# CLEVER

<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="CLEVER drone">

CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.

Copter Express has implemented a large number of different autonomous drone projects using exactly the same platform: [automated pizza delivery](https://www.youtube.com/watch?v=hmkAoZOtF58) in Samara and Kazan, coffee delivery in Skolkovo Innovation Center, [autonomous quadcopter with charging station](https://www.youtube.com/watch?v=RjX6nUqw1mI) for site monitoring and security, winning drones on [Robocross-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU) and [Robocross-2017](https://youtu.be/AQnd2CRczbQ) competitions and many others.

**The main documentation is available [on Gitbook](https://clever.coex.tech/).**

Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.

## Raspberry Pi image

**Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases).**

[![Build Status](https://travis-ci.org/CopterExpress/clever.svg?branch=master)](https://travis-ci.org/CopterExpress/clever)

Image includes:

* Raspbian Buster
* ROS Melodic
* Configured networking
* OpenCV
* mavros
* Periphery drivers (`pigpiod`, `rpi_ws281x`, etc)
* CLEVER software bundle for autonomous drone control

API description (in Russian) for autonomous flights is available [on GitBook](https://clever.coex.tech/simple_offboard.html).

## Manual installation

Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).

Clone this repo to directory `~/catkin_ws/src/clever`:

```bash
cd ~/catkin_ws/src
git clone https://github.com/CopterExpress/clever.git clever
```

All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:

```bash
cd ~/catkin_ws/
rosdep install -y --from-paths src --ignore-src
```

Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):

```bash
cd ~/catkin_ws
catkin_make -j1
```

To complete `mavros` install you'll need to install `geographiclib` datasets:

```bash
curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
```

You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:

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

Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.

## Running

Enable systemd service `roscore` (if not running):

```bash
sudo systemctl enable /home/<username>/catkin_ws/src/clever/builder/assets/roscore.service
sudo systemctl start roscore
```

To start connection to SITL, use:

```bash
roslaunch clever sitl.launch
```

To start connection to the flight controller, use:

```bash
roslaunch clever clever.launch
```

> Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.

Also, you can enable and start the systemd service:

```bash
sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/clever.service
sudo systemctl start clever
```

## License

While the Clever 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.