Minor fix

Co-authored-by: Alexey Rogachevskiy <sfalexrog@gmail.com>

.markdownlint.json

@@ -22,7 +22,6 @@
             "ROS Kinetic",
             "ROS Melodic",
             "OpenCV",
-            "OpenVPN",
             "Gazebo",
             "GitHub",
             "FPV",
@@ -107,9 +106,7 @@
             "UDP",
             "QR",
             "Li-ion",
-            "Nvidia",
-            "VirtualBox",
-            "VMware"
+            "Nvidia"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -10,7 +10,7 @@ env:
     - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
     - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
 git:
-  depth: 1
+  depth: 50
 jobs:
   fast_finish: true
   include:
@@ -38,7 +38,7 @@ jobs:
         - cp images/*.zip imgcache
       after_success:
         - sudo chmod -R 777 *
-        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
+        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
       before_deploy:
         # Set up git user name and tag this commit
         - git config --local user.name "goldarte"
@@ -77,7 +77,6 @@ jobs:
         - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
         - sudo apt update && sudo apt install -y calibre msttcorefonts
         - 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
@@ -88,13 +87,7 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
-        - for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
-        - sudo apt-get install ghostscript
-        - gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_ru_compressed.pdf _book/clover_ru.pdf
-        - gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_en_compressed.pdf _book/clover_en.pdf
-        - rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf
-        - rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf
-        - ls -lah _book/clover*.pdf
+        - gitbook pdf ./ _book/clover.pdf
       deploy:
         provider: pages
         local_dir: _book

README.md

@@ -1,14 +1,12 @@
-# clover🍀: create autonomous drones easily
+# COEX Clover Drone Kit
 
-<img src="docs/assets/clover42-main.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="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.
+Clover is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
 
-COEX Clover Drone is an educational programmable drone kit, suited perfectly for running clover software. The kit is shipped unassembled and includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as a companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. Batteries included.
+The main documentation is available [on Gitbook](https://clover.coex.tech/).
 
-The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: [coex.tech/clover](https://coex.tech/clover).
-
-[__Support us on Kickstarter!__](https://www.kickstarter.com/projects/copterexpress/cloverdrone)
+Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
 
 ## Video compilation
 
@@ -21,7 +19,6 @@ Clover drone is used on a wide range of educational events, including [Copter Ha
 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
 [![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
-![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:
 

aruco_pose/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package aruco_pose
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of aruco_pose package to ROS
-* Contributors: Alamoris, Alexey Rogachevskiy, Arthur Golubtsov, Ilya Petrov, Oleg Kalachev

aruco_pose/CMakeLists.txt

@@ -111,7 +111,7 @@ generate_messages(
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
-  cfg/Detector.cfg
+  cfg/DetectorParams.cfg
 )
 
 ###################################

aruco_pose/cfg/DetectorParams.cfg

@@ -8,8 +8,6 @@ p = cv2.aruco.DetectorParameters_create()
 
 gen = ParameterGenerator()
 
-gen.add("enabled", bool_t, 0, "if detection enabled", True)
-
 gen.add("adaptiveThreshConstant",                 double_t, 0,
         "Constant for adaptive thresholding before finding contours",
          p.adaptiveThreshConstant, 0, 100)

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.21.1</version>
+  <version>0.0.1</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

aruco_pose/src/aruco_detect.cpp

@@ -62,7 +62,6 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
-	bool enabled_ = true;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
 	image_transport::Publisher debug_pub_;
@@ -129,8 +128,6 @@ public:
 private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
-		if (!enabled_) return;
-
 		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
 
 		vector<int> ids;
@@ -359,7 +356,6 @@ private:
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
 	{
-		enabled_ = config.enabled;
 		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
 		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
 		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;

builder/assets/examples/flight_marker.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/aruco
+# Information: https://clover.coex.tech/en/aruco.html
 
 import rospy
 from clover import srv

builder/assets/examples/get_telemetry.py

@@ -1,11 +0,0 @@
-# Information: https://clover.coex.tech/en/simple_offboard.html#gettelemetry
-
-import rospy
-from clover import srv
-
-rospy.init_node('flight')
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-
-# Print drone's state
-print(get_telemetry())

builder/assets/examples/leds.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/led
+# Information: https://clover.coex.tech/en/leds.html
 
 import rospy
 from clover.srv import SetLEDEffect
@@ -7,25 +7,19 @@ rospy.init_node('leds')
 
 set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
 
-print('Fill red')
 set_effect(r=255, g=0, b=0)  # fill strip with red color
 rospy.sleep(2)
 
-print('Fill green')
 set_effect(r=0, g=100, b=0)  # fill strip with green color
 rospy.sleep(2)
 
-print('Fade to blue')
 set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
 rospy.sleep(2)
 
-print('Flash red')
 set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
-rospy.sleep(2)
+rospy.sleep(5)
 
-print('Blink white')
 set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
 rospy.sleep(5)
 
-print('Rainbow')
 set_effect(effect='rainbow')  # show rainbow

builder/assets/hardware_setup.sh

@@ -65,7 +65,7 @@ echo_stamp "#6 Turn on UART"
 # https://github.com/RPi-Distro/raspi-config/pull/75
 /usr/bin/raspi-config nonint do_serial 1
 /usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt
-echo dtoverlay=pi3-disable-bt >> /boot/config.txt
+/usr/bin/raspi-config nonint set_config_var dtoverlay pi3-disable-bt /boot/config.txt
 systemctl disable hciuart.service
 
 # After adding to Raspbian OS

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-01-12/2021-01-11-raspios-buster-armhf-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -105,7 +105,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # examples
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup

builder/image-ros.sh

@@ -76,11 +76,9 @@ my_travis_retry sudo -u pi rosdep update
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-# echo_stamp "Reconfiguring Clover repository for simplier unshallowing" # TODO: bring back
-# cd /home/pi/catkin_ws/src/clover
-# git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
-echo_stamp "Remove .git from Clover to reduce the size"
-rm -rf /home/pi/catkin_ws/src/clover/.git # TODO: remove
+echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
+cd /home/pi/catkin_ws/src/clover
+git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
@@ -101,7 +99,6 @@ rm -rf build  # remove build artifacts
 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
 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
@@ -133,9 +130,6 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
-echo_stamp "Change permissions for examples"
-chown -Rf pi:pi /home/pi/examples
-
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'

builder/image-software.sh

@@ -82,7 +82,6 @@ apt-get update
 
 # Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
-my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1 # FIXME: using older CMake due to https://travis-ci.org/github/CopterExpress/clover/jobs/764367665#L6984
 my_travis_retry apt-get install --no-install-recommends -y \
 unzip \
 zip \
@@ -95,8 +94,8 @@ lsof \
 git \
 dnsmasq  \
 tmux \
-tree \
 vim \
+cmake \
 libjpeg8 \
 tcpdump \
 ltrace \
@@ -111,6 +110,7 @@ libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
+espeak espeak-data python-espeak \
 ntpdate \
 python-dev \
 python3-dev \
@@ -124,10 +124,9 @@ sed -i "s/updates_available//" /usr/share/byobu/status/status
 
 echo_stamp "Installing pip"
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip2.py
 python3 get-pip.py
-python get-pip2.py
-rm get-pip.py get-pip2.py
+python get-pip.py
+rm get-pip.py
 #my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
 
@@ -137,7 +136,6 @@ 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 tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
@@ -149,7 +147,6 @@ my_travis_retry pip install --prefer-binary rpi_ws281x
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
 mv /root/monkey /etc/monkey/sites/default
-sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
 systemctl enable monkey.service
 
 echo_stamp "Install Node.js"

builder/standalone-install.sh

@@ -5,7 +5,7 @@ set -e
 # Step 1: Install pip
 apt update
 apt install -y curl
-curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
+curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 python ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt
@@ -41,6 +41,3 @@ pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
-
-# Step 5: Install packages
-catkin_make install

builder/test/tests.py

@@ -25,7 +25,7 @@ import pymavlink
 from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
-# from espeak import espeak
+from espeak import espeak
 from pyzbar import pyzbar
 
 print cv2.getBuildInformation()

builder/test/tests.sh

@@ -32,7 +32,7 @@ monkey --version
 pigpiod -v
 i2cdetect -V
 butterfly -h
-# espeak --version
+espeak --version
 mjpg_streamer --version
 
 # ros stuff
@@ -43,8 +43,6 @@ rosversion aruco_pose
 rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
-rosversion ws281x
-rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
 rosversion compressed_image_transport

check_unused_assets.py

@@ -4,9 +4,7 @@ import os
 import sys
 import subprocess
 
-EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
-    'clever4-front-black-large.png','clover42-black.png')
-
+EXCLUDE = ('clever4-front-white.png', '.DS_Store', 'clever4-front-black-large.png')
 code = 0
 
 os.chdir('./docs')

clover/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover package to ROS
-* Contributors: Alexey Rogachevskiy, Arthur Golubtsov, Oleg Kalachev

clover/README.md

@@ -44,12 +44,16 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p
 
 ## Running
 
+To start connection to SITL, use:
+
+```bash
+roslaunch clover sitl.launch
+```
+
 To start connection to the flight controller, use:
 
 ```bash
 roslaunch clover clover.launch
 ```
 
-For the simulation information see the [corresponding article](https://clover.coex.tech/en/simulation.html).
-
 > Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.

clover/launch/clover.launch

@@ -11,7 +11,8 @@
     <arg name="rangefinder_vl53l1x" default="true"/>
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
-    <arg name="rc" default="false"/>
+    <arg name="rc" default="true"/>
+    <arg name="shell" default="true"/>
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 
@@ -90,6 +91,9 @@
         <param name="use_fake_gcs" value="false"/>
     </node>
 
+    <!-- Shell access through ROS service -->
+    <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
+
     <!-- Update static directory -->
     <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
         <param name="default_package" value="clover"/>

clover/launch/led.launch

@@ -2,17 +2,14 @@
     <arg name="ws281x" default="true"/>
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
-    <arg name="led_count" default="72"/>
-    <arg name="gpio_pin" default="21"/>
-
     <arg name="simulator" default="false"/>
 
     <!-- For additional help go to https://clover.coex.tech/led -->
 
     <!-- ws281x led strip driver -->
     <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(eval ws281x and not simulator)">
-        <param name="led_count" value="$(arg led_count)"/>
-        <param name="gpio_pin" value="$(arg gpio_pin)"/>
+        <param name="led_count" value="58"/>
+        <param name="gpio_pin" value="21"/>
         <param name="brightness" value="64"/>
         <param name="strip_type" value="WS2811_STRIP_GRB"/>
         <param name="target_frequency" value="800000"/>
@@ -35,7 +32,7 @@
             altctl: { r: 255, g: 255, b: 40 }
             posctl: { r: 50, g: 100, b: 220 }
             offboard: { r: 220, g: 20, b: 250 }
-            low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
+            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
             error: { effect: flash, r: 255, g: 0, b: 0 }
         </rosparam>
     </node>

clover/launch/main_camera.launch

@@ -9,8 +9,6 @@
     <node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
-    <node if="$(eval direction_z == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.03 0 0.05 -1.5707963 0 -1.5707963 base_link main_camera_optical"/>
-    <node if="$(eval direction_z == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.03 0 0.05 1.5707963 0 -1.5707963 base_link main_camera_optical"/>
 
     <!-- Template for custom camera orientation -->
     <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->

clover/launch/mavros.launch

@@ -6,16 +6,13 @@
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
     <arg name="distance_sensor_remap" default="rangefinder/range"/>
-    <arg name="usb_device" default="/dev/px4fmu"/>
-    <arg name="prefix" default="" unless="$(eval fcu_conn == 'usb')"/>
-    <arg name="prefix" default="rosrun clover waitfile $(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->
         <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
         <!-- USB connection -->
-        <param name="fcu_url" value="$(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
+        <param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
 
         <!-- sitl before PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>

clover/launch/sitl.launch

@@ -0,0 +1,19 @@
+<launch>
+    <!-- clover configuration for testing in sitl -->
+    <arg name="ip" default="127.0.0.1"/>
+    <arg name="rosbridge" default="false"/>
+
+    <include file="$(find clover)/launch/clover.launch">
+        <arg name="fcu_conn" value="udp"/>
+        <arg name="fcu_ip" value="$(arg ip)"/>
+        <arg name="gcs_bridge" value="false"/>
+        <arg name="optical_flow" value="false"/>
+        <arg name="web_video_server" default="false"/>
+        <arg name="main_camera" default="false"/>
+        <arg name="rosbridge" value="$(arg rosbridge)"/>
+        <arg name="aruco" default="false"/>
+        <arg name="rangefinder_vl53l1x" default="false"/>
+        <arg name="led" default="false"/>
+        <arg name="rc" default="false"/>
+    </include>
+</launch>

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover</name>
-  <version>0.21.1</version>
+  <version>0.0.1</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

clover/src/optical_flow.cpp

@@ -206,7 +206,7 @@ private:
 				} catch (const tf2::TransformException& e) {
 					// Invalidate previous frame
 					prev_.release();
-					goto publish_debug;
+					return;
 				}
 			}
 
@@ -218,10 +218,6 @@ private:
 			flow_.quality = (uint8_t)(response * 255);
 			flow_pub_.publish(flow_);
 
-			prev_ = curr_.clone();
-			prev_stamp_ = msg->header.stamp;
-
-publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
 				// publish debug image
@@ -238,9 +234,12 @@ publish_debug:
 			static geometry_msgs::TwistStamped velo;
 			velo.header.stamp = msg->header.stamp;
 			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
-			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
+			velo.twist.angular.x = flow_.integrated_x / integration_time.toSec();
+			velo.twist.angular.y = flow_.integrated_y / integration_time.toSec();
 			velo_pub_.publish(velo);
+
+			prev_ = curr_.clone();
+			prev_stamp_ = msg->header.stamp;
 		}
 	}
 

clover/src/simple_offboard.cpp

@@ -36,7 +36,6 @@
 #include <mavros_msgs/Thrust.h>
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
-#include <mavros_msgs/ManualControl.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -73,10 +72,9 @@ ros::Duration state_timeout;
 ros::Duration velocity_timeout;
 ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
-ros::Duration manual_control_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard, nav_from_sp, check_kill_switch;
+bool land_only_in_offboard, nav_from_sp;
 std::map<string, string> reference_frames;
 
 // Publishers
@@ -124,7 +122,6 @@ enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
-mavros_msgs::ManualControl manual_control;
 PoseStamped local_position;
 TwistStamped velocity;
 NavSatFix global_position;
@@ -489,27 +486,6 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
-inline void checkManualControl()
-{
-	if (!manual_control_timeout.isZero() && TIMEOUT(manual_control, manual_control_timeout)) {
-		throw std::runtime_error("Manual control timeout, RC is switched off?");
-	}
-
-	if (check_kill_switch) {
-		// switch values: https://github.com/PX4/PX4-Autopilot/blob/c302514a0809b1765fafd13c014d705446ae1113/msg/manual_control_setpoint.msg#L3
-		const uint8_t SWITCH_POS_NONE = 0; // switch is not mapped
-		const uint8_t SWITCH_POS_ON = 1; // switch activated
-		const uint8_t SWITCH_POS_MIDDLE = 2; // middle position
-		const uint8_t SWITCH_POS_OFF = 3; // switch not activated
-
-		const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
-		uint8_t kill_switch = (manual_control.buttons & (0b11 << KILL_SWITCH_BIT)) >> KILL_SWITCH_BIT;
-
-		if (kill_switch == SWITCH_POS_ON)
-			throw std::runtime_error("Kill switch is on");
-	}
-}
-
 inline void checkState()
 {
 	if (TIMEOUT(state, state_timeout))
@@ -537,10 +513,6 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// Checks
 		checkState();
 
-		if (auto_arm) {
-			checkManualControl();
-		}
-
 		// default frame is local frame
 		if (frame_id.empty())
 			frame_id = local_frame;
@@ -862,7 +834,6 @@ int main(int argc, char **argv)
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);
-	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -872,7 +843,6 @@ int main(int argc, char **argv)
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
 	global_position_timeout = ros::Duration(nh_priv.param("global_position_timeout", 10.0));
 	battery_timeout = ros::Duration(nh_priv.param("battery_timeout", 2.0));
-	manual_control_timeout = ros::Duration(nh_priv.param("manual_control_timeout", 0.0));
 
 	transform_timeout = ros::Duration(nh_priv.param("transform_timeout", 0.5));
 	telemetry_transform_timeout = ros::Duration(nh_priv.param("telemetry_transform_timeout", 0.5));
@@ -890,7 +860,6 @@ int main(int argc, char **argv)
 	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

clover/src/waitfile

@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# $ ./waitfile <file> <command> <args...> 
-# wait until <file> appears and then invoke <command> with <args>
-
-echo "wait for file $1"
-while [ ! -e "$1" ]; do sleep 1; done;
-echo "file $1 appeared"
-"${@:2}"

clover/test/basic.py

@@ -28,3 +28,19 @@ def test_simple_offboard_services_available():
 def test_web_video_server(node):
     import urllib2
     urllib2.urlopen("http://localhost:8080").read()
+
+def test_shell(node):
+    execute = rospy.ServiceProxy('exec', srv.Execute)
+    execute.wait_for_service(5)
+
+    res = execute(cmd='echo foo')
+    assert res.code == 0
+    assert res.output == 'foo\n'
+
+    res = execute(cmd='foo')
+    assert res.code == 32512
+    assert res.output == ''
+
+    res = execute(cmd='ls foo')
+    assert res.code == 512
+    assert res.output == ''

clover/www/clover.err

@@ -1 +0,0 @@
-/tmp/clover.err

clover/www/clover_version

@@ -1 +0,0 @@
-/etc/clover_version

clover/www/index.html

@@ -1,35 +1,25 @@
-<style>
-	body { font-family: sans-serif; }
-	main { max-width: 600px; margin: 50px auto; }
-</style>
+<h1>Clover Drone Kit Tools</h1>
 
-<title>Clover Drone Kit Tools</title>
+<ul>
+	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</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><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>
+</ul>
 
-<main>
-	<h1>Clover Drone Kit Tools</h1>
-
-	<ul>
-		<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</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><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="clover.err">Clover console</a> (<code>/tmp/clover.err</code>)</li>
-	</ul>
-
-	<div class="version"></div>
-</main>
+<div class="version"></div>
 
+<script src="js/roslib.js"></script>
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
 	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
-	fetch('clover_version').then(function(response) {
-		if (response.status !== 200) return;
-		response.text().then(function(text) {
-			document.querySelector('.version').innerHTML = 'Version: <code>' + text + '</code>';
-		});
+	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });
+	var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' });
+	exec.callService(new ROSLIB.ServiceRequest({ cmd: 'cat /etc/clover_version' }), function(result) {
+		document.querySelector('.version').innerHTML = 'Version: ' + result.output;
 	});
 </script>

clover_blocks/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_blocks
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_blocks package to ROS
-* Contributors: Oleg Kalachev

clover_blocks/README.md

@@ -30,9 +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).
-* `~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).
 
 These parameters also can be set as URL GET-parameters, for example:
 

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.21.1</version>
+  <version>0.0.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_blocks/programs/examples/aruco-marker.xml

@@ -29,7 +29,7 @@
             </value>
             <value name="Z">
               <shadow type="math_number" id="n0ULZn64%k.:,l(,D?TZ">
-                <field name="NUM">1</field>
+                <field name="NUM">0</field>
               </shadow>
             </value>
             <value name="ID">

clover_blocks/programs/examples/led-compass.xml

@@ -1,91 +1,106 @@
 <xml xmlns="https://developers.google.com/blockly/xml">
-  <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1" x="113" y="113">
-    <field name="MODE">WHILE</field>
-    <value name="BOOL">
-      <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
-        <field name="BOOL">TRUE</field>
+  <variables>
+    <variable id="_{V-S5HPBUl]CcJkL1Jw">led_count</variable>
+  </variables>
+  <block type="variables_set" id="{)^J~:UMX%D;RWvztWLN" x="113" y="87">
+    <field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
+    <value name="VALUE">
+      <block type="math_number" id="V_W$3,VFwZjcc|?|1o`l">
+        <field name="NUM">58</field>
       </block>
     </value>
-    <statement name="DO">
-      <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
-        <field name="EFFECT">FILL</field>
-        <value name="COLOR">
-          <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
-            <field name="COLOUR">#000000</field>
-          </shadow>
+    <next>
+      <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1">
+        <field name="MODE">WHILE</field>
+        <value name="BOOL">
+          <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
+            <field name="BOOL">TRUE</field>
+          </block>
         </value>
-        <next>
-          <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
-            <value name="INDEX">
-              <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
-                <field name="NUM">0</field>
+        <statement name="DO">
+          <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
+            <field name="EFFECT">FILL</field>
+            <value name="COLOR">
+              <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
+                <field name="COLOUR">#000000</field>
               </shadow>
-              <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
-                <field name="OP">MULTIPLY</field>
-                <value name="A">
-                  <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
-                    <field name="NUM">1</field>
+            </value>
+            <next>
+              <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
+                <value name="INDEX">
+                  <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
+                    <field name="NUM">0</field>
                   </shadow>
-                  <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
-                    <field name="OP">DIVIDE</field>
+                  <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
+                    <field name="OP">MULTIPLY</field>
                     <value name="A">
-                      <shadow type="math_number" id="::st;ot}[r]csqceURu*">
+                      <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
                         <field name="NUM">1</field>
                       </shadow>
-                      <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
-                        <field name="OP">ADD</field>
+                      <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
+                        <field name="OP">DIVIDE</field>
                         <value name="A">
-                          <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
+                          <shadow type="math_number" id="::st;ot}[r]csqceURu*">
                             <field name="NUM">1</field>
                           </shadow>
-                          <block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
-                            <field name="FRAME_ID">MAP</field>
-                            <value name="ID">
-                              <shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
-                                <field name="NUM">0</field>
+                          <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
+                            <field name="OP">ADD</field>
+                            <value name="A">
+                              <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
+                                <field name="NUM">1</field>
+                              </shadow>
+                              <block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
+                                <field name="FRAME_ID">MAP</field>
+                                <value name="ID">
+                                  <shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
+                                    <field name="NUM">0</field>
+                                  </shadow>
+                                </value>
+                              </block>
+                            </value>
+                            <value name="B">
+                              <shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
+                                <field name="NUM">180</field>
                               </shadow>
                             </value>
                           </block>
                         </value>
                         <value name="B">
-                          <shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
-                            <field name="NUM">180</field>
+                          <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
+                            <field name="NUM">360</field>
                           </shadow>
                         </value>
                       </block>
                     </value>
                     <value name="B">
-                      <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
-                        <field name="NUM">360</field>
+                      <shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
+                        <field name="NUM">1</field>
                       </shadow>
+                      <block type="variables_get" id="Ko,`n=i88FY~`YbQLA?[">
+                        <field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
+                      </block>
                     </value>
                   </block>
                 </value>
-                <value name="B">
-                  <shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
-                    <field name="NUM">1</field>
-                  </shadow>
-                  <block type="led_count" id="vM@X8s!xa]v}AaK6PWF5"></block>
-                </value>
-              </block>
-            </value>
-            <value name="COLOR">
-              <shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
-                <field name="COLOUR">#3366ff</field>
-              </shadow>
-            </value>
-            <next>
-              <block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
-                <value name="TIME">
-                  <shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
-                    <field name="NUM">0.1</field>
+                <value name="COLOR">
+                  <shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
+                    <field name="COLOUR">#3366ff</field>
                   </shadow>
                 </value>
+                <next>
+                  <block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
+                    <value name="TIME">
+                      <shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
+                        <field name="NUM">0.1</field>
+                      </shadow>
+                    </value>
+                  </block>
+                </next>
               </block>
             </next>
           </block>
-        </next>
+        </statement>
       </block>
-    </statement>
+    </next>
   </block>
-</xml>
+</xml>

clover_blocks/src/clover_blocks

@@ -1,18 +1,9 @@
 #!/usr/bin/env python
 
-# Copyright (C) 2020 Copter Express Technologies
-#
-# Author: Oleg Kalachev <okalachev@gmail.com>
-#
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
 from __future__ import print_function
 
 import rospy
-import os, sys
-import traceback
+import os
 import threading
 import re
 import uuid
@@ -117,12 +108,7 @@ def run(req):
                 rospy.loginfo('Program forced to stop')
             except Exception as e:
                 rospy.logerr(str(e))
-                traceback.print_exc()
-                etype, value, tb = sys.exc_info()
-                fmt = traceback.format_exception(etype, value, tb)
-                fmt.pop(1) # remove 'clover_blocks' file frame
-                exc_info = ''.join(fmt)
-                error_pub.publish(str(e) + '\n\n' + exc_info)
+                error_pub.publish(str(e))
 
             rospy.loginfo('Program terminated')
             running_lock.release()

clover_blocks/www/blocks.js

@@ -1,13 +1,3 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
 const COLOR_FLIGHT = 293;
 const COLOR_STATE = 36;
 const COLOR_LED = 143;
@@ -353,17 +343,6 @@ Blockly.Blocks['set_effect'] = {
 	}
 };
 
-Blockly.Blocks['led_count'] = {
-	init: function () {
-		this.appendDummyInput()
-			.appendField("LED count");
-		this.setOutput(true, "Number");
-		this.setColour(COLOR_LED);
-		this.setTooltip("Returns the number of LEDs (configured in led.launch).");
-		this.setHelpUrl(DOCS_URL + '#' + this.type);
-	}
-};
-
 Blockly.Blocks['take_off'] = {
 	init: function () {
 		this.appendValueInput("ALT")
@@ -546,7 +525,7 @@ Blockly.Blocks['gpio_read'] = {
 		this.setOutput(true, "Boolean");
 		this.setColour(COLOR_GPIO);
 		this.setTooltip("Returns if there is voltage on a GPIO pin.");
-		this.setHelpUrl(DOCS_URL + '#GPIO');
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
 
@@ -563,7 +542,7 @@ Blockly.Blocks['gpio_write'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setTooltip("Set GPIO pin level.");
-		this.setHelpUrl(DOCS_URL + '#GPIO');
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
 
@@ -579,24 +558,7 @@ Blockly.Blocks['set_servo'] = {
 		this.setColour(COLOR_GPIO);
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
-		this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 μs.");
-		this.setHelpUrl(DOCS_URL + '#GPIO');
-	}
-};
-
-Blockly.Blocks['set_duty_cycle'] = {
-	init: function () {
-		this.appendValueInput("PIN")
-			.setCheck("Number")
-			.appendField("set GPIO pin");
-		this.appendValueInput("DUTY_CYCLE")
-			.setCheck("Number")
-			.appendField("to duty cycle");
-		this.setInputsInline(true);
-		this.setColour(COLOR_GPIO);
-		this.setPreviousStatement(true, null);
-		this.setNextStatement(true, null);
-		this.setTooltip("Set PWM duty cycle on a GPIO pin (better to control LEDs, etc). Duty cycle is set in range of 0–1.");
-		this.setHelpUrl(DOCS_URL + '#GPIO');
+		this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 ms.");
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };

clover_blocks/www/index.html

@@ -106,7 +106,6 @@
 				<value name="INDEX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="COLOR"><shadow type="colour_picker"></shadow></value>
 			</block>
-			<block type="led_count"></block>
 		</category>
 		<category name="GPIO" colour="#5b97cc">
 			<block type="gpio_read">
@@ -120,10 +119,6 @@
 				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
 				<value name="PWM"><shadow type="math_number"><field name="NUM">1500</field></shadow></value>
 			</block>
-			<block type="set_duty_cycle">
-				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
-				<value name="DUTY_CYCLE"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
-			</block>
 		</category>
 		<sep></sep>
 		<category name="Logic" colour="#5b80a5">

clover_blocks/www/main.js

@@ -1,13 +1,3 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
 import * as ros from './ros.js';
 import './blocks.js';
 import {generateCode, generateUserCode} from './python.js';
@@ -39,9 +29,7 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('yaw_tolerance', true, 20),
-		ros.readParam('sleep_time', true, 0.2),
-		ros.readParam('confirm_run', true, true),
+		ros.readParam('sleep_time', true, 0.2)
 	]);
 }
 
@@ -109,7 +97,7 @@ new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'prompt', messageType: 'clover
 		name: ros.priv + 'input/' + msg.id,
 		messageType: 'std_msgs/String',
 		latch: true
-	}).publish(new ROSLIB.Message({ data: response || '' }));
+	}).publish(new ROSLIB.Message({ data: response }));
 });
 
 window.stopProgram = function() {
@@ -125,7 +113,7 @@ ros.ros.on('close', update);
 ready.then(() => runButton.disabled = false);
 
 window.runProgram = function() {
-	if (ros.params.confirm_run && !confirm('Run program?')) return;
+	if (!confirm('Run program?')) return;
 
 	runRequest = true;
 	update();

clover_blocks/www/python.js

@@ -1,13 +1,3 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
 import {params} from './ros.js';
 
 // If any new block imports any library, add that library name here.
@@ -15,12 +5,17 @@ Blockly.Python.addReservedWords('_b,_print');
 Blockly.Python.addReservedWords('rospy,srv,Trigger,get_telemetry,navigate,set_velocity,land');
 Blockly.Python.addReservedWords('navigate_wait,land_wait,wait_arrival,wait_yaw,get_distance');
 Blockly.Python.addReservedWords('pigpio,pi,Range');
-Blockly.Python.addReservedWords('SetLEDEffect,set_effect,led_count,get_led_count');
+Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
 Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
 
+// TODO: parametrize
+const navigate_tolerance = 0.2;
+const sleep_time = 0.2;
+
 const IMPORT_SRV = `from clover import srv
 from std_srvs.srv import Trigger`;
 
+// TODO: tolerance to parameters
 const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame_id='body', auto_arm=False):
     res = navigate(x=x, y=y, z=z, yaw=float('nan'), speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
@@ -38,13 +33,15 @@ const LAND_WAIT = () => `\ndef land_wait():
     while get_telemetry().armed:
         rospy.sleep(${params.sleep_time})\n`;
 
+// TODO: tolerance to parameters
 const WAIT_YAW = () => `\ndef wait_yaw():
     while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
-        if abs(telem.yaw) < math.radians(${params.yaw_tolerance}):
+        if abs(telem.yaw) < math.radians(20):
             return
         rospy.sleep(${params.sleep_time})\n`;
 
+// TODO: tolerance to parameters
 const WAIT_ARRIVAL = () => `\ndef wait_arrival():
     while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
@@ -52,6 +49,7 @@ const WAIT_ARRIVAL = () => `\ndef wait_arrival():
             return
         rospy.sleep(${params.sleep_time})\n`;
 
+// TODO: tolerance to parameters
 const ARRIVED = () => `\ndef arrived():
     telem = get_telemetry(frame_id='navigate_target')
     return math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}\n`
@@ -87,9 +85,6 @@ function generateROSDefinitions() {
 		Blockly.Python.definitions_['import_set_led'] = 'from led_msgs.srv import SetLEDs\nfrom led_msgs.msg import LEDState';
 		code += `set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs, persistent=True)\n`;
 	}
-	if (rosDefinitions.ledStateArray) {
-		Blockly.Python.definitions_['import_led_state_array'] = 'from led_msgs.msg import LEDStateArray';
-	}
 	if (rosDefinitions.navigateWait) {
 		Blockly.Python.definitions_['import_math'] = 'import math';
 		code += NAVIGATE_WAIT();
@@ -394,45 +389,26 @@ Blockly.Python.set_led = function(block) {
 		return `set_leds([LEDState(index=${index}, r=${color.r}, g=${color.g}, b=${color.b})])\n`;
 	} else {
 		let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
-		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode}))])\n`;
+		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode})])\n`;
 	}
 }
 
-const GET_LED_COUNT = `led_count = None
-
-def get_led_count():
-    global led_count
-    if led_count is None:
-        led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
-    return led_count\n`;
-
-Blockly.Python.led_count = function(block) {
-	rosDefinitions.ledStateArray = true;
-	initNode();
-	Blockly.Python.definitions_['get_led_count'] = GET_LED_COUNT;
-	return [`get_led_count()`, Blockly.Python.ORDER_FUNCTION_CALL]
-}
-
 function pigpio() {
 	Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
 	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
 }
 
 const GPIO_READ = `\ndef gpio_read(pin):
-    pi.set_mode(pin, pigpio.INPUT)
-    return pi.read(pin)\n`;
+	pi.set_mode(pin, pigpio.INPUT)
+	return pi.read(pin)\n`;
 
 const GPIO_WRITE = `\ndef gpio_write(pin, level):
-    pi.set_mode(pin, pigpio.OUTPUT)
-    pi.write(pin, level)\n`;
+	pi.set_mode(pin, pigpio.OUTPUT)
+	pi.write(pin, level)\n`;
 
 const SET_SERVO = `\ndef set_servo(pin, pwm):
-    pi.set_mode(pin, pigpio.OUTPUT)
-    pi.set_servo_pulsewidth(pin, pwm)\n`;
-
-const SET_DUTY_CYCLE = `\ndef set_duty_cycle(pin, duty_cycle):
-    pi.set_mode(pin, pigpio.OUTPUT)
-    pi.set_PWM_dutycycle(pin, duty_cycle * 255)\n`;
+	pi.set_mode(pin, pigpio.OUTPUT)
+	pi.set_servo_pulsewidth(pin, pwm)\n`;
 
 Blockly.Python.gpio_read = function(block) {
 	pigpio();
@@ -456,11 +432,3 @@ Blockly.Python.set_servo = function(block) {
 	var pwm = Blockly.Python.valueToCode(block, 'PWM', Blockly.Python.ORDER_NONE);
 	return `set_servo(${pin}, ${pwm})\n`;
 }
-
-Blockly.Python.set_duty_cycle = function(block) {
-	pigpio();
-	Blockly.Python.definitions_['set_duty_cycle'] = SET_DUTY_CYCLE;
-	var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
-	var dutyCycle = Blockly.Python.valueToCode(block, 'DUTY_CYCLE', Blockly.Python.ORDER_NONE);
-	return `set_duty_cycle(${pin}, ${dutyCycle})\n`;
-}

clover_blocks/www/ros.js

@@ -1,13 +1,3 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
 var url = 'ws://' + location.hostname + ':9090';
 export var ros = new ROSLIB.Ros({ url });
 

clover_description/CHANGELOG.rst

@@ -1,9 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_description
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_description package to ROS
-* Contributors: Alexey Rogachevskiy
-

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.21.1</version>
+  <version>0.0.1</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_simulation/CHANGELOG.rst

@@ -1,8 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package clover_simulation
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.21.1 (2020-11-17)
--------------------
-* First release of clover_simulation package to ROS
-* Contributors: Alexey Rogachevskiy

clover_simulation/CMakeLists.txt

@@ -52,7 +52,7 @@ target_compile_options(throttling_camera PRIVATE -std=c++11)
 add_dependencies(throttling_camera ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 catkin_install_python(PROGRAMS scripts/aruco_gen

clover_simulation/launch/simulator.launch

@@ -1,5 +1,4 @@
 <launch>
-    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
     <arg name="mav_id" default="0"/>
     <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
     <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
@@ -10,22 +9,22 @@
     <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
 
     <!-- Gazebo instance -->
-    <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <!-- Workaround for crashes in VMware -->
         <env name="SVGA_VGPU10" value="0"/>
         <arg name="gui" value="true"/>
-        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
+        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover.world"/>
         <arg name="verbose" value="true"/>
     </include>
 
     <!-- PX4 instance -->
-    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
+    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)">
         <env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
         <env name="PX4_ESTIMATOR" value="$(arg est)"/>
     </node>
 
     <!-- Clover model -->
-    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
+    <include file="$(find clover_description)/launch/spawn_drone.launch">
         <arg name="main_camera" value="$(arg main_camera)"/>
         <arg name="rangefinder" value="$(arg rangefinder)"/>
         <arg name="led" value="$(arg led)"/>
@@ -33,20 +32,10 @@
         <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
     </include>
 
-    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>
-
-    <param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>
-
     <!-- Clover services -->
     <include file="$(find clover)/launch/clover.launch">
         <arg name="simulator" value="true"/>
         <arg name="fcu_conn" value="sitl"/>
         <arg name="fcu_ip" value="127.0.0.1"/>
-        <arg name="gcs_bridge" value=""/>
-        <arg name="rc" default="false"/>
-        <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
-        <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
     </include>
 </launch>