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130 lines
3.3 KiB
Markdown
130 lines
3.3 KiB
Markdown
# Migration to version 0.20
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[Image](image.md) version v0.20 includes significant changes in comparison with the version 0.19. When transitioning please note the changes presented below.
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## ROS package `clever` is renamed to `clover`
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All the imports in Python scripts should be changed.
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Before:
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```python
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import rospy
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from clever import srv
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from std_srvs.srv import Trigger
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rospy.init_node('flight')
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get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
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navigate = rospy.ServiceProxy('navigate', srv.Navigate)
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navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
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set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
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set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
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set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
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set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
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land = rospy.ServiceProxy('land', Trigger)
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# Take off 1 m
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navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
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```
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After:
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```python
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import rospy
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from clover import srv
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from std_srvs.srv import Trigger
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rospy.init_node('flight')
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get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
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navigate = rospy.ServiceProxy('navigate', srv.Navigate)
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navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
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set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
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set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
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set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
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set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
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land = rospy.ServiceProxy('land', Trigger)
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# Take off 1 m
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navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
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```
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## systemd service `clever` is renamed to `clover`
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For restarting the platform instead of:
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```bash
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sudo systemctl restart clever
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```
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use command:
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```bash
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sudo systemctl restart clover
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```
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## Path to platform's files changed
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The `~/catkin_ws/src/clever/` directory is renamed to `~/catkin_ws/src/clover`. Thus, configuration files (`*.launch`) are to be edited using the new path.
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For example, `~/catkin_ws/src/clever/clever/launch/clever.launch` file is now `~/catkin_ws/src/clover/clover/launch/clover.launch`.
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<!--
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## Python 3 transition
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Python 2 is depracated since, January 1st, 2020. The Clover platform moves to Python 3.
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For running flight script instead of `python` command:
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```bash
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python flight.py
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```
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use `python3` command:
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```bash
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python3 flight.py
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```
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Python 3 has certain syntax differences in comparison with the old version. Instead of `print` *operator*:
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```python
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print 'Clover is the best'
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```
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use `print` *function*:
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```python
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print('Clover is the best')
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```
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The division operator operates floating points by default (instead of integer). Python 2:
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```python
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>>> 10 / 4
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2
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```
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Python 3:
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```python
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>>> 10 / 4
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2.5
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```
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For strings `unicode` type is used by default (instead of `str` type).
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Encoding specification (`# coding: utf8`) is not necessary any more.
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More details on all the language changes see in [appropriate article](https://sebastianraschka.com/Articles/2014_python_2_3_key_diff.html).
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-->
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## Wi-Fi network configuration
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Wi-Fi networks' SSID is changed to `clover-XXXX` (where X is a random number), password is changed to `cloverwifi`.
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## The camera orientation configuration changed
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See details in the "[Camera setup](camera_setup.md#frame)" article.
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