cv_camera 0.5.1

Update Raspberry Pi OS to 2021-05-07
Revert cv_camera to 0.5.0
2026-06-02 16:09:32 +00:00 · 2021-06-07 18:42:01 +03:00 · 2021-06-04 07:13:21 +03:00 · 2021-06-04 07:13:11 +03:00 · 2021-06-03 17:53:35 +03:00 · 2021-06-03 14:18:32 +03:00
330 changed files with 132293 additions and 5541 deletions
--- a/.github/workflows/build-image.yaml
+++ b/.github/workflows/build-image.yaml
@@ -1,4 +1,4 @@
-name: RPi image
+name: Build RPi image

 on:
  push:
@@ -9,7 +9,7 @@ on:
    types: [ created ]

 jobs:
-  build:
+  build-image:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
@@ -18,7 +18,7 @@ jobs:
          docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${{ github.event.release.tag_name }}" sfalexrog/img-tool:qemu-update
      - name: Compress image
        run: |
-          cd images && sudo chmod -R 777 . && zip -9 $(echo clover_*).zip clover_* && ls -l . && unzip -l clover_*.zip
+          sudo chmod -R 777 images && zip -9 $(echo images/clover_*).zip images/clover_* && ls -l images
      - name: Upload image
        uses: softprops/action-gh-release@v1
        if: ${{ github.event_name == 'release' }}
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -7,14 +7,14 @@ on:
    branches: [ master ]

 jobs:
-  # melodic:
-  #   runs-on: ubuntu-latest
-  #   steps:
-  #     - uses: actions/checkout@v2
-  #     - name: Native Melodic build
-  #       run: |
-  #         docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
-  noetic:
+  build-melodic:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Native Melodic build
+        run: |
+          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
+  build-noetic:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -7,13 +7,9 @@ on:
    branches: [ master ]

 jobs:
-  docs:
+  documentation:
    runs-on: ubuntu-18.04
    steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.9.1
-        with:
-          access_token: ${{ github.token }}
      - uses: actions/checkout@v2
      - name: Use Node.js
        uses: actions/setup-node@v1
@@ -22,8 +18,9 @@ jobs:
        run: |
          sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
          sudo apt-get update && sudo apt-get install -y calibre msttcorefonts
-          builder/assets/install_gitbook.sh
-          npm install markdownlint-cli@0.28.1 -g # FIXME: https://github.com/DavidAnson/markdownlint/issues/435
+          npm install gitbook-cli -g
+          gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
+          npm install markdownlint-cli -g
          npm install svgexport -g
          gitbook -V
          markdownlint -V
@@ -38,11 +35,7 @@ jobs:
         gitbook install
         gitbook build
      - name: Generate PDF
-        id: generate-pdf
-        env:
-          GITBOOK_SKIP_PDF: ${{ secrets.GITBOOK_SKIP_PDF }}
-        continue-on-error: ${{ env.GITBOOK_SKIP_PDF != '' }}
-        if: ${{ github.event_name == 'push' }}
+        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
        run: |
          for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
          sudo apt-get -q install ghostscript
@@ -51,13 +44,6 @@ jobs:
          rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf
          rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf
          ls -lah _book/clover*.pdf
-          echo '::set-output name=GITBOOK_PDF_OK::1'
-      - name: Download older PDFs
-        if: ${{ !steps.generate-pdf.outputs.GITBOOK_PDF_OK }}
-        run: |
-          rm _book/clover*.pdf
-          wget --no-verbose https://clover.coex.tech/clover_ru.pdf -P _book/
-          wget --no-verbose https://clover.coex.tech/clover_en.pdf -P _book/
      - name: Deploy
        uses: JamesIves/github-pages-deploy-action@4.1.3
        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
--- a/.github/workflows/editorconfig.yaml
+++ b/.github/workflows/editorconfig.yaml
@@ -1,4 +1,4 @@
-name: Editorconfig
+name: Editorconfig lint

 on:
  push:
@@ -15,4 +15,4 @@ jobs:
        run: |
          wget --no-verbose https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
          chmod +x ec-linux-amd64
-          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|json-to-pretty-yaml.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae|\.material"
+          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
--- a/.gitignore
+++ b/.gitignore
@@ -6,7 +6,3 @@ _book/
 package-lock.json
 clover_blocks/programs/*.*
 !clover_blocks/programs/examples/*
-/.vscode/
-docs/.vuepress/.cache/
-docs/.vuepress/.temp/
-docs/.vuepress/dist
--- a/.markdownlint.json
+++ b/.markdownlint.json
@@ -110,8 +110,7 @@
            "Li-ion",
            "Nvidia",
            "VirtualBox",
-            "VMware",
-            "DuoCam"
+            "VMware"
        ],
        "code_blocks": false
    },
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # clover🍀: create autonomous drones easily

-<img src="docs/assets/clover42-main-margin.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clover42-main.png" align="right" width="400px" alt="COEX Clover Drone">

 Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.

--- a/apps/ios/cleverrc/README.md
+++ b/apps/ios/cleverrc/README.md
@@ -1,4 +1,5 @@
-# iOS-приложение для управления Клевером
+iOS-приложение для управления Клевером
+--------------------------------------

 Для установки зависимостей необходим [CocoaPods](https://cocoapods.org):

--- a/aruco_pose/CMakeLists.txt
+++ b/aruco_pose/CMakeLists.txt
@@ -202,11 +202,11 @@ set_property(TARGET aruco_pose
 # )

 ## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )

 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -226,10 +226,6 @@ catkin_install_python(PROGRAMS src/genmap.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY map DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
 #############
 ## Testing ##
 #############
--- a/aruco_pose/README.md
+++ b/aruco_pose/README.md
@@ -70,7 +70,7 @@ It's recommended to run it within the same nodelet manager with the camera nodel

 * `~map` – path to text file with markers list
 * `~frame_id` – published frame id (default: `aruco_map`)
-* `~known_tilt` – known tilt (pitch and roll) of markers map as a frame
+* `~known_tilt` – debug image width
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)
--- a/aruco_pose/package.xml
+++ b/aruco_pose/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>aruco_pose</name>
-  <version>0.23.0</version>
+  <version>0.21.1</version>
  <description>Positioning with ArUco markers</description>

  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
--- a/aruco_pose/src/genmap.py
+++ b/aruco_pose/src/genmap.py
@@ -30,7 +30,7 @@ Options:
  -o <filename>  Output map file name in the 'map' subdirectory of aruco_pose package

 Example:
-  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
+  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
 """

 from __future__ import print_function
--- a/book.json
+++ b/book.json
@@ -10,7 +10,7 @@
        "yametrika",
        "anchors",
        "collapsible-menu",
-        "validate-links@https://github.com/okalachev/gitbook-plugin-validate-links.git",
+        "validate-links",
        "bulk-redirect@https://github.com/okalachev/gitbook-plugin-bulk-redirect.git",
        "sitemap@https://github.com/okalachev/plugin-sitemap.git",
        "toolbar@https://github.com/hamishwillee/gitbook-plugin-toolbar.git",
--- a/builder/assets/clover.service
+++ b/builder/assets/clover.service
@@ -8,9 +8,5 @@ ExecStart=/bin/bash -c ". /home/pi/catkin_ws/devel/setup.sh; \
                      ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clover clover.launch --wait --screen --skip-log-check \
                      2> >(tee /tmp/clover.err)"

-ExecStartPre=+rm /var/log/clover.log
-StandardOutput=file:/var/log/clover.log
-StandardError=file:/var/log/clover.log
-
 [Install]
 WantedBy=multi-user.target
--- a/builder/assets/examples/flight.py
+++ b/builder/assets/examples/flight.py
@@ -15,17 +15,17 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)

-print('Take off and hover 1 m above the ground')
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Fly forward 1 m')
+# Fly forward 1 m
 navigate(x=1, y=0, z=0, frame_id='body')

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Perform landing')
+# Perform landing
 land()
--- a/builder/assets/examples/flight_marker.py
+++ b/builder/assets/examples/flight_marker.py
@@ -15,23 +15,23 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)

-print('Take off and hover 1 m above the ground')
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Fly 1 meter above ArUco marker 0')
+# Fly 1 meter above ArUco marker 0
 navigate(x=0, y=0, z=1, frame_id='aruco_0')

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Fly to x=1 y=1 z=1 relative to ArUco markers map')
+# Fly to x=1 y=1 z=1 relative to ArUco markers map
 navigate(x=1, y=1, z=1, frame_id='aruco_map')

-# Wait for 5 seconds
-rospy.sleep(5)
+# Wait for 3 seconds
+rospy.sleep(3)

-print('Perform landing')
+# Perform landing
 land()
--- a/builder/assets/examples/get_telemetry.py
+++ b/builder/assets/examples/get_telemetry.py
--- a/builder/assets/examples/leds.py
+++ b/builder/assets/examples/leds.py
--- a/builder/assets/examples/navigate_wait.py
+++ b/builder/assets/examples/navigate_wait.py
@@ -31,11 +31,11 @@ def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
            return res
        rospy.sleep(0.2)

-print('Take off 1 meter')
+# Take off 1 meter
 navigate_wait(z=1, frame_id='body', auto_arm=True)

-print('Fly forward 1 m')
+# Fly forward 1 m
 navigate_wait(x=1, frame_id='body')

-print('Land')
+# Land
 land()
--- a/builder/assets/install_gitbook.sh
+++ b/builder/assets/install_gitbook.sh
@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# GitBook CLI is deprecated, its installation is broken.
-# This script fixes it until we stop using GitBook.
-
-export NPM_CONFIG_UNSAFE_PERM=1
-
-npm install gitbook-cli -g
-gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -105,6 +105,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${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 ${SCRIPTS_DIR}'/image-software.sh'
+# examples
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -113,11 +115,15 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # 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)
 # Clover
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.service' '/lib/systemd/system/'
+${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/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
+# Add PX4 udev rules
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clover/config/99-px4fmu.rules' '/lib/udev/rules.d/'
 # Add rename script
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -13,7 +13,7 @@
 # copies or substantial portions of the Software.
 #

-set -ex # exit on error, echo commands
+set -e # Exit immidiately on non-zero result

 REPO=$1
 REF=$2
@@ -112,8 +112,7 @@ my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
-source devel/setup.bash
+catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins

 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -122,8 +121,9 @@ rm -rf build  # remove build artifacts

 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
-builder/assets/install_gitbook.sh
-gitbook install
+NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
+NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
+NPM_CONFIG_UNSAFE_PERM=true gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin

@@ -151,20 +151,9 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws

-echo_stamp "Make \$HOME/examples symlink"
-ln -s "$(catkin_find clover examples --first-only)" /home/pi
+echo_stamp "Change permissions for examples"
 chown -Rf pi:pi /home/pi/examples

-echo_stamp "Make systemd services symlinks"
-ln -s /home/pi/catkin_ws/src/clover/builder/assets/clover.service /lib/systemd/system/
-ln -s /home/pi/catkin_ws/src/clover/builder/assets/roscore.service /lib/systemd/system/
-# validate
-[ -f /lib/systemd/system/clover.service ]
-[ -f /lib/systemd/system/roscore.service ]
-
-echo_stamp "Make udev rules symlink"
-ln -s "$(catkin_find clover udev --first-only)"/* /lib/udev/rules.d/
-
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
--- a/builder/image-software.sh
+++ b/builder/image-software.sh
@@ -137,8 +137,6 @@ pip3 --version
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
 export CRYPTOGRAPHY_DONT_BUILD_RUST=1
-my_travis_retry pip3 install cryptography==3.4.6 # https://stackoverflow.com/a/68472128/6850197
-my_travis_retry pip3 install pyOpenSSL==20.0.1
 my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
--- a/builder/image-validate.sh
+++ b/builder/image-validate.sh
@@ -31,9 +31,5 @@ cd /home/pi/catkin_ws/src/clover/builder/test/

 systemctl stop roscore

-# check documented packages available
-apt-cache show gst-rtsp-launch
-apt-cache show openvpn
-
 echo "Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload
--- a/builder/test/tests.sh
+++ b/builder/test/tests.sh
@@ -34,7 +34,6 @@ i2cdetect -V
 butterfly -h
 # espeak --version
 mjpg_streamer --version
-systemctl --version

 # ros stuff

@@ -58,9 +57,5 @@ rosversion rosshow
 rosversion nodelet
 rosversion image_view

-# validate some versions
-[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
-[[ $(rosversion ws281x) == "0.0.12" ]]
-
 # validate examples are present
 [[ $(ls /home/pi/examples/*) ]]
--- a/check_unused_assets.py
+++ b/check_unused_assets.py
@@ -5,7 +5,7 @@ import sys
 import subprocess

 EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
-    'clever4-front-black-large.png','clover42-black.png', 'clover42-main-margin.png')
+    'clever4-front-black-large.png','clover42-black.png')

 code = 0

--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -241,12 +241,12 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )

-# Mark executables and/or libraries for installation
-install(TARGETS simple_offboard clover_rc camera_markers vpe_publisher clover_led shell clover
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )

 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -266,21 +266,13 @@ catkin_install_python(PROGRAMS src/selfcheck.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY examples DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-# TODO: install www
-
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)
 if (${_PREFIX_INDEX} EQUAL 0)
  message(STATUS "Building as a Debian package - adding udev rules as installable files")
  install(FILES
-    udev/99-px4fmu.rules
+    config/99-px4fmu.rules
    DESTINATION /lib/udev/rules.d
  )
 else()
--- a/clover/README.md
+++ b/clover/README.md
@@ -36,7 +36,7 @@ curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/inst
 You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:

 ```bash
-cd ~/catkin_ws/src/clover/clover/udev
+cd ~/catkin_ws/src/clover/clover/config
 sudo cp 99-px4fmu.rules /lib/udev/rules.d
 ```

--- a/clover/config/99-px4fmu.rules
+++ b/clover/config/99-px4fmu.rules
@@ -12,6 +12,4 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{produ
 SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
 # Omnibus
 SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
-# CUAV X7 Pro
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"

--- a/clover/examples/gps.py
+++ b/clover/examples/gps.py
@@ -1,47 +0,0 @@
-# Information: https://clover.coex.tech/en/simple_offboard.html#navigateglobal
-
-import rospy
-from clover import srv
-from std_srvs.srv import Trigger
-import math
-
-rospy.init_node('flight')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-navigate = rospy.ServiceProxy('navigate', srv.Navigate)
-navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
-set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
-set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
-set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
-land = rospy.ServiceProxy('land', Trigger)
-
-# https://clover.coex.tech/en/snippets.html#wait_arrival
-def wait_arrival(tolerance=0.2):
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
-            break
-        rospy.sleep(0.2)
-
-start = get_telemetry()
-
-if math.isnan(start.lat):
-    raise Exception('No global position, install and configure GPS sensor: https://clover.coex.tech/gps')
-
-print('Start point global position: lat={}, lon={}'.format(start.lat, start.lon))
-
-print('Take off 3 meters')
-navigate(x=0, y=0, z=3, frame_id='body', auto_arm=True)
-wait_arrival()
-
-print('Fly 1 arcsecond to the North (approx. 30 meters)')
-navigate_global(lat=start.lat+1.0/60/60, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
-wait_arrival()
-
-print('Fly to home position')
-navigate_global(lat=start.lat, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
-wait_arrival()
-
-print('Land')
-land()
--- a/clover/examples/subscriber.py
+++ b/clover/examples/subscriber.py
@@ -1,15 +0,0 @@
-# Information: https://clover.coex.tech/en/laser.html
-
-import rospy
-from sensor_msgs.msg import Range
-
-rospy.init_node('process_rangefinder')
-
-def range_callback(msg):
-    # Process data from the rangefinder
-    print('Rangefinder distance:', msg.range)
-
-# Subscribe to laser rangefinder data
-rospy.Subscriber('rangefinder/range', Range, range_callback)
-
-rospy.spin()
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -3,19 +3,16 @@
    <arg name="aruco_map" default="false"/>
    <arg name="aruco_vpe" default="false"/>
    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
-    <arg name="length" default="0.22"/> <!-- not-in-map markers length, m -->
+    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
    <arg name="map" default="map.txt"/> <!-- markers map file name -->

    <!-- For additional help go to https://clover.coex.tech/aruco -->

-    <arg name="force_init" default="false"/>
-    <arg name="disable" default="false"/> <!-- only force init -->
-
    <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(eval aruco_detect and not disable)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
        <remap from="image_raw" to="main_camera/image_raw"/>
        <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="map_markers" to="aruco_map/markers"/>
+        <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
        <param name="estimate_poses" value="true"/>
        <param name="send_tf" value="true"/>
        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
@@ -29,7 +26,7 @@
    </node>

    <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(eval aruco_map and not disable)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
        <remap from="image_raw" to="main_camera/image_raw"/>
        <remap from="camera_info" to="main_camera/camera_info"/>
        <remap from="markers" to="aruco_detect/markers"/>
@@ -44,11 +41,11 @@
    </node>

    <!-- vpe publisher from aruco markers -->
-    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(eval aruco_vpe or force_init)" output="screen" clear_params="true">
-        <remap from="~pose_cov" to="aruco_map/pose" if="$(arg aruco_vpe)"/>
+    <node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
+        <remap from="~pose_cov" to="aruco_map/pose"/>
        <remap from="~vpe" to="mavros/vision_pose/pose"/>
-        <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
-        <param name="force_init" value="$(arg force_init)"/>
+        <param name="frame_id" value="aruco_map_detected"/>
+        <param name="publish_zero" value="true"/>
        <param name="offset_frame_id" value="aruco_map"/>
    </node>
 </launch>
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -12,7 +12,6 @@
    <arg name="led" default="true"/>
    <arg name="blocks" default="false"/>
    <arg name="rc" default="false"/>
-    <arg name="force_init" value="true"/> <!-- force estimator to init by publishing zero pose -->

    <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->

@@ -34,10 +33,7 @@
    </node>

    <!-- aruco markers -->
-    <include file="$(find clover)/launch/aruco.launch" if="$(eval aruco or force_init)">
-        <arg name="force_init" value="$(arg force_init)"/>
-        <arg name="disable" value="$(eval not aruco)"/>
-    </include>
+    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>

    <!-- optical flow -->
    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow main_camera_nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
@@ -51,6 +47,9 @@

    <!-- simplified offboard control -->
    <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
+        <param name="reference_frames/body" value="map"/>
+        <param name="reference_frames/base_link" value="map"/>
+        <param name="reference_frames/navigate_target" value="map"/>
        <param name="reference_frames/main_camera_optical" value="map"/>
    </node>

--- a/clover/launch/mavros.launch
+++ b/clover/launch/mavros.launch
@@ -39,7 +39,7 @@
        <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>

        <!-- remap rangefinder -->
-        <remap from="mavros/distance_sensor/rangefinder_sub" to="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))"/>
+        <remap from="mavros/distance_sensor/rangefinder_sub" to="rangefinder/range"/>

        <rosparam param="plugin_whitelist">
            - altitude
--- a/clover/launch/mavros_config.yaml
+++ b/clover/launch/mavros_config.yaml
@@ -1,11 +1,11 @@
 # Config file for mavros
 # Based on https://raw.githubusercontent.com/mavlink/mavros/master/mavros/launch/px4_config.yaml

-startup_px4_usb_quirk: false
+startup_px4_usb_quirk: true

 conn:
-  heartbeat_rate: 1.0    # send heartbeat rate in Hertz
-  timeout: 10.0          # heartbeat timeout in seconds
+  heartbeat_rate: 1.0    # send hertbeat rate in Hertz
+  timeout: 10.0          # hertbeat timeout in seconds
  timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
  system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)

@@ -13,7 +13,6 @@ time:
  time_ref_source: "fcu"  # time_reference source
  timesync_mode: MAVLINK
  timesync_avg_alpha: 0.6 # timesync averaging factor
-  publish_sim_time: false # don't publish /clock

 global_position:
  frame_id: "map"             # origin frame
@@ -78,9 +77,6 @@ distance_sensor:
      field_of_view: 0.5
  rangefinder_sub:
      subscriber: true
-      id: 1
-      orientation: PITCH_270
-      covariance: 1  # cm

 # fake_gps
 fake_gps:
--- a/clover/package.xml
+++ b/clover/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
  <name>clover</name>
-  <version>0.23.0</version>
+  <version>0.21.1</version>
  <description>The Clover package</description>

  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
--- a/clover/src/optical_flow.cpp
+++ b/clover/src/optical_flow.cpp
@@ -53,7 +53,6 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
-	float flow_gyro_default_;

 	void onInit()
 	{
@@ -70,13 +69,15 @@ private:
 		roi_px_ = nh_priv.param("roi", 128);
 		roi_rad_ = nh_priv.param("roi_rad", 0.0);
 		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
-		flow_gyro_default_ = nh_priv.param("flow_gyro_default", NAN);

 		img_pub_ = it_priv.advertise("debug", 1);
 		flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
 		velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
 		shift_pub_ = nh_priv.advertise<geometry_msgs::Vector3Stamped>("shift", 1);

+		flow_.integrated_xgyro = NAN; // no IMU available
+		flow_.integrated_ygyro = NAN;
+		flow_.integrated_zgyro = NAN;
 		flow_.time_delta_distance_us = 0;
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;
@@ -178,7 +179,7 @@ private:
 			double flow_x = atan2(points_undist[0].x, focal_length_x);
 			double flow_y = atan2(points_undist[0].y, focal_length_y);

-			// Convert to FCU frame
+			// // Convert to FCU frame
 			geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
 			flow_camera.header.frame_id = msg->header.frame_id;
 			flow_camera.header.stamp = msg->header.stamp;
@@ -195,11 +196,6 @@ private:
 			ros::Duration integration_time = msg->header.stamp - prev_stamp_;
 			uint32_t integration_time_us = integration_time.toSec() * 1.0e6;

-			// Calculate flow gyro
-			flow_.integrated_xgyro = flow_gyro_default_;
-			flow_.integrated_ygyro = flow_gyro_default_;
-			flow_.integrated_zgyro = flow_gyro_default_;
-
 			if (calc_flow_gyro_) {
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
@@ -209,7 +205,9 @@ private:
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
 				} catch (const tf2::TransformException& e) {
-					// Transform not available, keep NANs in flow gyro
+					// Invalidate previous frame
+					prev_.release();
+					goto publish_debug;
 				}
 			}

--- a/clover/src/selfcheck.py
+++ b/clover/src/selfcheck.py
@@ -30,7 +30,6 @@ from visualization_msgs.msg import MarkerArray as VisualizationMarkerArray
 import tf.transformations as t
 from aruco_pose.msg import MarkerArray
 from mavros import mavlink
-import locale


 # TODO: check attitude is present
@@ -44,10 +43,6 @@ import locale

 rospy.init_node('selfcheck')

-os.environ['ROSCONSOLE_FORMAT']='[${severity}]: ${message}'
-
-# use user's locale to convert numbers, etc
-locale.setlocale(locale.LC_ALL, '')

 tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)
@@ -198,27 +193,24 @@ def check_fcu():
            failure('no connection to the FCU (check wiring)')
            return

-        clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
-        clover_fw = False
-
        # Make sure the console is available to us
        mavlink_exec('\n')
        version_str = mavlink_exec('ver all')
        if version_str == '':
            info('no version data available from SITL')

-        for line in version_str.split('\n'):
-            if line.startswith('FW version: '):
-                info(line[len('FW version: '):])
-            elif line.startswith('FW git tag: '): # only Clover's firmware
-                tag = line[len('FW git tag: '):]
-                clover_fw = clover_tag.search(tag)
-                info(tag)
-            elif line.startswith('HW arch: '):
-                info(line[len('HW arch: '):])
+        r = re.compile(r'^FW (git tag|version): (v?\d\.\d\.\d.*)$')
+        is_clover_firmware = False
+        for ver_line in version_str.split('\n'):
+            match = r.search(ver_line)
+            if match is not None:
+                field, version = match.groups()
+                info('firmware %s: %s' % (field, version))
+                if 'clover' in version or 'clever' in version:
+                    is_clover_firmware = True

-        if not clover_fw:
-            info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')
+        if not is_clover_firmware:
+            failure('not running Clover PX4 firmware, https://clover.coex.tech/firmware')

        est = get_param('SYS_MC_EST_GROUP')
        if est == 1:
@@ -491,12 +483,6 @@ def check_local_position():
            failure('roll is %.2f deg; place copter horizontally or redo level horizon calib',
                    math.degrees(roll))

-        if not tf_buffer.can_transform('base_link', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
-            failure('can\'t transform from %s to base_link (timeout 0.5 s): is TF enabled?', pose.header.frame_id)
-
-        if not tf_buffer.can_transform('body', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
-            failure('can\'t transform from %s to body (timeout 0.5 s)', pose.header.frame_id)
-
    except rospy.ROSException:
        failure('no local position')

@@ -626,13 +612,13 @@ def check_boot_duration():
    output = subprocess.check_output('systemd-analyze').decode()
    r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
    duration = float(r.search(output).groups()[0])
-    if duration > 20:
+    if duration > 15:
        failure('long Raspbian boot duration: %ss (systemd-analyze for analyzing)', duration)


@check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet', 'gzclient', 'gzserver'
+    WHITELIST = 'nodelet',
    CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
    output = subprocess.check_output(CMD, shell=True).decode()
    processes = output.split('\n')
@@ -641,7 +627,7 @@ def check_cpu_usage():
            continue
        pid, cpu, cmd = process.split('\t')

-        if cmd.strip() not in WHITELIST and locale.atof(cpu) > 30:
+        if cmd.strip() not in WHITELIST and float(cpu) > 30:
            failure('high CPU usage (%s%%) detected: %s (PID %s)',
                    cpu.strip(), cmd.strip(), pid.strip())

@@ -660,22 +646,13 @@ def check_clover_service():
    elif 'failed' in output:
        failure('service failed to run, check your launch-files')

-    BLACKLIST = 'Unexpected command 520', 'Time jump detected', 'different index:'
-
-    r = re.compile(r'^(.*)\[(FATAL|ERROR| WARN)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
+    r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
    error_count = OrderedDict()
    try:
        for line in open('/tmp/clover.err', 'r'):
-            skip = False
-            for substr in BLACKLIST:
-                if substr in line:
-                    skip = True
-            if skip:
-                continue
-
            node_error = r.search(line)
            if node_error:
-                msg = node_error.groups()[1].strip() + ': ' + node_error.groups()[2]
+                msg = node_error.groups()[1] + ': ' + node_error.groups()[2]
                if msg in error_count:
                    error_count[msg] += 1
                else:
@@ -746,14 +723,6 @@ def check_network():

@check('RPi health')
 def check_rpi_health():
-    try:
-        import shutil
-        total, used, free = shutil.disk_usage('/')
-        if free < 1024 * 1024 * 1024:
-            failure('disk space is less than 1 GB; consider removing logs (~/.ros/log/)')
-    except Exception as e:
-        info('could not check the disk free space: %s', str(e))
-
    # `vcgencmd get_throttled` output codes taken from
    # https://github.com/raspberrypi/documentation/blob/JamesH65-patch-vcgencmd-vcdbg-docs/raspbian/applications/vcgencmd.md#get_throttled
    # TODO: support more base platforms?
@@ -784,7 +753,7 @@ def check_rpi_health():
        # with some of the FLAGs OR'ed together
        output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
    except OSError:
-        info('could not call vcgencmd binary; not a Raspberry Pi?')
+        failure('could not call vcgencmd binary; not a Raspberry Pi?')
        return

    throttle_mask = int(output.split('=')[1], base=16)
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
@@ -61,7 +61,6 @@ std::shared_ptr<tf2_ros::TransformBroadcaster> transform_broadcaster;
 std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_transform_broadcaster;

 // Parameters
-string mavros;
 string local_frame;
 string fcu_frame;
 ros::Duration transform_timeout;
@@ -182,10 +181,9 @@ inline bool waitTransform(const string& target, const string& source,
 		ros::spinOnce();
 		r.sleep();
 	}
-	return false;
 }

-#define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
+#define TIMEOUT(msg, timeout) (ros::Time::now() - msg.header.stamp > timeout)

 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 {
@@ -443,10 +441,6 @@ void publish(const ros::Time stamp)

 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
-			if (setpoint.header.stamp == position_msg.header.stamp) {
-				return; // avoid TF_REPEATED_DATA warnings
-			}
-
 			setpoint.transform.translation.x = position_msg.pose.position.x;
 			setpoint.transform.translation.y = position_msg.pose.position.y;
 			setpoint.transform.translation.z = position_msg.pose.position.z;
@@ -849,7 +843,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		busy = false;
 		return true;
 	}
-	return false;
 }

 int main(int argc, char **argv)
@@ -862,9 +855,8 @@ int main(int argc, char **argv)
 	static_transform_broadcaster = std::make_shared<tf2_ros::StaticTransformBroadcaster>();

 	// Params
-	nh_priv.param("mavros", mavros, string("mavros")); // for case of using multiple connections
-	nh.param<string>(mavros + "/local_position/tf/frame_id", local_frame, "map");
-	nh.param<string>(mavros + "/local_position/tf/child_frame_id", fcu_frame, "base_link");
+	nh.param<string>("mavros/local_position/tf/frame_id", local_frame, "map");
+	nh.param<string>("mavros/local_position/tf/child_frame_id", fcu_frame, "base_link");
 	nh_priv.param("target_frame", target.child_frame_id, string("navigate_target"));
 	nh_priv.param("setpoint", setpoint.child_frame_id, string("setpoint"));
 	nh_priv.param("auto_release", auto_release, true);
@@ -875,13 +867,6 @@ int main(int argc, char **argv)
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);

-	// Default reference frames
-	std::map<string, string> default_reference_frames;
-	default_reference_frames[body.child_frame_id] = local_frame;
-	default_reference_frames[fcu_frame] = local_frame;
-	if (!target.child_frame_id.empty()) default_reference_frames[target.child_frame_id] = local_frame;
-	reference_frames.insert(default_reference_frames.begin(), default_reference_frames.end()); // merge defaults
-
 	state_timeout = ros::Duration(nh_priv.param("state_timeout", 3.0));
 	local_position_timeout = ros::Duration(nh_priv.param("local_position_timeout", 2.0));
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
@@ -896,25 +881,25 @@ int main(int argc, char **argv)
 	arming_timeout = ros::Duration(nh_priv.param("arming_timeout", 4.0));

 	// Service clients
-	arming = nh.serviceClient<mavros_msgs::CommandBool>(mavros + "/cmd/arming");
-	set_mode = nh.serviceClient<mavros_msgs::SetMode>(mavros + "/set_mode");
+	arming = nh.serviceClient<mavros_msgs::CommandBool>("mavros/cmd/arming");
+	set_mode = nh.serviceClient<mavros_msgs::SetMode>("mavros/set_mode");

 	// Telemetry subscribers
-	auto state_sub = nh.subscribe(mavros + "/state", 1, &handleState);
-	auto velocity_sub = nh.subscribe(mavros + "/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
-	auto global_position_sub = nh.subscribe(mavros + "/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
-	auto battery_sub = nh.subscribe(mavros + "/battery", 1, &handleMessage<BatteryState, battery>);
-	auto statustext_sub = nh.subscribe(mavros + "/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
-	auto manual_control_sub = nh.subscribe(mavros + "/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
-	auto local_position_sub = nh.subscribe(mavros + "/local_position/pose", 1, &handleLocalPosition);
+	auto state_sub = nh.subscribe("mavros/state", 1, &handleState);
+	auto velocity_sub = nh.subscribe("mavros/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
+	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
+	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
+	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
+	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
+	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);

 	// Setpoint publishers
-	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
-	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
-	attitude_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_attitude/attitude", 1);
-	attitude_raw_pub = nh.advertise<AttitudeTarget>(mavros + "/setpoint_raw/attitude", 1);
-	rates_pub = nh.advertise<TwistStamped>(mavros + "/setpoint_attitude/cmd_vel", 1);
-	thrust_pub = nh.advertise<Thrust>(mavros + "/setpoint_attitude/thrust", 1);
+	position_pub = nh.advertise<PoseStamped>("mavros/setpoint_position/local", 1);
+	position_raw_pub = nh.advertise<PositionTarget>("mavros/setpoint_raw/local", 1);
+	attitude_pub = nh.advertise<PoseStamped>("mavros/setpoint_attitude/attitude", 1);
+	attitude_raw_pub = nh.advertise<AttitudeTarget>("mavros/setpoint_raw/attitude", 1);
+	rates_pub = nh.advertise<TwistStamped>("mavros/setpoint_attitude/cmd_vel", 1);
+	thrust_pub = nh.advertise<Thrust>("mavros/setpoint_attitude/thrust", 1);

 	 // Service servers
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
--- a/clover/src/vpe_publisher.cpp
+++ b/clover/src/vpe_publisher.cpp
@@ -141,11 +141,11 @@ int main(int argc, char **argv) {
 	vpe_pub = nh_priv.advertise<PoseStamped>("vpe", 1);
 	//vpe_cov_pub = nh_priv_.advertise<PoseStamped>("pose_cov_pub", 1);

-	if (nh_priv.param("force_init", false) || nh_priv.param("publish_zero", false)) { // publish_zero is old name
+	if (nh_priv.param("publish_zero", false)) {
 		// publish zero to initialize the local position
 		zero_timer = nh.createTimer(ros::Duration(0.1), &publishZero);
-		publish_zero_timout = ros::Duration(nh_priv.param("force_init_timeout", 5.0));
-		publish_zero_duration = ros::Duration(nh_priv.param("force_init_duration", 5.0));
+		publish_zero_timout = ros::Duration(nh_priv.param("publish_zero_timout", 5.0));
+		publish_zero_duration = ros::Duration(nh_priv.param("publish_zero_duration", 5.0));
 		local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
 	}

--- a/clover/test/basic.py
+++ b/clover/test/basic.py
@@ -33,29 +33,3 @@ def test_web_video_server(node):
        # Python 3
        import urllib.request as urllib
    urllib.urlopen("http://localhost:8080").read()
-
-def test_blocks(node):
-    rospy.wait_for_service('clover_blocks/run', timeout=5)
-    rospy.wait_for_service('clover_blocks/stop', timeout=5)
-    rospy.wait_for_service('clover_blocks/load', timeout=5)
-    rospy.wait_for_service('clover_blocks/store', timeout=5)
-
-    from std_msgs.msg import String
-    from clover_blocks.srv import Run
-
-    def wait_print():
-        try:
-            wait_print.result = rospy.wait_for_message('clover_blocks/print', String, timeout=5).data
-        except Exception as e:
-            wait_print.result = str(e)
-
-    import threading
-    t = threading.Thread(target=wait_print)
-    t.start()
-    rospy.sleep(0.1)
-
-    run = rospy.ServiceProxy('clover_blocks/run', Run)
-    assert run(code='print("test")').success == True
-
-    t.join()
-    assert wait_print.result == 'test'
--- a/clover/test/basic.test
+++ b/clover/test/basic.test
@@ -23,7 +23,10 @@

    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped" required="true"/>

-    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>
+    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen">
+        <param name="reference_frames/body" value="map"/>
+        <param name="reference_frames/base_link" value="map"/>
+    </node>

    <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" required="true"/>

@@ -35,8 +38,6 @@
        <rosparam param="notify">startup: { r: 255, g: 255, b: 255 }</rosparam>
    </node>

-    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
-
    <param name="test_module" value="$(find clover)/test/basic.py"/>
    <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>
--- a/clover/www/clover.err
+++ b/clover/www/clover.err
@@ -0,0 +1 @@
+/tmp/clover.err
--- a/clover/www/clover.log
+++ b/clover/www/clover.log
@@ -1 +0,0 @@
-/var/log/clover.log
--- a/clover/www/console.html
+++ b/clover/www/console.html
@@ -1,23 +0,0 @@
-<h1>
-	/var/log/clover.log
-	<a style="font-size: 0.5em; vertical-align: super; font-weight: normal" href="clover.log" download>download</a>
-</h1>
-
-<pre></pre>
-
-<script type="module">
-	var pre = document.querySelector('pre');
-
-	fetch('clover.log?' + Math.random()).then(function(response) { // random to forbid caching
-		if (response.status == 404) {
-			pre.innerHTML = '/var/log/clover.log does not exist';
-			return;
-		} else if (response.status !== 200) {
-			pre.innerHTML('Error ' + response.status);
-			return;
-		}
-		response.text().then(function(content) {
-			pre.innerHTML = content;
-		});
-	});
-</script>
--- a/clover/www/index.html
+++ b/clover/www/index.html
@@ -4,12 +4,12 @@

 <ul>
 	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
-	<li><a href="topics.html">View topics</a></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>View <a href="viz.html">View 3D visualization</a>, <a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
+	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
+	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
 	<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
-	<li><a href="console.html">Clover console</a> (<code>/var/log/clover.log</code>)</li>
+	<li><a href="clover.err">Clover console</a> (<code>/tmp/clover.err</code>)</li>
 </ul>

 <div class="version"></div>
@@ -18,14 +18,6 @@
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
 	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';

-	document.querySelector("#butterfly").addEventListener('click', function(e) {
-		if (location.hostname == 'localhost' || location.hostname == '127.0.0.1') {
-			if (!confirm('Please use regular Terminal app on a local machine.\nClick OK to proceed to Butterfly anyway.')) {
-				e.preventDefault();
-			}
-		}
-	});
-
 	// Determine image version
 	fetch('clover_version').then(function(response) {
 		if (response.status !== 200) return;
--- a/clover/www/js/json-to-pretty-yaml.js
+++ b/clover/www/js/json-to-pretty-yaml.js
@@ -1,236 +0,0 @@
-// Browserified https://www.npmjs.com/package/json-to-pretty-yaml module
-
-(function(){function r(e,n,t){function o(i,f){if(!n[i]){if(!e[i]){var c="function"==typeof require&&require;if(!f&&c)return c(i,!0);if(u)return u(i,!0);var a=new Error("Cannot find module '"+i+"'");throw a.code="MODULE_NOT_FOUND",a}var p=n[i]={exports:{}};e[i][0].call(p.exports,function(r){var n=e[i][1][r];return o(n||r)},p,p.exports,r,e,n,t)}return n[i].exports}for(var u="function"==typeof require&&require,i=0;i<t.length;i++)o(t[i]);return o}return r})()({1:[function(require,module,exports){
-(function() {
-    "use strict";
-
-    var typeOf = require('remedial').typeOf;
-    var trimWhitespace = require('remove-trailing-spaces');
-
-    function stringify(data) {
-        var handlers, indentLevel = '';
-
-        handlers = {
-            "undefined": function() {
-                // objects will not have `undefined` converted to `null`
-                // as this may have unintended consequences
-                // For arrays, however, this behavior seems appropriate
-                return 'null';
-            },
-            "null": function() {
-                return 'null';
-            },
-            "number": function(x) {
-                return x;
-            },
-            "boolean": function(x) {
-                return x ? 'true' : 'false';
-            },
-            "string": function(x) {
-                // to avoid the string "true" being confused with the
-                // the literal `true`, we always wrap strings in quotes
-                return JSON.stringify(x);
-            },
-            "array": function(x) {
-                var output = '';
-
-                if (0 === x.length) {
-                    output += '[]';
-                    return output;
-                }
-
-                indentLevel = indentLevel.replace(/$/, '  ');
-                x.forEach(function(y, i) {
-                    // TODO how should `undefined` be handled?
-                    var handler = handlers[typeOf(y)];
-
-                    if (!handler) {
-                        throw new Error('what the crap: ' + typeOf(y));
-                    }
-
-                    output += '\n' + indentLevel + '- ' + handler(y, true);
-
-                });
-                indentLevel = indentLevel.replace(/  /, '');
-
-                return output;
-            },
-            "object": function(x, inArray, rootNode) {
-                var output = '';
-
-                if (0 === Object.keys(x).length) {
-                    output += '{}';
-                    return output;
-                }
-
-                if (!rootNode) {
-                    indentLevel = indentLevel.replace(/$/, '  ');
-                }
-
-                Object.keys(x).forEach(function(k, i) {
-                    var val = x[k],
-                        handler = handlers[typeOf(val)];
-
-                    if ('undefined' === typeof val) {
-                        // the user should do
-                        // delete obj.key
-                        // and not
-                        // obj.key = undefined
-                        // but we'll error on the side of caution
-                        return;
-                    }
-
-                    if (!handler) {
-                        throw new Error('what the crap: ' + typeOf(val));
-                    }
-
-                    if (!(inArray && i === 0)) {
-                        output += '\n' + indentLevel;
-                    }
-
-                    output += k + ': ' + handler(val);
-                });
-                indentLevel = indentLevel.replace(/  /, '');
-
-                return output;
-            },
-            "function": function() {
-                // TODO this should throw or otherwise be ignored
-                return '[object Function]';
-            }
-        };
-        return trimWhitespace(handlers[typeOf(data)](data, true, true) + '\n');
-
-    }
-
-    window.yamlStringify = stringify;
-    module.exports.stringify = stringify;
-}());
-
-},{"remedial":2,"remove-trailing-spaces":3}],2:[function(require,module,exports){
-/*jslint onevar: true, undef: true, nomen: true, eqeqeq: true, plusplus: true, bitwise: true, regexp: true, newcap: true, immed: true */
-(function () {
-    "use strict";
-
-    var global = Function('return this')()
-      , classes = "Boolean Number String Function Array Date RegExp Object".split(" ")
-      , i
-      , name
-      , class2type = {}
-      ;
-
-    for (i in classes) {
-      if (classes.hasOwnProperty(i)) {
-        name = classes[i];
-        class2type["[object " + name + "]"] = name.toLowerCase();
-      }
-    }
-
-    function typeOf(obj) {
-      return (null === obj || undefined === obj) ? String(obj) : class2type[Object.prototype.toString.call(obj)] || "object";
-    }
-
-    function isEmpty(o) {
-        var i, v;
-        if (typeOf(o) === 'object') {
-            for (i in o) { // fails jslint
-                v = o[i];
-                if (v !== undefined && typeOf(v) !== 'function') {
-                    return false;
-                }
-            }
-        }
-        return true;
-    }
-
-    if (!String.prototype.entityify) {
-        String.prototype.entityify = function () {
-            return this.replace(/&/g, "&amp;").replace(/</g,
-                "&lt;").replace(/>/g, "&gt;");
-        };
-    }
-
-    if (!String.prototype.quote) {
-        String.prototype.quote = function () {
-            var c, i, l = this.length, o = '"';
-            for (i = 0; i < l; i += 1) {
-                c = this.charAt(i);
-                if (c >= ' ') {
-                    if (c === '\\' || c === '"') {
-                        o += '\\';
-                    }
-                    o += c;
-                } else {
-                    switch (c) {
-                    case '\b':
-                        o += '\\b';
-                        break;
-                    case '\f':
-                        o += '\\f';
-                        break;
-                    case '\n':
-                        o += '\\n';
-                        break;
-                    case '\r':
-                        o += '\\r';
-                        break;
-                    case '\t':
-                        o += '\\t';
-                        break;
-                    default:
-                        c = c.charCodeAt();
-                        o += '\\u00' + Math.floor(c / 16).toString(16) +
-                            (c % 16).toString(16);
-                    }
-                }
-            }
-            return o + '"';
-        };
-    } 
-
-    if (!String.prototype.supplant) {
-        String.prototype.supplant = function (o) {
-            return this.replace(/{([^{}]*)}/g,
-                function (a, b) {
-                    var r = o[b];
-                    return typeof r === 'string' || typeof r === 'number' ? r : a;
-                }
-            );
-        };
-    }
-
-    if (!String.prototype.trim) {
-        String.prototype.trim = function () {
-            return this.replace(/^\s*(\S*(?:\s+\S+)*)\s*$/, "$1");
-        };
-    }
-
-    // CommonJS / npm / Ender.JS
-    module.exports = {
-        typeOf: typeOf,
-        isEmpty: isEmpty
-    };
-    global.typeOf = global.typeOf || typeOf;
-    global.isEmpty = global.isEmpty || isEmpty;
-}());
-
-},{}],3:[function(require,module,exports){
-"use strict";
-
-/**
- * removeTrailingSpaces
- * Remove the trailing spaces from a string.
- *
- * @name removeTrailingSpaces
- * @function
- * @param {String} input The input string.
- * @returns {String} The output string.
- */
-
-module.exports = function removeTrailingSpaces(input) {
-  // TODO If possible, use a regex
-  return input.split("\n").map(function (x) {
-    return x.trimRight();
-  }).join("\n");
-};
-},{}]},{},[1]);
--- a/clover/www/js/topics.js
+++ b/clover/www/js/topics.js
@@ -1,83 +0,0 @@
-const url = 'ws://' + location.hostname + ':9090';
-const ros = new ROSLIB.Ros({ url: url });
-const params = Object.fromEntries(new URLSearchParams(window.location.search).entries());
-
-ros.on('connection', function () {
-	document.body.classList.add('connected');
-	document.body.classList.remove('closed');
-	init();
-});
-
-ros.on('close', function () {
-	document.body.classList.remove('connected');
-	document.body.classList.add('closed');
-	setTimeout(function() {
-		// reconnect
-		ros.connect(url);
-	}, 2000);
-});
-
-const title = document.querySelector('h1');
-const topicsList = document.querySelector('#topics');
-const topicMessage = document.querySelector('#topic-message');
-
-function viewTopicsList() {
-	title.innerHTML = 'Topics:';
-
-	ros.getTopics(function(topics) {
-		topicsList.innerHTML = topics.topics.map(function(topic, i) {
-			const type = topics.types[i];
-			if (type == 'sensor_msgs/Image') {
-				let url = `${location.protocol}//${location.hostname}:8080/stream_viewer?topic=${topic}`; 
-				return `<li><a href="${url}" class=topic title=${type}>${topic}</a> &#x1F5BC;</li>`;
-			} else {
-				return `<li><a href="?topic=${topic}" class=topic title=${type}>${topic}</a></li>`;
-			}
-		}).join('');
-	});
-}
-
-let rosdistro;
-
-function viewTopic(topic) {
-	let index = '<a href=topics.html>Topics</a>';
-	title.innerHTML = `${index}: ${topic}`;
-	topicMessage.style.display = 'block';
-
-	ros.getTopicType(topic, function(typeStr) {
-		const [pack, type] = typeStr.split('/');
-		let href = `https://docs.ros.org/en/${rosdistro}/api/${pack}/html/msg/${type}.html`;
-		title.innerHTML = `${index}: ${topic} <a id="topic-type" href=${href} target="_blank">${typeStr}</a>`;
-	});
-
-	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
-		document.title = topic;
-		if (mouseDown) return;
-
-		if (msg.header.stamp) {
-			if (params.date || params.offset) {
-				let date = new Date(msg.header.stamp.secs * 1e3 + msg.header.stamp.nsecs * 1e-6);
-				if (params.date) msg.header.date = date.toISOString();
-				if (params.offset) msg.header.offset = (new Date() - date) * 1e-3;
-			}
-		}
-
-		topicMessage.innerHTML = yamlStringify(msg); // JSON.stringify(msg, null, 4);
-	});
-}
-
-let mouseDown;
-
-topicMessage.addEventListener('mousedown', function() { mouseDown = true; });
-topicMessage.addEventListener('mouseup', function() { mouseDown = false; });
-
-function init() {
-	if (!params.topic) {
-		viewTopicsList();
-	} else {
-		new ROSLIB.Param({ ros: ros, name: '/rosdistro'}).get(function(value) {
-			rosdistro = value.trim();
-			viewTopic(params.topic);
-		});
-	}
-}
--- a/clover/www/topics.html
+++ b/clover/www/topics.html
@@ -1,28 +0,0 @@
-<html lang="en">
-	<head>
-		<title>ROS topics</title>
-		<script src="js/roslib.js"></script>
-		<link rel="icon" href="data:,"> <!-- make chrome don't request icon -->
-		<script type="module" src="js/topics.js"></script>
-		<script src="js/json-to-pretty-yaml.js"></script>
-		<style>
-			#topics { line-height: 1.2em; }
-			#topic-view {
-				display: none;
-			}
-			#topic-message {
-				display: none;
-				white-space: pre;
-				font-family: monospace;
-			}
-			#topic-type { font-family: monospace; font-size: 0.5em; vertical-align: super; font-weight: normal; }
-			.topic { font-family: monospace; }
-			body.closed { background-color: rgb(207, 207, 207); }
-		</style>
-	</head>
-	<body>
-		<h1>&nbsp;</h1>
-		<ul id="topics"></ul>
-		<code id="topic-message">No messages received</code>
-	</body>
-</html>
--- a/clover_blocks/CMakeLists.txt
+++ b/clover_blocks/CMakeLists.txt
@@ -73,13 +73,6 @@ catkin_install_python(PROGRAMS src/clover_blocks
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

-# TODO: store programs in home directory?
-install(DIRECTORY programs
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
 #############
 ## Testing ##
 #############
--- a/clover_blocks/README.md
+++ b/clover_blocks/README.md
@@ -10,7 +10,7 @@ Internal package documentation is given below.

 ## Frontend

-The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roslib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
+The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roblib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.

 ## `clover_blocks` node

@@ -30,8 +30,7 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 Parameters read by frontend:

 * `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
-* `~navigate_global_tolerance` (*float*) – distance tolerance for global coordinates navigation (default: 1).
-* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 1).
+* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
 * `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
 * `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).

--- a/clover_blocks/package.xml
+++ b/clover_blocks/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>clover_blocks</name>
-  <version>0.23.0</version>
+  <version>0.21.1</version>
  <description>Blockly programming support for Clover</description>
  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
  <license>MIT</license>
--- a/clover_blocks/src/clover_blocks
+++ b/clover_blocks/src/clover_blocks
@@ -146,7 +146,6 @@ def stop(req):
    return {'success': True}


-# TODO: find dir in installed package
 programs_path = rospy.get_param('~programs_dir', os.path.dirname(os.path.abspath(__file__)) + '/../programs')


--- a/clover_blocks/www/blocks.js
+++ b/clover_blocks/www/blocks.js
@@ -31,14 +31,6 @@ function considerFrameId(e) {
 			this.getInput('Y').fieldRow[0].setValue('y');
 			this.getInput('Z').fieldRow[0].setValue('z');
 		}
-		if (this.getInput('LAT')) { // block has global coordinates
-			let global = frameId.startsWith('GLOBAL');
-			this.getInput('LAT').setVisible(global);
-			this.getInput('LON').setVisible(global);
-			this.getInput('X').setVisible(!global);
-			this.getInput('Y').setVisible(!global);
-			this.getInput('Z').fieldRow[0].setValue(frameId == 'GLOBAL' ? 'altitude' : 'z');
-		}
 	}
 	if (this.getInput('ID')) { // block has marker id field
 		this.getInput('ID').setVisible(frameId == 'ARUCO'); // toggle id field
@@ -73,9 +65,6 @@ function updateSetpointBlock(e) {

 Blockly.Blocks['navigate'] = {
 	init: function () {
-		let navFrameId = frameIds.slice();
-		navFrameId.push(['global', 'GLOBAL_LOCAL'])
-		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
 			.appendField("navigate to point");
 		this.appendValueInput("X")
@@ -84,20 +73,12 @@ Blockly.Blocks['navigate'] = {
 		this.appendValueInput("Y")
 			.setCheck("Number")
 			.appendField("left");
-		this.appendValueInput("LAT")
-			.setCheck("Number")
-			.appendField("latitude")
-			.setVisible(false);
-		this.appendValueInput("LON")
-			.setCheck("Number")
-			.appendField("longitude")
-			.setVisible(false)
 		this.appendValueInput("Z")
 			.setCheck("Number")
 			.appendField("up");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(navFrameId), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -287,7 +268,7 @@ Blockly.Blocks['mode'] = {
 			.appendField("current flight mode");
 		this.setOutput(true, "String");
 		this.setColour(COLOR_STATE);
-		this.setTooltip("Returns current flight mode (POSCTL, OFFBOARD, etc).");
+		this.setTooltip("");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -394,7 +375,7 @@ Blockly.Blocks['take_off'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setColour(COLOR_FLIGHT);
-		this.setTooltip("Take off on desired altitude in meters.");
+		this.setTooltip("Take off on desired altitude in meters");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -410,7 +391,7 @@ Blockly.Blocks['land'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setColour(COLOR_FLIGHT);
-		this.setTooltip("Land the drone.");
+		this.setTooltip("");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -419,10 +400,10 @@ Blockly.Blocks['global_position'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["latitude", "LAT"], ["longitude", "LON"], ["altitude", "ALT"]]), "FIELD");
+			.appendField(new Blockly.FieldDropdown([["latitude", "LATITUDE"], ["longitude", "LONGITUDE"], ["altitude", "ALTITUDE"]]), "NAME");
 		this.setOutput(true, "Number");
-		this.setColour(COLOR_STATE);
-		this.setTooltip("Returns current global position (latitude, longitude, altitude above the WGS 84 ellipsoid).");
+		this.setColour(230);
+		this.setTooltip("");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
--- a/clover_blocks/www/index.html
+++ b/clover_blocks/www/index.html
@@ -52,8 +52,6 @@
 				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Z"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
-				<value name="LAT"><shadow type="math_number"><field name="NUM">47.397503</field></shadow></value>
-				<value name="LON"><shadow type="math_number"><field name="NUM">8.544945</field></shadow></value>
 				<value name="SPEED"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 			</block>
@@ -87,7 +85,6 @@
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 			</block>
 			<block type="get_attitude"></block>
-			<block type="global_position"></block>
 			<block type="distance">
 				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
--- a/clover_blocks/www/main.js
+++ b/clover_blocks/www/main.js
@@ -39,8 +39,7 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('navigate_global_tolerance', true, 1),
-		ros.readParam('yaw_tolerance', true, 1),
+		ros.readParam('yaw_tolerance', true, 20),
 		ros.readParam('sleep_time', true, 0.2),
 		ros.readParam('confirm_run', true, true),
 	]);
@@ -211,7 +210,7 @@ function loadPrograms() {
 		updateChanged();
 	}, function(err) {
 		document.querySelector('.backend-fail').style.display = 'inline';
-		alert(`Error loading programs list.\n\nHave you enabled 'blocks' in clover.launch?`);
+		alert(`Error loading programs list.\n\nHave you enabled clover_blocks in clover.launch?`);
 		runButton.disabled = true;
 	})
 }
--- a/clover_blocks/www/python.js
+++ b/clover_blocks/www/python.js
@@ -33,18 +33,6 @@ const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame
            return
        rospy.sleep(${params.sleep_time})\n`;

-const NAVIGATE_GLOBAL_WAIT = () => `\ndef navigate_global_wait(lat, lon, z, speed=0.5):
-    res = navigate_global(lat=lat, lon=lon, z=z, yaw=float('inf'), speed=speed)
-
-    if not res.success:
-        raise Exception(res.message)
-
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_global_tolerance}:
-            return
-        rospy.sleep(${params.sleep_time})\n`;
-
 const LAND_WAIT = () => `\ndef land_wait():
    land()
    while get_telemetry().armed:
@@ -80,9 +68,6 @@ function generateROSDefinitions() {
 	if (rosDefinitions.offboard) {
 		code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
 		code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
-		if (rosDefinitions.navigateGlobal) {
-		code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
-		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
 		}
@@ -109,10 +94,6 @@ function generateROSDefinitions() {
 		Blockly.Python.definitions_['import_math'] = 'import math';
 		code += NAVIGATE_WAIT();
 	}
-	if (rosDefinitions.navigateGlobalWait) {
-		Blockly.Python.definitions_['import_math'] = 'import math';
-		code += NAVIGATE_GLOBAL_WAIT();
-	}
 	if (rosDefinitions.landWait) {
 		code += LAND_WAIT();
 	}
@@ -180,48 +161,24 @@ Blockly.Python.navigate = function(block) {
 	let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
 	let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
 	let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
-	let lat = Blockly.Python.valueToCode(block, 'LAT', Blockly.Python.ORDER_NONE);
-	let lon = Blockly.Python.valueToCode(block, 'LON', Blockly.Python.ORDER_NONE);
-	let wait = block.getFieldValue('WAIT') == 'TRUE';
-	let frameId = block.getFieldValue('FRAME_ID');
+	let frameId = buildFrameId(block);
 	let speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_NONE);

+	let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
+
 	simpleOffboard();

-	// global coordinates
-	if (frameId.startsWith('GLOBAL')) {
-		rosDefinitions.navigateGlobal = true;
+	if (block.getFieldValue('WAIT') == 'TRUE') {
+		rosDefinitions.navigateWait = true;
 		simpleOffboard();

-		if (frameId == 'GLOBAL') {
-			z = `${z} + get_telemetry().alt - get_telemetry().z`;
-		}
-
-		if (wait) {
-			rosDefinitions.navigateGlobalWait = true;
-			simpleOffboard();
-			return `navigate_global_wait(lat=${lat}, lon=${lon}, z=${z}, speed=${speed})\n`;
-
-		} else {
-			return `navigate_global(lat=${lat}, lon=${lon}, z=${z}, yaw=float('inf'), speed=${speed})\n`;
-		}
+		return `navigate_wait(${params.join(', ')})\n`;

 	} else {
-		frameId = buildFrameId(block);
-		let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
-
-		if (wait) {
-			rosDefinitions.navigateWait = true;
-			simpleOffboard();
-
-			return `navigate_wait(${params.join(', ')})\n`;
-
-		} else {
-			if (frameId != 'body') {
-				params.push(`yaw=float('nan')`);
-			}
-			return `navigate(${params.join(', ')})\n`;
+		if (frameId != 'body') {
+			params.push(`yaw=float('nan')`);
 		}
+		return `navigate(${params.join(', ')})\n`;
 	}
 }

@@ -358,12 +315,6 @@ Blockly.Python.get_attitude = function(block) {
 	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
 }

-Blockly.Python.global_position = function(block) {
-	simpleOffboard();
-	var code = `get_telemetry().${block.getFieldValue('FIELD').toLowerCase()}`;
-	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
-}
-
 Blockly.Python.distance = function(block) {
 	rosDefinitions.distance = true;
 	simpleOffboard();
@@ -464,7 +415,7 @@ Blockly.Python.led_count = function(block) {

 function pigpio() {
 	Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
-	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()\nif not pi.connected: raise Exception(\'Cannot connect to pigpiod\')';
+	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
 }

 const GPIO_READ = `\ndef gpio_read(pin):
--- a/clover_description/README.md
+++ b/clover_description/README.md
@@ -14,7 +14,7 @@ You may provide additional parameters for `spawn_drone.launch` as well:
 * `rangefinder` (*boolean*, default: *true*) - controls whether the drone will have a downward-facing laser rangefinder attached;
 * `led` (*boolean*, default: *true*) - controls whether the drone will have a programmable LED strip (requires plugins from `clover_simulation`);
 * `gps` (*boolean*, default: *true*) - controls whether the drone will have a simulated GPS attached (requires plugins from `sitl_gazebo`);
-* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simulation to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)).
+* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simultion to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)).

 For example, in order to spawn a drone without a GPS module, you may use the following command:

--- a/clover_description/launch/view_drone.launch
+++ b/clover_description/launch/view_drone.launch
@@ -1,7 +1,7 @@
 <launch>
-  <arg name="model" default="$(find clover_description)/urdf/clover/clover4.xacro"/>
+  <arg name="model" default="$(find clover_description)/urdf/drones/clover4.xacro"/>

-  <param name="robot_description" command="xacro $(arg model)"/>
+  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)"/>

  <node name="rviz" pkg="rviz" type="rviz" required="true"/>
 </launch>
--- a/clover_description/package.xml
+++ b/clover_description/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
  <name>clover_description</name>
-  <version>0.23.0</version>
+  <version>0.21.1</version>
  <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>

  <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>
--- a/clover_description/urdf/clover/clover4.xacro
+++ b/clover_description/urdf/clover/clover4.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="clover_camera" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:arg name="main_camera" default="true"/>
  <xacro:arg name="rangefinder" default="true"/>
@@ -8,10 +8,10 @@
  <xacro:arg name="maintain_camera_rate" default="false"/>
  <xacro:arg name="use_clover_physics" default="false"/>

-  <xacro:include filename="clover4_base.xacro" />
-  <xacro:include filename="../sensors/rpi_cam.urdf.xacro"/>
-  <xacro:include filename="../sensors/distance_sensor.urdf.xacro"/>
-  <xacro:include filename="../leds/led_strip.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_base.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/sensors/rpi_cam.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/sensors/distance_sensor.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/leds/led_strip.xacro"/>

  <!-- Create camera plugin -->
  <xacro:if value="$(arg main_camera)">
@@ -36,17 +36,11 @@
  </xacro:if>

  <xacro:if value="$(arg gps)">
-    <gazebo>
-      <include>
-        <uri>model://gps</uri>
-        <pose>0.1 0 0 0 0 0</pose>
-        <name>gps0</name>
-      </include>
-      <joint name='gps0_joint' type='fixed'>
-        <child>gps0::link</child>
-        <parent>base_link</parent>
-      </joint>  
-    </gazebo>
+    <!-- Instantiate gps plugin. -->
+    <xacro:gps_plugin_macro
+      namespace="${namespace}"
+      gps_noise="true"
+      />
  </xacro:if>

 </robot>
--- a/clover_description/urdf/clover/clover4_base.xacro
+++ b/clover_description/urdf/clover/clover4_base.xacro
@@ -1,15 +1,40 @@
 <?xml version="1.0"?>

 <robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- Properties that can be assigned at build time as arguments.
+  Is there a reason not to make all properties arguments?
+  -->
+  <xacro:arg name='name' default='iris' />
+  <xacro:arg name='mavlink_addr' default='INADDR_ANY' />
+  <xacro:arg name='mavlink_udp_port' default='14560' />
+  <xacro:arg name='mavlink_tcp_port' default='4560' />
+  <xacro:arg name='serial_enabled' default='false' />
+  <xacro:arg name='serial_device' default='/dev/ttyACM0' />
+  <xacro:arg name='baudrate' default='921600' />
+  <xacro:arg name='qgc_addr' default='INADDR_ANY' />
+  <xacro:arg name='qgc_udp_port' default='14550' />
+  <xacro:arg name='sdk_addr' default='INADDR_ANY' />
+  <xacro:arg name='sdk_udp_port' default='14540' />
+  <xacro:arg name='hil_mode' default='false' />
+  <xacro:arg name='hil_state_level' default='false' />
+  <xacro:arg name='send_vision_estimation' default='false' />
+  <xacro:arg name='send_odometry' default='false' />
+  <xacro:arg name='enable_lockstep' default='true' />
+  <xacro:arg name='use_tcp' default='true' />
+  <xacro:arg name='vehicle_is_tailsitter' default='false' />
+  <xacro:arg name='visual_material' default='DarkGrey' />
+  <xacro:arg name='enable_mavlink_interface' default='true' />
  <xacro:arg name='enable_wind' default='false' />
+  <!-- The following causes segfault with multiple vehicles if defaults to true!!! -->
+  <xacro:arg name='enable_ground_truth' default='false' />
  <xacro:arg name='enable_logging' default='false' />
-  <xacro:arg name='log_file' default='clover' />
+  <xacro:arg name='log_file' default='iris' />

  <!-- macros for gazebo plugins, sensors -->
-  <xacro:include filename="../component_snippets.urdf.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/component_snippets.urdf.xacro" />

  <!-- Instantiate iris "mechanics" -->
-  <xacro:include filename="clover4_physics.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_physics.xacro" />

  <xacro:if value="$(arg enable_wind)">
    <xacro:wind_plugin_macro
@@ -24,8 +49,126 @@
        />
  </xacro:if>

-  <!-- Gazebo plugins -->
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_gazebo.xacro" />
+  <!-- Instantiate magnetometer plugin. -->
+  <xacro:magnetometer_plugin_macro
+    namespace="${namespace}"
+    pub_rate="20"
+    noise_density="0.0004"
+    random_walk="0.0000064"
+    bias_correlation_time="600"
+    mag_topic="/mag"
+    >
+  </xacro:magnetometer_plugin_macro>
+
+  <!-- Instantiate barometer plugin. -->
+  <xacro:barometer_plugin_macro
+    namespace="${namespace}"
+    pub_rate="10"
+    baro_topic="/baro"
+    >
+  </xacro:barometer_plugin_macro>
+
+  <xacro:if value="$(arg enable_mavlink_interface)">
+  <!-- Instantiate mavlink telemetry interface. -->
+  <xacro:mavlink_interface_macro
+    namespace="${namespace}"
+    imu_sub_topic="/imu"
+    gps_sub_topic="/gps"
+    mag_sub_topic="/mag"
+    baro_sub_topic="/baro"
+    mavlink_addr="$(arg mavlink_addr)"
+    mavlink_udp_port="$(arg mavlink_udp_port)"
+    mavlink_tcp_port="$(arg mavlink_tcp_port)"
+    serial_enabled="$(arg serial_enabled)"
+    serial_device="$(arg serial_device)"
+    baudrate="$(arg baudrate)"
+    qgc_addr="$(arg qgc_addr)"
+    qgc_udp_port="$(arg qgc_udp_port)"
+    sdk_addr="$(arg sdk_addr)"
+    sdk_udp_port="$(arg sdk_udp_port)"
+    hil_mode="$(arg hil_mode)"
+    hil_state_level="$(arg hil_state_level)"
+    vehicle_is_tailsitter="$(arg vehicle_is_tailsitter)"
+    send_vision_estimation="$(arg send_vision_estimation)"
+    send_odometry="$(arg send_odometry)"
+    enable_lockstep="$(arg enable_lockstep)"
+    use_tcp="$(arg use_tcp)"
+    >
+  </xacro:mavlink_interface_macro>
+  </xacro:if>
+
+  <!-- Mount an ADIS16448 IMU. -->
+  <xacro:imu_plugin_macro
+    namespace="${namespace}"
+    imu_suffix=""
+    parent_link="base_link"
+    imu_topic="/imu"
+    mass_imu_sensor="0.015"
+    gyroscope_noise_density="0.0003394"
+    gyroscopoe_random_walk="0.000038785"
+    gyroscope_bias_correlation_time="1000.0"
+    gyroscope_turn_on_bias_sigma="0.0087"
+    accelerometer_noise_density="0.004"
+    accelerometer_random_walk="0.006"
+    accelerometer_bias_correlation_time="300.0"
+    accelerometer_turn_on_bias_sigma="0.1960"
+  >
+    <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:imu_plugin_macro>
+
+  <xacro:if value="$(arg enable_ground_truth)">
+    <!-- Mount an IMU providing ground truth. -->
+    <xacro:imu_plugin_macro
+      namespace="${namespace}"
+      imu_suffix="gt"
+      parent_link="base_link"
+      imu_topic="ground_truth/imu"
+      mass_imu_sensor="0.00001"
+      gyroscope_noise_density="0.0"
+      gyroscopoe_random_walk="0.0"
+      gyroscope_bias_correlation_time="1000.0"
+      gyroscope_turn_on_bias_sigma="0.0"
+      accelerometer_noise_density="0.0"
+      accelerometer_random_walk="0.0"
+      accelerometer_bias_correlation_time="300.0"
+      accelerometer_turn_on_bias_sigma="0.0"
+    >
+      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </xacro:imu_plugin_macro>
+
+    <!-- Mount a generic odometry sensor providing ground truth. -->
+    <xacro:odometry_plugin_macro
+      namespace="${namespace}/ground_truth"
+      odometry_sensor_suffix="gt"
+      parent_link="base_link"
+      pose_topic="pose"
+      pose_with_covariance_topic="pose_with_covariance"
+      position_topic="position"
+      transform_topic="transform"
+      odometry_topic="odometry"
+      parent_frame_id="world"
+      mass_odometry_sensor="0.00001"
+      measurement_divisor="1"
+      measurement_delay="0"
+      unknown_delay="0.0"
+      noise_normal_position="0 0 0"
+      noise_normal_quaternion="0 0 0"
+      noise_normal_linear_velocity="0 0 0"
+      noise_normal_angular_velocity="0 0 0"
+      noise_uniform_position="0 0 0"
+      noise_uniform_quaternion="0 0 0"
+      noise_uniform_linear_velocity="0 0 0"
+      noise_uniform_angular_velocity="0 0 0"
+      enable_odometry_map="false"
+      odometry_map=""
+      image_scale=""
+    >
+      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+    </xacro:odometry_plugin_macro>
+  </xacro:if>

  <xacro:if value="$(arg enable_logging)">
    <!-- Instantiate a logger -->
--- a/clover_description/urdf/clover/clover4_gazebo.xacro
+++ b/clover_description/urdf/clover/clover4_gazebo.xacro
@@ -1,183 +0,0 @@
-<?xml version="1.0"?>
-
-<!-- Reference: https://github.com/PX4/PX4-SITL_gazebo/blob/7505aee97d2d3112fb2bd95198946345c6fa0b07/models/iris/iris.sdf.jinja#L430 -->
-
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <!-- IMU link -->
-  <link name="/imu_link">
-    <inertial>
-      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
-      <mass value="0.015"/>
-      <!-- [kg] -->
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </inertial>
-  </link>
-
-  <!-- IMU joint -->
-  <joint name="/imu_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="/imu_link"/>
-    <!-- <limit upper="0" lower="0" effort="0" velocity="0" /> -->
-  </joint>
-
-  <gazebo reference="/imu_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-
-  <gazebo>
-    <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
-      <robotNamespace/>
-    </plugin>
-    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
-      <robotNamespace/>
-      <pubRate>100</pubRate>
-      <noiseDensity>0.0004</noiseDensity>
-      <randomWalk>6.4e-06</randomWalk>
-      <biasCorrelationTime>600</biasCorrelationTime>
-      <magTopic>/mag</magTopic>
-    </plugin>
-    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
-      <robotNamespace/>
-      <pubRate>50</pubRate>
-      <baroTopic>/baro</baroTopic>
-      <baroDriftPaPerSec>0</baroDriftPaPerSec>
-    </plugin>
-    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
-      <robotNamespace/>
-      <imuSubTopic>/imu</imuSubTopic>
-      <magSubTopic>/mag</magSubTopic>
-      <baroSubTopic>/baro</baroSubTopic>
-      <mavlink_addr>INADDR_ANY</mavlink_addr>
-      <mavlink_tcp_port>4560</mavlink_tcp_port>
-      <mavlink_udp_port>14560</mavlink_udp_port>
-      <serialEnabled>false</serialEnabled>
-      <serialDevice>/dev/ttyACM0</serialDevice>
-      <baudRate>921600</baudRate>
-      <qgc_addr>INADDR_ANY</qgc_addr>
-      <qgc_udp_port>14550</qgc_udp_port>
-      <sdk_addr>INADDR_ANY</sdk_addr>
-      <sdk_udp_port>14540</sdk_udp_port>
-      <hil_mode>false</hil_mode>
-      <hil_state_level>0</hil_state_level>
-      <send_vision_estimation>0</send_vision_estimation>
-      <send_odometry>1</send_odometry>
-      <enable_lockstep>1</enable_lockstep>
-      <use_tcp>1</use_tcp>
-      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
-      <control_channels>
-        <channel name='rotor1'>
-          <input_index>0</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1000</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>100</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-        </channel>
-        <channel name='rotor2'>
-          <input_index>1</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1000</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>100</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-        </channel>
-        <channel name='rotor3'>
-          <input_index>2</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1000</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>100</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-        </channel>
-        <channel name='rotor4'>
-          <input_index>3</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1000</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>100</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-        </channel>
-        <channel name='rotor5'>
-          <input_index>4</input_index>
-          <input_offset>1</input_offset>
-          <input_scaling>324.6</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-          <joint_control_pid>
-            <p>0.1</p>
-            <i>0</i>
-            <d>0</d>
-            <iMax>0.0</iMax>
-            <iMin>0.0</iMin>
-            <cmdMax>2</cmdMax>
-            <cmdMin>-2</cmdMin>
-          </joint_control_pid>
-          <joint_name>zephyr_delta_wing::propeller_joint</joint_name>
-        </channel>
-        <channel name='rotor6'>
-          <input_index>5</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>0.524</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position</joint_control_type>
-          <joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
-          <joint_control_pid>
-            <p>10.0</p>
-            <i>0</i>
-            <d>0</d>
-            <iMax>0</iMax>
-            <iMin>0</iMin>
-            <cmdMax>20</cmdMax>
-            <cmdMin>-20</cmdMin>
-          </joint_control_pid>
-        </channel>
-        <channel name='rotor7'>
-          <input_index>6</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>0.524</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position</joint_control_type>
-          <joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
-          <joint_control_pid>
-            <p>10.0</p>
-            <i>0</i>
-            <d>0</d>
-            <iMax>0</iMax>
-            <iMin>0</iMin>
-            <cmdMax>20</cmdMax>
-            <cmdMin>-20</cmdMin>
-          </joint_control_pid>
-        </channel>
-        <channel name='rotor8'>
-          <input_index>7</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>0.524</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position</joint_control_type>
-        </channel>
-      </control_channels>
-    </plugin>
-    <static>0</static>
-    <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
-      <robotNamespace/>
-      <linkName>/imu_link</linkName>
-      <imuTopic>/imu</imuTopic>
-      <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
-      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
-      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
-      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
-      <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
-      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
-      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
-      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
-    </plugin>
-  </gazebo>
-
-</robot>
--- a/clover_description/urdf/clover/clover4_physics.xacro
+++ b/clover_description/urdf/clover/clover4_physics.xacro
@@ -6,7 +6,7 @@

 -->

-<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="iris" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- Properties -->
  <xacro:property name="namespace" value="" />
  <xacro:property name="rotor_velocity_slowdown_sim" value="10" />
@@ -35,7 +35,7 @@
  <xacro:property name="sqrt2" value="1.4142135623730951" />
  <xacro:property name="rotor_drag_coefficient" value="1.75e-04" />
  <xacro:property name="rolling_moment_coefficient" value="0.000001" />
-  <xacro:property name="color" value="DarkGrey" />
+  <xacro:property name="color" value="$(arg visual_material)" />

  <!-- Property Blocks -->
  <!-- Clover body inertia -->
@@ -84,7 +84,7 @@
  </xacro:unless>

  <!-- Included URDF Files -->
-  <xacro:include filename="clover4_macros.xacro" />
+  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_macros.xacro" />

  <!-- Instantiate multirotor_base_macro once -->
  <xacro:clover4_base_macro
--- a/clover_description/urdf/leds/led_strip.xacro
+++ b/clover_description/urdf/leds/led_strip.xacro
@@ -64,12 +64,6 @@
        <!-- <gazebo>
            <static>true</static>
        </gazebo> -->
-        <gazebo>
-            <plugin name="${name}_ros_controller" filename="libsim_leds_controller.so">
-                <robotNamespace></robotNamespace>
-                <ledCount>${led_count}</ledCount>
-            </plugin>
-        </gazebo>
    </xacro:macro>

 </robot>
--- a/clover_description/urdf/sensors/distance_sensor.urdf.xacro
+++ b/clover_description/urdf/sensors/distance_sensor.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="../camera_sensor.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>

  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10">
    <joint name="${name}_joint" type="fixed">
--- a/clover_description/urdf/sensors/pinhole_camera.urdf.xacro
+++ b/clover_description/urdf/sensors/pinhole_camera.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="pinhole_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="../camera_sensor.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
  <xacro:camera_sensor name="main_camera" width="640" height="480" rate="30" horizontal_fov="${120.0*pi/180.0}"/>
 </robot>
--- a/clover_description/urdf/sensors/rpi_cam.urdf.xacro
+++ b/clover_description/urdf/sensors/rpi_cam.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="../camera_sensor.urdf.xacro"/>
+  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>

  <xacro:macro name="rpi_cam" params="name:=rpi_cam parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 width:=320 height:=240 rate:=40 do_throttling:=false">
    <joint name="${name}_joint" type="fixed">
--- a/clover_simulation/CMakeLists.txt
+++ b/clover_simulation/CMakeLists.txt
@@ -37,14 +37,6 @@ target_compile_options(sim_leds PRIVATE -std=c++11)

 add_dependencies(sim_leds ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

-add_library(sim_leds_controller src/sim_leds_controller.cpp)
-
-target_include_directories(sim_leds_controller PRIVATE ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})
-target_link_libraries(sim_leds_controller PRIVATE ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-target_compile_options(sim_leds_controller PRIVATE -std=c++11)
-
-add_dependencies(sim_leds_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
 # Gazebo throttling camera plugin
 # for some reason, CMake does not support per-target link directories, and Gazebo does not put
 # CameraPlugin into ${GAZEBO_LIBRARIES}
--- a/clover_simulation/README.md
+++ b/clover_simulation/README.md
@@ -55,7 +55,7 @@ A visual Gazebo plugin is used for the LED strip. An example of the plugin usage
 The plugin accepts the following parameters during instantiation:

 * `robotNamespace` (*string*, default: "") - a ROS namespace for the plugin;
-* `ledCount` (*integer*, required) - total number of LEDs in a strip.
+* `ledCount` (*integer*, required) - total numer of LEDs in a strip.

 The plugin will provide the following service:

--- a/clover_simulation/airframes/4500_clover
+++ b/clover_simulation/airframes/4500_clover
@@ -1,36 +0,0 @@
-#!/bin/sh
-#
-# @name COEX Clover Simulator
-#
-# @type Quadrotor X
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris # base on iris
-
-param set ATT_W_EXT_HDG 0.5
-param set ATT_EXT_HDG_M 1
-
-param set COM_DISARM_LAND 1.0
-
-param set LPE_FLW_SCALE 1.0
-param set LPE_FLW_R 0.2
-param set LPE_FLW_RR 0.0
-param set LPE_FLW_QMIN 10
-param set LPE_VIS_DELAY 0.0
-param set LPE_VIS_Z 0.1
-param set LPE_FUSION 86
-
-param set SENS_FLOW_ROT 0
-param set SENS_FLOW_MINHGT 0.0
-param set SENS_FLOW_MAXHGT 4.0
-param set SENS_FLOW_MAXR 10.0
-
-param set EKF2_AID_MASK 27 # gps + flow + vis pos + vis yaw
-param set EKF2_OF_DELAY 0
-param set EKF2_OF_QMIN 10
-param set EKF2_OF_N_MIN 0.05
-param set EKF2_OF_N_MAX 0.2
-param set EKF2_HGT_MODE 2
-param set EKF2_EVA_NOISE 0.1
-param set EKF2_EVP_NOISE 0.1
-param set EKF2_EV_DELAY 0
--- a/clover_simulation/launch/simulator.launch
+++ b/clover_simulation/launch/simulator.launch
@@ -4,18 +4,16 @@
    <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
    <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
    <arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
-    <arg name="maintain_camera_rate" default="false"/> <!-- Slow simulation down to maintain camera rate -->
    <arg name="rangefinder" default="true"/> <!-- Simulated downward-facing rangefinder, vl53l1x-like -->
    <arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
    <arg name="gps" default="false"/> <!--Simulated GPS module -->
    <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
-    <arg name="gui" default="true"/> <!-- Run Gazebo with GUI -->

    <!-- Gazebo instance -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
        <!-- Workaround for crashes in VMware -->
        <env name="SVGA_VGPU10" value="0"/>
-        <arg name="gui" value="$(arg gui)"/>
+        <arg name="gui" value="true"/>
        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
        <arg name="verbose" value="true"/>
    </include>
@@ -29,16 +27,13 @@
    <!-- Clover model -->
    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
        <arg name="main_camera" value="$(arg main_camera)"/>
-        <arg name="maintain_camera_rate" value="$(arg maintain_camera_rate)"/>
        <arg name="rangefinder" value="$(arg rangefinder)"/>
        <arg name="led" value="$(arg led)"/>
        <arg name="gps" value="$(arg gps)"/>
        <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
    </include>

-    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')">
-        <env name="HEADLESS" value="1" if="$(eval not gui)"/>
-    </node>
+    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>

    <param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>

@@ -48,10 +43,10 @@
        <arg name="fcu_conn" value="sitl"/>
        <arg name="fcu_ip" value="127.0.0.1"/>
        <arg name="gcs_bridge" value=""/>
+        <arg name="rc" default="false"/>
        <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="optical_flow" default="false" if="$(eval type == 'jmavsim')"/>
        <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
    </include>
 </launch>
--- a/clover_simulation/models/aruco_100/marker_100.sdf
+++ b/clover_simulation/models/aruco_100/marker_100.sdf
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <model name="aruco_100">
-        <static>true</static>
-        <link name="marker_100_link">
-            <pose>0 0 1e-3 0 0 1.5707963267948966</pose>
-            <visual name="visual_marker_100">
-                <cast_shadows>false</cast_shadows>
-                <geometry>
-                    <box>
-                        <size>0.22 0.22 1e-3</size>
-                    </box>
-                </geometry>
-                <material>
-                    <script>
-                        <uri>model://aruco_100/materials/scripts</uri>
-                        <uri>model://aruco_100/materials/textures</uri>
-                        <name>aruco/marker_100</name>
-                    </script>
-                </material>
-            </visual>
-        </link>
-    </model>
-</sdf>
--- a/clover_simulation/models/aruco_100/materials/scripts/aruco_100.material
+++ b/clover_simulation/models/aruco_100/materials/scripts/aruco_100.material
@@ -1,15 +0,0 @@
-material aruco/marker_100
-{
-    technique
-    {
-        pass
-        {
-            texture_unit
-            {
-                texture aruco_marker_100.png
-                filtering none
-                scale 1.0 1.0
-            }
-        }
-    }
-}
--- a/clover_simulation/models/aruco_100/materials/textures/aruco_marker_100.png
+++ b/clover_simulation/models/aruco_100/materials/textures/aruco_marker_100.png
--- a/clover_simulation/models/aruco_100/model.config
+++ b/clover_simulation/models/aruco_100/model.config
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>ArUco Marker 100</name>
-    <version>1.0</version>
-    <sdf version="1.5">marker_100.sdf</sdf>
-    <author>
-        <name>Marker Generator script</name>
-        <email>marker@generator.sh</email>
-    </author>
-    <description>
-        ArUco marker #100
-    </description>
-</model>
--- a/clover_simulation/models/aruco_101/marker_101.sdf
+++ b/clover_simulation/models/aruco_101/marker_101.sdf
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <model name="aruco_101">
-        <static>true</static>
-        <link name="marker_101_link">
-            <pose>0 0 1e-3 0 0 1.5707963267948966</pose>
-            <visual name="visual_marker_101">
-                <cast_shadows>false</cast_shadows>
-                <geometry>
-                    <box>
-                        <size>0.44 0.44 1e-3</size>
-                    </box>
-                </geometry>
-                <material>
-                    <script>
-                        <uri>model://aruco_101/materials/scripts</uri>
-                        <uri>model://aruco_101/materials/textures</uri>
-                        <name>aruco/marker_101</name>
-                    </script>
-                </material>
-            </visual>
-        </link>
-    </model>
-</sdf>
--- a/clover_simulation/models/aruco_101/materials/scripts/aruco_101.material
+++ b/clover_simulation/models/aruco_101/materials/scripts/aruco_101.material
@@ -1,15 +0,0 @@
-material aruco/marker_101
-{
-    technique
-    {
-        pass
-        {
-            texture_unit
-            {
-                texture aruco_marker_101.png
-                filtering none
-                scale 1.0 1.0
-            }
-        }
-    }
-}
--- a/clover_simulation/models/aruco_101/materials/textures/aruco_marker_101.png
+++ b/clover_simulation/models/aruco_101/materials/textures/aruco_marker_101.png
--- a/clover_simulation/models/aruco_101/model.config
+++ b/clover_simulation/models/aruco_101/model.config
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>ArUco Marker 101</name>
-    <version>1.0</version>
-    <sdf version="1.5">marker_101.sdf</sdf>
-    <author>
-        <name>Marker Generator script</name>
-        <email>marker@generator.sh</email>
-    </author>
-    <description>
-        ArUco marker #101
-    </description>
-</model>
--- a/clover_simulation/models/aruco_102/marker_102.sdf
+++ b/clover_simulation/models/aruco_102/marker_102.sdf
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <model name="aruco_102">
-        <static>true</static>
-        <link name="marker_102_link">
-            <pose>0 0 1e-3 0 0 1.5707963267948966</pose>
-            <visual name="visual_marker_102">
-                <cast_shadows>false</cast_shadows>
-                <geometry>
-                    <box>
-                        <size>0.44 0.44 1e-3</size>
-                    </box>
-                </geometry>
-                <material>
-                    <script>
-                        <uri>model://aruco_102/materials/scripts</uri>
-                        <uri>model://aruco_102/materials/textures</uri>
-                        <name>aruco/marker_102</name>
-                    </script>
-                </material>
-            </visual>
-        </link>
-    </model>
-</sdf>
--- a/clover_simulation/models/aruco_102/materials/scripts/aruco_102.material
+++ b/clover_simulation/models/aruco_102/materials/scripts/aruco_102.material
@@ -1,15 +0,0 @@
-material aruco/marker_102
-{
-    technique
-    {
-        pass
-        {
-            texture_unit
-            {
-                texture aruco_marker_102.png
-                filtering none
-                scale 1.0 1.0
-            }
-        }
-    }
-}
--- a/clover_simulation/models/aruco_102/materials/textures/aruco_marker_102.png
+++ b/clover_simulation/models/aruco_102/materials/textures/aruco_marker_102.png
--- a/clover_simulation/models/aruco_102/model.config
+++ b/clover_simulation/models/aruco_102/model.config
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>ArUco Marker 102</name>
-    <version>1.0</version>
-    <sdf version="1.5">marker_102.sdf</sdf>
-    <author>
-        <name>Marker Generator script</name>
-        <email>marker@generator.sh</email>
-    </author>
-    <description>
-        ArUco marker #102
-    </description>
-</model>
--- a/clover_simulation/models/camera/camera.sdf
+++ b/clover_simulation/models/camera/camera.sdf
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <model name="camera">
-        <static>true</static>
-        <link name='camera_link'>
-            <pose>0 0 0 0 0 0</pose>
-            <sensor name='camera' type='camera'>
-                <camera>
-                    <horizontal_fov>1.8</horizontal_fov>
-                    <image>
-                        <format>B8G8R8</format>
-                        <width>640</width>
-                        <height>480</height>
-                    </image>
-                    <clip>
-                        <near>0.02</near>
-                        <far>300</far>
-                    </clip>
-                </camera>
-                <always_on>1</always_on>
-                <update_rate>30</update_rate>
-                <visualize>1</visualize>
-                <plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
-                    <alwaysOn>1</alwaysOn>
-                    <imageTopicName>image_raw</imageTopicName>
-                    <cameraTopicName>camera_info</cameraTopicName>
-                    <cameraName>camera</cameraName>
-                    <frameName>/camera</frameName>
-                </plugin>
-            </sensor>
-        </link>
-    </model>
-</sdf>
--- a/clover_simulation/models/camera/model.config
+++ b/clover_simulation/models/camera/model.config
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>Camera</name>
-    <version>1.0</version>
-    <sdf version="1.5">camera.sdf</sdf>
-    <author>
-        <name>Oleg Kalachev</name>
-        <email>okalachev@gmail.com</email>
-    </author>
-    <description>
-        External camera
-    </description>
-</model>
--- a/clover_simulation/package.xml
+++ b/clover_simulation/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
    <name>clover_simulation</name>
-    <version>0.23.0</version>
+    <version>0.21.1</version>
    <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>

    <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
--- a/clover_simulation/scripts/gzweb
+++ b/clover_simulation/scripts/gzweb
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-
-# script for running gzweb
-# usage: ./gzweb [<port>]
-
-export NVM_DIR=$HOME/.nvm
-source $NVM_DIR/nvm.sh
-npm start --prefix $HOME/gzweb -p ${1-8080}
--- a/clover_simulation/src/clover_simulation/world.py
+++ b/clover_simulation/src/clover_simulation/world.py
@@ -41,4 +41,4 @@ def save_world(world, file):
    '''
    Save the world to file-like object
    '''
-    return world.write(file, encoding='unicode')
+    return world.write(file)
--- a/clover_simulation/src/sim_leds.cpp
+++ b/clover_simulation/src/sim_leds.cpp
@@ -49,9 +49,14 @@ private:

 	std::unique_ptr<ros::NodeHandle> nh;

+	ros::ServiceServer setLedsSrv;
+	// Note: LED state should only be published by the /gazebo node
+	led_msgs::LEDStateArray ledState;
+	ros::Publisher statePublisher;
 	// LED state will be read from the topic to avoid creating more services
 	ros::Subscriber stateSubscriber;

+	bool setLeds(led_msgs::SetLEDs::Request& req, led_msgs::SetLEDs::Response& resp);
 	void handleLedsMsg(const led_msgs::LEDStateArrayConstPtr& leds);

 public:
@@ -68,8 +73,16 @@ public:
 		ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s)", role == Role::Client ? "client" : "server");

 		nh.reset(new ros::NodeHandle(robotNamespace));
-
-		stateSubscriber = nh->subscribe<led_msgs::LEDStateArray>("led/state", 1, &LedController::handleLedsMsg, this);
+		if (role == Role::Server)
+		{
+			setLedsSrv = nh->advertiseService("led/set_leds", &LedController::setLeds, this);
+			statePublisher = nh->advertise<led_msgs::LEDStateArray>("led/state", 1, true);
+		}
+		else
+		{
+			// LED state should be published to the "led/state" topic, so we grab our data there
+			stateSubscriber = nh->subscribe<led_msgs::LEDStateArray>("led/state", 1, &LedController::handleLedsMsg, this);
+		}
 	};

 	~LedController()
@@ -83,9 +96,13 @@ public:
 		std::lock_guard<std::mutex> lock(registryMutex);
 		if (totalLeds > 0) {
 			registeredLeds.resize(totalLeds);
+			ledState.leds.resize(totalLeds);
 		}
 		ROS_DEBUG_NAMED(("LedController_" + robotNamespace).c_str(), "Registering LED visual plugin to %s (LED id=%d)", (role == Role::Client) ? "client" : "server", ledIdx);
 		registeredLeds[ledIdx] = plugin;
+		ledState.leds[ledIdx].index = ledIdx;
+		if (role == Role::Server)
+			statePublisher.publish(ledState);
 	}

 	void unregisterPlugin(sim_led::LedVisualPlugin* plugin)
@@ -140,8 +157,7 @@ public:
 		{
 			auto indexStr = parentName.substr(lastDashPos + 1);
 			try {
-				if (indexStr == "visual") myIndex = 0; // the first visual doesn't have index
-				else myIndex = std::stoi(indexStr);
+				myIndex = std::stoi(indexStr);
 			} catch(const std::exception &e) {
 				gzwarn << "Failed to convert " << indexStr << " to integer: " << e.what() <<  ", assuming 0\n";
 				myIndex = 0;
@@ -179,6 +195,26 @@ public:
 };
 }

+// FIXME: These two functions basically do the same thing, maybe they can be merged?
+bool led_controller::LedController::setLeds(led_msgs::SetLEDs::Request &req, led_msgs::SetLEDs::Response &resp)
+{
+	std::lock_guard<std::mutex> lock(registryMutex);
+	for(const auto& led : req.leds)
+	{
+		if (led.index < registeredLeds.size()) {
+			auto color = GazeboColor(led.r / 255.0f, led.g / 255.0f, led.b / 255.0f);
+			auto ledPlugin = registeredLeds[led.index];
+			if (ledPlugin) ledPlugin->SetColor(color);
+			ledState.leds[led.index].r = led.r;
+			ledState.leds[led.index].g = led.g;
+			ledState.leds[led.index].b = led.b;
+		}
+	}
+	statePublisher.publish(ledState);
+	resp.success = true;
+	return true;
+}
+
 void led_controller::LedController::handleLedsMsg(const led_msgs::LEDStateArrayConstPtr& leds)
 {
 	std::lock_guard<std::mutex> lock(registryMutex);
--- a/clover_simulation/src/sim_leds_controller.cpp
+++ b/clover_simulation/src/sim_leds_controller.cpp
@@ -1,71 +0,0 @@
-#include <led_msgs/SetLEDs.h>
-#include <led_msgs/LEDStateArray.h>
-
-#include <ros/ros.h>
-
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
-#include <gazebo/common/common.hh>
-
-class LedControllerPlugin : public gazebo::ModelPlugin {
-private:
-	std::unique_ptr<ros::NodeHandle> nh;
-	std::string ns;
-	ros::ServiceServer setLedsSrv;
-	led_msgs::LEDStateArray ledState;
-	ros::Publisher statePublisher;
-	std::mutex handleMutex;
-
-public:
-	bool setLeds(led_msgs::SetLEDs::Request &req, led_msgs::SetLEDs::Response &resp)
-	{
-		std::lock_guard<std::mutex> lock(handleMutex);
-		for(const auto& led : req.leds)
-		{
-			if (led.index < ledState.leds.size()) {
-				ledState.leds[led.index].r = led.r;
-				ledState.leds[led.index].g = led.g;
-				ledState.leds[led.index].b = led.b;
-			}
-		}
-		statePublisher.publish(ledState);
-		resp.success = true;
-		return true;
-	}
-
-	virtual void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) override
-	{
-		ROS_INFO("Initialize LED Controller");
-
-		// We need "libgazebo_ros_api.so" to be loaded
-		if (!ros::isInitialized())
-		{
-			ROS_FATAL_NAMED("LedController", "Tried to load ROS plugin when ROS Gazebo API is not loaded. Please use gazebo_ros node to"
-			                                 "launch Gazebo.");
-		}
-
-		ns = "";
-
-		if (sdf->HasElement("robotNamespace")) {
-			ns = sdf->Get<std::string>("robotNamespace");
-		}
-		if (!sdf->HasElement("ledCount")) {
-			gzerr << "ledCount is not set, but is required for the plugin to function correctly\n";
-			return;
-		}
-		int totalLeds = sdf->Get<int>("ledCount");
-		ledState.leds.resize(totalLeds);
-		for (int i = 0; i < totalLeds; i++) {
-			ledState.leds[i].index = i;
-		}
-
-		nh.reset(new ros::NodeHandle(ns));
-
-		setLedsSrv = nh->advertiseService("led/set_leds", &LedControllerPlugin::setLeds, this);
-		statePublisher = nh->advertise<led_msgs::LEDStateArray>("led/state", 1, true);
-
-		statePublisher.publish(ledState);
-	}
-};
-
-GZ_REGISTER_MODEL_PLUGIN(LedControllerPlugin);
--- a/docs/.vuepress/config.js
+++ b/docs/.vuepress/config.js
@@ -1,83 +0,0 @@
-const sidebar = require('./sidebar');
-
-const hostname = 'https://clover.coex.tech/';
-const allowedTags = ['font', 'center', 'nobr']; // allow using some deprecated and non-standard html tags
-
-module.exports = {
-	lang: 'en-US',
-	title: 'Clover',
-	description: 'Clover Drone Kit',
-	// theme and its config
-	theme: '@vuepress/theme-default',
-	themeConfig: {
-		logo: 'clover-logo.png',
-		sidebar: {
-			'/ru/': sidebar.readSummary("./ru/SUMMARY.md"),
-			'/en/': sidebar.readSummary("./en/SUMMARY.md"),
-		},
-		sidebarDepth: 0,
-		locales: {
-			'/en/': {
-				selectLanguageName: 'English',
-				navbar: [
-					{ text: 'Official Site', link: 'https://coex.tech' },
-					{ text: 'Support Chat', link: 'https://t.me/COEXHelpdesk' },
-				]
-			},
-			'/ru/': {
-				selectLanguageName: 'Русский',
-				tip: 'СОВЕТ',
-				warning: 'ВНИМАНИЕ',
-				danger: 'ОПАСНО',
-				toggleDarkMode: 'Переключить темную тему',
-				navbar: [
-					{ text: 'Сайт', link: 'https://coex.tech' },
-					{ text: 'Чат поддержки', link: 'https://t.me/COEXHelpdesk' },
-				]
-			},
-		},
-		toggleSidebar: true,
-		repo: 'CopterExpress/clover',
-		docsBranch: 'master',
-		docsDir: 'docs',
-		lastUpdated: false,
-		contributors: false
-	},
-	pagePatterns: ['**/*.md', '!.vuepress', '!node_modules', '!ru/metodmaterials.md'],
-	locales: {
-		'/en/': {
-			lang: 'en',
-			title: 'Clover',
-			description: 'Clover Drone Kit'
-		},
-		'/ru/': {
-			lang: 'ru',
-			title: 'Клевер',
-			description: 'Конструктор квадрокоптера «Клевер»'
-		}
-	},
-	markdown: {
-		code: {
-			lineNumbers: false
-		},
-		linkify: true,
-	},
-	extendsMarkdown(md) {
-		md.use(require('markdown-it-attrs')); // to use custom headers anchors
-	},
-	bundlerConfig: {
-		vuePluginOptions: {
-			template: {
-				compilerOptions: {
-					isCustomElement: tag => allowedTags.includes(tag)
-				}
-			}
-		}
-	},
-	plugins: [
-		'@vuepress/plugin-search',
-		'vuepress-plugin-copy-code2',
-		['sitemap2', { hostname, excludeUrls: ['/', '/LANGS.html'] }],
-		require('./rich-quotes')
-	]
-}
--- a/docs/.vuepress/public/clover-logo.png
+++ b/docs/.vuepress/public/clover-logo.png
--- a/docs/.vuepress/rich-quotes.js
+++ b/docs/.vuepress/rich-quotes.js
@@ -1,37 +0,0 @@
-// Plugin to convert GitBook rich quotes to custom containers
-
-const types = {
-	info: 'tip',
-	note: 'tip',
-	tag: 'tip',
-	comment: 'tip',
-	hint: 'tip',
-	success: 'tip',
-	warning: 'warning',
-	caution: 'warning',
-	danger: 'danger',
-	quote: 'tip'
-}
-
-function replace(src) {
-	return src.replace(/^> \*\*(.*?)\*\* (.*\n(>.*\n)*)/gm, function (match, type, text) {
-		text = text.replace(/^>/gm, '');
-		return `::: ${types[type.toLowerCase()]}\n${text}\n:::`;
-	});
-}
-
-module.exports = {
-	name: 'vuepress-plugin-rich-quotes',
-	extendsMarkdown: (md) => {
-		var _render = md.render;
-
-		// TODO: a rough hack to replace rich quotes
-		// TODO: use proper plugin api
-
-		md.render = function(src, env) {
-			src = replace(src);
-			return _render.call(md, src, env);
-		}
-	},
-	
-};
--- a/docs/.vuepress/sidebar.js
+++ b/docs/.vuepress/sidebar.js
@@ -1,50 +0,0 @@
-const fs = require('fs')
-
-const regex = /(\s*?)\*\s\[(.*?)\]\((.*?)\)/;
-
-exports.readSummary = function (path) {
-	let sidebar = [];
-	let lines = fs.readFileSync(path).toString().split('\n');
-	let item = {};
-
-	for (let line of lines) {
-		if (line.startsWith('#')) continue;
-		if (!line.trim()) continue;
-
-		let match = regex.exec(line);
-		if (!match) {
-			console.log('cannot parse', line);
-			continue;
-		}
-		level = match[1].length / 2;
-		text = match[2];
-		path = match[3].trim();
-
-		if (level == 0) {
-			if (item.path) {
-				// push new item
-				if (item.children) {
-					sidebar.push(item);
-				} else {
-					sidebar.push(item.path)
-				}
-				item = {};
-			}
-			item.text = text;
-			item.path = path;
-			item.collapsible = true;
-
-		} else if (level == 1 || level == 2) {
-			if (!item.children) {
-				item.children = [];
-				if (item.path) item.children.push(item.path);
-			}
-			item.children.push(path);
-
-		} else {
-			console.log('skip', text);
-		}
-	}
-
-	return sidebar;
-}
--- a/docs/.vuepress/styles/index.scss
+++ b/docs/.vuepress/styles/index.scss
@@ -1,49 +0,0 @@
-.big-clover {
-	max-width: 80% !important;
-	display: block;
-	margin-left: auto;
-	margin-right: auto;
-}
-
-/* change image for dark theme */
-html .big-clover.dark { display: none; }
-html.dark .big-clover { display: none; }
-html.dark .big-clover.dark { display: block; }
-
-img.logo {
-	transform: scale(2.5) translateX(-5%);
-}
-
-/* Centered images */
-img.center {
-	display: block;
-	margin-left: auto;
-	margin-right: auto;
-}
-
-/* Images with border */
-img.border {
-	border: 1px #e9e9e9 solid;
-	border-radius: 5px;
-}
-
-html.dark img.border {
-	border: none;
-	background: #fffffa;
-}
-
-table.versions td {
-	text-align: center;
-	background: white;
-}
-table.versions .subversion {
-	font-size: 80%;
-}
-
-.circle {
-	width: 0.8em;
-	height: 0.8em;
-	border-radius: 50%;
-	display: inline-block;
-	margin-right: 0.5em;
-}
--- a/docs/README.md
+++ b/docs/README.md
@@ -1,4 +0,0 @@
-# Languages
-
-* [English](en/)
-* [Русский](ru/)
--- a/docs/assets/butterfly.png
+++ b/docs/assets/butterfly.png
--- a/docs/assets/clover42-main-margin.png
+++ b/docs/assets/clover42-main-margin.png
--- a/docs/assets/copterhack2022.svg
+++ b/docs/assets/copterhack2022.svg
@@ -1,43 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 23.0.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
-<svg version="1.1" id="Слой_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 566.93 226.77" style="enable-background:new 0 0 566.93 226.77;" xml:space="preserve">
-<style type="text/css">
-	.st0{fill:#3679BC;}
-	.st1{fill:#27B4AA;}
-</style>
-<g>
-	<polygon class="st0" points="356.5,37.35 287.97,37.35 287.97,56.03 312.9,56.03 312.9,105.92 331.58,105.92 331.58,56.03 
-		356.5,56.03 	"/>
-	<polygon class="st0" points="434.54,56.03 434.54,37.35 366,37.35 366,37.39 365.97,37.39 365.97,105.92 366,105.92 384.65,105.92 
-		434.54,105.92 434.54,87.24 384.65,87.24 384.65,80.99 415.89,80.99 415.89,62.31 384.65,62.31 384.65,56.03 	"/>
-	<polygon class="st0" points="356.55,134.06 356.52,120.82 343.35,120.86 318.39,145.81 306.6,145.81 306.6,120.86 287.92,120.86 
-		287.92,189.39 306.6,189.39 306.6,164.49 318.45,164.49 343.35,189.39 356.52,189.42 356.55,176.18 335.5,155.12 	"/>
-	<path class="st0" d="M88.62,56.3h34.3V37.35h-34.3c-18.94,0-34.3,15.36-34.3,34.3s15.36,34.3,34.3,34.3h34.3V87h-34.3
-		c-8.48,0-15.35-6.87-15.35-15.35C73.28,63.17,80.15,56.3,88.62,56.3z"/>
-	<path class="st0" d="M181.76,155.12v34.3h18.95v-34.3c0-18.94-15.36-34.3-34.3-34.3s-34.3,15.36-34.3,34.3v34.3h18.95v-34.3
-		c0-8.48,6.87-15.35,15.35-15.35C174.89,139.78,181.76,146.65,181.76,155.12z"/>
-	<path class="st0" d="M244.21,139.78h34.3v-18.95h-34.3c-18.94,0-34.3,15.36-34.3,34.3s15.36,34.3,34.3,34.3h34.3v-18.95h-34.3
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-	<polygon class="st0" points="104.15,120.82 104.15,145.55 73.46,145.55 73.46,120.82 54.32,120.82 54.32,189.42 73.46,189.42 
-		73.46,164.69 104.15,164.69 104.15,189.42 122.92,189.42 122.92,120.82 	"/>
-	<path class="st1" d="M453.24,145.34c-0.23-13.68-11.67-24.52-25.35-24.52h-24.53v18.68h24.77c3.37,0,6.27,2.59,6.43,5.96
-		c0.17,3.6-2.7,6.56-6.25,6.56h-6.26c-10.32,0-18.68,8.36-18.68,18.68v0v18.65h49.88v-18.65H428.3
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-	<path class="st1" d="M512.59,145.34c-0.23-13.68-11.67-24.52-25.35-24.52h-24.53v18.68h24.77c3.37,0,6.27,2.59,6.43,5.96
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--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Oleg Kalachev	07b92fb646	cv_camera 0.5.1	2021-06-07 18:42:01 +03:00
Oleg Kalachev	f68d8dc34e	Update Raspberry Pi OS to 2021-05-07	2021-06-04 07:13:21 +03:00
Oleg Kalachev	f8156f5815	Revert cv_camera to 0.5.0	2021-06-04 07:13:11 +03:00
Oleg Kalachev	e0fddc7b05	docs: minor fix	2021-06-03 17:53:35 +03:00
Oleg Kalachev	c7a5ff2a8f	Update cv_camera version to 0.5.1	2021-06-03 14:18:32 +03:00
Oleg Kalachev	35e9d5827a	Transfer main camera nodelet manager to main_camera.launch	2021-06-03 09:04:29 +03:00
Oleg Kalachev	9221920d5b	Use exec in waitfile	2021-06-03 05:37:43 +03:00
Oleg Kalachev	5ca5918561	Wait for v4l2 device before launching the camera driver	2021-06-03 05:37:36 +03:00
Oleg Kalachev	9a9de320df	Make v4l2 device file an argument in main_camera.launch	2021-06-03 05:37:27 +03:00
Oleg Kalachev	a2ab6e22e0	docs: remove non-working example	2021-06-02 08:02:57 +03:00
Oleg Kalachev	2b36de5dfe	Don’t use ROS for QR recognition test	2021-06-02 07:00:18 +03:00
Oleg Kalachev	e9a9e57bce	Fix QR recognition test	2021-06-01 20:45:57 +03:00
Oleg Kalachev	a378506313	Fix standalone-install for Python 2	2021-06-01 11:16:47 +03:00
Oleg Kalachev	71af0c19e0	Fix permissions	2021-06-01 06:44:56 +03:00
Oleg Kalachev	3e44024082	Add more imports to tests (from documentation)	2021-06-01 05:16:44 +03:00
Oleg Kalachev	e1137b3e80	Import SetLEDs, LEDStateArray, LEDState in tests	2021-06-01 05:10:10 +03:00
Oleg Kalachev	13f0d59853	Fix QR recognition code for Python 3	2021-06-01 05:05:31 +03:00
Oleg Kalachev	5d7c689480	Move QR recognition test to a separate file	2021-06-01 04:44:44 +03:00
Oleg Kalachev	2ce459f960	Fix	2021-06-01 04:42:16 +03:00
Oleg Kalachev	a7941a0785	Add test for QR recognition	2021-06-01 04:36:30 +03:00
Oleg Kalachev	d5f1eb617d	Add Noetic building to CI	2021-06-01 04:03:20 +03:00
Oleg Kalachev	20867e2cd3	Merge branch 'master' into 22-armhf	2021-06-01 04:00:06 +03:00
Oleg Kalachev	f51044f44e	CI: add new key for apt Fixing https://github.com/CopterExpress/clover/runs/2700356960#step:3:74	2021-06-01 03:58:57 +03:00
Oleg Kalachev	b64159d5d6	builder: less verbosity	2021-06-01 03:58:39 +03:00
Oleg Kalachev	bf017f4514	CI: push documentation site to the main repo	2021-06-01 03:58:34 +03:00
Oleg Kalachev	02a0df1e1c	CI: change apt to apt-get	2021-06-01 03:58:25 +03:00
Oleg Kalachev	5ff9ee165a	CI: remove .travis.yml	2021-06-01 03:57:37 +03:00
Oleg Kalachev	f0c43dd4c2	CI: split up to several workflows	2021-06-01 03:57:29 +03:00
Oleg Kalachev	7dc2889903	CI: use gh-pages target branch for docs	2021-06-01 03:57:20 +03:00
Oleg Kalachev	eb5e132b93	CI: change docs target branch to master	2021-06-01 03:57:11 +03:00
Oleg Kalachev	5b6d754d25	CI: change docs target branch to actions	2021-06-01 03:57:05 +03:00
Oleg Kalachev	2d0278b1b3	CI: move documentation building to GitHub Actions (#337 )	2021-06-01 03:56:57 +03:00
Oleg Kalachev	c26fcd2e1d	readme: add support chat badge	2021-06-01 03:55:40 +03:00
Oleg Kalachev	72e6c2db94	readme: change build badge to GitHub Actions	2021-06-01 03:55:31 +03:00
Oleg Kalachev	1a516d49b4	CI: move image building to GitHub actions (#335 ) * Start working on building image in GitHub actions * Trigger GitHub on push to any branch * Fix TRAVIS_TAG * Add compress image step * Disable image build in Travis * Add upload image step * Fix compress image * Fix * Fix * Minor fix * Trigger build on tag * Show images sizes not in human format * Upload only built image * Make prerelease * Upload assets on release not on tags	2021-06-01 03:55:21 +03:00
Oleg Kalachev	25a7d0f97f	docs: add links to hardware sources	2021-06-01 03:54:45 +03:00
Oleg Kalachev	d413be5101	CI: move Melodic build and editorconfig-lint to GitHub Actions (#331 ) * Create main.yml * Update main.yml * Disable native Melodic build in Travis * Run editorconfig-lint in Actions * Let wget be less verbose * Test * Test ok * Disable editorconfig-lint in Travis	2021-06-01 03:53:59 +03:00
Oleg Kalachev	ee9e504d68	CI: fix authentication in Docker	2021-05-27 00:09:25 +03:00
Oleg Kalachev	3c5a7bf685	CI: fix Bash syntax	2021-05-27 00:09:20 +03:00
Oleg Kalachev	856e94aafa	CI: add Docker authentication on image build	2021-05-27 00:09:04 +03:00
Oleg Kalachev	a3aecc6d3a	Minor fix	2021-05-19 21:56:02 +03:00
Oleg Kalachev	602c1eb20a	image: add image-view package for recording video from topics	2021-05-19 20:34:23 +03:00
Oleg Kalachev	cf7f083faf	Merge branch 'master' into 22-armhf	2021-05-19 19:24:28 +03:00
Oleg Kalachev	8d771cf51f	docs: add packages article	2021-05-19 19:20:19 +03:00
Oleg Kalachev	a48d8264f4	Show nodelet version	2021-05-19 18:27:49 +03:00
Oleg Kalachev	533ab9423d	Remove hacks	2021-05-19 18:26:20 +03:00
Oleg Kalachev	0eb360d7f1	www: add viewing clover.err file from web interface	2021-05-19 16:40:26 +03:00
Oleg Kalachev	7ca8cb44e0	image: add cmake-modules package	2021-05-19 16:15:51 +03:00
Oleg Kalachev	a829dfdbcd	Disable hack	2021-05-19 15:46:31 +03:00
Oleg Kalachev	e5a7d7d096	Disable unneeded hack	2021-05-19 13:51:25 +03:00
Oleg Kalachev	0ab8e33738	Test	2021-05-18 19:44:21 +03:00
Oleg Kalachev	a43c63fd21	Merge branch 'master' into 22-armhf	2021-05-13 14:42:46 +03:00
Oleg Kalachev	5870521b4b	Trigger build to update ws281x package	2021-04-16 13:28:18 +03:00
Oleg Kalachev	c899d74f95	Fix documentation building in image	2021-04-10 07:49:26 +03:00
Oleg Kalachev	a722397a72	Fix building documentation	2021-04-10 07:38:03 +03:00
Oleg Kalachev	606c52f782	Restore .git directory in clover repo	2021-04-10 03:09:57 +03:00
Oleg Kalachev	0d702b0c01	Merge branch 'master' into 22-armhf	2021-04-09 17:50:34 +03:00
Oleg Kalachev	42f6da25b7	More cleanup	2021-04-09 17:45:48 +03:00
Oleg Kalachev	5c56b6a5ed	Sources lists cleanup	2021-04-09 17:30:55 +03:00
Oleg Kalachev	ff2e8b0709	Cleanup	2021-04-09 17:28:08 +03:00
Oleg Kalachev	bd38ad56c7	Continue...	2021-04-09 15:57:15 +03:00
Oleg Kalachev	9f2acc49c5	And yet another	2021-04-09 13:27:53 +03:00
Oleg Kalachev	f5c11bc528	And another	2021-04-09 13:27:35 +03:00
Oleg Kalachev	3e713c6c8a	Another try to fix	2021-04-09 13:21:33 +03:00
Oleg Kalachev	6ce2822b78	Revert "Another try to fix" This reverts commit `5a4c3a0da7`.	2021-04-09 12:23:39 +03:00
Oleg Kalachev	5a4c3a0da7	Another try to fix	2021-04-09 12:05:51 +03:00
Oleg Kalachev	6b2f1445e8	Try to fix	2021-04-09 12:05:01 +03:00
Oleg Kalachev	55d6e47c60	Display all CMake variables	2021-04-09 10:56:50 +03:00
Oleg Kalachev	558baae1fc	More debugging	2021-04-09 10:53:20 +03:00
Oleg Kalachev	f81247ccf3	Debugging	2021-04-09 10:50:55 +03:00
Oleg Kalachev	7ac4f8bec0	Verbosity	2021-04-09 09:00:57 +03:00
Oleg Kalachev	2111b366db	Revert "Revert "image: use older CMake (3.13.4-1)"" This reverts commit `a28c774e8f`.	2021-04-09 08:46:47 +03:00
Oleg Kalachev	a28c774e8f	Revert "image: use older CMake (3.13.4-1)" This reverts commit `df28da0060`.	2021-04-09 08:04:20 +03:00
Oleg Kalachev	a8b321ce22	Try to fix	2021-04-09 07:49:37 +03:00
Oleg Kalachev	109542dc91	Try to fix	2021-04-09 06:40:26 +03:00
Oleg Kalachev	72252eb06e	Revert "Temporarily disable rc and camera_markers building" This reverts commit `e119220e91`.	2021-04-09 06:37:36 +03:00
Oleg Kalachev	876092e33e	Fix standalone-install	2021-04-09 06:20:17 +03:00
Oleg Kalachev	e119220e91	Temporarily disable rc and camera_markers building	2021-04-09 05:19:57 +03:00
Oleg Kalachev	4a403b2399	Be verbose	2021-04-09 05:19:40 +03:00
Oleg Kalachev	ed64507bef	Try to fix	2021-04-09 05:03:59 +03:00
Oleg Kalachev	98ff1d2b50	Yet another attempt to fix pthreads ld error	2021-04-09 03:20:19 +03:00
Oleg Kalachev	a8a42fe33d	Another attempt to fix pthreads ld error	2021-04-08 14:18:02 +03:00
Oleg Kalachev	bd0037f3c9	Try to fix pthreads ld error	2021-04-08 13:34:21 +03:00
Oleg Kalachev	67b7e903fd	Fix pthreads ld error	2021-04-08 12:42:52 +03:00
Oleg Kalachev	a184eb00af	image: bring back moving ld.so.preload out of the way while building	2021-04-08 11:44:15 +03:00
Oleg Kalachev	2bd49201be	image: update Raspberry Pi OS to 2021-03-04	2021-04-08 11:32:43 +03:00
Oleg Kalachev	df28da0060	image: use older CMake (3.13.4-1) Fixing https://travis-ci.org/github/CopterExpress/clover/jobs/764367665#L6984	2021-03-25 23:23:10 +03:00
Oleg Kalachev	73d39e9ca6	Fix Node.js installation	2021-03-24 22:19:46 +03:00
Oleg Kalachev	23eac48fa4	Add CRYPTOGRAPHY_DONT_BUILD_RUST=1	2021-03-24 21:39:09 +03:00
Oleg Kalachev	9cdcbbc901	Merge branch 'master' into 22-armhf	2021-03-24 20:59:33 +03:00
Oleg Kalachev	edc740c8c0	Change Raspberry Pi OS to latest armhf, use packages.coex.tech as a source	2021-01-30 17:45:31 +03:00
Oleg Kalachev	9cddc81d1d	Merge branch 'master' into 22	2020-11-13 12:36:56 +03:00
Alexey Rogachevskiy	ced9b56452	clover: Attempt to respawn dying nodelets	2020-11-07 16:52:57 +03:00
Alexey Rogachevskiy	8bd4d3a8f8	builder: Build with debug symbols	2020-11-07 16:43:27 +03:00
Alexey Rogachevskiy	4730dabaaf	aruco_pose: Simplify dynamic parameter callback setting	2020-11-05 23:48:34 +03:00
Alexey Rogachevskiy	0991427878	aruco_pose: Don't expose vendored library symbols	2020-11-05 23:47:49 +03:00
Alexey Rogachevskiy	3d4c02bc03	aruco_pose, clover: Move subscriptions to the end of init	2020-11-05 23:22:30 +03:00
Alexey Rogachevskiy	8a6bdccc9c	aruco_pose, clover: Reduce the amount of OpenCV libs requested	2020-11-05 23:20:59 +03:00
Alexey Rogachevskiy	f36401274d	aruco_pose: Make vendored library compatible with older OpenCVs	2020-10-28 14:46:31 +03:00
Alexey Rogachevskiy	2cfd21269c	aruco_pose: Make sure there are no undefined symbols Also, compile in apriltag_quad_thresh.cpp - it contains some of the functions referenced in aruco.cpp, which would otherwise be undefined.	2020-10-28 13:52:05 +03:00
Oleg Kalachev	81bcfef85b	led: change default number of leds to 72	2020-10-27 19:52:54 +03:00
Alexey Rogachevskiy	00412125f9	clover: Use proper variable in aruco.launch	2020-10-27 11:27:52 +03:00
Alexey Rogachevskiy	55366a1fac	aruco_gen: Open file in binary mode for Python3 compatibility	2020-10-27 11:26:49 +03:00
Oleg Kalachev	cc2ebb368d	blocks: fix set_leds with color-typed argument	2020-10-25 19:21:05 +03:00
Oleg Kalachev	33500a13d0	docs: update and fix 0.22 migration articles	2020-10-25 00:16:17 +03:00
Oleg Kalachev	d7d95132ab	blocks: force led_leds index to int	2020-10-24 22:18:56 +03:00
Oleg Kalachev	4c049ac349	simple_offboard: correctly check manual control timeout, separate it from kill switch check	2020-10-22 19:11:57 +03:00
Oleg Kalachev	fca3f52424	docs: use -o argument of genmap.py	2020-10-20 15:56:40 +03:00
Oleg Kalachev	27c0f23ffa	genmap.py: add -o argument for output file name	2020-10-20 15:52:29 +03:00
Oleg Kalachev	d6590e9a8d	aruco.launch: add placement, length and map arguments	2020-10-20 13:22:55 +03:00
Oleg Kalachev	c93beec30d	docs: add ROS Noetic transition note	2020-10-20 11:57:02 +03:00
Oleg Kalachev	47628ba4af	docs: python 3 update in auto_setup article	2020-10-20 11:34:47 +03:00
Oleg Kalachev	98e43aba49	docs: python 3 updates	2020-10-20 11:31:16 +03:00
Oleg Kalachev	404b42c9f9	docs: remove unneeded comment	2020-10-20 11:30:33 +03:00
Oleg Kalachev	6b831359dc	docs: add 0.22 migration article	2020-10-20 11:19:23 +03:00
Oleg Kalachev	10076e35f4	Melodic => Noetic in some docs	2020-10-20 10:42:54 +03:00
Oleg Kalachev	76a6a58a42	Merge branch 'master' into raspios_64bit	2020-10-20 10:36:36 +03:00
Alexey Rogachevskiy	62069ab80a	aruco_pose: Remove unused code	2020-10-18 18:48:58 +03:00
Alexey Rogachevskiy	e1643a681a	clover_blocks: Use Python3 syntax for exec	2020-10-18 15:07:14 +03:00
Alexey Rogachevskiy	6f30613ce0	roswww_static: Add python script installation	2020-10-17 15:25:43 +03:00
Alexey Rogachevskiy	d539753e72	clover/selfcheck: Be more python3-compatible This is basically commit `a01d199890` from buster-python3, not sure if it aged well.	2020-10-15 23:39:54 +03:00
Alexey Rogachevskiy	cc80f2b4c1	aruco_pose, clover: Expose Python scripts through CMake	2020-10-15 23:32:08 +03:00
Alexey Rogachevskiy	1893f0528b	clover: Fix importing urllib for Python3	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	ce1f1d9db5	builder: Don't try to install compressed_transport twice	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	8b42fcfda3	aruco_pose/draw: Replace OpenCV projection code with a rewrite	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	60b9d1d61d	builder: Force versions for ROS packages that use OpenCV Also, hold their versions so that they don't get updated for no reason.	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	61ae5d0537	builder: Enable OpenCV 4.2 repository	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	7ffcbde82e	builder: Use Python3 for Clever compat layer	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	ccc53f1cfb	builder: Run Clever/Clover test with Python3	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	be2b447b46	builder: Install rosdep, etc. for python3	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	b333dd8708	builder: Use proper path for roscore	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	4b5524e467	builder: Install espeak for python3	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	5b970d5197	standalone_install: Use proper Python for pytest	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	617ae0dcdd	builder: Install rpi_ws281x for Python3	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	a1d2ae9a23	builder: Use Python 3 syntax for Python 3 tests	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	9372386f6b	builder/test: Use Python3 interpreter for ROS tests TODO (?): add tests for Python2?	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	4b97f9d4af	builder: Install packages for Python 3	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	6af1fd2837	builder: Don't force Tornado version Assume rosbridge_suite depends on the right one.	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	b7545830ba	builder: Add proper Noetic repository	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	4796c4acb7	aruco_pose, clover: Allow compiling against OpenCV 3 and 4	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	de3fb77db2	builder: Use variable substitution for validation	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	036d3dccd6	builder: Add Noetic package definitions	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	24cfc54c06	builder: Use variable substitution for ROS_DISTRO	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	173c8cbe3a	standalone_install: Auto-select Python, ROS distro	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	2d8cd0e0ab	travis: Enable Noetic build	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	ee667257ef	clover: Use package version 3, update dependencies	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	3c4f57cbe7	builder: Don't try to install Melodic packages on Noetic	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	3ee598004a	travis: Use 64-bit builder	2020-10-13 11:21:27 +03:00
Alexey Rogachevskiy	673cabe7ab	builder: Use 64-bit Raspberry Pi OS	2020-10-13 11:21:27 +03:00