Read parameters from web (unfinished)

.github/workflows/docs.yml

@@ -19,7 +19,7 @@ jobs:
           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 -g
+          npm install markdownlint-cli@0.28.1 -g # FIXME: https://github.com/DavidAnson/markdownlint/issues/435
           npm install svgexport -g
           gitbook -V
           markdownlint -V

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/www/js/topics.js

@@ -53,6 +53,29 @@ function viewTopic(topic) {
 	});
 }
 
+function viewParameters() {
+	title.innerHTML = 'Parameters';
+	topicMessage.style.display = 'block';
+
+	let names = ['aruco_detect', 'main_camera', 'main_camera_nodelet_manager', 'mavros', 'optical_flow', 
+		'rangefinder', 'rosapi', 'rosbridge_websocket', 'rosdistro', 'roslaunch', 'rosversion', 
+		'roswww_static', 'run_id', 'simple_offboard', 'visualization', 'web_video_server'];
+	let params = {};
+	// ros.getParams(function(params) {
+		
+	Promise.all(names.map(function(name) {
+		return new Promise(function(resolve, reject) {
+			new ROSLIB.Param({ ros, name }).get(function(value) {
+				params[name] = value;
+				resolve();
+			})
+		});
+	})).then(function() {
+		console.log(params);
+		topicMessage.innerHTML = yamlStringify(params);
+	});
+}
+
 let mouseDown;
 
 topicMessage.addEventListener('mousedown', function() { mouseDown = true; });
@@ -61,6 +84,9 @@ topicMessage.addEventListener('mouseup', function() { mouseDown = false; });
 function init() {
 	const params = Object.fromEntries(new URLSearchParams(window.location.search).entries());
 
+	viewParameters();
+	return;
+
 	if (!params.topic) {
 		viewTopicsList();
 	} else {
@@ -70,3 +96,5 @@ function init() {
 		});
 	}
 }
+
+window.ros = ros;

clover_blocks/www/main.js

@@ -211,7 +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_simulation/models/camera/camera.sdf

@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+    <model name="camera">
+        <static>true</static>
+        <link name='camera_link'>
+            <pose>0 0 0 0 0 0</pose>
+            <sensor name='camera' type='camera'>
+                <camera>
+                    <horizontal_fov>2.0944</horizontal_fov>
+                    <image>
+                        <format>B8G8R8</format>
+                        <width>800</width>
+                        <height>600</height>
+                    </image>
+                    <clip>
+                        <near>0.02</near>
+                        <far>300</far>
+                    </clip>
+                </camera>
+                <always_on>1</always_on>
+                <update_rate>20</update_rate>
+                <visualize>1</visualize>
+                <plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
+                    <alwaysOn>1</alwaysOn>
+                    <imageTopicName>image_raw</imageTopicName>
+                    <cameraTopicName>camera_info</cameraTopicName>
+                    <cameraName>camera</cameraName>
+                    <frameName>/camera</frameName>
+                </plugin>
+            </sensor>
+        </link>
+    </model>
+</sdf>

clover_simulation/models/camera/model.config

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<model>
+    <name>Camera</name>
+    <version>1.0</version>
+    <sdf version="1.5">camera.sdf</sdf>
+    <author>
+        <name>Oleg Kalachev</name>
+        <email>okalachev@gmail.com</email>
+    </author>
+    <description>
+        External camera
+    </description>
+</model>

docs/en/rviz.md

@@ -3,18 +3,20 @@ Using rviz and rqt
 
 ![rviz](../assets/rviz.png)
 
-The [rviz] tool(http://wiki.ros.org/rviz) allows real-time visualization of all components of the robotic system —the system of coordinates, moving parts, sensors, camera images — on the 3D stage.
+The [rviz](http://wiki.ros.org/rviz) tool allows real-time visualization of all components of the robotic system —the system of coordinates, moving parts, sensors, camera images — on the 3D stage.
 
 [rqt](http://wiki.ros.org/rqt) is a set of GUI for analyzing and controlling ROS systems. For example, `rqt_image_view` allows viewing topics with images, `rqt_multiplot` allows plot charts by the values in topics, etc.
 
-To use rviz and rqt, a PC running Ubuntu Linux (or a virtual machine such as [Parallels Desktop Lite] (https://itunes.apple.com/ru/app/parallels-desktop-lite/id1085114709?mt=12) or [VirtualBox] (https://www.virtualbox.org)) is required.
+To use rviz and rqt, a PC running Ubuntu Linux (or a virtual machine such as [Parallels Desktop Lite](https://itunes.apple.com/ru/app/parallels-desktop-lite/id1085114709?mt=12) or [VirtualBox](https://www.virtualbox.org)) is required.
+
+> **Hint** You can use the [preconfigured virtual machine image](simulation_vm.md) with ROS and Clover toolkit.
 
 Install package `ros-melodic-desktop-full` or `ros-melodic-desktop` using the [installation documentation](http://wiki.ros.org/melodic/Installation/Ubuntu).
 
 Start rviz
 ---
 
-To start the Clover state visualization in real time, connect to it via Wi-Fi (`clover-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
+To start the Clover state visualization in real time, connect to it [via Wi-Fi](wifi.md) (`clover-xxxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
 
 ```(bash)
 ROS_MASTER_URI=http://192.168.11.1:11311 rviz

docs/ru/leds.md

@@ -17,7 +17,7 @@
 ## Высокоуровневое управление лентой {#set_effect}
 
 1. Для работы с лентой подключите ее к питанию +5v – 5v, земле GND – GND и сигнальному порту DIN – GPIO21. Обратитесь [к инструкции по сборке](assemble_4_2.md#установка-led-ленты) для подробностей.
-2. Включите поддержку LED-ленты в файле `~/catkin_ws/src/clever/clever/launch/clover.launch`:
+2. Включите поддержку LED-ленты в файле `~/catkin_ws/src/clover/clover/launch/clover.launch`:
 
     ```xml
     <arg name="led" default="true"/>

docs/ru/rviz.md

@@ -9,12 +9,14 @@
 
 Для использования rviz и rqt необходим компьютер с ОС Ubuntu Linux (либо виртуальная машина, например [Parallels Desktop Lite](https://itunes.apple.com/ru/app/parallels-desktop-lite/id1085114709?mt=12) или [VirtualBox](https://www.virtualbox.org)).
 
+> **Hint** Вы можете можете использовать готовый [образ виртуальной машины](simulation_vm.md) с инструментами для Клевера.
+
 На него необходимо установить пакет `ros-melodic-desktop-full` или `ros-melodic-desktop`, используя [документацию по установке](http://wiki.ros.org/melodic/Installation/Ubuntu).
 
 Запуск rviz
 ---
 
-Для запуска визуализация состояния Клевера в реальном времени, необходимо подключиться к нему по Wi-Fi (`clover-xxx`) и запустить rviz, указав соответствующий ROS_MASTER_URI:
+Для запуска визуализация состояния Клевера в реальном времени, необходимо подключиться к нему по [Wi-Fi](wifi.md) (`clover-xxxx`) и запустить rviz, указав соответствующий ROS_MASTER_URI:
 
 ```bash
 ROS_MASTER_URI=http://192.168.11.1:11311 rviz