Run with QTWEBENGINE_DISABLE_SANDBOX=1

.github/workflows/build-image.yaml

@@ -7,24 +7,23 @@ on:
     branches: [ master ]
   release:
     types: [ created ]
-  workflow_dispatch:
 
 jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
       - name: Build image
         run: |
           docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${{ github.event.release.tag_name }}" sfalexrog/img-tool:qemu-update
       - name: Compress image
         run: |
-          cd images && sudo chmod -R 777 . && zip -9 $(echo *_*).zip *_* && ls -l . && unzip -l *_*.zip
+          cd images && sudo chmod -R 777 . && zip -9 $(echo clover_*).zip clover_* && ls -l . && unzip -l clover_*.zip
       - name: Upload image
         uses: softprops/action-gh-release@v1
         if: ${{ github.event_name == 'release' }}
         with:
-          files: images/*_*.zip
+          files: images/clover_*.zip
           prerelease: true
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/build.yml

@@ -5,48 +5,19 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ master ]
-  workflow_dispatch:
 
 jobs:
   # melodic:
   #   runs-on: ubuntu-latest
   #   steps:
-  #     - uses: actions/checkout@v4
+  #     - uses: actions/checkout@v2
   #     - name: Native Melodic build
   #       run: |
   #         docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
   noetic:
     runs-on: ubuntu-latest
-    container: ros:noetic-ros-base
-    defaults:
-      run:
-        working-directory: catkin_ws
-        shell: bash
     steps:
-    - uses: actions/checkout@v4
-      with:
-        path: catkin_ws/src/clover
-    - name: Install requirements
-      run: apt-get update && apt-get -y install python3-pip fakeroot python3-bloom debhelper dpkg-dev
-    - name: Install dependencies
-      run: rosdep update && rosdep install --from-paths src --ignore-src -y
-    - name: Install GeographicLib datasets
-      run: wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
-    - name: catkin_make
-      run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
-    - name: Run tests
-      run: source devel/setup.bash && catkin_make run_tests && catkin_test_results
-    - name: Build Debian packages
-      run: |
-        source devel/setup.bash
-        for file in `find . -name "package.xml"`; do
-          cd $(dirname ${file})
-          bloom-generate rosdebian --os-name ubuntu --os-version $(lsb_release -cs) --ros-distro $ROS_DISTRO  
-          fakeroot debian/rules binary
-          cd -
-        done
-    - uses: actions/upload-artifact@v3
-      with:
-        name: debian-packages
-        path: catkin_ws/src/clover/*.deb
-        retention-days: 1
+      - uses: actions/checkout@v2
+      - name: Native Noetic build
+        run: |
+          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:noetic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh

.github/workflows/docs-docker.yaml

@@ -0,0 +1,23 @@
+name: Build docs Docker image
+
+on:
+  workflow_dispatch:
+  push:
+    branches: [ '*' ]
+
+jobs:
+  docs-docker:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Build Docker image
+        run: docker build -t clover-docs:latest docs
+
+      - name: Test Docker image
+        run: docker run -t --rm -v `pwd`:/clover clover-docs:latest
+
+      - name: Show results
+        run: |
+          ls -lh _book
+          ls -lh *.pdf

.github/workflows/docs.yml

@@ -5,13 +5,16 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ '*' ]
-  workflow_dispatch:
 
 permissions:
   contents: read
   pages: write
   id-token: write
 
+concurrency:
+  group: "pages"
+  cancel-in-progress: true
+
 defaults:
   run:
     shell: bash
@@ -20,7 +23,7 @@ jobs:
   docs:
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
       - name: Use Node.js
         uses: actions/setup-node@v1
         with: { node-version: '10' }
@@ -72,9 +75,6 @@ jobs:
 
   deploy-docs:
     if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-    concurrency:
-        group: "pages"
-        cancel-in-progress: true
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}
@@ -82,8 +82,5 @@ jobs:
     needs: docs
     steps:
       - name: Deploy to GitHub Pages
-        env:
-          FREEZE_DOCS: ${{ secrets.FREEZE_DOCS }}
-        if: ${{ !env.FREEZE_DOCS }}
         id: deployment
         uses: actions/deploy-pages@v1

.github/workflows/editorconfig.yaml

@@ -5,15 +5,14 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ master ]
-  workflow_dispatch:
 
 jobs:
   editorconfig:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
       - name: .editorconfig Linter
         run: |
           wget --no-verbose https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
           chmod +x ec-linux-amd64
-          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|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|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"

.markdownlint.json

@@ -113,9 +113,7 @@
             "VMware",
             "DuoCam"
         ],
-        "code_blocks": false,
-        "html_elements": false
+        "code_blocks": false
     },
-    "MD045": false,
-    "MD051": false
+    "MD045": false
 }

README.md

@@ -20,7 +20,7 @@ Clover drone is used on a wide range of educational events, including [Copter Ha
 
 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
-![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/CopterExpress/clover/build-image.yaml?branch=master)
+![GitHub Workflow Status](https://img.shields.io/github/workflow/status/CopterExpress/clover/CI)
 ![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:

aruco_pose/CMakeLists.txt

@@ -251,5 +251,4 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
   add_rostest(test/crash_opencv.test)
-  add_rostest(test/duplicate.test)
 endif()

aruco_pose/README.md

@@ -43,8 +43,7 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 * `~frame_id_prefix` (*string*) – prefix for TF transforms names, marker's ID is appended (default: `aruco_`)
 * `~length` (*double*) – markers' sides length
 * `~length_override` (*map*) – lengths of markers with specified ids
-* `~known_vertical` (*string*) – known vertical (Z axis) of all the markers as a frame
-* `~flip_vertical` – flip vertical vector
+* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame
 
 ### Topics
 
@@ -72,8 +71,7 @@ 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_vertical` – known vertical (Z axis) of markers map as a frame
-* `~flip_vertical` – flip vertical vector
+* `~known_tilt` – known tilt (pitch and roll) of markers map as a frame
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)

aruco_pose/cfg/Detector.cfg

@@ -4,10 +4,7 @@ PACKAGE = "aruco_pose"
 from dynamic_reconfigure.parameter_generator_catkin import *
 import cv2.aruco
 
-try:
-        p = cv2.aruco.DetectorParameters_create()
-except AttributeError:
-        p = cv2.aruco.DetectorParameters()
+p = cv2.aruco.DetectorParameters_create()
 
 gen = ParameterGenerator()
 

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package format="3">
+<package format="2">
   <name>aruco_pose</name>
-  <version>0.25.0</version>
+  <version>0.23.0</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -28,8 +28,6 @@
   <depend>sensor_msgs</depend>
   <depend>rostest</depend>
   <depend>dynamic_reconfigure</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
   <test_depend>image_publisher</test_depend>
   <test_depend>ros_pytest</test_depend>

aruco_pose/src/aruco_detect.cpp

@@ -50,7 +50,6 @@
 #include <aruco_pose/DetectorConfig.h>
 #include <aruco_pose/SetMarkers.h>
 
-#include "draw.h"
 #include "utils.h"
 #include <memory>
 #include <functional>
@@ -72,12 +71,11 @@ private:
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
 	ros::ServiceServer set_markers_srv_;
-	bool estimate_poses_, send_tf_, flip_vertical_, auto_flip_, use_map_markers_;
-	bool waiting_for_map_;
+	bool estimate_poses_, send_tf_, auto_flip_;
 	double length_;
 	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
-	std::string frame_id_prefix_, known_vertical_;
+	std::string frame_id_prefix_, known_tilt_;
 	Mat camera_matrix_, dist_coeffs_;
 	aruco_pose::MarkerArray array_;
 	std::unordered_set<int> map_markers_ids_;
@@ -97,8 +95,6 @@ public:
 		dictionary = nh_priv_.param("dictionary", 2);
 		estimate_poses_ = nh_priv_.param("estimate_poses", true);
 		send_tf_ = nh_priv_.param("send_tf", true);
-		use_map_markers_ = nh_priv_.param("use_map_markers", false);
-		waiting_for_map_ = use_map_markers_;
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
 			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
@@ -106,8 +102,7 @@ public:
 		readLengthOverride(nh_priv_);
 		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));
 
-		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
-		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 
 		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
@@ -138,15 +133,14 @@ private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
 		if (!enabled_) return;
-		if (waiting_for_map_) return;
 
-		Mat image = cv_bridge::toCvShare(msg)->image;
+		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
 
 		vector<int> ids;
 		vector<vector<cv::Point2f>> corners, rejected;
 		vector<cv::Vec3d> rvecs, tvecs;
 		vector<cv::Point3f> obj_points;
-		geometry_msgs::TransformStamped vertical;
+		geometry_msgs::TransformStamped snap_to;
 
 		// Detect markers
 		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
@@ -181,20 +175,18 @@ private:
 					}
 				}
 
-				if (!known_vertical_.empty()) {
+				if (!known_tilt_.empty()) {
 					try {
-						vertical = tf_buffer_->lookupTransform(msg->header.frame_id, known_vertical_,
-						                                       msg->header.stamp, transform_timeout_);
+						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
+						                                      msg->header.stamp, transform_timeout_);
 					} catch (const tf2::TransformException& e) {
-						NODELET_WARN_THROTTLE(5, "can't retrieve known vertical: %s", e.what());
+						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
 				}
 			}
 
 			array_.markers.reserve(ids.size());
 			aruco_pose::Marker marker;
-			vector<geometry_msgs::TransformStamped> transforms;
-			transforms.reserve(ids.size());
 			geometry_msgs::TransformStamped transform;
 			transform.header.stamp = msg->header.stamp;
 			transform.header.frame_id = msg->header.frame_id;
@@ -207,38 +199,25 @@ private:
 				if (estimate_poses_) {
 					fillPose(marker.pose, rvecs[i], tvecs[i]);
 
-					// apply known vertical (if enabled and vertical frame available)
-					if (!known_vertical_.empty() && !vertical.header.frame_id.empty()) {
-						applyVertical(marker.pose.orientation, vertical.transform.rotation, false, auto_flip_);
+					// snap orientation (if enabled and snap frame available)
+					if (!known_tilt_.empty() && !snap_to.header.frame_id.empty()) {
+						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
 					}
 
+					// TODO: check IDs are unique
 					if (send_tf_) {
 						transform.child_frame_id = getChildFrameId(ids[i]);
 
 						// check if such static transform is in the map
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
-							// check if a markers with that id is already added
-							bool send = true;
-							for (auto &t : transforms) {
-								if (t.child_frame_id == transform.child_frame_id) {
-									send = false;
-									break;
-								}
-							}
-							if (send) {
-								transform.transform.rotation = marker.pose.orientation;
-								fillTranslation(transform.transform.translation, tvecs[i]);
-								transforms.push_back(transform);
-							}
+							transform.transform.rotation = marker.pose.orientation;
+							fillTranslation(transform.transform.translation, tvecs[i]);
+							br_->sendTransform(transform);
 						}
 					}
 				}
 				array_.markers.push_back(marker);
 			}
-
-			if (send_tf_) {
-				br_->sendTransform(transforms);
-			}
 		}
 
 		markers_pub_.publish(array_);
@@ -265,7 +244,8 @@ private:
 			cv::aruco::drawDetectedMarkers(debug, corners, ids); // draw markers
 			if (estimate_poses_)
 				for (unsigned int i = 0; i < ids.size(); i++)
-					_drawAxis(debug, camera_matrix_, dist_coeffs_, rvecs[i], tvecs[i], getMarkerLength(ids[i]));
+					cv::aruco::drawAxis(debug, camera_matrix_, dist_coeffs_,
+					                    rvecs[i], tvecs[i], getMarkerLength(ids[i]));
 
 			cv_bridge::CvImage out_msg;
 			out_msg.header.frame_id = msg->header.frame_id;
@@ -400,13 +380,7 @@ private:
 		map_markers_ids_.clear();
 		for (auto const& marker : msg.markers) {
 			map_markers_ids_.insert(marker.id);
-			if (use_map_markers_) {
-				if (length_override_.find(marker.id) == length_override_.end()) {
-					length_override_[marker.id] = marker.length;
-				}
-			}
 		}
-		waiting_for_map_ = false;
 	}
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)

aruco_pose/src/aruco_map.cpp

@@ -81,9 +81,9 @@ private:
 	bool enabled_ = true;
 	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
-	std::string known_vertical_, map_, markers_frame_, markers_parent_frame_;
+	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool flip_vertical_, auto_flip_, image_axis_, put_markers_count_to_covariance_;
+	bool auto_flip_, image_axis_;
 
 public:
 	virtual void onInit()
@@ -104,14 +104,12 @@ public:
 
 		type_ = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
-		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 		image_width_ = nh_priv_.param("image_width" , 2000);
 		image_height_ = nh_priv_.param("image_height", 2000);
 		image_margin_ = nh_priv_.param("image_margin", 200);
 		image_axis_ = nh_priv_.param("image_axis", true);
-		put_markers_count_to_covariance_ = nh_priv_.param("put_markers_count_to_covariance", false);
 		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
 		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
 
@@ -179,21 +177,7 @@ public:
 			corners.push_back(marker_corners);
 		}
 
-		if (put_markers_count_to_covariance_) {
-			// HACK: pass markers count using covariance field
-			int valid_markers = 0;
-			for (auto const &marker : markers->markers) {
-				for (auto const &board_marker : board_->ids) {
-					if (board_marker == marker.id) {
-						valid_markers++;
-						break;
-					}
-				}
-			}
-			pose_.pose.covariance[0] = valid_markers;
-		}
-
-		if (known_vertical_.empty()) {
+		if (known_tilt_.empty()) {
 			// simple estimation
 			valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
 			                                     rvec, tvec, false);
@@ -207,7 +191,7 @@ public:
 
 		} else {
 			Mat obj_points, img_points;
-			// estimation with known vertical
+			// estimation with "snapping"
 			cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
 			if (obj_points.empty()) goto publish_debug;
 
@@ -219,11 +203,11 @@ public:
 
 			fillTransform(transform_.transform, rvec, tvec);
 			try {
-				geometry_msgs::TransformStamped vertical = tf_buffer_.lookupTransform(markers->header.frame_id,
-				                                           known_vertical_, markers->header.stamp, ros::Duration(0.02));
-				applyVertical(transform_.transform.rotation, vertical.transform.rotation, flip_vertical_, auto_flip_);
+				geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers->header.frame_id,
+				                                          known_tilt_, markers->header.stamp, ros::Duration(0.02));
+				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation, auto_flip_);
 			} catch (const tf2::TransformException& e) {
-				NODELET_WARN_THROTTLE(1, "can't retrieve known vertical: %s", e.what());
+				NODELET_WARN_THROTTLE(1, "can't snap: %s", e.what());
 			}
 
 			geometry_msgs::TransformStamped shift;
@@ -519,7 +503,7 @@ publish_debug:
 		vis_marker.pose.position.x = x;
 		vis_marker.pose.position.y = y;
 		vis_marker.pose.position.z = z;
-		tf::quaternionTFToMsg(q, vis_marker.pose.orientation);
+		tf::quaternionTFToMsg(q, marker.pose.orientation);
 		vis_marker.frame_locked = true;
 		vis_array_.markers.push_back(vis_marker);
 

aruco_pose/src/utils.h

@@ -106,25 +106,26 @@ inline bool isFlipped(tf::Quaternion& q)
 	return (abs(pitch) > M_PI / 2) || (abs(roll) > M_PI / 2);
 }
 
-/* Apply a vertical to an orientation */
-inline void applyVertical(geometry_msgs::Quaternion& orientation, const geometry_msgs::Quaternion& vertical,
-                          bool flip_vertical = false, bool auto_flip = false) // editorconfig-checker-disable-line
+/* Set roll and pitch from "from" to "to", keeping yaw */
+inline void snapOrientation(geometry_msgs::Quaternion& to, const geometry_msgs::Quaternion& from, bool auto_flip = false)
 {
-	tf::Quaternion _vertical, _orientation;
-	tf::quaternionMsgToTF(vertical, _vertical);
-	tf::quaternionMsgToTF(orientation, _orientation);
+	tf::Quaternion _from, _to;
+	tf::quaternionMsgToTF(from, _from);
+	tf::quaternionMsgToTF(to, _to);
 
-	if (flip_vertical || (auto_flip && !isFlipped(_orientation))) {
-		static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
-		_vertical *= flip; // flip vertical
+	if (auto_flip) {
+		if (!isFlipped(_from)) {
+			static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
+			_from *= flip; // flip "from"
+		}
 	}
 
-	auto diff = tf::Matrix3x3(_orientation).transposeTimes(tf::Matrix3x3(_vertical));
+	auto diff = tf::Matrix3x3(_to).transposeTimes(tf::Matrix3x3(_from));
 	double _, yaw;
 	diff.getRPY(_, _, yaw);
 	auto q = tf::createQuaternionFromRPY(0, 0, -yaw);
-	_vertical = _vertical * q; // set yaw from orientation to vertical
-	tf::quaternionTFToMsg(_vertical, orientation); // set vertical to orientation
+	_from = _from * q; // set yaw from "to" to "from"
+	tf::quaternionTFToMsg(_from, to); // set "from" to "to"
 }
 
 inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)

aruco_pose/test/basic.py

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

aruco_pose/test/duplicate.py

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

aruco_pose/test/duplicate.test

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

builder/assets/noetic-rosdep-clover.yaml

@@ -16,726 +16,3 @@ web_video_server:
 ws281x:
   debian:
     buster: [ros-noetic-ws281x]
-catkin:
-  debian:
-    buster: [ros-noetic-catkin]
-genmsg:
-  debian:
-    buster: [ros-noetic-genmsg]
-gencpp:
-  debian:
-    buster: [ros-noetic-gencpp]
-geneus:
-  debian:
-    buster: [ros-noetic-geneus]
-genlisp:
-  debian:
-    buster: [ros-noetic-genlisp]
-gennodejs:
-  debian:
-    buster: [ros-noetic-gennodejs]
-genpy:
-  debian:
-    buster: [ros-noetic-genpy]
-bond_core:
-  debian:
-    buster: [ros-noetic-bond-core]
-cmake_modules:
-  debian:
-    buster: [ros-noetic-cmake-modules]
-class_loader:
-  debian:
-    buster: [ros-noetic-class-loader]
-common_msgs:
-  debian:
-    buster: [ros-noetic-common-msgs]
-common_tutorials:
-  debian:
-    buster: [ros-noetic-common-tutorials]
-cpp_common:
-  debian:
-    buster: [ros-noetic-cpp-common]
-desktop:
-  debian:
-    buster: [ros-noetic-desktop]
-diagnostics:
-  debian:
-    buster: [ros-noetic-diagnostics]
-executive_smach:
-  debian:
-    buster: [ros-noetic-executive-smach]
-geometry:
-  debian:
-    buster: [ros-noetic-geometry]
-geometry_tutorials:
-  debian:
-    buster: [ros-noetic-geometry-tutorials]
-gl_dependency:
-  debian:
-    buster: [ros-noetic-gl-dependency]
-image_common:
-  debian:
-    buster: [ros-noetic-image-common]
-image_pipeline:
-  debian:
-    buster: [ros-noetic-image-pipeline]
-image_transport_plugins:
-  debian:
-    buster: [ros-noetic-image-transport-plugins]
-laser_pipeline:
-  debian:
-    buster: [ros-noetic-laser-pipeline]
-mavlink:
-  debian:
-    buster: [ros-noetic-mavlink]
-media_export:
-  debian:
-    buster: [ros-noetic-media-export]
-message_generation:
-  debian:
-    buster: [ros-noetic-message-generation]
-message_runtime:
-  debian:
-    buster: [ros-noetic-message-runtime]
-mk:
-  debian:
-    buster: [ros-noetic-mk]
-nodelet_core:
-  debian:
-    buster: [ros-noetic-nodelet-core]
-orocos_kdl:
-  debian:
-    buster: [ros-noetic-orocos-kdl]
-perception:
-  debian:
-    buster: [ros-noetic-perception]
-perception_pcl:
-  debian:
-    buster: [ros-noetic-perception-pcl]
-python_orocos_kdl:
-  debian:
-    buster: [ros-noetic-python-orocos-kdl]
-qt_dotgraph:
-  debian:
-    buster: [ros-noetic-qt-dotgraph]
-qt_gui:
-  debian:
-    buster: [ros-noetic-qt-gui]
-qt_gui_py_common:
-  debian:
-    buster: [ros-noetic-qt-gui-py-common]
-qwt_dependency:
-  debian:
-    buster: [ros-noetic-qwt-dependency]
-robot:
-  debian:
-    buster: [ros-noetic-robot]
-ros:
-  debian:
-    buster: [ros-noetic-ros]
-ros_base:
-  debian:
-    buster: [ros-noetic-ros-base]
-ros_comm:
-  debian:
-    buster: [ros-noetic-ros-comm]
-ros_core:
-  debian:
-    buster: [ros-noetic-ros-core]
-ros_environment:
-  debian:
-    buster: [ros-noetic-ros-environment]
-ros_tutorials:
-  debian:
-    buster: [ros-noetic-ros-tutorials]
-rosapi:
-  debian:
-    buster: [ros-noetic-rosapi]
-rosbag_migration_rule:
-  debian:
-    buster: [ros-noetic-rosbag-migration-rule]
-rosbash:
-  debian:
-    buster: [ros-noetic-rosbash]
-rosboost_cfg:
-  debian:
-    buster: [ros-noetic-rosboost-cfg]
-rosbridge_server:
-  debian:
-    buster: [ros-noetic-rosbridge-server]
-rosbridge_suite:
-  debian:
-    buster: [ros-noetic-rosbridge-suite]
-rosbuild:
-  debian:
-    buster: [ros-noetic-rosbuild]
-rosclean:
-  debian:
-    buster: [ros-noetic-rosclean]
-roscpp_core:
-  debian:
-    buster: [ros-noetic-roscpp-core]
-roscpp_traits:
-  debian:
-    buster: [ros-noetic-roscpp-traits]
-roscreate:
-  debian:
-    buster: [ros-noetic-roscreate]
-rosgraph:
-  debian:
-    buster: [ros-noetic-rosgraph]
-roslang:
-  debian:
-    buster: [ros-noetic-roslang]
-roslint:
-  debian:
-    buster: [ros-noetic-roslint]
-roslisp:
-  debian:
-    buster: [ros-noetic-roslisp]
-rosmake:
-  debian:
-    buster: [ros-noetic-rosmake]
-rosmaster:
-  debian:
-    buster: [ros-noetic-rosmaster]
-rospack:
-  debian:
-    buster: [ros-noetic-rospack]
-roslib:
-  debian:
-    buster: [ros-noetic-roslib]
-rosparam:
-  debian:
-    buster: [ros-noetic-rosparam]
-rospy:
-  debian:
-    buster: [ros-noetic-rospy]
-rosserial:
-  debian:
-    buster: [ros-noetic-rosserial]
-rosserial_msgs:
-  debian:
-    buster: [ros-noetic-rosserial-msgs]
-rosserial_python:
-  debian:
-    buster: [ros-noetic-rosserial-python]
-rosservice:
-  debian:
-    buster: [ros-noetic-rosservice]
-rostime:
-  debian:
-    buster: [ros-noetic-rostime]
-roscpp_serialization:
-  debian:
-    buster: [ros-noetic-roscpp-serialization]
-python_qt_binding:
-  debian:
-    buster: [ros-noetic-python-qt-binding]
-roslaunch:
-  debian:
-    buster: [ros-noetic-roslaunch]
-rosunit:
-  debian:
-    buster: [ros-noetic-rosunit]
-angles:
-  debian:
-    buster: [ros-noetic-angles]
-libmavconn:
-  debian:
-    buster: [ros-noetic-libmavconn]
-rosconsole:
-  debian:
-    buster: [ros-noetic-rosconsole]
-pluginlib:
-  debian:
-    buster: [ros-noetic-pluginlib]
-qt_gui_cpp:
-  debian:
-    buster: [ros-noetic-qt-gui-cpp]
-resource_retriever:
-  debian:
-    buster: [ros-noetic-resource-retriever]
-rosconsole_bridge:
-  debian:
-    buster: [ros-noetic-rosconsole-bridge]
-roslz4:
-  debian:
-    buster: [ros-noetic-roslz4]
-rosserial_client:
-  debian:
-    buster: [ros-noetic-rosserial-client]
-rostest:
-  debian:
-    buster: [ros-noetic-rostest]
-rqt_action:
-  debian:
-    buster: [ros-noetic-rqt-action]
-rqt_bag:
-  debian:
-    buster: [ros-noetic-rqt-bag]
-rqt_bag_plugins:
-  debian:
-    buster: [ros-noetic-rqt-bag-plugins]
-rqt_common_plugins:
-  debian:
-    buster: [ros-noetic-rqt-common-plugins]
-rqt_console:
-  debian:
-    buster: [ros-noetic-rqt-console]
-rqt_dep:
-  debian:
-    buster: [ros-noetic-rqt-dep]
-rqt_graph:
-  debian:
-    buster: [ros-noetic-rqt-graph]
-rqt_gui:
-  debian:
-    buster: [ros-noetic-rqt-gui]
-rqt_logger_level:
-  debian:
-    buster: [ros-noetic-rqt-logger-level]
-rqt_moveit:
-  debian:
-    buster: [ros-noetic-rqt-moveit]
-rqt_msg:
-  debian:
-    buster: [ros-noetic-rqt-msg]
-rqt_nav_view:
-  debian:
-    buster: [ros-noetic-rqt-nav-view]
-rqt_plot:
-  debian:
-    buster: [ros-noetic-rqt-plot]
-rqt_pose_view:
-  debian:
-    buster: [ros-noetic-rqt-pose-view]
-rqt_publisher:
-  debian:
-    buster: [ros-noetic-rqt-publisher]
-rqt_py_console:
-  debian:
-    buster: [ros-noetic-rqt-py-console]
-rqt_reconfigure:
-  debian:
-    buster: [ros-noetic-rqt-reconfigure]
-rqt_robot_dashboard:
-  debian:
-    buster: [ros-noetic-rqt-robot-dashboard]
-rqt_robot_monitor:
-  debian:
-    buster: [ros-noetic-rqt-robot-monitor]
-rqt_robot_plugins:
-  debian:
-    buster: [ros-noetic-rqt-robot-plugins]
-rqt_robot_steering:
-  debian:
-    buster: [ros-noetic-rqt-robot-steering]
-rqt_runtime_monitor:
-  debian:
-    buster: [ros-noetic-rqt-runtime-monitor]
-rqt_service_caller:
-  debian:
-    buster: [ros-noetic-rqt-service-caller]
-rqt_shell:
-  debian:
-    buster: [ros-noetic-rqt-shell]
-rqt_srv:
-  debian:
-    buster: [ros-noetic-rqt-srv]
-rqt_tf_tree:
-  debian:
-    buster: [ros-noetic-rqt-tf-tree]
-rqt_top:
-  debian:
-    buster: [ros-noetic-rqt-top]
-rqt_topic:
-  debian:
-    buster: [ros-noetic-rqt-topic]
-rqt_web:
-  debian:
-    buster: [ros-noetic-rqt-web]
-smach:
-  debian:
-    buster: [ros-noetic-smach]
-smclib:
-  debian:
-    buster: [ros-noetic-smclib]
-std_msgs:
-  debian:
-    buster: [ros-noetic-std-msgs]
-actionlib_msgs:
-  debian:
-    buster: [ros-noetic-actionlib-msgs]
-bond:
-  debian:
-    buster: [ros-noetic-bond]
-diagnostic_msgs:
-  debian:
-    buster: [ros-noetic-diagnostic-msgs]
-geometry_msgs:
-  debian:
-    buster: [ros-noetic-geometry-msgs]
-eigen_conversions:
-  debian:
-    buster: [ros-noetic-eigen-conversions]
-kdl_conversions:
-  debian:
-    buster: [ros-noetic-kdl-conversions]
-nav_msgs:
-  debian:
-    buster: [ros-noetic-nav-msgs]
-rosbridge_msgs:
-  debian:
-    buster: [ros-noetic-rosbridge-msgs]
-rosgraph_msgs:
-  debian:
-    buster: [ros-noetic-rosgraph-msgs]
-rosmsg:
-  debian:
-    buster: [ros-noetic-rosmsg]
-rqt_py_common:
-  debian:
-    buster: [ros-noetic-rqt-py-common]
-shape_msgs:
-  debian:
-    buster: [ros-noetic-shape-msgs]
-smach_msgs:
-  debian:
-    buster: [ros-noetic-smach-msgs]
-std_srvs:
-  debian:
-    buster: [ros-noetic-std-srvs]
-tf2_msgs:
-  debian:
-    buster: [ros-noetic-tf2-msgs]
-tf2:
-  debian:
-    buster: [ros-noetic-tf2]
-tf2_eigen:
-  debian:
-    buster: [ros-noetic-tf2-eigen]
-trajectory_msgs:
-  debian:
-    buster: [ros-noetic-trajectory-msgs]
-control_msgs:
-  debian:
-    buster: [ros-noetic-control-msgs]
-urdf_parser_plugin:
-  debian:
-    buster: [ros-noetic-urdf-parser-plugin]
-urdfdom_py:
-  debian:
-    buster: [ros-noetic-urdfdom-py]
-uuid_msgs:
-  debian:
-    buster: [ros-noetic-uuid-msgs]
-geographic_msgs:
-  debian:
-    buster: [ros-noetic-geographic-msgs]
-vision_opencv:
-  debian:
-    buster: [ros-noetic-vision-opencv]
-visualization_msgs:
-  debian:
-    buster: [ros-noetic-visualization-msgs]
-visualization_tutorials:
-  debian:
-    buster: [ros-noetic-visualization-tutorials]
-viz:
-  debian:
-    buster: [ros-noetic-viz]
-webkit_dependency:
-  debian:
-    buster: [ros-noetic-webkit-dependency]
-xmlrpcpp:
-  debian:
-    buster: [ros-noetic-xmlrpcpp]
-roscpp:
-  debian:
-    buster: [ros-noetic-roscpp]
-bondcpp:
-  debian:
-    buster: [ros-noetic-bondcpp]
-bondpy:
-  debian:
-    buster: [ros-noetic-bondpy]
-nodelet:
-  debian:
-    buster: [ros-noetic-nodelet]
-nodelet_tutorial_math:
-  debian:
-    buster: [ros-noetic-nodelet-tutorial-math]
-pluginlib_tutorials:
-  debian:
-    buster: [ros-noetic-pluginlib-tutorials]
-roscpp_tutorials:
-  debian:
-    buster: [ros-noetic-roscpp-tutorials]
-rosout:
-  debian:
-    buster: [ros-noetic-rosout]
-camera_calibration:
-  debian:
-    buster: [ros-noetic-camera-calibration]
-diagnostic_aggregator:
-  debian:
-    buster: [ros-noetic-diagnostic-aggregator]
-diagnostic_updater:
-  debian:
-    buster: [ros-noetic-diagnostic-updater]
-diagnostic_common_diagnostics:
-  debian:
-    buster: [ros-noetic-diagnostic-common-diagnostics]
-dynamic_reconfigure:
-  debian:
-    buster: [ros-noetic-dynamic-reconfigure]
-filters:
-  debian:
-    buster: [ros-noetic-filters]
-joint_state_publisher:
-  debian:
-    buster: [ros-noetic-joint-state-publisher]
-message_filters:
-  debian:
-    buster: [ros-noetic-message-filters]
-rosauth:
-  debian:
-    buster: [ros-noetic-rosauth]
-rosbag_storage:
-  debian:
-    buster: [ros-noetic-rosbag-storage]
-rosnode:
-  debian:
-    buster: [ros-noetic-rosnode]
-rospy_tutorials:
-  debian:
-    buster: [ros-noetic-rospy-tutorials]
-rosshow:
-  debian:
-    buster: [ros-noetic-rosshow]
-rostopic:
-  debian:
-    buster: [ros-noetic-rostopic]
-rqt_gui_cpp:
-  debian:
-    buster: [ros-noetic-rqt-gui-cpp]
-rqt_gui_py:
-  debian:
-    buster: [ros-noetic-rqt-gui-py]
-self_test:
-  debian:
-    buster: [ros-noetic-self-test]
-smach_ros:
-  debian:
-    buster: [ros-noetic-smach-ros]
-tf2_py:
-  debian:
-    buster: [ros-noetic-tf2-py]
-topic_tools:
-  debian:
-    buster: [ros-noetic-topic-tools]
-rosbag:
-  debian:
-    buster: [ros-noetic-rosbag]
-actionlib:
-  debian:
-    buster: [ros-noetic-actionlib]
-actionlib_tutorials:
-  debian:
-    buster: [ros-noetic-actionlib-tutorials]
-diagnostic_analysis:
-  debian:
-    buster: [ros-noetic-diagnostic-analysis]
-nodelet_topic_tools:
-  debian:
-    buster: [ros-noetic-nodelet-topic-tools]
-roswtf:
-  debian:
-    buster: [ros-noetic-roswtf]
-rqt_launch:
-  debian:
-    buster: [ros-noetic-rqt-launch]
-sensor_msgs:
-  debian:
-    buster: [ros-noetic-sensor-msgs]
-camera_calibration_parsers:
-  debian:
-    buster: [ros-noetic-camera-calibration-parsers]
-cv_bridge:
-  debian:
-    buster: [ros-noetic-cv-bridge]
-image_geometry:
-  debian:
-    buster: [ros-noetic-image-geometry]
-image_transport:
-  debian:
-    buster: [ros-noetic-image-transport]
-camera_info_manager:
-  debian:
-    buster: [ros-noetic-camera-info-manager]
-compressed_depth_image_transport:
-  debian:
-    buster: [ros-noetic-compressed-depth-image-transport]
-compressed_image_transport:
-  debian:
-    buster: [ros-noetic-compressed-image-transport]
-cv_camera:
-  debian:
-    buster: [ros-noetic-cv-camera]
-image_proc:
-  debian:
-    buster: [ros-noetic-image-proc]
-image_publisher:
-  debian:
-    buster: [ros-noetic-image-publisher]
-map_msgs:
-  debian:
-    buster: [ros-noetic-map-msgs]
-mavros_msgs:
-  debian:
-    buster: [ros-noetic-mavros-msgs]
-pcl_msgs:
-  debian:
-    buster: [ros-noetic-pcl-msgs]
-pcl_conversions:
-  debian:
-    buster: [ros-noetic-pcl-conversions]
-polled_camera:
-  debian:
-    buster: [ros-noetic-polled-camera]
-rqt_image_view:
-  debian:
-    buster: [ros-noetic-rqt-image-view]
-stereo_msgs:
-  debian:
-    buster: [ros-noetic-stereo-msgs]
-image_view:
-  debian:
-    buster: [ros-noetic-image-view]
-rosbridge_library:
-  debian:
-    buster: [ros-noetic-rosbridge-library]
-stereo_image_proc:
-  debian:
-    buster: [ros-noetic-stereo-image-proc]
-tf2_ros:
-  debian:
-    buster: [ros-noetic-tf2-ros]
-depth_image_proc:
-  debian:
-    buster: [ros-noetic-depth-image-proc]
-mavros:
-  debian:
-    buster: [ros-noetic-mavros]
-tf:
-  debian:
-    buster: [ros-noetic-tf]
-interactive_markers:
-  debian:
-    buster: [ros-noetic-interactive-markers]
-interactive_marker_tutorials:
-  debian:
-    buster: [ros-noetic-interactive-marker-tutorials]
-laser_geometry:
-  debian:
-    buster: [ros-noetic-laser-geometry]
-laser_assembler:
-  debian:
-    buster: [ros-noetic-laser-assembler]
-laser_filters:
-  debian:
-    buster: [ros-noetic-laser-filters]
-pcl_ros:
-  debian:
-    buster: [ros-noetic-pcl-ros]
-tf2_geometry_msgs:
-  debian:
-    buster: [ros-noetic-tf2-geometry-msgs]
-image_rotate:
-  debian:
-    buster: [ros-noetic-image-rotate]
-tf2_kdl:
-  debian:
-    buster: [ros-noetic-tf2-kdl]
-tf2_web_republisher:
-  debian:
-    buster: [ros-noetic-tf2-web-republisher]
-tf_conversions:
-  debian:
-    buster: [ros-noetic-tf-conversions]
-theora_image_transport:
-  debian:
-    buster: [ros-noetic-theora-image-transport]
-turtlesim:
-  debian:
-    buster: [ros-noetic-turtlesim]
-turtle_actionlib:
-  debian:
-    buster: [ros-noetic-turtle-actionlib]
-turtle_tf:
-  debian:
-    buster: [ros-noetic-turtle-tf]
-turtle_tf2:
-  debian:
-    buster: [ros-noetic-turtle-tf2]
-urdf:
-  debian:
-    buster: [ros-noetic-urdf]
-kdl_parser:
-  debian:
-    buster: [ros-noetic-kdl-parser]
-kdl_parser_py:
-  debian:
-    buster: [ros-noetic-kdl-parser-py]
-mavros_extras:
-  debian:
-    buster: [ros-noetic-mavros-extras]
-robot_state_publisher:
-  debian:
-    buster: [ros-noetic-robot-state-publisher]
-rviz:
-  debian:
-    buster: [ros-noetic-rviz]
-librviz_tutorial:
-  debian:
-    buster: [ros-noetic-librviz-tutorial]
-rqt_rviz:
-  debian:
-    buster: [ros-noetic-rqt-rviz]
-rviz_plugin_tutorials:
-  debian:
-    buster: [ros-noetic-rviz-plugin-tutorials]
-rviz_python_tutorial:
-  debian:
-    buster: [ros-noetic-rviz-python-tutorial]
-urdf_tutorial:
-  debian:
-    buster: [ros-noetic-urdf-tutorial]
-usb_cam:
-  debian:
-    buster: [ros-noetic-usb-cam]
-visualization_marker_tutorials:
-  debian:
-    buster: [ros-noetic-visualization-marker-tutorials]
-vl53l1x:
-  debian:
-    buster: [ros-noetic-vl53l1x]
-xacro:
-  debian:
-    buster: [ros-noetic-xacro]
-ddynamic_reconfigure:
-  debian:
-    buster: [ros-noetic-ddynamic-reconfigure]
-librealsense2:
-  debian:
-    buster: [ros-noetic-librealsense2]
-realsense2_camera:
-  debian:
-    buster: [ros-noetic-realsense2-camera]
-realsense2_description:
-  debian:
-    buster: [ros-noetic-realsense2-description]
-geographiclib:
-  debian:
-    buster: [libgeographic-dev]

builder/image-ros.sh

@@ -49,7 +49,7 @@ echo_stamp() {
 my_travis_retry() {
   local result=0
   local count=1
-  local max_count=5
+  local max_count=50
   while [ $count -le $max_count ]; do
     [ $result -ne 0 ] && {
       echo -e "\nThe command \"$@\" failed. Retrying, $count of $max_count.\n" >&2
@@ -72,7 +72,7 @@ my_travis_retry() {
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
 # FIXME: Re-add this after missing packages are built
-echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/10-clover.list
+echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
@@ -125,12 +125,11 @@ cd /home/pi/catkin_ws/src/clover
 builder/assets/install_gitbook.sh
 gitbook install
 gitbook build
-# replace assets copy to assets symlink to save space
-rm -rf _book/assets && ln -s ../docs/assets _book/assets
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
 
 echo_stamp "Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-dynamic-reconfigure \
     ros-${ROS_DISTRO}-rosbridge-suite \
     ros-${ROS_DISTRO}-rosserial \
     ros-${ROS_DISTRO}-usb-cam \
@@ -138,11 +137,7 @@ my_travis_retry apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-ws281x \
     ros-${ROS_DISTRO}-rosshow \
     ros-${ROS_DISTRO}-cmake-modules \
-    ros-${ROS_DISTRO}-image-view \
-    ros-${ROS_DISTRO}-nodelet-topic-tools \
-    ros-${ROS_DISTRO}-stereo-msgs \
-    ros-${ROS_DISTRO}-vision-msgs \
-    ros-${ROS_DISTRO}-angles
+    ros-${ROS_DISTRO}-image-view
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
@@ -156,9 +151,6 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
-echo_stamp "Update www"
-sudo -u pi sh -c ". devel/setup.sh && rosrun clover www"
-
 echo_stamp "Make \$HOME/examples symlink"
 ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples

builder/image-software.sh

@@ -122,7 +122,7 @@ sed -i "s/updates_available//" /usr/share/byobu/status/status
 # sed -i "s/updates_available//" /home/pi/.byobu/status
 
 echo_stamp "Installing pip"
-curl https://bootstrap.pypa.io/pip/3.7/get-pip.py -o get-pip.py
+curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip2.py
 python3 get-pip.py
 python get-pip2.py

builder/image-validate.sh

@@ -37,7 +37,3 @@ 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
-
-echo "Largest packages installed"
-sudo -E sh -c 'apt-get install -y debian-goodies'
-dpigs -H -n 100

builder/test/tests.py

@@ -2,14 +2,9 @@
 
 # validate all required modules installed
 
-import os
 import rospy
 from geometry_msgs.msg import PoseStamped
 from sensor_msgs.msg import Range, BatteryState
-from vision_msgs.msg import BoundingBox2D, BoundingBox2DArray, BoundingBox3D, BoundingBox3DArray, \
-    Classification2D, Classification3D, Detection2D, Detection2DArray, Detection3D, Detection3DArray, \
-    ObjectHypothesis, ObjectHypothesisWithPose, VisionInfo
-import angles
 
 import cv2
 import cv2.aruco
@@ -27,7 +22,6 @@ from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetV
 from led_msgs.srv import SetLEDs
 from led_msgs.msg import LEDStateArray, LEDState
 from aruco_pose.msg import Marker, MarkerArray, Point2D
-from clover import long_callback
 
 import dynamic_reconfigure.client
 
@@ -37,15 +31,9 @@ import tf2_geometry_msgs
 import VL53L1X
 import pymavlink
 from pymavlink import mavutil
-from image_geometry import PinholeCameraModel, StereoCameraModel
+import rpi_ws281x
+import pigpio
 # from espeak import espeak
 from pyzbar import pyzbar
-import docopt
-import geopy
-import flask
 
 print(cv2.getBuildInformation())
-
-if not os.environ.get('VM'):
-    import rpi_ws281x
-    import pigpio

builder/test/tests.sh

@@ -6,10 +6,16 @@ set -ex
 
 # validate required software is installed
 
+python --version
 python2 --version
 python3 --version
+ipython --version
 ipython3 --version
 
+# ptvsd does not have a stand-alone binary
+python -m ptvsd --version
+python3 -m ptvsd --version
+
 node -v
 npm -v
 
@@ -19,80 +25,42 @@ lsof -v
 git --version
 vim --version
 pip --version
+pip2 --version
 pip3 --version
 tcpdump --version
 monkey --version
+pigpiod -v
+i2cdetect -V
+butterfly -h
 # espeak --version
+mjpg_streamer --version
 systemctl --version
 
-if [ -z $VM ]; then
-	# rpi only software
-	python --version
-	ipython --version
-	pip2 --version
-	# `python` is python2 for now
-	[[ $(python -c 'import sys;print(sys.version_info.major)') == "2" ]]
-
-	# ptvsd does not have a stand-alone binary
-	python -m ptvsd --version
-	python3 -m ptvsd --version
-
-	pigpiod -v
-	i2cdetect -V
-	butterfly -h
-	mjpg_streamer --version
-fi
-
 # ros stuff
 
 roscore -h
 rosversion clover
 rosversion aruco_pose
+rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
 rosversion ws281x
 rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
-rosversion rosbridge_server
+rosversion compressed_image_transport
+rosversion rosbridge_suite
+rosversion rosserial
 rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
+rosversion rosshow
 rosversion nodelet
 rosversion image_view
-rosversion stereo_msgs
-rosversion vision_msgs
-rosversion angles
 
+# validate some versions
+[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
 [[ $(rosversion ws281x) == "0.0.13" ]]
 
-if [ -z $VM ]; then
-	rosversion compressed_image_transport
-	rosversion rosshow
-	rosversion vl53l1x
-	rosversion rosserial
-	[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
-fi
-
-# determine user home directory
-[ $VM ] && H="/home/clover" || H="/home/pi"
-
-# test basic ros tool work
-source $H/catkin_ws/devel/setup.bash
-roscd
-rosrun
-rosmsg
-rossrv
-rosnode || [ $? -eq 64 ] # usage output code is 64
-rostopic || [ $? -eq 64 ]
-rosservice || [ $? -eq 64 ]
-rosparam
-roslaunch -h
-
 # validate examples are present
-[[ $(ls $H/examples/*) ]]
-
-# validate web tools present
-[ -d $H/.ros/www ]
-[ "$(readlink $H/.ros/www/clover)" = "$H/catkin_ws/src/clover/clover/www" ]
-[ "$(readlink $H/.ros/www/clover_blocks)" = "$H/catkin_ws/src/clover/clover_blocks/www" ]
+[[ $(ls /home/pi/examples/*) ]]

check_assets_size.py

@@ -18,7 +18,7 @@ EXCLUDE = 'rviz.png', 'ssid.png', 'sitl_docker_demo.png', 'qgc-params.png', 'but
     'qgc-battery.png', 'qgc-radio.png', 'qgc-cal-acc.png', 'qgc-esc.png', 'qgc-cal-compass.png', \
     'qgc.png', 'qgc-parameters.png', 'clever4-front-white-large.png', 'qgc-modes.png', \
     'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png', 'battery_holder.stl', \
-    'camera_case.stl', 'camera_mount.stl', 'grip_right.stl', 'grip_left.stl'
+    'camera_case.stl', 'camera_mount.stl'
 
 code = 0
 

clover/CHANGELOG.rst

@@ -2,52 +2,6 @@
 Changelog for package clover
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.25 (2024-07-28)
------------------
-* Optimize displaying newlines in the topic viewer, add width and indent parameters.
-* Link assets instead of copying in documentation to save space.
-* Install image_geometry and dynamic_reconfigure as clover dependencies.
-* Add dictionary parameter to aruco.launch.
-* Solve the issue with aruco_detect not running when aruco_map is not enabled.
-* Documentation improvements.
-* Rest changes.
-
-0.24 (2023-10-11)
------------------
-* Significant update to autonomous flights API.
-* Updates to selfcheck.py.
-* Support PX4 v1.14 parameters.
-* Added scripts for automatic testing of autonomous flights.
-* Added new examples for working with the camera, including a red circle model and its recognition and following.
-* Implemented long_callback Python decorator to address the issue #218.
-* Implemented optical_flow/enabled dynamic parameter.
-* Updated LED strip native library to support RPi 4 rev. 1.5.
-* Show number of messages received in web topic viewer.
-* Run main_camera/image_raw_throttled topic by default.
-* Added rectify argument to main_camera.launch
-* Added udev rules for all supported autopilots by PX4.
-* Various changes.
-
-0.23 (2022-02-10)
------------------
-* Web tool for topics monitoring.
-* Publish optical flow when local position is not available.
-* Force estimator init.
-* Web viewer for Clover logs.
-* selfcheck.py improvements.
-* Various changes.
-
-0.22 (2021-06-07)
------------------
-* Move to ROS Noetic and Python 3.
-* aruco.launch: add placement, length and map arguments.
-* Web: add link for viewing the error log.
-* LED: add error/ignore parameter to not flash on some errors.
-* Wait for FC and camera devices before launching mavros and camera driver.
-* clover.launch: disable rc node by default.
-* optical_flow: publish debug image even when calc_flow_gyro failed.
-* Various changes.
-
 0.21.1 (2020-11-17)
 -------------------
 * First release of clover package to ROS

clover/CMakeLists.txt

@@ -30,8 +30,6 @@ find_package(catkin REQUIRED COMPONENTS
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
-# https://github.com/mavlink/mavros/blob/7f1a8/mavros/CMakeLists.txt#L42
-set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
 find_package(GeographicLib REQUIRED)
 
 # Workaround for OpenCV 3/4 support
@@ -55,7 +53,7 @@ find_package(OpenCV ${_opencv_version} REQUIRED
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-catkin_python_setup()
+# catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -82,10 +80,11 @@ catkin_python_setup()
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  State.msg
-)
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
 
 ## Generate services in the 'srv' folder
 add_service_files(
@@ -93,9 +92,6 @@ add_service_files(
   GetTelemetry.srv
   Navigate.srv
   NavigateGlobal.srv
-  SetAltitude.srv
-  SetYaw.srv
-  SetYawRate.srv
   SetPosition.srv
   SetVelocity.srv
   SetAttitude.srv
@@ -310,5 +306,4 @@ endif()
 if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/basic.test)
-  add_rostest(test/offboard.test)
 endif()

clover/cmake/FindGeographicLib.cmake

@@ -0,0 +1,18 @@
+# taken from: https://github.com/mavlink/mavros/blob/master/libmavconn/cmake/Modules/FindGeographicLib.cmake
+
+# Look for GeographicLib
+#
+# Set
+#  GEOGRAPHICLIB_FOUND = TRUE
+#  GeographicLib_INCLUDE_DIRS = /usr/local/include
+#  GeographicLib_LIBRARIES = /usr/local/lib/libGeographic.so
+#  GeographicLib_LIBRARY_DIRS = /usr/local/lib
+
+find_path (GeographicLib_INCLUDE_DIRS NAMES GeographicLib/Config.h)
+
+find_library (GeographicLib_LIBRARIES NAMES Geographic)
+
+include (FindPackageHandleStandardArgs)
+find_package_handle_standard_args (GeographicLib DEFAULT_MSG
+  GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
+mark_as_advanced (GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)

clover/examples/camera.py

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

clover/examples/navigate_wait.py

@@ -16,8 +16,11 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res

clover/examples/red_circle.py

@@ -1,91 +0,0 @@
-# This example makes the drone find and follow the red circle.
-# To test in the simulator, place 'Red Circle' model on the floor.
-# More information: https://clover.coex.tech/red_circle
-
-# Input topic: main_camera/image_raw (camera image)
-# Output topics:
-#   cv/mask (red color mask)
-#   cv/red_circle (position of the center of the red circle in 3D space)
-
-import rospy
-import cv2
-import numpy as np
-from math import nan
-from sensor_msgs.msg import Image, CameraInfo
-from geometry_msgs.msg import PointStamped, Point
-from cv_bridge import CvBridge
-from clover import long_callback, srv
-import tf2_ros
-import tf2_geometry_msgs
-import image_geometry
-
-rospy.init_node('cv', disable_signals=True) # disable signals to allow interrupting with ctrl+c
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-
-bridge = CvBridge()
-
-tf_buffer = tf2_ros.Buffer()
-tf_listener = tf2_ros.TransformListener(tf_buffer)
-
-mask_pub = rospy.Publisher('~mask', Image, queue_size=1)
-point_pub = rospy.Publisher('~red_circle', PointStamped, queue_size=1)
-
-# read camera info
-camera_model = image_geometry.PinholeCameraModel()
-camera_model.fromCameraInfo(rospy.wait_for_message('main_camera/camera_info', CameraInfo))
-
-
-def img_xy_to_point(xy, dist):
-    xy_rect = camera_model.rectifyPoint(xy)
-    ray = camera_model.projectPixelTo3dRay(xy_rect)
-    return Point(x=ray[0] * dist, y=ray[1] * dist, z=dist)
-
-def get_center_of_mass(mask):
-    M = cv2.moments(mask)
-    if M['m00'] == 0:
-        return None
-    return M['m10'] // M['m00'], M['m01'] // M['m00']
-
-follow_red_circle = False
-
-@long_callback
-def image_callback(msg):
-    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
-    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
-
-    # we need to use two ranges for red color
-    mask1 = cv2.inRange(img_hsv, (0, 150, 150), (15, 255, 255))
-    mask2 = cv2.inRange(img_hsv, (160, 150, 150), (180, 255, 255))
-
-    # combine two masks using bitwise OR
-    mask = cv2.bitwise_or(mask1, mask2)
-
-    # publish the mask
-    if mask_pub.get_num_connections() > 0:
-        mask_pub.publish(bridge.cv2_to_imgmsg(mask, 'mono8'))
-
-    # calculate x and y of the circle
-    xy = get_center_of_mass(mask)
-    if xy is None:
-        return
-
-    # calculate and publish the position of the circle in 3D space
-    altitude = get_telemetry('terrain').z
-    xy3d = img_xy_to_point(xy, altitude)
-    target = PointStamped(header=msg.header, point=xy3d)
-    point_pub.publish(target)
-
-    if follow_red_circle:
-        # follow the target
-        setpoint = tf_buffer.transform(target, 'map', timeout=rospy.Duration(0.2))
-        set_position(x=setpoint.point.x, y=setpoint.point.y, z=nan, yaw=nan, frame_id=setpoint.header.frame_id)
-
-# process each camera frame:
-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-
-rospy.loginfo('Hit enter to follow the red circle')
-input()
-follow_red_circle = True
-rospy.spin()

clover/launch/aruco.launch

@@ -16,12 +16,10 @@
         <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/map"/>
-        <param name="dictionary" value="2"/> <!-- DICT_4X4_250 -->
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
-        <param name="use_map_markers" value="$(arg aruco_map)"/>
-        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
-        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="length" value="$(arg length)"/>
         <param name="transform_timeout" value="0.1"/>
         <!-- aruco detector parameters -->
@@ -37,8 +35,8 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
         <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
-        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
         <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>

clover/launch/clover.launch

@@ -12,7 +12,7 @@
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
     <arg name="rc" default="false"/>
-    <arg name="force_init" default="true"/> <!-- force estimator to init by publishing zero pose -->
+    <arg name="force_init" value="true"/> <!-- force estimator to init by publishing zero pose -->
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 
@@ -45,13 +45,13 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
         <param name="roi_rad" value="0.8"/>
-        <param name="disable_on_vpe" value="true"/>
     </node>
 
+    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
+
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
         <param name="reference_frames/main_camera_optical" value="map"/>
-        <param name="terrain_frame_mode" value="range"/>
     </node>
 
     <!-- main camera -->
@@ -72,9 +72,6 @@
         <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
     </node>
 
-    <!-- rangefinder's frame -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder" if="$(arg rangefinder_vl53l1x)"/>
-
     <!-- led strip -->
     <include file="$(find clover)/launch/led.launch" if="$(arg led)">
         <arg name="simulator" value="$(arg simulator)"/>
@@ -89,4 +86,8 @@
         <param name="use_fake_gcs" value="false"/>
     </node>
 
+    <!-- Update static directory -->
+    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
+        <param name="default_package" value="clover"/>
+    </node>
 </launch>

clover/launch/led.launch

@@ -21,8 +21,7 @@
     </node>
 
     <!-- high level led effects control, events notification with leds -->
-    <node pkg="clover" name="led_effect" type="led" clear_params="true" output="screen" if="$(arg led_effect)">
-        <param name="led" value="led"/>
+    <node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
         <param name="blink_rate" value="2"/>
         <param name="fade_period" value="0.5"/>
         <param name="rainbow_period" value="5"/>

clover/launch/main_camera.launch

@@ -4,9 +4,6 @@
     <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
     <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
     <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
-    <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
-    <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
-    <arg name="rectify" default="false"/> <!-- enable rectification -->
     <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -46,15 +43,4 @@
     <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
         <param name="scale" value="3.0"/>
     </node>
-
-    <!-- image topic throttled -->
-    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
-        args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
-
-    <!-- rectified image topic -->
-    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" if="$(arg rectify)">
-        <remap from="image_mono" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="image_rect" to="main_camera/image_rect"/>
-    </node>
 </launch>

clover/launch/mavros.launch

@@ -1,5 +1,5 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl, hitl -->
+    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
@@ -23,9 +23,6 @@
         <!-- sitl since PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
 
-        <!-- hitl connection (to gazebo_mavlink_interface plugin) -->
-        <param name="fcu_url" value="udp://$(arg fcu_ip):14540@" if="$(eval fcu_conn == 'hitl')"/>
-
         <!-- set target_system_id -->
         <param name="target_system_id" value="$(arg fcu_sys_id)" />
 
@@ -77,6 +74,9 @@
         covariance: 1  # cm
     </rosparam>
 
+    <!-- Rangefinders frame -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
+
     <!-- Copter visualization -->
     <node name="visualization" pkg="mavros_extras" type="visualization" if="$(arg viz)">
         <remap to="mavros/local_position/pose" from="local_position"/>

clover/launch/simulator.launch

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

clover/msg/State.msg

@@ -1,38 +0,0 @@
-uint8 MODE_NONE = 0
-uint8 MODE_NAVIGATE = 1
-uint8 MODE_NAVIGATE_GLOBAL = 2
-uint8 MODE_POSITION = 3
-uint8 MODE_VELOCITY = 4
-uint8 MODE_ATTITUDE = 5
-uint8 MODE_RATES = 6
-
-uint8 YAW_MODE_YAW = 0
-uint8 YAW_MODE_YAW_RATE = 1
-uint8 YAW_MODE_YAW_TOWARDS = 2
-
-# type of offboard control
-uint8 mode
-uint8 yaw_mode
-
-# targets
-float32 x
-float32 y
-float32 z
-float32 speed
-float32 lat
-float32 lon
-float32 vx
-float32 vy
-float32 vz
-float32 roll
-float32 pitch
-float32 yaw
-float32 roll_rate
-float32 pitch_rate
-float32 yaw_rate
-float32 thrust
-
-# frames of reference
-string xy_frame_id
-string z_frame_id
-string yaw_frame_id

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>clover</name>
-  <version>0.25.0</version>
+  <version>0.23.0</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -37,15 +37,12 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend>libxml2</depend>
-  <depend>libxslt</depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
   <depend>dynamic_reconfigure</depend>
-  <depend>image_proc</depend>
-  <depend>image_geometry</depend>
   <exec_depend>python-pymavlink</exec_depend>
-  <test_depend>ros_pytest</test_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

clover/requirements.txt

@@ -1,4 +1,5 @@
-flask
-geopy
-smbus2
-VL53L1X
+flask==1.1.1
+docopt==0.6.2
+geopy==1.11.0
+smbus2==0.3.0
+VL53L1X==0.0.5

clover/setup.py

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

clover/src/autotest/autotest_aruco.py

@@ -13,12 +13,7 @@ from util import handle_response
 
 rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c
 
-try:
-    flow_client = dynamic_reconfigure.client.Client('optical_flow', timeout=2)
-except rospy.ROSException:
-    flow_client = None
-    print('Cannot configure optical flow, skip')
-
+flow_client = dynamic_reconfigure.client.Client('optical_flow')
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 land = handle_response(rospy.ServiceProxy('land', Trigger))
@@ -35,8 +30,11 @@ def print_current_map_position():
     dist = rospy.wait_for_message('rangefinder/range', Range).range
     print('Map position:\tx={:.1f}\ty={:.1f}\tz={:.1f}\tyaw={:.1f}\tdist={:.2f}'.format(telem.x, telem.y, telem.z, telem.yaw, dist))
 
-def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res
@@ -69,13 +67,12 @@ input('Go to center %g %g 1.5 speed 5 [enter] ' % (center_x, center_y))
 navigate_wait(x=center_x, y=center_y, z=1.5, speed=5, frame_id='aruco_map')
 print_current_map_position()
 
-if flow_client:
-    input('Disable optical flow and keep hovering [enter] ')
-    flow_client.update_configuration({'enabled': False})
-    rospy.sleep(5)
+input('Disable optical flow and keep hovering [enter] ')
+flow_client.update_configuration({'enabled': False})
+rospy.sleep(5)
 
-    input('Enable optical flow back [enter] ')
-    flow_client.update_configuration({'enabled': True})
+input('Enable optical flow back [enter] ')
+flow_client.update_configuration({'enabled': True})
 
 input('Go to side 1 %g 2 heading top [enter] ' % (center_y))
 navigate_wait(x=1, y=center_y, z=2, yaw=1.57, frame_id='aruco_map')

clover/src/autotest/autotest_flight.py

@@ -2,7 +2,7 @@
 
 import rospy
 import math
-from math import nan, inf
+from math import nan
 import signal
 import sys
 from clover import srv
@@ -15,8 +15,6 @@ rospy.init_node('autotest_flight', disable_signals=True) # disable signals to al
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 navigate_global = handle_response(rospy.ServiceProxy('navigate_global', srv.NavigateGlobal))
-set_yaw = handle_response(rospy.ServiceProxy('set_yaw', srv.SetYaw))
-set_yaw_rate = handle_response(rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate))
 set_position = handle_response(rospy.ServiceProxy('set_position', srv.SetPosition))
 set_velocity = handle_response(rospy.ServiceProxy('set_velocity', srv.SetVelocity))
 set_attitude = handle_response(rospy.ServiceProxy('set_attitude', srv.SetAttitude))
@@ -30,8 +28,11 @@ def interrupt(sig, frame):
 
 signal.signal(signal.SIGINT, interrupt)
 
-def navigate_wait(x=0, y=0, z=0, yaw=nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=nan, yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res
@@ -68,17 +69,17 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
 rospy.sleep(2)
 set_position(frame_id='body')
 
-input('Rotate right 90° using set_yaw [enter] ')
-set_yaw(yaw=-math.pi / 2, frame_id='navigate_target')
+input('Rotate right 90° [enter] ')
+navigate(yaw=-math.pi / 2, frame_id='navigate_target')
 rospy.sleep(3)
 
 input('Use set_attitude to fly backwards [enter]')
-set_attitude(roll=0, pitch=-0.3, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(pitch=-0.3, roll=0, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.3)
 set_position(frame_id='body')
 
 input('Use set_attitude to fly right [enter]')
-set_attitude(roll=0.3, pitch=0, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(pitch=0, roll=0.3, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.5)
 set_position(frame_id='body')
 
@@ -87,13 +88,13 @@ set_rates(roll_rate=1.2, thrust=0.5)
 rospy.sleep(0.4)
 set_position(frame_id='body')
 
-input('Rotate 360° to the right using set_yaw_rate [enter]')
-set_yaw_rate(yaw_rate=-1)
+input('Rotate 360° to the right using yaw_rate [enter]')
+set_position(x=nan, y=nan, z=nan, frame_id='body', yaw=nan, yaw_rate=-1)
 rospy.sleep(2 * math.pi)
 set_position(frame_id='body')
 
-input('Return to start point heading forward [enter]')
-navigate_wait(x=start.x, y=start.y, z=start.z, yaw=inf, speed=1, frame_id='map')
+input('Return to start point [enter]')
+navigate_wait(x=start.x, y=start.y, z=start.z, yaw=start.yaw, speed=1, frame_id='map')
 
 input('Land [enter]')
 land()

clover/src/clover/__init__.py

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

clover/src/led.cpp

@@ -309,22 +309,18 @@ int main(int argc, char **argv)
 	nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7);
 	nh_priv.param("notify/error/ignore", error_ignore, {});
 
-	std::string led; // led namespace
-	nh_priv.param("led", led, std::string("led"));
-	if (!led.empty()) led += "/";
-
-	ros::service::waitForService(led + "set_leds"); // cannot work without set_leds service
-	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>(led + "set_leds", true);
+	ros::service::waitForService("set_leds"); // cannot work without set_leds service
+	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>("set_leds", true);
 
 	// wait for leds count info
-	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>(led + "state", nh));
+	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>("state", nh));
 
-	auto state_sub = nh.subscribe(led + "state", 1, &handleState);
+	auto state_sub = nh.subscribe("state", 1, &handleState);
 
-	auto set_effect = nh.advertiseService(led + "set_effect", &setEffect);
+	auto set_effect = nh.advertiseService("set_effect", &setEffect);
 
-	auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState);
-	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery);
+	auto mavros_state_sub = nh.subscribe("/mavros/state", 1, &handleMavrosState);
+	auto battery_sub = nh.subscribe("/mavros/battery", 1, &handleBattery);
 	auto rosout_sub = nh.subscribe("/rosout_agg", 1, &handleLog);
 
 	timer = nh.createTimer(ros::Duration(0), &proceed, false, false);

clover/src/optical_flow.cpp

@@ -25,7 +25,6 @@
 #include <dynamic_reconfigure/server.h>
 #include <mavros_msgs/OpticalFlowRad.h>
 #include <sensor_msgs/Imu.h>
-#include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/TwistStamped.h>
@@ -58,9 +57,6 @@ private:
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
 	float flow_gyro_default_;
-	bool disable_on_vpe_;
-	ros::Subscriber vpe_sub_;
-	ros::Time last_vpe_time_;
 	std::shared_ptr<dynamic_reconfigure::Server<clover::FlowConfig>> dyn_srv_;
 
 	void onInit()
@@ -91,11 +87,6 @@ private:
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 
-		disable_on_vpe_ = nh_priv.param("disable_on_vpe", false);
-		if (disable_on_vpe_) {
-			vpe_sub_ = nh.subscribe("mavros/vision_pose/pose", 1, &OpticalFlow::vpeCallback, this);
-		}
-
 		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<clover::FlowConfig>>(nh_priv);
 		dynamic_reconfigure::Server<clover::FlowConfig>::CallbackType cb;
 
@@ -130,12 +121,6 @@ private:
 	{
 		if (!enabled_) return;
 
-		if (disable_on_vpe_ &&
-			!last_vpe_time_.isZero() &&
-			(msg->header.stamp - last_vpe_time_).toSec() < 0.1) {
-			return;
-		}
-
 		parseCameraInfo(cinfo);
 
 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
@@ -169,7 +154,7 @@ private:
 
 		img.convertTo(curr_, CV_32F);
 
-		if (prev_.empty() || (msg->header.stamp - prev_stamp_).toSec() > 0.1) { // outdated previous frame
+		if (prev_.empty()) {
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;
 			cv::createHanningWindow(hann_, curr_.size(), CV_32F);
@@ -251,14 +236,6 @@ private:
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;
 
-			// Publish estimated angular velocity
-			geometry_msgs::TwistStamped velo;
-			velo.header.stamp = msg->header.stamp;
-			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
-			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
-			velo_pub_.publish(velo);
-
 publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
@@ -271,6 +248,14 @@ publish_debug:
 				out_msg.image = img;
 				img_pub_.publish(out_msg.toImageMsg());
 			}
+
+			// Publish estimated angular velocity
+			geometry_msgs::TwistStamped velo;
+			velo.header.stamp = msg->header.stamp;
+			velo.header.frame_id = fcu_frame_id_;
+			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
+			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
+			velo_pub_.publish(velo);
 		}
 	}
 
@@ -299,10 +284,6 @@ publish_debug:
 			prev_ = Mat(); // clear previous frame
 		}
 	}
-
-	void vpeCallback(const geometry_msgs::PoseStamped& vpe) {
-		last_vpe_time_ = vpe.header.stamp;
-	}
 };
 
 PLUGINLIB_EXPORT_CLASS(OpticalFlow, nodelet::Nodelet)

clover/src/selfcheck.py

@@ -9,14 +9,13 @@
 # The above copyright notice and this permission notice shall be included in all
 # copies or substantial portions of the Software.
 
-import os, sys
+import os
 import math
 import subprocess
 import re
 from collections import OrderedDict
 import traceback
-import threading
-from threading import Event, Thread, Lock
+from threading import Event
 import numpy
 import rospy
 import tf2_ros
@@ -28,16 +27,24 @@ from mavros_msgs.msg import State, OpticalFlowRad, Mavlink
 from mavros_msgs.srv import ParamGet
 from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped, Vector3Stamped
 from visualization_msgs.msg import MarkerArray as VisualizationMarkerArray
-from diagnostic_msgs.msg import DiagnosticArray
 import tf.transformations as t
 from aruco_pose.msg import MarkerArray
 from mavros import mavlink
 import locale
 
 
+# TODO: check attitude is present
+# TODO: disk free space
+# TODO: map, base_link, body
+# TODO: rc service
+# TODO: perform commander check, ekf2 status on PX4
+# TODO: check if FCU params setter succeed
+# TODO: selfcheck ROS service (with blacklists for checks)
+
+
 rospy.init_node('selfcheck')
 
-os.environ['ROSCONSOLE_FORMAT']='${message}'
+os.environ['ROSCONSOLE_FORMAT']='[${severity}]: ${message}'
 
 # use user's locale to convert numbers, etc
 locale.setlocale(locale.LC_ALL, '')
@@ -46,68 +53,46 @@ tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)
 
 
-thread_local = threading.local()
-reports_lock = Lock()
-
-
-# formatting colors
-if sys.stdout.isatty():
-    GREY = '\033[90m'
-    GREEN = '\033[92m'
-    RED = '\033[31m'
-    END = '\033[0m'
-else:
-    GREY = GREEN = RED = END = ''
+failures = []
+infos = []
+current_check = None
 
 
 def failure(text, *args):
     msg = text % args
-    thread_local.reports += [{'failure': msg}]
+    rospy.logwarn('%s: %s', current_check, msg)
+    failures.append(msg)
 
 
 def info(text, *args):
     msg = text % args
-    thread_local.reports += [{'info': msg}]
+    rospy.loginfo('%s: %s', current_check, msg)
+    infos.append(msg)
 
 
 def check(name):
     def inner(fn):
         def wrapper(*args, **kwargs):
-            start = rospy.get_time()
-            thread_local.reports = []
+            failures[:] = []
+            infos[:] = []
+            global current_check
+            current_check = name
             try:
                 fn(*args, **kwargs)
             except Exception as e:
                 traceback.print_exc()
                 rospy.logerr('%s: exception occurred', name)
-            with reports_lock:
-                for report in thread_local.reports:
-                    if 'failure' in report:
-                        rospy.logerr('%s: %s', name, report['failure'])
-                    elif 'info' in report:
-                        rospy.loginfo(GREY + name + END + ': ' + report['info'])
-                if not thread_local.reports:
-                    rospy.loginfo(GREY + name + END + ': ' + GREEN + 'OK' + END)
-                if rospy.get_param('~time', False):
-                    rospy.loginfo('%s: %.1f sec', name, rospy.get_time() - start)
+                return
+            if not failures and not infos:
+                rospy.loginfo('%s: OK', name)
         return wrapper
     return inner
 
 
-def ff(value, precision=2):
-    # safely format float or int
-    if value is None:
-        return RED + '???' + END
-    if isinstance(value, float):
-        return ('{:.' + str(precision + 1) + '}').format(value)
-    elif isinstance(value, int):
-        return str(value)
-
-
 param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
 
 
-def get_param(name, default=None, strict=True):
+def get_param(name):
     try:
         res = param_get(param_id=name)
     except rospy.ServiceException as e:
@@ -115,19 +100,13 @@ def get_param(name, default=None, strict=True):
         return None
 
     if not res.success:
-        if strict:
-            failure('unable to retrieve PX4 parameter %s', name)
-        return default
+        failure('unable to retrieve PX4 parameter %s', name)
     else:
         if res.value.integer != 0:
             return res.value.integer
         return res.value.real
 
 
-def get_paramf(name, precision=2):
-    return ff(get_param(name), precision)
-
-
 recv_event = Event()
 link = mavutil.mavlink.MAVLink('', 255, 1)
 mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
@@ -172,24 +151,6 @@ def mavlink_exec(cmd, timeout=3.0):
     return mavlink_recv
 
 
-def read_diagnostics(name, key):
-    e = Event()
-    def cb(msg):
-        for status in msg.status:
-            if status.name.lower() == name.lower():
-                for value in status.values:
-                    if value.key.lower() == key.lower():
-                        cb.value = value.value
-                        e.set()
-                        return
-
-    cb.value = None
-    sub = rospy.Subscriber('/diagnostics', DiagnosticArray, cb)
-    e.wait(1.0)  # wait to read all the diagnostics from nodes publishing them
-    sub.unregister()
-    return cb.value
-
-
 BOARD_ROTATIONS = {
     0: 'no rotation',
     1: 'yaw 45°',
@@ -235,36 +196,34 @@ def check_fcu():
         state = rospy.wait_for_message('mavros/state', State, timeout=3)
         if not state.connected:
             failure('no connection to the FCU (check wiring)')
-            info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
             return
 
-        if not is_process_running('px4', exact=True): # can't use px4 console in SITL
-            clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
-            clover_fw = False
+        clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
+        clover_fw = False
 
-            # Make sure the console is available to us
-            mavlink_exec('\n')
-            version_str = mavlink_exec('ver all')
-            if version_str == '':
-                info('no version data available from SITL')
+        # Make sure the console is available to us
+        mavlink_exec('\n')
+        version_str = mavlink_exec('ver all')
+        if version_str == '':
+            info('no version data available from SITL')
 
-            for line in version_str.split('\n'):
-                if line.startswith('FW version: '):
-                    info(line[len('FW version: '):])
-                elif line.startswith('FW git tag: '): # only Clover's firmware
-                    tag = line[len('FW git tag: '):]
-                    clover_fw = clover_tag.search(tag)
-                    info(tag)
-                elif line.startswith('HW arch: '):
-                    info(line[len('HW arch: '):])
+        for line in version_str.split('\n'):
+            if line.startswith('FW version: '):
+                info(line[len('FW version: '):])
+            elif line.startswith('FW git tag: '): # only Clover's firmware
+                tag = line[len('FW git tag: '):]
+                clover_fw = clover_tag.search(tag)
+                info(tag)
+            elif line.startswith('HW arch: '):
+                info(line[len('HW arch: '):])
 
-            if not clover_fw:
-                info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')
+        if not clover_fw:
+            info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
             info('selected estimator: LPE')
-            fuse = int(get_param('LPE_FUSION'))
+            fuse = get_param('LPE_FUSION')
             if fuse & (1 << 4):
                 info('LPE_FUSION: land detector fusion is enabled')
             else:
@@ -296,43 +255,21 @@ def check_fcu():
         if cbrk_usb_chk != 197848:
             failure('set parameter CBRK_USB_CHK to 197848 for flying with USB connected')
 
-        if not is_process_running('px4', exact=True): # skip battery check in SITL
-            try:
-                battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
-                if not battery.cell_voltage:
-                    failure('cell voltage is not available, https://clover.coex.tech/power')
-                else:
-                    cell = battery.cell_voltage[0]
-                    # number of cells 1 means this is overall voltage
-                    if len(battery.cell_voltage) == 1:
-                        n_cells = get_param('BAT1_N_CELLS', strict=False)
-                        if n_cells is None:
-                            # older PX4
-                            n_cells = get_param('BAT_N_CELLS', strict=True)
-                        cell /= n_cells
-
-                    if cell > 4.3 or cell < 3.0:
-                        failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
-                    elif cell < 3.7:
-                        failure('critically low cell voltage: %.2f V, recharge battery', cell)
-            except rospy.ROSException:
-                failure('no battery state')
-
-        # time sync check
         try:
-            info('time sync offset: %.2f s', float(read_diagnostics('mavros: Time Sync', 'Estimated time offset (s)')))
-        except:
-            failure('cannot read time sync offset')
+            battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
+            if not battery.cell_voltage:
+                failure('cell voltage is not available, https://clover.coex.tech/power')
+            else:
+                cell = battery.cell_voltage[0]
+                if cell > 4.3 or cell < 3.0:
+                    failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
+                elif cell < 3.7:
+                    failure('critically low cell voltage: %.2f V, recharge battery', cell)
+        except rospy.ROSException:
+            failure('no battery state')
 
     except rospy.ROSException:
-        failure('no MAVROS state')
-        fcu_url = rospy.get_param('mavros/fcu_url', '?')
-        if fcu_url == '/dev/px4fmu':
-            if not os.path.exists('/lib/udev/rules.d/99-px4fmu.rules'):
-                info('udev rules are not installed, install udev rules or change usb_device to /dev/ttyACM0 in mavros.launch')
-            else:
-                info('udev did\'t recognize px4fmu device, check wiring or change usb_device to /dev/ttyACM0 in mavros.launch')
-        info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
+        failure('no MAVROS state (check wiring)')
 
 
 def describe_direction(v):
@@ -409,24 +346,19 @@ def is_process_running(binary, exact=False, full=False):
 
 @check('ArUco markers')
 def check_aruco():
-    markers = None
-
     if is_process_running('aruco_detect', full=True):
         try:
-            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length', '?'))
+            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
         except KeyError:
             failure('aruco_detect/length parameter is not set')
-        known_vertical = rospy.get_param('aruco_detect/known_vertical', '')
-        flip_vertical = rospy.get_param('aruco_detect/flip_vertical', False)
-        description = ''
-        if known_vertical == 'map' and not flip_vertical:
-            description = ' (all markers are on the floor)'
-        elif known_vertical == 'map' and flip_vertical:
-            description = ' (all markers are on the ceiling)'
-        info('aruco_detect/known_vertical = %s', known_vertical)
-        info('aruco_detect/flip_vertical = %s%s', flip_vertical, description)
+        known_tilt = rospy.get_param('aruco_detect/known_tilt', '')
+        if known_tilt == 'map':
+            known_tilt += ' (ALL markers are on the floor)'
+        elif known_tilt == 'map_flipped':
+            known_tilt += ' (ALL markers are on the ceiling)'
+        info('aruco_detector/known_tilt = %s', known_tilt)
         try:
-            markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
+            rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
         except rospy.ROSException:
             failure('no markers detection')
             return
@@ -435,61 +367,42 @@ def check_aruco():
         return
 
     if is_process_running('aruco_map', full=True):
-        known_vertical = rospy.get_param('aruco_map/known_vertical', '')
-        flip_vertical = rospy.get_param('aruco_map/flip_vertical', False)
-        description = ''
-        if known_vertical == 'map' and not flip_vertical:
-            description += ' (markers map is on the floor)'
-        elif known_vertical == 'map' and flip_vertical:
-            description += ' (markers map is on the ceiling)'
-        info('aruco_map/known_vertical = %s', known_vertical)
-        info('aruco_map/flip_vertical = %s%s', flip_vertical, description)
+        known_tilt = rospy.get_param('aruco_map/known_tilt', '')
+        if known_tilt == 'map':
+            known_tilt += ' (marker\'s map is on the floor)'
+        elif known_tilt == 'map_flipped':
+            known_tilt += ' (marker\'s map is on the ceiling)'
+        info('aruco_map/known_tilt = %s', known_tilt)
 
         try:
-            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)
+            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=1)
             info('map has %s markers', len(visualization.markers))
         except:
             failure('cannot read aruco_map/visualization topic')
 
         try:
-            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=0.8)
+            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1)
         except rospy.ROSException:
-            if not markers:
-                info('no map detection as no markers detection')
-            elif not markers.markers:
-                info('no map detection as no markers detected')
-            else:
-                failure('no map detection')
+            failure('no map detection')
     else:
         info('aruco_map is not running')
 
 
-def is_on_the_floor():
-    try:
-        dist = rospy.wait_for_message('rangefinder/range', Range, timeout=1)
-        return dist.range < 0.3
-    except rospy.ROSException:
-        return False
-
-
 @check('Vision position estimate')
 def check_vpe():
     vis = None
     try:
-        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=0.8)
+        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
     except rospy.ROSException:
         try:
-            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=0.8)
+            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
         except rospy.ROSException:
-            if not is_process_running('vpe_publisher', full=True):
-                info('no vision position estimate, vpe_publisher is not running')
-            elif rospy.get_param('aruco_map/known_vertical', '') == 'map' \
-                   and rospy.get_param('aruco_map/flip_vertical', False):
-                failure('no vision position estimate, markers are on the ceiling')
-            elif is_on_the_floor():
-                info('no vision position estimate, the drone is on the floor')
-            else:
-                failure('no vision position estimate')
+            failure('no VPE or MoCap messages')
+            # check if vpe_publisher is running
+            try:
+                subprocess.check_output(['pgrep', '-x', 'vpe_publisher'])
+            except subprocess.CalledProcessError:
+                return  # it's not running, skip following checks
 
     # check PX4 settings
     est = get_param('SYS_MC_EST_GROUP')
@@ -501,37 +414,26 @@ def check_vpe():
         if vision_yaw_w == 0:
             failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter')
         else:
-            info('vision yaw weight: %s', ff(vision_yaw_w))
-        fuse = int(get_param('LPE_FUSION'))
+            info('Vision yaw weight: %.2f', vision_yaw_w)
+        fuse = get_param('LPE_FUSION')
         if not fuse & (1 << 2):
             failure('vision position fusion is disabled, change LPE_FUSION parameter')
         delay = get_param('LPE_VIS_DELAY')
         if delay != 0:
-            failure('LPE_VIS_DELAY = %s, but it should be zero', delay)
-        info('LPE_VIS_XY = %s m, LPE_VIS_Z = %s m', get_paramf('LPE_VIS_XY'), get_paramf('LPE_VIS_Z'))
+            failure('LPE_VIS_DELAY parameter is %s, but it should be zero', delay)
+        info('LPE_VIS_XY is %.2f m, LPE_VIS_Z is %.2f m', get_param('LPE_VIS_XY'), get_param('LPE_VIS_Z'))
     elif est == 2:
-        ev_ctrl = get_param('EKF2_EV_CTRL', strict=False)
-        if ev_ctrl is not None: # PX4 after v1.14
-            ev_ctrl = int(ev_ctrl)
-            if not ev_ctrl & (1 << 0):
-                failure('vision horizontal position fusion is disabled, change EKF2_EV_CTRL parameter')
-            if not ev_ctrl & (1 << 1):
-                failure('vision vertical position fusion is disabled, change EKF2_EV_CTRL parameter')
-            if not ev_ctrl & (1 << 3):
-                failure('vision yaw fusion is disabled, change EKF2_EV_CTRL parameter')
-        else: # PX4 before v1.14
-            fuse = int(get_param('EKF2_AID_MASK'))
-            if not fuse & (1 << 3):
-                failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
-            if not fuse & (1 << 4):
-                failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
-
+        fuse = get_param('EKF2_AID_MASK')
+        if not fuse & (1 << 3):
+            failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
+        if not fuse & (1 << 4):
+            failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
         delay = get_param('EKF2_EV_DELAY')
         if delay != 0:
-            failure('EKF2_EV_DELAY = %.2f, but it should be zero', delay)
-        info('EKF2_EVA_NOISE = %s, EKF2_EVP_NOISE = %s',
-            get_paramf('EKF2_EVA_NOISE', 3),
-            get_paramf('EKF2_EVP_NOISE', 3))
+            failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
+        info('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
+            get_param('EKF2_EVA_NOISE'),
+            get_param('EKF2_EVP_NOISE'))
 
     if not vis:
         return
@@ -629,25 +531,15 @@ def check_velocity():
 @check('Global position (GPS)')
 def check_global_position():
     try:
-        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
+        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
     except rospy.ROSException:
         info('no global position')
-        if get_param('SYS_MC_EST_GROUP') == 2:
-            gps_ctrl = get_param('EKF2_GPS_CTRL', strict=False)
-            if gps_ctrl is not None: # PX4 after v1.14
-                if int(gps_ctrl) & (1 << 0):
-                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_GPS_CTRL')
-            else: # PX4 before v1.14
-                if int(get_param('EKF2_AID_MASK', 0)) & (1 << 0):
-                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_AID_MASK')
+        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK') & (1 << 0)):
+            failure('enabled GPS fusion may suppress vision position aiding')
 
 
 @check('Optical flow')
 def check_optical_flow():
-    if not is_process_running('optical_flow', full=True):
-        info('optical_flow is not running')
-        return
-
     # TODO:check FPS!
     try:
         rospy.wait_for_message('mavros/px4flow/raw/send', OpticalFlowRad, timeout=0.5)
@@ -655,49 +547,40 @@ def check_optical_flow():
         # check PX4 settings
         rot = get_param('SENS_FLOW_ROT')
         if rot != 0:
-            failure('SENS_FLOW_ROT = %s, but it should be zero', rot)
+            failure('SENS_FLOW_ROT parameter is %s, but it should be zero', rot)
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
-            fuse = int(get_param('LPE_FUSION'))
+            fuse = get_param('LPE_FUSION')
             if not fuse & (1 << 1):
                 failure('optical flow fusion is disabled, change LPE_FUSION parameter')
             if not fuse & (1 << 1):
                 failure('flow gyro compensation is disabled, change LPE_FUSION parameter')
-            scale = get_param('LPE_FLW_SCALE', 1)
+            scale = get_param('LPE_FLW_SCALE')
             if not numpy.isclose(scale, 1.0):
-                failure('LPE_FLW_SCALE = %.2f, but it should be 1.0', scale)
+                failure('LPE_FLW_SCALE parameter is %.2f, but it should be 1.0', scale)
 
-            info('LPE_FLW_QMIN = %s, LPE_FLW_R = %s, LPE_FLW_RR = %s',
-                          get_paramf('LPE_FLW_QMIN'),
-                          get_paramf('LPE_FLW_R', 4),
-                          get_paramf('LPE_FLW_RR', 4))
+            info('LPE_FLW_QMIN is %s, LPE_FLW_R is %.4f, LPE_FLW_RR is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+                          get_param('LPE_FLW_QMIN'),
+                          get_param('LPE_FLW_R'),
+                          get_param('LPE_FLW_RR'),
+                          get_param('SENS_FLOW_MINHGT'),
+                          get_param('SENS_FLOW_MAXHGT'))
         elif est == 2:
-            of_ctrl = get_param('EKF2_OF_CTRL', strict=False)
-            if of_ctrl is not None: # PX4 after v1.14
-                if of_ctrl == 0:
-                    failure('optical flow fusion is disabled, change EKF2_OF_CTRL')
-            else: # PX4 before v1.14
-                fuse = int(get_param('EKF2_AID_MASK', 0))
-                if not fuse & (1 << 1):
-                    failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
-            delay = get_param('EKF2_OF_DELAY', 0)
+            fuse = get_param('EKF2_AID_MASK')
+            if not fuse & (1 << 1):
+                failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
+            delay = get_param('EKF2_OF_DELAY')
             if delay != 0:
-                failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay)
-            info('EKF2_OF_QMIN = %s, EKF2_OF_N_MIN = %s, EKF2_OF_N_MAX = %s',
-                          get_paramf('EKF2_OF_QMIN'),
-                          get_paramf('EKF2_OF_N_MIN', 4),
-                          get_paramf('EKF2_OF_N_MAX', 4))
-        info('SENS_FLOW_MINHGT = %s, SENS_FLOW_MAXHGT = %s', get_paramf('SENS_FLOW_MINHGT', 3), get_paramf('SENS_FLOW_MAXHGT', 3))
+                failure('EKF2_OF_DELAY is %.2f, but it should be zero', delay)
+            info('EKF2_OF_QMIN is %s, EKF2_OF_N_MIN is %.4f, EKF2_OF_N_MAX is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+                          get_param('EKF2_OF_QMIN'),
+                          get_param('EKF2_OF_N_MIN'),
+                          get_param('EKF2_OF_N_MAX'),
+                          get_param('SENS_FLOW_MINHGT'),
+                          get_param('SENS_FLOW_MAXHGT'))
 
     except rospy.ROSException:
-        if rospy.get_param('optical_flow/disable_on_vpe', False):
-            try:
-                rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
-                info('no optical flow as disable_on_vpe is true')
-            except:
-                failure('no optical flow on RPi, disable_on_vpe is true, but no vision pose also')
-        else:
-            failure('no optical flow on RPi')
+        failure('no optical flow data (from Raspberry)')
 
 
 @check('Rangefinder')
@@ -721,34 +604,27 @@ def check_rangefinder():
 
     est = get_param('SYS_MC_EST_GROUP')
     if est == 1:
-        fuse = int(get_param('LPE_FUSION', 0))
+        fuse = get_param('LPE_FUSION')
         if not fuse & (1 << 5):
             info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
         else:
             info('"pub agl as lpos down" in LPE_FUSION is enabled, operating over flat surface')
 
     elif est == 2:
-        hgt = get_param('EKF2_HGT_REF', strict=False)
-        if hgt is None: # PX4 before v1.14
-            hgt = get_param('EKF2_HGT_MODE')
+        hgt = get_param('EKF2_HGT_MODE')
         if hgt != 2:
             info('EKF2_HGT_MODE != Range sensor, NOT operating over flat surface')
         else:
             info('EKF2_HGT_MODE = Range sensor, operating over flat surface')
-        aid = get_param('EKF2_RNG_AID', strict=False)
-        if aid is not None: # PX4 before v1.14
-            if aid != 1:
-                info('EKF2_RNG_AID != 1, range sensor aiding disabled')
-            else:
-                info('EKF2_RNG_AID = 1, range sensor aiding enabled')
+        aid = get_param('EKF2_RNG_AID')
+        if aid != 1:
+            info('EKF2_RNG_AID != 1, range sensor aiding disabled')
+        else:
+            info('EKF2_RNG_AID = 1, range sensor aiding enabled')
 
 
 @check('Boot duration')
 def check_boot_duration():
-    if not os.path.exists('/etc/clover_version'):
-        info('skip check')
-        return # Don't check not on Clover's image
-
     output = subprocess.check_output('systemd-analyze').decode()
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
@@ -758,7 +634,7 @@ def check_boot_duration():
 
 @check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet', 'gzclient', 'gzserver', 'selfcheck.py'
+    WHITELIST = 'nodelet', 'gzclient', 'gzserver'
     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')
@@ -827,10 +703,7 @@ def check_image():
     try:
         info('version: %s', open('/etc/clover_version').read().strip())
     except IOError:
-        try:
-            info('VM version: %s', open('/etc/clover_vm_version').read().strip())
-        except IOError:
-            info('no /etc/clover_version file, not the Clover image?')
+        info('no /etc/clover_version file, not the Clover image?')
 
 
 @check('Preflight status')
@@ -941,47 +814,26 @@ def check_board():
         info('could not open /proc/device-tree/model, not a Raspberry Pi?')
 
 
-def parallel_for(fns):
-    threads = []
-    for fn in fns:
-        thread = Thread(target=fn)
-        thread.start()
-        threads.append(thread)
-    for thread in threads:
-        thread.join()
-
-
-def consequentially_for(fns):
-    for fn in fns:
-        fn()
-
-
 def selfcheck():
-    checks = [
-        check_image,
-        check_board,
-        check_clover_service,
-        check_network,
-        check_fcu,
-        check_imu,
-        check_local_position,
-        check_velocity,
-        check_global_position,
-        check_preflight_status,
-        check_main_camera,
-        check_aruco,
-        check_simpleoffboard,
-        check_optical_flow,
-        check_vpe,
-        check_rangefinder,
-        check_rpi_health,
-        check_cpu_usage,
-        check_boot_duration,
-    ]
-    if rospy.get_param('~parallel', False):
-        parallel_for(checks)
-    else:
-        consequentially_for(checks)
+    check_image()
+    check_board()
+    check_clover_service()
+    check_network()
+    check_fcu()
+    check_imu()
+    check_local_position()
+    check_velocity()
+    check_global_position()
+    check_preflight_status()
+    check_main_camera()
+    check_aruco()
+    check_simpleoffboard()
+    check_optical_flow()
+    check_vpe()
+    check_rangefinder()
+    check_rpi_health()
+    check_cpu_usage()
+    check_boot_duration()
 
 
 if __name__ == '__main__':

clover/src/simple_offboard.cpp

@@ -23,14 +23,12 @@
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <std_srvs/Trigger.h>
-#include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/TwistStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/QuaternionStamped.h>
 #include <sensor_msgs/NavSatFix.h>
 #include <sensor_msgs/BatteryState.h>
-#include <sensor_msgs/Range.h>
 #include <mavros_msgs/CommandBool.h>
 #include <mavros_msgs/SetMode.h>
 #include <mavros_msgs/PositionTarget.h>
@@ -39,19 +37,14 @@
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
 #include <mavros_msgs/ManualControl.h>
-#include <mavros_msgs/Altitude.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
 #include <clover/NavigateGlobal.h>
-#include <clover/SetAltitude.h>
-#include <clover/SetYaw.h>
-#include <clover/SetYawRate.h>
 #include <clover/SetPosition.h>
 #include <clover/SetVelocity.h>
 #include <clover/SetAttitude.h>
 #include <clover/SetRates.h>
-#include <clover/State.h>
 
 using std::string;
 using std::isnan;
@@ -61,7 +54,6 @@ using namespace clover;
 using mavros_msgs::PositionTarget;
 using mavros_msgs::AttitudeTarget;
 using mavros_msgs::Thrust;
-using mavros_msgs::Altitude;
 
 // tf2
 tf2_ros::Buffer tf_buffer;
@@ -87,43 +79,35 @@ float default_speed;
 bool auto_release;
 bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;
-string terrain_frame_mode;
 
 // Publishers
-ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub, state_pub;
+ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub;
 
 // Service clients
 ros::ServiceClient arming, set_mode;
 
 // Containers
 ros::Timer setpoint_timer;
+tf::Quaternion tq;
 PoseStamped position_msg;
 PositionTarget position_raw_msg;
-//TwistStamped rates_msg;
+AttitudeTarget att_raw_msg;
+Thrust thrust_msg;
+TwistStamped rates_msg;
 TransformStamped target, setpoint;
 geometry_msgs::TransformStamped body;
-geometry_msgs::TransformStamped terrain;
 
 // State
 PoseStamped nav_start;
-PointStamped setpoint_position;
-PointStamped setpoint_altitude;
-Vector3Stamped setpoint_velocity;
-float setpoint_yaw, setpoint_roll, setpoint_pitch;
-Vector3 setpoint_rates;
-string yaw_frame_id;
-float setpoint_thrust;
+PoseStamped setpoint_position, setpoint_position_transformed;
+Vector3Stamped setpoint_velocity, setpoint_velocity_transformed;
+QuaternionStamped setpoint_attitude, setpoint_attitude_transformed;
+float setpoint_yaw_rate;
 float nav_speed;
-float setpoint_lat = NAN, setpoint_lon = NAN;
 bool busy = false;
 bool wait_armed = false;
 bool nav_from_sp_flag = false;
 
-// Last published
-PoseStamped setpoint_pose_local;
-Vector3Stamped setpoint_velocity_local;
-float yaw_local;
-
 enum setpoint_type_t {
 	NONE,
 	NAVIGATE,
@@ -131,10 +115,7 @@ enum setpoint_type_t {
 	POSITION,
 	VELOCITY,
 	ATTITUDE,
-	RATES,
-	_ALTITUDE,
-	_YAW,
-	_YAW_RATE,
+	RATES
 };
 
 enum setpoint_type_t setpoint_type = NONE;
@@ -189,7 +170,7 @@ void handleLocalPosition(const PoseStamped& pose)
 {
 	local_position = pose;
 	publishBodyFrame();
-	// TODO: home?
+	// TODO: terrain?, home?
 }
 
 // wait for transform without interrupting publishing setpoints
@@ -207,29 +188,6 @@ inline bool waitTransform(const string& target, const string& source,
 	return false;
 }
 
-void publishTerrain(const double distance, const ros::Time& stamp)
-{
-	if (!waitTransform(local_frame, body.child_frame_id, stamp, ros::Duration(0.1))) return;
-
-	auto t = tf_buffer.lookupTransform(local_frame, body.child_frame_id, stamp);
-	t.child_frame_id = terrain.child_frame_id;
-	t.transform.translation.z -= distance;
-	static_transform_broadcaster->sendTransform(t);
-}
-
-void handleAltitude(const Altitude& alt)
-{
-	if (!std::isfinite(alt.bottom_clearance)) return;
-	publishTerrain(alt.bottom_clearance, alt.header.stamp);
-}
-
-void handleRange(const Range& range)
-{
-	if (!std::isfinite(range.range)) return;
-	// TODO: check it's facing down
-	publishTerrain(range.range, range.header.stamp);
-}
-
 #define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
 
 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
@@ -249,11 +207,11 @@ bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 	res.vx = NAN;
 	res.vy = NAN;
 	res.vz = NAN;
-	res.roll = NAN;
 	res.pitch = NAN;
+	res.roll = NAN;
 	res.yaw = NAN;
-	res.roll_rate = NAN;
 	res.pitch_rate = NAN;
+	res.roll_rate = NAN;
 	res.yaw_rate = NAN;
 	res.voltage = NAN;
 	res.cell_voltage = NAN;
@@ -383,20 +341,20 @@ inline float getDistance(const Point& from, const Point& to)
 	return hypot(from.x - to.x, from.y - to.y, from.z - to.z);
 }
 
-void getNavigateSetpoint(const ros::Time& stamp, const float speed, Point& nav_setpoint)
+void getNavigateSetpoint(const ros::Time& stamp, float speed, Point& nav_setpoint)
 {
 	if (wait_armed) {
 		// don't start navigating if we're waiting arming
 		nav_start.header.stamp = stamp;
 	}
 
-	float distance = getDistance(nav_start.pose.position, setpoint_pose_local.pose.position);
+	float distance = getDistance(nav_start.pose.position, setpoint_position_transformed.pose.position);
 	float time = distance / speed;
 	float passed = std::min((stamp - nav_start.header.stamp).toSec() / time, 1.0);
 
-	nav_setpoint.x = nav_start.pose.position.x + (setpoint_pose_local.pose.position.x - nav_start.pose.position.x) * passed;
-	nav_setpoint.y = nav_start.pose.position.y + (setpoint_pose_local.pose.position.y - nav_start.pose.position.y) * passed;
-	nav_setpoint.z = nav_start.pose.position.z + (setpoint_pose_local.pose.position.z - nav_start.pose.position.z) * passed;
+	nav_setpoint.x = nav_start.pose.position.x + (setpoint_position_transformed.pose.position.x - nav_start.pose.position.x) * passed;
+	nav_setpoint.y = nav_start.pose.position.y + (setpoint_position_transformed.pose.position.y - nav_start.pose.position.y) * passed;
+	nav_setpoint.z = nav_start.pose.position.z + (setpoint_position_transformed.pose.position.z - nav_start.pose.position.z) * passed;
 }
 
 PoseStamped globalToLocal(double lat, double lon)
@@ -427,101 +385,44 @@ PoseStamped globalToLocal(double lat, double lon)
 	return pose;
 }
 
-// publish navigate_target frame
-void publishTarget(ros::Time stamp, bool _static = false)
-{
-	bool single_frame = (setpoint_position.header.frame_id == setpoint_altitude.header.frame_id);
-
-	// handle yaw for target frame
-	if (setpoint_yaw_type == YAW || setpoint_yaw_type == YAW_RATE) { // use last set yaw for yaw_rate
-		if (setpoint_altitude.header.frame_id == yaw_frame_id) {
-			target.transform.rotation = tf::createQuaternionMsgFromYaw(setpoint_yaw);
-		} else {
-			single_frame = false;
-			target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
-		}
-	} else if (setpoint_yaw_type == TOWARDS) {
-		single_frame = false;
-		target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
-	}
-
-	if (_static && single_frame) {
-		// publish at user's command, if all frames are the same
-		target.header.frame_id = setpoint_position.header.frame_id;
-		target.header.stamp = stamp;
-		target.transform.translation.x = setpoint_position.point.x;
-		target.transform.translation.y = setpoint_position.point.y;
-		target.transform.translation.z = setpoint_position.point.z;
-
-	} else if (!_static) {
-		// publish at each iteration, if frames are different
-		target.header = setpoint_pose_local.header;
-		target.transform.translation.x = setpoint_pose_local.pose.position.x;
-		target.transform.translation.y = setpoint_pose_local.pose.position.y;
-		target.transform.translation.z = setpoint_pose_local.pose.position.z;
-	}
-
-	static_transform_broadcaster->sendTransform(target);
-}
-
 void publish(const ros::Time stamp)
 {
 	if (setpoint_type == NONE) return;
 
 	position_raw_msg.header.stamp = stamp;
+	thrust_msg.header.stamp = stamp;
+	rates_msg.header.stamp = stamp;
 
-	// transform position
-	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-		setpoint_position.header.stamp = stamp;
-		setpoint_altitude.header.stamp = stamp;
-		// transform xy
-		try {
-			auto xy = tf_buffer.transform(setpoint_position, local_frame, ros::Duration(0.05));
-			setpoint_pose_local.header = xy.header;
-			setpoint_pose_local.pose.position.x = xy.point.x;
-			setpoint_pose_local.pose.position.y = xy.point.y;
-		} catch (tf2::TransformException& ex) {
-			// can't transform xy, use last known
-			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+	try {
+		// transform position and/or yaw
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION || setpoint_type == VELOCITY || setpoint_type == ATTITUDE) {
+			setpoint_position.header.stamp = stamp;
+			tf_buffer.transform(setpoint_position, setpoint_position_transformed, local_frame, ros::Duration(0.05));
 		}
-		// transform altitude
-		try {
-			setpoint_pose_local.pose.position.z = tf_buffer.transform(setpoint_altitude, local_frame, ros::Duration(0.05)).point.z;
-		} catch (tf2::TransformException& ex) {
-			// can't transform altitude, use last known
-			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+
+		// transform velocity
+		if (setpoint_type == VELOCITY) {
+			setpoint_velocity.header.stamp = stamp;
+			tf_buffer.transform(setpoint_velocity, setpoint_velocity_transformed, local_frame, ros::Duration(0.05));
 		}
+
+	} catch (const tf2::TransformException& e) {
+		ROS_WARN_THROTTLE(10, "can't transform");
 	}
 
-	// transform yaw
-	if (setpoint_yaw_type == YAW) {
-		try {
-			QuaternionStamped q;
-			q.header.stamp = stamp;
-			q.header.frame_id = yaw_frame_id;
-			q.quaternion = tf::createQuaternionMsgFromYaw(setpoint_yaw);
-			yaw_local = tf2::getYaw(tf_buffer.transform(q, local_frame, ros::Duration(0.05)).quaternion);
-		} catch (tf2::TransformException& ex) {
-			// can't transform yaw, use last known
-			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
-		}
-	}
-
-	// compute navigate setpoint
 	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
+		position_msg.pose.orientation = setpoint_position_transformed.pose.orientation; // copy yaw
 		getNavigateSetpoint(stamp, nav_speed, position_msg.pose.position);
 
 		if (setpoint_yaw_type == TOWARDS) {
-			yaw_local = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
-			                  position_msg.pose.position.x - nav_start.pose.position.x);
+			double yaw_towards = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
+			                           position_msg.pose.position.x - nav_start.pose.position.x);
+			position_msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, yaw_towards);
 		}
-
-		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
 	}
 
 	if (setpoint_type == POSITION) {
-		position_msg = setpoint_pose_local;
-		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
+		position_msg = setpoint_position_transformed;
 	}
 
 	if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
@@ -538,14 +439,14 @@ void publish(const ros::Time stamp)
 			                             PositionTarget::IGNORE_AFY +
 			                             PositionTarget::IGNORE_AFZ +
 			                             PositionTarget::IGNORE_YAW;
-			position_raw_msg.yaw_rate = setpoint_rates.z;
+			position_raw_msg.yaw_rate = setpoint_yaw_rate;
 			position_raw_msg.position = position_msg.pose.position;
 			position_raw_pub.publish(position_raw_msg);
 		}
 
 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
-			if (setpoint.header.stamp >= position_msg.header.stamp) {
+			if (setpoint.header.stamp == position_msg.header.stamp) {
 				return; // avoid TF_REPEATED_DATA warnings
 			}
 
@@ -557,22 +458,9 @@ void publish(const ros::Time stamp)
 			setpoint.header.stamp = position_msg.header.stamp;
 			transform_broadcaster->sendTransform(setpoint);
 		}
-
-		// publish dynamic target frame
-		publishTarget(stamp);
 	}
 
 	if (setpoint_type == VELOCITY) {
-		// transform velocity to local frame
-		setpoint_velocity.header.stamp = stamp;
-		try {
-			setpoint_velocity_local = tf_buffer.transform(setpoint_velocity, local_frame, ros::Duration(0.05));
-		} catch (tf2::TransformException& ex) {
-			// can't transform velocity, use last known
-			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
-		}
-
-		// publish velocity
 		position_raw_msg.type_mask = PositionTarget::IGNORE_PX +
 		                             PositionTarget::IGNORE_PY +
 		                             PositionTarget::IGNORE_PZ +
@@ -580,22 +468,14 @@ void publish(const ros::Time stamp)
 		                             PositionTarget::IGNORE_AFY +
 		                             PositionTarget::IGNORE_AFZ;
 		position_raw_msg.type_mask += setpoint_yaw_type == YAW ? PositionTarget::IGNORE_YAW_RATE : PositionTarget::IGNORE_YAW;
-		position_raw_msg.velocity = setpoint_velocity_local.vector;
-		position_raw_msg.yaw = yaw_local;
-		position_raw_msg.yaw_rate = setpoint_rates.z;
+		position_raw_msg.velocity = setpoint_velocity_transformed.vector;
+		position_raw_msg.yaw = tf2::getYaw(setpoint_position_transformed.pose.orientation);
+		position_raw_msg.yaw_rate = setpoint_yaw_rate;
 		position_raw_pub.publish(position_raw_msg);
 	}
 
 	if (setpoint_type == ATTITUDE) {
-		PoseStamped msg;
-		msg.header.stamp = stamp;
-		msg.header.frame_id = local_frame;
-		msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(setpoint_roll, setpoint_pitch, yaw_local);
-		attitude_pub.publish(msg);
-
-		Thrust thrust_msg;
-		thrust_msg.header.stamp = stamp;
-		thrust_msg.thrust = setpoint_thrust;
+		attitude_pub.publish(setpoint_position_transformed);
 		thrust_pub.publish(thrust_msg);
 	}
 
@@ -604,12 +484,11 @@ void publish(const ros::Time stamp)
 		// thrust_pub.publish(thrust_msg);
 		// mavros rates topics waits for rates in local frame
 		// use rates in body frame for simplicity
-		AttitudeTarget att_raw_msg;
 		att_raw_msg.header.stamp = stamp;
 		att_raw_msg.header.frame_id = fcu_frame;
 		att_raw_msg.type_mask = AttitudeTarget::IGNORE_ATTITUDE;
-		att_raw_msg.body_rate = setpoint_rates;
-		att_raw_msg.thrust = setpoint_thrust;
+		att_raw_msg.body_rate = rates_msg.twist.angular;
+		att_raw_msg.thrust = thrust_msg.thrust;
 		attitude_raw_pub.publish(att_raw_msg);
 	}
 }
@@ -649,59 +528,10 @@ inline void checkState()
 		throw std::runtime_error("No connection to FCU, https://clover.coex.tech/connection");
 }
 
-void publishState()
-{
-	clover::State msg;
-	msg.mode = setpoint_type;
-	msg.yaw_mode = setpoint_yaw_type;
-
-	if (setpoint_position.header.frame_id.empty()) {
-		msg.x = NAN;
-		msg.y = NAN;
-		msg.z = NAN;
-	} else {
-		msg.x = setpoint_position.point.x;
-		msg.y = setpoint_position.point.y;
-		msg.z = setpoint_altitude.point.z;
-	}
-
-	msg.speed = nav_speed;
-	msg.lat = setpoint_lat;
-	msg.lon = setpoint_lon;
-	msg.vx = setpoint_velocity.vector.x;
-	msg.vy = setpoint_velocity.vector.y;
-	msg.vz = setpoint_velocity.vector.z;
-	msg.roll = setpoint_roll;
-	msg.pitch = setpoint_pitch;
-	msg.yaw = !yaw_frame_id.empty() ? setpoint_yaw : NAN;
-
-	msg.roll_rate = setpoint_rates.x;
-	msg.pitch_rate = setpoint_rates.y;
-	msg.yaw_rate = setpoint_rates.z;
-	msg.thrust = setpoint_thrust;
-
-	if (setpoint_type == VELOCITY) {
-		msg.xy_frame_id = setpoint_velocity.header.frame_id;
-		msg.z_frame_id = setpoint_velocity.header.frame_id;
-	} else {
-		msg.xy_frame_id = setpoint_position.header.frame_id;
-		msg.z_frame_id = setpoint_altitude.header.frame_id;
-	}
-	msg.yaw_frame_id = yaw_frame_id;
-
-	state_pub.publish(msg);
-}
-
-inline float safe(float value) {
-	return std::isfinite(value) ? value : 0;
-}
-
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
 
-#define ENSURE_NON_INF(var) { if (std::isinf(var)) throw std::runtime_error(#var " argument cannot be Inf"); }
-
 bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, float vy, float vz,
-           float roll, float pitch, float yaw, float roll_rate, float pitch_rate, float yaw_rate, // editorconfig-checker-disable-line
+           float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate, // editorconfig-checker-disable-line
            float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm, // editorconfig-checker-disable-line
            uint8_t& success, string& message) // editorconfig-checker-disable-line
 {
@@ -728,40 +558,69 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		auto search = reference_frames.find(frame_id);
 		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
 
-		ENSURE_NON_INF(x);
-		ENSURE_NON_INF(y);
-		ENSURE_NON_INF(z);
-		ENSURE_NON_INF(speed); // TODO: allow inf
-		ENSURE_NON_INF(vx);
-		ENSURE_NON_INF(vy);
-		ENSURE_NON_INF(vz);
-		ENSURE_NON_INF(roll);
-		ENSURE_NON_INF(pitch);
-		ENSURE_NON_INF(roll_rate);
-		ENSURE_NON_INF(pitch_rate);
-		ENSURE_NON_INF(yaw_rate);
-		ENSURE_NON_INF(thrust);
+		// Serve "partial" commands
 
-		if (sp_type == NAVIGATE_GLOBAL) {
+		if (!auto_arm && std::isfinite(yaw) &&
+		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
+		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
+		    isnan(lat) && isnan(lon)) {
+			// change only the yaw
+			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
+				if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))
+					throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
+
+				message = "Changing yaw only";
+
+				QuaternionStamped q;
+				q.header.frame_id = frame_id;
+				q.header.stamp = stamp;
+				q.quaternion = tf::createQuaternionMsgFromYaw(yaw); // TODO: pitch=0, roll=0 is not totally correct
+				setpoint_position.pose.orientation = tf_buffer.transform(q, setpoint_position.header.frame_id).quaternion;
+				setpoint_yaw_type = YAW;
+				goto publish_setpoint;
+			} else {
+				throw std::runtime_error("Setting yaw is possible only when position or velocity setpoints active");
+			}
+		}
+
+		if (!auto_arm && std::isfinite(yaw_rate) &&
+		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
+		    isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
+		    isnan(lat) && isnan(lon)) {
+			// change only the yaw rate
+			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
+				message = "Changing yaw rate only";
+
+				setpoint_yaw_type = YAW_RATE;
+				setpoint_yaw_rate = yaw_rate;
+				goto publish_setpoint;
+			} else {
+				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
+			}
+		}
+
+		// Serve normal commands
+
+		if (sp_type == NAVIGATE || sp_type == POSITION) {
+			ENSURE_FINITE(x);
+			ENSURE_FINITE(y);
+			ENSURE_FINITE(z);
+		} else if (sp_type == NAVIGATE_GLOBAL) {
 			ENSURE_FINITE(lat);
 			ENSURE_FINITE(lon);
-		}
-
-		if (isfinite(x) != isfinite(y)) {
-			throw std::runtime_error("x and y can be set only together");
-		}
-
-		if (isfinite(yaw_rate)) {
-			if (sp_type > RATES && setpoint_type == ATTITUDE) {
-				throw std::runtime_error("Yaw rate cannot be set in attitude mode.");
-			}
-		}
-
-		// set_altitude
-		if (sp_type == _ALTITUDE) {
-			if (setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
-				throw std::runtime_error("Altitude cannot be set in velocity, attitude or rates mode.");
-			}
+			ENSURE_FINITE(z);
+		} else if (sp_type == VELOCITY) {
+			ENSURE_FINITE(vx);
+			ENSURE_FINITE(vy);
+			ENSURE_FINITE(vz);
+		} else if (sp_type == ATTITUDE) {
+			ENSURE_FINITE(pitch);
+			ENSURE_FINITE(roll);
+			ENSURE_FINITE(thrust);
+		} else if (sp_type == RATES) {
+			ENSURE_FINITE(pitch_rate);
+			ENSURE_FINITE(roll_rate);
+			ENSURE_FINITE(thrust);
 		}
 
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
@@ -775,13 +634,20 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 				speed = default_speed;
 		}
 
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
+			if (yaw_rate != 0 && !std::isnan(yaw))
+				throw std::runtime_error("Yaw value should be NaN for setting yaw rate");
+
+			if (std::isnan(yaw_rate) && std::isnan(yaw))
+				throw std::runtime_error("Both yaw and yaw_rate cannot be NaN");
+		}
+
 		if (sp_type == NAVIGATE_GLOBAL) {
 			if (TIMEOUT(global_position, global_position_timeout))
 				throw std::runtime_error("No global position");
 		}
 
-		// if any value need to be transformed to reference frame
-		if (isfinite(x) || isfinite(y) || isfinite(z) || isfinite(vx) || isfinite(vy) || isfinite(vz) || isfinite(yaw)) {
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE) {
 			// make sure transform from frame_id to reference frame available
 			if (!waitTransform(reference_frame, frame_id, stamp, transform_timeout))
 				throw std::runtime_error("Can't transform from " + frame_id + " to " + reference_frame);
@@ -798,27 +664,15 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			auto xy_in_req_frame = tf_buffer.transform(pose_local, frame_id);
 			x = xy_in_req_frame.pose.position.x;
 			y = xy_in_req_frame.pose.position.y;
-			setpoint_lat = lat;
-			setpoint_lon = lon;
 		}
 
 		// Everything fine - switch setpoint type
-		if (sp_type <= RATES) {
-			setpoint_type = sp_type;
-		}
+		setpoint_type = sp_type;
 
-		if (setpoint_type != NAVIGATE && setpoint_type != NAVIGATE_GLOBAL) {
+		if (sp_type != NAVIGATE && sp_type != NAVIGATE_GLOBAL) {
 			nav_from_sp_flag = false;
 		}
 
-		bool to_auto_arm = auto_arm && (state.mode != "OFFBOARD" || !state.armed);
-		if (to_auto_arm || setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
-			// invalidate position setpoint
-			setpoint_position.header.frame_id = "";
-			setpoint_altitude.header.frame_id = "";
-			yaw_frame_id = "";
-		}
-
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
 			// starting point
 			if (nav_from_sp && nav_from_sp_flag) {
@@ -827,139 +681,89 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			} else {
 				nav_start = local_position;
 			}
-
-			if (!isnan(speed)) {
-				nav_speed = speed;
-			}
-
+			nav_speed = speed;
 			nav_from_sp_flag = true;
 		}
 
-		// handle position
-		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+		// if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
+		// 	if (std::isnan(yaw) && yaw_rate == 0) {
+		// 		// keep yaw unchanged
+		//		// TODO: this is incorrect, because we need yaw in desired frame
+		// 		yaw = tf2::getYaw(local_position.pose.orientation);
+		// 	}
+		// }
 
-			PointStamped desired;
-			desired.header.frame_id = frame_id;
-			desired.header.stamp = stamp;
-			desired.point.x = safe(x);
-			desired.point.y = safe(y);
-			desired.point.z = safe(z);
+		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
+			// destination point and/or attitude
+			PoseStamped ps;
+			ps.header.frame_id = frame_id;
+			ps.header.stamp = stamp;
+			ps.pose.position.x = x;
+			ps.pose.position.y = y;
+			ps.pose.position.z = z;
+			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
 
-			// transform to reference frame
-			desired = tf_buffer.transform(desired, reference_frame);
-
-			// set horizontal position
-			if (isfinite(x) && isfinite(y)) {
-				setpoint_position = desired;
-			} else if (setpoint_position.header.frame_id.empty()) {
-				 // TODO: use transform for current stamp
-				setpoint_position.header = local_position.header;
-				setpoint_position.point = local_position.pose.position;
-			}
-
-			// set altitude
-			if (isfinite(z)) {
-				setpoint_altitude = desired;
-			} else if (setpoint_altitude.header.frame_id.empty()) {
-				setpoint_altitude.header = local_position.header;
-				setpoint_altitude.point = local_position.pose.position;
-			}
-		}
-
-		// handle velocity
-		if (sp_type == VELOCITY) {
-			// TODO: allow setting different modes by altitude and xy
-			Vector3Stamped desired;
-			desired.header.frame_id = frame_id;
-			desired.header.stamp = stamp;
-			desired.vector.x = safe(vx);
-			desired.vector.y = safe(vy);
-			desired.vector.z = safe(vz);
-
-			// transform to reference frame
-			desired = tf_buffer.transform(desired, reference_frame);
-			setpoint_velocity.header = desired.header;
-
-			// set horizontal velocity
-			if (isfinite(vx) && isfinite(vy)) {
-				setpoint_velocity.vector.x = desired.vector.x;
-				setpoint_velocity.vector.y = desired.vector.y;
-			}
-
-			// set vertical velocity
-			if (isfinite(vz)) {
-				setpoint_velocity.vector.z = desired.vector.z;
-			}
-		}
-
-		// handle yaw
-		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE || sp_type == _YAW) {
-			if (isfinite(yaw)) {
-				setpoint_yaw_type = YAW;
-				QuaternionStamped desired;
-				desired.header.frame_id = frame_id;
-				desired.header.stamp = stamp;
-				desired.quaternion = tf::createQuaternionMsgFromYaw(yaw);
-
-				// transform to reference frame
-				desired = tf_buffer.transform(desired, reference_frame);
-				setpoint_yaw = tf2::getYaw(desired.quaternion);
-				yaw_frame_id = reference_frame;
-
-			} else if (isinf(yaw) && yaw > 0) {
+			if (sp_type == ATTITUDE) {
+				ps.pose.position.x = 0;
+				ps.pose.position.y = 0;
+				ps.pose.position.z = 0;
+				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
+			} else if (std::isnan(yaw)) {
+				setpoint_yaw_type = YAW_RATE;
+				setpoint_yaw_rate = yaw_rate;
+			} else if (std::isinf(yaw) && yaw > 0) {
 				// yaw towards
 				setpoint_yaw_type = TOWARDS;
-
-			} else if (yaw_frame_id.empty() || sp_type == _YAW) {
-				// yaw is nan and not set previously OR set_yaw(yaw=nan) was called
+				yaw = 0;
+				setpoint_yaw_rate = 0;
+			} else {
 				setpoint_yaw_type = YAW;
-				setpoint_yaw = tf2::getYaw(local_position.pose.orientation); // set yaw to current yaw
-				yaw_frame_id = local_position.header.frame_id;
+				setpoint_yaw_rate = 0;
+				ps.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
 			}
+
+			tf_buffer.transform(ps, setpoint_position, reference_frame);
 		}
 
-		// handle roll
-		if (isfinite(roll)) {
-			setpoint_roll = roll;
+		if (sp_type == VELOCITY) {
+			Vector3Stamped vel;
+			vel.header.frame_id = frame_id;
+			vel.header.stamp = stamp;
+			vel.vector.x = vx;
+			vel.vector.y = vy;
+			vel.vector.z = vz;
+			tf_buffer.transform(vel, setpoint_velocity, reference_frame);
 		}
 
-		// handle pitch
-		if (isfinite(pitch)) {
-			setpoint_pitch = pitch;
+		if (sp_type == ATTITUDE || sp_type == RATES) {
+			thrust_msg.thrust = thrust;
 		}
 
-		// handle yaw rate
-		if (isfinite(yaw_rate)) {
-			setpoint_yaw_type = YAW_RATE;
-			setpoint_rates.z = yaw_rate;
-		}
-
-		// handle pitch rate
-		if (isfinite(roll_rate)) {
-			setpoint_rates.x = roll_rate;
-		}
-
-		// handle roll rate
-		if (isfinite(pitch_rate)) {
-			setpoint_rates.y = pitch_rate;
-		}
-
-		// handle thrust
-		if (isfinite(thrust)) {
-			setpoint_thrust = thrust;
+		if (sp_type == RATES) {
+			rates_msg.twist.angular.x = roll_rate;
+			rates_msg.twist.angular.y = pitch_rate;
+			rates_msg.twist.angular.z = yaw_rate;
 		}
 
 		wait_armed = auto_arm;
 
+publish_setpoint:
 		publish(stamp); // calculate initial transformed messages first
 		setpoint_timer.start();
 
-		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-			publishTarget(stamp, true);
+		// publish target frame
+		if (!target.child_frame_id.empty()) {
+			if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+				target.header.frame_id = setpoint_position.header.frame_id;
+				target.header.stamp = stamp;
+				target.transform.translation.x = setpoint_position.pose.position.x;
+				target.transform.translation.y = setpoint_position.pose.position.y;
+				target.transform.translation.z = setpoint_position.pose.position.z;
+				target.transform.rotation = setpoint_position.pose.orientation;
+				static_transform_broadcaster->sendTransform(target);
+			}
 		}
 
-		publishState();
-
 		if (auto_arm) {
 			offboardAndArm();
 			wait_armed = false;
@@ -984,39 +788,27 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 }
 
 bool navigate(Navigate::Request& req, Navigate::Response& res) {
-	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res) {
-	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
-}
-
-bool setAltitude(SetAltitude::Request& req, SetAltitude::Response& res) {
-	return serve(_ALTITUDE, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
-}
-
-bool setYaw(SetYaw::Request& req, SetYaw::Response& res) {
-	return serve(_YAW, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
-}
-
-bool setYawRate(SetYawRate::Request& req, SetYawRate::Response& res) {
-	return serve(_YAW_RATE, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, "", false, res.success, res.message);
+	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
-	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setVelocity(SetVelocity::Request& req, SetVelocity::Response& res) {
-	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setAttitude(SetAttitude::Request& req, SetAttitude::Response& res) {
-	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.roll, req.pitch, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch, req.roll, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setRates(SetRates::Request& req, SetRates::Response& res) {
-	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.roll_rate, req.pitch_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
+	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch_rate, req.roll_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
 }
 
 bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
@@ -1048,7 +840,9 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		auto start = ros::Time::now();
 		while (ros::ok()) {
 			if (state.mode == "AUTO.LAND") {
-				break;
+				res.success = true;
+				busy = false;
+				return true;
 			}
 			if (ros::Time::now() - start > land_timeout)
 				throw std::runtime_error("Land request timed out");
@@ -1057,18 +851,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 			r.sleep();
 		}
 
-		// stop setpoints and invalidate position setpoint
-		setpoint_timer.stop();
-		setpoint_type = NONE;
-		setpoint_position.header.frame_id = "";
-		setpoint_altitude.header.frame_id = "";
-		yaw_frame_id = "";
-		publishState();
-
-		res.success = true;
-		busy = false;
-		return true;
-
 	} catch (const std::exception& e) {
 		res.message = e.what();
 		ROS_INFO("%s", e.what());
@@ -1078,18 +860,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 	return false;
 }
 
-bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
-{
-	setpoint_timer.stop();
-	setpoint_type = NONE;
-	setpoint_position.header.frame_id = "";
-	setpoint_altitude.header.frame_id = "";
-	yaw_frame_id = "";
-	publishState();
-	res.success = true;
-	return true;
-}
-
 int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "simple_offboard");
@@ -1111,8 +881,6 @@ int main(int argc, char **argv)
 	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
-	nh_priv.param<string>("terrain_frame", terrain.child_frame_id, "terrain");
-	nh_priv.param<string>("terrain_frame_mode", terrain_frame_mode, "altitude");
 	nh_priv.getParam("reference_frames", reference_frames);
 
 	// Default reference frames
@@ -1148,20 +916,6 @@ int main(int argc, char **argv)
 	auto manual_control_sub = nh.subscribe(mavros + "/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe(mavros + "/local_position/pose", 1, &handleLocalPosition);
 
-	ros::Subscriber altitude_sub;
-	if (!body.child_frame_id.empty() && !terrain.child_frame_id.empty()) {
-		terrain.header.frame_id = local_frame;
-		if (terrain_frame_mode == "altitude") {
-			altitude_sub = nh.subscribe(mavros + "/altitude", 1, &handleAltitude);
-		} else if (terrain_frame_mode == "range") {
-			string range_topic = nh_priv.param("range_topic", string("rangefinder/range"));
-			altitude_sub = nh.subscribe(range_topic, 1, &handleRange);
-		} else {
-			ROS_FATAL("Unknown terrain_frame_mode: %s, valid values: altitude, range", terrain_frame_mode.c_str());
-			ros::shutdown();
-		}
-	}
-
 	// Setpoint publishers
 	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
 	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
@@ -1170,22 +924,15 @@ int main(int argc, char **argv)
 	rates_pub = nh.advertise<TwistStamped>(mavros + "/setpoint_attitude/cmd_vel", 1);
 	thrust_pub = nh.advertise<Thrust>(mavros + "/setpoint_attitude/thrust", 1);
 
-	// State publisher
-	state_pub = nh_priv.advertise<clover::State>("state", 1, true);
-
 	 // Service servers
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
 	auto na_serv = nh.advertiseService("navigate", &navigate);
 	auto ng_serv = nh.advertiseService("navigate_global", &navigateGlobal);
-	auto sl_serv = nh.advertiseService("set_altitude", &setAltitude);
-	auto ya_serv = nh.advertiseService("set_yaw", &setYaw);
-	auto yr_serv = nh.advertiseService("set_yaw_rate", &setYawRate);
 	auto sp_serv = nh.advertiseService("set_position", &setPosition);
 	auto sv_serv = nh.advertiseService("set_velocity", &setVelocity);
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
 	auto sr_serv = nh.advertiseService("set_rates", &setRates);
 	auto ld_serv = nh.advertiseService("land", &land);
-	auto rl_serv = nh_priv.advertiseService("release", &release);
 
 	// Setpoint timer
 	setpoint_timer = nh.createTimer(ros::Duration(1 / nh_priv.param("setpoint_rate", 30.0)), &publishSetpoint, false, false);
@@ -1193,7 +940,7 @@ int main(int argc, char **argv)
 	position_msg.header.frame_id = local_frame;
 	position_raw_msg.header.frame_id = local_frame;
 	position_raw_msg.coordinate_frame = PositionTarget::FRAME_LOCAL_NED;
-	//rates_msg.header.frame_id = fcu_frame;
+	rates_msg.header.frame_id = fcu_frame;
 
 	ROS_INFO("ready");
 	ros::spin();

clover/src/vpe_publisher.cpp

@@ -11,14 +11,12 @@
 
 #include <string>
 #include <ros/ros.h>
-#include <tf/transform_datatypes.h>
 #include <tf2/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <geometry_msgs/TransformStamped.h>
-#include <geometry_msgs/Quaternion.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 #include <std_srvs/Trigger.h>
@@ -27,7 +25,7 @@
 using std::string;
 using namespace geometry_msgs;
 
-bool reset_flag = true; // offset should be reset on the start
+bool reset_flag = false;
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;
@@ -68,13 +66,6 @@ inline Pose getPose(const PoseStampedConstPtr& pose) { return pose->pose; }
 
 inline Pose getPose(const PoseWithCovarianceStampedConstPtr& pose) { return pose->pose.pose; }
 
-inline void keepYaw(Quaternion& quaternion)
-{
-	tf::Quaternion q;
-	q.setRPY(0, 0, tf::getYaw(quaternion));
-	tf::quaternionTFToMsg(q, quaternion);
-}
-
 template <typename T>
 void callback(const T& msg)
 {
@@ -97,29 +88,10 @@ void callback(const T& msg)
 		if (!offset_frame_id.empty()) {
 			if (reset_flag || msg->header.stamp - vpe.header.stamp > offset_timeout) {
 				// calculate the offset
-				if (!frame_id.empty()) {
-					// calculate from TF
-					offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
-					                                   msg->header.stamp, ros::Duration(0.02));
-					// offset.header.frame_id = vpe.header.frame_id;
-					offset.child_frame_id = offset_frame_id;
-
-				} else {
-					// calculate transform between pose in vpe frame and pose in local frame
-					TransformStamped local_pose = tf_buffer.lookupTransform(local_frame_id, child_frame_id,
-					                                                        msg->header.stamp, ros::Duration(0.02));
-					keepYaw(local_pose.transform.rotation);
-
-					tf::Transform vpeTransform, poseTransform;
-					tf::poseMsgToTF(vpe.pose, vpeTransform);
-					tf::transformMsgToTF(local_pose.transform, poseTransform);
-					tf::Transform offset_tf = vpeTransform.inverseTimes(poseTransform);
-					tf::transformTFToMsg(offset_tf, offset.transform);
-					offset.header.frame_id = local_frame_id;
-					offset.header.stamp = msg->header.stamp;
-					offset.child_frame_id = offset_frame_id;
-				}
-
+				offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
+				                                   msg->header.stamp, ros::Duration(0.02));
+				// offset.header.frame_id = vpe.header.frame_id;
+				offset.child_frame_id = offset_frame_id;
 				br.sendTransform(offset);
 				reset_flag = false;
 				ROS_INFO("offset reset");
@@ -150,9 +122,8 @@ int main(int argc, char **argv) {
 
 	tf2_ros::TransformListener tf_listener(tf_buffer);
 
-	nh_priv.param<string>("frame_id", frame_id, ""); // name for used visual pose frame
-	nh_priv.param<string>("offset_frame_id", offset_frame_id, ""); // name for published offset frame
-
+	nh_priv.param<string>("frame_id", frame_id, "");
+	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
 	nh.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
 	nh.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));

clover/src/www

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-
-export ROSWWW_DEFAULT=clover
-rosrun roswww_static update

clover/srv/GetTelemetry.srv

@@ -13,11 +13,11 @@ float32 alt
 float32 vx
 float32 vy
 float32 vz
-float32 roll
 float32 pitch
+float32 roll
 float32 yaw
-float32 roll_rate
 float32 pitch_rate
+float32 roll_rate
 float32 yaw_rate
 float32 voltage
 float32 cell_voltage

clover/srv/Navigate.srv

@@ -2,6 +2,7 @@ float32 x
 float32 y
 float32 z
 float32 yaw
+float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm

clover/srv/NavigateGlobal.srv

@@ -2,6 +2,7 @@ float64 lat
 float64 lon
 float32 z
 float32 yaw
+float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm

clover/srv/SetAltitude.srv

@@ -1,5 +0,0 @@
-float32 z
-string frame_id
----
-bool success
-string message

clover/srv/SetAttitude.srv

@@ -1,5 +1,5 @@
-float32 roll
 float32 pitch
+float32 roll
 float32 yaw
 float32 thrust
 string frame_id

clover/srv/SetPosition.srv

@@ -2,6 +2,7 @@ float32 x
 float32 y
 float32 z
 float32 yaw
+float32 yaw_rate
 string frame_id
 bool auto_arm
 ---

clover/srv/SetRates.srv

@@ -1,5 +1,5 @@
-float32 roll_rate
 float32 pitch_rate
+float32 roll_rate
 float32 yaw_rate
 float32 thrust
 bool auto_arm

clover/srv/SetVelocity.srv

@@ -2,6 +2,7 @@ float32 vx
 float32 vy
 float32 vz
 float32 yaw
+float32 yaw_rate
 string frame_id
 bool auto_arm
 ---

clover/srv/SetYaw.srv

@@ -1,5 +0,0 @@
-float32 yaw
-string frame_id
----
-bool success
-string message

clover/srv/SetYawRate.srv

@@ -1,4 +0,0 @@
-float32 yaw_rate
----
-bool success
-string message

clover/test/basic.py

@@ -3,7 +3,6 @@ import rospy
 import pytest
 from mavros_msgs.msg import State
 from clover import srv
-import time
 
 @pytest.fixture()
 def node():
@@ -25,7 +24,6 @@ def test_simple_offboard_services_available():
     rospy.wait_for_service('set_attitude', timeout=5)
     rospy.wait_for_service('set_rates', timeout=5)
     rospy.wait_for_service('land', timeout=5)
-    rospy.wait_for_service('simple_offboard/release', timeout=5)
 
 def test_web_video_server(node):
     try:
@@ -61,18 +59,3 @@ def test_blocks(node):
 
     t.join()
     assert wait_print.result == 'test'
-
-def test_long_callback():
-    from clover import long_callback
-    from time import sleep
-
-    # very basic test for long_callback
-    @long_callback
-    def cb(i):
-        cb.counter += i
-    cb.counter = 0
-    cb(2)
-    sleep(0.1)
-    cb(3)
-    sleep(1)
-    assert cb.counter == 5

clover/test/basic.test

@@ -37,19 +37,6 @@
 
     <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
 
-    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
-        args="messages image_raw 5.0 image_raw_throttled" required="true"/>
-
-    <node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" required="true">
-        <param name="num_worker_threads" value="2"/>
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" required="true">
-        <remap from="image_mono" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="image_rect" to="main_camera/image_rect"/>
-    </node>
-
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clover/test/offboard.py

@@ -1,437 +0,0 @@
-import rospy
-import pytest
-from pytest import approx
-import threading
-import mavros_msgs.msg
-from mavros_msgs.srv import SetMode
-from geometry_msgs.msg import PoseStamped
-from clover import srv
-from clover.msg import State
-from std_srvs.srv import Trigger
-from math import nan, inf
-import tf2_ros
-import tf2_geometry_msgs
-
-@pytest.fixture()
-def node():
-    return rospy.init_node('offboard_test', anonymous=True)
-
-@pytest.fixture
-def tf_buffer():
-    buf = tf2_ros.Buffer()
-    tf2_ros.TransformListener(buf)
-    return buf
-
-def get_state():
-    return rospy.wait_for_message('/simple_offboard/state', State, timeout=1)
-
-def get_navigate_target(tf_buffer):
-    target = tf_buffer.lookup_transform('map', 'navigate_target', rospy.get_rostime(), rospy.Duration(1))
-    assert target.child_frame_id == 'navigate_target'
-    return target
-
-def test_offboard(node, tf_buffer):
-    navigate = rospy.ServiceProxy('navigate', srv.Navigate)
-    set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-    set_altitude = rospy.ServiceProxy('set_altitude', srv.SetAltitude)
-    set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)
-    set_yaw_rate = rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate)
-    set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
-    set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
-    set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
-    get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-    land = rospy.ServiceProxy('land', Trigger)
-
-    res = navigate()
-    assert res.success == False
-    assert res.message.startswith('State timeout')
-
-    telem = get_telemetry()
-    assert telem.connected == False
-
-    # mocked state publisher
-    state_pub = rospy.Publisher('/mavros/state', mavros_msgs.msg.State, latch=True, queue_size=1)
-    state_msg = mavros_msgs.msg.State(mode='OFFBOARD', armed=True)
-
-    def publish_state():
-        r = rospy.Rate(2)
-        while not rospy.is_shutdown():
-            state_msg.header.stamp = rospy.Time.now()
-            state_pub.publish(state_msg)
-            r.sleep()
-
-    # start publishing state
-    threading.Thread(target=publish_state, daemon=True).start()
-    rospy.sleep(0.5)
-
-    # set_mode service mock
-    def set_mode(req):
-        state_msg.mode = req.custom_mode # set mocked mode to requested
-        return True,
-
-    rospy.Service('/mavros/set_mode', SetMode, set_mode)
-
-    telem = get_telemetry()
-    assert telem.connected == False
-
-    res = navigate()
-    assert res.success == False
-    assert res.message.startswith('No connection to FCU')
-
-    state_msg.connected = True
-    rospy.sleep(1)
-
-    telem = get_telemetry()
-    assert telem.connected == True
-
-    res = navigate()
-    assert res.success == False
-    assert res.message.startswith('No local position')
-
-    local_position_pub = rospy.Publisher('/mavros/local_position/pose', PoseStamped, latch=True, queue_size=1)
-    local_position_msg = PoseStamped()
-    local_position_msg.header.frame_id = 'map'
-    local_position_msg.pose.position.x = 1
-    local_position_msg.pose.position.y = 2
-    local_position_msg.pose.position.z = 3
-    local_position_msg.pose.orientation.w = 1
-
-    def publish_local_position():
-        r = rospy.Rate(30)
-        while not rospy.is_shutdown():
-            local_position_msg.header.stamp = rospy.Time.now()
-            local_position_pub.publish(local_position_msg)
-            r.sleep()
-
-    # start publishing local position
-    threading.Thread(target=publish_local_position, daemon=True).start()
-    rospy.sleep(0.5)
-
-    # check body frame
-    body = tf_buffer.lookup_transform('map', 'body', rospy.get_rostime(), rospy.Duration(1))
-    assert body.child_frame_id == 'body'
-    assert body.transform.translation.x == approx(1)
-    assert body.transform.translation.y == approx(2)
-    assert body.transform.translation.z == approx(3)
-
-    res = navigate(x=3, y=2, z=1, frame_id='map')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 3
-    assert state.y == 2
-    assert state.z == 1
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-    target = get_navigate_target(tf_buffer)
-    assert target.header.frame_id == 'map'
-    assert target.transform.translation.x == approx(3)
-    assert target.transform.translation.y == approx(2)
-    assert target.transform.translation.z == approx(1)
-    assert target.transform.rotation.x == 0
-    assert target.transform.rotation.y == 0
-    assert target.transform.rotation.z == 0
-    assert target.transform.rotation.w == 1
-
-    # try to set only the y
-    res = navigate(x=nan, y=1, z=nan)
-    assert res.success == False
-    assert res.message.startswith('x and y can be set only together')
-
-    # set z in body frame
-    res = navigate(x=nan, y=nan, z=1, frame_id='body')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 3
-    assert state.y == 2
-    assert state.z == 4
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-
-    # set xy in test frame
-    res = navigate(x=1, y=2, z=nan, frame_id='test')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 1
-    assert state.y == 2
-    assert state.z == 4
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'test'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'test'
-
-    # auto_arm should not invalidate the setpoint if not effective
-    res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 1
-    assert state.y == 2
-    assert state.z == 1
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'test'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-
-    # auto_arm should invalidate the setpoint if effective
-    state_msg.mode = 'STABILIZED' # pretend we are not in OFFBOARD mode
-    rospy.sleep(1)
-    res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 1
-    assert state.y == 2
-    assert state.z == 1
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-    state_msg.mode = 'OFFBOARD'
-    rospy.sleep(1)
-
-    # set_attitude should invalidate the setpoint
-    res = set_attitude()
-    assert res.success == True
-
-    res = navigate(x=5, y=6, z=nan, yaw=nan, frame_id='map')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 3
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-
-    # test set_altitude
-    res = set_altitude(z=7, frame_id='test')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 7
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-    assert state.yaw_frame_id == 'map'
-
-    # test set_yaw
-    res = set_yaw(yaw=0.5, frame_id='test2')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 7
-    assert state.yaw == 0.5
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-    assert state.yaw_frame_id == 'test2'
-
-    # test set_yaw_rate
-    res = set_yaw_rate(yaw_rate=2)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 7
-    assert state.yaw_rate == 2
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-
-    # navigate(yaw=nan) should keep yaw rate mode
-    res = navigate(x=nan, y=nan, z=nan, yaw=nan)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 7
-    assert state.yaw_rate == 2
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-
-    # set_yaw(nan) should change back to yaw mode
-    res = set_yaw(yaw=nan)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.yaw == 0
-    assert state.yaw_frame_id == 'map'
-
-    # test set_position
-    res = set_position(x=nan, y=nan, z=13, yaw=nan, frame_id='test2')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_POSITION
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 13
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test2'
-    assert state.yaw_frame_id == 'map'
-
-    # set_altitude should not change the mode
-    res = set_altitude(z=3, frame_id='test')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_POSITION
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 3
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-    assert state.yaw_frame_id == 'map'
-
-    # set_yaw should not change the main mode
-    res = set_yaw(yaw=1, frame_id='test2')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_POSITION
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 3
-    assert state.yaw == 1
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-    assert state.yaw_frame_id == 'test2'
-
-    # test set_velocity
-    res = set_velocity(vx=1, frame_id='body')
-    state = get_state()
-    assert state.mode == State.MODE_VELOCITY
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.vx == 1
-    assert state.vy == 0
-    assert state.vz == 0
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-
-    # set_altitude should not work in velocity mode
-    res = set_altitude(z=3, frame_id='test')
-    assert res.success == False
-    assert res.message.startswith('Altitude cannot be set in')
-
-    # test set_attitude
-    res = set_attitude(roll=0.1, pitch=0.2, yaw=0.3, thrust=0.5)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_ATTITUDE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.roll == approx(0.1)
-    assert state.pitch == approx(0.2)
-    assert state.yaw == approx(0.3)
-    assert state.thrust == approx(0.5)
-    assert state.yaw_frame_id == 'map'
-    msg = rospy.wait_for_message('/mavros/setpoint_attitude/attitude', PoseStamped, timeout=3)
-    # Tait-Bryan ZYX angle (rzyx) converted to quaternion
-    assert msg.pose.orientation.x == approx(0.0342708)
-    assert msg.pose.orientation.y == approx(0.10602051)
-    assert msg.pose.orientation.z == approx(0.14357218)
-    assert msg.pose.orientation.w == approx(0.98334744)
-    msg = rospy.wait_for_message('/mavros/setpoint_attitude/thrust', mavros_msgs.msg.Thrust, timeout=3)
-    assert msg.thrust == approx(0.5)
-
-    # set_yaw should work in attitude mode
-    res = set_yaw(yaw=0.7, frame_id='test2')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_ATTITUDE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.roll == approx(0.1)
-    assert state.pitch == approx(0.2)
-    assert state.yaw == approx(0.7)
-    assert state.thrust == approx(0.5)
-    assert state.yaw_frame_id == 'test2'
-
-    # set_yaw_rate should not work in attitude mode
-    res = set_yaw_rate(yaw_rate=0.3)
-    assert res.success == False
-    assert res.message.startswith('Yaw rate cannot be set in')
-
-    # test set_rates
-    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=0.3, thrust=0.6)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_RATES
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.roll_rate == approx(0)
-    assert state.pitch_rate == approx(0)
-    assert state.yaw_rate == approx(0.3)
-    assert state.thrust == approx(0.6)
-    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
-    assert msg.thrust == approx(0.6)
-
-    res = set_rates(roll_rate=0.3, pitch_rate=0.2, yaw_rate=0.1, thrust=0.4)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_RATES
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.roll_rate == approx(0.3)
-    assert state.pitch_rate == approx(0.2)
-    assert state.yaw_rate == approx(0.1)
-    assert state.thrust == approx(0.4)
-
-    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=nan, thrust=0.3)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_RATES
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.roll_rate == approx(0.3)
-    assert state.pitch_rate == approx(0.2)
-    assert state.yaw_rate == approx(0.1)
-    assert state.thrust == approx(0.3)
-    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
-    assert msg.type_mask == mavros_msgs.msg.AttitudeTarget.IGNORE_ATTITUDE
-    assert msg.body_rate.x == approx(0.3)
-    assert msg.body_rate.y == approx(0.2)
-    assert msg.body_rate.z == approx(0.1)
-
-    # set_yaw_rate should work in rates mode
-    res = set_yaw_rate(yaw_rate=0.4)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_RATES
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.roll_rate == approx(0.3)
-    assert state.pitch_rate == approx(0.2)
-    assert state.yaw_rate == approx(0.4)
-    assert state.thrust == approx(0.3)
-
-    res = set_rates(roll_rate=inf)
-    assert res.success == False
-    assert res.message == 'roll_rate argument cannot be Inf'
-
-    # test land service
-    res = land()
-    assert res.success == True
-    assert state_msg.mode == 'AUTO.LAND' # check that the mode was set correctly

clover/test/offboard.test

@@ -1,10 +0,0 @@
-<launch>
-    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>
-
-    <node pkg="tf2_ros" type="static_transform_publisher" name="test_frame" args="10 20 30 0 0 0 map test"/>
-
-    <node pkg="tf2_ros" type="static_transform_publisher" name="test2_frame" args="100 200 300 0 0 0 map test2"/>
-
-    <param name="test_module" value="$(find clover)/test/offboard.py"/>
-    <test test-name="offboard_test" pkg="ros_pytest" type="ros_pytest_runner"/>
-</launch>

clover/udev/99-px4fmu.rules

@@ -1,54 +1,17 @@
-# Source files: PX4-Autopilot/boards/**/nuttx-config/nsh/defconfig
-
-# Additional info:
-# https://docs.px4.io/main/en/flight_controller/
-# https://github.com/mavlink/qgroundcontrol/blob/master/src/comm/USBBoardInfo.json
-
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 GNF405", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001c", ATTRS{product}=="PX4 FMUK66 v3.x", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001c", ATTRS{product}=="PX4 FMUK66 E", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001d", ATTRS{product}=="PX4 FMURT1062 v1.x", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="DiatoneMambaF405 MK2", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="a32f", ATTRS{product}=="PX4 FMU ModalAI FCv1", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="a330", ATTRS{product}=="PX4 FMU ModalAI FCv2", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU UVify Core", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7v2", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004b", ATTRS{product}=="PX4 DurandalV1", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteF7", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7Mini-nand", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004E", ATTRS{product}=="PX4 PIX32V5", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0061", ATTRS{product}=="PX4 ATL Mantis-EDU", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV Nora", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="MatekH743-mini", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="MatekH743", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="120A", ATTRS{idProduct}=="1004", ATTRS{product}=="Matekgnssm9nf4", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="1209", ATTRS{idProduct}=="1013", ATTRS{product}=="MatekH743", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="0037", ATTRS{product}=="PX4 FMU SmartAP AIRLink", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1058", ATTRS{product}=="CubeOrange+", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1012", ATTRS{product}=="CubeYellow", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1016", ATTRS{product}=="CubeOrange", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0035", ATTRS{product}=="PX4 FMU v6X.x", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0038", ATTRS{product}=="PX4 FMU v6C.x", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0033", ATTRS{product}=="PX4 FMU v5X.x", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="PX4 FMU v6U.x", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
+# PixHawk (px4fmu-v2), px4fmu-v3
 SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", ATTRS{product}=="PX4 FMU v2.x", SYMLINK+="px4fmu"
+# PixRacer (px4fmu-v4)
 SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU v4.x", SYMLINK+="px4fmu"
+# px4fmu-v5
 SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0032", ATTRS{product}=="PX4 FMU v5.x", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004b", ATTRS{product}=="PX4 SP RACING H7 EXTREME", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0030", ATTRS{product}=="MindPX FMU v2.x", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0039", ATTRS{product}=="ARK FMU v6X.x", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 FreeFly RTK GPS", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1024", ATTRS{product}=="mRoControlZeroH7 OEM", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1017", ATTRS{product}=="mRoPixracerPro", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1023", ATTRS{product}=="mRoControlZeroH7", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="008D", ATTRS{product}=="mRoControlZeroF7", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV X2.1", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1022", ATTRS{product}=="mRoControlZero Classic", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0088", ATTRS{product}=="mRo x2.1-777", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="35a7", ATTRS{idProduct}=="0002", ATTRS{product}=="FCC-R1", SYMLINK+="px4fmu"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="35a7", ATTRS{idProduct}=="0001", ATTRS{product}=="FCC-K1", SYMLINK+="px4fmu"
+# auav
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV x2.1", SYMLINK+="px4fmu"
+# crazyflie
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
+# px4fmu-v4pro
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
+# Omnibus
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
+# CUAV X7 Pro
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"
+

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

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

clover/www/js/topics.js

@@ -40,7 +40,6 @@ function viewTopicsList() {
 let rosdistro;
 
 function viewTopic(topic) {
-	let counter = 0;
 	let index = '<a href=topics.html>Topics</a>';
 	title.innerHTML = `${index}: ${topic}`;
 	topicMessage.style.display = 'block';
@@ -52,11 +51,10 @@ function viewTopic(topic) {
 	});
 
 	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
-		counter++;
 		document.title = topic;
 		if (mouseDown) return;
 
-		if (msg.header && msg.header.stamp) {
+		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();
@@ -64,11 +62,7 @@ function viewTopic(topic) {
 			}
 		}
 
-		let width = Number(params.width) || 100;
-		let indent = Number(params.indent) || 2;
-		let txt = YAML.stringify(msg, { lineWidth: width, indent: indent });
-		let html = `<div class=counter>${counter} received</div>${txt}`; // JSON.stringify(msg, null, 4);
-		topicMessage.innerHTML = html;
+		topicMessage.innerHTML = yamlStringify(msg); // JSON.stringify(msg, null, 4);
 	});
 }
 

clover/www/topics.html

@@ -4,7 +4,7 @@
 		<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/yaml.js"></script>
+		<script src="js/json-to-pretty-yaml.js"></script>
 		<style>
 			#topics { line-height: 1.2em; }
 			#topic-view {
@@ -15,7 +15,6 @@
 				white-space: pre;
 				font-family: monospace;
 			}
-			.counter { color: #b9b9b9; margin-bottom: 1em; }
 			#topic-type { font-family: monospace; font-size: 0.5em; vertical-align: super; font-weight: normal; }
 			.topic { font-family: monospace; }
 			body.closed { background-color: rgb(207, 207, 207); }

clover_blocks/README.md

@@ -47,7 +47,6 @@ http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
 
 * `~running` ([*std_msgs/Bool*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
 * `~block` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
-* `~print` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program output messages (published in *print* blocks).
 * `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
 * `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
 

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.25.0</version>
+  <version>0.23.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_blocks/src/clover_blocks

@@ -166,7 +166,7 @@ def load(req):
         return {'names': [], 'programs': [], 'message': str(e)}
 
 
-name_regexp = re.compile(r'^[a-zA-Z1-9-_.]{0,30}$')
+name_regexp = re.compile(r'^[a-zA-Z-_.]{0,20}$')
 
 def store(req):
     if not name_regexp.match(req.name):

clover_blocks/www/blocks.js

@@ -15,7 +15,6 @@ const COLOR_GPIO = 200;
 const DOCS_URL = 'https://clover.coex.tech/en/blocks.html';
 
 var frameIds = [["body", "BODY"], ["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["map", "MAP"]];
-var frameIdsWithTerrain = frameIds.concat([["terrain", "TERRAIN"]]);
 
 function considerFrameId(e) {
 	if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
@@ -23,7 +22,7 @@ function considerFrameId(e) {
 	var frameId = this.getFieldValue('FRAME_ID');
 	// set appropriate coordinates labels
 	if (this.getInput('X')) { // block has x-y-z fields
-		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK' || frameId == 'TERRAIN') {
+		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK') {
 			this.getInput('X').fieldRow[0].setValue('forward');
 			this.getInput('Y').fieldRow[0].setValue('left');
 			this.getInput('Z').fieldRow[0].setValue('up');
@@ -60,8 +59,8 @@ function updateSetpointBlock(e) {
 	this.getInput('VY').setVisible(velocity);
 	this.getInput('VZ').setVisible(velocity);
 	this.getInput('YAW').setVisible(attitude);
-	this.getInput('ROLL').setVisible(attitude);
 	this.getInput('PITCH').setVisible(attitude);
+	this.getInput('ROLL').setVisible(attitude);
 	this.getInput('THRUST').setVisible(attitude);
 	this.getInput('RELATIVE_TO').setVisible(type != 'RATES');
 
@@ -74,7 +73,7 @@ function updateSetpointBlock(e) {
 
 Blockly.Blocks['navigate'] = {
 	init: function () {
-		let navFrameId = frameIdsWithTerrain.slice();
+		let navFrameId = frameIds.slice();
 		navFrameId.push(['global', 'GLOBAL_LOCAL'])
 		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
@@ -164,14 +163,14 @@ Blockly.Blocks['setpoint'] = {
 		this.appendValueInput("VZ")
 			.setCheck("Number")
 			.appendField("vz");
-		this.appendValueInput("ROLL")
-			.setCheck("Number")
-			.appendField("roll")
-			.setVisible(false);
 		this.appendValueInput("PITCH")
 			.setCheck("Number")
 			.appendField("pitch")
 			.setVisible(false);
+		this.appendValueInput("ROLL")
+			.setCheck("Number")
+			.appendField("roll")
+			.setVisible(false);
 		this.appendValueInput("YAW")
 			.setCheck("Number")
 			.appendField("yaw")
@@ -214,7 +213,7 @@ Blockly.Blocks['get_position'] = {
 			.appendField("current")
 			.appendField(new Blockly.FieldDropdown([["x", "X"], ["y", "Y"], ["z", "Z"], ["vx", "VX"], ["vy", "VY"], ["vz", "VZ"]]), "FIELD")
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(frameIdsWithTerrain), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -248,7 +247,7 @@ Blockly.Blocks['get_attitude'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["roll", "ROLL"], ["pitch", "PITCH"], ["roll rate", "ROLL_RATE"], ["pitch rate", "PITCH_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
+			.appendField(new Blockly.FieldDropdown([["pitch", "PITCH"], ["roll", "ROLL"], ["pitch rate", "PITCH_RATE"], ["roll rate", "ROLL_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
 		this.setOutput(true, "Number");
 		this.setColour(COLOR_STATE);
 		this.setTooltip("Returns current orientation or angle rates in degree or degree per second (not radian).");
@@ -269,19 +268,6 @@ Blockly.Blocks['voltage'] = {
 	}
 };
 
-Blockly.Blocks['get_rc'] = {
-	init: function () {
-		this.appendDummyInput()
-			.appendField("RC channel")
-		this.appendValueInput("CHANNEL")
-			.setCheck("Number");
-		this.setInputsInline(true);
-		this.setOutput(true, "Number");
-		this.setColour(COLOR_STATE);
-		this.setTooltip("Returns current RC channel value.");
-		this.setHelpUrl(DOCS_URL + '#' + this.type);
-	}
-}
 
 Blockly.Blocks['armed'] = {
 	init: function () {
@@ -523,7 +509,7 @@ Blockly.Blocks['distance'] = {
 			.appendField("z");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["terrain", "TERRAIN"]]), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"]]), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")

clover_blocks/www/index.html

@@ -69,8 +69,8 @@
 				<value name="VX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VY"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VZ"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
-				<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="YAW"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="THRUST"><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>
@@ -100,9 +100,6 @@
 			<block type="mode"></block>
 			<block type="armed"></block>
 			<block type="voltage"></block>
-			<block type="get_rc">
-				<value name="CHANNEL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
-			</block>
 		</category>
 		<category name="LED" colour="#02d754">
 			<block type="set_effect">

clover_blocks/www/python.js

@@ -81,10 +81,7 @@ function generateROSDefinitions() {
 		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.setYaw) {
-			code += `set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)\n`;
+		code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
 		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
@@ -279,11 +276,10 @@ Blockly.Python.angle = function(block) {
 }
 
 Blockly.Python.set_yaw = function(block) {
-	rosDefinitions.setYaw = true;
 	simpleOffboard();
 	let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
 	let frameId = buildFrameId(block);
-	let code = `set_yaw(yaw=${yaw}, frame_id=${frameId})\n`;
+	let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
 	if (block.getFieldValue('WAIT') == 'TRUE') {
 		rosDefinitions.waitYaw = true;
 		simpleOffboard();
@@ -332,11 +328,11 @@ Blockly.Python.setpoint = function(block) {
 	} else if (type == 'ATTITUDE') {
 		rosDefinitions.setAttitude = true;
 		simpleOffboard();
-		return `set_attitude(roll=${roll}, pitch=${pitch}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
+		return `set_attitude(pitch=${pitch}, roll=${roll}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
 	} else if (type == 'RATES') {
 		rosDefinitions.setRates = true;
 		simpleOffboard();
-		return `set_rates(roll_rate=${roll}, pitch_rate=${pitch}, yaw_rate=${yaw}, thrust=${thrust})\n`;
+		return `set_rates(pitch_rate=${pitch}, roll_rate=${roll}, yaw_rate=${yaw}, thrust=${thrust})\n`;
 	}
 }
 
@@ -402,12 +398,6 @@ Blockly.Python.voltage = function(block) {
 	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
 }
 
-Blockly.Python.get_rc = function(block) {
-	Blockly.Python.definitions_['import_rcin'] = 'from mavros_msgs.msg import RCIn';
-	var channel = Blockly.Python.valueToCode(block, 'CHANNEL', Blockly.Python.ORDER_NONE);
-	return [`rospy.wait_for_message('mavros/rc/in', RCIn).channels[${channel}]`, Blockly.Python.ORDER_FUNCTION_CALL]
-}
-
 function parseColor(color) {
 	return {
 		r: parseInt(color.substr(2, 2), 16),

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.25.0</version>
+  <version>0.23.0</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_description/urdf/sensors/distance_sensor.urdf.xacro

@@ -2,7 +2,7 @@
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="../camera_sensor.urdf.xacro"/>
 
-  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10 fov:=0.471239">
+  <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="${name}_joint" type="fixed">
       <origin xyz="${x} ${y} ${z}"
               rpy="${roll} ${pitch} ${yaw}"/>
@@ -58,7 +58,7 @@
           <topicName>/rangefinder/range</topicName>
           <frameName>rangefinder</frameName>
           <radiation>infrared</radiation>
-          <fov>${fov}</fov>
+          <fov>0.01</fov>
           <gaussianNoise>0.001</gaussianNoise>
           <updateRate>${rate}</updateRate>
           <min_distance>${range_min}</min_distance>

clover_simulation/README.md

@@ -10,7 +10,7 @@ The simulation may be configured by a set of arguments:
 
 * `mav_id` (*integer*, default: *0*) - MAVLink identifier of the vehicle. **Note**: Multi-vehicle simulation is possible, but requires extensive changes to launch files;
 * `est` (*string*, default: *lpe*, possible values: *lpe*, *ekf2*) - PX4 estimator selection. Note that this may be overriden in the startup scripts for your craft;
-* `vehicle` (*string*, default: *clover*) - PX4 vehicle name. Depending on this parameter, different PX4 presets will be loaded.
+* `vehicle` (*string*, default: *clover*) - PX4 vehicle name. Depending on this parameter, different PX4 presets will be loaded. **Note**: The default value, *clover*, requires you to use [Clover-specific PX4 branch](https://github.com/CopterExpress/Firmware/tree/v1.10.1-clever);
 * `main_camera` (*boolean*, default: *true*) - controls whether the drone will have a vision position estimation camera;
 * `rangefinder` (*boolean*, default: *true*) - controls whether the drone will have a laser rangefinder;
 * `led` (*boolean*, default: *true*) - controls whether the drone will have a programmable LED strip;

clover_simulation/airframes/4500_clover

@@ -31,7 +31,7 @@ param set-default EKF2_OF_DELAY 0
 param set-default EKF2_OF_QMIN 10
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_OF_N_MAX 0.2
-param set-default EKF2_HGT_MODE 3 # 0 = baro, 1 = gps, 2 = range, 3 = vision
+param set-default EKF2_HGT_MODE 2 # 0 = baro, 1 = gps, 2 = range, 3 = vision
 param set-default EKF2_EVA_NOISE 0.1
 param set-default EKF2_EVP_NOISE 0.1
 param set-default EKF2_EV_DELAY 0

clover_simulation/models/red_circle/materials/scripts/red_circle.material

@@ -1,16 +0,0 @@
-material red_circle
-{
-	technique
-	{
-		pass
-		{
-			scene_blend alpha_blend
-			texture_unit
-			{
-				texture red_circle.png
-				filtering none
-				scale 1.0 1.0
-			}
-		}
-	}
-}

clover_simulation/models/red_circle/model.config

@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>Red Circle</name>
-    <version>1.0</version>
-    <sdf version="1.5">red_circle.sdf</sdf>
-    <author>
-        <name>Oleg Kalachev</name>
-        <email>okalachev@gmail.com</email>
-    </author>
-    <description>
-        Red circle of size 40 cm on the floor for recognizing by a drone
-    </description>
-</model>

clover_simulation/models/red_circle/red_circle.sdf

@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <model name="red_circle">
-        <static>true</static>
-        <link name="red_circle_link">
-            <pose>0 0 1e-3 0 0 0</pose>
-            <visual name="red_circle_texture">
-                <cast_shadows>false</cast_shadows>
-                <geometry>
-                    <box>
-                        <size>0.4 0.4 1e-3</size>
-                    </box>
-                </geometry>
-                <material>
-                    <script>
-                        <uri>model://red_circle/materials/scripts</uri>
-                        <uri>model://red_circle/materials/textures</uri>
-                        <name>red_circle</name>
-                    </script>
-                </material>
-            </visual>
-        </link>
-    </model>
-</sdf>

clover_simulation/models/red_circle/red_circle.svg

@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<svg xmlns="http://www.w3.org/2000/svg" width="20" height="20" viewBox="0 0 20 20">
-	<title>
-		red_circle
-	</title><g fill="red">
-	<circle cx="10.05" cy="10.05" r="9.9"/>
-</g></svg>

clover_simulation/package.xml

@@ -1,6 +1,6 @@
-<package format="3">
+<package format="2">
     <name>clover_simulation</name>
-    <version>0.25.0</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>
@@ -22,8 +22,6 @@
     <depend>gazebo_ros</depend>
     <depend>gazebo_plugins</depend>
     <depend>rospy</depend>
-    <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
-    <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
     <export>
         <gazebo_ros gazebo_media_path="${prefix}"/>

clover_simulation/src/sim_leds.cpp

@@ -65,8 +65,7 @@ public:
 		}
 
 		role = (ros::this_node::getName() == "/gazebo") ? Role::Server : Role::Client;
-		ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s) in namespace '%s'",
-			role == Role::Client ? "client" : "server", robotNamespace.c_str());
+		ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s)", role == Role::Client ? "client" : "server");
 
 		nh.reset(new ros::NodeHandle(robotNamespace));
 
@@ -110,6 +109,7 @@ LedController& get(std::string robotNamespace)
 	std::lock_guard<std::mutex> lock(controllerMutex);
 	auto it = controllers.find(robotNamespace);
 	if (it == controllers.end()) {
+		gzwarn << "Creating new LED controller for namespace " << robotNamespace << "\n";
 		controllers[robotNamespace].reset(new LedController(robotNamespace));
 		return *controllers[robotNamespace];
 	}

docs/Dockerfile

@@ -0,0 +1,36 @@
+# Build: sudo docker build -t clover-docs:latest .
+
+# Run: docker run -it --rm -v ~/clover:/clover clover-docs:latest
+
+# Save image: sudo docker save clover-docs:latest | gzip > clover-docs.tar.gz
+
+FROM ubuntu:22.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y curl git
+
+RUN curl https://raw.githubusercontent.com/creationix/nvm/master/install.sh | bash
+RUN . $HOME/.nvm/nvm.sh && nvm install 10.15 && nvm use 10.15 && npm --version
+
+RUN echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections \
+  && apt-get update \
+  && apt-get install -y calibre msttcorefonts ghostscript
+
+RUN . $HOME/.nvm/nvm.sh && curl https://raw.githubusercontent.com/CopterExpress/clover/master/builder/assets/install_gitbook.sh | bash
+
+# RUN . $HOME/.nvm/nvm.sh && npm install markdownlint-cli@0.28.1 -g && PUPPETEER_SKIP_DOWNLOAD=1 npm install svgexport -g
+RUN . $HOME/.nvm/nvm.sh && npm install markdownlint-cli@0.28.1 -g && npm install svgexport -g --unsafe-perm
+
+RUN . $HOME/.nvm/nvm.sh && node -v && gitbook -V && markdownlint -V
+
+RUN curl https://raw.githubusercontent.com/CopterExpress/clover/master/book.json > book.json
+
+RUN . $HOME/.nvm/nvm.sh && gitbook install
+
+CMD . $HOME/.nvm/nvm.sh && export QTWEBENGINE_DISABLE_SANDBOX=1 && cp -r node_modules /clover && cd /clover && gitbook build \
+  && gitbook pdf ./ _book/clover.pdf && \
+  gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_ru_compressed.pdf _book/clover_ru.pdf && \
+  gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_en_compressed.pdf _book/clover_en.pdf && \
+  rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf && \
+  rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf