mirror of
https://github.com/CopterExpress/clover.git
synced 2026-05-31 23:19:32 +00:00
Compare commits
14 Commits
v0.23-rc.5
...
v0.23
| Author | SHA1 | Date | |
|---|---|---|---|
|
26c2387f5c | ||
|
|
826f631b97 | ||
|
|
52b5d7b04e | ||
|
|
455d52007e | ||
|
|
e9e6cabbb9 | ||
|
|
8fcd6e9b9e | ||
|
|
24d3a1df8d | ||
|
|
9784e7bfa1 | ||
|
|
fbad85d87f | ||
|
|
4fbc4f63ee | ||
|
|
c48a945258 | ||
|
|
c1ca40187e | ||
|
|
39763c4a40 | ||
|
|
c1179869cd |
14
.github/workflows/build.yml
vendored
14
.github/workflows/build.yml
vendored
@@ -7,13 +7,13 @@ on:
|
||||
branches: [ master ]
|
||||
|
||||
jobs:
|
||||
melodic:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
- name: Native Melodic build
|
||||
run: |
|
||||
docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
|
||||
# melodic:
|
||||
# runs-on: ubuntu-latest
|
||||
# steps:
|
||||
# - uses: actions/checkout@v2
|
||||
# - name: Native Melodic build
|
||||
# run: |
|
||||
# docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
|
||||
noetic:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>aruco_pose</name>
|
||||
<version>0.21.1</version>
|
||||
<version>0.23.0</version>
|
||||
<description>Positioning with ArUco markers</description>
|
||||
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
|
||||
@@ -90,7 +90,7 @@ echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
|
||||
apt install -y --no-install-recommends \
|
||||
ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
|
||||
ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
|
||||
ros-${ROS_DISTRO}-cv-camera=0.5.0-0buster \
|
||||
ros-${ROS_DISTRO}-cv-camera=0.5.1-0buster \
|
||||
ros-${ROS_DISTRO}-image-publisher=1.15.3-0buster \
|
||||
ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
|
||||
apt-mark hold \
|
||||
|
||||
@@ -58,5 +58,9 @@ rosversion rosshow
|
||||
rosversion nodelet
|
||||
rosversion image_view
|
||||
|
||||
# validate some versions
|
||||
[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
|
||||
[[ $(rosversion ws281x) == "0.0.12" ]]
|
||||
|
||||
# validate examples are present
|
||||
[[ $(ls /home/pi/examples/*) ]]
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="3">
|
||||
<name>clover</name>
|
||||
<version>0.21.1</version>
|
||||
<version>0.23.0</version>
|
||||
<description>The Clover package</description>
|
||||
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
const url = 'ws://' + location.hostname + ':9090';
|
||||
const ros = new ROSLIB.Ros({ url: url });
|
||||
const params = Object.fromEntries(new URLSearchParams(window.location.search).entries());
|
||||
|
||||
ros.on('connection', function () {
|
||||
document.body.classList.add('connected');
|
||||
@@ -52,6 +53,15 @@ function viewTopic(topic) {
|
||||
new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
|
||||
document.title = topic;
|
||||
if (mouseDown) return;
|
||||
|
||||
if (msg.header.stamp) {
|
||||
if (params.date || params.offset) {
|
||||
let date = new Date(msg.header.stamp.secs * 1e3 + msg.header.stamp.nsecs * 1e-6);
|
||||
if (params.date) msg.header.date = date.toISOString();
|
||||
if (params.offset) msg.header.offset = (new Date() - date) * 1e-3;
|
||||
}
|
||||
}
|
||||
|
||||
topicMessage.innerHTML = yamlStringify(msg); // JSON.stringify(msg, null, 4);
|
||||
});
|
||||
}
|
||||
@@ -62,8 +72,6 @@ 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 {
|
||||
|
||||
@@ -23,6 +23,6 @@
|
||||
<body>
|
||||
<h1> </h1>
|
||||
<ul id="topics"></ul>
|
||||
<code id="topic-message" title="Hold mouse button to pause">No messages received</code>
|
||||
<code id="topic-message">No messages received</code>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>clover_blocks</name>
|
||||
<version>0.21.1</version>
|
||||
<version>0.23.0</version>
|
||||
<description>Blockly programming support for Clover</description>
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
<package format="2">
|
||||
<name>clover_description</name>
|
||||
<version>0.21.1</version>
|
||||
<version>0.23.0</version>
|
||||
<description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
|
||||
|
||||
<maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
<package format="2">
|
||||
<name>clover_simulation</name>
|
||||
<version>0.21.1</version>
|
||||
<version>0.23.0</version>
|
||||
<description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
|
||||
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 244 KiB |
@@ -6,7 +6,7 @@ Software autorun
|
||||
systemd
|
||||
---
|
||||
|
||||
Main documentation: [https://wiki.archlinux.org/title/Systemd](https://wiki.archlinux.org/title/Systemd).
|
||||
Main documentation: https://wiki.archlinux.org/title/Systemd.
|
||||
|
||||
All automatically started Clover software is launched as a `clover.service` systemd service.
|
||||
|
||||
@@ -54,8 +54,8 @@ The started file must have *permission* to run:
|
||||
chmod +x my_program.py
|
||||
```
|
||||
|
||||
When scripting languages are used, a [shebang](https://en.wikipedia.org/wiki/Shebang_(Unix)) should be placed at the beginning of the file, for example:
|
||||
When scripting languages are used, a <a href="https://en.wikipedia.org/wiki/Shebang_(Unix)">shebang</a> should be placed at the beginning of the file, for example:
|
||||
|
||||
```bash
|
||||
#!/usr/bin/env python
|
||||
#!/usr/bin/env python3
|
||||
```
|
||||
|
||||
@@ -9,7 +9,8 @@ Main frames in the `clover` package:
|
||||
* `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
|
||||
* `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
|
||||
* <a name="navigate_target"></a>`navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
|
||||
* `setpoint` is current position setpoint.
|
||||
* `setpoint` is current position setpoint;
|
||||
* `main_camera_optical` is the coordinate system, [linked to the main camera](camera_setup.md#frame);
|
||||
|
||||
Additional frames become available when [ArUco positioning system](aruco.md) is active:
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
systemd
|
||||
---
|
||||
|
||||
Основная документация: [https://wiki.archlinux.org/index.php/Systemd_(Русский)](https://wiki.archlinux.org/index.php/Systemd_(Русский)).
|
||||
Основная документация: https://wiki.archlinux.org/index.php/Systemd_(Русский).
|
||||
|
||||
Все автоматически стартуемое ПО Клевера запускается в виде systemd-сервиса `clover.service`.
|
||||
|
||||
@@ -54,8 +54,8 @@ roslaunch
|
||||
chmod +x my_program.py
|
||||
```
|
||||
|
||||
При использовании скриптовых языков вначале файла должен стоять [shebang](https://ru.wikipedia.org/wiki/Шебанг_(Unix)), например:
|
||||
При использовании скриптовых языков вначале файла должен стоять <a href="https://ru.wikipedia.org/wiki/Шебанг_(Unix)">shebang</a>, например:
|
||||
|
||||
```bash
|
||||
#!/usr/bin/env python
|
||||
#!/usr/bin/env python3
|
||||
```
|
||||
|
||||
@@ -11,7 +11,8 @@
|
||||
* `base_link` — координаты относительно квадрокоптера: схематичное изображение квадрокоптера на иллюстрации;
|
||||
* `body` — координаты относительно квадрокоптера без учета наклонов по тангажу и крену: красная, синяя и зеленая линии на иллюстрации;
|
||||
* <a name="navigate_target"></a>`navigate_target` – координаты точки, в которую сейчас летит дрон (с использованием [navigate](simple_offboard.md#navigate));
|
||||
* `setpoint` – текущий setpoint по позиции.
|
||||
* `setpoint` – текущий setpoint по позиции;
|
||||
* `main_camera_optical` – система координат, [связанная с основной камерой](camera_setup.md#frame).
|
||||
|
||||
При использовании [системы позиционирования по ArUco-маркерам](aruco.md) появляются дополнительные фреймы:
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>roswww_static</name>
|
||||
<version>0.21.1</version>
|
||||
<version>0.23.0</version>
|
||||
<description>Static web pages for ROS packages</description>
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
Reference in New Issue
Block a user