Continue working on the new readme page

* Package for generating static web sites for ROS

* rosstatic: add CMakeLists.txt

* rosstatic: utilize rospkg, store static directory in ROS_HOME

* rosstatic: default_package param

* rosstatic: fix URLs in docs

* clover.launch: make clover the default package for www

* Unused import

* Rename rosstatic to roswww_static

* Fixes

README.md

@@ -1,40 +1,173 @@
 # COEX Clover Drone Kit
 
-<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">
+<table align=center>
+    <tr>
+        <td align=center><a href="https://px4.io"><img src="docs/assets/px4.svg" height=60></a></td>
+        <td align=center><a href="https://www.raspberrypi.org"><img src="docs/assets/rpi.svg" height=60></a></td>
+        <td align=center><a href="https://www.ros.org"><img src="docs/assets/ros.svg" height=60></a></td>
+    </tr>
+</table>
 
-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.
+This repository contains documentation, software platform source code and RPi image builder for COEX Clover drone kit.
 
-The main documentation is available [on Gitbook](https://clover.coex.tech/).
+<img src="docs/assets/clover42.png" align="right" width="400px" alt="COEX Clover">
 
-Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
+Clover is a [PX4](https://px4.io)- and [ROS](https://www.ros.org)-powered educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
 
-## Video compilation
+The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
+
+## Autonomous flights video
 
 [![Clover Drone Kit autonomy compilation](http://img.youtube.com/vi/u3omgsYC4Fk/hqdefault.jpg)](https://youtu.be/u3omgsYC4Fk)
 
 Clover drone is used on a wide range of educational events, including [Copter Hack](https://www.youtube.com/watch?v=xgXheg3TTs4), WorldSkills Drone Operation competition, [Autonomous Vehicles Track of NTI Olympics 2016–2020](https://www.youtube.com/watch?v=E1_ehvJRKxg), Quadro Hack 2019 (National University of Science and Technology MISiS), Russian Robot Olympiad (autonomous flights), and others.
 
-## Raspberry Pi image
+## Features
 
-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).
+### Prebuilt RPi image
 
-[![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
+...
 
-Image features:
+### Common robotics software
 
-* Raspbian Buster
-* [ROS Melodic](http://wiki.ros.org/melodic)
-* Configured networking
-* OpenCV
-* [`mavros`](http://wiki.ros.org/mavros)
-* Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)
-* `aruco_pose` package for marker-assisted navigation
-* `clover` package for autonomous drone control
+Prebuilt image for Raspberry Pi includes:
 
-API description for autonomous flights is available [on GitBook](https://clover.coex.tech/en/simple_offboard.html).
+|Software|Description|
+|-|-|
+|Raspbian Buster||
+|[ROS Melodic](http://wiki.ros.org/melodic)|Common robotics framework|
+|[OpenCV](https://opencv.org)|Computer vision library|
+|[`mavros`](http://wiki.ros.org/mavros)|ROS package for communication with the flight controller|
+|Configured networking||
+|Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)||
+|`clover`|package for autonomous drone control|
+|`aruco_pose`|Package for marker-assisted navigation|
+
+### QGroundControl Wi-Fi bridge
+
+...
+
+### Easy autonomous flights programming
+
+By using `clover` package, taking off, navigating and landing is just:
+
+```python
+navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)  # takeoff and hover 1 m above the ground
+```
+
+```python
+navigate(x=1, y=0, z=0, frame_id='body')  # fly forward 1 m
+```
+
+```
+land()
+```
+
+See [programming documentation](https://clover.coex.tech) for further information.
+
+### Optical flow positioning
+
+<img src="docs/assets/optical-flow.gif">
+
+RPi based optical flow....
+
+See [details](https://clover.coex.tech/en/optical_flow.html) in the documentation.
+
+### ArUco markers recognizing
+
+<img src="docs/assets/aruco.gif">
+
+...
+
+See [details](https://clover.coex.tech/en/aruco.html) in the documentation.
+
+### Easy working with peripheral devices
+
+Preinstalled package for the [LED strip](https://clover.coex.tech/en/leds.html) allows high-level control (such as rainbow effect or color fade) as well as individual LED low-level control:
+
+```python
+set_effect(r=0, g=100, b=0)  # fill strip with green color
+```
+
+```python
+set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
+```
+
+```python
+set_effect(effect='rainbow')  # show rainbow
+```
+
+Preinstalled [VL53L1X rangefinder driver](https://clover.coex.tech/en/laser.html) passes data to the flight controller automatically and allows the user to get its data:
+
+```python
+data = rospy.wait_for_message('rangefinder/range', Range)  # get data from the rangefinder
+```
+
+Preinstalled fast Python [GPIO library](https://clover.coex.tech/en/gpio.html).
+
+```python
+pi.write(11, 1)  # set signal of pin 11 to high
+```
+
+```python
+level = pi.read(12)  # read the state of pin 12
+```
+
+### Simulator
+
+<img src="docs/assets/simulator.jpg" width=400 align=center>
+
+Clover repository includes three simulation-related repository for Gazebo-based simulation.
+
+Screenshot...
+
+See details in the [documentation](https://clover.coex.tech/en/simulation.html). The simulation environment also available as a virtual machine image.
+
+### Remote control apps
+
+<table>
+    <tr>
+        <td>
+            <a href="https://itunes.apple.com/ru/app/clever-rc/id1396166572?mt=8">
+                <img src="docs/assets/appstore.svg" height=40>
+            </a>
+        </td>
+        <td>
+            <a href="https://play.google.com/store/apps/details?id=express.copter.cleverrc">
+                <img src="docs/assets/google_play.png" height=40>
+            </a>
+        </td>
+    </tr>
+</table>
+
+<!-- <a href="https://itunes.apple.com/ru/app/clever-rc/id1396166572?mt=8"><img src="docs/assets/appstore.svg"></a><a href="https://play.google.com/store/apps/details?id=express.copter.cleverrc"><img src="docs/assets/google_play.png" width="15%"></a> -->
+
+### Community
+
+<img src="docs/assets/community/collage.jpg" width=400 align=center>
+
+Clover is widely used ...
+
+[Telegram chat](tg://resolve?domain=COEXHelpdesk)...
+
+### Free and open source
+
+The Clover software bundle is free, open source, and compatible with any PX4/ROS-based drone.
+
+## Manual installation
 
 For manual package installation and running see [`clover` package documentation](clover/README.md).
 
+## PX4 Dev Summit 2019 talk
+
+[![](http://img.youtube.com/vi/CTG9E9PbJQ8/0.jpg)](http://www.youtube.com/watch?v=CTG9E9PbJQ8)
+
+## Other resources
+
+* Official documentation: [https://clover.coex.tech](https://clover.coex.tech).
+* ROS Wiki page: [https://wiki.ros.org/Robots/clover](https://wiki.ros.org/Robots/clover).
+* ROS Robots page: [https://robots.ros.org/clover](https://robots.ros.org/clover).
+
 ## License
 
 While the Clover platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

aruco_pose/CMakeLists.txt

@@ -1,8 +1,6 @@
 cmake_minimum_required(VERSION 3.0)
 project(aruco_pose)
 
-add_definitions(-std=c++11 -Wall -g)
-
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
 
@@ -25,7 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
-if ("${OpenCV_VERSION_MINOR}" LESS "3")
+if ("${OpenCV_VERSION_MINOR}" LESS "9")
   message(STATUS "OpenCV version too low, using vendored ArUco package")
   include(vendor/VendorOpenCV.cmake)
 else()
@@ -229,4 +227,5 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_parser_empty_map.test)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
+  add_rostest(test/crash_opencv.test)
 endif()

aruco_pose/src/aruco_detect.cpp

@@ -58,10 +58,9 @@ using cv::Mat;
 
 class ArucoDetect : public nodelet::Nodelet {
 private:
-	ros::NodeHandle nh_, nh_priv_;
-	tf2_ros::TransformBroadcaster br_;
-	tf2_ros::Buffer tf_buffer_;
-	tf2_ros::TransformListener tf_listener_{tf_buffer_};
+	std::unique_ptr<tf2_ros::TransformBroadcaster> br_;
+	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_;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
@@ -81,30 +80,32 @@ private:
 public:
 	virtual void onInit()
 	{
-		nh_ = getNodeHandle();
-		nh_priv_ = getPrivateNodeHandle();
+		ros::NodeHandle& nh_ = getNodeHandle();
+		ros::NodeHandle& nh_priv_ = getPrivateNodeHandle();
+
+		br_.reset(new tf2_ros::TransformBroadcaster());
+		tf_buffer_.reset(new tf2_ros::Buffer());
+		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh_));
 
 		int dictionary;
-		nh_priv_.param("dictionary", dictionary, 2);
-		nh_priv_.param("estimate_poses", estimate_poses_, true);
-		nh_priv_.param("send_tf", send_tf_, true);
+		dictionary = nh_priv_.param("dictionary", 2);
+		estimate_poses_ = nh_priv_.param("estimate_poses", true);
+		send_tf_ = nh_priv_.param("send_tf", true);
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
 			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
 		}
-		readLengthOverride();
+		readLengthOverride(nh_priv_);
 
-		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
-		nh_priv_.param("auto_flip", auto_flip_, false);
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		auto_flip_ = nh_priv_.param("auto_flip", false);
 
-		nh_priv_.param<std::string>("frame_id_prefix", frame_id_prefix_, "aruco_");
+		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
 
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
-		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
 
 		dictionary_ = cv::aruco::getPredefinedDictionary(static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(dictionary));
 		parameters_ = cv::aruco::DetectorParameters::create();
-		parameters_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
 
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);
@@ -170,8 +171,8 @@ private:
 
 				if (!known_tilt_.empty()) {
 					try {
-						snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, known_tilt_,
-						                                     msg->header.stamp, ros::Duration(0.02));
+						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
+						                                      msg->header.stamp, ros::Duration(0.02));
 					} catch (const tf2::TransformException& e) {
 						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
@@ -205,7 +206,7 @@ private:
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
 							transform.transform.rotation = marker.pose.orientation;
 							fillTranslation(transform.transform.translation, tvecs[i]);
-							br_.sendTransform(transform);
+							br_->sendTransform(transform);
 						}
 					}
 				}
@@ -326,10 +327,10 @@ private:
 		return frame_id_prefix_ + std::to_string(id);
 	}
 
-	void readLengthOverride()
+	void readLengthOverride(ros::NodeHandle& nh)
 	{
 		std::map<std::string, double> length_override;
-		nh_priv_.getParam("length_override", length_override);
+		nh.getParam("length_override", length_override);
 		for (auto const& item : length_override) {
 			length_override_[std::stoi(item.first)] = item.second;
 		}

aruco_pose/src/aruco_map.cpp

@@ -58,7 +58,6 @@ typedef message_filters::sync_policies::ExactTime<Image, CameraInfo, MarkerArray
 
 class ArucoMap : public nodelet::Nodelet {
 private:
-	ros::NodeHandle nh_, nh_priv_;
 	ros::Publisher img_pub_, pose_pub_, markers_pub_, vis_markers_pub_;
 	image_transport::Publisher debug_pub_;
 	message_filters::Subscriber<Image> image_sub_;
@@ -83,8 +82,8 @@ private:
 public:
 	virtual void onInit()
 	{
-		nh_ = getNodeHandle();
-		nh_priv_ = getPrivateNodeHandle();
+		ros::NodeHandle &nh_ = getNodeHandle();
+		ros::NodeHandle &nh_priv_ = getPrivateNodeHandle();
 
 		image_transport::ImageTransport it_priv(nh_priv_);
 
@@ -96,19 +95,18 @@ public:
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
 			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
-		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
 
 		std::string type, map;
-		nh_priv_.param<std::string>("type", type, "map");
-		nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
-		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
-		nh_priv_.param("auto_flip", auto_flip_, false);
-		nh_priv_.param("image_width", image_width_, 2000);
-		nh_priv_.param("image_height", image_height_, 2000);
-		nh_priv_.param("image_margin", image_margin_, 200);
-		nh_priv_.param("image_axis", image_axis_, true);
-		nh_priv_.param<std::string>("markers/frame_id", markers_parent_frame_, transform_.child_frame_id);
-		nh_priv_.param<std::string>("markers/child_frame_id_prefix", markers_frame_, "");
+		type = nh_priv_.param<std::string>("type", "map");
+		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		auto_flip_ = nh_priv_.param("auto_flip", false);
+		image_width_ = nh_priv_.param("image_width" , 2000);
+		image_height_ = nh_priv_.param("image_height", 2000);
+		image_margin_ = nh_priv_.param("image_margin", 200);
+		image_axis_ = nh_priv_.param("image_axis", true);
+		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
+		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
 
 		// createStripLine();
 
@@ -116,7 +114,7 @@ public:
 			param(nh_priv_, "map", map);
 			loadMap(map);
 		} else if (type == "gridboard") {
-			createGridBoard();
+			createGridBoard(nh_priv_);
 		} else {
 			NODELET_FATAL("unknown type: %s", type.c_str());
 			ros::shutdown();
@@ -331,7 +329,7 @@ publish_debug:
 		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}
 
-	void createGridBoard()
+	void createGridBoard(ros::NodeHandle& nh)
 	{
 		NODELET_INFO("generate gridboard");
 		NODELET_WARN("gridboard maps are deprecated");
@@ -339,15 +337,15 @@ publish_debug:
 		int markers_x, markers_y, first_marker;
 		double markers_side, markers_sep_x, markers_sep_y;
 		std::vector<int> marker_ids;
-		nh_priv_.param<int>("markers_x", markers_x, 10);
-		nh_priv_.param<int>("markers_y", markers_y, 10);
-		nh_priv_.param<int>("first_marker", first_marker, 0);
+		markers_x = nh.param("markers_x", 10);
+		markers_y = nh.param("markers_y", 10);
+		first_marker = nh.param("first_marker", 0);
 
-		param(nh_priv_, "markers_side", markers_side);
-		param(nh_priv_, "markers_sep_x", markers_sep_x);
-		param(nh_priv_, "markers_sep_y", markers_sep_y);
+		param(nh, "markers_side", markers_side);
+		param(nh, "markers_sep_x", markers_sep_x);
+		param(nh, "markers_sep_y", markers_sep_y);
 
-		if (nh_priv_.getParam("marker_ids", marker_ids)) {
+		if (nh.getParam("marker_ids", marker_ids)) {
 			if ((unsigned int)(markers_x * markers_y) != marker_ids.size()) {
 				NODELET_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
 				ros::shutdown();

aruco_pose/src/utils.h

@@ -35,9 +35,7 @@ static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo, cv::Ma
 	for (unsigned int i = 0; i < 3; ++i)
 		for (unsigned int j = 0; j < 3; ++j)
 			matrix.at<double>(i, j) = cinfo->K[3 * i + j];
-
-	for (unsigned int k = 0; k < cinfo->D.size(); k++)
-		dist.at<double>(k) = cinfo->D[k];
+	dist = cv::Mat(cinfo->D, true);
 }
 
 inline void rotatePoint(cv::Point3f& p, cv::Point3f origin, float angle)

aruco_pose/test/crash_opencv.py

@@ -0,0 +1,18 @@
+import rospy
+import pytest
+
+from visualization_msgs.msg import MarkerArray as VisMarkerArray
+
+
+@pytest.fixture
+def node():
+    return rospy.init_node('aruco_pose_opencv_crash', anonymous=True)
+
+def test_opencv_crashes_img01(node):
+    rospy.wait_for_message('aruco_detect_01/visualization', VisMarkerArray, timeout=5)
+
+def test_opencv_crashes_img02(node):
+    rospy.wait_for_message('aruco_detect_02/visualization', VisMarkerArray, timeout=5)
+
+def test_opencv_crashes_img03(node):
+    rospy.wait_for_message('aruco_detect_03/visualization', VisMarkerArray, timeout=5)

aruco_pose/test/crash_opencv.test

@@ -0,0 +1,51 @@
+<launch>
+    <arg name="corner_method" default="2"/>
+
+    <node pkg="image_publisher" type="image_publisher" name="imgpub_01" args="$(find aruco_pose)/test/crash_image_01.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="image_publisher" type="image_publisher" name="imgpub_02" args="$(find aruco_pose)/test/crash_image_02.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="image_publisher" type="image_publisher" name="imgpub_03" args="$(find aruco_pose)/test/crash_image_03.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager_01" args="manager"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_01" args="load aruco_pose/aruco_detect nodelet_manager_01">
+        <remap from="image_raw" to="imgpub_01/image_raw"/>
+        <remap from="camera_info" to="imgpub_01/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager_02" args="manager"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_02" args="load aruco_pose/aruco_detect nodelet_manager_02">
+        <remap from="image_raw" to="imgpub_02/image_raw"/>
+        <remap from="camera_info" to="imgpub_02/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager_03" args="manager"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_03" args="load aruco_pose/aruco_detect nodelet_manager_03">
+        <remap from="image_raw" to="imgpub_03/image_raw"/>
+        <remap from="camera_info" to="imgpub_03/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
+    </node>
+
+    <param name="test_module" value="$(find aruco_pose)/test/crash_opencv.py"/>
+    <test test-name="crash_opencv" pkg="ros_pytest" type="ros_pytest_runner"/>
+</launch>

aruco_pose/vendor/aruco/src/aruco.cpp

@@ -924,6 +924,8 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
 	// calculate the line :: who passes through the grouped points
 	Point3f lines[4];
 	for(int i=0; i<4; i++){
+		// Don't try to "interpolate" single points
+		if (cntPts[i].size() < 2) return;
 		lines[i]=_interpolate2Dline(cntPts[i]);
 	}
 

builder/assets/avahi-services/sftp-ssh.service

@@ -0,0 +1,34 @@
+<?xml version="1.0" standalone='no'?><!--*-nxml-*-->
+<!DOCTYPE service-group SYSTEM "avahi-service.dtd">
+
+<!--
+  This file is part of avahi.
+
+  avahi is free software; you can redistribute it and/or modify it
+  under the terms of the GNU Lesser General Public License as
+  published by the Free Software Foundation; either version 2 of the
+  License, or (at your option) any later version.
+
+  avahi is distributed in the hope that it will be useful, but
+  WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+  General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with avahi; if not, write to the Free Software
+  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
+  02111-1307 USA.
+-->
+
+<!-- See avahi.service(5) for more information about this configuration file -->
+
+<service-group>
+
+  <name replace-wildcards="yes">%h</name>
+
+  <service>
+    <type>_sftp-ssh._tcp</type>
+    <port>22</port>
+  </service>
+
+</service-group>

builder/assets/monkey

@@ -20,7 +20,7 @@
     # Example:
     #      DocumentRoot /home/krypton/htdocs
 
-    DocumentRoot /home/pi/catkin_ws/src/clover/clover/www
+    DocumentRoot /home/pi/.ros/www
 
     # Redirect:
     # ---------

builder/image-build.sh

@@ -108,6 +108,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software
 ${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_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-services/sftp-ssh.service' '/etc/avahi/services'
 
 # 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)

builder/image-ros.sh

@@ -143,7 +143,6 @@ echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
-ROS_DISTRO='melodic'
 export ROS_HOSTNAME=\`hostname\`.local
 source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash

builder/image-software.sh

@@ -57,6 +57,10 @@ my_travis_retry() {
   return $result
 }
 
+echo_stamp "Increase apt retries"
+
+echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries
+
 echo_stamp "Install apt keys & repos"
 
 # TODO: This STDOUT consist 'OK'

builder/standalone-install.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Perform a "standalone install" in a Docker container
-
+set -e
 # Step 1: Install pip
 apt update
 apt install -y curl

clover/launch/aruco.launch

@@ -10,11 +10,13 @@
         <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" if="$(arg aruco_map)"/>
-        <param name="cornerRefinementMethod" value="2"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map"/>
         <param name="length" value="0.33"/>
+        <!-- aruco detector parameters -->
+        <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
+        <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->

clover/launch/clover.launch

@@ -82,4 +82,9 @@
 
     <!-- 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"/>
+    </node>
 </launch>

clover/src/optical_flow.cpp

@@ -34,9 +34,7 @@ class OpticalFlow : public nodelet::Nodelet
 {
 public:
 	OpticalFlow():
-		camera_matrix_(3, 3, CV_64F),
-		dist_coeffs_(8, 1, CV_64F),
-		tf_listener_(tf_buffer_)
+		camera_matrix_(3, 3, CV_64F)
 	{}
 
 private:
@@ -52,8 +50,8 @@ private:
 	Mat hann_;
 	Mat prev_, curr_;
 	Mat camera_matrix_, dist_coeffs_;
-	tf2_ros::Buffer tf_buffer_;
-	tf2_ros::TransformListener tf_listener_;
+	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
+	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
 
 	void onInit()
@@ -63,11 +61,14 @@ private:
 		image_transport::ImageTransport it(nh);
 		image_transport::ImageTransport it_priv(nh_priv);
 
-		nh.param<std::string>("mavros/local_position/tf/frame_id", local_frame_id_, "map");
-		nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
-		nh_priv.param("roi", roi_px_, 128);
-		nh_priv.param("roi_rad", roi_rad_, 0.0);
-		nh_priv.param("calc_flow_gyro", calc_flow_gyro_, false);
+		tf_buffer_.reset(new tf2_ros::Buffer());
+		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh));
+
+		local_frame_id_ = nh.param<std::string>("mavros/local_position/tf/frame_id", "map");
+		fcu_frame_id_ = nh.param<std::string>("mavros/local_position/tf/child_frame_id", "base_link");
+		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);
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
@@ -91,9 +92,7 @@ private:
 				camera_matrix_.at<double>(i, j) = cinfo->K[3 * i + j];
 			}
 		}
-		for (int k = 0; k < cinfo->D.size(); k++) {
-			dist_coeffs_.at<double>(k) = cinfo->D[k];
-		}
+		dist_coeffs_ = cv::Mat(cinfo->D, true);
 	}
 
 	void drawFlow(Mat& frame, double x, double y, double quality) const
@@ -186,7 +185,7 @@ private:
 			flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
 			flow_camera.vector.y = -flow_x; // +x means clockwise rotation around X axis
 			try {
-				tf_buffer_.transform(flow_camera, flow_fcu, fcu_frame_id_);
+				tf_buffer_->transform(flow_camera, flow_fcu, fcu_frame_id_);
 			} catch (const tf2::TransformException& e) {
 				// transform is not available yet
 				return;
@@ -200,7 +199,7 @@ private:
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
 					static geometry_msgs::Vector3Stamped flow_gyro_fcu;
-					tf_buffer_.transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
+					tf_buffer_->transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
 					flow_.integrated_xgyro = flow_gyro_fcu.vector.x;
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
@@ -247,8 +246,8 @@ private:
 	geometry_msgs::Vector3Stamped calcFlowGyro(const std::string& frame_id, const ros::Time& prev, const ros::Time& curr)
 	{
 		tf2::Quaternion prev_rot, curr_rot;
-		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, prev).transform.rotation, prev_rot);
-		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, curr, ros::Duration(0.1)).transform.rotation, curr_rot);
+		tf2::fromMsg(tf_buffer_->lookupTransform(frame_id, local_frame_id_, prev).transform.rotation, prev_rot);
+		tf2::fromMsg(tf_buffer_->lookupTransform(frame_id, local_frame_id_, curr, ros::Duration(0.1)).transform.rotation, curr_rot);
 
 		geometry_msgs::Vector3Stamped flow;
 		flow.header.frame_id = frame_id;

clover/src/selfcheck.py

@@ -701,7 +701,7 @@ def check_preflight_status():
 
 @check('Network')
 def check_network():
-    ros_hostname = os.environ.get('ROS_HOSTNAME').strip()
+    ros_hostname = os.environ.get('ROS_HOSTNAME', '').strip()
 
     if not ros_hostname:
         failure('no ROS_HOSTNAME is set')

clover/www/index.html

@@ -12,8 +12,8 @@
 
 <script src="js/roslib.js"></script>
 <script type="text/javascript">
-	document.querySelector("#wvs").href = location.origin + ':8080';
-	document.querySelector("#butterfly").href = location.origin + ':57575';
+	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
+	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
 	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });

docs/assets/ros.svg

@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   id="svg2"
+   version="1.1"
+   viewBox="0 0 387 103"
+   height="103pt"
+   width="387pt">
+  <metadata
+     id="metadata58">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs4">
+    <clipPath
+       id="clip1">
+      <path
+         id="path7"
+         d="M 0.0585938 2 L 22 2 L 22 25 L 0.0585938 25 Z M 0.0585938 2 " />
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+    <clipPath
+       id="clip3">
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+    <clipPath
+       id="clip4">
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+  </defs>
+  <g
+     id="surface839">
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+       id="g22"
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docs/assets/rpi.svg

@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   viewBox="0 0 656.47998 825.76001"
+   height="825.76001"
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+   id="svg2"
+   version="1.1"><metadata
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+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
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+     id="defs6" /><g
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+       transform="scale(0.1)"
+       id="g12"><path
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docs/en/SUMMARY.md

@@ -11,6 +11,7 @@
   * [Initial setup](setup.md)
   * [Sensor calibration](calibration.md)
   * [RC setup](radio.md)
+    * [Using FS-A8S](rc_flysky_a8s.md)
   * [Flight modes](modes.md)
   * [Power setup](power.md)
   * [Failsafe configuration](failsafe.md)
@@ -41,7 +42,8 @@
   * [Interfacing with a sonar](sonar.md)
   * [Computer vision basics](camera.md)
   * [Using rviz and rqt](rviz.md)
-  * [Software autorun](autolaunch.md)  
+  * [Software autorun](autolaunch.md)
+  * [Using JavaScript](javascript.md)
   * [ROS](ros.md)
   * [MAVROS](mavros.md)
 * Supplementary materials
@@ -87,4 +89,5 @@
   * [Copter Hack 2019](copterhack2019.md)
   * [Copter Hack 2018](copterhack2018.md)
   * [Copter Hack 2017](copterhack2017.md)
+  * [Robocross-2019](robocross2019.md)
   * [Camera calibration (legacy)](camera_calib.md)

docs/en/arduino.md

@@ -21,19 +21,19 @@ The obtained folder `ros_lib` is to be copied to `<sketches folder>/libraries` o
 To run the program on Arduino once, you can use command:
 
 ```(bash)
-roslaunch clever arduino.launch
+roslaunch clover arduino.launch
 ```
 
-To start the link with Arduino at the startup automatically, set argument `arudino` in the Clover launch file (`~/catkin_ws/src/clever/clever/launch/clever.launch`):
+To start the link with Arduino at the startup automatically, set argument `arudino` in the Clover launch file (`~/catkin_ws/src/clover/clover/launch/clover.launch`):
 
 ```xml
 <arg name="arduino" default="true"/>
 ```
 
-After the launch file is edited, restart package `clever`:
+After the launch file is edited, restart the `clover` service:
 
 ```(bash)
-sudo systemctl restart clever
+sudo systemctl restart clover
 ```
 
 ## Delays
@@ -70,10 +70,10 @@ An example of a program that controls the copter by position using the `navigate
 #include <ros.h>
 
 // Connecting Clover and MAVROS package message header files
-#include <clever/Navigate.h>
+#include <clover/Navigate.h>
 #include <mavros_msgs/SetMode.h>
 
-using namespace clever;
+using namespace clover;
 using namespace mavros_msgs;
 
 ros::NodeHandle nh;
@@ -174,7 +174,7 @@ With Arduino, you can use the [`get_telemetry` service](simple_offboard.md). To
 
 // ...
 
-#include <clever/GetTelemetry.h>
+#include <clover/GetTelemetry.h>
 
 // ...
 

docs/en/aruco_map.md

@@ -10,13 +10,13 @@
 
 ## Configuration
 
-Set the `aruco` argument in `~/catkin_ws/src/clever/clever/launch/clever.launch` to `true`:
+Set the `aruco` argument in `~/catkin_ws/src/clover/clover/launch/clover.launch` to `true`:
 
 ```xml
 <arg name="aruco" default="true"/>
 ```
 
-In order to enable map detection set `aruco_map` and `aruco_detect` arguments to `true` in `~/catkin_ws/src/clever/clever/launch/aruco.launch`:
+In order to enable map detection set `aruco_map` and `aruco_detect` arguments to `true` in `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
 
 ```xml
 <arg name="aruco_detect" default="true"/>
@@ -45,12 +45,12 @@ Map path is defined in the `map` parameter:
 <param name="map" value="$(find aruco_pose)/map/map.txt"/>
 ```
 
-Some map examples are provided in [`~/catkin_ws/src/clever/aruco_pose/map`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
+Some map examples are provided in [`~/catkin_ws/src/clover/aruco_pose/map`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
 
 Grid maps may be generated using the `genmap.py` script:
 
 ```bash
-rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clever/aruco_pose/map/test_map.txt
+rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
 ```
 
 `length` is the size of each marker, `x` is the marker count along the *x* axis, `y` is the marker count along the *y* axis, `dist_x` is the distance between the centers of adjacent markers along the *x* axis, `dist_y` is the distance between the centers of the *y* axis, `first` is the ID of the first marker (top left marker, unless `--bottom-left` is specified), `test_map.txt` is the name of the generated map file. The optional `--bottom-left` parameter changes the numbering of markers, making the bottom left marker the first one.
@@ -58,7 +58,7 @@ rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/cle
 Usage example:
 
 ```bash
-rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clever/aruco_pose/map/test_map.txt
+rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
 ```
 
 Additional information on the utility can be obtained using `-h` key: `rosrun aruco_pose genmap.py -h`.
@@ -91,13 +91,6 @@ The marker map adheres to the [ROS coordinate system convention](http://www.ros.
 
 In order to enable vision position estimation you should use the following [PX4 parameters](px4_parameters.md).
 
-If you're using **EKF2** estimator (`SYS_MC_EST_GROUP` parameter is set to `ekf2`), make sure the following is set:
-
-* `EKF2_AID_MASK` should have `vision position fusion` and `vision yaw fusion` flags set.
-* Vision angle observations noise: `EKF2_EVA_NOISE` = 0.1 rad.
-* Vision position observations noise: `EKF2_EVP_NOISE` = 0.1 m.
-* `EKF2_EV_DELAY` = 0.
-
 If you're using **LPE** (`SYS_MC_EST_GROUP` parameter is set to `local_position_estimator,attitude_estimator_q`):
 
 * `LPE_FUSION` should have `vision position` and `land detector` flags set. We suggest unsetting the `baro` flag for indoor flights.
@@ -108,6 +101,13 @@ If you're using **LPE** (`SYS_MC_EST_GROUP` parameter is set to `local_position_
 
 <!-- * Compass should not be fused: `ATT_W_MAG` = 0 -->
 
+If you're using **EKF2** estimator (`SYS_MC_EST_GROUP` parameter is set to `ekf2`), make sure the following is set:
+
+* `EKF2_AID_MASK` should have `vision position fusion` and `vision yaw fusion` flags set.
+* Vision angle observations noise: `EKF2_EVA_NOISE` = 0.1 rad.
+* Vision position observations noise: `EKF2_EVP_NOISE` = 0.1 m.
+* `EKF2_EV_DELAY` = 0.
+
 > **Hint** We recommend using **LPE** for marker-based navigation.
 
 You may use [the `selfcheck.py` utility](selfcheck.md) to check your settings.
@@ -152,7 +152,7 @@ If the drone's altitude is not stable, try increasing the `MPC_Z_VEL_P` paramete
 
 In order to navigate using markers on the ceiling, mount the onboard camera so that it points up and [adjust the camera frame accordingly](camera_setup.md).
 
-You should also set the `known_tilt` parameter to `map_flipped` in both `aruco_detect` and `aruco_map` sections of `~/catkin_ws/src/clever/clever/launch/aruco.launch`:
+You should also set the `known_tilt` parameter to `map_flipped` in both `aruco_detect` and `aruco_map` sections of `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
 
 ```xml
 <param name="known_tilt" value="map_flipped"/>

docs/en/aruco_marker.md

@@ -10,13 +10,13 @@ Using this module along with [map-based navigation](aruco_map.md) is also possib
 
 ## Setup
 
-Set the `aruco` argument in `~/catkin_ws/src/clever/clever/launch/clever.launch` to `true`:
+Set the `aruco` argument in `~/catkin_ws/src/clover/clover/launch/clover.launch` to `true`:
 
 ```xml
 <arg name="aruco" default="true"/>
 ```
 
-For enabling detection set the `aruco_detect` argument in `~/catkin_ws/src/clever/clever/launch/aruco.launch` to `true`:
+For enabling detection set the `aruco_detect` argument in `~/catkin_ws/src/clover/clover/launch/aruco.launch` to `true`:
 
 ```xml
 <arg name="aruco_detect" default="true"/>

docs/en/auto_setup.md

@@ -1,5 +1,7 @@
 # Step-by-step guide on autonomous flight with Clover 4
 
+> **Note** The following applies to [image version](image.md) **0.20** and up. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/auto_setup.md) for older images.
+
 This manual contains links to other articles in which each of the topics addressed is discussed in more detail. If you encounter difficulties while reading one of these articles, it is recommended that you return to this manual, since many operations here are described step by step and some unnecessary steps are skipped.
 
 ## Raspberry Pi initial setup
@@ -55,10 +57,10 @@ Show list of files and folders:
 ls
 ```
 
-Go to certain directory by entering the path too it (catkin_ws/src/clever/clever/launch/):
+Go to certain directory by entering the path too it (catkin_ws/src/clover/clover/launch/):
 
 ```bash
-cd catkin_ws/src/clever/clever/launch/
+cd catkin_ws/src/clover/clover/launch/
 ```
 
 Go to home directory:
@@ -73,10 +75,10 @@ Open the file `file.py`:
 nano file.py
 ```
 
-Open the file clever.launch by entering the full path to it (it works even if you're in a different directory):
+Open the file clover.launch by entering the full path to it (it works even if you're in a different directory):
 
 ```bash
-nano ~/catkin_ws/src/clever/clever/launch/clever.launch
+nano ~/catkin_ws/src/clover/clover/launch/clover.launch
 ```
 
 Save file (press sequentially):
@@ -103,16 +105,16 @@ Raspberry Pi complete reboot:
 sudo reboot
 ```
 
-Reboot only Clever package:
+Reboot only the `clover` service:
 
 ```bash
-sudo systemctl restart clever
+sudo systemctl restart clover
 ```
 
 Perform selfcheck:
 
 ```bash
-rosrun clever selfcheck.py
+rosrun clover selfcheck.py
 ```
 
 Stop a program:
@@ -127,10 +129,10 @@ Start a program `myprogram.py` using Python:
 python myprogram.py
 ```
 
-Journal of the events related to Clever package. Scroll the list by pressing Enter or Ctrl+V (scrolls faster):
+Journal of the events related to `clover` package. Scroll the list by pressing Enter or Ctrl+V (scrolls faster):
 
 ```bash
-journalctl -u clever
+journalctl -u clover
 ```
 
 Open the sudoers file with super user rights (this particular file doesn't open without sudo. You can use sudo to open other locked files or run programs that require super user rights):
@@ -141,45 +143,45 @@ sudo nano /etc/sudoers
 
 ## Setting Raspberry Pi for autonomous flight
 
-Most of the parameters for autonomous flight are located in the following directory: `~/catkin_ws/src/clever/clever/launch/`.
+Most of the parameters for autonomous flight are located in the following directory: `~/catkin_ws/src/clover/clover/launch/`.
 
 - Enter the directory:
 
   ```bash
-  cd ~/catkin_ws/src/clever/clever/launch/
+  cd ~/catkin_ws/src/clover/clover/launch/
   ```
 
   The `~` symbol stands for home directory of your user. If you are already in the directory, you can go with just the command:
 
   ```bash
-  cd catkin_ws/src/clever/clever/launch/
+  cd catkin_ws/src/clover/clover/launch/
   ```
 
-  > **Hint** Tab can automatically complete the names of files, folders or commands. You need to start entering the desired name and press Tab. If there are no conflicts, the name will be auto completed. For example, to quickly enter the path to the `catkin_ws/src/clever/clever/launch/` directory, after entering `cd`, you can start typing the following key combination:`c-Tab-s-Tab-c-Tab-c-Tab-l-Tab`. This way you can save a lot of time when writing a long command, and also avoid possible mistakes in writing the path.
+  > **Hint** Tab can automatically complete the names of files, folders or commands. You need to start entering the desired name and press Tab. If there are no conflicts, the name will be auto completed. For example, to quickly enter the path to the `catkin_ws/src/clover/clover/launch/` directory, after entering `cd`, you can start typing the following key combination:`c-Tab-s-Tab-c-Tab-c-Tab-l-Tab`. This way you can save a lot of time when writing a long command, and also avoid possible mistakes in writing the path.
 
 - In this folder you need to configure three files:
 
-  - `clever.launch`
+  - `clover.launch`
   - `aruco.launch`
   - `main_camera.launch`
 
-- Open the file `clever.launch`:
+- Open the file `clover.launch`:
 
   ```bash
-  nano clever.launch
+  nano clover.launch
   ```
 
   You must be in the directory in which the file is located. If you are in other directory, you can open the file by writing the full path to it:
 
   ```bash
-  nano ~/catkin_ws/src/clever/clever/launch/clever.launch
+  nano ~/catkin_ws/src/clover/clover/launch/clover.launch
   ```
 
   If two users are editing a file at the same time, or if previously the file was closed incorrectly, nano will not display the file contents, it will ask for permission to display the file. To grant permission, press Y.
 
   If the content of a file is still empty, you may have entered the file name incorrectly. You need to pay attention to the extension. If you entered a wrong name or extension, nano will create a new empty file named this way, which is undesirable. Such file should be deleted.
 
-- Find the following line in clever.launch file:
+- Find the following line in clover.launch file:
 
   ```xml
   <arg name="aruco" default="false"/>
@@ -222,7 +224,7 @@ Most of the parameters for autonomous flight are located in the following direct
   - the marker map numbering is from the top left corner (key `--top-left`)
 
   ```bash
-  rosrun aruco_pose genmap.py 0.335 10 10 1 1 0 > ~/catkin_ws/src/clever/aruco_pose/map/map.txt --top-left
+  rosrun aruco_pose genmap.py 0.335 10 10 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/map/map.txt --top-left
   ```
 
   In most maps, numbering starts with a zero marker. Also, in most cases, numbering starts from the upper left corner, so when generating, it is very important to enter the key `--top-left`.
@@ -269,10 +271,10 @@ and replace map.txt with your map name.
   Ctrl+x; y; Enter
   ```
 
-- Restart the `clever` service:
+- Restart the `clover` service:
 
   ```bash
-  sudo systemctl restart clever
+  sudo systemctl restart clover
   ```
 
 ## Setting the flight controller
@@ -304,7 +306,7 @@ Perform selfcheck when you have set up your drone or when you have faced problem
 - Run the command:
 
   ```bash
-  rosrun clever selfcheck.py
+  rosrun clover selfcheck.py
   ```
 
 ## Writing a program
@@ -368,7 +370,7 @@ The article "[Simple OFFBOARD](simple_offboard.md)" describes working with `simp
 
 ## Writing the program to the drone
 
-The easiest way to send the program is to copy the content of the program, create a new file on the Clever command line and paste the program text into the file.
+The easiest way to send the program is to copy the content of the program, create a new file in the command line and paste the program text into the file.
 
 - To create the file `myprogram.py`, run the command:
 

docs/en/autolaunch.md

@@ -1,36 +1,38 @@
 Software autorun
 ===
 
+> **Note** In the image version **0.20** `clever` package and service was renamed to `clover`. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/autolaunch.md) for older images.
+
 systemd
 ---
 
 Main documentation: [https://wiki.archlinux.org/index.php/Systemd_(Russian)](https://wiki.archlinux.org/index.php/Systemd_(Russian)).
 
-All automatically started Clover software is launched as a `clever.service` systemd service.
+All automatically started Clover software is launched as a `clover.service` systemd service.
 
 The service may be restarted by the `systemctl` command:
 
 ```(bash)
-sudo systemctl restart clever
+sudo systemctl restart clover
 ```
 
 Text output of the software can be viewed using the `journalctl` command:
 
 ```(bash)
-journalctl -u clever
+journalctl -u clover
 ```
 
 To run Clover software directly in the current console session, you can use the `roslaunch` command:
 
 ```(bash)
-sudo systemctl restart clever
-roslaunch clever clever.launch
+sudo systemctl restart clover
+roslaunch clover clover.launch
 ```
 
 You can disable Clover software autolaunch using the `disable` command:
 
 ```(bash)
-sudo systemctl disable clever
+sudo systemctl disable clover
 ```
 
 roslaunch
@@ -38,12 +40,12 @@ roslaunch
 
 Main documentation: http://wiki.ros.org/roslaunch.
 
-The list of nodes / programs declared for running is specified in file `/home/pi/catkin_ws/src/clever/clever/launch/clever.launch`.
+The list of nodes / programs declared for running is specified in file `/home/pi/catkin_ws/src/clover/clover/launch/clover.launch`.
 
-You can add your own node to the list of automatically launched ones. To do this, place your executable file (e.g. `my_program.py`) into folder `/home/pi/catkin_ws/src/clever/clever/src`. Then add the start of your node to `clever.launch`, for example:
+You can add your own node to the list of automatically launched ones. To do this, place your executable file (e.g. `my_program.py`) into folder `/home/pi/catkin_ws/src/clover/clover/src`. Then add the start of your node to `clover.launch`, for example:
 
 ```xml
-<node name="my_program" pkg="clever" type="my_program.py" output="screen"/>
+<node name="my_program" pkg="clover" type="my_program.py" output="screen"/>
 ```
 
 The started file must have *permission* to run:

docs/en/camera.md

@@ -1,6 +1,8 @@
 # Working with the camera
 
-Make sure the camera is enabled in the `~/catkin_ws/src/clever/clever/launch/clever.launch` file:
+> **Note** In the image version **0.20** `clever` package was renamed to `clover`. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/camera.md) for older images.
+
+Make sure the camera is enabled in the `~/catkin_ws/src/clover/clover/launch/clover.launch` file:
 
 ```xml
 <arg name="main_camera" default="true"/>
@@ -8,10 +10,10 @@ Make sure the camera is enabled in the `~/catkin_ws/src/clever/clever/launch/cle
 
 Also make sure that [position and orientation of the camera](camera_setup.md) is correct.
 
-The `clever` package must be restarted after the launch-file has been edited:
+The `clover` service must be restarted after the launch-file has been edited:
 
 ```(bash)
-sudo systemctl restart clever
+sudo systemctl restart clover
 ```
 
 You may use rqt or [web_video_server](web_video_server.md) to view the camera stream.
@@ -20,10 +22,10 @@ You may use rqt or [web_video_server](web_video_server.md) to view the camera st
 
 If the camera stream is missing, try using the [`raspistill`](https://www.raspberrypi.org/documentation/usage/camera/raspicam/raspistill.md) utility to check whether the camera works.
 
-First, stop the Clever service:
+First, stop the `clover` service:
 
 ```bash
-sudo systemctl stop clever
+sudo systemctl stop clover
 ```
 
 Then use `raspistill` to capture an image from the camera:

docs/en/camera_calibration.md

@@ -42,4 +42,4 @@ In order to calibrate the camera with the `camera_calibration` ROS-package you n
 
    When the calculation is done, you'll see calculated parameters in the terminal. The corrected camera image view will be displayed as well. If calibration was successful all straight lines will remain straight on the image displayed.
 
-7. Click the *COMMIT* button to store calculated calibration parameters. The result will be stored in the main Clover camera calibration file: `/home/pi/catkin_ws/src/clever/clever/camera_info/fisheye_cam_320.yaml`.
+7. Click the *COMMIT* button to store calculated calibration parameters. The result will be stored in the main Clover camera calibration file: `/home/pi/catkin_ws/src/clover/clover/camera_info/fisheye_cam_320.yaml`.

docs/en/camera_setup.md

@@ -13,7 +13,7 @@ In order to focus the camera lens, do the following:
 1. Open the live camera stream in your browser using [web_video_server](web_video_server.md).
 2. Rotate the lens to adjust the image. Make sure the objects that are 2-3 m from the camera are in focus.
 
-|Focused image|Unfocused image|
+|Unfocused image|Focused image|
 |-|-|
 |<img src="../assets/unfocused.png" width=300 class=zoom>|<img src="../assets/focused.png" width=300 class=zoom>|
 

docs/en/cli.md

@@ -15,7 +15,7 @@ ls
 Change current (working) directory:
 
 ```bash
-cd catkin_ws/src/clever/clever/launch
+cd catkin_ws/src/clover/clover/launch
 ```
 
 Go one directory level up:
@@ -65,16 +65,16 @@ You can use **nano** to edit files on the Raspberry Pi. It is one of the more us
    For example:
 
    ```bash
-   nano ~/catkin_ws/src/clever/clever/launch/clever.launch
+   nano ~/catkin_ws/src/clover/clover/launch/clover.launch
    ```
 
    <img src="../assets/nano.png" alt="Editing files in nano" data-action="zoom">
 2. Edit the file.
 3. Press `Ctrl`+`X`, `Y`, `Enter` to save your file and exit.
-4. Restart the `clever` package if you've changed .launch files:
+4. Restart the `clover` service if you've changed .launch files:
 
    ```bash
-   sudo systemctl restart clever
+   sudo systemctl restart clover
    ```
 
 You may also use other editors like **vim** if you prefer.

docs/en/connection.md

@@ -20,22 +20,24 @@ USB connection is the preferred way to connect to the flight controller.
 
 ## UART connection
 
+> **Note** In the image version **0.20** `clever` package and service was renamed to `clover`. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/connection.md) for older images.
+
 <!-- TODO: Connection scheme -->
 
 UART connection is another way for the Raspberry Pi and FCU to communicate.
 
 1. Connect Raspberry Pi to your FCU using a UART cable.
 2. [Connect to the Raspberry Pi over SSH](ssh.md).
-3. Change the connection type in `~/catkin_ws/src/clever/clever/launch/clever.launch` to UART:
+3. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
 
     ```xml
     <arg name="fcu_conn" default="uart"/>
     ```
 
-    Be sure to restart the `clever` service after editing the .launch file:
+    Be sure to restart the `clover` service after editing the .launch file:
 
     ```bash
-    sudo systemctl restart clever
+    sudo systemctl restart clover
     ```
 
 > **Hint** Set the `SYS_COMPANION` PX4 parameter to 921600 to enable UART on the FCU.

docs/en/firmware.md

@@ -6,7 +6,7 @@ Pixhawk or Pixracer firmware may be flashed using QGroundControl or command line
 Modified firmware for Clover
 ---
 
-It is advisable to use a specialized build of PX4 with the necessary fixes and better defaults for the Clover drone. Use the latest stable release in our [GitHub repository](https://github.com/CopterExpress/Firmware/releases) with the word `clever`, for example, `v1.8.2-clever.5`.
+It is advisable to use a specialized build of PX4 with the necessary fixes and better defaults for the Clover drone. Use the latest stable release in our [GitHub repository](https://github.com/CopterExpress/Firmware/releases) with the word `clover`, for example, `v1.8.2-clover.5`.
 
 <div id="release" style="display:none">
 <p>Latest stable release: <strong><a id="download-latest-release"></a></strong>.</p>
@@ -25,8 +25,8 @@ It is advisable to use a specialized build of PX4 with the necessary fixes and b
         // look for stable release
         let stable;
         for (let release of data) {
-            let clever = release.name.indexOf('clever') != -1;
-            if (clever && !release.prerelease && !release.draft) {
+            let clover = (release.name.indexOf('clover') != -1) || (release.name.indexOf('clever') != -1);
+            if (clover && !release.prerelease && !release.draft) {
                 stable = release;
                 break;
             }

docs/en/frames.md

@@ -3,7 +3,7 @@ Coordinate systems (frames)
 
 ![TF2 Clover frames](../assets/frames.png)
 
-Main frames in the `clever` package:
+Main frames in the `clover` package:
 
 * `map` has its origin at the flight controller initialization point and may be considered stationary. It is shown as a white grid on the image above;
 * `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;

docs/en/gcs_bridge.md

@@ -4,14 +4,14 @@ Using QGroundControl via Wi-Fi
 ![QGroundControl](../assets/qground.png)
 
 You can monitor, control, calibrate and configure the flight controller of the quadcopter using QGroundControl via Wi-Fi.
-This requires [connecting to Wi-Fi](wifi.md) of the `CLEVER-xxxx` network.
+This requires [connecting to Wi-Fi](wifi.md) of the `clover-xxxx` network.
 
-After that, in the Clover launch-file `/home/pi/catkin_ws/src/clever/clever/launch/clever.launch`, choose one of the preconfigured bridge modes.
+After that, in the Clover launch-file `/home/pi/catkin_ws/src/clover/clover/launch/clover.launch`, choose one of the preconfigured bridge modes.
 
-After editing the launch-file, restart the clever service:
+After editing the launch-file, restart the `clover` service:
 
 ```(bash)
-sudo systemctl restart clever
+sudo systemctl restart clover
 ```
 
 TCP bridge
@@ -27,7 +27,7 @@ Then in the QGroundControl program, choose Application Settings > Comm Links > A
 
 ![QGroundControl TCP connection](../assets/bridge_tcp.png)
 
-Then choose "Clover" from the list of connections, and click "Connect".
+Then choose the created connection from the list of connections, and click "Connect".
 
 UDP bridge (with automated connection)
 ---
@@ -53,7 +53,7 @@ Then in the QGroundControl program, choose Application Settings > Comm Links > A
 
 ![QGroundControl UDP connection](../assets/bridge_udp.png)
 
-Then choose "CLEVER" from the list of connections, and click "Connect".
+Then choose the created connection from the list of connections, and click "Connect".
 
 UDP broadcast bridge
 ---

docs/en/hostname.md

@@ -1,11 +1,13 @@
 # Hostname
 
-[By default](image.md) the hostname of the Clover drone is set to `clever-xxxx`, where `xxxx` are random numbers. These numbers are the same as in the [Wi-Fi SSID](wifi.md).
+> **Note** The following applies to [image version](image.md) **0.20** and up. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/hostname.md) for older images.
 
-Thus, Clover is accessible on machines that support mDNS as `clever-xxxx.local`. You can use this name to access Clover over SSH:
+[By default](image.md) the hostname of the Clover drone is set to `clover-xxxx`, where `xxxx` are random numbers. These numbers are the same as in the [Wi-Fi SSID](wifi.md).
+
+Thus, Clover is accessible on machines that support mDNS as `clover-xxxx.local`. You can use this name to access Clover over SSH:
 
 ```bash
-ssh pi@clever-xxxx.local
+ssh pi@clover-xxxx.local
 ```
 
 Also, this name can be used in place of IP-address to open Clover web pages in browser, accessing ROS master, etc.

docs/en/javascript.md

@@ -0,0 +1,54 @@
+# Work with ROS from browser
+
+Using the [`roslibjs`](http://wiki.ros.org/roslibjs) library it's possible to work with all the ROS resources (topics, services, parameters) from JavaScript code within the browser, which allows creating various interactive web applications for drone.
+
+All the required software is preinstalled in [RPi image](image.md) for Clover.
+
+## Example
+
+An example of a web page, working with `roslib.js`:
+
+```html
+<html>
+	<script src="js/roslib.js"></script>
+	<script type="text/javascript">
+		// Establish roslibjs connection
+		var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });
+
+		ros.on('connection', function () {
+			// Connection callback
+			alert('Connected');
+		});
+		
+		// Declare get_telemetry service client
+		var getTelemetry = new ROSLIB.Service({ ros: ros, name : '/get_telemetry', serviceType : 'clover/GetTelemetry' });
+
+		// Call get_telemetry
+		getTelemetry.callService(new ROSLIB.ServiceRequest({ frame_id: 'map' }), function(result) {
+			// Service respond callback
+			alert('Telemetry: ' + JSON.stringify(result));
+		});
+
+		// Subscribe to `/mavros/state` topic
+		var stateSub = new ROSLIB.Topic({ ros : ros, name : '/mavros/state', messageType : 'mavros_msgs/State' });
+		stateSub.subscribe(function(msg) {
+			// Topic message callback
+			console.log('State: ', msg);
+		});
+	</script>
+</html>
+```
+
+[Taking off, landing and all the rest operations](programming.md) can be implemented in a similar way.
+
+The page should be placed in the `/home/pi/catkin_ws/src/clover/clover/www/` directory. After that, it will be available at `http://192.168.11.1/clover/<page_name>.html`. When the page is opened, browser should show an alert with the drone telemetry and constantly print the state of the flight controller to the console.
+
+<img src="../assets/js-ros.png" class="center zoom"/>
+
+See additional information in [`roslibjs` tutorial](http://wiki.ros.org/roslibjs/Tutorials/BasicRosFunctionality).
+
+## Web GCS
+
+See an example of simplified web ground control station on Clover at http://192.168.11.1/clover/gcs.html.
+
+<img src="../assets/web-gcs.png" class="center zoom"/>

docs/en/jetson_nano.md

@@ -124,10 +124,10 @@ source devel/setup.bash
 Configure the launch files to your taste and use `roslaunch` to launch the nodes:
 
 ```bash
-roslaunch clever clever.launch
+roslaunch clover clover.launch
 ```
 
-> **Hint** You may want to start the Clover nodes automatically. This can be done with `systemd`: look at service files for [`roscore`](https://github.com/CopterExpress/clover/blob/master/builder/assets/roscore.service) and [`clever`](https://github.com/CopterExpress/clover/blob/master/builder/assets/clever.service) that are used in our image and adjust them as necessary.
+> **Hint** You may want to start the Clover nodes automatically. This can be done with `systemd`: look at service files for [`roscore`](https://github.com/CopterExpress/clover/blob/master/builder/assets/roscore.service) and [`clover`](https://github.com/CopterExpress/clover/blob/master/builder/assets/clover.service) that are used in our image and adjust them as necessary.
 
 ## Caveats
 

docs/en/laser.md

@@ -1,6 +1,6 @@
 # Working with a laser rangefinder
 
-> **Note** Documentation for the [image](image.md), versions, starting with **0.18**. For older versions refer to [documentation for version **0.17**](https://github.com/CopterExpress/clover/blob/v0.17/docs/en/laser.md).
+> **Note** Documentation for the [image](image.md), versions, starting with **0.20**. For older versions refer to [documentation for version **0.19**](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/laser.md).
 
 ## VL53L1X Rangefinder
 
@@ -10,18 +10,7 @@ The [image for Raspberry Pi](image.md) contains pre-installed corresponding ROS
 
 ### Connecting to Raspberry Pi
 
-> **Note** You need to flash a <a id="download-firmware" href="https://github.com/CopterExpress/Firmware/releases">custom PX4 firmware</a> on your flight controller for the rangefinder to work correctly. See more about firmware in the [corresponding article](firmware.md).
-
-<script type="text/javascript">
-    fetch('https://api.github.com/repos/CopterExpress/Firmware/releases').then(res => res.json()).then(function(data) {
-        for (let release of data) {
-            if (!release.prerelease && !release.draft && release.tag_name.includes('-clever.')) {
-                document.querySelector('#download-firmware').href = release.html_url;
-                return;
-            }
-        }
-    });
-</script>
+> **Hint** We recommend using our [custom PX4 firmware for Clover](firmware.md#modified-firmware-for-clover) for best laser rangefinder support.
 
 Connect the rangefinder to the 3V, GND, SCL and SDA pins via the I²C interface:
 
@@ -33,7 +22,7 @@ If the pin marked GND is occupied, you can use any other ground pin (look at the
 
 ### Enabling the rangefinder
 
-[Connect via SSH](ssh.md) and edit file `~/catkin_ws/src/clever/clever/launch/clever.launch` so that the VL53L1X driver is enabled:
+[Connect via SSH](ssh.md) and edit file `~/catkin_ws/src/clover/clover/launch/clover.launch` so that the VL53L1X driver is enabled:
 
 ```xml
 <arg name="rangefinder_vl53l1x" default="true"/>

docs/en/leds.md

@@ -1,6 +1,6 @@
 # Working with a LED strip
 
-> **Note** The following applies to image version 0.18 and up. See [previous version of the article](leds_old.md) for older images.
+> **Note** Documentation for the [image](image.md) versions, starting with **0.20**. For older versions refer to [documentation for version **0.19**](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/leds.md).
 
 Clover drone kits contain addressable LED strips based on *ws281x* drivers. Each LED may be set to any one of 16 million possible colors (each color is encoded by a 24-bit number). This allows making the Clover flight more spectacular, as well as show flight modes, display stages of current user program, and notify the pilot of other events.
 
@@ -17,13 +17,13 @@ Our [Raspberry Pi image](image.md) contains preinstalled modules for interfacing
 ## High-level control
 
 1. Connect the +5v and GND leads of your LED to a power source and the DIN (data in) lead to GPIO21. Consult the [assembly instructions](assemble_4.md#Connecting-the-LED-strip-to-Raspberry-Pi) for details.
-2. Enable LED strip support in `~/catkin_ws/src/clever/clever/launch/clever.launch`:
+2. Enable LED strip support in `~/catkin_ws/src/clover/clover/launch/clover.launch`:
 
     ```xml
     <arg name="led" default="true"/>
     ```
 
-3. Configure the *ws281x* parameters in `~/catkin_ws/src/clever/clever/launch/led.launch`. Change the number of addressable LEDs and the GPIO pin used for control to match your configuration:
+3. Configure the *ws281x* parameters in `~/catkin_ws/src/clover/clover/launch/led.launch`. Change the number of addressable LEDs and the GPIO pin used for control to match your configuration:
 
     ```xml
     <param name="led_count" value="30"/>  <!-- Number of LEDs in the strip -->
@@ -50,14 +50,12 @@ Python example:
 
 ```python
 import rospy
-from clever.srv import SetLEDEffect
+from clover.srv import SetLEDEffect
 
-# ...
+rospy.init_node('flight')
 
 set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
 
-# ..
-
 set_effect(r=255, g=0, b=0)  # fill strip with red color
 rospy.sleep(2)
 
@@ -88,7 +86,7 @@ rosservice call /led/set_effect "{effect: 'rainbow'}"
 
 ## Configuring event visualizations
 
-It is possible to display current flight controller status and notify the user about some events with the LED strip. This is configured in the `~/catkin_ws/src/clever/clever/launch/led.launch` file in the *events effects table* section. Here is a sample configuration:
+It is possible to display current flight controller status and notify the user about some events with the LED strip. This is configured in the `~/catkin_ws/src/clover/clover/launch/led.launch` file in the *events effects table* section. Here is a sample configuration:
 
 ```xml
 startup: { r: 255, g: 255, b: 255 }
@@ -110,7 +108,7 @@ The left part is one of the possible events that the strip reacts to. The right
 
 > **Note** You need to [calibrate the power sensor](power.md#calibrating-the-power-sensor) for the `low_battery` event to work properly.
 
-In order to disable LED strip notifications set `led_notify` argument in `~/catkin_ws/src/clever/clever/launch/led.launch` to `false`:
+In order to disable LED strip notifications set `led_notify` argument in `~/catkin_ws/src/clover/clover/launch/led.launch` to `false`:
 
 ```xml
 <arg name="led_notify" default="false"/>
@@ -127,12 +125,10 @@ import rospy
 from led_msgs.srv import SetLEDs
 from led_msgs.msg import LEDStateArray, LEDState
 
-# ...
+rospy.init_node('flight')
 
 set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs)  # define proxy to ROS service
 
-# ...
-
 # switch LEDs number 0, 1 and 2 to red, green and blue color:
 set_leds([LEDState(0, 255, 0, 0), LEDState(1, 0, 255, 0), LEDState(2, 0, 0, 255)])
 ```

docs/en/mavros.md

@@ -12,7 +12,7 @@ The MAVROS node is automatically started in the Clover launch-file. In order to
 
 <!-- -->
 
-> **Note** Some MAVROS plugins are disabled by default in the `clever` package in order to save resources. For more information, see the `plugin_blacklist` parameter in `/home/pi/catkin_ws/src/clever/clever/launch/mavros.launch`.
+> **Note** Some MAVROS plugins are disabled by default in the `clover` package in order to save resources. For more information, see the `plugin_blacklist` parameter in `/home/pi/catkin_ws/src/clover/clover/launch/mavros.launch`.
 
 ## Main services
 

docs/en/network.md

@@ -20,7 +20,7 @@ On our [RPi image](image.md) the Wi-Fi adapter is configured to use the [access
     ```txt
     network={
         ssid="my-super-ssid"
-        psk="cleverwifi123"
+        psk="cloverwifi123"
         mode=2
         proto=RSN
         key_mgmt=WPA-PSK
@@ -90,8 +90,8 @@ On our [RPi image](image.md) the Wi-Fi adapter is configured to use the [access
     country=GB
 
     network={
-        ssid="CLEVER-1234"
-        psk="cleverwifi"
+        ssid="clover-1234"
+        psk="cloverwifi"
         mode=2
         proto=RSN
         key_mgmt=WPA-PSK
@@ -101,7 +101,7 @@ On our [RPi image](image.md) the Wi-Fi adapter is configured to use the [access
     }
     ```
 
-    where `CLEVER-1234` is the network name and `cleverwifi` is the password.
+    where `clover-1234` is the network name and `cloverwifi` is the password.
 
 3. Enable the `dnsmasq` service.
 
@@ -155,8 +155,8 @@ update_config=1
 country=GB
 
 network={
-        ssid=\"CLEVER-SMIRNOV\"
-        psk=\"cleverwifi\"
+        ssid=\"my-clover\"
+        psk=\"cloverwifi\"
         mode=2
         proto=RSN
         key_mgmt=WPA-PSK
@@ -212,7 +212,7 @@ sudo apt install dnsmasq-base
 
 ```bash
 # Calling dnsmasq-base
-sudo dnsmasq --interface=wlan0 --address=/clever/coex/192.168.11.1 --no-daemon --dhcp-range=192.168.11.100,192.168.11.200,12h --no-hosts --filterwin2k --bogus-priv --domain-needed --quiet-dhcp6 --log-queries
+sudo dnsmasq --interface=wlan0 --address=/clover/coex/192.168.11.1 --no-daemon --dhcp-range=192.168.11.100,192.168.11.200,12h --no-hosts --filterwin2k --bogus-priv --domain-needed --quiet-dhcp6 --log-queries
 
 # More about dnsmasq-base
 dnsmasq --help
@@ -230,7 +230,7 @@ sudo apt install dnsmasq
 ```bash
 cat << EOF | sudo tee -a /etc/dnsmasq.conf
 interface=wlan0
-address=/clever/coex/192.168.11.1
+address=/clover/coex/192.168.11.1
 dhcp-range=192.168.11.100,192.168.11.200,12h
 no-hosts
 filterwin2k

docs/en/optical_flow.md

@@ -8,7 +8,7 @@ Running the technology "Optical Flow" offers the possibility of POSCTL flight mo
 
 The use of a rangefinder is essential. [Connect and setup laser-ranging sensor VL53L1X](laser.md), according to the manual.
 
-Enable Optical Flow in the file `~/catkin_ws/src/clever/clever/launch/clever.launch`:
+Enable Optical Flow in the file `~/catkin_ws/src/clover/clover/launch/clover.launch`:
 
 ```xml
 <arg name="optical_flow" default="true"/>
@@ -20,7 +20,7 @@ Optical Flow publishes data in `mavros/px4flow/raw/send` topic. In the topic `op
 
 ## Setup of the flight controller
 
-> **Hint** Suggested parameters are applied automatically in [our custom PX4 firmware](firmware.md#modified-firmware-for-clever).
+> **Hint** Suggested parameters are applied automatically in [our custom PX4 firmware](firmware.md#modified-firmware-for-clover).
 
 When using **EKF2** (parameter `SYS_MC_EST_GROUP` = `ekf2`):
 

docs/en/programming.md

@@ -4,7 +4,7 @@
 
 The Clover platform allows a [Raspberry Pi](raspberry.md) computer to be used for programming autonomous flights. The flight program is typically written using the Python programming language. The program may [receive telemetry data](simple_offboard.md#get_telemetry) (which includes battery data, attitude, position, and other parameters) and send commands like: [fly to a point in space](simple_offboard.md#navigate), [set attitude](simple_offboard.md#set_attitude), [set angular rates](simple_offboard.md#set_rates), and others.
 
-The platform utilizes the [ROS framework](ros.md), which allows the user program to communicate with the Clover services that are running as a `clever` systemd daemon. The [MAVROS](mavros.md) package is used to interact with the flight controller.
+The platform utilizes the [ROS framework](ros.md), which allows the user program to communicate with the Clover services that are running as a `clover` systemd daemon. The [MAVROS](mavros.md) package is used to interact with the flight controller.
 
 PX4 uses [OFFBOARD mode](modes.md#auto) for autonomous flights. The Clover API can be used to transition the drone to this flight mode automatically. If you need to interrupt the autonomous flight, use your flight mode stick on your RC controller to transition to any other flight mode.
 
@@ -44,7 +44,7 @@ Below is a complete flight program that performs a takeoff, flies forward and la
 #coding: utf8
 
 import rospy
-from clever import srv
+from clover import srv
 from std_srvs.srv import Trigger
 
 rospy.init_node('flight')

docs/en/rc.md

@@ -16,7 +16,7 @@ Configuring
 
 > **Warning** An open QGroundControl or rviz connection sends large amounts of data over Wi-Fi, which can adversely affect responsiveness of the mobile transmitter. It is recommended not to use these applications together with it.
 
-Install [Clover image on RPi](image.md). For running the application, settings `rosbridge` and `rc` in the launch file (`~/catkin_ws/src/clever/clever/launch/clever.launch`) should be enabled:
+Install [Clover image on RPi](image.md). For running the application, settings `rosbridge` and `rc` in the launch file (`~/catkin_ws/src/clover/clover/launch/clover.launch`) should be enabled:
 
 ```xml
 <arg name="rosbridge" default="true"/>
@@ -26,10 +26,10 @@ Install [Clover image on RPi](image.md). For running the application, settings `
 <arg name="rc" default="true"/>
 ```
 
-After the launch-file is edited, restart package `clever`:
+After the launch-file is edited, restart package `clover`:
 
-```(bash)
-sudo systemctl restart clever
+```bash
+sudo systemctl restart clover
 ```
 
 Also make sure that PX4-parameter `COM_RC_IN_MODE` is set to `0` (RC Transmitter).
@@ -44,7 +44,7 @@ Additional PX4 parameters:
 Connection
 ---
 
-Connect the smartphone to Clover [Wi-Fi](wifi.md) network (`CLEVER-xxxx`). The application should connect to the copter automatically. Upon successful connection, the current [mode](modes.md) and the battery charge level should be displayed.
+Connect the smartphone to Clover [Wi-Fi](wifi.md) network (`clover-xxxx`). The application should connect to the copter automatically. Upon successful connection, the current [mode](modes.md) and the battery charge level should be displayed.
 
 The sticks on the screen of the application work just like real sticks. To arm the copter, hold the left stick in the bottom right corner for several seconds. To disarm — in the bottom left corner.
 

docs/en/rc_flysky_a8s.md

@@ -0,0 +1,107 @@
+# Using Flysky FS-A8S
+
+The Flysky FS-A8S receiver is compatible with the Flysky FS-i6 and FS-i6x transmitters. The receiver can output both analog PPM and digital S.Bus/i-Bus signals to the flight controller.
+
+S.Bus is the preferred protocol for the receiver.
+
+## Making a cable
+
+> **Note** You don't need to follow these steps if you already have the right cable; read on to learn [how to bind your transmitter](#rc_bind).
+
+1. Gently remove the yellow wire from the receiver connector. Use sharp tweezers to lift up the plastic wire lock:
+
+    <div class="image-group">
+        <img src="../assets/flysky_a8s/01_remove_cable_fs.png" width=300 class="zoom border" alt="a8s wire removal 1">
+        <img src="../assets/flysky_a8s/02_remove_cable_fs.png" width=300 class="zoom border" alt="a8s wire removal 2">
+    </div>
+
+2. [Pixracer only] Remove the green and brown wires from the 5-pin connector:
+
+    <div class="image-group">
+        <img src="../assets/flysky_a8s/03_remove_cable_pixracer.png" width=300 class="zoom border" alt="pixracer wire removal 1">
+        <img src="../assets/flysky_a8s/04_remove_cable_pixracer.png" width=300 class="zoom border" alt="pixracer wire removal 2">
+    </div>
+
+3. [COEX Pix only] Remove the green wire (or blue if the green one is not present) from the 4-pin connector:
+
+    <div class="image-group">
+        <img src="../assets/flysky_a8s/05_remove_cable_coexpix.png" width=300 class="zoom border" alt="coexpix wire removal 1">
+        <img src="../assets/flysky_a8s/06_remove_cable_coexpix.png" width=300 class="zoom border" alt="coexpix wire removal 2">
+    </div>
+
+4. Use side cutters to cut the Dupont connectors:
+
+    <div class="image-group">
+        <img src="../assets/flysky_a8s/07_wirecuts_1.png" width=300 class="zoom border" alt="wire cutting">
+        <img src="../assets/flysky_a8s/08_wirecuts_2.png" width=300 class="zoom border" alt="wire cuts">
+    </div>
+
+5. Strip and tin 5-7 mm of wire from each side:
+
+    <img src="../assets/flysky_a8s/09_wirecuts_stripped.png" width=300 class="zoom border center" alt="tinning prep">
+
+6. Put heat shrinking tubes on the wires:
+
+    <img src="../assets/flysky_a8s/10_heatshrink.png" width=300 class="zoom border center" alt="shrink tubing">
+
+7. Solder the following wires:
+    * black wire from the receiver connector to the black wire from the flight controller connector;
+    * red wire from the receiver connector to the red wire from the flight controller connector;
+    * white wire from the receiver connector to the white (if you're using Pixracer) or yellow (if you're using COEX Pix) wire from the flight controller connector:
+
+    <img src="../assets/flysky_a8s/11_solder_scheme.png" width=300 class="zoom border center" alt="wire soldering">
+
+8. Put the heat shrinking tubes on the solder joints and heat them:
+
+    <img src="../assets/flysky_a8s/12_heatshrink_heat.png" width=300 class="zoom border center" alt="shrink tube heating">
+
+9. Twist your new cable:
+
+    <img src="../assets/flysky_a8s/13_cable_twist.png" width=300 class="zoom border center" alt="twisted cables">
+
+Connect your receiver to the RC IN port on your flight controller:
+
+<div class="image-group">
+    <img src="../assets/flysky_a8s/14_pixracer_rcin.png" width=300 class="zoom border center" alt="pixracer connection">
+    <img src="../assets/flysky_a8s/14_coexpix_rcin.png" width=300 class="zoom border center" alt="coex pix connection">
+</div>
+
+> **Hint** Double check that you're using the RC IN port on the COEX Pix:
+<img src="../assets/coexpix-bottom.jpg" width=300 class="zoom border center" alt="coex pix pinout">
+
+## Binding your transmitter {#rc_bind}
+
+Do the following to bind your transmitter to the FS-A8S receiver:
+
+1. Make sure your flight controller is powered off.
+2. Hold the **BIND** button on the receiver:
+
+    <img src="../assets/flysky_a8s/15_bind_key.png" width=300 class="zoom border center" alt="bind key">
+
+3. Turn on the flight controller. The LED light on the receiver should blink fast, about 3 times per second.
+
+    <img src="../assets/flysky_a8s/16_blink_fast.gif" width=300 class="zoom border center" alt="fast blink">
+
+4. Hold the **BIND KEY** on your transmitter and power it on. You should see a message saying **RX Binding...**
+
+    <img src="../assets/flysky_a8s/17_controller_rxbind.png" width=300 class="zoom border center" alt="rx binding">
+
+5. The LED light on the receiver should start blinking slowly, about once per second.
+
+    <img src="../assets/flysky_a8s/16_blink_slow.gif" width=300 class="zoom border center" alt="slow blink">
+
+6. Turn your transmitter off and on again. The LED light on the receiver should glow steadily.
+
+    <img src="../assets/flysky_a8s/16_bind_indicator.png" width=300 class="zoom border center" alt="steady glow">
+
+> **Note** This receiver does not send any telemetry data back to the transmitter. Your transmitter will not display any data like RSSI and drone battery level on its screen. In fact, there will be no indication that the transmitter is connected to the receiver. This is not a malfunction, the controls will still work.
+
+## Changing the receiver mode (S.Bus/i-Bus)
+
+Connect your flight controller to your computer and open QGroundControl. In it, open the Radio tab:
+
+![qgc radio pane](../assets/flysky_a8s/18_qgc_radio.png)
+
+If it shows zero channels under the transmitter image, hold the **BIND** key on the receiver for 2 seconds. You should then see 18 channels appear under the image:
+
+![qgc radio with channels](../assets/flysky_a8s/19_qgc_channels.png)

docs/en/robocross2019.md

@@ -0,0 +1,25 @@
+# Robocross-2019
+
+On July, 2019, for the fourth time in a row, the team Copter Express won the annual tests of unmanned vehicles "[Robocross](http://russianrobotics.ru/activities/robokross-2019/)". Tests are held at the GAZ test site near Nizhny Novgorod.
+
+The main objective of the tests in the UAV category was to localize and destroy the target - the red balloon - autonomously.
+
+## Video
+
+<iframe width="560" height="315" src="https://www.youtube.com/embed/zMh5THdHuX8" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+## Implementation
+
+The team used an F450 frame based quadcopter and [Clover software platform](https://github.com/CopterExpress/clover). The final source code is available [on GitHub](https://github.com/CopterExpress/robocross2019/).
+
+`robocross2019` ROS package is divided into two parts: `red_dead_detection` ROS nodelet recognizes the red ball, `ball.py` implements high-level flight logic.
+
+## red_dead_detection
+
+The `red_dead_detection` nodelet recognizes the red ball on the image from the forward looking quadcopter camera (`/front_camera/image_raw` and `/front_camera/camera_info` topics). The simplest method of filtering the image by color is applied. Then the nodelet calculates the geometric center of the detected segments, and performs camera distortion compensation (`cv::undistortPoints`).
+
+Using the known focal lengths of the camera (from `camera_info`), the nodelet calculates the vector directed towards the target. The resulting vector is published to the topic `/red_dead_detection/direction`; its coordinate system (`frame_id` is associated with the front camera `front_camera_optical`).
+
+## balloon.py
+
+To fly towards the ball, the direction vector `red_dead_detection/direction` is used, which is set as a setpoint for the velocity of the drone. The yaw angle is also set towards the ball. The target is considered destroyed when the total area of red pixels is less than the threshold for a certain amount of camera frames.

docs/en/ros-install.md

@@ -17,7 +17,7 @@ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main
 Configure access keys in your system for correct download:
 
 ```bash
-sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 ```
 
 Make sure that your packages are up to date:

docs/en/ros.md

@@ -84,11 +84,11 @@ A service can be assimilated to the a function that can be called from one node,
 An example ROS service invoking from Python:
 
 ```python
-from clever.srv import GetTelemetry
+from clover.srv import GetTelemetry
 
 # ...
 
-# Creating a wrapper for the get_telemetry service of the clever package with the GetTelemetry type:
+# Creating a wrapper for the get_telemetry service of the clover package with the GetTelemetry type:
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 
 # Invoking the service, and receiving the quadcopter telemetry:

docs/en/rviz.md

@@ -14,7 +14,7 @@ Install package `ros-melodic-desktop-full` or `ros-melodic-desktop` using the [i
 Start rviz
 ---
 
-To start еру visualization of the state of Clover in real time, connect to it via Wi-Fi (`CLEVER-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
+To start еру visualization of the state of Clover in real time, connect to it via Wi-Fi (`clover-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
 
 ```(bash)
 ROS_MASTER_URI=http://192.168.11.1:11311 rviz

docs/en/selfcheck.md

@@ -7,7 +7,7 @@ It is generally a good idea to perform this check before flight, especially befo
 In order to run it, enter the following command in [the Raspberry Pi console](ssh.md):
 
 ```(bash)
-rosrun clever selfcheck.py
+rosrun clover selfcheck.py
 ```
 
 <img src="../assets/selfcheck.png">

docs/en/simple_offboard.md

@@ -1,13 +1,13 @@
 Simple OFFBOARD
 ===
 
-> **Note** The following applies to [image](image.md) versions **0.15** and up. Older documentation is still avaliable [for version **0.14**](https://github.com/CopterExpress/clover/blob/v0.14/docs/ru/simple_offboard.md) (Russian only).
+> **Note** In the image version **0.20** `clever` package was renamed to `clover`. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/simple_offboard.md) for older images.
 
 <!-- -->
 
-> **Hint** We recommend using our [special PX4 firmware for Clover](firmware.md#modified-firmware-for-clever) for autonomous flights.
+> **Hint** We recommend using our [custom PX4 firmware for Clover](firmware.md#modified-firmware-for-clover) for autonomous flights.
 
-The `simple_offboard` module of the `clever` package is intended for simplified programming of the autonomous drone flight (`OFFBOARD` [flight mode](modes.md)). It allows setting the desired flight tasks, and automatically transforms [coordinates between frames](frames.md).
+The `simple_offboard` module of the `clover` package is intended for simplified programming of the autonomous drone flight (`OFFBOARD` [flight mode](modes.md)). It allows setting the desired flight tasks, and automatically transforms [coordinates between frames](frames.md).
 
 `simple_offboard` is a high level system for interacting with the flight controller. For a more low level system, see [mavros](mavros.md).
 
@@ -20,7 +20,7 @@ You need to create proxies for services before calling them. Use the following t
 
 ```python
 import rospy
-from clever import srv
+from clover import srv
 from std_srvs.srv import Trigger
 
 rospy.init_node('flight') # 'flight' is name of your ROS node

docs/en/snippets.md

@@ -361,7 +361,7 @@ rospy.loginfo('flip')
 flip()
 ```
 
-Requires the [special PX4 firmware for Clover](firmware.md#modified-firmware-for-clever). Before running a flip, take all necessary safty precautions.
+Requires the [special PX4 firmware for Clover](firmware.md#modified-firmware-for-clover). Before running a flip, take all necessary safty precautions.
 
 ### # {#calibrate-gyro}
 

docs/en/uart.md

@@ -69,7 +69,7 @@ sudo systemctl disable hciuart.service
 
 ## Default image configuration
 
-In image CLEVER, we initially disabled Mini UART and the Bluetooth module.
+In the [Clover image for RPi](image.md), we initially disabled Mini UART and the Bluetooth module.
 
 Bugs
 ----

docs/en/web_video_server.md

@@ -1,28 +1,12 @@
 # Viewing images from cameras
 
-To view images from cameras (or other ROS topics), you can use [rviz](rviz.md), rqt, or watch them in a browser using web\_video\_server.
+To view images from cameras (or other ROS topics), you can use [rviz](rviz.md), rqt, or watch them in a browser using web_video_server.
 
 See read more about [using rqt](rviz.md).
 
 ## Viewing in a browser
 
-### Configuration
-
-Make sure that in Clover launch-file \(`~/catkin_ws/src/clever/clever/launch/clever.launch`\), starting `web_video_server` is enabled:
-
-```xml
-<arg name="web_video_server" default="true"/>
-```
-
-After the launch-file is edited, restart package `clever`:
-
-```bash
-sudo systemctl restart clever
-```
-
-### Viewing
-
-To view a video-stream, you have to [connect to Wi-Fi](wifi.md) of Clover \(`CLEVER-xxxx`\), navigate to page [http://192.168.11.1:8080/](http://192.168.11.1:8080/), and choose the topic.
+To view a video-stream, you have to [connect to Wi-Fi network](wifi.md) of the Clover (`clover-xxxx`), navigate to page [http://192.168.11.1:8080/](http://192.168.11.1:8080/), and choose the topic.
 
 ![Viewing web_video_server](../assets/web_video_server.png)
 

docs/en/wifi.md

@@ -1,9 +1,11 @@
 Connecting to Clover via Wi-Fi
 ===
 
-[RPi image](image.md) provides a pre-configured Wi-Fi access point with SSID `CLEVER-xxxx`, where `xxxx` are four random numbers that are assigned when your Raspberry Pi is run for the first time.
+> **Note** The following applies to [image version](image.md) **0.20** and up. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/wifi.md) for older images.
 
-Connect to this Wi-Fi using the password `cleverwifi`.
+[RPi image](image.md) provides a pre-configured Wi-Fi access point with SSID `clover-xxxx`, where `xxxx` are four random numbers that are assigned when your Raspberry Pi is run for the first time.
+
+Connect to this Wi-Fi using the password `cloverwifi`.
 
 <img src="../assets/ssid.png" width="300px" alt="Wi-Fi SSID">
 
@@ -13,6 +15,6 @@ To edit Wi-Fi settings, or to obtain more detailed information about the network
 
 After connecting to Clover Wi-Fi, open http://192.168.11.1 in you web browser. It contains all the basic web tools of Clover: viewing image topics, web terminal (Butterfly), and the full copy of this documentation.
 
-<img src="../assets/web.png" alt="Веб-интерфейс Клевера" class="zoom">
+<img src="../assets/web.png" alt="Clover Web Interface" class="zoom">
 
 **Next**: [Connecting Raspberry Pi to the flight controller](connection.md).

docs/ru/SUMMARY.md

@@ -11,6 +11,7 @@
   * [Первоначальная настройка](setup.md)
   * [Калибровка датчиков](calibration.md)
   * [Настройка пульта](radio.md)
+    * [Работа с FS-A8S](rc_flysky_a8s.md)
   * [Полетные режимы](modes.md)
   * [Настройка питания](power.md)
   * [Настройка failsafe](failsafe.md)
@@ -42,6 +43,7 @@
   * [Компьютерное зрение](camera.md)
   * [Визуализация с помощью rviz](rviz.md)
   * [Автозапуск ПО](autolaunch.md)
+  * [Использование JavaScript](javascript.md)
   * [ROS](ros.md)
   * [MAVROS](mavros.md)
 * Дополнительные материалы

docs/ru/arduino.md

@@ -18,7 +18,7 @@ rosrun rosserial_arduino make_libraries.py .
 
 ## Настройка Raspberry Pi
 
-Для запуска `rosserial` создайте файл `arduino.launch` в каталоге `~/catkin_ws/src/clever/clever/launch/` со следующим содержимым:
+Для запуска `rosserial` создайте файл `arduino.launch` в каталоге `~/catkin_ws/src/clover/clover/launch/` со следующим содержимым:
 
 ```xml
 <launch>
@@ -31,19 +31,19 @@ rosrun rosserial_arduino make_libraries.py .
 Чтобы единоразово запустить программу на Arduino, можно будет воспользоваться командой:
 
 ```bash
-roslaunch clever arduino.launch
+roslaunch clover arduino.launch
 ```
 
-Чтобы запускать связку с Arduino при старте системы автоматически, необходимо добавить запуск созданного launch-файла в основной launch-файл Клевера (`~/catkin_ws/src/clever/clever/launch/clever.launch`). Добавьте в конец этого файла строку:
+Чтобы запускать связку с Arduino при старте системы автоматически, необходимо добавить запуск созданного launch-файла в основной launch-файл Клевера (`~/catkin_ws/src/clover/clover/launch/clover.launch`). Добавьте в конец этого файла строку:
 
 ```xml
-<include file="$(find clever)/launch/arduino.launch"/>
+<include file="$(find clover)/launch/arduino.launch"/>
 ```
 
-При изменении launch-файла необходимо перезапустить пакет `clever`:
+При изменении launch-файла необходимо перезапустить пакет `clover`:
 
 ```bash
-sudo systemctl restart clever
+sudo systemctl restart clover
 ```
 
 ## Задержки
@@ -79,11 +79,11 @@ for(int i=0; i<8; i++) {
 // Подключение библиотек для работы с rosseral
 #include <ros.h>
 
-// Подключение заголовочных файлов сообщений пакета Clever и MAVROS
-#include <clever/Navigate.h>
+// Подключение заголовочных файлов сообщений пакета clover и MAVROS
+#include <clover/Navigate.h>
 #include <mavros_msgs/SetMode.h>
 
-using namespace clever;
+using namespace clover;
 using namespace mavros_msgs;
 
 ros::NodeHandle nh;
@@ -184,7 +184,7 @@ void loop()
 
 // ...
 
-#include <clever/GetTelemetry.h>
+#include <clover/GetTelemetry.h>
 
 // ...
 

docs/ru/aruco_map.md

@@ -10,13 +10,13 @@
 
 ## Конфигурирование
 
-Аргумент `aruco` в файле `~/catkin_ws/src/clever/clever/launch/clever.launch` должен быть в значении `true`:
+Аргумент `aruco` в файле `~/catkin_ws/src/clover/clover/launch/clover.launch` должен быть в значении `true`:
 
 ```xml
 <arg name="aruco" default="true"/>
 ```
 
-Для включения распознавания карт маркеров аргументы `aruco_map` и `aruco_detect` в файле `~/catkin_ws/src/clever/clever/launch/aruco.launch` должны быть в значении `true`:
+Для включения распознавания карт маркеров аргументы `aruco_map` и `aruco_detect` в файле `~/catkin_ws/src/clover/clover/launch/aruco.launch` должны быть в значении `true`:
 
 ```xml
 <arg name="aruco_detect" default="true"/>
@@ -45,12 +45,12 @@ id_маркера размер_маркера x y z угол_z угол_y уго
 <param name="map" value="$(find aruco_pose)/map/map.txt"/>
 ```
 
-Смотрите примеры карт маркеров в каталоге [`~/catkin_ws/src/clever/aruco_pose/map`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
+Смотрите примеры карт маркеров в каталоге [`~/catkin_ws/src/clover/aruco_pose/map`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
 
 Файл карты может быть сгенерирован с помощью инструмента `genmap.py`:
 
 ```bash
-rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clever/aruco_pose/map/test_map.txt
+rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
 ```
 
 Где `length` – размер маркера, `x` – количество маркеров по оси *x*, `y` - количество маркеров по оси *y*, `dist_x` – расстояние между центрами маркеров по оси *x*, `y` – расстояние между центрами маркеров по оси *y*, `first` – ID первого (левого нижнего) маркера, `test_map.txt` – название файла с картой. Дополнительный ключ `--bottom-left` позволяет нумеровать маркеры с левого нижнего угла.
@@ -58,7 +58,7 @@ rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/cle
 Пример:
 
 ```bash
-rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clever/aruco_pose/map/test_map.txt
+rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
 ```
 
 Дополнительную информацию по утилите можно получить по ключу `-h`: `rosrun aruco_pose genmap.py -h`.
@@ -91,23 +91,23 @@ rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clever/aruco_pose/m
 
 Для работы механизма Vision Position Estimation необходимы следующие [настройки PX4](px4_parameters.md).
 
-При использовании **EKF2** (параметр `SYS_MC_EST_GROUP` = `ekf2`):
-
-* В параметре `EKF2_AID_MASK` включены флажки `vision position fusion`, `vision yaw fusion`.
-* Шум угла по зрению: `EKF2_EVA_NOISE` = 0.1 rad
-* Шум позиции по зрению: `EKF2_EVP_NOISE` = 0.1 m
-* `EKF2_EV_DELAY` = 0
-
 При использовании **LPE** (параметр `SYS_MC_EST_GROUP` = `local_position_estimator, attitude_estimator_q`):
 
 * В параметре `LPE_FUSION` включены флажки `vision position`, `land detector`. Флажок `baro` рекомендуется отключить.
 * Вес угла по рысканью по зрению: `ATT_W_EXT_HDG` = 0.5
 * Включена ориентация по Yaw по зрению: `ATT_EXT_HDG_M` = 1 `Vision`.
 * Шумы позиции по зрению: `LPE_VIS_XY` = 0.1 m, `LPE_VIS_Z` = 0.1 m.
-* `LPE_VIS_DELAY` = 0 sec
+* `LPE_VIS_DELAY` = 0 sec.
 
 <!-- * Выключен компас: `ATT_W_MAG` = 0 -->
 
+При использовании **EKF2** (параметр `SYS_MC_EST_GROUP` = `ekf2`):
+
+* В параметре `EKF2_AID_MASK` включены флажки `vision position fusion`, `vision yaw fusion`.
+* Шум угла по зрению: `EKF2_EVA_NOISE` = 0.1 rad.
+* Шум позиции по зрению: `EKF2_EVP_NOISE` = 0.1 m.
+* `EKF2_EV_DELAY` = 0.
+
 > **Hint** На данный момент для полета по маркерам рекомендуется использование **LPE**.
 
 Для проверки правильности всех настроек можно [воспользоваться утилитой `selfcheck.py`](selfcheck.md).
@@ -154,7 +154,7 @@ navigate(frame_id='aruco_5', x=0, y=0, z=1)
 
 Для навигации по маркерам, расположенным на потолке, необходимо поставить основную камеру так, чтобы она смотрела вверх и [установить соответствующий фрейм камеры](camera_setup.md#frame).
 
-Также в файле `~/catkin_ws/src/clever/clever/launch/aruco.launch` необходимо установить параметр `known_tilt` в секциях `aruco_detect` и `aruco_map` в значение `map_flipped`:
+Также в файле `~/catkin_ws/src/clover/clover/launch/aruco.launch` необходимо установить параметр `known_tilt` в секциях `aruco_detect` и `aruco_map` в значение `map_flipped`:
 
 ```xml
 <param name="known_tilt" value="map_flipped"/>

docs/ru/aruco_marker.md

@@ -10,13 +10,13 @@
 
 ## Настройка
 
-Аргумент `aruco` в файле `~/catkin_ws/src/clever/clever/launch/clever.launch` должен быть в значении `true`:
+Аргумент `aruco` в файле `~/catkin_ws/src/clover/clover/launch/clover.launch` должен быть в значении `true`:
 
 ```xml
 <arg name="aruco" default="true"/>
 ```
 
-Для включения распознавания маркеров аргумент `aruco_detect` в файле `~/catkin_ws/src/clever/clever/launch/aruco.launch` должен быть в значении `true`:
+Для включения распознавания маркеров аргумент `aruco_detect` в файле `~/catkin_ws/src/clover/clover/launch/aruco.launch` должен быть в значении `true`:
 
 ```xml
 <arg name="aruco_detect" default="true"/>

docs/ru/auto_setup.md

@@ -1,5 +1,7 @@
 # Пошаговая инструкция по настройке автономного полета Клевера 4
 
+> **Note** Документация для версий [образа](image.md), начиная с **0.20**. Для более ранних версий см. [документацию для версии **0.19**](https://github.com/CopterExpress/clover/blob/v0.19/docs/ru/auto_setup.md).
+
 Данная инструкция содержит ссылки на другие статьи, в которых каждая из затронутых тем разобрана более подробно. Если вы столкнулись с трудностями во время прочтения одной из таких статей, рекомендуется вернуться к данной инструкции, так как здесь многие операции описаны пошагово, а также отсутствуют ненужные шаги.
 
 ## Первоначальная настройка Raspberry Pi
@@ -58,7 +60,7 @@ ls
 Перейти в папку с прописыванием пути к ней:
 
 ```bash
-cd catkin_ws/src/clever/clever/launch/
+cd catkin_ws/src/clover/clover/launch/
 ```
 
 Перейти в домашнюю директорию:
@@ -73,10 +75,10 @@ cd
 nano file.py
 ```
 
-Открыть файл clever.launch с прописыванием полного пути к нему (сработает, если вы находитесь в другой папке):
+Открыть файл clover.launch с прописыванием полного пути к нему (сработает, если вы находитесь в другой папке):
 
 ```bash
-nano ~/catkin_ws/src/clever/clever/launch/clever.launch
+nano ~/catkin_ws/src/clover/clover/launch/clover.launch
 ```
 
 Сохранить файл (нажимать последовательно):
@@ -106,13 +108,13 @@ sudo reboot
 Перезапуск только систем Клевера:
 
 ```bash
-sudo systemctl restart clever
+sudo systemctl restart clover
 ```
 
 Выполнить самопроверку Клевера:
 
 ```bash
-rosrun clever selfcheck.py
+rosrun clover selfcheck.py
 ```
 
 Остановить программу
@@ -130,7 +132,7 @@ python myprogram.py
 Журнал событий процессов Клевера. Пролистывать список можно нажатием Enter или сочетанием клавиш Ctrl+V (пролистывает быстрее):
 
 ```bash
-journalctl -u clever
+journalctl -u clover
 ```
 
 Открыть файл sudoers от имени администратора (он не откроется без прописывания sudo. Через sudo можно запускать другие команды, если они не открываются без прав администратора):
@@ -141,42 +143,42 @@ sudo nano /etc/sudoers
 
 ## Настройка параметров Raspberry Pi для автономного полета
 
-Большинство параметров, необходимых для полета, хранится в папке `~/catkin_ws/src/clever/clever/launch/`.
+Большинство параметров, необходимых для полета, хранится в папке `~/catkin_ws/src/clover/clover/launch/`.
 
 - Зайти в папку:
 
   ```bash
-  cd ~/catkin_ws/src/clever/clever/launch/
+  cd ~/catkin_ws/src/clover/clover/launch/
   ```
 
   Символ `~` обозначает домашнюю директорию вашего пользователя. Если вы уже находитесь в ней, можно обойтись командой:
-`cd catkin_ws/src/clever/clever/launch/`
+`cd catkin_ws/src/clover/clover/launch/`
 
   > **Hint** Клавишей Tab можно автоматически дополнить названия файлов, папок или команд. Нужно начать вводить желаемое название и нажать Tab. Если не будет конфликтов, название напишется полностью. Например, чтобы быстро ввести путь к папке с настройками, после ввода `cd` можно начать вводить следующую комбинацию клавиш: `c-Tab-s-Tab-c-Tab-c-Tab-l-Tab`. Таким образом можно сэкономить много времени при написании длинной команды, а также избежать возможных ошибок в написании пути.
 
 - В этой папке необходимо сконфигурировать несколько файлов:
 
-  - `clever.launch`
+  - `clover.launch`
   - `aruco.launch`
   - `main_camera.launch`
 
-- Открыть файл `clever.launch`:
+- Открыть файл `clover.launch`:
 
   ```bash
-  nano clever.launch
+  nano clover.launch
   ```
 
   Вы должны находиться в папке, в которой располагается файл. Если вы находитесь в другой папке, файл можно открыть, прописав полный путь к нему:
 
   ```bash
-  nano ~/catkin_ws/src/clever/clever/launch/clever.launch
+  nano ~/catkin_ws/src/clover/clover/launch/clover.launch
   ```
 
   Если файл одновременно редактируют два пользователя, а также если в прошлый раз закрытие файла произошло некорректно, программа nano не отобразит файл сразу, а попросит дополнительное разрешение. Для этого нужно нажать клавишу Y.
 
   Если содержимое файла все равно пусто, возможно, вы неверно ввели имя файла. Нужно обращать внимание на расширение и вписывать его полностью. Если вы вписали неверное имя или расширение, программа nano создаст пустой файл с этим названием, что нежелательно. Такой файл следует удалить.
 
-- В файле clever.launch найти строчку:
+- В файле clover.launch найти строчку:
 
   ```
   <arg name="aruco" default="false"/>
@@ -214,7 +216,7 @@ sudo nano /etc/sudoers
   - нумерация идет с верхнего левого угла (ключ `--top-left`)
 
   ```bash
-  rosrun aruco_pose genmap.py 0.335 10 10 1 1 0 > ~/catkin_ws/src/clever/aruco_pose/map/map.txt --top-left
+  rosrun aruco_pose genmap.py 0.335 10 10 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/map/map.txt --top-left
   ```
 
   В большинстве полей нумерация начинается с нулевой метки. Также в большинстве случаев нумерация начинается с верхнего левого угла, поэтому при генерации очень важно указывать ключ `--top-left`.
@@ -264,7 +266,7 @@ sudo nano /etc/sudoers
 - Перезагрузите модуль Клевер:
 
   ```bash
-  sudo systemctl restart clever
+  sudo systemctl restart clover
   ```
 
 ## Настройка полетного контроллера для автономного полета
@@ -295,7 +297,7 @@ sudo nano /etc/sudoers
 - Выполнить команду:
 
   ```bash
-  rosrun clever selfcheck.py
+  rosrun clover selfcheck.py
   ```
 
 ## Написание программы