mirror of
https://github.com/CopterExpress/clover.git
synced 2026-06-01 07:29:32 +00:00
Compare commits
11 Commits
v0.25
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b3b530c1c7 |
7
.github/workflows/build-image.yaml
vendored
7
.github/workflows/build-image.yaml
vendored
@@ -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 }}
|
||||
|
||||
5
.github/workflows/build.yml
vendored
5
.github/workflows/build.yml
vendored
@@ -5,13 +5,12 @@ 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
|
||||
@@ -23,7 +22,7 @@ jobs:
|
||||
working-directory: catkin_ws
|
||||
shell: bash
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
path: catkin_ws/src/clover
|
||||
- name: Install requirements
|
||||
|
||||
6
.github/workflows/docs.yml
vendored
6
.github/workflows/docs.yml
vendored
@@ -5,7 +5,6 @@ on:
|
||||
branches: [ '*' ]
|
||||
pull_request:
|
||||
branches: [ '*' ]
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
@@ -20,7 +19,7 @@ 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' }
|
||||
@@ -82,8 +81,5 @@ 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
|
||||
|
||||
5
.github/workflows/editorconfig.yaml
vendored
5
.github/workflows/editorconfig.yaml
vendored
@@ -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"
|
||||
|
||||
@@ -113,9 +113,7 @@
|
||||
"VMware",
|
||||
"DuoCam"
|
||||
],
|
||||
"code_blocks": false,
|
||||
"html_elements": false
|
||||
"code_blocks": false
|
||||
},
|
||||
"MD045": false,
|
||||
"MD051": false
|
||||
"MD045": false
|
||||
}
|
||||
|
||||
@@ -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).
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Image features:
|
||||
|
||||
@@ -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()
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="3">
|
||||
<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>
|
||||
|
||||
@@ -50,7 +50,6 @@
|
||||
#include <aruco_pose/DetectorConfig.h>
|
||||
#include <aruco_pose/SetMarkers.h>
|
||||
|
||||
#include "draw.h"
|
||||
#include "utils.h"
|
||||
#include <memory>
|
||||
#include <functional>
|
||||
@@ -140,7 +139,7 @@ private:
|
||||
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;
|
||||
@@ -265,7 +264,8 @@ 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;
|
||||
|
||||
@@ -83,7 +83,7 @@ private:
|
||||
visualization_msgs::MarkerArray vis_array_;
|
||||
std::string known_vertical_, 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 flip_vertical_, auto_flip_, image_axis_;
|
||||
|
||||
public:
|
||||
virtual void onInit()
|
||||
@@ -111,7 +111,6 @@ public:
|
||||
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", "");
|
||||
|
||||
@@ -179,20 +178,6 @@ 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()) {
|
||||
// simple estimation
|
||||
valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
|
||||
|
||||
@@ -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]
|
||||
|
||||
@@ -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)" \
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -6,10 +6,6 @@ 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
|
||||
@@ -37,12 +33,9 @@ import tf2_geometry_msgs
|
||||
import VL53L1X
|
||||
import pymavlink
|
||||
from pymavlink import mavutil
|
||||
from image_geometry import PinholeCameraModel, StereoCameraModel
|
||||
# from espeak import espeak
|
||||
from pyzbar import pyzbar
|
||||
import docopt
|
||||
import geopy
|
||||
import flask
|
||||
|
||||
print(cv2.getBuildInformation())
|
||||
|
||||
|
||||
@@ -60,9 +60,6 @@ rosversion cv_camera
|
||||
rosversion web_video_server
|
||||
rosversion nodelet
|
||||
rosversion image_view
|
||||
rosversion stereo_msgs
|
||||
rosversion vision_msgs
|
||||
rosversion angles
|
||||
|
||||
[[ $(rosversion ws281x) == "0.0.13" ]]
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
@@ -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()
|
||||
|
||||
18
clover/cmake/FindGeographicLib.cmake
Normal file
18
clover/cmake/FindGeographicLib.cmake
Normal file
@@ -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)
|
||||
@@ -5,7 +5,7 @@
|
||||
# - 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.
|
||||
# - prints its name to the console.
|
||||
|
||||
import rospy
|
||||
import cv2
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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()
|
||||
@@ -16,10 +16,9 @@
|
||||
<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="use_map_markers" value="true"/>
|
||||
<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="length" value="$(arg length)"/>
|
||||
|
||||
@@ -45,13 +45,12 @@
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<param name="calc_flow_gyro" value="true"/>
|
||||
<param name="roi_rad" value="0.8"/>
|
||||
<param name="disable_on_vpe" value="true"/>
|
||||
<param name="disable_on_vpe" value="false"/>
|
||||
</node>
|
||||
|
||||
<!-- simplified offboard control -->
|
||||
<node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
|
||||
<param name="reference_frames/main_camera_optical" value="map"/>
|
||||
<param name="terrain_frame_mode" value="range"/>
|
||||
</node>
|
||||
|
||||
<!-- main camera -->
|
||||
@@ -72,9 +71,6 @@
|
||||
<param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
|
||||
</node>
|
||||
|
||||
<!-- rangefinder's frame -->
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder" if="$(arg rangefinder_vl53l1x)"/>
|
||||
|
||||
<!-- led strip -->
|
||||
<include file="$(find clover)/launch/led.launch" if="$(arg led)">
|
||||
<arg name="simulator" value="$(arg simulator)"/>
|
||||
|
||||
@@ -21,8 +21,7 @@
|
||||
</node>
|
||||
|
||||
<!-- high level led effects control, events notification with leds -->
|
||||
<node pkg="clover" name="led_effect" type="led" clear_params="true" output="screen" if="$(arg led_effect)">
|
||||
<param name="led" value="led"/>
|
||||
<node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
|
||||
<param name="blink_rate" value="2"/>
|
||||
<param name="fade_period" value="0.5"/>
|
||||
<param name="rainbow_period" value="5"/>
|
||||
|
||||
@@ -6,7 +6,6 @@
|
||||
<arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
|
||||
<arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
|
||||
<arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
|
||||
<arg name="rectify" default="false"/> <!-- enable rectification -->
|
||||
<arg name="simulator" default="false"/>
|
||||
|
||||
<node if="$(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"/>
|
||||
@@ -50,11 +49,4 @@
|
||||
<!-- 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="$(arg rectify)">
|
||||
<remap from="image_mono" to="main_camera/image_raw"/>
|
||||
<remap from="camera_info" to="main_camera/camera_info"/>
|
||||
<remap from="image_rect" to="main_camera/image_rect"/>
|
||||
</node>
|
||||
</launch>
|
||||
|
||||
@@ -77,6 +77,9 @@
|
||||
covariance: 1 # cm
|
||||
</rosparam>
|
||||
|
||||
<!-- Rangefinders frame -->
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
|
||||
|
||||
<!-- Copter visualization -->
|
||||
<node name="visualization" pkg="mavros_extras" type="visualization" if="$(arg viz)">
|
||||
<remap to="mavros/local_position/pose" from="local_position"/>
|
||||
|
||||
@@ -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="$(find clover_simulation)/launch/simulator.launch"/>
|
||||
</launch>
|
||||
|
||||
@@ -1,38 +0,0 @@
|
||||
uint8 MODE_NONE = 0
|
||||
uint8 MODE_NAVIGATE = 1
|
||||
uint8 MODE_NAVIGATE_GLOBAL = 2
|
||||
uint8 MODE_POSITION = 3
|
||||
uint8 MODE_VELOCITY = 4
|
||||
uint8 MODE_ATTITUDE = 5
|
||||
uint8 MODE_RATES = 6
|
||||
|
||||
uint8 YAW_MODE_YAW = 0
|
||||
uint8 YAW_MODE_YAW_RATE = 1
|
||||
uint8 YAW_MODE_YAW_TOWARDS = 2
|
||||
|
||||
# type of offboard control
|
||||
uint8 mode
|
||||
uint8 yaw_mode
|
||||
|
||||
# targets
|
||||
float32 x
|
||||
float32 y
|
||||
float32 z
|
||||
float32 speed
|
||||
float32 lat
|
||||
float32 lon
|
||||
float32 vx
|
||||
float32 vy
|
||||
float32 vz
|
||||
float32 roll
|
||||
float32 pitch
|
||||
float32 yaw
|
||||
float32 roll_rate
|
||||
float32 pitch_rate
|
||||
float32 yaw_rate
|
||||
float32 thrust
|
||||
|
||||
# frames of reference
|
||||
string xy_frame_id
|
||||
string z_frame_id
|
||||
string yaw_frame_id
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="3">
|
||||
<name>clover</name>
|
||||
<version>0.25.0</version>
|
||||
<version>0.23.0</version>
|
||||
<description>The Clover package</description>
|
||||
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
@@ -42,8 +42,6 @@
|
||||
<depend condition="$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>
|
||||
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
flask
|
||||
geopy
|
||||
smbus2
|
||||
VL53L1X
|
||||
flask==1.1.1
|
||||
geopy==1.11.0
|
||||
smbus2==0.3.0
|
||||
VL53L1X==0.0.5
|
||||
|
||||
@@ -35,8 +35,11 @@ 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
|
||||
|
||||
@@ -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()
|
||||
|
||||
@@ -309,19 +309,15 @@ 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);
|
||||
|
||||
@@ -107,7 +107,7 @@ def ff(value, precision=2):
|
||||
param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
|
||||
|
||||
|
||||
def get_param(name, default=None, strict=True):
|
||||
def get_param(name, default=None):
|
||||
try:
|
||||
res = param_get(param_id=name)
|
||||
except rospy.ServiceException as e:
|
||||
@@ -115,8 +115,7 @@ def get_param(name, default=None, strict=True):
|
||||
return None
|
||||
|
||||
if not res.success:
|
||||
if strict:
|
||||
failure('unable to retrieve PX4 parameter %s', name)
|
||||
failure('unable to retrieve PX4 parameter %s', name)
|
||||
return default
|
||||
else:
|
||||
if res.value.integer != 0:
|
||||
@@ -264,7 +263,7 @@ def check_fcu():
|
||||
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:
|
||||
@@ -303,14 +302,6 @@ def check_fcu():
|
||||
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:
|
||||
@@ -325,13 +316,7 @@ def check_fcu():
|
||||
failure('cannot read time sync offset')
|
||||
|
||||
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')
|
||||
failure('no MAVROS state (check wiring)')
|
||||
info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
|
||||
|
||||
|
||||
@@ -502,7 +487,7 @@ def check_vpe():
|
||||
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'))
|
||||
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')
|
||||
@@ -510,22 +495,11 @@ def check_vpe():
|
||||
failure('LPE_VIS_DELAY = %s, but it should be zero', delay)
|
||||
info('LPE_VIS_XY = %s m, LPE_VIS_Z = %s m', get_paramf('LPE_VIS_XY'), get_paramf('LPE_VIS_Z'))
|
||||
elif est == 2:
|
||||
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)
|
||||
@@ -632,14 +606,8 @@ def check_global_position():
|
||||
rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
|
||||
except rospy.ROSException:
|
||||
info('no global position')
|
||||
if get_param('SYS_MC_EST_GROUP') == 2:
|
||||
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', 0) & (1 << 0)):
|
||||
failure('enabled GPS fusion may suppress vision position aiding')
|
||||
|
||||
|
||||
@check('Optical flow')
|
||||
@@ -658,7 +626,7 @@ def check_optical_flow():
|
||||
failure('SENS_FLOW_ROT = %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):
|
||||
@@ -672,14 +640,9 @@ def check_optical_flow():
|
||||
get_paramf('LPE_FLW_R', 4),
|
||||
get_paramf('LPE_FLW_RR', 4))
|
||||
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')
|
||||
fuse = get_param('EKF2_AID_MASK', 0)
|
||||
if not fuse & (1 << 1):
|
||||
failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
|
||||
delay = get_param('EKF2_OF_DELAY', 0)
|
||||
if delay != 0:
|
||||
failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay)
|
||||
@@ -721,26 +684,23 @@ 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', 0)
|
||||
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')
|
||||
|
||||
@@ -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());
|
||||
@@ -1081,11 +863,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
|
||||
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;
|
||||
}
|
||||
@@ -1111,8 +888,6 @@ 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 +923,6 @@ 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);
|
||||
@@ -1170,16 +931,10 @@ 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);
|
||||
@@ -1193,7 +948,7 @@ 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();
|
||||
|
||||
@@ -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>
|
||||
@@ -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));
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -2,6 +2,7 @@ float32 x
|
||||
float32 y
|
||||
float32 z
|
||||
float32 yaw
|
||||
float32 yaw_rate
|
||||
float32 speed
|
||||
string frame_id
|
||||
bool auto_arm
|
||||
|
||||
@@ -2,6 +2,7 @@ float64 lat
|
||||
float64 lon
|
||||
float32 z
|
||||
float32 yaw
|
||||
float32 yaw_rate
|
||||
float32 speed
|
||||
string frame_id
|
||||
bool auto_arm
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
float32 z
|
||||
string frame_id
|
||||
---
|
||||
bool success
|
||||
string message
|
||||
@@ -1,5 +1,5 @@
|
||||
float32 roll
|
||||
float32 pitch
|
||||
float32 roll
|
||||
float32 yaw
|
||||
float32 thrust
|
||||
string frame_id
|
||||
|
||||
@@ -2,6 +2,7 @@ float32 x
|
||||
float32 y
|
||||
float32 z
|
||||
float32 yaw
|
||||
float32 yaw_rate
|
||||
string frame_id
|
||||
bool auto_arm
|
||||
---
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
float32 roll_rate
|
||||
float32 pitch_rate
|
||||
float32 roll_rate
|
||||
float32 yaw_rate
|
||||
float32 thrust
|
||||
bool auto_arm
|
||||
|
||||
@@ -2,6 +2,7 @@ float32 vx
|
||||
float32 vy
|
||||
float32 vz
|
||||
float32 yaw
|
||||
float32 yaw_rate
|
||||
string frame_id
|
||||
bool auto_arm
|
||||
---
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
float32 yaw
|
||||
string frame_id
|
||||
---
|
||||
bool success
|
||||
string message
|
||||
@@ -1,4 +0,0 @@
|
||||
float32 yaw_rate
|
||||
---
|
||||
bool success
|
||||
string message
|
||||
@@ -40,16 +40,6 @@
|
||||
<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>
|
||||
|
||||
@@ -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
|
||||
@@ -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>
|
||||
@@ -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"
|
||||
|
||||
|
||||
236
clover/www/js/json-to-pretty-yaml.js
vendored
Normal file
236
clover/www/js/json-to-pretty-yaml.js
vendored
Normal file
@@ -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, "&").replace(/</g,
|
||||
"<").replace(/>/g, ">");
|
||||
};
|
||||
}
|
||||
|
||||
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*$/, "$1");
|
||||
};
|
||||
}
|
||||
|
||||
// CommonJS / npm / Ender.JS
|
||||
module.exports = {
|
||||
typeOf: typeOf,
|
||||
isEmpty: isEmpty
|
||||
};
|
||||
global.typeOf = global.typeOf || typeOf;
|
||||
global.isEmpty = global.isEmpty || isEmpty;
|
||||
}());
|
||||
|
||||
},{}],3:[function(require,module,exports){
|
||||
"use strict";
|
||||
|
||||
/**
|
||||
* removeTrailingSpaces
|
||||
* Remove the trailing spaces from a string.
|
||||
*
|
||||
* @name removeTrailingSpaces
|
||||
* @function
|
||||
* @param {String} input The input string.
|
||||
* @returns {String} The output string.
|
||||
*/
|
||||
|
||||
module.exports = function removeTrailingSpaces(input) {
|
||||
// TODO If possible, use a regex
|
||||
return input.split("\n").map(function (x) {
|
||||
return x.trimRight();
|
||||
}).join("\n");
|
||||
};
|
||||
},{}]},{},[1]);
|
||||
@@ -64,11 +64,8 @@ function viewTopic(topic) {
|
||||
}
|
||||
}
|
||||
|
||||
let width = Number(params.width) || 100;
|
||||
let indent = Number(params.indent) || 2;
|
||||
let txt = YAML.stringify(msg, { lineWidth: width, indent: indent });
|
||||
let html = `<div class=counter>${counter} received</div>${txt}`; // JSON.stringify(msg, null, 4);
|
||||
topicMessage.innerHTML = html;
|
||||
let txt = `<div class=counter>${counter} received</div>${yamlStringify(msg)}`; // JSON.stringify(msg, null, 4);
|
||||
topicMessage.innerHTML = txt;
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -4,7 +4,7 @@
|
||||
<script src="js/roslib.js"></script>
|
||||
<link rel="icon" href="data:,"> <!-- make chrome don't request icon -->
|
||||
<script type="module" src="js/topics.js"></script>
|
||||
<script src="js/yaml.js"></script>
|
||||
<script src="js/json-to-pretty-yaml.js"></script>
|
||||
<style>
|
||||
#topics { line-height: 1.2em; }
|
||||
#topic-view {
|
||||
|
||||
@@ -47,7 +47,6 @@ http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
|
||||
|
||||
* `~running` ([*std_msgs/Bool*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
|
||||
* `~block` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
|
||||
* `~print` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program output messages (published in *print* blocks).
|
||||
* `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
|
||||
* `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>clover_blocks</name>
|
||||
<version>0.25.0</version>
|
||||
<version>0.23.0</version>
|
||||
<description>Blockly programming support for Clover</description>
|
||||
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
@@ -166,7 +166,7 @@ def load(req):
|
||||
return {'names': [], 'programs': [], 'message': str(e)}
|
||||
|
||||
|
||||
name_regexp = re.compile(r'^[a-zA-Z1-9-_.]{0,30}$')
|
||||
name_regexp = re.compile(r'^[a-zA-Z-_.]{0,20}$')
|
||||
|
||||
def store(req):
|
||||
if not name_regexp.match(req.name):
|
||||
|
||||
@@ -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")
|
||||
|
||||
@@ -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">
|
||||
|
||||
@@ -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),
|
||||
|
||||
@@ -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>
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 7.9 KiB |
@@ -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>
|
||||
@@ -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>
|
||||
@@ -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>
|
||||
|
Before Width: | Height: | Size: 221 B |
@@ -1,6 +1,6 @@
|
||||
<package format="3">
|
||||
<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>
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 73 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 95 KiB |
Binary file not shown.
|
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|
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|
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Binary file not shown.
|
Before Width: | Height: | Size: 383 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 322 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 75 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 325 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 84 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 34 KiB |
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 326 KiB |
@@ -36,7 +36,7 @@
|
||||
* [Optical Flow](optical_flow.md)
|
||||
* [Autonomous flight (OFFBOARD)](simple_offboard.md)
|
||||
* [Coordinate systems (frames)](frames.md)
|
||||
* [Code examples](snippets.md)
|
||||
* [Code snippets](snippets.md)
|
||||
* [Interfacing with a laser rangefinder](laser.md)
|
||||
* [LED strip](leds.md)
|
||||
* [Working with GPIO](gpio.md)
|
||||
@@ -57,7 +57,6 @@
|
||||
* [COEX Pix](coex_pix.md)
|
||||
* [COEX PDB](coex_pdb.md)
|
||||
* [COEX GPS](coex_gps.md)
|
||||
* [Using SSH keys](ssh_keys.md)
|
||||
* [Guide on autonomous flight](auto_setup.md)
|
||||
* [Hostname](hostname.md)
|
||||
* [PX4 Simulation](sitl.md)
|
||||
@@ -106,12 +105,6 @@
|
||||
* [Video contest](video_contest.md)
|
||||
* [Educational contests](educational_contests.md)
|
||||
* [Clover-based projects](projects.md)
|
||||
* [Clover Cloud Platform](clover-cloud-platform.md)
|
||||
* [Autonomous Racing Drone](djs_phoenix_chetak.md)
|
||||
* [Motion Capture System](mocap_clover.md)
|
||||
* [Swarm in Blocks 2](swarm_in_blocks_2.md)
|
||||
* [Advanced Clover 2](advanced_clover_simulator_platform.md)
|
||||
* [Network of charging stations](liceu128.md)
|
||||
* [Swarm-in-blocks](swarm_in_blocks.md)
|
||||
* [Obstacle avoidance using artificial potential fields method](obstacle-avoidance-potential-fields.md)
|
||||
* [The Clover Rescue Project](clover-rescue-team.md)
|
||||
|
||||
@@ -1,161 +0,0 @@
|
||||
# Advanced Clover 3: The Platform
|
||||
|
||||
[CopterHack-2023](copterhack2023.md), team **FTL**.
|
||||
|
||||
## Team Information
|
||||
|
||||
```cpp
|
||||
#include "veryInterestingCommandDescription.h"
|
||||
```
|
||||
|
||||
Team members:
|
||||
|
||||
- Maxim Ramanouski, [@max8rr8](https://t.me/max8rr8).
|
||||
|
||||
Country: Belarus.
|
||||
|
||||
## Project Description
|
||||
|
||||
Last year at CopterHack 2022, we created a [project](../ru/advanced_clover_simulator.html) that simplified the simulation of Clover, and in 2021, we created a [project](../ru/advanced_clover.html) that simplified the development of products for Clover (IDE and library for writing). The time has come to combine them and achieve unlimited power.
|
||||
|
||||
### Project Idea
|
||||
|
||||
The idea of the project is to combine CloverIDE and CloverSim (a tool for running Clover simulations). Thus, a platform is planned that allows developing products based on Clover using a simulator and an advanced IDE. The platform will include the following features:
|
||||
|
||||
- Add a web interface that allows using CloverSim without touching the command line.
|
||||
- Work both in the browser (without installing anything) and from CLI.
|
||||
- Have a course that covers different aspects of clover.
|
||||
- Simplify installation, especially in WSL.
|
||||
- Running a simulation on a remote device (more powerful computer or cloud).
|
||||
|
||||
### Project videos
|
||||
|
||||
Video presentation of the project: [link](https://www.youtube.com/watch?v=T4RU9sfxsSI).
|
||||
|
||||
Live presentation at CopterHack: TBD.
|
||||
|
||||
CLI demonstration: [link](https://www.youtube.com/watch?v=Ao-ukR58sSQ).
|
||||
|
||||
## Installation
|
||||
|
||||
Installation process is described in the [project documentation](https://ftl-team.github.io/clover_sim/#/?id=installation).
|
||||
|
||||
## Usage
|
||||
|
||||
The CloverSim platform offers a seamless workflow for users:
|
||||
|
||||
1. Users can effortlessly select or create a workspace and task and
|
||||
launch them with ease.
|
||||
|
||||
|
||||
|
||||
2. After launching the simulation, users are presented with CloverSim WebUI that
|
||||
provides them with an intuitive way to view their scores and progress,
|
||||
control the simulator, and access task descriptions and scoring information.
|
||||
From it users can open terminal, gzweb and more importantly they can easily
|
||||
access the CloverSim IDE to solve task.
|
||||
|
||||
|
||||
|
||||
3. The IDE provides a full suite of tools and features for writing and
|
||||
debugging code. One example is autocompletion to help streamline the
|
||||
development process, making it more efficient and effective.
|
||||
|
||||
|
||||
|
||||
4. Users can launch their programs with ease and monitor its progress via
|
||||
the GZWeb, CopterStatus, and SimulatorStatus views of the IDE.
|
||||
|
||||
|
||||
|
||||
5. Users can track their progress and scores in real-time and effortlessly
|
||||
restart the simulator if necessary. Additionally, different randomization
|
||||
seed can be set to check various inputs and outcomes.
|
||||
|
||||
We also have video demonstration/tutorial: [link](https://www.youtube.com/watch?v=aPOPHD3M3ZM).
|
||||
|
||||
## More features
|
||||
|
||||
- Easy installation process.
|
||||
- Efficient simulation launch, surpassing traditional virtual machines.
|
||||
- Generation of dynamic Gazebo worlds with randomization based on seed.
|
||||
- Real-time task completion verification and score presentation.
|
||||
- Execution with security in isolated containers.
|
||||
- Multiple project capability without the need for multiple virtual machine images.
|
||||
- WebUI for ease of use, removing the need to use the command line.
|
||||
- IDE similar to VSCode with support for C++ and Python, including autocompletion and autoformatting.
|
||||
- Custom-patched GZWeb with bug fixes and additional features, including the display of the Clover LED strip.
|
||||
- GZWeb provides a follow-objects feature superior to that of Gazebo.
|
||||
- IDE includes tools to interact with ROS, such as topic visualization, service calling, and image topic visualization.
|
||||
- IDE also includes Copter Status, displaying most of the drone's information, including position, camera, and LED strip, in one view.
|
||||
- IDE integrates with the simulator by providing control from it, viewing task descriptions, and opening GZWeb.
|
||||
|
||||
We also have developed a learning course based on CloverSim: [link](https://github.com/FTL-team/CloverSim_course). It currently has the following tasks:
|
||||
|
||||
- 1_thesquare - First task of CloverSim course with goal to fly square.
|
||||
- 2_iseeall - Task that teaches how to interact with camera.
|
||||
- 3_landmid - Find and land onto randomly positioned object.
|
||||
- 4_flybyline - Flying along the line.
|
||||
- 5_posknown - Find position of objects relative to ArUco map.
|
||||
|
||||
## More details
|
||||
|
||||
At this point, our platform consists of four major parts:
|
||||
|
||||
- [CloverSim](https://github.com/FTL-team/clover_sim) - tool that manages simulation.
|
||||
- [CloverSim Basefs](https://github.com/FTL-team/clover_sim_basefs) - container image that is used in simulator.
|
||||
- [Clover IDE](https://github.com/FTL-team/cloverIDE) - clover ide tools and theia.
|
||||
- [CloverSim course](https://github.com/FTL-team/CloverSim_course) - course with tasks based on our platform.
|
||||
|
||||
### CloverSim
|
||||
|
||||
The simulation architecture is a continuation of work from CopterHack 2022, but while 2022 version was closer to Proof-of-Concept, the updated version is more robust.
|
||||
|
||||
There are three major difference in simulator architecture
|
||||
|
||||
- Replacement of `systemd-nspawn` with `runc` provides us higher degree of container control and seemingless support of non-systemd systems, for example WSL.
|
||||
- Migration to squash fs images, which greatly reduced size of installed CloverSim from 13 gigabytes to just 3.5 gigabytes.
|
||||
- Tasks are now mounted instead of being copied and also build before starting.
|
||||
|
||||
Because of the way catkin_make works, it is incredibly slow when new packages are added (whole cmake configuration is rerun for all packages). catkin_make provides a way to build only some packages, but it caches this packages and to reset this cache you need to recompile whole catkin_make. But we have found a solution: `catkin_make -DCATKIN_WHITELIST_PACKAGES="task;CloverSim" --build build_CloverSim` This command, builds only CloverSim and task package in separate build directory, this drastically reduces time that catkin_make takes, and keeps expected behavior of catkin_make without arguments.
|
||||
|
||||
There are also differences in tool that launches simulation:
|
||||
|
||||
- Client-server architecture allows us to create web UI and run CloverSim on server.
|
||||
- More robust error handling improves user experience.
|
||||
- Rewritten in rust, better reliability and development experience.
|
||||
|
||||
### CloverSim basefs
|
||||
|
||||
Version 2 integrates CloverIDE into system. We also updated clover in simulator to v0.23 and added web terminal. Basefs is now squashed and doesn't require additional installation. It also uses patched(by us) version of gzweb that is more suitable for our use-case:
|
||||
|
||||
- Unlike original GZWeb assets can be dynamically loaded, which is required to support dynamically generated tasks.
|
||||
- It also implements multiple bugfixes for rendering, UI.
|
||||
- Fixed performance, original gzweb had two constantly running loops that used 200% of cpu. We fixed this by instead using synchronization primitives.
|
||||
- Clover LED strip is rendered, our gzweb connects to ROS and pulls LED data from there to render LED strip like Gazebo does.
|
||||
- Users can now follow-objects like in Gazebo better actually.
|
||||
- Reconnect on disconnect, when simulator is restarted gzweb looses connection and it now can automatically reconnect.
|
||||
|
||||
Patched gzweb available there: [FTL-team/gzweb](https://github.com/FTL-team/gzweb).
|
||||
|
||||
### CloverIDE
|
||||
|
||||
CloverIDE got some updates too:
|
||||
|
||||
- We have updated theia and extensions used.
|
||||
- Better C++ support via clangd.
|
||||
- Clover IDE tools can now reconnect after simulator restart.
|
||||
- Copter Status now displays LED strip status.
|
||||
- Tools ui has better support for different themes.
|
||||
|
||||
But the most important change is CloverSim integration, there are new tools (task description, simulator control and gzweb). While gzweb tool is just an iframe (though it's very cool to have it in IDE).
|
||||
|
||||
Task description and simulator control are more interesting as they have to interact with both IDE and CloverSim, to maintain different versions support we use quite interesting trick, extension webview after being initialized dynamically loads JavaScript from CloverSim. That provides better integration between two.
|
||||
|
||||
### CloverSim course
|
||||
|
||||
CloverSim course is a new part of our platform. It uses robust task API of CloverSim to create practical learning course. It currently teaches different aspects of clover development that i encountered during my participation in different contests involving clover. But we are happy to accpet suggestions about other aspects we should teach in out course.
|
||||
|
||||
## Conclusion
|
||||
|
||||
This project is a final (or maybe there is more?) project of our advanced clover saga. AdvancedClover is a project that is easy to use and greatly improves experience during learning about clover, participating in clover based competitions and development clover based projects. We thank COEX team for their support and look forward to further cooperation.
|
||||
@@ -136,7 +136,7 @@ navigate(x=2, y=2, z=2, speed=1, frame_id='aruco_map')
|
||||
|
||||
### Using a specific marker frame
|
||||
|
||||
Starting with the [image](image.md) version 0.18, the drone also can fly relative to a marker in the map, even if it is not currently visible. Like with [single-marker navigation](aruco_marker.md#working-with-detected-markers), this works by setting the frame_id parameter to `aruco_ID`, where ID is the desired marker number.
|
||||
Starting with the [image](image.md) version 0.18, the drone also can fly relative to a marker in the map, even if it is not currently visible. Like with [single-marker navigation](aruco_marker.md#working-with-detected-markers), this works by setting the frame_id parameter to aruco_ID, where ID is the desired marker number.
|
||||
|
||||
The following code will move the drone to the point 1 meter above the center of marker 5:
|
||||
|
||||
|
||||
@@ -72,6 +72,12 @@ Sample code to fly to a point 1 metre to the left and 2 metres above marker with
|
||||
navigate(frame_id='aruco_7', x=-1, y=0, z=2)
|
||||
```
|
||||
|
||||
Sample code to rotate counterclockwise while hovering 1.5 metres above marker id 10:
|
||||
|
||||
```python
|
||||
navigate(frame_id='aruco_10', x=0, y=0, z=1.5, yaw_rate=0.5)
|
||||
```
|
||||
|
||||
Note that if the required marker isn't detected for 0.5 seconds after the `navigate` command, the command will be ignored.
|
||||
|
||||
These frames may also be used in other services that accept TF frames (like `get_telemetry`). The following code will get the drone's position relative to the marker with id 3:
|
||||
|
||||
@@ -210,7 +210,7 @@ Most of the parameters for autonomous flight are located in the following direct
|
||||
<arg name="aruco_vpe" default="true"/>`
|
||||
```
|
||||
|
||||
- Generate the ArUco markers field. See the article [Map-based navigation with ArUco markers](aruco_map.md#marker-map-definition) for details. To generate markers, you need to enter a command with specific values.
|
||||
- Generate the ArUco markers field. See the article [Map-based navigation with ArUco markers] (aruco_map.md # marker map settings) for details. To generate markers, you need to enter a command with specific values.
|
||||
|
||||
Here is the example generating command where:
|
||||
|
||||
|
||||
@@ -42,7 +42,7 @@ Main documentation: http://wiki.ros.org/roslaunch.
|
||||
|
||||
The list of nodes / programs declared for running is specified in file `/home/pi/catkin_ws/src/clover/clover/launch/clover.launch`.
|
||||
|
||||
You can add your own node to the list of automatically launched ones. To do this, place your executable file (e.g. `my_program.py`) into folder `/home/pi/catkin_ws/src/clover/clover`. Then add the start of your node to `clover.launch`, for example:
|
||||
You can add your own node to the list of automatically launched ones. To do this, place your executable file (e.g. `my_program.py`) into folder `/home/pi/catkin_ws/src/clover/clover/src`. Then add the start of your node to `clover.launch`, for example:
|
||||
|
||||
```xml
|
||||
<node name="my_program" pkg="clover" type="my_program.py" output="screen"/>
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
<img src="../assets/blocks/blockly.svg" width=200 align="right">
|
||||
|
||||
Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) library. Blocks programming integration can lower the entry barrier to a minimum.
|
||||
Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) platform. Blocks programming integration can lower the entry barrier to a minimum.
|
||||
|
||||
## Configuration
|
||||
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
# Working with the camera
|
||||
|
||||
> **Note** The following applies to the [image version **0.24**](https://github.com/CopterExpress/clover/releases/tag/v0.24), which is not yet released. Older documentation is still available for [for version **0.23**](https://github.com/CopterExpress/clover/blob/f78a03ec8943b596d5a99b893188a159d5319888/docs/en/camera.md).
|
||||
|
||||
Make sure the camera is enabled in the `~/catkin_ws/src/clover/clover/launch/clover.launch` file:
|
||||
|
||||
```xml
|
||||
@@ -16,7 +14,7 @@ The `clover` service must be restarted after the launch-file has been edited:
|
||||
sudo systemctl restart clover
|
||||
```
|
||||
|
||||
You may use [rqt](rviz.md) or [web_video_server](web_video_server.md) to view the camera stream.
|
||||
You may use rqt or [web_video_server](web_video_server.md) to view the camera stream.
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
@@ -54,6 +52,8 @@ The [SD card image](image.md) comes with a preinstalled [OpenCV](https://opencv.
|
||||
|
||||
### Python
|
||||
|
||||
Main article: http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython.
|
||||
|
||||
An example of creating a subscriber for a topic with an image from the main camera for processing with OpenCV:
|
||||
|
||||
```python
|
||||
@@ -61,14 +61,12 @@ import rospy
|
||||
import cv2
|
||||
from sensor_msgs.msg import Image
|
||||
from cv_bridge import CvBridge
|
||||
from clover import long_callback
|
||||
|
||||
rospy.init_node('cv')
|
||||
rospy.init_node('computer_vision_sample')
|
||||
bridge = CvBridge()
|
||||
|
||||
@long_callback
|
||||
def image_callback(data):
|
||||
img = bridge.imgmsg_to_cv2(data, 'bgr8') # OpenCV image
|
||||
cv_image = bridge.imgmsg_to_cv2(data, 'bgr8') # OpenCV image
|
||||
# Do any image processing with cv2...
|
||||
|
||||
image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
|
||||
@@ -76,31 +74,19 @@ image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
|
||||
rospy.spin()
|
||||
```
|
||||
|
||||
> **Note** Image processing may take significant time to finish. This can cause an [issue](https://github.com/ros/ros_comm/issues/1901) in rospy library, which would lead to processing stale camera frames. To solve this problem you need to use `long_callback` decorator from `clover` library, as in the example above.
|
||||
|
||||
#### Limiting CPU usage
|
||||
|
||||
When using the `main_camera/image_raw` topic, the script will process the maximum number of frames from the camera, actively utilizing the CPU (up to 100%). In tasks, where processing each camera frame is not critical, you can use the topic, where the frames are published at rate 5 Hz: `main_camera/image_raw_throttled`:
|
||||
|
||||
```python
|
||||
image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
|
||||
```
|
||||
|
||||
#### Publishing images
|
||||
|
||||
To debug image processing, you can publish a separate topic with the processed image:
|
||||
|
||||
```python
|
||||
image_pub = rospy.Publisher('~debug', Image)
|
||||
```
|
||||
|
||||
Publishing the processed image:
|
||||
Publishing the processed image (at the end of the image_callback function):
|
||||
|
||||
```python
|
||||
image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
|
||||
image_pub.publish(bridge.cv2_to_imgmsg(cv_image, 'bgr8'))
|
||||
```
|
||||
|
||||
The published images can be viewed using [web_video_server](web_video_server.md) or [rqt](rviz.md).
|
||||
The obtained images can be viewed using [web_video_server](web_video_server.md).
|
||||
|
||||
#### Retrieving one frame
|
||||
|
||||
@@ -111,7 +97,7 @@ import rospy
|
||||
from sensor_msgs.msg import Image
|
||||
from cv_bridge import CvBridge
|
||||
|
||||
rospy.init_node('cv')
|
||||
rospy.init_node('computer_vision_sample')
|
||||
bridge = CvBridge()
|
||||
|
||||
# ...
|
||||
@@ -133,32 +119,40 @@ QR codes recognition in Python:
|
||||
```python
|
||||
import rospy
|
||||
from pyzbar import pyzbar
|
||||
import cv2
|
||||
from cv_bridge import CvBridge
|
||||
from sensor_msgs.msg import Image
|
||||
from clover import long_callback
|
||||
|
||||
rospy.init_node('cv')
|
||||
bridge = CvBridge()
|
||||
|
||||
@long_callback
|
||||
def image_callback(msg):
|
||||
img = bridge.imgmsg_to_cv2(msg, 'bgr8')
|
||||
barcodes = pyzbar.decode(img)
|
||||
rospy.init_node('barcode_test')
|
||||
|
||||
# Image subscriber callback function
|
||||
def image_callback(data):
|
||||
cv_image = bridge.imgmsg_to_cv2(data, 'bgr8') # OpenCV image
|
||||
barcodes = pyzbar.decode(cv_image)
|
||||
for barcode in barcodes:
|
||||
b_data = barcode.data.decode('utf-8')
|
||||
b_data = barcode.data.decode("utf-8")
|
||||
b_type = barcode.type
|
||||
(x, y, w, h) = barcode.rect
|
||||
xc = x + w/2
|
||||
yc = y + h/2
|
||||
print('Found {} with data {} with center at x={}, y={}'.format(b_type, b_data, xc, yc))
|
||||
print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
|
||||
|
||||
image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
|
||||
image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
|
||||
|
||||
rospy.spin()
|
||||
```
|
||||
|
||||
> **Hint** See other computer vision examples in the `~/examples` directory of the [RPi image](image.md).
|
||||
The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
|
||||
|
||||
> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
|
||||
|
||||
```xml
|
||||
<node pkg="topic_tools" name="cam_throttle" type="throttle"
|
||||
args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
|
||||
```
|
||||
|
||||
The topic for the subscriber in this case should be changed for `main_camera/image_raw_throttled`.
|
||||
|
||||
## Video recording
|
||||
|
||||
|
||||
@@ -30,16 +30,6 @@ Print path to the current directory:
|
||||
pwd
|
||||
```
|
||||
|
||||
Go to the user's home directory:
|
||||
|
||||
```bash
|
||||
# all three commands are equivalent, where the tilde character (~) is an abbreviated
|
||||
# path entry to the home directory, and the $HOME variable stores this path
|
||||
cd
|
||||
cd ~
|
||||
cd $HOME
|
||||
```
|
||||
|
||||
Print contents of the `file.py` file:
|
||||
|
||||
```bash
|
||||
|
||||
@@ -1,93 +0,0 @@
|
||||
# Clover Cloud Platform
|
||||
|
||||
[CopterHack-2023](copterhack2023.md), team **Clover Cloud Team**.
|
||||
|
||||
The list of our team members:
|
||||
|
||||
* Кирилл Лещинский / Kirill Leshchinskiy, [@k_leshchinskiy](https://t.me/k_leshchinskiy) - Team Lead.
|
||||
* Кузнецов Михаил / Mikhail Kuznetsov, [@bruhfloppa](https://t.me/bruhfloppa) - Frontend Developer.
|
||||
* Даниил Валишин / Daniil Valishin, [@Astel_1](https://t.me/Astel_1) - Backend Developer.
|
||||
|
||||
## Table of contents
|
||||
|
||||
* [Introduction](#introduction)
|
||||
* [Usability](#usability)
|
||||
* [How to work with our platform?](#how-to-work-with-our-platform)
|
||||
* [About the development of the platform](#about-the-development-of-the-platform)
|
||||
* [Conclusion](#conclusion)
|
||||
|
||||
## Video demonstration
|
||||
|
||||
<p align="center">
|
||||
<a href="https://www.youtube.com/watch?v=FZPl2LOMgi4"><img img width="560" height="315" src="https://img.youtube.com/vi/FZPl2LOMgi4/maxresdefault.jpg" /></a>
|
||||
</p>
|
||||
|
||||
## Introduction
|
||||
|
||||
Clover Cloud Platform is an innovative platform that enables users to access COEX Clover drone simulation online, without the need to download any programs or virtual machines.
|
||||
|
||||
> **Note** Visit our [documentation](https://docs.clovercloud.software) to learn all about the platform, its development and how to use it.
|
||||
|
||||
## Unleash Your Coding Power: Develop Autonomous Flight Code at Lightning Speed on Clover Cloud Platform
|
||||
|
||||
If you're a developer working on autonomous flight projects, you know how time-consuming and distracting all of the routine activities can be. Between managing your hardware, debugging, and configuring your environment, it can feel like the real work of coding gets lost in the shuffle.
|
||||
|
||||
That's where our platform comes in. Our streamlined interface and powerful tools make it easy to tackle all of those essential tasks so you can focus on what really matters: developing flawless, high-performance code for your autonomous flight project.
|
||||
|
||||
So why wait to unleash your coding power? Sign up for our platform today and discover the difference it can make in the speed, quality, and focus of your autonomous flight coding work.
|
||||
|
||||
## Usability
|
||||
|
||||
Our platform is incredibly user-friendly and provides seamless access to the simulation in just a few clicks. Together with a simulator that displays simulation data accurately and without delay, there is a map editor allows users to edit the ArUco marker map and add or modify other objects on the scene directly within the simulation window. Additionally, users can create pre-configured workspaces complete with autonomous flight code and simulation scene configuration. Each user can also create their templates or apply a pre-made one to their workspace in just a few clicks. In addition to its other features, Clover Cloud Platform provides users with a convenient code editor for autonomous flight coding. Users can write code in the built-in editor and run it directly from the editor, viewing program output in real-time in the terminal. The platform also includes a file manager that simplifies file manipulation tasks, further enhancing the user's overall experience. With these tools at your fingertips, Clover Cloud Platform delivers an unparalleled level of accessibility and convenience for autonomous flight simulation.
|
||||
|
||||
<p align="center">
|
||||
<img src="https://raw.githubusercontent.com/Clover-Cloud-Platform/clover-cloud-platform-frontend/master/docs/workspace.png" alt="Workspace screenshot">
|
||||
</p>
|
||||
|
||||
## The CodeSandbox for COEX Clover
|
||||
|
||||
You can describe the usability and relevance of our platform in another way. Have you heard of CodeSandbox? Our platform offers the same convenience, flexibility, and accessibility as CodeSandbox, but is specifically designed to work with the COEX Clover drone simulation.
|
||||
|
||||
## How to work with our platform?
|
||||
|
||||
Let's dive into the sea of functionality that our platform offers. Detailed description of each feature is available in our [documentation](https://docs.clovercloud.software), here we will provide a general overview of the platform.
|
||||
|
||||
### Creating an account
|
||||
|
||||
First, you should create an account on our site. You can do this by clicking on this [link](https://clovercloud.software/signup).
|
||||
|
||||
### Instance management
|
||||
|
||||
After creating an account, you will be taken to the [dashboard](https://clovercloud.software/instances). Here you can create, start, stop and delete workspaces.
|
||||
|
||||
>Workspaces are containers with Gazebo simulator and our software that provide data flow for simulation visualization, as well as handle requests from file manager, code editor and terminal.
|
||||
|
||||
<p align="center">
|
||||
<img src="https://raw.githubusercontent.com/Clover-Cloud-Platform/clover-cloud-platform-frontend/master/docs/instances.gif" alt="Instance management">
|
||||
</p>
|
||||
|
||||
### Workspace overview
|
||||
|
||||
In the workspace, in addition to the simulator, you have a file manager, code editor and terminal. There is also an editing mode in the simulator - one of the key features of our project. It allows you to quickly and conveniently edit the simulation scene, namely: move ArUco markers, change their size, change id of the marker, load instead of marker picture, add new markers or delete them. You can also add 3d objects to the scene and change their position, size and color. Below is an example of working with our workspace.
|
||||
|
||||
<p align="center">
|
||||
<img src="https://github.com/Clover-Cloud-Platform/clover-cloud-platform-frontend/raw/master/docs/workspace.gif" alt="Workspace overview">
|
||||
</p>
|
||||
|
||||
### Templates
|
||||
|
||||
Templates are another key feature of our platform.Is there something you can't do and you want to see how to properly perform a task? Look for the right template with ready-made code in the Template Browser and apply it to your workspace! Each user can create a template with an autonomous flight code and simulator configuration and share it.
|
||||
|
||||
## About the development of the platform
|
||||
|
||||
Our team has worked tirelessly to develop a simple yet multifunctional platform. We utilized the most modern standards and tools and implemented numerous optimization methods to ensure seamless performance and error-free operation. The frontend programming language chosen was JavaScript with the React framework, as a design system we utilizing Material Design style for an elegant and intuitive user interface. With the help of GitHub Actions the website is being built and deployed to Firebase hosting. The platform's backend is written in Python and contains multiple simultaneously running scripts. User data is secured and stored in a MongoDB database. Communication between the server and site is enabled through web sockets and the socket.io library, guaranteeing lightning-fast data transfer with minimal lag.
|
||||
|
||||
You can view the source code of our platform by clicking on the links below:
|
||||
|
||||
[Repository with the frontend-side code](https://github.com/Clover-Cloud-Platform/clover-cloud-platform-frontend)
|
||||
|
||||
[Repository with the backend-side code](https://github.com/Clover-Cloud-Platform/clover-cloud-platform-backend)
|
||||
|
||||
## Conclusion
|
||||
|
||||
In conclusion, we have successfully created a truly convenient and useful platform, suitable for both novice and advanced COEX Clover drone users. Beginners can test their first autonomous flight code without the need for demanding simulator installation or virtual machines. They can also explore all of the drone's functions and capabilities without editing any configuration files. Advanced users benefit from access to their workspace from anywhere in the world and on any device, along with a convenient code-sharing system. In the future, we plan to add more new features to our platform, scale our network to serve a greater number of users, and collaborate with COEX to integrate their Clover quadcopter documentation into our platform, offering users a very simple and user-friendly way to learn to program autonomous drone flight. We also want to express gratitude to the COEX customer support team for their assistance in resolving complex issues that arose during development.
|
||||
@@ -6,59 +6,37 @@ In order to program [autonomous flights](simple_offboard.md), [work with Pixhawk
|
||||
|
||||
USB connection is the preferred way to connect to the flight controller.
|
||||
|
||||
<img src="../assets/assembling_clever4/usb_connection_1.png" alt="USB connection" height=400 class="zoom border center">
|
||||
|
||||
1. Connect your FCU to the Raspberry Pi using a microUSB to USB cable.
|
||||
2. [Connect to the Raspberry Pi over SSH](ssh.md).
|
||||
3. Make sure that the connection is working properly by [running the following command on the Raspberry Pi](cli.md):
|
||||
3. Make sure the connection is working by [running the following command on the Raspberry Pi](ssh.md):
|
||||
|
||||
```bash
|
||||
rostopic echo /mavros/state
|
||||
```
|
||||
|
||||
The `connected` field should have the `True` value.
|
||||
The `connected` field should have the `True` value.s
|
||||
|
||||
> **Hint** You need to set the `CBRK_USB_CHK` [parameter](parameters.md) to 197848 for the USB connection to work.
|
||||
|
||||
## UART connection
|
||||
|
||||
<!-- TODO: Connection scheme -->
|
||||
|
||||
UART connection is another way for the Raspberry Pi and FCU to communicate.
|
||||
|
||||
<img src="../assets/raspberry-uart-telemetry2.png" alt="UART connection via TELEM2" height=400 class="zoom border center">
|
||||
|
||||
If the pin marked GND is occupied, you can use any other ground pin (look at the [pinout](https://pinout.xyz) for reference).
|
||||
|
||||
1. Connect the TELEM 2 port on the flight controller using a UART cable to the Raspberry Pi pins following this instruction: the black cable (*GND*) to Ground, the green cable (*UART_RX*) to *GPIO14*, the yellow cable (*UART_TX*) to *GPIO15*. Do not connect the red cable (*5V*).
|
||||
2. In PX4 of version v1.9.0 or higher, set parameter values: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version [prior to v1.9.0](https://github.com/mavlink/qgroundcontrol/issues/6905#issuecomment-464549610) the parameter `SYS_COMPANION` should be set to `Companion Link (921600 baud, 8N1)`, to set it correctly use the old version of QGC [v3.3.1](https://github.com/mavlink/qgroundcontrol/releases/tag/v3.3.1).
|
||||
2. Set the PX4 parameters: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version prior to v1.10.0 the parameter `SYS_COMPANION` should be set to 921600.
|
||||
3. [Connect to the Raspberry Pi over SSH](ssh.md).
|
||||
4. Check the presence of the parameters `enable_uart=1` and `dtoverlay=pi 3-disable-bt` in the file `/boot/config.txt` by [running the following command on the Raspberry Pi](cli.md):
|
||||
|
||||
```bash
|
||||
cat /boot/config.txt | grep -E "^enable_uart=.|^dtoverlay=pi3-disable-bt"
|
||||
```
|
||||
|
||||
If the parameters in the file are different or missing, then edit the file and restart the Raspberry Pi.
|
||||
|
||||
5. Change the connection type from `usb` to `uart` in the Clover' launch file `~/catkin_ws/src/clover/clover/launch/clover.launch`:
|
||||
4. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
|
||||
|
||||
```xml
|
||||
<arg name="fcu_conn" default="uart"/>
|
||||
```
|
||||
|
||||
If you change the launch file, you need to restart the `clover' service:
|
||||
Be sure to restart the `clover` service after editing the .launch file:
|
||||
|
||||
```bash
|
||||
sudo systemctl restart clover
|
||||
```
|
||||
|
||||
6. Make sure that the connection is working properly by running the following command:
|
||||
|
||||
```bash
|
||||
rostopic echo -n1 /mavros/state
|
||||
```
|
||||
|
||||
The `connected` field should have the `True` value.
|
||||
|
||||
Read more in the PX4 docs: https://docs.px4.io/main/en/peripherals/serial_configuration.html.
|
||||
|
||||
**Next**: [Using QGroundControl over Wi-Fi](gcs_bridge.md)
|
||||
|
||||
@@ -8,36 +8,6 @@ To learn more about the articles of the CopterHack finalist teams follow the lin
|
||||
|
||||
The proposed projects are supposed to be open-source and be compatible with the Clover quadcopter platform. Teams-participants are supposed to work on their projects throughout the competition, bringing them closer to the state of the finished product while being assisted by industry experts through lectures and regular feedback.
|
||||
|
||||
Final of the CopterHack 2022 was held on May 27, 2023. The winner team was the team 🇷🇺 **[Clover Cloud Platform](clover-cloud-platform.md)**.
|
||||
|
||||
## Full stream of the final
|
||||
|
||||
<iframe width="560" height="315" src="https://www.youtube.com/embed/Hdl6Sah7nkE" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
|
||||
|
||||
## Projects of the contest's participants {#participants}
|
||||
|
||||
|Place|Team|Project|Points|
|
||||
|:-:|-|-|-|
|
||||
|1|🇷🇺 Clover Cloud Team|[Clover Cloud Platform](clover-cloud-platform.md)|21.7|
|
||||
|2|🇧🇾 FTL|[Advanced Clover 2](advanced_clover_simulator_platform.md)|21|
|
||||
|3|🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](mocap_clover.md)|20.5|
|
||||
|4|🇧🇷 Atena|[Swarm in Blocks 2](swarm_in_blocks_2.md)|20.3|
|
||||
|5|🇷🇺 C305|[Система радио-навигации](../ru/nav-beacon.html)|17.5|
|
||||
|6|🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](djs_phoenix_chetak.md)|14.6|
|
||||
|7|🇷🇺 Lyceum №128|[Network of Clover charging stations](liceu128.md)|13.7|
|
||||
|✕|🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
|
||||
|✕|🇷🇺 FSOTM|[Drone Interceptor](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
|
||||
|✕|🇰🇬 Homelesses|[Trash Collector](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/show_maker.md)||
|
||||
|✕|🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
|
||||
|✕|🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
|
||||
|✕|🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
|
||||
|✕|🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
|
||||
|✕|🇷🇺 Ava_Clover|[DoubleClover](https://github.com/bessiaka/clover/blob/Ava_Clover/docs/ru/soosocta.md)||
|
||||
|✕|🇷🇺 TPU_1|[Совместная транспортировка груза](https://github.com/shamoleg/clover/blob/tpu_1/docs/ru/tpu_1.md)||
|
||||
|✕|🇷🇺 TPU_2|[Алгоритм полета сквозь лесную местность](https://github.com/shamoleg/clover/blob/tpu_2/docs/ru/tpu_2.md)| |
|
||||
|
||||
See all points by criteria in the [full table](https://docs.google.com/spreadsheets/d/1qTpW8zFVdSEGnbtOvMgQD6DcYwu8URFt1RKOCeUaOe8).
|
||||
|
||||
## CopterHack 2023 stages
|
||||
|
||||
The qualifying and project development stages will be held in an online format, however, the final round will be in a hybrid mode (offline + online). The competition involves monthly updates from the teams with regular feedback from the jury. All teams are required to prepare a final video and presentation on the project's results to participate in the final stage.
|
||||
|
||||
@@ -1,55 +0,0 @@
|
||||
# Autonomous Racing Drone: CHETAK
|
||||
|
||||
[CopterHack-2023](copterhack2023.md), team **DJS PHOENIX**.
|
||||
|
||||
## Team Information
|
||||
|
||||
|
||||
|
||||
We are the DJS Phoenix, the official drone team of Dwarkadas. J. Sanghvi College of Engineering
|
||||
|
||||
The list of team members:
|
||||
|
||||
* Shubham Mehta, @Just_me_05, Mentor.
|
||||
* Harshal Warde, @kryptonisinert, Mechanical.
|
||||
* Parth Sawjiyani, @Non_Active, Mechanical.
|
||||
* Soham Dalvi, @devilsfootprint_1973, Mechanical.
|
||||
* Vedant Patel, @VedantMP, Mechanical.
|
||||
* Harsh Shah, @harssshhhhh, Mechanical.
|
||||
* Lisha Mehta, @lishamehta, Mechanical.
|
||||
* Shubh Pokarne, @Shubhpokarne, Electronics.
|
||||
* Tushar Nagda, @tushar_n11, Electronics.
|
||||
* Deep Tank, @Kraven, Electronics.
|
||||
* Khushi Sanghvi, @Cryptoknigghtt, Programmer.
|
||||
* Harshil Shah, @divine_fossil, Programmer.
|
||||
* Omkar Parab, @Omkar_parab21, Programmer.
|
||||
* Madhura Korgaonkar, @Madhura221, Programmer.
|
||||
* Shruti Shah, @Shrutishah22, Programmer.
|
||||
* Aditi Dubey, @aditi_0503, Marketing.
|
||||
* Krisha Lakhani, @krishalakhani, Marketing.
|
||||
|
||||
## Project Description
|
||||
|
||||
This year, our team DJS Phoenix, presents to you a fully Autonomous Racing Drone. The drone scans for ArUco tags on the gates and passes through them.
|
||||
|
||||
### Project Idea
|
||||
|
||||
This project proposes to develop an autonomous racing drone that can navigate through complex courses at high speeds while avoiding obstacles and detecting changes in the environment. In racing competitions, autonomous drones can compete in high-speed, precision races that challenge their agility, speed, and accuracy. These competitions could be held in indoor arenas or outdoor tracks, and they could attract enthusiasts and spectators from all over the world. With their advanced capabilities, autonomous racing drones could usher in a new era of racing events that are more exciting and challenging than ever before. From racing competitions to search and rescue operations, the autonomous racing drone can be used in a wide range of applications that benefit individuals, businesses, and society as a whole.
|
||||
|
||||
## Potential Outcome
|
||||
|
||||
### Problem
|
||||
|
||||
In many industries and applications, there is a need for fast, efficient, and safe movement of goods and information. Drones have become an increasingly popular tool for a wide range of applications, from aerial photography to surveying and monitoring. However, operating a drone requires a certain level of skill and experience, which can be a barrier for individuals or businesses who want to take advantage of this technology. Additionally, traditional drones can be expensive and time-consuming to operate, limiting their accessibility and effectiveness. Therefore, there is a need for a more user-friendly and affordable solution that can expand the use of drones to new audiences and applications.
|
||||
|
||||
### Solution
|
||||
|
||||
The solution to the above problem statement is an autonomous racing drone. An autonomous racing drone is equipped with a camera that scans the ArUco tags for gate detection which is supported by software used in autonomous flights that enable it to navigate through a predetermined course while avoiding obstacles and achieving high speeds. Unlike traditional drones, an autonomous racing drone does not require manual control, making it an ideal solution for those who do not have the skills or experience to operate a drone.Its autonomous capabilities make it a more accessible and user-friendly solution than traditional drones, enabling individuals or businesses to take advantage of this technology without requiring extensive training or expertise.
|
||||
|
||||
|
||||
|
||||
### Additional Information
|
||||
|
||||
In 2017, a student committee for DJS Phoenix was formed. In India, our team has participated in a number of contests, including IDRL-IIT GandhiNagar (sixth rank), IDRL-SVPCET Nagpur(second rank) and TECHNOXIAN (second place out of 50 national teams). In CopterHack-2021, our team participated, and we placed eighth internationally. We are back with improved concepts after learning from the previous season.
|
||||
|
||||
For more information checkout gitbook: https://djs-phoenix.gitbook.io/chetak-faster-than-you-can-imagine/.
|
||||
@@ -17,8 +17,6 @@ It is advisable to use a specialized build of PX4 with the necessary fixes and b
|
||||
</ul>
|
||||
</div>
|
||||
|
||||
> **Warning** If you are using the firmware version older than *v1.10* (for example, `v1.8.2-clover.13`), then in order to avoid configuration errors, use [QGroundControl version *v4.2.0*](https://github.com/mavlink/qgroundcontrol/releases/tag/v4.2.0) (or older). See [detailed information](https://docs.px4.io/v1.11/en/config/battery.html#parameter-migration-notes) about changes in the firmware parameters that cause errors in newer versions of QGroundControl.
|
||||
|
||||
<script type="text/javascript">
|
||||
// get latest release from GitHub
|
||||
fetch('https://api.github.com/repos/CopterExpress/Firmware/releases').then(function(res) {
|
||||
|
||||
@@ -9,7 +9,6 @@ Main frames in the `clover` package:
|
||||
* `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
|
||||
* `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
|
||||
* <a name="navigate_target"></a>`navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
|
||||
* `terrain` is bound to the floor at the current drone position (see the [set_altitude](simple_offboard.md#set_altitude) service);
|
||||
* `setpoint` is current position setpoint;
|
||||
* `main_camera_optical` is the coordinate system, [linked to the main camera](camera_setup.md#frame);
|
||||
|
||||
|
||||
@@ -1,45 +0,0 @@
|
||||
# "QCS" - the network of Clover charging stations
|
||||
|
||||
[CopterHack-2023](copterhack2023.md), team **Lyceum 128**.
|
||||
|
||||
## Network realisation
|
||||
|
||||
Our charging stations use Python web server created with Django framework. On that server we storage information about charging stations:
|
||||
|
||||
- Position (GPS + ArUco marker).
|
||||
- Possibility to drone landing.
|
||||
- Drone info (If it's on it).
|
||||
|
||||
To connect to server we use API with special personal key for every drone and station. It can be regenerated if secured key became public.
|
||||
|
||||
If you want to test station without drone you can use API Debug page. You must be in your account to open it.
|
||||
|
||||
### Electronics in the station
|
||||
|
||||
There are Arduino Mega and Wemos D1 on the station.
|
||||
|
||||
|
||||
|
||||
Wemos D1 connect with server to collect information, do tasks. Arduino Mega receive signals from Wemos and make physical updates such as moving landing platform, LED indication and other more.
|
||||
|
||||
After completing mission Wemos send request to a server to confirm updates on the server.
|
||||
|
||||
## Clover flight
|
||||
|
||||
We're using recursive landing algorithm to achieve success landing. Small ArUco marker is on the landing platform. Camera can use this marker on the ~25cm height. Next drone use standard landing.
|
||||
|
||||
## Visit our landing and API page
|
||||
|
||||
[https://qcs.pythonanywhere.com/](https://qcs.pythonanywhere.com/)
|
||||
|
||||
## Source code
|
||||
|
||||
Of that project is in our [GitHub page](https://github.com/qcs-charge/).
|
||||
|
||||
## Team
|
||||
|
||||
CH2023, Lyceum 128.
|
||||
|
||||
- Mikhail Konstantinov, [@mikemka](https://t.me/mikemka/), programmer.
|
||||
- Julia Shvecova, [@Juli_Phil](https://t.me/Juli_Phil/), science adviser.
|
||||
- Oleg Sherstobitov, [@kulumuluu](https://t.me/kulumuluu/), constructor.
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user