Shrink install lines

blocks: install programs directory
aruco_pose: install library file
2026-06-01 15:39:32 +00:00 · 2021-06-09 13:43:58 +03:00 · 2021-06-09 13:40:58 +03:00 · 2021-06-09 13:34:09 +03:00 · 2021-06-09 13:28:49 +03:00 · 2021-06-09 13:27:16 +03:00
217 changed files with 131833 additions and 3404 deletions
--- a/.github/workflows/build-image.yaml
+++ b/.github/workflows/build-image.yaml
@@ -1,4 +1,4 @@
-name: RPi image
+name: Build RPi image

 on:
  push:
@@ -9,7 +9,7 @@ on:
    types: [ created ]

 jobs:
-  build:
+  build-image:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
@@ -18,7 +18,7 @@ jobs:
          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
+          sudo chmod -R 777 images && zip -9 $(echo images/clover_*).zip images/clover_* && ls -l images
      - name: Upload image
        uses: softprops/action-gh-release@v1
        if: ${{ github.event_name == 'release' }}
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -7,14 +7,14 @@ on:
    branches: [ master ]

 jobs:
-  melodic:
+  build-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:
+  build-noetic:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -7,7 +7,7 @@ on:
    branches: [ master ]

 jobs:
-  docs:
+  documentation:
    runs-on: ubuntu-18.04
    steps:
      - uses: actions/checkout@v2
@@ -18,8 +18,9 @@ jobs:
        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 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
--- a/.github/workflows/editorconfig.yaml
+++ b/.github/workflows/editorconfig.yaml
@@ -1,4 +1,4 @@
-name: Editorconfig
+name: Editorconfig lint

 on:
  push:
@@ -15,4 +15,4 @@ jobs:
        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"
+          ./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"
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,3 @@ _book/
 package-lock.json
 clover_blocks/programs/*.*
 !clover_blocks/programs/examples/*
-/.vscode/
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # clover🍀: create autonomous drones easily

-<img src="docs/assets/clover42-main-margin.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clover42-main.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.

--- a/apps/ios/cleverrc/README.md
+++ b/apps/ios/cleverrc/README.md
@@ -1,4 +1,5 @@
-# iOS-приложение для управления Клевером
+iOS-приложение для управления Клевером
+--------------------------------------

 Для установки зависимостей необходим [CocoaPods](https://cocoapods.org):

--- a/aruco_pose/README.md
+++ b/aruco_pose/README.md
@@ -70,7 +70,7 @@ 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` – known tilt (pitch and roll) of markers map as a frame
+* `~known_tilt` – debug image width
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)
--- a/book.json
+++ b/book.json
@@ -10,7 +10,7 @@
        "yametrika",
        "anchors",
        "collapsible-menu",
-        "validate-links@https://github.com/okalachev/gitbook-plugin-validate-links.git",
+        "validate-links",
        "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",
--- a/builder/assets/clover.service
+++ b/builder/assets/clover.service
@@ -8,9 +8,5 @@ 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
--- a/builder/assets/install_gitbook.sh
+++ b/builder/assets/install_gitbook.sh
@@ -1,9 +0,0 @@
-#!/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
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -113,11 +113,15 @@ ${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'
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -13,7 +13,7 @@
 # copies or substantial portions of the Software.
 #

-set -ex # exit on error, echo commands
+set -e # Exit immidiately on non-zero result

 REPO=$1
 REF=$2
@@ -112,7 +112,7 @@ my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
+catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
 source devel/setup.bash

 echo_stamp "Install clever package (for backwards compatibility)"
@@ -122,8 +122,9 @@ rm -rf build  # remove build artifacts

 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
-builder/assets/install_gitbook.sh
-gitbook install
+NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
+NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
+NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin

@@ -155,16 +156,6 @@ 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'
--- a/builder/image-software.sh
+++ b/builder/image-software.sh
@@ -137,7 +137,6 @@ pip3 --version
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
 export CRYPTOGRAPHY_DONT_BUILD_RUST=1
-my_travis_retry pip3 install cryptography==3.4.6 # https://stackoverflow.com/a/68472128/6850197
 my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
--- a/builder/image-validate.sh
+++ b/builder/image-validate.sh
@@ -31,9 +31,5 @@ cd /home/pi/catkin_ws/src/clover/builder/test/

 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
--- a/builder/test/tests.sh
+++ b/builder/test/tests.sh
@@ -34,7 +34,6 @@ i2cdetect -V
 butterfly -h
 # espeak --version
 mjpg_streamer --version
-systemctl --version

 # ros stuff

--- a/check_unused_assets.py
+++ b/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', 'clover42-main-margin.png')
+    'clever4-front-black-large.png','clover42-black.png')

 code = 0

--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -270,8 +270,6 @@ 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
@@ -280,7 +278,7 @@ 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
-    udev/99-px4fmu.rules
+    config/99-px4fmu.rules
    DESTINATION /lib/udev/rules.d
  )
 else()
--- a/clover/README.md
+++ b/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/udev
+cd ~/catkin_ws/src/clover/clover/config
 sudo cp 99-px4fmu.rules /lib/udev/rules.d
 ```

--- a/clover/config/99-px4fmu.rules
+++ b/clover/config/99-px4fmu.rules
@@ -12,6 +12,4 @@ 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"

--- a/clover/examples/flight.py
+++ b/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)

-print('Take off and hover 1 m above the ground')
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Fly forward 1 m')
+# Fly forward 1 m
 navigate(x=1, y=0, z=0, frame_id='body')

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Perform landing')
+# Perform landing
 land()
--- a/clover/examples/flight_marker.py
+++ b/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)

-print('Take off and hover 1 m above the ground')
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Fly 1 meter above ArUco marker 0')
+# Fly 1 meter above ArUco marker 0
 navigate(x=0, y=0, z=1, frame_id='aruco_0')

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Fly to x=1 y=1 z=1 relative to ArUco markers map')
+# 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 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Perform landing')
+# Perform landing
 land()
--- a/clover/examples/gps.py
+++ b/clover/examples/gps.py
@@ -1,47 +0,0 @@
-# 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()
--- a/clover/examples/navigate_wait.py
+++ b/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)

-print('Take off 1 meter')
+# Take off 1 meter
 navigate_wait(z=1, frame_id='body', auto_arm=True)

-print('Fly forward 1 m')
+# Fly forward 1 m
 navigate_wait(x=1, frame_id='body')

-print('Land')
+# Land
 land()
--- a/clover/examples/subscriber.py
+++ b/clover/examples/subscriber.py
@@ -1,15 +0,0 @@
-# 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()
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -3,7 +3,7 @@
    <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="0.22"/> <!-- not-in-map markers length, m -->
+    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
    <arg name="map" default="map.txt"/> <!-- markers map file name -->

    <!-- For additional help go to https://clover.coex.tech/aruco -->
@@ -12,7 +12,7 @@
    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
        <remap from="image_raw" to="main_camera/image_raw"/>
        <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="map_markers" to="aruco_map/markers"/>
+        <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
        <param name="estimate_poses" value="true"/>
        <param name="send_tf" value="true"/>
        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
--- a/clover/launch/mavros_config.yaml
+++ b/clover/launch/mavros_config.yaml
@@ -13,7 +13,6 @@ 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
--- a/clover/src/optical_flow.cpp
+++ b/clover/src/optical_flow.cpp
@@ -53,7 +53,6 @@ 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_;

 	void onInit()
 	{
@@ -70,13 +69,15 @@ 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;
@@ -178,7 +179,7 @@ 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
+			// // 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;
@@ -195,11 +196,6 @@ 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);
@@ -209,7 +205,9 @@ private:
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
 				} catch (const tf2::TransformException& e) {
-					// Transform not available, keep NANs in flow gyro
+					// Invalidate previous frame
+					prev_.release();
+					goto publish_debug;
 				}
 			}

--- a/clover/src/selfcheck.py
+++ b/clover/src/selfcheck.py
@@ -43,8 +43,6 @@ from mavros import mavlink

 rospy.init_node('selfcheck')

-os.environ['ROSCONSOLE_FORMAT']='[${severity}]: ${message}'
-

 tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)
@@ -201,13 +199,18 @@ def check_fcu():
        if version_str == '':
            info('no version data available from SITL')

-        for line in version_str.split('\n'):
-            if line.startswith('FW version: '):
-                info(line[len('FW version: '):])
-            elif line.startswith('FW git tag: '):
-                info(line[len('FW git tag: '):])
-            elif line.startswith('HW arch: '):
-                info(line[len('HW arch: '):])
+        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
+
+        if not is_clover_firmware:
+            failure('not running Clover PX4 firmware, https://clover.coex.tech/firmware')

        est = get_param('SYS_MC_EST_GROUP')
        if est == 1:
@@ -615,7 +618,7 @@ def check_boot_duration():

@check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet', 'gzclient', 'gzserver'
+    WHITELIST = 'nodelet',
    CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
    output = subprocess.check_output(CMD, shell=True).decode()
    processes = output.split('\n')
@@ -643,22 +646,13 @@ def check_clover_service():
    elif 'failed' in output:
        failure('service failed to run, check your launch-files')

-    BLACKLIST = 'Unexpected command 520', 'Time jump detected', 'different index:'
-
-    r = re.compile(r'^(.*)\[(FATAL|ERROR| WARN)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
+    r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*?)(\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].strip() + ': ' + node_error.groups()[2]
+                msg = node_error.groups()[1] + ': ' + node_error.groups()[2]
                if msg in error_count:
                    error_count[msg] += 1
                else:
@@ -759,7 +753,7 @@ def check_rpi_health():
        # with some of the FLAGs OR'ed together
        output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
    except OSError:
-        info('could not call vcgencmd binary; not a Raspberry Pi?')
+        failure('could not call vcgencmd binary; not a Raspberry Pi?')
        return

    throttle_mask = int(output.split('=')[1], base=16)
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
@@ -181,10 +181,9 @@ inline bool waitTransform(const string& target, const string& source,
 		ros::spinOnce();
 		r.sleep();
 	}
-	return false;
 }

-#define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
+#define TIMEOUT(msg, timeout) (ros::Time::now() - msg.header.stamp > timeout)

 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 {
@@ -442,10 +441,6 @@ 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;
@@ -848,7 +843,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		busy = false;
 		return true;
 	}
-	return false;
 }

 int main(int argc, char **argv)
--- a/clover/www/clover.err
+++ b/clover/www/clover.err
@@ -0,0 +1 @@
+/tmp/clover.err
--- a/clover/www/clover.log
+++ b/clover/www/clover.log
@@ -1 +0,0 @@
-/var/log/clover.log
--- a/clover/www/index.html
+++ b/clover/www/index.html
@@ -4,12 +4,12 @@

 <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>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="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
+	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
 	<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
-	<li><a href="clover.log">Clover console</a> (<code>/var/log/clover.log</code>)</li>
+	<li><a href="clover.err">Clover console</a> (<code>/tmp/clover.err</code>)</li>
 </ul>

 <div class="version"></div>
@@ -18,14 +18,6 @@
 	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;
--- a/clover/www/js/json-to-pretty-yaml.js
+++ b/clover/www/js/json-to-pretty-yaml.js
@@ -1,236 +0,0 @@
-// 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*$/, "$1");
-        };
-    }
-
-    // CommonJS / npm / Ender.JS
-    module.exports = {
-        typeOf: typeOf,
-        isEmpty: isEmpty
-    };
-    global.typeOf = global.typeOf || typeOf;
-    global.isEmpty = global.isEmpty || isEmpty;
-}());
-
-},{}],3:[function(require,module,exports){
-"use strict";
-
-/**
- * removeTrailingSpaces
- * Remove the trailing spaces from a string.
- *
- * @name removeTrailingSpaces
- * @function
- * @param {String} input The input string.
- * @returns {String} The output string.
- */
-
-module.exports = function removeTrailingSpaces(input) {
-  // TODO If possible, use a regex
-  return input.split("\n").map(function (x) {
-    return x.trimRight();
-  }).join("\n");
-};
-},{}]},{},[1]);
--- a/clover/www/js/topics.js
+++ b/clover/www/js/topics.js
@@ -1,75 +0,0 @@
-const url = 'ws://' + location.hostname + ':9090';
-const ros = new ROSLIB.Ros({ url: url });
-
-ros.on('connection', function () {
-	document.body.classList.add('connected');
-	document.body.classList.remove('closed');
-	init();
-});
-
-ros.on('close', function () {
-	document.body.classList.remove('connected');
-	document.body.classList.add('closed');
-	setTimeout(function() {
-		// reconnect
-		ros.connect(url);
-	}, 2000);
-});
-
-const title = document.querySelector('h1');
-const topicsList = document.querySelector('#topics');
-const topicMessage = document.querySelector('#topic-message');
-
-function viewTopicsList() {
-	title.innerHTML = 'Topics:';
-
-	ros.getTopics(function(topics) {
-		topicsList.innerHTML = topics.topics.map(function(topic, i) {
-			const type = topics.types[i];
-			if (type == 'sensor_msgs/Image') {
-				let url = `${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 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) {
-		document.title = topic;
-		if (mouseDown) return;
-		topicMessage.innerHTML = yamlStringify(msg); // JSON.stringify(msg, null, 4);
-	});
-}
-
-let mouseDown;
-
-topicMessage.addEventListener('mousedown', function() { mouseDown = true; });
-topicMessage.addEventListener('mouseup', function() { mouseDown = false; });
-
-function init() {
-	const params = Object.fromEntries(new URLSearchParams(window.location.search).entries());
-
-	if (!params.topic) {
-		viewTopicsList();
-	} else {
-		new ROSLIB.Param({ ros: ros, name: '/rosdistro'}).get(function(value) {
-			rosdistro = value.trim();
-			viewTopic(params.topic);
-		});
-	}
-}
--- a/clover/www/topics.html
+++ b/clover/www/topics.html
@@ -1,28 +0,0 @@
-<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;
-			}
-			#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" title="Hold mouse button to pause">No messages received</code>
-	</body>
-</html>
--- a/clover_blocks/CMakeLists.txt
+++ b/clover_blocks/CMakeLists.txt
@@ -78,8 +78,6 @@ install(DIRECTORY programs
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

-install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
 #############
 ## Testing ##
 #############
--- a/clover_blocks/README.md
+++ b/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 [`roslib.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 [`roblib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.

 ## `clover_blocks` node

@@ -30,8 +30,7 @@ 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).
-* `~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).
+* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
 * `~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).

--- a/clover_blocks/www/blocks.js
+++ b/clover_blocks/www/blocks.js
@@ -31,14 +31,6 @@ 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
@@ -73,9 +65,6 @@ 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")
@@ -84,20 +73,12 @@ 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(navFrameId), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -287,7 +268,7 @@ Blockly.Blocks['mode'] = {
 			.appendField("current flight mode");
 		this.setOutput(true, "String");
 		this.setColour(COLOR_STATE);
-		this.setTooltip("Returns current flight mode (POSCTL, OFFBOARD, etc).");
+		this.setTooltip("");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -394,7 +375,7 @@ 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);
 	}
 };
@@ -410,7 +391,7 @@ Blockly.Blocks['land'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setColour(COLOR_FLIGHT);
-		this.setTooltip("Land the drone.");
+		this.setTooltip("");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -419,10 +400,10 @@ Blockly.Blocks['global_position'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["latitude", "LAT"], ["longitude", "LON"], ["altitude", "ALT"]]), "FIELD");
+			.appendField(new Blockly.FieldDropdown([["latitude", "LATITUDE"], ["longitude", "LONGITUDE"], ["altitude", "ALTITUDE"]]), "NAME");
 		this.setOutput(true, "Number");
-		this.setColour(COLOR_STATE);
-		this.setTooltip("Returns current global position (latitude, longitude, altitude above the WGS 84 ellipsoid).");
+		this.setColour(230);
+		this.setTooltip("");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
--- a/clover_blocks/www/index.html
+++ b/clover_blocks/www/index.html
@@ -52,8 +52,6 @@
 				<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>
@@ -87,7 +85,6 @@
 				<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>
--- a/clover_blocks/www/main.js
+++ b/clover_blocks/www/main.js
@@ -39,8 +39,7 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('navigate_global_tolerance', true, 1),
-		ros.readParam('yaw_tolerance', true, 1),
+		ros.readParam('yaw_tolerance', true, 20),
 		ros.readParam('sleep_time', true, 0.2),
 		ros.readParam('confirm_run', true, true),
 	]);
@@ -211,7 +210,7 @@ function loadPrograms() {
 		updateChanged();
 	}, function(err) {
 		document.querySelector('.backend-fail').style.display = 'inline';
-		alert(`Error loading programs list.\n\nHave you enabled 'blocks' in clover.launch?`);
+		alert(`Error loading programs list.\n\nHave you enabled clover_blocks in clover.launch?`);
 		runButton.disabled = true;
 	})
 }
--- a/clover_blocks/www/python.js
+++ b/clover_blocks/www/python.js
@@ -33,18 +33,6 @@ 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:
@@ -80,9 +68,6 @@ 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`;
 		}
@@ -109,10 +94,6 @@ 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();
 	}
@@ -180,48 +161,24 @@ 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 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 frameId = buildFrameId(block);
 	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();

-	// global coordinates
-	if (frameId.startsWith('GLOBAL')) {
-		rosDefinitions.navigateGlobal = true;
+	if (block.getFieldValue('WAIT') == 'TRUE') {
+		rosDefinitions.navigateWait = true;
 		simpleOffboard();

-		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=${speed})\n`;
-		}
+		return `navigate_wait(${params.join(', ')})\n`;

 	} else {
-		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(${params.join(', ')})\n`;
+		if (frameId != 'body') {
+			params.push(`yaw=float('nan')`);
 		}
+		return `navigate(${params.join(', ')})\n`;
 	}
 }

@@ -358,12 +315,6 @@ 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();
@@ -464,7 +415,7 @@ Blockly.Python.led_count = function(block) {

 function pigpio() {
 	Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
-	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()\nif not pi.connected: raise Exception(\'Cannot connect to pigpiod\')';
+	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
 }

 const GPIO_READ = `\ndef gpio_read(pin):
--- a/clover_description/README.md
+++ b/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 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)).
+* `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)).

 For example, in order to spawn a drone without a GPS module, you may use the following command:

--- a/clover_description/launch/view_drone.launch
+++ b/clover_description/launch/view_drone.launch
@@ -1,7 +1,7 @@
 <launch>
-  <arg name="model" default="$(find clover_description)/urdf/clover/clover4.xacro"/>
+  <arg name="model" default="$(find clover_description)/urdf/drones/clover4.xacro"/>

-  <param name="robot_description" command="xacro $(arg model)"/>
+  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)"/>

  <node name="rviz" pkg="rviz" type="rviz" required="true"/>
 </launch>
--- a/clover_description/urdf/clover/clover4.xacro
+++ b/clover_description/urdf/clover/clover4.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="clover_camera" 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="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"/>
+  <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"/>

  <!-- Create camera plugin -->
  <xacro:if value="$(arg main_camera)">
@@ -36,17 +36,11 @@
  </xacro:if>

  <xacro:if value="$(arg gps)">
-    <gazebo>
-      <include>
-        <uri>model://gps</uri>
-        <pose>0.1 0 0 0 0 0</pose>
-        <name>gps0</name>
-      </include>
-      <joint name='gps0_joint' type='fixed'>
-        <child>gps0::link</child>
-        <parent>base_link</parent>
-      </joint>  
-    </gazebo>
+    <!-- Instantiate gps plugin. -->
+    <xacro:gps_plugin_macro
+      namespace="${namespace}"
+      gps_noise="true"
+      />
  </xacro:if>

 </robot>
--- a/clover_description/urdf/clover/clover4_base.xacro
+++ b/clover_description/urdf/clover/clover4_base.xacro
@@ -1,15 +1,40 @@
 <?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='clover' />
+  <xacro:arg name='log_file' default='iris' />

  <!-- macros for gazebo plugins, sensors -->
-  <xacro:include filename="../component_snippets.urdf.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/component_snippets.urdf.xacro" />

  <!-- Instantiate iris "mechanics" -->
-  <xacro:include filename="clover4_physics.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_physics.xacro" />

  <xacro:if value="$(arg enable_wind)">
    <xacro:wind_plugin_macro
@@ -24,8 +49,126 @@
        />
  </xacro:if>

-  <!-- Gazebo plugins -->
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_gazebo.xacro" />
+  <!-- Instantiate magnetometer plugin. -->
+  <xacro:magnetometer_plugin_macro
+    namespace="${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>

  <xacro:if value="$(arg enable_logging)">
    <!-- Instantiate a logger -->
--- a/clover_description/urdf/clover/clover4_gazebo.xacro
+++ b/clover_description/urdf/clover/clover4_gazebo.xacro
@@ -1,183 +0,0 @@
-<?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>
--- a/clover_description/urdf/clover/clover4_physics.xacro
+++ b/clover_description/urdf/clover/clover4_physics.xacro
@@ -6,7 +6,7 @@

 -->

-<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="iris" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- Properties -->
  <xacro:property name="namespace" value="" />
  <xacro:property name="rotor_velocity_slowdown_sim" value="10" />
@@ -84,7 +84,7 @@
  </xacro:unless>

  <!-- Included URDF Files -->
-  <xacro:include filename="clover4_macros.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_macros.xacro" />

  <!-- Instantiate multirotor_base_macro once -->
  <xacro:clover4_base_macro
--- a/clover_description/urdf/sensors/distance_sensor.urdf.xacro
+++ b/clover_description/urdf/sensors/distance_sensor.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="../camera_sensor.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/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">
    <joint name="${name}_joint" type="fixed">
--- a/clover_description/urdf/sensors/pinhole_camera.urdf.xacro
+++ b/clover_description/urdf/sensors/pinhole_camera.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="pinhole_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="../camera_sensor.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
  <xacro:camera_sensor name="main_camera" width="640" height="480" rate="30" horizontal_fov="${120.0*pi/180.0}"/>
 </robot>
--- a/clover_description/urdf/sensors/rpi_cam.urdf.xacro
+++ b/clover_description/urdf/sensors/rpi_cam.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="../camera_sensor.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>

  <xacro:macro name="rpi_cam" params="name:=rpi_cam parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 width:=320 height:=240 rate:=40 do_throttling:=false">
    <joint name="${name}_joint" type="fixed">
--- a/clover_simulation/README.md
+++ b/clover_simulation/README.md
@@ -55,7 +55,7 @@ A visual Gazebo plugin is used for the LED strip. An example of the plugin usage
 The plugin accepts the following parameters during instantiation:

 * `robotNamespace` (*string*, default: "") - a ROS namespace for the plugin;
-* `ledCount` (*integer*, required) - total number of LEDs in a strip.
+* `ledCount` (*integer*, required) - total numer of LEDs in a strip.

 The plugin will provide the following service:

--- a/clover_simulation/airframes/4500_clover
+++ b/clover_simulation/airframes/4500_clover
@@ -1,36 +0,0 @@
-#!/bin/sh
-#
-# @name COEX Clover Simulator
-#
-# @type Quadrotor X
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris # base on iris
-
-param set ATT_W_EXT_HDG 0.5
-param set ATT_EXT_HDG_M 1
-
-param set COM_DISARM_LAND 1.0
-
-param set LPE_FLW_SCALE 1.0
-param set LPE_FLW_R 0.2
-param set LPE_FLW_RR 0.0
-param set LPE_FLW_QMIN 10
-param set LPE_VIS_DELAY 0.0
-param set LPE_VIS_Z 0.1
-param set LPE_FUSION 86
-
-param set SENS_FLOW_ROT 0
-param set SENS_FLOW_MINHGT 0.01
-param set SENS_FLOW_MAXHGT 4.0
-param set SENS_FLOW_MAXR 10.0
-
-param set EKF2_AID_MASK 27 # gps + flow + vis pos + vis yaw
-param set EKF2_OF_DELAY 0
-param set EKF2_OF_QMIN 10
-param set EKF2_OF_N_MIN 0.05
-param set EKF2_OF_N_MAX 0.2
-param set EKF2_HGT_MODE 2
-param set EKF2_EVA_NOISE 0.1
-param set EKF2_EVP_NOISE 0.1
-param set EKF2_EV_DELAY 0
--- a/clover_simulation/launch/simulator.launch
+++ b/clover_simulation/launch/simulator.launch
@@ -4,18 +4,16 @@
    <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
    <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
    <arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
-    <arg name="maintain_camera_rate" default="false"/> <!-- Slow simulation down to maintain camera rate -->
    <arg name="rangefinder" default="true"/> <!-- Simulated downward-facing rangefinder, vl53l1x-like -->
    <arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
    <arg name="gps" default="false"/> <!--Simulated GPS module -->
    <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
-    <arg name="gui" default="true"/> <!-- Run Gazebo with GUI -->

    <!-- Gazebo instance -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
        <!-- Workaround for crashes in VMware -->
        <env name="SVGA_VGPU10" value="0"/>
-        <arg name="gui" value="$(arg gui)"/>
+        <arg name="gui" value="true"/>
        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
        <arg name="verbose" value="true"/>
    </include>
@@ -29,16 +27,13 @@
    <!-- Clover model -->
    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
        <arg name="main_camera" value="$(arg main_camera)"/>
-        <arg name="maintain_camera_rate" value="$(arg maintain_camera_rate)"/>
        <arg name="rangefinder" value="$(arg rangefinder)"/>
        <arg name="led" value="$(arg led)"/>
        <arg name="gps" value="$(arg gps)"/>
        <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
    </include>

-    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')">
-        <env name="HEADLESS" value="1" if="$(eval not gui)"/>
-    </node>
+    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>

    <param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>

@@ -48,10 +43,10 @@
        <arg name="fcu_conn" value="sitl"/>
        <arg name="fcu_ip" value="127.0.0.1"/>
        <arg name="gcs_bridge" value=""/>
+        <arg name="rc" default="false"/>
        <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="optical_flow" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
    </include>
 </launch>
--- a/clover_simulation/models/aruco_100/marker_100.sdf
+++ b/clover_simulation/models/aruco_100/marker_100.sdf
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <model name="aruco_100">
-        <static>true</static>
-        <link name="marker_100_link">
-            <pose>0 0 1e-3 0 0 1.5707963267948966</pose>
-            <visual name="visual_marker_100">
-                <cast_shadows>false</cast_shadows>
-                <geometry>
-                    <box>
-                        <size>0.22 0.22 1e-3</size>
-                    </box>
-                </geometry>
-                <material>
-                    <script>
-                        <uri>model://aruco_100/materials/scripts</uri>
-                        <uri>model://aruco_100/materials/textures</uri>
-                        <name>aruco/marker_100</name>
-                    </script>
-                </material>
-            </visual>
-        </link>
-    </model>
-</sdf>
--- a/clover_simulation/models/aruco_100/materials/scripts/aruco_100.material
+++ b/clover_simulation/models/aruco_100/materials/scripts/aruco_100.material
@@ -1,15 +0,0 @@
-material aruco/marker_100
-{
-    technique
-    {
-        pass
-        {
-            texture_unit
-            {
-                texture aruco_marker_100.png
-                filtering none
-                scale 1.0 1.0
-            }
-        }
-    }
-}
--- a/clover_simulation/models/aruco_100/materials/textures/aruco_marker_100.png
+++ b/clover_simulation/models/aruco_100/materials/textures/aruco_marker_100.png
--- a/clover_simulation/models/aruco_100/model.config
+++ b/clover_simulation/models/aruco_100/model.config
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>ArUco Marker 100</name>
-    <version>1.0</version>
-    <sdf version="1.5">marker_100.sdf</sdf>
-    <author>
-        <name>Marker Generator script</name>
-        <email>marker@generator.sh</email>
-    </author>
-    <description>
-        ArUco marker #100
-    </description>
-</model>
--- a/clover_simulation/models/aruco_101/marker_101.sdf
+++ b/clover_simulation/models/aruco_101/marker_101.sdf
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <model name="aruco_101">
-        <static>true</static>
-        <link name="marker_101_link">
-            <pose>0 0 1e-3 0 0 1.5707963267948966</pose>
-            <visual name="visual_marker_101">
-                <cast_shadows>false</cast_shadows>
-                <geometry>
-                    <box>
-                        <size>0.44 0.44 1e-3</size>
-                    </box>
-                </geometry>
-                <material>
-                    <script>
-                        <uri>model://aruco_101/materials/scripts</uri>
-                        <uri>model://aruco_101/materials/textures</uri>
-                        <name>aruco/marker_101</name>
-                    </script>
-                </material>
-            </visual>
-        </link>
-    </model>
-</sdf>
--- a/clover_simulation/models/aruco_101/materials/scripts/aruco_101.material
+++ b/clover_simulation/models/aruco_101/materials/scripts/aruco_101.material
@@ -1,15 +0,0 @@
-material aruco/marker_101
-{
-    technique
-    {
-        pass
-        {
-            texture_unit
-            {
-                texture aruco_marker_101.png
-                filtering none
-                scale 1.0 1.0
-            }
-        }
-    }
-}
--- a/clover_simulation/models/aruco_101/materials/textures/aruco_marker_101.png
+++ b/clover_simulation/models/aruco_101/materials/textures/aruco_marker_101.png
--- a/clover_simulation/models/aruco_101/model.config
+++ b/clover_simulation/models/aruco_101/model.config
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>ArUco Marker 101</name>
-    <version>1.0</version>
-    <sdf version="1.5">marker_101.sdf</sdf>
-    <author>
-        <name>Marker Generator script</name>
-        <email>marker@generator.sh</email>
-    </author>
-    <description>
-        ArUco marker #101
-    </description>
-</model>
--- a/clover_simulation/models/aruco_102/marker_102.sdf
+++ b/clover_simulation/models/aruco_102/marker_102.sdf
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <model name="aruco_102">
-        <static>true</static>
-        <link name="marker_102_link">
-            <pose>0 0 1e-3 0 0 1.5707963267948966</pose>
-            <visual name="visual_marker_102">
-                <cast_shadows>false</cast_shadows>
-                <geometry>
-                    <box>
-                        <size>0.44 0.44 1e-3</size>
-                    </box>
-                </geometry>
-                <material>
-                    <script>
-                        <uri>model://aruco_102/materials/scripts</uri>
-                        <uri>model://aruco_102/materials/textures</uri>
-                        <name>aruco/marker_102</name>
-                    </script>
-                </material>
-            </visual>
-        </link>
-    </model>
-</sdf>
--- a/clover_simulation/models/aruco_102/materials/scripts/aruco_102.material
+++ b/clover_simulation/models/aruco_102/materials/scripts/aruco_102.material
@@ -1,15 +0,0 @@
-material aruco/marker_102
-{
-    technique
-    {
-        pass
-        {
-            texture_unit
-            {
-                texture aruco_marker_102.png
-                filtering none
-                scale 1.0 1.0
-            }
-        }
-    }
-}
--- a/clover_simulation/models/aruco_102/materials/textures/aruco_marker_102.png
+++ b/clover_simulation/models/aruco_102/materials/textures/aruco_marker_102.png
--- a/clover_simulation/models/aruco_102/model.config
+++ b/clover_simulation/models/aruco_102/model.config
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>ArUco Marker 102</name>
-    <version>1.0</version>
-    <sdf version="1.5">marker_102.sdf</sdf>
-    <author>
-        <name>Marker Generator script</name>
-        <email>marker@generator.sh</email>
-    </author>
-    <description>
-        ArUco marker #102
-    </description>
-</model>
--- a/clover_simulation/models/camera/camera.sdf
+++ b/clover_simulation/models/camera/camera.sdf
@@ -1,33 +0,0 @@
-<?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>1.8</horizontal_fov>
-                    <image>
-                        <format>B8G8R8</format>
-                        <width>640</width>
-                        <height>480</height>
-                    </image>
-                    <clip>
-                        <near>0.02</near>
-                        <far>300</far>
-                    </clip>
-                </camera>
-                <always_on>1</always_on>
-                <update_rate>30</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>
--- a/clover_simulation/models/camera/model.config
+++ b/clover_simulation/models/camera/model.config
@@ -1,13 +0,0 @@
-<?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>
--- a/clover_simulation/scripts/gzweb
+++ b/clover_simulation/scripts/gzweb
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-
-# script for running gzweb
-# usage: ./gzweb [<port>]
-
-export NVM_DIR=$HOME/.nvm
-source $NVM_DIR/nvm.sh
-npm start --prefix $HOME/gzweb -p ${1-8080}
--- a/clover_simulation/src/clover_simulation/world.py
+++ b/clover_simulation/src/clover_simulation/world.py
@@ -41,4 +41,4 @@ def save_world(world, file):
    '''
    Save the world to file-like object
    '''
-    return world.write(file, encoding='unicode')
+    return world.write(file)
--- a/docs/assets/clover42-main-margin.png
+++ b/docs/assets/clover42-main-margin.png
--- a/docs/assets/dhcp.jpg
+++ b/docs/assets/dhcp.jpg
--- a/docs/assets/duocam/duocam_connections.jpg
+++ b/docs/assets/duocam/duocam_connections.jpg
--- a/docs/assets/duocam/image_topics.png
+++ b/docs/assets/duocam/image_topics.png
--- a/docs/assets/duocam/qgc_rtsp_settings.png
+++ b/docs/assets/duocam/qgc_rtsp_settings.png
--- a/docs/assets/dxf/4.2/big_leg.dxf
+++ b/docs/assets/dxf/4.2/big_leg.dxf
--- a/docs/assets/dxf/4.2/deck_mount.dxf
+++ b/docs/assets/dxf/4.2/deck_mount.dxf
--- a/docs/assets/dxf/4.2/deck_mount_small.dxf
+++ b/docs/assets/dxf/4.2/deck_mount_small.dxf
--- a/docs/assets/dxf/4.2/grab_deck.dxf
+++ b/docs/assets/dxf/4.2/grab_deck.dxf
--- a/docs/assets/dxf/4.2/grip_spacer.dxf
+++ b/docs/assets/dxf/4.2/grip_spacer.dxf
--- a/docs/assets/dxf/4.2/led_mount_plate.dxf
+++ b/docs/assets/dxf/4.2/led_mount_plate.dxf
--- a/docs/assets/dxf/4.2/prop_guard.dxf
+++ b/docs/assets/dxf/4.2/prop_guard.dxf
--- a/docs/assets/dxf/4.2/prop_guard_mount.dxf
+++ b/docs/assets/dxf/4.2/prop_guard_mount.dxf
--- a/docs/assets/dxf/4.2/small_leg.dxf
+++ b/docs/assets/dxf/4.2/small_leg.dxf
--- a/docs/assets/gps/gps_1.jpg
+++ b/docs/assets/gps/gps_1.jpg
--- a/docs/assets/gps/gps_2.jpg
+++ b/docs/assets/gps/gps_2.jpg
--- a/docs/assets/grip_load/add-on_for_load_support.stl
+++ b/docs/assets/grip_load/add-on_for_load_support.stl
--- a/docs/assets/grip_load/load_for_magnetic_grip.stl
+++ b/docs/assets/grip_load/load_for_magnetic_grip.stl
--- a/docs/assets/grip_load/tennis_ball_stand_for_magnetic_grip.stl
+++ b/docs/assets/grip_load/tennis_ball_stand_for_magnetic_grip.stl
--- a/docs/assets/hawk_eye/button.jpg
+++ b/docs/assets/hawk_eye/button.jpg
--- a/docs/assets/hawk_eye/button_2.jpg
+++ b/docs/assets/hawk_eye/button_2.jpg
--- a/docs/assets/hawk_eye/cable.jpg
+++ b/docs/assets/hawk_eye/cable.jpg
--- a/docs/assets/hawk_eye/cam.jpg
+++ b/docs/assets/hawk_eye/cam.jpg
--- a/docs/assets/hawk_eye/cam_control.jpg
+++ b/docs/assets/hawk_eye/cam_control.jpg
--- a/docs/assets/hawk_eye/cam_mount.jpg
+++ b/docs/assets/hawk_eye/cam_mount.jpg
--- a/docs/assets/hawk_eye/cam_placed_1.jpg
+++ b/docs/assets/hawk_eye/cam_placed_1.jpg
--- a/docs/assets/hawk_eye/cam_placed_2.jpg
+++ b/docs/assets/hawk_eye/cam_placed_2.jpg
--- a/docs/assets/hawk_eye/cam_placed_3.jpg
+++ b/docs/assets/hawk_eye/cam_placed_3.jpg
--- a/docs/assets/hawk_eye/deck_1.jpg
+++ b/docs/assets/hawk_eye/deck_1.jpg
--- a/docs/assets/hawk_eye/deck_2.jpg
+++ b/docs/assets/hawk_eye/deck_2.jpg
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Oleg Kalachev	0666bfdf33	Shrink install lines	2021-06-09 13:43:58 +03:00
Oleg Kalachev	7c57581c33	blocks: install programs directory	2021-06-09 13:40:58 +03:00
Oleg Kalachev	881daaa389	aruco_pose: install library file	2021-06-09 13:34:09 +03:00
Oleg Kalachev	0dcf16de6b	aruco_pose: install launch and map directories	2021-06-09 13:28:49 +03:00
Oleg Kalachev	8abb40249c	Fix	2021-06-09 13:27:16 +03:00
Oleg Kalachev	3ab73edb74	clover: fix installation rc and led	2021-06-09 01:36:50 +03:00
Oleg Kalachev	aeb1c8ac11	builder: source catkin_ws/devel/setup.bash on build	2021-06-09 01:35:12 +03:00
Oleg Kalachev	2d3df6a94e	clover: install nodes and libraries	2021-06-09 01:31:02 +03:00
Oleg Kalachev	0249d01ca7	clover: install launch files and examples	2021-06-09 01:13:15 +03:00
Oleg Kalachev	71100a9545	image: move examples to clover package	2021-06-08 23:06:58 +03:00