COEX Clover Drone Kit
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This repository contains documentation, software platform source code and RPi image builder for COEX Clover drone kit.
Clover is a PX4- and ROS-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.
The main documentation is available at https://clover.coex.tech. Official website: coex.tech/clover.
Autonomous flights video
Clover drone is used on a wide range of educational events, including Copter Hack, WorldSkills Drone Operation competition, Autonomous Vehicles Track of NTI Olympics 2016–2020, Quadro Hack 2019 (National University of Science and Technology MISiS), Russian Robot Olympiad (autonomous flights), and others.
Features
Prebuilt RPi image
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Common robotics software
Prebuilt image for Raspberry Pi includes:
| Software | Description |
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| Raspbian Buster | |
| ROS Melodic | Common robotics framework |
| OpenCV | Computer vision library |
mavros |
ROS package for communication with the flight controller |
| Configured networking | |
| Periphery drivers for ROS (GPIO, LED strip, etc) | |
clover |
package for autonomous drone control |
aruco_pose |
Package for marker-assisted navigation |
QGroundControl Wi-Fi bridge
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Easy autonomous flights programming
By using clover package, taking off, navigating and landing is just:
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True) # takeoff and hover 1 m above the ground
navigate(x=1, y=0, z=0, frame_id='body') # fly forward 1 m
land()
See programming documentation for further information.
Optical flow positioning
RPi based optical flow....
See details in the documentation.
ArUco markers recognizing
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See details in the documentation.
Easy working with peripheral devices
Preinstalled package for the LED strip allows high-level control (such as rainbow effect or color fade) as well as individual LED low-level control:
set_effect(r=0, g=100, b=0) # fill strip with green color
set_effect(effect='fade', r=0, g=0, b=255) # fade to blue color
set_effect(effect='rainbow') # show rainbow
Preinstalled VL53L1X rangefinder driver passes data to the flight controller automatically and allows the user to get its data:
data = rospy.wait_for_message('rangefinder/range', Range) # get data from the rangefinder
Preinstalled fast Python GPIO library.
pi.write(11, 1) # set signal of pin 11 to high
level = pi.read(12) # read the state of pin 12
Simulator
Clover repository includes three simulation-related repository for Gazebo-based simulation.
Screenshot...
See details in the documentation. The simulation environment also available as a virtual machine image.
Remote control apps
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Community
Clover is widely used ...
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.
PX4 Dev Summit 2019 talk
Other resources
- Official documentation: https://clover.coex.tech.
- ROS Wiki page: https://wiki.ros.org/Robots/clover.
- ROS Robots page: https://robots.ros.org/clover.
License
While the Clover platform source code is available under the MIT License, note, that the documentation is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.