg enable_ground_truth)">
-    <!-- Mount an IMU providing ground truth. -->
-    <xacro:imu_plugin_macro
-      namespace="${namespace}"
-      imu_suffix="gt"
-      parent_link="base_link"
-      imu_topic="ground_truth/imu"
-      mass_imu_sensor="0.00001"
-      gyroscope_noise_density="0.0"
-      gyroscopoe_random_walk="0.0"
-      gyroscope_bias_correlation_time="1000.0"
-      gyroscope_turn_on_bias_sigma="0.0"
-      accelerometer_noise_density="0.0"
-      accelerometer_random_walk="0.0"
-      accelerometer_bias_correlation_time="300.0"
-      accelerometer_turn_on_bias_sigma="0.0"
-    >
-      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
-      <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:imu_plugin_macro>
-
-    <!-- Mount a generic odometry sensor providing ground truth. -->
-    <xacro:odometry_plugin_macro
-      namespace="${namespace}/ground_truth"
-      odometry_sensor_suffix="gt"
-      parent_link="base_link"
-      pose_topic="pose"
-      pose_with_covariance_topic="pose_with_covariance"
-      position_topic="position"
-      transform_topic="transform"
-      odometry_topic="odometry"
-      parent_frame_id="world"
-      mass_odometry_sensor="0.00001"
-      measurement_divisor="1"
-      measurement_delay="0"
-      unknown_delay="0.0"
-      noise_normal_position="0 0 0"
-      noise_normal_quaternion="0 0 0"
-      noise_normal_linear_velocity="0 0 0"
-      noise_normal_angular_velocity="0 0 0"
-      noise_uniform_position="0 0 0"
-      noise_uniform_quaternion="0 0 0"
-      noise_uniform_linear_velocity="0 0 0"
-      noise_uniform_angular_velocity="0 0 0"
-      enable_odometry_map="false"
-      odometry_map=""
-      image_scale=""
-    >
-      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </xacro:odometry_plugin_macro>
-  </xacro:if>
+  <!-- Gazebo plugins -->
+  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_gazebo.xacro" />
 
   <xacro:if value="$(arg enable_logging)">
     <!-- Instantiate a logger -->

clover_description/urdf/clover/clover4_gazebo.xacro

@@ -0,0 +1,183 @@
+<?xml version="1.0"?>
+
+<!-- Reference: https://github.com/PX4/PX4-SITL_gazebo/blob/7505aee97d2d3112fb2bd95198946345c6fa0b07/models/iris/iris.sdf.jinja#L430 -->
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- IMU link -->
+  <link name="/imu_link">
+    <inertial>
+      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
+      <mass value="0.015"/>
+      <!-- [kg] -->
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>
+
+  <!-- IMU joint -->
+  <joint name="/imu_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="/imu_link"/>
+    <!-- <limit upper="0" lower="0" effort="0" velocity="0" /> -->
+  </joint>
+
+  <gazebo reference="/imu_joint">
+    <disableFixedJointLumping>true</disableFixedJointLumping>
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+
+  <gazebo>
+    <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
+      <robotNamespace/>
+    </plugin>
+    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
+      <robotNamespace/>
+      <pubRate>100</pubRate>
+      <noiseDensity>0.0004</noiseDensity>
+      <randomWalk>6.4e-06</randomWalk>
+      <biasCorrelationTime>600</biasCorrelationTime>
+      <magTopic>/mag</magTopic>
+    </plugin>
+    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
+      <robotNamespace/>
+      <pubRate>50</pubRate>
+      <baroTopic>/baro</baroTopic>
+      <baroDriftPaPerSec>0</baroDriftPaPerSec>
+    </plugin>
+    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
+      <robotNamespace/>
+      <imuSubTopic>/imu</imuSubTopic>
+      <magSubTopic>/mag</magSubTopic>
+      <baroSubTopic>/baro</baroSubTopic>
+      <mavlink_addr>INADDR_ANY</mavlink_addr>
+      <mavlink_tcp_port>4560</mavlink_tcp_port>
+      <mavlink_udp_port>14560</mavlink_udp_port>
+      <serialEnabled>false</serialEnabled>
+      <serialDevice>/dev/ttyACM0</serialDevice>
+      <baudRate>921600</baudRate>
+      <qgc_addr>INADDR_ANY</qgc_addr>
+      <qgc_udp_port>14550</qgc_udp_port>
+      <sdk_addr>INADDR_ANY</sdk_addr>
+      <sdk_udp_port>14540</sdk_udp_port>
+      <hil_mode>false</hil_mode>
+      <hil_state_level>0</hil_state_level>
+      <send_vision_estimation>0</send_vision_estimation>
+      <send_odometry>1</send_odometry>
+      <enable_lockstep>1</enable_lockstep>
+      <use_tcp>1</use_tcp>
+      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
+      <control_channels>
+        <channel name='rotor1'>
+          <input_index>0</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>1000</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>100</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+        </channel>
+        <channel name='rotor2'>
+          <input_index>1</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>1000</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>100</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+        </channel>
+        <channel name='rotor3'>
+          <input_index>2</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>1000</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>100</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+        </channel>
+        <channel name='rotor4'>
+          <input_index>3</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>1000</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>100</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+        </channel>
+        <channel name='rotor5'>
+          <input_index>4</input_index>
+          <input_offset>1</input_offset>
+          <input_scaling>324.6</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>0</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+          <joint_control_pid>
+            <p>0.1</p>
+            <i>0</i>
+            <d>0</d>
+            <iMax>0.0</iMax>
+            <iMin>0.0</iMin>
+            <cmdMax>2</cmdMax>
+            <cmdMin>-2</cmdMin>
+          </joint_control_pid>
+          <joint_name>zephyr_delta_wing::propeller_joint</joint_name>
+        </channel>
+        <channel name='rotor6'>
+          <input_index>5</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>0.524</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>0</zero_position_armed>
+          <joint_control_type>position</joint_control_type>
+          <joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
+          <joint_control_pid>
+            <p>10.0</p>
+            <i>0</i>
+            <d>0</d>
+            <iMax>0</iMax>
+            <iMin>0</iMin>
+            <cmdMax>20</cmdMax>
+            <cmdMin>-20</cmdMin>
+          </joint_control_pid>
+        </channel>
+        <channel name='rotor7'>
+          <input_index>6</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>0.524</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>0</zero_position_armed>
+          <joint_control_type>position</joint_control_type>
+          <joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
+          <joint_control_pid>
+            <p>10.0</p>
+            <i>0</i>
+            <d>0</d>
+            <iMax>0</iMax>
+            <iMin>0</iMin>
+            <cmdMax>20</cmdMax>
+            <cmdMin>-20</cmdMin>
+          </joint_control_pid>
+        </channel>
+        <channel name='rotor8'>
+          <input_index>7</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>0.524</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>0</zero_position_armed>
+          <joint_control_type>position</joint_control_type>
+        </channel>
+      </control_channels>
+    </plugin>
+    <static>0</static>
+    <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
+      <robotNamespace/>
+      <linkName>/imu_link</linkName>
+      <imuTopic>/imu</imuTopic>
+      <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
+      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
+      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
+      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
+      <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
+      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
+      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
+      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
+    </plugin>
+  </gazebo>
+
+</robot>

clover_description/urdf/clover/clover4_physics.xacro

@@ -6,7 +6,7 @@
 
 -->
 
-<robot name="iris" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
   <!-- Properties -->
   <xacro:property name="namespace" value="" />
   <xacro:property name="rotor_velocity_slowdown_sim" value="10" />
@@ -35,7 +35,7 @@
   <xacro:property name="sqrt2" value="1.4142135623730951" />
   <xacro:property name="rotor_drag_coefficient" value="1.75e-04" />
   <xacro:property name="rolling_moment_coefficient" value="0.000001" />
-  <xacro:property name="color" value="$(arg visual_material)" />
+  <xacro:property name="color" value="DarkGrey" />
 
   <!-- Property Blocks -->
   <!-- Clover body inertia -->
@@ -84,7 +84,7 @@
   </xacro:unless>
 
   <!-- Included URDF Files -->
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_macros.xacro" />
+  <xacro:include filename="clover4_macros.xacro" />
 
   <!-- Instantiate multirotor_base_macro once -->
   <xacro:clover4_base_macro

clover_description/urdf/leds/led_strip.xacro

@@ -64,6 +64,12 @@
         <!-- <gazebo>
             <static>true</static>
         </gazebo> -->
+        <gazebo>
+            <plugin name="${name}_ros_controller" filename="libsim_leds_controller.so">
+                <robotNamespace></robotNamespace>
+                <ledCount>${led_count}</ledCount>
+            </plugin>
+        </gazebo>
     </xacro:macro>
 
 </robot>

clover_description/urdf/sensors/distance_sensor.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
+  <xacro:include filename="../camera_sensor.urdf.xacro"/>
 
-  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10">
+  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10 fov:=0.471239">
     <joint name="${name}_joint" type="fixed">
       <origin xyz="${x} ${y} ${z}"
               rpy="${roll} ${pitch} ${yaw}"/>
@@ -58,7 +58,7 @@
           <topicName>/rangefinder/range</topicName>
           <frameName>rangefinder</frameName>
           <radiation>infrared</radiation>
-          <fov>0.01</fov>
+          <fov>${fov}</fov>
           <gaussianNoise>0.001</gaussianNoise>
           <updateRate>${rate}</updateRate>
           <min_distance>${range_min}</min_distance>

clover_description/urdf/sensors/pinhole_camera.urdf.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="pinhole_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
+  <xacro:include filename="../camera_sensor.urdf.xacro"/>
   <xacro:camera_sensor name="main_camera" width="640" height="480" rate="30" horizontal_fov="${120.0*pi/180.0}"/>
 </robot>