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* builder: Use 64-bit Raspberry Pi OS * travis: Use 64-bit builder * builder: Don't try to install Melodic packages on Noetic * clover: Use package version 3, update dependencies * travis: Enable Noetic build * standalone_install: Auto-select Python, ROS distro * builder: Use variable substitution for ROS_DISTRO * builder: Add Noetic package definitions * builder: Use variable substitution for validation * aruco_pose, clover: Allow compiling against OpenCV 3 and 4 * builder: Add proper Noetic repository * builder: Don't force Tornado version Assume rosbridge_suite depends on the right one. * builder: Install packages for Python 3 * builder/test: Use Python3 interpreter for ROS tests TODO (?): add tests for Python2? * builder: Use Python 3 syntax for Python 3 tests * builder: Install rpi_ws281x for Python3 * standalone_install: Use proper Python for pytest * builder: Install espeak for python3 * builder: Use proper path for roscore * builder: Install rosdep, etc. for python3 * builder: Run Clever/Clover test with Python3 * builder: Use Python3 for Clever compat layer * builder: Enable OpenCV 4.2 repository * builder: Force versions for ROS packages that use OpenCV Also, hold their versions so that they don't get updated for no reason. * aruco_pose/draw: Replace OpenCV projection code with a rewrite * builder: Don't try to install compressed_transport twice * clover: Fix importing urllib for Python3 * aruco_pose, clover: Expose Python scripts through CMake * clover/selfcheck: Be more python3-compatible This is basically commita01d199890from buster-python3, not sure if it aged well. * roswww_static: Add python script installation * clover_blocks: Use Python3 syntax for exec * aruco_pose: Remove unused code * Melodic => Noetic in some docs * docs: add 0.22 migration article * docs: remove unneeded comment * docs: python 3 updates * docs: python 3 update in auto_setup article * docs: add ROS Noetic transition note * aruco.launch: add placement, length and map arguments * genmap.py: add -o argument for output file name * docs: use -o argument of genmap.py * simple_offboard: correctly check manual control timeout, separate it from kill switch check * blocks: force led_leds index to int * docs: update and fix 0.22 migration articles * blocks: fix set_leds with color-typed argument * aruco_gen: Open file in binary mode for Python3 compatibility * clover: Use proper variable in aruco.launch * led: change default number of leds to 72 * aruco_pose: Make sure there are no undefined symbols Also, compile in apriltag_quad_thresh.cpp - it contains some of the functions referenced in aruco.cpp, which would otherwise be undefined. * aruco_pose: Make vendored library compatible with older OpenCVs * aruco_pose, clover: Reduce the amount of OpenCV libs requested * aruco_pose, clover: Move subscriptions to the end of init * aruco_pose: Don't expose vendored library symbols * aruco_pose: Simplify dynamic parameter callback setting * builder: Build with debug symbols * clover: Attempt to respawn dying nodelets * Change Raspberry Pi OS to latest armhf, use packages.coex.tech as a source * Add CRYPTOGRAPHY_DONT_BUILD_RUST=1 * Fix Node.js installation * image: use older CMake (3.13.4-1) Fixing https://travis-ci.org/github/CopterExpress/clover/jobs/764367665#L6984 * image: update Raspberry Pi OS to 2021-03-04 * image: bring back moving ld.so.preload out of the way while building * Fix pthreads ld error * Try to fix pthreads ld error * Another attempt to fix pthreads ld error * Yet another attempt to fix pthreads ld error * Try to fix * Be verbose * Temporarily disable rc and camera_markers building * Fix standalone-install * Revert "Temporarily disable rc and camera_markers building" This reverts commite119220e91. * Try to fix * Try to fix * Revert "image: use older CMake (3.13.4-1)" This reverts commitdf28da0060. * Revert "Revert "image: use older CMake (3.13.4-1)"" This reverts commita28c774e8f. * Verbosity * Debugging * More debugging * Display all CMake variables * Try to fix * Another try to fix * Revert "Another try to fix" This reverts commit5a4c3a0da7. * Another try to fix * And another * And yet another * Continue... * Cleanup * Sources lists cleanup * More cleanup * Restore .git directory in clover repo * Fix building documentation * Fix documentation building in image * Trigger build to update ws281x package * Test * Disable unneeded hack * Disable hack * image: add cmake-modules package * www: add viewing clover.err file from web interface * Remove hacks * Show nodelet version * docs: add packages article * image: add image-view package for recording video from topics * Minor fix * CI: add Docker authentication on image build * CI: fix Bash syntax * CI: fix authentication in Docker * CI: move Melodic build and editorconfig-lint to GitHub Actions (#331) * Create main.yml * Update main.yml * Disable native Melodic build in Travis * Run editorconfig-lint in Actions * Let wget be less verbose * Test * Test ok * Disable editorconfig-lint in Travis * docs: add links to hardware sources * CI: move image building to GitHub actions (#335) * Start working on building image in GitHub actions * Trigger GitHub on push to any branch * Fix TRAVIS_TAG * Add compress image step * Disable image build in Travis * Add upload image step * Fix compress image * Fix * Fix * Minor fix * Trigger build on tag * Show images sizes not in human format * Upload only built image * Make prerelease * Upload assets on release not on tags * readme: change build badge to GitHub Actions * readme: add support chat badge * CI: move documentation building to GitHub Actions (#337) * CI: change docs target branch to actions * CI: change docs target branch to master * CI: use gh-pages target branch for docs * CI: split up to several workflows * CI: remove .travis.yml * CI: change apt to apt-get * CI: push documentation site to the main repo * builder: less verbosity * CI: add new key for apt Fixing https://github.com/CopterExpress/clover/runs/2700356960#step:3:74 * Add Noetic building to CI * Add test for QR recognition * Fix * Move QR recognition test to a separate file * Fix QR recognition code for Python 3 * Import SetLEDs, LEDStateArray, LEDState in tests * Add more imports to tests (from documentation) * Fix permissions * Fix standalone-install for Python 2 * Fix QR recognition test * Don’t use ROS for QR recognition test * docs: remove non-working example * Make v4l2 device file an argument in main_camera.launch * Wait for v4l2 device before launching the camera driver * Use exec in waitfile * Transfer main camera nodelet manager to main_camera.launch * Update cv_camera version to 0.5.1 * docs: minor fix * Revert cv_camera to 0.5.0 * Update Raspberry Pi OS to 2021-05-07 * docs: add link to the last ROS Melodic version. Co-authored-by: Alexey Rogachevskiy <sfalexrog@gmail.com>
clover_blocks
Blockly programming support for Clover.
See user documentation at the main Clover documentation site.
Internal package documentation is given below.
Frontend
The frontend files are located in www subdirectory. The frontend application uses roblib.js library for communicating with backend node and other ROS resources.
clover_blocks node
clover_blocks is the blocks programming backend, implementing all the services and topics needed for running Blockly-generated Python script.
Services
~run(clover_blocks/Run) – run Blockly-generated program (in Python).~stop(std_srvs/Trigger) – terminate the running program.~store(clover_blocks/load) – store a user program (to<package_path>/programsby default).~load(clover_blocks/load) – load all the stored programs.
Parameters
~programs_dir(string) – directory for user programs.
Parameters read by frontend:
~navigate_tolerance(float) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).~yaw_tolerance(float) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).~sleep_time(float) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).~confirm_run(bool) – enable confirmation to run the program (default: true).
These parameters also can be set as URL GET-parameters, for example:
http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
Topics
Published
~running(std_msgs/Bool) – indicates if the program is currently running.~block(std_msgs/String) – current executing block (maximum topic rate is limited).~error(std_msgs/String) – user program errors and exceptions.~prompt(clover_blocks/Prompt) – user input request (includes random request ID string).
This topic is published from the frontend side:
~prompt/<request_id>(std_msgs/String) – user input response.