docs: some info on optical flow troubleshooting

Fixed broken links

.editorconfig

@@ -5,7 +5,7 @@ end_of_line = lf
 insert_final_newline = true
 charset = utf-8
 
-[*.{py,cpp,h,swift,launch}]
+[*.{py,swift,launch}]
 indent_style = space
 indent_size = 4
 

.gitignore

@@ -1,2 +1,3 @@
-/deploy/ros_lib/
 *.pyc
+*.DS_Store
+/images

.markdownlint.json

@@ -0,0 +1,22 @@
+{
+    "MD003": false,
+    "MD013": false,
+    "MD033": false,
+    "MD034": false,
+    "MD044": {
+        "names": [
+            "MAVLink",
+            "ROS",
+            "Python",
+            "C++",
+            "PX4",
+            "WireShark",
+            "Wi-Fi",
+            "Raspberry Pi",
+            "Pixhawk",
+            "Pixracer",
+            "ArUco"
+        ],
+        "code_blocks": false
+    }
+}

.travis.yml

@@ -0,0 +1,35 @@
+sudo: required
+language: generic
+services:
+  - docker
+env:
+  global:
+    - DOCKER="smirart/img-tool:v0.1"
+    - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
+    - if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="${TRAVIS_COMMIT}}"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
+    - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
+git:
+  depth: 1
+before_script:
+  - docker pull ${DOCKER}
+script:
+  - docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER}
+before_deploy:
+  # Set up git user name and tag this commit
+  - git config --local user.name "urpylka"
+  - git config --local user.email "urpylka@gmail.com"
+  - sudo chmod -R 777 *
+  - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
+deploy:
+  provider: releases
+  api_key: ${GITHUB_OAUTH_TOKEN}
+  file: ${IMAGE_NAME}.zip
+  skip_cleanup: true
+  on:
+    tags: true
+
+# More info there
+# https://github.com/travis-ci/travis-ci/issues/6893
+# https://docs.travis-ci.com/user/customizing-the-build/
+# https://docs.travis-ci.com/user/deployment/releases
+# https://docs.travis-ci.com/user/environment-variables/

LICENSE.md

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2018 Copter Express
+Copyright (c) 2018 Copter Express Technologies
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.md

@@ -14,6 +14,8 @@ Use it to learn how to assemble, configure, pilot and program autonomous CLEVER
 
 **Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases).**
 
+[![Build Status](https://travis-ci.org/urpylka/clever.svg?branch=master)](https://travis-ci.org/urpylka/clever)
+
 Image includes:
 
 * Raspbian Stretch

_config.yml

@@ -1,2 +0,0 @@
-theme: jekyll-theme-cayman
-tagline: Конструктор программируемого квадрокоптера

apps/ios/Podfile

@@ -9,6 +9,5 @@ target 'cleverrc' do
 
   # Pods for cleverrc
   pod 'SwiftSocket', '~> 2.0'
-  pod 'NotificationBannerSwift'
 
 end

apps/ios/Podfile.lock

@@ -1,21 +1,12 @@
 PODS:
-  - MarqueeLabel/Swift (3.1.4)
-  - NotificationBannerSwift (1.5.4):
-    - MarqueeLabel/Swift
-    - SnapKit (~> 4.0)
-  - SnapKit (4.0.0)
   - SwiftSocket (2.0.2)
 
 DEPENDENCIES:
-  - NotificationBannerSwift
   - SwiftSocket (~> 2.0)
 
 SPEC CHECKSUMS:
-  MarqueeLabel: bf768455fe88d427f71476ebb23f9092b660f40b
-  NotificationBannerSwift: 4f6666c8421dcf11be0812dd1093d932c15921af
-  SnapKit: a42d492c16e80209130a3379f73596c3454b7694
   SwiftSocket: 6f4c9c63fbc5c1d61188936bb3c599fd546f40ae
 
-PODFILE CHECKSUM: fd5199f69c3ee8c1fbc0dd582477d890c8b2a24f
+PODFILE CHECKSUM: 2044f57d00f536792fbc38c63ded4fa78dcc135c
 
 COCOAPODS: 1.4.0

apps/ios/cleverrc.xcodeproj/project.pbxproj

@@ -226,16 +226,10 @@
 			);
 			inputPaths = (
 				"${SRCROOT}/Pods/Target Support Files/Pods-cleverrc/Pods-cleverrc-frameworks.sh",
-				"${BUILT_PRODUCTS_DIR}/MarqueeLabel/MarqueeLabel.framework",
-				"${BUILT_PRODUCTS_DIR}/NotificationBannerSwift/NotificationBannerSwift.framework",
-				"${BUILT_PRODUCTS_DIR}/SnapKit/SnapKit.framework",
 				"${BUILT_PRODUCTS_DIR}/SwiftSocket/SwiftSocket.framework",
 			);
 			name = "[CP] Embed Pods Frameworks";
 			outputPaths = (
-				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/MarqueeLabel.framework",
-				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/NotificationBannerSwift.framework",
-				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/SnapKit.framework",
 				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/SwiftSocket.framework",
 			);
 			runOnlyForDeploymentPostprocessing = 0;
@@ -397,7 +391,7 @@
 			buildSettings = {
 				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
 				CODE_SIGN_STYLE = Automatic;
-				DEVELOPMENT_TEAM = 7QY6KJ2672;
+				DEVELOPMENT_TEAM = M8TDN3PAH2;
 				INFOPLIST_FILE = cleverrc/Info.plist;
 				LD_RUNPATH_SEARCH_PATHS = "$(inherited) @executable_path/Frameworks";
 				PRODUCT_BUNDLE_IDENTIFIER = coex.cleverrc;
@@ -413,7 +407,7 @@
 			buildSettings = {
 				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
 				CODE_SIGN_STYLE = Automatic;
-				DEVELOPMENT_TEAM = 7QY6KJ2672;
+				DEVELOPMENT_TEAM = M8TDN3PAH2;
 				INFOPLIST_FILE = cleverrc/Info.plist;
 				LD_RUNPATH_SEARCH_PATHS = "$(inherited) @executable_path/Frameworks";
 				PRODUCT_BUNDLE_IDENTIFIER = coex.cleverrc;

apps/ios/cleverrc/AppDelegate.swift

@@ -3,7 +3,7 @@
 //  cleverrc
 //
 //  Created by Oleg Kalachev on 20.01.2018.
-//  Copyright © 2018 Copter Express. All rights reserved.
+//  Copyright © 2018 Copter Express Technologies. All rights reserved.
 //
 
 import UIKit

apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/Contents.json

@@ -3,114 +3,176 @@
     {
       "size" : "20x20",
       "idiom" : "iphone",
-      "filename" : "cleverrc40.png",
+      "filename" : "Icon-App-20x20@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "20x20",
       "idiom" : "iphone",
-      "filename" : "clever60.png",
+      "filename" : "Icon-App-20x20@3x.png",
       "scale" : "3x"
     },
     {
       "size" : "29x29",
       "idiom" : "iphone",
-      "filename" : "clever58.png",
+      "filename" : "Icon-App-29x29@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "29x29",
       "idiom" : "iphone",
-      "filename" : "clever87.png",
+      "filename" : "Icon-App-29x29@3x.png",
       "scale" : "3x"
     },
     {
       "size" : "40x40",
       "idiom" : "iphone",
-      "filename" : "clever80.png",
+      "filename" : "Icon-App-40x40@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "40x40",
       "idiom" : "iphone",
-      "filename" : "clever120.png",
+      "filename" : "Icon-App-40x40@3x.png",
       "scale" : "3x"
     },
     {
       "size" : "60x60",
       "idiom" : "iphone",
-      "filename" : "clever120-1.png",
+      "filename" : "Icon-App-60x60@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "60x60",
       "idiom" : "iphone",
-      "filename" : "clever180-1.png",
+      "filename" : "Icon-App-60x60@3x.png",
       "scale" : "3x"
     },
     {
       "size" : "20x20",
       "idiom" : "ipad",
-      "filename" : "clever20.png",
+      "filename" : "Icon-App-20x20@1x.png",
       "scale" : "1x"
     },
     {
       "size" : "20x20",
       "idiom" : "ipad",
-      "filename" : "clever40.png",
+      "filename" : "Icon-App-20x20@2x-1.png",
       "scale" : "2x"
     },
     {
       "size" : "29x29",
       "idiom" : "ipad",
-      "filename" : "clever29.png",
+      "filename" : "Icon-App-29x29@1x.png",
       "scale" : "1x"
     },
     {
       "size" : "29x29",
       "idiom" : "ipad",
-      "filename" : "clever58-1.png",
+      "filename" : "Icon-App-29x29@2x-1.png",
       "scale" : "2x"
     },
     {
       "size" : "40x40",
       "idiom" : "ipad",
-      "filename" : "clever40-1.png",
+      "filename" : "Icon-App-40x40@1x.png",
       "scale" : "1x"
     },
     {
       "size" : "40x40",
       "idiom" : "ipad",
-      "filename" : "clever80-1.png",
+      "filename" : "Icon-App-40x40@2x-1.png",
       "scale" : "2x"
     },
     {
       "size" : "76x76",
       "idiom" : "ipad",
-      "filename" : "clever76.png",
+      "filename" : "Icon-App-76x76@1x.png",
       "scale" : "1x"
     },
     {
       "size" : "76x76",
       "idiom" : "ipad",
-      "filename" : "clever152.png",
+      "filename" : "Icon-App-76x76@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "83.5x83.5",
       "idiom" : "ipad",
-      "filename" : "clever167.png",
+      "filename" : "Icon-App-83.5x83.5@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "1024x1024",
       "idiom" : "ios-marketing",
-      "filename" : "clever1024.png",
+      "filename" : "ItunesArtwork@2x.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "24x24",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "notificationCenter",
+      "subtype" : "38mm"
+    },
+    {
+      "size" : "27.5x27.5",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "notificationCenter",
+      "subtype" : "42mm"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "watch",
+      "role" : "companionSettings",
+      "scale" : "2x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "watch",
+      "role" : "companionSettings",
+      "scale" : "3x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "appLauncher",
+      "subtype" : "38mm"
+    },
+    {
+      "size" : "44x44",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "longLook",
+      "subtype" : "42mm"
+    },
+    {
+      "size" : "86x86",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "quickLook",
+      "subtype" : "38mm"
+    },
+    {
+      "size" : "98x98",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "quickLook",
+      "subtype" : "42mm"
+    },
+    {
+      "idiom" : "watch-marketing",
+      "size" : "1024x1024",
       "scale" : "1x"
     }
   ],
   "info" : {
     "version" : 1,
     "author" : "xcode"
+  },
+  "properties" : {
+    "pre-rendered" : true
   }
 }

apps/ios/cleverrc/Assets.xcassets/Image.imageset/Contents.json

@@ -1,20 +0,0 @@
-{
-  "images" : [
-    {
-      "idiom" : "universal",
-      "scale" : "1x"
-    },
-    {
-      "idiom" : "universal",
-      "scale" : "2x"
-    },
-    {
-      "idiom" : "universal",
-      "scale" : "3x"
-    }
-  ],
-  "info" : {
-    "version" : 1,
-    "author" : "xcode"
-  }
-}

apps/ios/cleverrc/Info.plist

@@ -17,9 +17,9 @@
 	<key>CFBundlePackageType</key>
 	<string>APPL</string>
 	<key>CFBundleShortVersionString</key>
-	<string>1.0</string>
+	<string>1.1</string>
 	<key>CFBundleVersion</key>
-	<string>3</string>
+	<string>6</string>
 	<key>LSRequiresIPhoneOS</key>
 	<true/>
 	<key>UILaunchStoryboardName</key>

apps/ios/cleverrc/ViewController.swift

@@ -3,13 +3,12 @@
 //  cleverrc
 //
 //  Created by Oleg Kalachev on 20.01.2018.
-//  Copyright © 2018 Copter Express. All rights reserved.
+//  Copyright © 2018 Copter Express Technologies. All rights reserved.
 //
 
 import UIKit
 import WebKit
 import SwiftSocket
-import NotificationBannerSwift
 import AudioToolbox.AudioServices
 
 class ViewController: UIViewController, WKScriptMessageHandler {
@@ -62,15 +61,7 @@ class ViewController: UIViewController, WKScriptMessageHandler {
         } else if (message.name == "notification") {
             // Got notification message
             print(message)
-            let m = message.body as! NSDictionary;
-            let level = m["level"] as! Int
-            if level == 4 {
-                let banner = NotificationBanner(title: m["msg"] as! String, style: .warning)
-                banner.show()
-            } else {
-                let banner = NotificationBanner(title: m["msg"] as! String, style: .danger)
-                banner.show()
-            }
+            tapticNotify()
         }
     }
 

apps/ios/cleverrc/clever.svg

@@ -1,84 +1,57 @@
-<?xml version="1.0" encoding="utf-8"?>
-<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 52.5 52.5" enable-background="new 0 0 52.5 52.5" xml:space="preserve">
-<g>
-	<path fill="white" fill-opacity="0.5" d="M35.7,17.2c0.3-0.3,0.5-0.7,0.7-1.1c0.2-0.4,0.3-0.9,0.3-1.4c0-0.5-0.1-1-0.3-1.4c-0.2-0.5-0.5-0.9-0.8-1.3
-		c-0.4-0.4-0.9-0.7-1.4-0.9c-0.6-0.2-1.2-0.3-1.8-0.2c-0.5,0.1-0.9,0.2-1.3,0.4c-0.2,0.1-0.4,0.3-0.6,0.4L30.2,12
-		c-0.1,0.1-0.1,0.1-0.2,0.1c-0.1,0.1-0.3,0.2-0.4,0.2c-0.1,0.1-0.3,0.1-0.4,0.2c-0.1,0-0.2,0.1-0.4,0.1c-0.1,0-0.2,0-0.3,0
-		c-0.6,0.1-1.3-0.1-1.9-0.4c-0.2-0.1-0.4-0.2-0.6-0.4c0,0-0.1-0.1-0.1-0.1c0,0-0.1-0.1-0.1-0.1c0,0,0,0-0.1-0.1
-		c-0.1-0.1-0.1-0.2-0.1-0.3c0,0,0,0,0-0.1l0-6.5c-0.5-0.6-1.1-1.1-1.7-1.6c-0.9-0.7-1.9-1.4-3-1.8c-0.9-0.4-1.8-0.7-2.7-1
-		c-0.9-0.2-1.7-0.3-2.6-0.4c-0.9-0.1-1.8,0-2.7,0.1c-0.7,0.1-1.5,0.2-2.2,0.5C9.4,0.9,8.1,1.5,7,2.2C6.2,2.7,5.4,3.3,4.7,3.9
-		C4,4.6,3.4,5.3,2.8,6c-0.5,0.7-1,1.4-1.3,2.2C1.1,9,0.8,9.8,0.6,10.6c-0.2,0.7-0.4,1.4-0.4,2.1C0,13.7,0,14.6,0,15.6
-		c0,0.8,0.2,1.7,0.4,2.5c0.2,0.9,0.5,1.7,0.8,2.5C1.8,21.8,2.5,23,3.4,24c0.3,0.4,0.7,0.8,1,1.1c0.2,0.2,0.3,0.3,0.5,0.5H11
-		c0.1-0.1,0.1-0.2,0.1-0.2c0-0.1,0.1-0.1,0.1-0.2c0-0.1,0.1-0.1,0.1-0.2c0.1-0.4,0.2-0.8,0.1-1.1c0-0.1,0-0.1,0-0.2
-		c0-0.1-0.1-0.1-0.1-0.2c0-0.1-0.1-0.2-0.2-0.2c0,0-0.1-0.1-0.1-0.1l0,0c0,0,0-0.1-0.1-0.1c0,0,0,0,0,0l-0.1-0.1
-		c-0.1-0.1-0.2-0.3-0.3-0.4c-0.2-0.3-0.4-0.7-0.5-1c-0.1-0.3-0.2-0.7-0.3-1c-0.1-0.6-0.1-1.1,0-1.7c0.1-0.5,0.3-1,0.5-1.5
-		c0.3-0.5,0.6-0.9,1-1.3c0.4-0.4,0.9-0.7,1.4-0.9c0.6-0.2,1.2-0.4,1.8-0.4c0.7,0,1.3,0.1,1.9,0.3c0.7,0.2,1.3,0.6,1.8,1.1
-		c0.5,0.5,1,1.1,1.3,1.8c0.2,0.4,0.3,0.7,0.3,1.1c0.1,0.4,0.1,0.8,0.1,1.3c0,0.4-0.1,0.8-0.2,1.1c-0.1,0.3-0.3,0.7-0.4,1
-		c-0.1,0.2-0.2,0.3-0.3,0.5c0,0.1-0.1,0.1-0.1,0.2l0,0l0,0l0,0.1c0,0,0,0.1-0.1,0.1l-0.1,0.1c0,0-0.1,0.1-0.1,0.1
-		c-0.1,0.1-0.1,0.1-0.1,0.2c0,0.1-0.1,0.1-0.1,0.2c0,0.1,0,0.1,0,0.2c-0.1,0.3-0.1,0.7,0.1,1.1c0,0.1,0,0.1,0.1,0.2
-		c0,0.1,0.1,0.1,0.1,0.2c0,0.1,0.1,0.2,0.2,0.3h7.2l0-7.5c0,0,0,0,0-0.1c0-0.1,0-0.1,0.1-0.2c0-0.1,0.1-0.1,0.1-0.2
-		c0,0,0.1-0.1,0.1-0.1l0.1,0c0.1-0.1,0.2-0.1,0.3-0.2c0.5-0.3,1-0.5,1.6-0.6c0.2,0,0.3,0,0.5,0c0,0,0.1,0,0.1,0c0.1,0,0.1,0,0.2,0
-		c0.1,0,0.2,0,0.4,0.1c0.3,0.1,0.7,0.2,0.9,0.4c0.1,0.1,0.2,0.1,0.3,0.2c0,0,0.1,0.1,0.1,0.1l0,0l-0.1,0.1c0,0,0,0,0,0l0.1-0.1
-		l0.2,0.2c0.1,0.1,0.2,0.2,0.4,0.2c0.2,0.1,0.5,0.3,0.8,0.4c0.7,0.2,1.4,0.3,2,0.1c0.4-0.1,0.7-0.2,1.1-0.4
-		C35.1,17.7,35.4,17.5,35.7,17.2z"/>
-	<g>
-		<polygon points="41.6,29.7 41.6,29.7 41.6,29.6 41.6,29.6 		"/>
-		<path fill="white" fill-opacity="0.5" d="M28.6,49.2c0.9,0.8,2,1.4,3,1.9c0.8,0.4,1.7,0.7,2.6,0.9c0.9,0.2,1.8,0.4,2.7,0.4c0.9,0.1,1.9,0,2.8-0.1
-			c0.7-0.1,1.4-0.2,2.1-0.4c1.3-0.4,2.5-0.9,3.6-1.6c0.8-0.5,1.6-1.1,2.3-1.7c0.7-0.7,1.4-1.4,2-2.2c0.5-0.6,0.9-1.3,1.2-2
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+           transform="translate(22.2707,17.571)"
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+             id="path34"
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+          </g></g></g></svg>

apps/ios/cleverrc/index.html

@@ -17,6 +17,7 @@
 				<div class="stick-pointer"></div>
 			</div>
 		</div>
+		<div class="notifications"></div>
 		<script src="main.js" type="text/javascript"></script>
 		<script src="telemetry.js" type="text/javascript"></script>
 	</body>

apps/ios/cleverrc/main.css

@@ -8,7 +8,7 @@ html, body {
 }
 
 * {
-    user-select: none;
+	user-select: none;
 }
 
 .stick {
@@ -76,7 +76,8 @@ body.armed .telemetry .mode {
 
 body.low-battery .battery {
 	color: #ff554b;
-	animation: scale 0.3s 1 ease-in-out}
+	animation: scale 0.3s 1 ease-in-out
+}
 
 .logo {
 	position: absolute;
@@ -93,3 +94,32 @@ body.low-battery .battery {
 	user-select: none;
 	pointer-events: none;
 }
+
+.notifications {
+	pointer-events: none;
+	position: absolute;
+	top: 0;
+	left: 0;
+	right: 0;
+	color: white;
+}
+
+.notifications.hidden {
+	transform: translateY(-100%);
+}
+
+.notifications.anim {
+	transition: transform 0.2s ease;
+}
+
+.notifications .item {
+	font-size: 4mm;
+	-webkit-text-size-adjust: none;
+	background: #fca83a;
+	padding: 3mm;
+	padding-bottom: 1.5mm;
+}
+
+.notifications .item:last-child {
+	padding-bottom: 3mm;
+}

apps/ios/cleverrc/telemetry.js

@@ -1,6 +1,7 @@
 var url = 'ws://192.168.11.1:9090';
 var modeEl = document.querySelector('.telemetry .mode');
 var batteryEl = document.querySelector('.battery');
+var notificationsEl = document.querySelector('.notifications');
 
 var ros = new ROSLIB.Ros({ url: url });
 
@@ -35,10 +36,14 @@ new ROSLIB.Topic({
 });
 
 function notifyLowBattery() {
+	console.log('low battery');
 	callNativeApp('lowBattery');
+	body.classList.remove('low-battery');
+	void body.offsetWidth; // trick for repeating animation
+	body.classList.add('low-battery');
 }
 
-notifyLowBatteryThrottled = throttle(notifyLowBattery, 10000);
+notifyLowBatteryThrottled = throttle(notifyLowBattery, 15000);
 
 new ROSLIB.Topic({
 	ros: ros,
@@ -50,29 +55,50 @@ new ROSLIB.Topic({
 	batteryEl.innerHTML = (message.cell_voltage[0].toFixed(2) + ' V') || '';
 
 	if (message.cell_voltage[0] < LOW_BATTERY) {
-		console.log('low battery');
-		callNativeApp('lowBattery');
-		body.classList.remove('low-battery');
-		void body.offsetWidth; // trick for repeating animation
-		body.classList.add('low-battery');
+		notifyLowBatteryThrottled();
 	} else {
 		body.classList.remove('low-battery');
 	}
 });
 
+var notificationHideTimer;
+
+function notify(text, severity) {
+	var item = document.createElement('div');
+	item.innerHTML = text;
+	item.classList.add('item');
+	notificationsEl.prepend(item);
+	var itemHeight = item.offsetHeight;
+	notificationsEl.classList.remove('anim');
+	notificationsEl.style.transform = 'translateY(' + -itemHeight + 'px)';
+	setTimeout(function() {
+		notificationsEl.classList.add('anim');
+		notificationsEl.style.transform = 'translateY(0)';
+	}, 0);
+	clearTimeout(notificationHideTimer);
+	notificationHideTimer = setTimeout(function() {
+		notificationsEl.style.transform = '';
+		notificationsEl.classList.add('hidden');
+		setTimeout(function() {
+			notificationsEl.innerHTML = '';
+		}, 210);
+	}, 4000);
+}
+
 new ROSLIB.Topic({
 	ros: ros,
-	name: '/rosout_agg',
-	messageType: 'rosgraph_msgs/Log'
+	name: '/mavros/statustext/recv',
+	messageType: 'mavros_msgs/StatusText'
 }).subscribe(function(message) {
 	var BLACKLIST = ['CMD: ', 'PR: ', 'DROPPED', 'Clock skew detected', 'MANUAL CONTROL LOST'];
-	if (message.level >= 4) {
+	if (message.severity <= 4) {
 		if (BLACKLIST.some(function(e) {
-				return message.msg.indexOf(e) != -1;
+				return message.text.indexOf(e) != -1;
 			})) {
-			console.log('Filtered out message ' + message.msg);
+			console.log('Filtered out message ' + message.text);
 			return;
 		}
+		notify(message.text, message.severity);
 		callNativeApp('notification', message);
 	}
 });

aruco_pose/CMakeLists.txt

@@ -16,11 +16,15 @@ find_package(catkin REQUIRED COMPONENTS
   image_transport
   cv_bridge
   tf
-  #tf2
-  #tf2_ros
-  #aruco_msgs
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  sensor_msgs
+  message_generation
 )
 
+find_package(OpenCV REQUIRED)
+
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
@@ -55,11 +59,12 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-#add_message_files(
-#  FILES
-#  Marker.msg
-#  MarkerArray.msg
-#)
+add_message_files(
+  FILES
+  Point2D.msg
+  Marker.msg
+  MarkerArray.msg
+)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -76,10 +81,11 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-#generate_messages(
-#  DEPENDENCIES
-#  std_msgs  # Or other packages containing msgs
-#)
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -111,9 +117,9 @@ find_package(catkin REQUIRED COMPONENTS
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
+  INCLUDE_DIRS DEPENDS OpenCV
   LIBRARIES aruco_pose
-#  CATKIN_DEPENDS other_catkin_pkg
+  CATKIN_DEPENDS message_runtime
 #  DEPENDS system_lib
 )
 
@@ -126,11 +132,13 @@ catkin_package(
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
-add_library(${PROJECT_NAME}
-  src/aruco_pose.cpp
+add_library(aruco_pose
+  src/aruco_detect.cpp
+  src/aruco_map.cpp
 )
 
 ## Add cmake target dependencies of the library
@@ -154,11 +162,9 @@ add_library(${PROJECT_NAME}
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-link_directories(/opt/ros/kinetic/lib)
-
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(aruco_pose
   ${catkin_LIBRARIES}
-  "/opt/ros/kinetic/lib/libopencv_aruco3.so" # TODO: fix launch fails with .so loading
+  ${OpenCV_LIBS}
 )
 
 #############

aruco_pose/map/map.txt

@@ -0,0 +1,4 @@
+1	0.33	0	0	0	0	0	0
+2	0.33	1	0	0	0	0	0
+3	0.33	0	1	0	0	0	0
+4	0.33	1	1	0	0	0	0

aruco_pose/msg/Marker.msg

@@ -0,0 +1,6 @@
+uint32 id
+geometry_msgs/PoseWithCovariance pose
+Point2D c1
+Point2D c2
+Point2D c3
+Point2D c4

aruco_pose/msg/MarkerArray.msg

@@ -0,0 +1,2 @@
+Header header
+Marker[] markers

aruco_pose/msg/Point2D.msg

@@ -0,0 +1,2 @@
+float32 x
+float32 y

aruco_pose/nodelet_plugins.xml

@@ -1,5 +1,8 @@
 <library path="lib/libaruco_pose">
-   <class name="aruco_pose/aruco_pose" type="ArucoPose" base_class_type="nodelet::Nodelet">
+   <class name="aruco_pose/aruco_detect" type="ArucoDetect" base_class_type="nodelet::Nodelet">
+      <description/>
+   </class>
+   <class name="aruco_pose/aruco_map" type="ArucoMap" base_class_type="nodelet::Nodelet">
       <description/>
    </class>
 </library>

aruco_pose/package.xml

@@ -2,61 +2,43 @@
 <package>
   <name>aruco_pose</name>
   <version>0.0.0</version>
-  <description>ArUco maps precise pose estimation nodelet</description>
+  <description>Positioning by ArUco markers</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
+  <license>MIT</license>
 
+  <!--url type="website">http://wiki.ros.org/aruco_pose</url-->
+  <author email="okalachev@gmail.com">Oleg Kalachev</author>
+  <author email="urpylka@gmail.com">Artem Smirnov</author>
 
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/aruco_pose</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>tf</build_depend>
+  <build_depend>tf2</build_depend>
+  <build_depend>tf2_ros</build_depend>
+  <build_depend>tf2_geometry_msgs</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>message_runtime</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>roscpp</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>tf</build_depend>
-
+  <build_depend>std_msgs</build_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>cv_bridge</run_depend>
-  <build_depend>tf</build_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>tf2</run_depend>
+  <run_depend>tf2_ros</run_depend>
+  <run_depend>tf2_geometry_msgs</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-        <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>

aruco_pose/src/aruco_detect.cpp

@@ -0,0 +1,293 @@
+/*
+ * Detecting and positioning ArUco markers
+ * Copyright (C) 2018 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
+/*
+ * Code is based on https://github.com/UbiquityRobotics/fiducials, which is distributed
+ * under the BSD license.
+ */
+
+#include <math.h>
+#include <vector>
+#include <string>
+#include <ros/ros.h>
+#include <nodelet/nodelet.h>
+#include <pluginlib/class_list_macros.h>
+#include <tf/transform_datatypes.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+
+#include <aruco_pose/Marker.h>
+#include <aruco_pose/MarkerArray.h>
+
+#include "utils.h"
+
+using std::vector;
+using cv::Mat;
+
+class ArucoDetect : public nodelet::Nodelet {
+private:
+	ros::NodeHandle nh_, nh_priv_;
+	tf2_ros::TransformBroadcaster br_;
+	tf2_ros::Buffer tf_buffer_;
+	tf2_ros::TransformListener tf_listener_{tf_buffer_};
+	cv::Ptr<cv::aruco::Dictionary> dictionary_;
+	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
+	image_transport::Publisher debug_pub_;
+	image_transport::CameraSubscriber img_sub_;
+	ros::Publisher markers_pub_, vis_markers_pub_;
+	bool estimate_poses_, send_tf_;
+	double length_;
+	std::string snap_orientation_;
+	Mat camera_matrix_, dist_coeffs_;
+	aruco_pose::MarkerArray array_;
+	visualization_msgs::MarkerArray vis_array_;
+
+public:
+	virtual void onInit()
+	{
+		nh_ = getNodeHandle();
+		nh_priv_ = getPrivateNodeHandle();
+
+		int dictionary;
+		nh_priv_.param("dictionary", dictionary, 2);
+		nh_priv_.param("estimate_poses", estimate_poses_, true);
+		nh_priv_.param("send_tf", send_tf_, true);
+		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
+			ROS_FATAL("aruco_detect: can't estimate marker's poses as ~length parameter is not defined");
+			ros::shutdown();
+		}
+		nh_priv_.param<std::string>("snap_orientation", snap_orientation_, "");
+
+		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
+		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
+
+		dictionary_ = cv::aruco::getPredefinedDictionary(static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(dictionary));
+		parameters_ = cv::aruco::DetectorParameters::create();
+		parameters_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
+
+		image_transport::ImageTransport it(nh_);
+		image_transport::ImageTransport it_priv(nh_priv_);
+
+		debug_pub_ = it_priv.advertise("debug", 1);
+		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
+		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
+		img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
+
+		ROS_INFO("aruco_detect: ready");
+	}
+
+private:
+	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
+	{
+		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
+
+		vector<int> ids;
+		vector<vector<cv::Point2f>> corners, rejected;
+		vector<cv::Vec3d> rvecs, tvecs;
+		vector<cv::Point3f> obj_points;
+		geometry_msgs::TransformStamped snap_to;
+
+		// Detect markers
+		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
+
+		array_.header.stamp = msg->header.stamp;
+		array_.header.frame_id = msg->header.frame_id;
+		array_.markers.clear();
+
+		if (ids.size() != 0) {
+			parseCameraInfo(cinfo, camera_matrix_, dist_coeffs_);
+
+			// Estimate individual markers' poses
+			if (estimate_poses_) {
+				cv::aruco::estimatePoseSingleMarkers(corners, length_, camera_matrix_, dist_coeffs_,
+				                                     rvecs, tvecs);
+
+				if (!snap_orientation_.empty()) {
+					try {
+						snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, snap_orientation_,
+						                                     msg->header.stamp, ros::Duration(0.02));
+					} catch (const tf2::TransformException& e) {
+						ROS_WARN_THROTTLE(5, "aruco_detect: can't snap: %s", e.what());
+					}
+				}
+			}
+
+			array_.markers.reserve(ids.size());
+			aruco_pose::Marker marker;
+			geometry_msgs::TransformStamped transform;
+			transform.header.stamp = msg->header.stamp;
+			transform.header.frame_id = msg->header.frame_id;
+
+			for (unsigned int i = 0; i < ids.size(); i++) {
+				marker.id = ids[i];
+				fillCorners(marker, corners[i]);
+
+				if (estimate_poses_) {
+					fillPose(marker.pose.pose, rvecs[i], tvecs[i]);
+
+					// snap orientation (if enabled and snap frame avaiable)
+					if (!snap_orientation_.empty() && !snap_to.header.frame_id.empty()) {
+						snapOrientation(marker.pose.pose, snap_to.transform.rotation);
+					}
+
+					// TODO: check IDs are unique
+					if (send_tf_) {
+						transform.child_frame_id = getChildFrameId(ids[i]);
+						transform.transform.rotation = marker.pose.pose.orientation;
+						fillTranslation(transform.transform.translation, tvecs[i]);
+						br_.sendTransform(transform);
+					}
+				}
+				array_.markers.push_back(marker);
+			}
+		}
+
+		markers_pub_.publish(array_);
+
+		// Publish visualization markers
+		if (estimate_poses_ && vis_markers_pub_.getNumSubscribers() != 0) {
+			// Delete all markers
+			visualization_msgs::Marker vis_marker;
+			vis_marker.action = visualization_msgs::Marker::DELETEALL;
+			vis_array_.markers.clear();
+			vis_array_.markers.reserve(ids.size() + 1);
+			vis_array_.markers.push_back(vis_marker);
+
+			for (unsigned int i = 0; i < ids.size(); i++)
+				pushVisMarkers(msg->header.frame_id, msg->header.stamp, array_.markers[i].pose.pose,
+				               length_, ids[i], i);
+
+			vis_markers_pub_.publish(vis_array_);
+		}
+
+		// Publish debug image
+		if (debug_pub_.getNumSubscribers() != 0) {
+			Mat debug = image.clone();
+			cv::aruco::drawDetectedMarkers(debug, corners, ids); // draw markers
+			if (estimate_poses_)
+				for (unsigned int i = 0; i < ids.size(); i++)
+					cv::aruco::drawAxis(debug, camera_matrix_, dist_coeffs_, rvecs[i], tvecs[i], length_);
+
+			cv_bridge::CvImage out_msg;
+			out_msg.header.frame_id = msg->header.frame_id;
+			out_msg.header.stamp = msg->header.stamp;
+			out_msg.encoding = sensor_msgs::image_encodings::BGR8;
+			out_msg.image = debug;
+			debug_pub_.publish(out_msg.toImageMsg());
+		}
+	}
+
+	inline void fillCorners(aruco_pose::Marker& marker, const vector<cv::Point2f>& corners) const
+	{
+		marker.c1.x = corners[0].x;
+		marker.c2.x = corners[1].x;
+		marker.c3.x = corners[2].x;
+		marker.c4.x = corners[3].x;
+		marker.c1.y = corners[0].y;
+		marker.c2.y = corners[1].y;
+		marker.c3.y = corners[2].y;
+		marker.c4.y = corners[3].y;
+	}
+
+	inline void fillPose(geometry_msgs::Pose& pose, const cv::Vec3d& rvec, const cv::Vec3d& tvec) const
+	{
+		pose.position.x = tvec[0];
+		pose.position.y = tvec[1];
+		pose.position.z = tvec[2];
+
+		double angle = norm(rvec);
+		cv::Vec3d axis = rvec / angle;
+
+		tf2::Quaternion q;
+		q.setRotation(tf2::Vector3(axis[0], axis[1], axis[2]), angle);
+
+		pose.orientation.w = q.w();
+		pose.orientation.x = q.x();
+		pose.orientation.y = q.y();
+		pose.orientation.z = q.z();
+	}
+
+	inline void fillTranslation(geometry_msgs::Vector3& translation, const cv::Vec3d& tvec) const
+	{
+		translation.x = tvec[0];
+		translation.y = tvec[1];
+		translation.z = tvec[2];
+	}
+
+	void pushVisMarkers(const std::string& frame_id, const ros::Time& stamp,
+	                    const geometry_msgs::Pose &pose, double length, int id, int index)
+	{
+		visualization_msgs::Marker marker;
+		marker.header.frame_id = frame_id;
+		marker.header.stamp = stamp;
+		marker.action = visualization_msgs::Marker::ADD;
+		marker.id = index;
+
+		// Marker
+		marker.ns = "aruco_marker";
+		marker.type = visualization_msgs::Marker::CUBE;
+		marker.scale.x = length;
+		marker.scale.y = length;
+		marker.scale.z = 0.001;
+		marker.color.r = 1;
+		marker.color.g = 1;
+		marker.color.b = 1;
+		marker.color.a = 0.9;
+		marker.pose = pose;
+		vis_array_.markers.push_back(marker);
+
+		// Label
+		marker.ns = "aruco_marker_label";
+		marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
+		marker.scale.z = length * 0.6;
+		marker.color.r = 0;
+		marker.color.g = 0;
+		marker.color.b = 0;
+		marker.color.a = 1;
+		marker.text = std::to_string(id);
+		marker.pose = pose;
+		vis_array_.markers.push_back(marker);
+	}
+
+	void snapOrientation(geometry_msgs::Pose& pose, const geometry_msgs::Quaternion orientation)
+	{
+		tf::Quaternion q;
+		q.setRPY(0, 0, -tf::getYaw(pose.orientation) + tf::getYaw(orientation) + M_PI / 2);
+		tf::Quaternion pq;
+		tf::quaternionMsgToTF(orientation, pq);
+		pq = pq * q;
+		tf::quaternionTFToMsg(pq, pose.orientation);
+	}
+
+	inline std::string getChildFrameId(int id) const
+	{
+		return "aruco_" + std::to_string(id);
+	}
+};
+
+PLUGINLIB_EXPORT_CLASS(ArucoDetect, nodelet::Nodelet)

aruco_pose/src/aruco_map.cpp

@@ -0,0 +1,307 @@
+/*
+ * Positioning ArUco markers maps
+ * Copyright (C) 2018 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
+/*
+ * Code is based on https://github.com/UbiquityRobotics/fiducials, which is distributed
+ * under the BSD license.
+ */
+
+#include <math.h>
+#include <string>
+#include <vector>
+#include <fstream>
+#include <ros/ros.h>
+#include <nodelet/nodelet.h>
+#include <pluginlib/class_list_macros.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <sensor_msgs/Image.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+
+#include <aruco_pose/MarkerArray.h>
+#include <aruco_pose/Marker.h>
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+
+#include "utils.h"
+#include "gridboard.h"
+
+using std::vector;
+using cv::Mat;
+
+class ArucoMap : public nodelet::Nodelet {
+private:
+	ros::NodeHandle nh_, nh_priv_;
+	ros::Publisher img_pub_, pose_pub_;
+	ros::Subscriber markers_sub_, cinfo_sub;
+	cv::Ptr<cv::aruco::Board> board_;
+	Mat camera_matrix_, dist_coeffs_;
+	geometry_msgs::TransformStamped transform_;
+	geometry_msgs::PoseWithCovarianceStamped pose_;
+	tf2_ros::TransformBroadcaster br_;
+	tf2_ros::Buffer tf_buffer_;
+	tf2_ros::TransformListener tf_listener_{tf_buffer_};
+	visualization_msgs::MarkerArray vis_markers;
+	std::string snap_orientation_;
+	bool has_camera_info_ = false;
+
+public:
+	virtual void onInit()
+	{
+		nh_ = getNodeHandle();
+		nh_priv_ = getPrivateNodeHandle();
+
+		image_transport::ImageTransport it_priv(nh_priv_);
+
+		// TODO: why image_transport doesn't work here?
+		img_pub_ = nh_priv_.advertise<sensor_msgs::Image>("image", 1, true);
+
+		board_ = cv::makePtr<cv::aruco::Board>();
+		board_->dictionary = cv::aruco::getPredefinedDictionary(
+			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
+		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
+		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
+
+		std::string type, map, map_name;
+		nh_priv_.param<std::string>("type", type, "map");
+
+		if (type == "map") {
+			param(nh_priv_, "map", map);
+			loadMap(map);
+		} else if (type == "gridboard") {
+			createGridBoard();
+		} else {
+			ROS_FATAL("aruco_map: unknown type: %s", type.c_str());
+			ros::shutdown();
+		}
+
+		nh_priv_.param<std::string>("name", map_name, "map");
+		nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
+		nh_priv_.param<std::string>("snap_orientation", snap_orientation_, "");
+
+		pose_pub_ = nh_priv_.advertise<geometry_msgs::PoseWithCovarianceStamped>("pose", 1);
+
+		// TODO: use synchronised subscriber
+		markers_sub_ = nh_.subscribe("markers", 1, &ArucoMap::markersCallback, this);
+		cinfo_sub = nh_.subscribe("camera_info", 1, &ArucoMap::cinfoCallback, this);
+
+		publishMapImage();
+		ROS_INFO("aruco_map: ready");
+	}
+
+	void markersCallback(const aruco_pose::MarkerArray& markers)
+	{
+		if (!has_camera_info_) return;
+		if (markers.markers.empty()) return;
+
+		int count = markers.markers.size();
+		std::vector<int> ids;
+		std::vector<std::vector<cv::Point2f>> corners;
+		ids.reserve(count);
+		corners.reserve(count);
+
+		for(auto const &marker : markers.markers) {
+			ids.push_back(marker.id);
+			std::vector<cv::Point2f> marker_corners = {
+				cv::Point2f(marker.c1.x, marker.c1.y),
+				cv::Point2f(marker.c2.x, marker.c2.y),
+				cv::Point2f(marker.c3.x, marker.c3.y),
+				cv::Point2f(marker.c4.x, marker.c4.y)
+			};
+			corners.push_back(marker_corners);
+		}
+
+		Mat obj_points, img_points;
+		cv::Vec3d rvec, tvec;
+
+		if (snap_orientation_.empty()) {
+			// simple estimation
+			int valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
+		                                             rvec, tvec, false);
+			if (!valid) return;
+
+			transform_.header.stamp = markers.header.stamp;
+			transform_.header.frame_id = markers.header.frame_id;
+			pose_.header = transform_.header;
+			fillPose(pose_.pose.pose, rvec, tvec);
+			fillTransform(transform_.transform, rvec, tvec);
+
+		} else {
+			// estimation with "snapping"
+			cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
+			if (obj_points.empty()) return;
+
+			double center_x = 0, center_y = 0;
+			alignObjPointsToCenter(obj_points, center_x, center_y);
+
+			int res = solvePnP(obj_points, img_points, camera_matrix_, dist_coeffs_, rvec, tvec, false);
+			if (!res) return;
+
+			fillTransform(transform_.transform, rvec, tvec);
+			try {
+				geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers.header.frame_id,
+				                                          snap_orientation_, markers.header.stamp, ros::Duration(0.02));
+				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation);
+			} catch (const tf2::TransformException& e) {
+				ROS_WARN_THROTTLE(1, "aruco_map: can't snap: %s", e.what());
+			}
+
+			geometry_msgs::TransformStamped shift;
+			shift.transform.translation.x = -center_x;
+			shift.transform.translation.y = -center_y;
+			shift.transform.rotation.w = 1;
+			tf2::doTransform(shift, transform_, transform_);
+
+			transform_.header.stamp = markers.header.stamp;
+			transform_.header.frame_id = markers.header.frame_id;
+			pose_.header = transform_.header;
+			transformToPose(transform_.transform, pose_.pose.pose);
+		}
+
+		br_.sendTransform(transform_);
+		pose_pub_.publish(pose_);
+	}
+
+	void cinfoCallback(const sensor_msgs::CameraInfoConstPtr& cinfo)
+	{
+		parseCameraInfo(cinfo, camera_matrix_, dist_coeffs_);
+		has_camera_info_ = true;
+	}
+
+	void alignObjPointsToCenter(Mat &obj_points, double &center_x, double &center_y) const
+	{
+		// Align object points to the center of mass
+		double sum_x = 0;
+		double sum_y = 0;
+
+		for (int i = 0; i < obj_points.rows; i++) 		{
+			sum_x += obj_points.at<float>(i, 0);
+			sum_y += obj_points.at<float>(i, 1);
+		}
+
+		center_x = sum_x / obj_points.rows;
+		center_y = sum_y / obj_points.rows;
+
+		for (int i = 0; i < obj_points.rows; i++) 		{
+			obj_points.at<float>(i, 0) -= center_x;
+			obj_points.at<float>(i, 1) -= center_y;
+		}
+	}
+
+	void loadMap(std::string filename)
+	{
+		std::ifstream f(filename);
+		std::string line;
+
+		if (!f.good()) {
+			ROS_FATAL("aruco_map: %s - %s", strerror(errno), filename.c_str());
+			ros::shutdown();
+		}
+
+		while (std::getline(f, line)) {
+			int id;
+			double length, x, y, z, yaw, pitch, roll;
+
+			std::istringstream s(line);
+			ROS_INFO("aruco_map: parse line: %s", line.c_str());
+
+			if (!(s >> id >> length >> x >> y >> z >> yaw >> pitch >> roll)) {
+				ROS_ERROR("aruco_map: cannot parse line: %s", line.c_str());
+				continue;
+			}
+			addMarker(id, length, x, y, z, yaw, pitch, roll);
+		}
+
+		ROS_INFO("aruco_map: loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
+	}
+
+	void createGridBoard()
+	{
+		ROS_INFO("aruco_map: generate gridboard");
+		ROS_WARN("aruco_map: gridboard maps are deprecated");
+
+		int markers_x, markers_y, first_marker;
+		double markers_side, markers_sep_x, markers_sep_y;
+		std::vector<int> marker_ids;
+		nh_priv_.param<int>("markers_x", markers_x, 10);
+		nh_priv_.param<int>("markers_y", markers_y, 10);
+		nh_priv_.param<int>("first_marker", first_marker, 0);
+
+		param(nh_priv_, "markers_side", markers_side);
+		param(nh_priv_, "markers_sep_x", markers_sep_x);
+		param(nh_priv_, "markers_sep_y", markers_sep_y);
+
+		if (nh_priv_.getParam("marker_ids", marker_ids)) {
+			if ((unsigned int)(markers_x * markers_y) != marker_ids.size()) {
+				ROS_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
+				exit(1);
+			}
+		} else {
+			// Fill marker_ids automatically
+			marker_ids.resize(markers_x * markers_y);
+			for (int i = 0; i < markers_x * markers_y; i++)
+			{
+				marker_ids.at(i) = first_marker++;
+			}
+		}
+
+		createCustomGridBoard(board_, markers_x, markers_y, markers_side, markers_sep_x, markers_sep_y, marker_ids);
+	}
+
+	void addMarker(int id, double length, double x, double y, double z,
+				   double yaw, double pitch, double roll)
+	{
+		// Create transform
+		geometry_msgs::TransformStamped t;
+		t.transform.translation.x = x;
+		t.transform.translation.y = y;
+		t.transform.translation.z = z;
+		tf::Quaternion q;
+		q.setRPY(roll, pitch, yaw);
+		tf::quaternionTFToMsg(q, t.transform.rotation);
+
+		// TODO: process roll pitch yaw
+		vector<cv::Point3f> obj_points(4);
+		setMarkerObjectPoints(x, y, z, yaw, length, obj_points);
+		board_->ids.push_back(id);
+		board_->objPoints.push_back(obj_points);
+	}
+
+	void setMarkerObjectPoints(float x, float y, float z, float yaw, float length,
+	                           vector<cv::Point3f>& obj_points)
+	{
+		obj_points[0] = cv::Point3f(x - length / 2, y + length / 2, 0);
+		obj_points[1] = obj_points[0] + cv::Point3f(length, 0, 0);
+		obj_points[2] = obj_points[0] + cv::Point3f(length, -length, 0);
+		obj_points[3] = obj_points[0] + cv::Point3f(0, -length, 0);
+	}
+
+	void publishMapImage()
+	{
+		cv::Mat image;
+		cv_bridge::CvImage msg;
+		cv::aruco::drawPlanarBoard(board_, cv::Size(2000, 2000), image, 50, 1);
+		cv::cvtColor(image, image, CV_GRAY2BGR);
+		msg.encoding = sensor_msgs::image_encodings::BGR8;
+		msg.image = image;
+		img_pub_.publish(msg.toImageMsg());
+	}
+};
+
+PLUGINLIB_EXPORT_CLASS(ArucoMap, nodelet::Nodelet)

aruco_pose/src/aruco_pose.cpp

@@ -1,350 +0,0 @@
-#include <algorithm>
-#include <nodelet/nodelet.h>
-#include <image_transport/image_transport.h>
-#include <cv_bridge/cv_bridge.h>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <pluginlib/class_list_macros.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <geometry_msgs/PoseWithCovarianceStamped.h>
-#include <visualization_msgs/MarkerArray.h>
-#include <tf/transform_datatypes.h>
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/opencv.hpp>
-#include <opencv2/aruco.hpp>
-#include <opencv2/aruco/dictionary.hpp>
-#include <stdio.h>
-#include <tf/transform_broadcaster.h>
-
-#include "util.h"
-
-using std::vector;
-using std::string;
-
-namespace aruco_pose {
-
-class ArucoPose : public nodelet::Nodelet {
-    tf::TransformBroadcaster br;
-    cv::Ptr<cv::aruco::Dictionary> dictionary;
-    cv::Ptr<cv::aruco::DetectorParameters> parameters;
-    cv::Ptr<cv::aruco::Board> board;
-    std::string frame_id_;
-    image_transport::CameraSubscriber img_sub;
-    image_transport::Publisher img_pub;
-    ros::Publisher marker_pub;
-    ros::Publisher pose_pub;
-    ros::NodeHandle nh_, nh_priv_;
-
-    virtual void onInit();
-    void createBoard();
-    cv::Point3f getObjPointsCenter(cv::Mat objPoints);
-    void detect(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&);
-    void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr&, cv::Mat&, cv::Mat&);
-    tf::Transform aruco2tf(cv::Mat rvec, cv::Mat tvec);
-};
-
-void ArucoPose::onInit() {
-    ROS_INFO("Initializing aruco_pose");
-    nh_ = getNodeHandle();
-    nh_priv_ = getPrivateNodeHandle();
-
-    nh_priv_.param("frame_id", frame_id_, std::string("aruco_map"));
-
-    dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_1000);
-    parameters = cv::aruco::DetectorParameters::create();
-
-    try
-    {
-        createBoard();
-    }
-    catch (const std::exception &exc)
-    {
-        std::cerr << exc.what();
-        exit(0);
-    }
-
-    image_transport::ImageTransport it(nh_);
-    img_sub = it.subscribeCamera("image", 1, &ArucoPose::detect, this);
-
-    image_transport::ImageTransport it_priv(nh_priv_);
-    img_pub = it_priv.advertise("debug", 1);
-
-    pose_pub = nh_priv_.advertise<geometry_msgs::PoseStamped>("pose", 1);
-
-    ROS_INFO("aruco_pose nodelet inited");
-}
-
-cv::Ptr<cv::aruco::Board> createCustomGridBoard(int markersX, int markersY, float markerLength, float markerSeparationX, float markerSeparationY,
-                            const cv::Ptr<cv::aruco::Dictionary> &dictionary, std::vector<int> ids) {
-
-    CV_Assert(markersX > 0 && markersY > 0 && markerLength > 0 && markerSeparationX > 0 && markerSeparationY > 0);
-
-    cv::Ptr<cv::aruco::Board> res = cv::makePtr<cv::aruco::Board>();
-
-    res->dictionary = dictionary;
-
-    size_t totalMarkers = (size_t) markersX * markersY;
-    res->ids = ids;
-    res->objPoints.reserve(totalMarkers);
-
-    // calculate Board objPoints
-    float maxY = (float)markersY * markerLength + (markersY - 1) * markerSeparationY;
-    for(int y = 0; y < markersY; y++) {
-        for(int x = 0; x < markersX; x++) {
-            std::vector< cv::Point3f > corners;
-            corners.resize(4);
-            corners[0] = cv::Point3f(x * (markerLength + markerSeparationX),
-                                 maxY - y * (markerLength + markerSeparationY), 0);
-            corners[1] = corners[0] + cv::Point3f(markerLength, 0, 0);
-            corners[2] = corners[0] + cv::Point3f(markerLength, -markerLength, 0);
-            corners[3] = corners[0] + cv::Point3f(0, -markerLength, 0);
-            res->objPoints.push_back(corners);
-        }
-    }
-
-    return res;
-}
-
-cv::Ptr<cv::aruco::Board> createCustomBoard(std::map<string, string> markers, const cv::Ptr<cv::aruco::Dictionary> &dictionary) {
-    cv::Ptr<cv::aruco::Board> res = cv::makePtr<cv::aruco::Board>();
-
-    res->dictionary = dictionary;
-
-    size_t total_markers = markers.size();
-    res->ids.reserve(total_markers);
-    res->objPoints.reserve(total_markers);
-
-    // Generate ids and objPoints
-    for(auto const &marker : markers) {
-        res->ids.push_back(std::stoi(marker.first));
-
-        vector<string> parts;
-        parts = strSplit(marker.second, " ");
-
-        float size = std::stof(parts.at(0));
-        float x = std::stof(parts.at(1));
-        float y = std::stof(parts.at(2));
-        float z = std::stof(parts.at(3));
-        float yaw = std::stof(parts.at(4));
-        float pitch = std::stof(parts.at(5));
-        float roll = std::stof(parts.at(6));
-
-        vector<cv::Point3f> corners;
-        corners.resize(4);
-        corners[0] = cv::Point3f(x - size / 2, y + size / 2, 0);
-        corners[1] = corners[0] + cv::Point3f(size, 0, 0);
-        corners[2] = corners[0] + cv::Point3f(size, -size, 0);
-        corners[3] = corners[0] + cv::Point3f(0, -size, 0);
-
-        // TODO: process yaw, pitch, roll
-
-        res->objPoints.push_back(corners);
-    }
-
-    return res;
-}
-
-#include "fix.cpp"
-
-void ArucoPose::createBoard()
-{
-    static auto map_image_pub = nh_priv_.advertise<sensor_msgs::Image>("map_image", 1, true);
-    cv_bridge::CvImage map_image_msg;
-    cv::Mat map_image;
-
-    std::string type;
-
-    nh_priv_.param<std::string>("type", type, "gridboard");
-    if (type == "gridboard")
-    {
-        ROS_INFO("Initialize gridboard");
-
-        int markers_x, markers_y, first_marker;
-        float markers_side, markers_sep_x, markers_sep_y;
-        std::vector<int> marker_ids;
-        nh_priv_.param<int>("markers_x", markers_x, 10);
-        nh_priv_.param<int>("markers_y", markers_y, 10);
-        nh_priv_.param<int>("first_marker", first_marker, 0);
-
-        if (!nh_priv_.getParam("markers_side", markers_side))
-        {
-            ROS_ERROR("gridboard: required parameter ~markers_side is not set.");
-            exit(1);
-        }
-
-        if (!nh_priv_.getParam("markers_sep_x", markers_sep_x))
-        {
-            if (!nh_priv_.getParam("markers_sep", markers_sep_x))
-            {
-               ROS_ERROR("gridboard: ~markers_sep_x or ~markers_sep parameters are required");
-               exit(1);
-            }
-        }
-
-        if (!nh_priv_.getParam("markers_sep_y", markers_sep_y))
-        {
-            if (!nh_priv_.getParam("markers_sep", markers_sep_y))
-            {
-               ROS_ERROR("gridboard: ~markers_sep_y or ~markers_sep parameters are required");
-               exit(1);
-            }
-        }
-
-        if (nh_priv_.getParam("marker_ids", marker_ids))
-        {
-            if (markers_x * markers_y != marker_ids.size())
-            {
-                ROS_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
-                exit(1);
-            }
-        }
-        else
-        {
-            // Fill marker_ids automatically
-            marker_ids.resize(markers_x * markers_y);
-            for(int i = 0; i < markers_x * markers_y; i++)
-            {
-                marker_ids.at(i) = first_marker++;
-            }
-        }
-
-        // Create grid board
-        board = createCustomGridBoard(markers_x, markers_y, markers_side, markers_sep_x, markers_sep_y, dictionary, marker_ids);
-
-        // Publish map image for debugging
-        _drawPlanarBoard(board,  cv::Size(2000, 2000), map_image, 50, 1);
-
-        cv::cvtColor(map_image, map_image, CV_GRAY2BGR);
-
-        map_image_msg.encoding = sensor_msgs::image_encodings::BGR8;
-        map_image_msg.image = map_image;
-        map_image_pub.publish(map_image_msg.toImageMsg());
-    }
-    else if (type == "custom")
-    {
-        ROS_INFO("Initialize a custom board");
-
-        std::map<string, string> markers;
-        nh_priv_.getParam("markers", markers);
-
-        board = createCustomBoard(markers, dictionary);
-
-        ROS_INFO("Draw a custom board");
-        // Publish map image for debugging
-        _drawPlanarBoard(board,  cv::Size(2000, 2000), map_image, 50, 1);
-
-        cv::cvtColor(map_image, map_image, CV_GRAY2BGR);
-
-        map_image_msg.encoding = sensor_msgs::image_encodings::BGR8;
-        map_image_msg.image = map_image;
-        map_image_pub.publish(map_image_msg.toImageMsg());
-    }
-    else
-    {
-        ROS_ERROR("Incorrect map type '%s'", type.c_str());
-    }
-}
-
-cv::Point3f ArucoPose::getObjPointsCenter(cv::Mat objPoints) {
-    float min_x = std::numeric_limits<float>::max();
-    float max_x = std::numeric_limits<float>::min();
-    float min_y = min_x, max_y = max_x;
-    for (int i = 0; i < objPoints.rows; i++) {
-        max_x = std::max(max_x, objPoints.at<float>(i, 0));
-        max_y = std::max(max_y, objPoints.at<float>(i, 1));
-        min_x = std::min(min_x, objPoints.at<float>(i, 0));
-        min_y = std::min(min_y, objPoints.at<float>(i, 1));
-    }
-    cv::Point3f res((min_x + max_x) / 2, (min_y + max_y) / 2, 0);
-    return res;
-}
-
-void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo) {
-    cv::Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
-
-    std::vector<int> markerIds;
-    std::vector<std::vector<cv::Point2f>> markerCorners;
-    std::vector<std::vector<cv::Point2f>> rejectedCandidates;
-
-    cv::aruco::detectMarkers(image, dictionary, markerCorners, markerIds, parameters, rejectedCandidates);
-
-    cv::Mat cameraMatrix(3, 3, CV_64F);
-    cv::Mat distCoeffs(8, 1, CV_64F);
-    parseCameraInfo(cinfo, cameraMatrix, distCoeffs);
-
-    int valid = 0;
-    cv::Mat rvec, tvec, objPoints;
-
-    if (markerIds.size() > 0) {
-
-        valid = _estimatePoseBoard(markerCorners, markerIds, board, cameraMatrix, distCoeffs,
-                                       rvec, tvec, false, objPoints);
-
-        if (valid) {
-            // Send map transform
-            tf::StampedTransform transform(aruco2tf(rvec, tvec), msg->header.stamp, cinfo->header.frame_id, frame_id_);
-            br.sendTransform(transform);
-
-            // Publish map pose
-            static geometry_msgs::PoseStamped ps;
-            ps.header.frame_id = frame_id_;
-            ps.header.stamp = msg->header.stamp;
-            ps.pose.orientation.w = 1;
-            pose_pub.publish(ps);
-
-            // Send reference point
-            cv::Point3f ref = getObjPointsCenter(objPoints);
-            tf::Vector3 ref_vector3 = tf::Vector3(ref.x, ref.y, ref.z);
-            tf::Quaternion q(0, 0, 0);
-            static tf::StampedTransform ref_transform;
-            ref_transform.stamp_ = msg->header.stamp;
-            ref_transform.frame_id_ = frame_id_;
-            ref_transform.child_frame_id_ = "aruco_map_reference";
-            ref_transform.setOrigin(ref_vector3);
-            ref_transform.setRotation(q);
-            br.sendTransform(ref_transform);
-        }
-    }
-
-    if (img_pub.getNumSubscribers() > 0)
-    {
-        cv::aruco::drawDetectedMarkers(image, markerCorners, markerIds); // draw markers
-        if (valid)
-        {
-            cv::aruco::drawAxis(image, cameraMatrix, distCoeffs, rvec, tvec, 0.3); // draw board axis
-        }
-        cv_bridge::CvImage out_msg;
-        out_msg.header.frame_id = msg->header.frame_id;
-        out_msg.header.stamp = msg->header.stamp;
-        out_msg.encoding = sensor_msgs::image_encodings::BGR8;
-        out_msg.image = image;
-        img_pub.publish(out_msg.toImageMsg());
-    }
-}
-
-void ArucoPose::parseCameraInfo(const sensor_msgs::CameraInfoConstPtr &cinfo, cv::Mat &cameraMat, cv::Mat &distCoeffs) {
-    for (int i = 0; i < 3; ++i) {
-        for (int j = 0; j < 3; ++j) {
-            cameraMat.at<double>(i, j) = cinfo->K[3 * i + j];
-        }
-    }
-    for (int k = 0; k < cinfo->D.size(); k++) {
-        distCoeffs.at<double>(k) = cinfo->D[k];
-    }
-}
-
-tf::Transform ArucoPose::aruco2tf(cv::Mat rvec, cv::Mat tvec) {
-
-    cv::Mat rot;
-    cv::Rodrigues(rvec, rot);
-
-    tf::Matrix3x3 tf_rot(rot.at<double>(0,0), rot.at<double>(0,1), rot.at<double>(0,2),
-                         rot.at<double>(1,0), rot.at<double>(1,1), rot.at<double>(1,2),
-                         rot.at<double>(2,0), rot.at<double>(2,1), rot.at<double>(2,2));
-    tf::Vector3 tf_orig(tvec.at<double>(0,0), tvec.at<double>(1,0), tvec.at<double>(2,0));
-    return tf::Transform(tf_rot, tf_orig);
-}
-
-PLUGINLIB_EXPORT_CLASS(ArucoPose, nodelet::Nodelet)
-
-}

aruco_pose/src/fix.cpp

@@ -1,145 +0,0 @@
-using namespace cv;
-using namespace cv::aruco;
-
-// Temporal fix!
-// TODO: remove
-// fix strange bug in our OpenCV version
-
-void _getBoardObjectAndImagePoints(const Ptr<aruco::Board> &board, InputArrayOfArrays detectedCorners,
-    InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints) {
-
-    CV_Assert(board->ids.size() == board->objPoints.size());
-    CV_Assert(detectedIds.total() == detectedCorners.total());
-
-    size_t nDetectedMarkers = detectedIds.total();
-
-    std::vector< Point3f > objPnts;
-    objPnts.reserve(nDetectedMarkers);
-
-    std::vector< Point2f > imgPnts;
-    imgPnts.reserve(nDetectedMarkers);
-
-    // look for detected markers that belong to the board and get their information
-    for(unsigned int i = 0; i < nDetectedMarkers; i++) {
-        int currentId = detectedIds.getMat().ptr< int >(0)[i];
-        for(unsigned int j = 0; j < board->ids.size(); j++) {
-            if(currentId == board->ids[j]) {
-                for(int p = 0; p < 4; p++) {
-                    objPnts.push_back(board->objPoints[j][p]);
-                    imgPnts.push_back(detectedCorners.getMat(i).ptr< Point2f >(0)[p]);
-                }
-            }
-        }
-    }
-
-    // create output
-    Mat(objPnts).copyTo(objPoints);
-    Mat(imgPnts).copyTo(imgPoints);
-}
-
-int _estimatePoseBoard(InputArrayOfArrays _corners, InputArray _ids, const Ptr<aruco::Board> &board,
-                      InputArray _cameraMatrix, InputArray _distCoeffs, OutputArray _rvec,
-                      OutputArray _tvec, bool useExtrinsicGuess, Mat &objPoints) {
-
-    CV_Assert(_corners.total() == _ids.total());
-
-    // get object and image points for the solvePnP function
-    Mat /*objPoints, */imgPoints;
-    _getBoardObjectAndImagePoints(board, _corners, _ids, objPoints, imgPoints);
-
-    CV_Assert(imgPoints.total() == objPoints.total());
-
-    if(objPoints.total() == 0) // 0 of the detected markers in board
-        return 0;
-
-//    std::cout << "objPoints: " << objPoints << std::endl;
-//    std::cout << "imgPoints: " << imgPoints << std::endl;
-
-    solvePnP(objPoints, imgPoints, _cameraMatrix, _distCoeffs, _rvec, _tvec, useExtrinsicGuess);
-
-    // divide by four since all the four corners are concatenated in the array for each marker
-    return (int)objPoints.total() / 4;
-}
-
-void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
-                     int borderBits) {
-
-    CV_Assert(outSize.area() > 0);
-    CV_Assert(marginSize >= 0);
-
-    _img.create(outSize, CV_8UC1);
-    Mat out = _img.getMat();
-    out.setTo(Scalar::all(255));
-    out.adjustROI(-marginSize, -marginSize, -marginSize, -marginSize);
-
-    // calculate max and min values in XY plane
-    CV_Assert(_board->objPoints.size() > 0);
-    float minX, maxX, minY, maxY;
-    minX = maxX = _board->objPoints[0][0].x;
-    minY = maxY = _board->objPoints[0][0].y;
-
-    for(unsigned int i = 0; i < _board->objPoints.size(); i++) {
-        for(int j = 0; j < 4; j++) {
-            minX = min(minX, _board->objPoints[i][j].x);
-            maxX = max(maxX, _board->objPoints[i][j].x);
-            minY = min(minY, _board->objPoints[i][j].y);
-            maxY = max(maxY, _board->objPoints[i][j].y);
-        }
-    }
-
-    float sizeX = maxX - minX;
-    float sizeY = maxY - minY;
-
-    // proportion transformations
-    float xReduction = sizeX / float(out.cols);
-    float yReduction = sizeY / float(out.rows);
-
-    // determine the zone where the markers are placed
-    if(xReduction > yReduction) {
-        int nRows = int(sizeY / xReduction);
-        int rowsMargins = (out.rows - nRows) / 2;
-        out.adjustROI(-rowsMargins, -rowsMargins, 0, 0);
-    } else {
-        int nCols = int(sizeX / yReduction);
-        int colsMargins = (out.cols - nCols) / 2;
-        out.adjustROI(0, 0, -colsMargins, -colsMargins);
-    }
-
-    // now paint each marker
-    Dictionary &dictionary = *(_board->dictionary);
-    Mat marker;
-    Point2f outCorners[3];
-    Point2f inCorners[3];
-    for(unsigned int m = 0; m < _board->objPoints.size(); m++) {
-        // transform corners to markerZone coordinates
-        for(int j = 0; j < 3; j++) {
-            Point2f pf = Point2f(_board->objPoints[m][j].x, _board->objPoints[m][j].y);
-            // move top left to 0, 0
-            pf -= Point2f(minX, minY);
-            pf.x = pf.x / sizeX * float(out.cols);
-            pf.y = (1.0f - pf.y / sizeY) * float(out.rows);
-            outCorners[j] = pf;
-        }
-
-        // get marker
-        Size dst_sz(outCorners[2] - outCorners[0]); // assuming CCW order
-        dst_sz.width = dst_sz.height = std::min(dst_sz.width, dst_sz.height); //marker should be square
-        dictionary.drawMarker(_board->ids[m], dst_sz.width, marker, borderBits);
-
-        if((outCorners[0].y == outCorners[1].y) && (outCorners[1].x == outCorners[2].x)) {
-            // marker is aligned to image axes
-            marker.copyTo(out(Rect(outCorners[0], dst_sz)));
-            continue;
-        }
-
-        // interpolate tiny marker to marker position in markerZone
-        inCorners[0] = Point2f(-0.5f, -0.5f);
-        inCorners[1] = Point2f(marker.cols - 0.5f, -0.5f);
-        inCorners[2] = Point2f(marker.cols - 0.5f, marker.rows - 0.5f);
-
-        // remove perspective
-        Mat transformation = getAffineTransform(inCorners, outCorners);
-        warpAffine(marker, out, transformation, out.size(), INTER_LINEAR,
-                        BORDER_TRANSPARENT);
-    }
-}

aruco_pose/src/gridboard.h

@@ -0,0 +1,22 @@
+void createCustomGridBoard(cv::Ptr<cv::aruco::Board>& board, int markersX, int markersY, float markerLength,
+                           float markerSeparationX, float markerSeparationY, std::vector<int> ids)
+{
+	size_t totalMarkers = (size_t) markersX * markersY;
+	board->ids = ids;
+	board->objPoints.reserve(totalMarkers);
+
+	// calculate Board objPoints
+	float maxY = (float)markersY * markerLength + (markersY - 1) * markerSeparationY;
+	for(int y = 0; y < markersY; y++) {
+		for(int x = 0; x < markersX; x++) {
+			std::vector< cv::Point3f > corners;
+			corners.resize(4);
+			corners[0] = cv::Point3f(x * (markerLength + markerSeparationX),
+								 maxY - y * (markerLength + markerSeparationY), 0);
+			corners[1] = corners[0] + cv::Point3f(markerLength, 0, 0);
+			corners[2] = corners[0] + cv::Point3f(markerLength, -markerLength, 0);
+			corners[3] = corners[0] + cv::Point3f(0, -markerLength, 0);
+			board->objPoints.push_back(corners);
+		}
+	}
+}

aruco_pose/src/util.h

@@ -1,20 +0,0 @@
-#pragma once
-
-#include <vector>
-#include <string>
-
-std::vector<std::string> strSplit(const std::string& str, const std::string& delim)
-{
-    std::vector<std::string> tokens;
-    size_t prev = 0, pos = 0;
-    do
-    {
-        pos = str.find(delim, prev);
-        if (pos == std::string::npos) pos = str.length();
-        std::string token = str.substr(prev, pos-prev);
-        if (!token.empty()) tokens.push_back(token);
-        prev = pos + delim.length();
-    }
-    while (pos < str.length() && prev < str.length());
-    return tokens;
-}

aruco_pose/src/utils.h

@@ -0,0 +1,109 @@
+#pragma once
+
+#include <ros/ros.h>
+#include <tf/transform_datatypes.h>
+#include <geometry_msgs/Quaternion.h>
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/Vector3.h>
+#include <sensor_msgs/CameraInfo.h>
+#include <opencv2/opencv.hpp>
+
+// Read required param or shutdown the node
+template<typename T>
+static void param(ros::NodeHandle nh, const std::string& param_name, T& param_val)
+{
+	if (!nh.getParam(param_name, param_val)) {
+		ROS_FATAL("Required param %s is not defined", param_name.c_str());
+		ros::shutdown();
+	}
+}
+
+static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo,
+                     cv::Mat& matrix, cv::Mat& dist)
+{
+	for (unsigned int i = 0; i < 3; ++i)
+		for (unsigned int j = 0; j < 3; ++j)
+			matrix.at<double>(i, j) = cinfo->K[3 * i + j];
+
+	for (unsigned int k = 0; k < cinfo->D.size(); k++)
+		dist.at<double>(k) = cinfo->D[k];
+}
+
+inline void rotatePoint(cv::Point3f& p, cv::Point3f origin, float angle)
+{
+	float s = sin(angle);
+	float c = cos(angle);
+
+	// translate point back to origin:
+	p.x -= origin.x;
+	p.y -= origin.y;
+
+	// rotate point
+	float xnew = p.x * c - p.y * s;
+	float ynew = p.x * s + p.y * c;
+
+	// translate point back:
+	p.x = xnew + origin.x;
+	p.y = ynew + origin.y;
+}
+
+inline void fillPose(geometry_msgs::Pose& pose, const cv::Vec3d& rvec, const cv::Vec3d& tvec)
+{
+	pose.position.x = tvec[0];
+	pose.position.y = tvec[1];
+	pose.position.z = tvec[2];
+
+	double angle = norm(rvec);
+	cv::Vec3d axis = rvec / angle;
+
+	tf2::Quaternion q;
+	q.setRotation(tf2::Vector3(axis[0], axis[1], axis[2]), angle);
+
+	pose.orientation.w = q.w();
+	pose.orientation.x = q.x();
+	pose.orientation.y = q.y();
+	pose.orientation.z = q.z();
+}
+
+inline void fillTransform(geometry_msgs::Transform& transform, const cv::Vec3d& rvec, const cv::Vec3d& tvec)
+{
+	transform.translation.x = tvec[0];
+	transform.translation.y = tvec[1];
+	transform.translation.z = tvec[2];
+
+	double angle = norm(rvec);
+	cv::Vec3d axis = rvec / angle;
+
+	tf2::Quaternion q;
+	q.setRotation(tf2::Vector3(axis[0], axis[1], axis[2]), angle);
+
+	transform.rotation.w = q.w();
+	transform.rotation.x = q.x();
+	transform.rotation.y = q.y();
+	transform.rotation.z = q.z();
+}
+
+inline void fillTranslation(geometry_msgs::Vector3& translation, const cv::Vec3d& tvec)
+{
+	translation.x = tvec[0];
+	translation.y = tvec[1];
+	translation.z = tvec[2];
+}
+
+inline void snapOrientation(geometry_msgs::Quaternion& to, const geometry_msgs::Quaternion& from)
+{
+	tf::Quaternion q;
+	q.setRPY(0, 0, -tf::getYaw(to) + tf::getYaw(from));
+	tf::Quaternion pq;
+	tf::quaternionMsgToTF(from, pq);
+	pq = pq * q;
+	tf::quaternionTFToMsg(pq, to);
+}
+
+inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)
+{
+	pose.position.x = transform.translation.x;
+	pose.position.y = transform.translation.y;
+	pose.position.z = transform.translation.z;
+	pose.orientation = transform.rotation;
+}

book.json

@@ -4,13 +4,19 @@
     "author": "Copter Express",
     "language": "ru",
     "root": "docs/",
-    "plugins": ["youtube", "richquotes", "versions"],
+    "plugins": ["youtube", "richquotes", "versions", "yametrika"],
     "pluginsConfig": {
         "disqus": {
             "shortName": "coex-clever"
         },
         "versions": {
             "type": "tags"
+        },
+        "yametrika": {
+            "id": 49359238
         }
+    },
+    "structure": {
+        "glossary": "_GLOSSARY.md"
     }
 }

builder/assets/butterfly.service

@@ -0,0 +1,6 @@
+[Unit]
+Description=Butterfly Terminal Server
+
+[Service]
+ExecStart=/usr/local/bin/butterfly.server.py --host="0.0.0.0" --unsecure
+User=pi

builder/assets/butterfly.socket

@@ -0,0 +1,5 @@
+[Socket]
+ListenStream=57575
+
+[Install]
+WantedBy=sockets.target

builder/assets/clever.service

@@ -4,7 +4,7 @@ Requires=roscore.service
 After=roscore.service
 
 [Service]
-EnvironmentFile=/home/pi/catkin_ws/src/clever/deploy/roscore.env
+EnvironmentFile=/lib/systemd/system/roscore.env
 ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch --wait
 Restart=on-abort
 

builder/assets/hardware_setup.sh

@@ -0,0 +1,78 @@
+#! /usr/bin/env bash
+
+#
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+##################################################
+# Configure hardware interfaces
+##################################################
+
+# 1. Enable sshd
+echo_stamp "#1 Turn on sshd"
+touch /boot/ssh
+# /usr/bin/raspi-config nonint do_ssh 0
+
+# 2. Enable GPIO
+echo_stamp "#2 GPIO enabled by default"
+
+# 3. Enable I2C
+echo_stamp "#3 Turn on I2C"
+/usr/bin/raspi-config nonint do_i2c 0
+
+# 4. Enable SPI
+echo_stamp "#4 Turn on SPI"
+/usr/bin/raspi-config nonint do_spi 0
+
+# 5. Enable raspicam
+echo_stamp "#5 Turn on raspicam"
+/usr/bin/raspi-config nonint do_camera 0
+
+# 6. Enable hardware UART
+echo_stamp "#6 Turn on UART"
+# Temporary solution
+# https://github.com/RPi-Distro/raspi-config/pull/75
+/usr/bin/raspi-config nonint do_serial 1
+/usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt
+/usr/bin/raspi-config nonint set_config_var dtoverlay pi3-disable-bt /boot/config.txt
+systemctl disable hciuart.service
+
+# After adding to Raspbian OS
+# https://github.com/RPi-Distro/raspi-config/commit/d6d9ecc0d9cbe4aaa9744ae733b9cb239e79c116
+#/usr/bin/raspi-config nonint do_serial 2
+
+# 7. Enable V4L driver http://robocraft.ru/blog/electronics/3158.html
+#echo "bcm2835-v4l2" >> /etc/modules
+echo_stamp "#7 Turn on v4l2 driver"
+if ! grep -q "^bcm2835-v4l2" /etc/modules;
+then printf "bcm2835-v4l2\n" >> /etc/modules
+fi
+
+echo_stamp "#8 End of configure hardware interfaces"

builder/assets/index.html

@@ -0,0 +1,13 @@
+<h1>CLEVER Drone Kit Tools</h1>
+
+<ul>
+	<!-- <li><a href="">View user reference</a> (<a href="http://clever.copterexpress.com">http://clever.copterexpress.com</a> snapshot)</li> -->
+	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
+	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
+	<!-- <li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li> -->
+</ul>
+
+<script type="text/javascript">
+	document.querySelector("#wvs").href = location.origin + ':8080';
+	document.querySelector("#butterfly").href = location.origin + ':57575';
+</script>

builder/assets/init_rpi.sh

@@ -0,0 +1,43 @@
+#! /usr/bin/env bash
+
+#
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+echo_stamp "Rename SSID"
+sudo sed -i.OLD "s/CLEVER/CLEVER-$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g" /etc/wpa_supplicant/wpa_supplicant.conf
+
+echo_stamp "Harware setup"
+/root/hardware_setup.sh
+
+echo_stamp "Remove init scripts"
+rm /root/init_rpi.sh /root/hardware_setup.sh
+
+echo_stamp "End of initialization of the image"

builder/assets/kinetic-ros-clever.rosinstall

@@ -418,10 +418,6 @@
     local-name: nodelet_core/nodelet
     uri: https://github.com/ros-gbp/nodelet_core-release/archive/release/kinetic/nodelet/1.9.14-0.tar.gz
     version: nodelet_core-release-release-kinetic-nodelet-1.9.14-0
-- tar:
-    local-name: opencv3
-    uri: https://github.com/ros-gbp/opencv3-release/archive/release/kinetic/opencv3/3.3.1-5.tar.gz
-    version: opencv3-release-release-kinetic-opencv3-3.3.1-5
 - tar:
     local-name: orocos_kinematics_dynamics/orocos_kdl
     uri: https://github.com/smits/orocos-kdl-release/archive/release/kinetic/orocos_kdl/1.3.1-0.tar.gz
@@ -676,5 +672,5 @@
     version: vision_opencv-release-release-kinetic-cv_bridge-1.12.8-0
 - tar:
     local-name: web_video_server
-    uri: https://github.com/RobotWebTools-release/web_video_server-release/archive/release/kinetic/web_video_server/0.0.7-0.tar.gz
-    version: web_video_server-release-release-kinetic-web_video_server-0.0.7-0
+    uri: https://github.com/RobotWebTools-release/web_video_server-release/archive/release/kinetic/web_video_server/0.1.0-0.tar.gz
+    version: web_video_server-release-release-kinetic-web_video_server-0.1.0-0

builder/assets/kinetic-rosdep-clever.yaml

@@ -0,0 +1,528 @@
+actionlib:
+  debian:
+    stretch: [ros-kinetic-actionlib]
+actionlib_msgs:
+  debian:
+    stretch: [ros-kinetic-actionlib-msgs]
+angles:
+  debian:
+    stretch: [ros-kinetic-angles]
+async_web_server_cpp:
+  debian:
+    stretch: [ros-kinetic-async-web-server-cpp]
+bond:
+  debian:
+    stretch: [ros-kinetic-bond]
+bondcpp:
+  debian:
+    stretch: [ros-kinetic-bondcpp]
+bondpy:
+  debian:
+    stretch: [ros-kinetic-bondpy]
+camera_calibration_parsers:
+  debian:
+    stretch: [ros-kinetic-camera-calibration-parsers]
+camera_info_manager:
+  debian:
+    stretch: [ros-kinetic-camera-info-manager]
+catkin:
+  debian:
+    stretch: [ros-kinetic-catkin]
+class_loader:
+  debian:
+    stretch: [ros-kinetic-class-loader]
+cmake_modules:
+  debian:
+    stretch: [ros-kinetic-cmake-modules]
+cpp_common:
+  debian:
+    stretch: [ros-kinetic-cpp-common]
+cv_bridge:
+  debian:
+    stretch: [ros-kinetic-cv-bridge]
+cv_camera:
+  debian:
+    stretch: [ros-kinetic-cv-camera=0.3.1-0stretch]
+diagnostic_msgs:
+  debian:
+    stretch: [ros-kinetic-diagnostic-msgs]
+diagnostic_updater:
+  debian:
+    stretch: [ros-kinetic-diagnostic-updater]
+eigen_conversions:
+  debian:
+    stretch: [ros-kinetic-eigen-conversions]
+gencpp:
+  debian:
+    stretch: [ros-kinetic-gencpp]
+geneus:
+  debian:
+    stretch: [ros-kinetic-geneus]
+genlisp:
+  debian:
+    stretch: [ros-kinetic-genlisp]
+genmsg:
+  debian:
+    stretch: [ros-kinetic-genmsg]
+gennodejs:
+  debian:
+    stretch: [ros-kinetic-gennodejs]
+genpy:
+  debian:
+    stretch: [ros-kinetic-genpy]
+geographic_msgs:
+  debian:
+    stretch: [ros-kinetic-geographic-msgs]
+geometry_msgs:
+  debian:
+    stretch: [ros-kinetic-geometry-msgs]
+image_transport:
+  debian:
+    stretch: [ros-kinetic-image-transport]
+libmavconn:
+  debian:
+    stretch: [ros-kinetic-libmavconn]
+lxml:
+  debian:
+    stretch: [python-lxml=3.7.1-1]
+mavlink:
+  debian:
+    stretch: [ros-kinetic-mavlink]
+mavros:
+  debian:
+    stretch: [ros-kinetic-mavros]
+mavros_msgs:
+  debian:
+    stretch: [ros-kinetic-mavros-msgs]
+mavros_extras:
+  debian:
+    stretch: [ros-kinetic-mavros-extras]
+message_filters:
+  debian:
+    stretch: [ros-kinetic-message-filters]
+message_generation:
+  debian:
+    stretch: [ros-kinetic-message-generation]
+message_runtime:
+  debian:
+    stretch: [ros-kinetic-message-runtime]
+mjpg-streamer:
+  debian:
+    stretch: [mjpg-streamer=2.0]
+mk:
+  debian:
+    stretch: [ros-kinetic-mk]
+nav_msgs:
+  debian:
+    stretch: [ros-kinetic-nav-msgs]
+nodelet:
+  debian:
+    stretch: [ros-kinetic-nodelet]
+opencv3:
+  debian:
+    stretch: [ros-kinetic-opencv3]
+orocos_kdl:
+  debian:
+    stretch: [ros-kinetic-orocos-kdl]
+pluginlib:
+  debian:
+    stretch: [ros-kinetic-pluginlib]
+python_orocos_kdl:
+  debian:
+    stretch: [ros-kinetic-python-orocos-kdl]
+ros:
+  debian:
+    stretch: [ros-kinetic-ros]
+ros_comm:
+  debian:
+    stretch: [ros-kinetic-ros-comm]
+ros_environment:
+  debian:
+    stretch: [ros-kinetic-ros-environment]
+rosapi:
+  debian:
+    stretch: [ros-kinetic-rosapi]
+rosauth:
+  debian:
+    stretch: [ros-kinetic-rosauth]
+rosbag:
+  debian:
+    stretch: [ros-kinetic-rosbag]
+rosbag_migration_rule:
+  debian:
+    stretch: [ros-kinetic-rosbag-migration-rule]
+rosbag_storage:
+  debian:
+    stretch: [ros-kinetic-rosbag-storage]
+rosbash:
+  debian:
+    stretch: [ros-kinetic-rosbash]
+rosboost_cfg:
+  debian:
+    stretch: [ros-kinetic-rosboost-cfg]
+rosbridge_library:
+  debian:
+    stretch: [ros-kinetic-rosbridge-library]
+rosbridge_server:
+  debian:
+    stretch: [ros-kinetic-rosbridge-server]
+rosbuild:
+  debian:
+    stretch: [ros-kinetic-rosbuild]
+rosclean:
+  debian:
+    stretch: [ros-kinetic-rosclean]
+rosconsole:
+  debian:
+    stretch: [ros-kinetic-rosconsole]
+rosconsole_bridge:
+  debian:
+    stretch: [ros-kinetic-rosconsole-bridge]
+roscpp:
+  debian:
+    stretch: [ros-kinetic-roscpp]
+roscpp_serialization:
+  debian:
+    stretch: [ros-kinetic-roscpp-serialization]
+roscpp_traits:
+  debian:
+    stretch: [ros-kinetic-roscpp-traits]
+roscreate:
+  debian:
+    stretch: [ros-kinetic-roscreate]
+rosgraph:
+  debian:
+    stretch: [ros-kinetic-rosgraph]
+rosgraph_msgs:
+  debian:
+    stretch: [ros-kinetic-rosgraph-msgs]
+roslang:
+  debian:
+    stretch: [ros-kinetic-roslang]
+roslaunch:
+  debian:
+    stretch: [ros-kinetic-roslaunch]
+roslib:
+  debian:
+    stretch: [ros-kinetic-roslib]
+roslint:
+  debian:
+    stretch: [ros-kinetic-roslint]
+roslisp:
+  debian:
+    stretch: [ros-kinetic-roslisp]
+roslz4:
+  debian:
+    stretch: [ros-kinetic-roslz4]
+rosmake:
+  debian:
+    stretch: [ros-kinetic-rosmake]
+rosmaster:
+  debian:
+    stretch: [ros-kinetic-rosmaster]
+rosmsg:
+  debian:
+    stretch: [ros-kinetic-rosmsg]
+rosnode:
+  debian:
+    stretch: [ros-kinetic-rosnode]
+rosout:
+  debian:
+    stretch: [ros-kinetic-rosout]
+rospack:
+  debian:
+    stretch: [ros-kinetic-rospack]
+rosparam:
+  debian:
+    stretch: [ros-kinetic-rosparam]
+rospy:
+  debian:
+    stretch: [ros-kinetic-rospy]
+rospy_tutorials:
+  debian:
+    stretch: [ros-kinetic-rospy-tutorials]
+rosserial_client:
+  debian:
+    stretch: [ros-kinetic-rosserial-client]
+rosserial_msgs:
+  debian:
+    stretch: [ros-kinetic-rosserial-msgs]
+rosserial_python:
+  debian:
+    stretch: [ros-kinetic-rosserial-python]
+rosservice:
+  debian:
+    stretch: [ros-kinetic-rosservice]
+rostest:
+  debian:
+    stretch: [ros-kinetic-rostest]
+rostime:
+  debian:
+    stretch: [ros-kinetic-rostime]
+rostopic:
+  debian:
+    stretch: [ros-kinetic-rostopic]
+rosunit:
+  debian:
+    stretch: [ros-kinetic-rosunit]
+roswtf:
+  debian:
+    stretch: [ros-kinetic-roswtf]
+sensor_msgs:
+  debian:
+    stretch: [ros-kinetic-sensor-msgs]
+smclib:
+  debian:
+    stretch: [ros-kinetic-smclib]
+std_msgs:
+  debian:
+    stretch: [ros-kinetic-std-msgs]
+std_srvs:
+  debian:
+    stretch: [ros-kinetic-std-srvs]
+stereo_msgs:
+  debian:
+    stretch: [ros-kinetic-stereo-msgs]
+tf2:
+  debian:
+    stretch: [ros-kinetic-tf2]
+tf2_bullet:
+  debian:
+    stretch: [ros-kinetic-tf2-bullet]
+tf2_eigen:
+  debian:
+    stretch: [ros-kinetic-tf2-eigen]
+tf2_geometry_msgs:
+  debian:
+    stretch: [ros-kinetic-tf2-geometry-msgs]
+tf2_kdl:
+  debian:
+    stretch: [ros-kinetic-tf2-kdl]
+tf2_msgs:
+  debian:
+    stretch: [ros-kinetic-tf2-msgs]
+tf2_py:
+  debian:
+    stretch: [ros-kinetic-tf2-py]
+tf2_ros:
+  debian:
+    stretch: [ros-kinetic-tf2-ros]
+tf2_sensor_msgs:
+  debian:
+    stretch: [ros-kinetic-tf2-sensor-msgs]
+tf2_tools:
+  debian:
+    stretch: [ros-kinetic-tf2-tools]
+tf:
+  debian:
+    stretch: [ros-kinetic-tf]
+topic_tools:
+  debian:
+    stretch: [ros-kinetic-topic-tools]
+trajectory_msgs:
+  debian:
+    stretch: [ros-kinetic-trajectory-msgs]
+urdf:
+  debian:
+    stretch: [ros-kinetic-urdf]
+urdf_parser_plugin:
+  debian:
+    stretch: [ros-kinetic-urdf-parser-plugin]
+uuid_msgs:
+  debian:
+    stretch: [ros-kinetic-uuid-msgs]
+visualization_msgs:
+  debian:
+    stretch: [ros-kinetic-visualization-msgs]
+xmlrpcpp:
+  debian:
+    stretch: [ros-kinetic-xmlrpcpp]
+boost:
+  debian:
+    stretch: [libboost-all-dev]
+bullet:
+  debian:
+    stretch: [libbullet-dev]
+bzip2:
+  debian:
+    stretch: [libbz2-dev]
+cmake:
+  debian:
+    stretch: [cmake]
+cppunit:
+  debian:
+    stretch: [libcppunit-dev]
+eigen:
+  debian:
+    stretch: [libeigen3-dev]
+geographiclib-tools:
+  debian:
+    stretch: [geographiclib-tools]
+geographiclib:
+  debian:
+    stretch: [libgeographic-dev]
+google-mock:
+  debian:
+    stretch: [google-mock]
+graphviz:
+  debian:
+    stretch: [graphviz]
+gtest:
+  debian:
+    stretch: [libgtest-dev]
+libconsole-bridge-dev:
+  debian:
+    stretch: [libconsole-bridge-dev]
+libjpeg:
+  debian:
+    stretch: [libjpeg-dev]
+libpng-dev:
+  debian:
+    stretch: [libpng-dev]
+libpoco-dev:
+  debian:
+    stretch: [libpoco-dev]
+libssl-dev:
+  debian:
+    stretch: [libssl-dev]
+libtiff-dev:
+  debian:
+    stretch: [libtiff5-dev]
+liburdfdom-dev:
+  debian:
+    stretch: [liburdfdom-dev]
+liburdfdom-headers-dev:
+  debian:
+    stretch: [liburdfdom-headers-dev]
+libv4l-dev:
+  debian:
+    stretch: [libv4l-dev]
+libvtk-qt:
+  debian:
+    stretch: [libvtk6-qt-dev]
+libwebp-dev:
+  debian:
+    stretch: [libwebp-dev]
+log4cxx:
+  debian:
+    stretch: [liblog4cxx-dev]
+lz4:
+  debian:
+    stretch: [liblz4-dev]
+pkg-config:
+  debian:
+    stretch: [pkg-config]
+protobuf:
+  debian:
+    stretch: [libprotobuf10]
+python-bson:
+  debian:
+    stretch: [python-bson]
+python-catkin-pkg:
+  debian:
+    stretch: [python-catkin-pkg]
+python-coverage:
+  debian:
+    stretch: [python-coverage]
+python-defusedxml:
+  debian:
+    stretch: [python-defusedxml]
+python-empy:
+  debian:
+    stretch: [python-empy]
+python-future:
+  debian:
+    stretch: [python-future]
+python-imaging:
+  debian:
+    stretch: [python-imaging]
+python-lxml:
+  debian:
+    stretch: [python-lxml]
+python-mock:
+  debian:
+    stretch: [python-mock]
+python-netifaces:
+  debian:
+    stretch: [python-netifaces]
+python-nose:
+  debian:
+    stretch: [python-nose]
+python-numpy:
+  debian:
+    stretch: [python-numpy]
+python-paramiko:
+  debian:
+    stretch: [python-paramiko]
+python-rosdep:
+  debian:
+    stretch: [python-rosdep]
+python-rospkg:
+  debian:
+    stretch: [python-rospkg]
+python-serial:
+  debian:
+    stretch: [python-serial]
+python-setuptools:
+  debian:
+    stretch: [python-setuptools]
+python-sip:
+  debian:
+    stretch: [python-sip-dev]
+python-tornado:
+  debian:
+    stretch: [python-tornado]
+python-twisted-core:
+  debian:
+    stretch: [python-twisted-core]
+python-websocket:
+  debian:
+    stretch: [python-websocket]
+python-wxtools:
+  debian:
+    stretch: [python-wxtools]
+python-yaml:
+  debian:
+    stretch: [python-yaml]
+python:
+  debian:
+    stretch: [python-dev]
+sbcl:
+  debian:
+    stretch: [sbcl]
+tinyxml2:
+  debian:
+    stretch: [libtinyxml2-dev]
+tinyxml:
+  debian:
+    stretch: [libtinyxml-dev]
+uuid:
+  debian:
+    stretch: [uuid-dev]
+web_video_server:
+  debian:
+    stretch: [ros-kinetic-web-video-server]
+v4l-utils:
+  debian:
+    stretch: [v4l-utils]
+yaml-cpp:
+  debian:
+    stretch: [libyaml-cpp-dev]
+zlib:
+  debian:
+    stretch: [zlib1g-dev]
+compressed_depth_image_transport:
+  debian:
+    stretch: [ros-kinetic-compressed-depth-image-transport]
+compressed_image_transport:
+  debian:
+    stretch: [ros-kinetic-compressed-image-transport]
+dynamic_reconfigure:
+  debian:
+    stretch: [ros-kinetic-dynamic-reconfigure]
+theora_image_transport:
+  debian:
+    stretch: [ros-kinetic-theora-image-transport]
+libogg:
+  debian:
+    stretch: [libtheora0=1.1.1+dfsg.1-14]

builder/assets/monkey-clever

@@ -0,0 +1,57 @@
+# Default Host - Configuration
+# ============================
+# Here the variable principals of the program are defined in respect
+# to the configuration of the different types of directives.
+
+[HOST]
+    # ServerName:
+    # -----------
+    # Allow you to set a host and domain name (e.g monkey.linuxchile.cl). If
+    # you are working in a local network just set your IP address or if you
+    # are working like localhost set your loopback address (127.0.0.1).
+
+    ServerName 0.0.0.0
+
+    # DocumentRoot:
+    # -------------
+    # This variable corresponds to the location of the main server directory
+    # of the web pages, where the files of your site are located.
+    #
+    # Example:
+    #      DocumentRoot /home/krypton/htdocs
+
+    DocumentRoot /usr/share/monkey-static
+
+    # Redirect:
+    # ---------
+    # Under specific conditions, you may want the server performs a HTTP
+    # redirect when this Virtual Host is reach. If that is the case, append
+    # to the Redirect key the value of the address where to redirect the
+    # HTTP client.
+    #
+    # Redirect http://monkey-project.com
+
+[LOGGER]
+    # AccessLog:
+    # ----------
+    # Registration file of correct request.
+
+    AccessLog /var/log/monkey-clever/access.log
+
+    # ErrorLog:
+    # ---------
+    # Registration file of incorrect request.
+
+    ErrorLog /var/log/monkey-clever/error.log
+
+[ERROR_PAGES]
+    404  404.html
+
+[HANDLERS]
+    # FastCGI
+    # =======
+    # Match /.*\.php fastcgi
+
+    # CGI
+    # ===
+    # Match /cgi-bin/.*\.cgi cgi

builder/assets/monkey.service

@@ -0,0 +1,9 @@
+[Unit]
+Description=Monkey web-server
+
+[Service]
+ExecStart=/usr/sbin/monkey --port 80 --workers 1
+Restart=on-abort
+
+[Install]
+WantedBy=multi-user.target

builder/assets/roscore.service

@@ -3,7 +3,7 @@ Description=Launcher for the ROS master, parameter server and rosout logging nod
 After=network.target
 
 [Service]
-EnvironmentFile=/home/pi/catkin_ws/src/clever/deploy/roscore.env
+EnvironmentFile=/lib/systemd/system/roscore.env
 ExecStart=/opt/ros/kinetic/bin/roscore
 Restart=on-abort
 

builder/image-build.sh

@@ -0,0 +1,106 @@
+#! /usr/bin/env bash
+
+#
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+SOURCE_IMAGE="http://repo.coex.space/2018-06-27-raspbian-stretch-lite.zip"
+
+export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
+export LANG=${LANG:='C.UTF-8'}
+export LC_ALL=${LC_ALL:='C.UTF-8'}
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+BUILDER_DIR="/builder"
+REPO_DIR="${BUILDER_DIR}/repo"
+SCRIPTS_DIR="${REPO_DIR}/builder"
+IMAGES_DIR="${REPO_DIR}/images"
+
+[[ ! -d ${SCRIPTS_DIR} ]] && (echo_stamp "Directory ${SCRIPTS_DIR} doesn't exist" "ERROR"; exit 1)
+[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo_stamp "Directory ${IMAGES_DIR} was created successful" "SUCCESS"
+
+if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="$(cd ${REPO_DIR}; git log --format=%h -1)"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
+# IMAGE_VERSION="${TRAVIS_TAG:=$(cd ${REPO_DIR}; git log --format=%h -1)}"
+REPO_URL="$(cd ${REPO_DIR}; git remote --verbose | grep origin | grep fetch | cut -f2 | cut -d' ' -f1 | sed 's/git@github\.com\:/https\:\/\/github.com\//')"
+REPO_NAME="$(basename -s '.git' ${REPO_URL})"
+IMAGE_NAME="${REPO_NAME}_${IMAGE_VERSION}.img"
+IMAGE_PATH="${IMAGES_DIR}/${IMAGE_NAME}"
+
+get_image() {
+  # TEMPLATE: get_image <IMAGE_PATH> <RPI_DONWLOAD_URL> 
+  local BUILD_DIR=$(dirname $1)
+  local RPI_ZIP_NAME=$(basename $2)
+  local RPI_IMAGE_NAME=$(echo ${RPI_ZIP_NAME} | sed 's/zip/img/')
+
+  if [ ! -e "${BUILD_DIR}/${RPI_ZIP_NAME}" ]; then
+    echo_stamp "Downloading original Linux distribution" \
+    && wget -nv -O ${BUILD_DIR}/${RPI_ZIP_NAME} $2 \
+    && echo_stamp "Downloading complete" "SUCCESS" \
+    || (echo_stamp "Downloading was failed!" "ERROR"; exit 1)
+  else echo_stamp "Linux distribution already donwloaded"; fi
+
+  echo_stamp "Unzipping Linux distribution image" \
+  && unzip -p ${BUILD_DIR}/${RPI_ZIP_NAME} ${RPI_IMAGE_NAME} > $1 \
+  && echo_stamp "Unzipping complete" "SUCCESS" \
+  || (echo_stamp "Unzipping was failed!" "ERROR"; exit 1)
+}
+
+get_image ${IMAGE_PATH} ${SOURCE_IMAGE}
+
+# Make free space
+${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH} max '7G'
+
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/init_rpi.sh' '/root/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/hardware_setup.sh' '/root/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-init.sh' ${IMAGE_VERSION} ${SOURCE_IMAGE}
+
+# Monkey
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey-clever' '/root/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/index.html' '/usr/share/monkey-static/'
+
+# Butterfly
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
+# software install
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
+# network setup
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
+
+# If RPi then use a one thread to build a ROS package on RPi, else use all
+[[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
+# Clever
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.env' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
+# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS} 
+
+${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}

builder/image-init.sh

@@ -0,0 +1,54 @@
+#! /usr/bin/env bash
+
+#
+# Script for initialisation image
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+echo_stamp "Write CLEVER information"
+
+# Clever image version
+echo "$1" >> /etc/clever_version
+# Origin image file name
+echo "${2%.*}" >> /etc/clever_origin
+
+echo_stamp "Write magic script to /etc/rc.local"
+MAGIC_SCRIPT="sudo /root/init_rpi.sh; sudo sed -i '/sudo \\\/root\\\/init_rpi.sh/d' /etc/rc.local && sudo reboot"
+sed -i "19a${MAGIC_SCRIPT}" /etc/rc.local
+
+# It needs for autosizer.sh & maybe that is correct
+echo_stamp "Change boot partition"
+sed -i 's/root=[^ ]*/root=\/dev\/mmcblk0p2/' /boot/cmdline.txt
+sed -i 's/.*  \/boot           vfat    defaults          0       2$/\/dev\/mmcblk0p1  \/boot           vfat    defaults          0       2/' /etc/fstab
+sed -i 's/.*  \/               ext4    defaults,noatime  0       1$/\/dev\/mmcblk0p2  \/               ext4    defaults,noatime  0       1/' /etc/fstab
+
+echo_stamp "Set max space for syslogs"
+# https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
+sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
+
+echo_stamp "End of init image"

builder/image-network.sh

@@ -0,0 +1,73 @@
+#! /usr/bin/env bash
+
+#
+# Script for network configure
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+echo_stamp "#1 Write to /etc/wpa_supplicant/wpa_supplicant.conf"
+
+# TODO: Use wpa_cli insted direct file edit
+cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
+network={
+    ssid="CLEVER"
+    psk="cleverwifi"
+    mode=2
+    proto=RSN
+    key_mgmt=WPA-PSK
+    pairwise=CCMP
+    group=CCMP
+    auth_alg=OPEN
+}
+EOF
+
+echo_stamp "#2 Write STATIC to /etc/dhcpcd.conf"
+
+cat << EOF >> /etc/dhcpcd.conf
+interface wlan0
+static ip_address=192.168.11.1/24
+EOF
+
+echo_stamp "#3 Write dhcp-config to /etc/dnsmasq.conf"
+
+cat << EOF >> /etc/dnsmasq.conf
+interface=wlan0
+address=/clever/coex/192.168.11.1
+dhcp-range=192.168.11.100,192.168.11.200,12h
+no-hosts
+filterwin2k
+bogus-priv
+domain-needed
+quiet-dhcp6
+EOF
+
+#echo_stamp "#4 Write magic script for rename SSID to /etc/rc.local"
+#RENAME_SSID="sudo sed -i.OLD \"s/CLEVER/CLEVER-\$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g\" /etc/wpa_supplicant/wpa_supplicant.conf && sudo sed -i '/sudo sed/d' /etc/rc.local && sudo reboot"
+#sed -i "19a$RENAME_SSID" /etc/rc.local
+
+echo_stamp "#5 End of network installation"

builder/image-ros.sh

@@ -0,0 +1,176 @@
+#! /usr/bin/env bash
+
+#
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+REPO=$1
+REF=$2
+INSTALL_ROS_PACK_SOURCES=$3
+DISCOVER_ROS_PACK=$4
+NUMBER_THREADS=$5
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m$TEXT\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+# https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
+# https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
+my_travis_retry() {
+  local result=0
+  local count=1
+  while [ $count -le 3 ]; do
+    [ $result -ne 0 ] && {
+      echo -e "\n${ANSI_RED}The command \"$@\" failed. Retrying, $count of 3.${ANSI_RESET}\n" >&2
+    }
+    # ! { } ignores set -e, see https://stackoverflow.com/a/4073372
+    ! { "$@"; result=$?; }
+    [ $result -eq 0 ] && break
+    count=$(($count + 1))
+    sleep 1
+  done
+
+  [ $count -gt 3 ] && {
+    echo -e "\n${ANSI_RED}The command \"$@\" failed 3 times.${ANSI_RESET}\n" >&2
+  }
+
+  return $result
+}
+
+# TODO: 'kinetic-rosdep-clever.yaml' should add only if we use our repo?
+echo_stamp "Init rosdep" \
+&& rosdep init \
+&& echo "yaml file:///etc/ros/rosdep/kinetic-rosdep-clever.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list \
+&& rosdep update
+
+resolve_rosdep() {
+  # TEMPLATE: resolve_rosdep <CATKIN_PATH> <ROS_DISTRO> <OS_DISTRO> <OS_VERSION>
+  CATKIN_PATH=$1
+  ROS_DISTRO='kinetic'
+  OS_DISTRO='debian'
+  OS_VERSION='stretch'
+
+  echo_stamp "Installing dependencies apps with rosdep in ${CATKIN_PATH}"
+  cd ${CATKIN_PATH}
+  my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -r --os=${OS_DISTRO}:${OS_VERSION}
+}
+
+INSTALL_ROS_PACK_SOURCES=${INSTALL_ROS_PACK_SOURCES:='false'}
+if [ "${INSTALL_ROS_PACK_SOURCES}" = "true" ]; then
+  DISCOVER_ROS_PACK=${DISCOVER_ROS_PACK:='true'}
+  if [ "${DISCOVER_ROS_PACK}" = "false" ]; then
+    echo_stamp "Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall" \
+    && mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+    && rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
+    && wstool init -j${NUMBER_THREADS} src kinetic-ros_comm-wet.rosinstall \
+    && echo_stamp "All roscomm sources was installed!" "SUCCESS" \
+    || (echo_stamp "Some roscomm sources installation was failed!" "ERROR"; exit 1)
+
+    echo_stamp "Preparing other ROS-packages to kinetic-custom_ros.rosinstall" \
+    && cd /home/pi/ros_catkin_ws \
+    && rosinstall_generator \
+    actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport compressed_image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras interactive_markers tf2_web_republisher interactive_marker_proxy \
+    --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
+    && wstool merge -j${NUMBER_THREADS} -t src kinetic-custom_ros.rosinstall \
+    && wstool update -j${NUMBER_THREADS} -t src \
+    && echo_stamp "All custom sources was installed!" "SUCCESS" \
+    || (echo_stamp "Some custom sources installation was failed!" "ERROR"; exit 1)
+  else
+    echo_stamp "Creating ros_catkin_ws & getting all sources using wstool" \
+    && mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+    && wstool init -j${NUMBER_THREADS} src kinetic-ros-clever.rosinstall \
+    > /dev/null \
+    && echo_stamp "All CLEVER sources was installed!" "SUCCESS" \
+    || (echo_stamp "Some CLEVER sources installation was failed!" "ERROR"; exit 1)
+  fi
+
+  resolve_rosdep '/home/pi/ros_catkin_ws'
+
+  # TODO: Add refactor to origin repo
+  #echo_stamp "Refactoring usb_cam in SRC"
+  #sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
+
+  echo_stamp "Building ros_catkin_ws packages"
+  cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -j${NUMBER_THREADS} -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
+
+  #echo_stamp "#11 Building light packages on 2 threads"
+  #cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j2 --install-space /opt/ros/kinetic --pkg actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs xmlrpcpp
+
+  #echo_stamp "#12 Building heavy packages"
+  # This command uses less threads to avoid Raspberry Pi freeze
+  #cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j1 --install-space /opt/ros/kinetic --pkg mavros opencv3 cv_bridge cv_camera mavros_extras web_video_server
+
+  # Install builded packages
+  # WARNING: A major bug was found when using --pkg option (catkin_make_isolated doesn't install environment files)
+  # TODO: Can we increase threads number with HDD swap?
+
+  echo_stamp "Remove build_isolated & devel_isolated from ros_catkin_ws"
+  rm -rf /home/pi/ros_catkin_ws/build_isolated /home/pi/ros_catkin_ws/devel_isolated
+  chown -Rf pi:pi /home/pi/ros_catkin_ws
+fi
+
+echo_stamp "Installing CLEVER" \
+&& git clone ${REPO} /home/pi/catkin_ws/src/clever \
+&& cd /home/pi/catkin_ws/src/clever \
+&& echo "REF: ${REF}" \
+&& git checkout ${REF} \
+&& cd /home/pi/catkin_ws \
+&& resolve_rosdep $(pwd) \
+&& my_travis_retry pip install wheel \
+&& my_travis_retry pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
+&& source /opt/ros/kinetic/setup.bash \
+&& catkin_make -j${NUMBER_THREADS} -DCMAKE_BUILD_TYPE=Release \
+&& systemctl enable roscore \
+&& systemctl enable clever \
+&& echo_stamp "All CLEVER was installed!" "SUCCESS" \
+|| (echo_stamp "CLEVER installation was failed!" "ERROR"; exit 1)
+
+# TODO move GeographicLib datasets to Mavros debian package
+echo_stamp "Install GeographicLib datasets (needs for mavros)" \
+&& wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
+
+echo_stamp "Change permissions for catkin_ws"
+chown -Rf pi:pi /home/pi/catkin_ws
+
+echo_stamp "Setup ROS environment"
+cat << EOF >> /home/pi/.bashrc
+LANG='C.UTF-8'
+LC_ALL='C.UTF-8'
+ROS_DISTRO='kinetic'
+export ROS_IP='192.168.11.1'
+source /opt/ros/kinetic/setup.bash
+source /home/pi/catkin_ws/devel/setup.bash
+EOF
+
+#echo_stamp "Removing local apt mirror"
+# Restore original sources.list
+#mv /var/sources.list.bak /etc/apt/sources.list
+# Clean apt cache
+apt-get clean -qq > /dev/null
+# Remove local mirror repository key
+#apt-key del COEX-MIRROR
+
+echo_stamp "END of ROS INSTALLATION"

builder/image-software.sh

@@ -0,0 +1,130 @@
+#! /usr/bin/env bash
+
+#
+# Script for install software to the image.
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+
+set -e # Exit immidiately on non-zero result
+
+echo_stamp() {
+  # TEMPLATE: echo_stamp <TEXT> <TYPE>
+  # TYPE: SUCCESS, ERROR, INFO
+
+  # More info there https://www.shellhacks.com/ru/bash-colors/
+
+  TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
+  TEXT="\e[1m${TEXT}\e[0m" # BOLD
+
+  case "$2" in
+    SUCCESS)
+    TEXT="\e[32m${TEXT}\e[0m";; # GREEN
+    ERROR)
+    TEXT="\e[31m${TEXT}\e[0m";; # RED
+    *)
+    TEXT="\e[34m${TEXT}\e[0m";; # BLUE
+  esac
+  echo -e ${TEXT}
+}
+
+# https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
+# https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
+my_travis_retry() {
+  local result=0
+  local count=1
+  while [ $count -le 3 ]; do
+    [ $result -ne 0 ] && {
+      echo -e "\n${ANSI_RED}The command \"$@\" failed. Retrying, $count of 3.${ANSI_RESET}\n" >&2
+    }
+    # ! { } ignores set -e, see https://stackoverflow.com/a/4073372
+    ! { "$@"; result=$?; }
+    [ $result -eq 0 ] && break
+    count=$(($count + 1))
+    sleep 1
+  done
+
+  [ $count -gt 3 ] && {
+    echo -e "\n${ANSI_RED}The command \"$@\" failed 3 times.${ANSI_RESET}\n" >&2
+  }
+
+  return $result
+}
+
+echo_stamp "Install apt keys & repos"
+
+# TODO: This STDOUT consist 'OK'
+curl http://repo.coex.space/aptly_repo_signing.key 2> /dev/null | apt-key add -
+apt-get update \
+&& apt-get install --no-install-recommends -y -qq dirmngr=2.1.18-8~deb9u2 > /dev/null \
+&& apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+
+echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list
+echo "deb http://repo.coex.space/rpi-ros-kinetic stretch main" > /etc/apt/sources.list.d/rpi-ros-kinetic.list
+echo "deb http://repo.coex.space/clever stretch main" > /etc/apt/sources.list.d/clever.list
+
+echo_stamp "Update apt cache"
+
+# TODO: FIX ERROR: /usr/bin/apt-key: 596: /usr/bin/apt-key: cannot create /dev/null: Permission denied
+apt-get update -qq
+# && apt upgrade -y
+
+echo_stamp "Software installing"
+apt-get install --no-install-recommends -y \
+unzip=6.0-21 \
+zip=3.0-11 \
+ipython=5.1.0-3 \
+ipython3=5.1.0-3 \
+screen=4.5.0-6 \
+byobu=5.112-1  \
+nmap=7.40-1 \
+lsof=4.89+dfsg-0.1 \
+git \
+dnsmasq=2.76-5+rpt1+deb9u1  \
+tmux=2.3-4 \
+vim=2:8.0.0197-4+deb9u1 \
+cmake=3.7.2-1 \
+python-pip=9.0.1-2+rpt2 \
+python3-pip=9.0.1-2+rpt2 \
+libjpeg8-dev=8d1-2 \
+tcpdump \
+ltrace \
+libpoco-dev=1.7.6+dfsg1-5+deb9u1 \
+python-rosdep=0.12.2-1 \
+python-rosinstall-generator=0.1.14-1 \
+python-wstool=0.1.17-1 \
+python-rosinstall=0.7.8-1 \
+build-essential=12.3 \
+libffi-dev \
+monkey=1.6.9-1 \
+&& echo_stamp "Everything was installed!" "SUCCESS" \
+|| (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
+
+# Deny byobu to check available updates
+sed -i "s/updates_available//" /usr/share/byobu/status/status
+# sed -i "s/updates_available//" /home/pi/.byobu/status
+
+echo_stamp "Upgrade pip"
+my_travis_retry pip install --upgrade pip
+my_travis_retry pip3 install --upgrade pip3
+
+echo_stamp "Install and enable Butterfly (web terminal)"
+my_travis_retry pip3 install butterfly
+my_travis_retry pip3 install butterfly[systemd]
+systemctl enable butterfly.socket
+
+echo_stamp "Setup Monkey"
+mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
+mv /root/monkey-clever /etc/monkey/sites/default
+systemctl enable monkey.service
+
+echo_stamp "Add .vimrc"
+cat << EOF > /home/pi/.vimrc
+set mouse-=a
+syntax on
+autocmd BufNewFile,BufRead *.launch set syntax=xml
+EOF
+
+echo_stamp "End of software installation"

clever/CMakeLists.txt

@@ -21,6 +21,9 @@ find_package(catkin REQUIRED COMPONENTS
   tf
   tf2
   tf2_geometry_msgs
+  tf2_ros
+  image_transport
+  cv_bridge
 )
 
 
@@ -121,7 +124,7 @@ generate_messages(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES clever
+  LIBRARIES clever
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -137,7 +140,11 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
+# Declare a C++ library
+add_library(clever
+  src/optical_flow.cpp
+)
+
 add_library(fcu_horiz
   src/fcu_horiz.cpp
 )
@@ -156,8 +163,20 @@ add_library(aruco_vpe
 ## The recommended prefix ensures that target names across packages don't collide
 add_executable(rc src/rc.cpp)
 
+add_executable(camera_markers src/camera_markers.cpp)
+
+add_executable(frames src/frames.cpp)
+
+add_executable(vpe_publisher src/vpe_publisher.cpp)
+
 target_link_libraries(rc ${catkin_LIBRARIES})
 
+target_link_libraries(camera_markers ${catkin_LIBRARIES})
+
+target_link_libraries(frames ${catkin_LIBRARIES})
+
+target_link_libraries(vpe_publisher ${catkin_LIBRARIES})
+
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
@@ -169,6 +188,10 @@ target_link_libraries(rc ${catkin_LIBRARIES})
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
+target_link_libraries(clever
+  ${catkin_LIBRARIES}
+)
+
 target_link_libraries(fcu_horiz
   ${catkin_LIBRARIES}
   "/opt/ros/kinetic/lib/libtf2_ros.so"

clever/launch/aruco.launch

@@ -1,24 +1,35 @@
 <launch>
-    <remap from="image" to="main_camera/image_raw"/>
-    <remap from="camera_info" to="main_camera/camera_info"/>
+    <arg name="aruco_detect" default="true"/>
+    <arg name="aruco_map" default="false"/>
+    <arg name="aruco_vpe" default="false"/>
 
-    <node pkg="nodelet" type="nodelet" name="aruco_pose" args="load aruco_pose/aruco_pose nodelet_manager" clear_params="true">
-        <param name="frame_id" value="aruco_map_raw"/>
-        <param name="type" value="gridboard"/>
-        <param name="markers_x" value="1"/>
-        <param name="markers_y" value="6"/>
-        <param name="first_marker" value="240"/>
-        <param name="markers_side" value="0.3362"/>
-        <param name="markers_sep" value="0.46"/>
+    <!-- detect aruco markers, estimate poses -->
+    <node pkg="nodelet" if="$(arg aruco_detect)" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager" output="screen">
+        <remap from="image_raw" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
 
-        <!-- Custom gridboard: -->
-        <!--<rosparam param="marker_ids">[6, 5, 4, 3, 2, 1]</rosparam>-->
+        <param name="length" value="0.32"/>
+        <param name="snap_orientation" value="local_origin"/>
+        <param name="estimate_poses" value="true"/>
     </node>
 
-    <node pkg="nodelet" type="nodelet" name="aruco_vpe" args="load clever/aruco_vpe nodelet_manager" clear_params="true">
-        <param name="aruco_orientation" value="local_origin"/>
-        <!--<param name="aruco_orientation" value="local_origin_upside_down"/>-->
+    <!-- estimate aruco map pose -->
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_map" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen">
+        <remap from="markers" to="aruco_detect/markers"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <param name="type" value="map"/>
+        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
+        <param name="snap_orientation" value="local_origin"/>
+    </node>
 
-        <param name="use_mocap" value="true"/>
+    <!-- vpe publisher from aruco markers -->
+    <node name="vpe_publisher" pkg="clever" type="vpe_publisher" output="screen" if="$(arg aruco_vpe)">
+        <!-- <remap from="~markers" to="aruco_detect/markers"/> -->
+        <!-- <remap from="~pose_pub" to="mavros/mocap/pose"/> --> <!-- publish MOCAP -->
+        <remap from="~pose_cov" to="aruco_map/pose"/>
+        <remap from="~pose_pub" to="mavros/vision_pose/pose"/> <!-- publish VPE -->
+        <param name="frame_id" value="aruco_map"/>
+        <param name="child_frame_id" value="fcu"/>
+        <param name="publish_zero" value="true"/>
     </node>
 </launch>

clever/launch/clever.launch

@@ -2,46 +2,50 @@
     <arg name="fcu_conn" default="usb"/>
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
-    <arg name="viz" default="true"/>
-    <arg name="web_server" default="false"/>
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
+    <arg name="optical_flow" default="false"/>
     <arg name="aruco" default="false"/>
-    <arg name="rc" value="true"/>
-    <arg name="fpv_camera" default="false"/>
-    <arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
+    <arg name="rc" default="true"/>
     <arg name="arduino" default="false"/>
+    <arg name="vl53l1x" default="false"/>
 
     <!-- mavros -->
     <include file="$(find clever)/launch/mavros.launch">
         <arg name="fcu_conn" value="$(arg fcu_conn)"/>
         <arg name="fcu_ip" value="$(arg fcu_ip)"/>
         <arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
-        <arg name="viz" value="$(arg viz)"/>
+        <arg name="viz" value="true"/>
     </include>
 
-    <!-- web server -->
-    <include file="$(find clever)/launch/web_server.launch" if="$(arg web_server)"/>
-
     <!-- web video server -->
     <node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5"/>
 
-    <!-- aruco vpe -->
+    <!-- aruco -->
     <include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
 
+    <!-- optical flow -->
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true">
+        <remap from="image" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+    </node>
+
     <!-- main nodelet manager -->
     <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
-        <param name="num_worker_threads" value="2"/>
+        <param name="num_worker_threads" value="4"/>
     </node>
 
     <node pkg="tf2_ros" type="static_transform_publisher" name="local_origin_upside_down_frame" args="0 0 0 3.1415926 3.1415926 0 local_origin local_origin_upside_down"/>
 
-    <!-- fcu_horiz frame -->
-    <node pkg="nodelet" type="nodelet" name="fcu_horiz" args="standalone clever/fcu_horiz" output="screen" clear_params="true"/>
 
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clever" type="simple_offboard.py" output="screen"/>
+    <!-- Auxiliary frames -->
+    <node name="frames" pkg="clever" type="frames" output="screen">
+        <param name="body/frame_id" value="fcu_horiz"/>
+    </node>
+
 
     <!-- main camera -->
     <include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
@@ -49,14 +53,15 @@
     <!-- rosbridge -->
     <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
 
+    <!-- vl53l1x ToF rangefinder -->
+    <node name="vl53l1x" pkg="clever" type="vl53l1x.py" output="screen" if="$(arg vl53l1x)">
+        <param name="z_shift" value="-0.05"/>
+        <!-- <remap from="~range" to="mavros/distance_sensor/rangefinder_3_sub"/> -->
+    </node>
+
     <!-- rc backend -->
     <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
 
-    <!-- FPV video streaming -->
-    <include file="$(find clever)/launch/fpv_camera.launch" if="$(arg fpv_camera)">
-        <arg name="device" value="$(arg fpv_camera_device)"/>
-    </include>
-
     <!-- Arduino bridge -->
     <include file="$(find clever)/launch/arduino.launch" if="$(arg arduino)"/>
 </launch>

clever/launch/copter_visualization.launch

@@ -1,12 +0,0 @@
-<launch>
-    <remap to="mavros/local_position/pose" from="local_position"/>
-    <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
-
-    <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization"/>
-
-    <param name="copter_visualization/fixed_frame_id" value="local_origin"/>
-    <param name="copter_visualization/child_frame_id" value="fcu"/>
-    <param name="copter_visualization/marker_scale" value="1"/>
-    <param name="copter_visualization/max_track_size" value="500"/>
-    <param name="copter_visualization/num_rotors" value="4"/>
-</launch>

clever/launch/main_camera.launch

@@ -1,4 +1,7 @@
 <launch>
+    <!-- Camera position and orientation are represented by fcu -> main_camera_optical transform -->
+    <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
+
     <!-- clever 2 -->
     <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0 0 -0.07 -1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
 
@@ -16,8 +19,14 @@
         <!-- setting camera FPS -->
         <param name="rate" value="100"/>
         <param name="cv_cap_prop_fps" value="40"/>
+        <param name="capture_delay" value="0.02"/>
 
         <param name="image_width" value="320"/>
         <param name="image_height" value="240"/>
     </node>
+
+    <!-- camera visualization markers -->
+    <node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
+        <param name="scale" value="3.0"/>
+    </node>
 </launch>

clever/launch/mavros.launch

@@ -1,57 +1,96 @@
 <launch>
-    <arg name="fcu_conn" default="uart"/>
+    <arg name="fcu_conn" default="usb"/>
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
-    <arg name="respawn" default="false"/>
+    <arg name="respawn" default="true"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="3" output="screen">
-            <!-- UART connection -->
-            <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="5" output="screen">
+        <!-- UART connection -->
+        <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
-            <!-- USB connection -->
-            <param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
+        <!-- USB connection -->
+        <param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
 
-            <!-- sitl -->
-            <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
+        <!-- sitl -->
+        <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
 
-            <!-- gcs bridge -->
-            <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
-            <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
-            <param name="gcs_url" value="udp-pb://192.168.11.1:14550@" if="$(eval gcs_bridge == 'udp-b')"/>
-            <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
-            <param name="gcs_quiet_mode" value="true"/>
-            <param name="conn/timeout" value="10"/>
+        <!-- gcs bridge -->
+        <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
+        <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
+        <param name="gcs_url" value="udp-b://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
+        <param name="gcs_url" value="udp-pb://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
+        <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
+        <param name="gcs_quiet_mode" value="true"/>
+        <param name="conn/timeout" value="8"/>
 
-            <!-- default px4 params -->
-            <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
+        <!-- default px4 params -->
+        <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
 
-            <!-- additional params -->
-            <param name="local_position/frame_id" value="local_origin"/>
-            <param name="local_position/tf/send" value="true"/>
-            <param name="local_position/tf/frame_id" value="local_origin"/>
-            <param name="local_position/tf/child_frame_id" value="fcu"/>
-            <param name="global_position/tf/send" value="false"/>
-            <param name="imu/frame_id" value="fcu"/>
-            <rosparam param="plugin_blacklist">
-                - safety_area
-                - image_pub
-                - vibration
-                - distance_sensor
-                - rangefinder
-                - 3dr_radio
-                - actuator_control
-                - hil_controls
-                - vfr_hud
-                - px4flow
-                - vision_speed_estimate
-                - fake_gps
-                - cam_imu_sync
-                - hil
-                - adsb
-            </rosparam>
+        <!-- rangefinders -->
+        <rosparam>
+            distance_sensor:
+                rangefinder_0:
+                    id: 0
+                    frame_id: "rangefinder"
+                    orientation: PITCH_270
+                    field_of_view: 0.5
+                rangefinder_1:
+                    id: 1
+                    frame_id: "rangefinder"
+                    orientation: PITCH_270
+                    field_of_view: 0.5
+                rangefinder_2_sub:
+                    subscriber: true
+                    id: 2
+                    orientation: PITCH_270
+                rangefinder_3_sub:
+                    subscriber: true
+                    id: 3
+                    orientation: PITCH_270
+        </rosparam>
+
+        <!-- additional params -->
+        <param name="local_position/frame_id" value="local_origin"/>
+        <param name="local_position/tf/send" value="true"/>
+        <param name="local_position/tf/frame_id" value="local_origin"/>
+        <param name="local_position/tf/child_frame_id" value="fcu"/>
+        <param name="global_position/tf/send" value="false"/>
+        <param name="imu/frame_id" value="fcu"/>
+        <rosparam param="plugin_blacklist">
+            - safety_area
+            - image_pub
+            - vibration
+            - rangefinder
+            - 3dr_radio
+            - actuator_control
+            - hil_controls
+            - vfr_hud
+            - vision_speed_estimate
+            - fake_gps
+            - cam_imu_sync
+            - hil
+            - adsb
+            - waypoint
+            - obstacle_distance
+            - setpoint_accel
+            - trajectory
+            - wind_estimation
+            - home_position
+        </rosparam>
     </node>
 
+    <!-- Rangefinders frame -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>
+
     <!-- Copter visualization -->
-    <include file="$(find clever)/launch/copter_visualization.launch" if="$(arg viz)"/>
+    <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
+        <remap to="mavros/local_position/pose" from="local_position"/>
+        <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
+        <param name="fixed_frame_id" value="local_origin"/>
+        <param name="child_frame_id" value="fcu"/>
+        <param name="marker_scale" value="1"/>
+        <param name="max_track_size" value="20"/>
+        <param name="num_rotors" value="4"/>
+    </node>
 </launch>

clever/launch/sitl.launch

@@ -1,17 +1,19 @@
 <launch>
     <!-- Clever configuration for testing in sitl -->
     <arg name="ip" default="127.0.0.1"/>
-    <arg name="rosbridge" default="true"/>
+    <arg name="rosbridge" default="false"/>
 
     <include file="$(find clever)/launch/clever.launch">
         <arg name="fcu_conn" value="udp"/>
         <arg name="fcu_ip" value="$(arg ip)"/>
         <arg name="gcs_bridge" value="false"/>
+        <arg name="optical_flow" value="false"/>
+        <arg name="web_server" default="false"/>
         <arg name="web_video_server" default="false"/>
         <arg name="main_camera" default="false"/>
-        <arg name="fpv_camera" default="false"/>
         <arg name="rosbridge" value="$(arg rosbridge)"/>
-        <arg name="web_server" default="false"/>
         <arg name="aruco" default="false"/>
+        <arg name="vl53l1x" default="false"/>
+        <arg name="rc" default="false"/>
     </include>
 </launch>

clever/launch/web_server.launch

@@ -1,5 +0,0 @@
-<launch>
-    <node name="web_server" pkg="clever" type="web_server.py" output="screen">
-        <param name="path" value="$(find clever)/static"/>
-    </node>
-</launch>

clever/nodelet_plugins.xml

@@ -1,3 +1,8 @@
+<library path="lib/libclever">
+   <class name="clever/optical_flow" type="OpticalFlow" base_class_type="nodelet::Nodelet">
+      <description/>
+   </class>
+</library>
 <library path="lib/libfcu_horiz">
    <class name="clever/fcu_horiz" type="FcuHoriz" base_class_type="nodelet::Nodelet">
       <description/>

clever/package.xml

@@ -2,55 +2,40 @@
 <package>
   <name>clever</name>
   <version>0.0.1</version>
-  <description>The clever package</description>
+  <description>The CLEVER package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
+  <license>MIT</license>
 
+  <!--url type="website">http://wiki.ros.org/clever</url-->
+  <author email="okalachev@gmail.com">Oleg Kalachev</author>
+  <author email="urpylka@gmail.com">Artem Smirnov</author>
 
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/clever</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
   <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-
   <build_depend>nodelet</build_depend>
   <build_depend>roscpp</build_depend>
-
-  <run_depend>nodelet</run_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>tf2_geometry_msgs</build_depend>
+  <!-- Use buildtool_depend for build tool packages: -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <!-- Use run_depend for packages you need at runtime: -->
+  <run_depend>catkin</run_depend>
   <run_depend>roscpp</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>mavros</run_depend>
+  <run_depend>mavros_extras</run_depend>
+  <run_depend>lxml</run_depend>
+  <run_depend>cv_camera</run_depend>
+  <run_depend>mjpg-streamer</run_depend>
+  <run_depend>rosbridge_server</run_depend>
+  <run_depend>web_video_server</run_depend>
+  <run_depend>ros_comm</run_depend>r
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-      <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>

clever/requirements.txt

@@ -1,2 +1,5 @@
-flask==0.12.2
+flask==0.12.3
 geopy==1.11.0
+pymavlink==2.2.10
+smbus2==0.2.1
+VL53L1X==0.0.2

clever/src/camera_markers.cpp

@@ -0,0 +1,101 @@
+/*
+ * Visualization marker for camera alignment
+ * Copyright (C) 2018 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
+#include <string>
+#include <ros/ros.h>
+#include <sensor_msgs/CameraInfo.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+
+using namespace visualization_msgs;
+
+double markers_scale;
+std::string camera_frame;
+
+MarkerArray createMarkers() {
+	MarkerArray markers;
+
+	Marker lens;
+	lens.header.frame_id = camera_frame;
+	lens.ns = "camera_markers";
+	lens.id = 0;
+	lens.action = Marker::ADD;
+	lens.type = visualization_msgs::Marker::CYLINDER;
+	lens.frame_locked = true;
+	lens.scale.x = 0.013 * markers_scale;
+	lens.scale.y = 0.013 * markers_scale;
+	lens.scale.z = 0.015 * markers_scale;
+	lens.color.r = 0.3;
+	lens.color.g = 0.3;
+	lens.color.b = 0.3;
+	lens.color.a = 0.9;
+	lens.pose.position.z = 0.0075 * markers_scale;
+	lens.pose.orientation.w = 1;
+
+	Marker board;
+	board.header.frame_id = camera_frame;
+	board.ns = "camera_markers";
+	board.id = 1;
+	board.action = Marker::ADD;
+	board.type = Marker::CUBE;
+	board.frame_locked = true;
+	board.scale.x = 0.024 * markers_scale;
+	board.scale.y = 0.024 * markers_scale;
+	board.scale.z = 0.001 * markers_scale;
+	board.color.r = 0.0;
+	board.color.g = 0.8;
+	board.color.b = 0.0;
+	board.color.a = 0.9;
+	board.pose.orientation.w = 1;
+
+	Marker wire;
+	wire.header.frame_id = camera_frame;
+	wire.ns = "camera_markers";
+	wire.id = 2;
+	wire.action = Marker::ADD;
+	wire.type = Marker::CUBE;
+	wire.frame_locked = true;
+	wire.scale.x = 0.014 * markers_scale;
+	wire.scale.y = 0.04 * markers_scale;
+	wire.scale.z = 0.001 * markers_scale;
+	wire.color.r = 0.9;
+	wire.color.g = 0.9;
+	wire.color.b = 1.0;
+	wire.color.a = 0.8;
+	wire.pose.position.x = 0;
+	wire.pose.position.y = (0.01 + 0.02) * markers_scale;
+	wire.pose.position.z = 0.002 * markers_scale;
+	wire.pose.orientation.w = 1;
+
+	markers.markers.push_back(lens);
+	markers.markers.push_back(board);
+	markers.markers.push_back(wire);
+
+	return markers;
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "camera_markers", ros::init_options::AnonymousName);
+	ros::NodeHandle nh, nh_priv("~");
+
+	nh_priv.param("scale", markers_scale, 1.0);
+
+	// wait for camera info
+	auto camera_info = ros::topic::waitForMessage<sensor_msgs::CameraInfo>("camera_info", nh);
+	camera_frame = camera_info->header.frame_id;
+
+	ros::Publisher markers_pub = nh.advertise<visualization_msgs::MarkerArray>("camera_markers", 1, true);
+	markers_pub.publish(createMarkers());
+
+	ROS_INFO("Camera markers initialized");
+	ros::spin();
+}

clever/src/fpv_camera

@@ -4,5 +4,4 @@
 # fpv_camera <video_device> <http port>
 
 echo "Starting FPV camera $1 on :$2"
-cd /home/pi/mjpg-streamer/mjpg-streamer-experimental
-./mjpg_streamer -i "./input_uvc.so -d $1 -r 320x240 -f 30" -o "./output_http.so -w ./www -p $2"
+mjpg_streamer -i "/usr/lib/input_uvc.so -d $1 -r 320x240 -f 30" -o "/usr/lib/output_http.so -w /usr/share/mjpg_streamer/www -p $2"