simple_offboard: fix yaw transformation

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/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>5</string>
+	<string>6</string>
 	<key>LSRequiresIPhoneOS</key>
 	<true/>
 	<key>UILaunchStoryboardName</key>

apps/ios/cleverrc/ViewController.swift

@@ -9,7 +9,6 @@
 import UIKit
 import WebKit
 import SwiftSocket
-import NotificationBannerSwift
 import AudioToolbox.AudioServices
 
 class ViewController: UIViewController, WKScriptMessageHandler {

clever/launch/clever.launch

@@ -3,7 +3,7 @@
     <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_server" default="true"/>
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
@@ -21,8 +21,9 @@
         <arg name="viz" value="$(arg viz)"/>
     </include>
 
-    <!-- web server -->
+
-    <include file="$(find clever)/launch/web_server.launch" if="$(arg web_server)"/>
+    <!-- web server, serving /home/pi/catkin_ws/src/clever/clever/static -->
+    <node name="web_server" pkg="clever" type="monkey" output="screen" 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"/>

clever/launch/sitl.launch

@@ -7,11 +7,11 @@
         <arg name="fcu_conn" value="udp"/>
         <arg name="fcu_ip" value="$(arg ip)"/>
         <arg name="gcs_bridge" value="false"/>
+        <arg name="web_server" default="false"/>
         <arg name="web_video_server" default="false"/>
         <arg name="main_camera" default="false"/>
         <arg name="fpv_camera" default="false"/>
         <arg name="rosbridge" value="$(arg rosbridge)"/>
-        <arg name="web_server" default="false"/>
         <arg name="aruco" default="false"/>
     </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/src/monkey

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+exec /home/pi/monkey/build/monkey --port 80

clever/src/selfcheck.py

@@ -27,7 +27,7 @@ def check_fcu():
 
 def check_camera(name):
     try:
-        rospy.wait_for_message(name + '/image_raw', Image, timeout=3)
+        rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
     except rospy.ROSException:
         raise Exception('No %s camera images' % name)
     try:
@@ -37,7 +37,7 @@ def check_camera(name):
 
 def check_aruco():
     try:
-        rospy.wait_for_message('aruco_pose/debug', Image, timeout=3)
+        rospy.wait_for_message('aruco_pose/debug', Image, timeout=1)
     except rospy.ROSException:
         raise Exception('No aruco_pose/debug topic')
 
@@ -53,21 +53,21 @@ def check_simpleoffboard():
 
 def check_imu():
     try:
-        rospy.wait_for_message('mavros/imu/data', Imu, timeout=3)
+        rospy.wait_for_message('mavros/imu/data', Imu, timeout=1)
     except rospy.ROSException:
         raise Exception('No IMU data')
 
 
 def check_local_position():
     try:
-        rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=3)
+        rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=1)
     except rospy.ROSException:
         raise Exception('No local position')
 
 
 def check_velocity():
     try:
-        velocity = rospy.wait_for_message('mavros/local_position/velocity', TwistStamped, timeout=3)
+        velocity = rospy.wait_for_message('mavros/local_position/velocity', TwistStamped, timeout=1)
         horiz = math.hypot(velocity.twist.linear.x, velocity.twist.linear.y)
         vert = velocity.twist.linear.z
         if abs(horiz) > 0.1:
@@ -89,7 +89,7 @@ def check(name, fn):
     try:
         fn()
         rospy.loginfo('%s: OK', name)
-    except BaseException as e:
+    except Exception as e:
         rospy.logwarn('%s: %s', name, str(e))
 
 

clever/src/simple_offboard.py

@@ -83,12 +83,13 @@ AUTO_ARM = AUTO_OFFBOARD and rospy.get_param('~auto_arm', True)
 OFFBOARD_TIMEOUT = rospy.Duration(rospy.get_param('~offboard_timeout', 3))
 ARM_TIMEOUT = rospy.Duration(rospy.get_param('~arm_timeout', 5))
 LOCAL_POSITION_TIMEOUT = rospy.Duration(rospy.get_param('~local_position_timeout', 0.5))
-NAVIGATE_AFTER_ARMED = rospy.Duration(rospy.get_param('~navigate_after_armed', False))
+NAVIGATE_AFTER_ARMED = rospy.Duration(rospy.get_param('~navigate_after_armed', True))
 TRANSFORM_TIMEOUT = rospy.Duration(rospy.get_param('~transform_timeout', 3))
 SETPOINT_RATE = rospy.get_param('~setpoint_rate', 30)
 LOCAL_FRAME = rospy.get_param('~local_frame', 'local_origin')
 LAND_MODE = rospy.get_param('~land_mode', 'AUTO.LAND')
 LAND_TIMEOUT = rospy.Duration(rospy.get_param('~land_timeout', 2))
+DEFAULT_SPEED = rospy.get_param('~default_speed', 0.5)
 
 
 def offboard_and_arm():
@@ -164,7 +165,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
         if update_frame:
             ps.header.frame_id = req.frame_id or LOCAL_FRAME
             ps.pose.position = Point(getattr(req, 'x', 0), getattr(req, 'y', 0), req.z)
-            ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
+            ps.pose.orientation = orientation_from_euler(0, 0, req.yaw, axes='sxyz')
             current_nav_finish = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
 
             if isinstance(req, srv.NavigateGlobalRequest):
@@ -188,7 +189,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
                                        PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
                                        (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
                              position=setpoint,
-                             yaw=euler_from_orientation(current_nav_finish.pose.orientation, 'szyx')[2] - math.pi / 2,
+                             yaw=euler_from_orientation(current_nav_finish.pose.orientation, 'sxyz')[2],
                              yaw_rate=req.yaw_rate)
         return position_pub, msg
 
@@ -207,7 +208,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
                                        PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
                                        (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
                              position=pose_local.pose.position,
-                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
+                             yaw=euler_from_orientation(pose_local.pose.orientation, 'sxyz')[2],
                              yaw_rate=req.yaw_rate)
         return position_pub, msg
 
@@ -225,7 +226,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
                                        PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
                                        (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
                              velocity=vector_local.vector,
-                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
+                             yaw=euler_from_orientation(pose_local.pose.orientation, 'sxyz')[2],
                              yaw_rate=req.yaw_rate)
         return position_pub, msg
 
@@ -261,9 +262,12 @@ def handle(req):
         rospy.logwarn('No connection to the FCU')
         return {'message': 'No connection to the FCU'}
 
-    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)) and req.speed <= 0:
+    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)):
-        rospy.logwarn('Navigate speed must be greater than zero, %s passed')
+        if req.speed < 0:
-        return {'message': 'Navigate speed must be greater than zero, %s passed' % req.speed}
+            rospy.logwarn('Navigate speed must be positive, %s passed')
+            return {'message': 'Navigate speed must be positive, %s passed' % req.speed}
+        elif req.speed == 0:
+            req.speed = DEFAULT_SPEED
 
     if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)) and \
             (pose is None or rospy.get_rostime() - pose.header.stamp > LOCAL_POSITION_TIMEOUT):

clever/src/web_server.py

@@ -1,60 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import subprocess
-import re
-from flask import Flask, send_from_directory, send_file, request, jsonify
-
-rospy.init_node('web_server', disable_signals=True)
-
-port = rospy.get_param('~port', 7070)
-host = rospy.get_param('~host', '0.0.0.0')
-serve_path = rospy.get_param('~path')
-app = Flask(__name__)
-
-
-@app.route('/')
-def serve_index():
-    return send_from_directory(serve_path, 'index.html')
-
-
-@app.route('/<path:path>')
-def serve_static(path):
-    print serve_path, path
-    return send_from_directory(serve_path, path)
-
-
-@app.route('/wifi_data/')
-def get_wifi_data():
-    cur_ip = request.remote_addr
-    ip_signal = get_ip_signal()
-    return jsonify({'ip': cur_ip, 'signal': ip_signal[cur_ip]}), 200
-
-
-def get_ip_signal():
-    wlan_interface = 'wlan0'
-    # Getting info about wifi client connected to access point. From here we know MAC and signal level
-    iwl = subprocess.check_output(['sudo', 'iw', 'dev', 'wlan0', 'station', 'dump']).splitlines()
-    mac_signal = {}
-    cur_client = ''
-    for line in iwl:
-        if line.find('Station') != -1:
-            cur_client = re.search(r'([0-9A-F]{2}[:-]){5}([0-9A-F]{2})', line, re.I).group()
-        if line.find('signal') != -1:
-            sg = re.search(r'(\[-?\d*\])', line, re.I).group()
-            mac_signal[cur_client] = re.sub(r'[\[\]]', '', sg)
-    ip_signal = {}
-    # Getting ip-mac mapping
-    ip_mac = subprocess.check_output(['arp', '-i', wlan_interface]).splitlines()
-    for line in ip_mac:
-        mac = re.search(r'([0-9A-F]{2}[:-]){5}([0-9A-F]{2})', line, re.I)
-        if mac is not None:
-            mac = mac.group()
-            if mac in mac_signal:
-                ips = re.search(r'((2[0-5]|1[0-9]|[0-9])?[0-9]\.){3}((2[0-5]|1[0-9]|[0-9])?[0-9])', line, re.I).group()
-                ip_signal[ips] = mac_signal[mac]
-    return ip_signal
-
-
-rospy.loginfo('Serving on %s:%s', host, port)
-app.run(host=host, port=port, threaded=True)

clever/static/index.html

@@ -0,0 +1,12 @@
+<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="">Go to web terminal</a> (<code>Butterfly</code>)</li> -->
+	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</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';
+</script>

deploy/monkey

@@ -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 /home/pi/catkin_ws/src/clever/clever/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 /home/pi/monkey/build/log/access.log
+
+    # ErrorLog:
+    # ---------
+    # Registration file of incorrect request.
+
+    ErrorLog /home/pi/monkey/build/log/error.log
+
+[ERROR_PAGES]
+    404  404.html
+
+[HANDLERS]
+    # FastCGI
+    # =======
+    # Match /.*\.php fastcgi
+
+    # CGI
+    # ===
+    # Match /cgi-bin/.*\.cgi cgi

docs/simple_offboard.md

@@ -160,7 +160,7 @@ navigate(x=3, y=2, z=2, speed=1, frame_id='aruco_map', update_frame=True)
 Вращение на месте со скоростью 0.5 рад/c (против часовой):
 
 ```python
-navigate(x=0, y=0, z=0, speed=1, yaw=float('nan'), yaw_rate=0.5, frame_id='fcu_horiz')
+navigate(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0.5, frame_id='fcu_horiz')
 ```
 
 Полет вперед 3 метра со скоростью 0.5 м/с, вращаясь по рысканью со скоростью 0.2 рад/с:

image_builder/scripts/init_image.sh

@@ -28,4 +28,11 @@ echo "$1" >> /etc/clever_version
 # Origin image file name
 echo "${2%.*}" >> /etc/clever_origin
 
-echo -e "\033[0;31m\033[1m$(date) | #3 End initialisation of image\033[0m\033[0m"
+
+echo -e "\033[0;31m\033[1m$(date) | #3 Set max space for syslogs\033[0m\033[0m"
+
+# https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
+sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
+
+
+echo -e "\033[0;31m\033[1m$(date) | #4 End initialisation of image\033[0m\033[0m"

image_builder/scripts/software_install.sh

@@ -28,7 +28,19 @@ apt-get install --no-install-recommends -y \
   libjpeg8-dev=8d1-2 \
   tcpdump \
   libpoco-dev=1.7.6+dfsg1-5+deb9u1
-  
+
+# install Monkey web-server
+cd /home/pi
+git clone git@github.com:monkey/monkey.git
+cd monkey
+git checkout v1.6.9
+./configure --malloc-libc --local
+make
+sudo setcap 'cap_net_bind_service=+ep' ./build/monkey  # allow using 80 port
+rm build/conf/sites/default
+ln -s /home/pi/catkin_ws/src/clever/deploy/monkey ./build/conf/sites/default
+cd /home/pi
+
 echo -e "\033[0;31m\033[1m$(date) | #2 Adding mjpg-streamer at /home/pi\033[0m\033[0m"
 # https://github.com/jacksonliam/mjpg-streamer
 
@@ -38,11 +50,17 @@ git clone https://github.com/jacksonliam/mjpg-streamer.git /home/pi/mjpg-streame
   && make install \
   && chown -Rf pi:pi /home/pi/mjpg-streamer
 
-echo -e "\033[0;31m\033[1m$(date) | Add .vimrc\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | Miscellaneous\033[0m\033[0m"
 
 # vim settings
 echo "set mouse-=a
 syntax on
 " > /home/pi/.vimrc
 
+# disable some auto-updating
+sudo systemctl disable apt-daily.service
+sudo systemctl disable apt-daily.timer
+sudo systemctl disable apt-daily-upgrade.timer
+sudo systemctl disable apt-daily-upgrade.service
+
 echo -e "\033[0;31m\033[1m$(date) | End of network installation\033[0m\033[0m"