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* builder: Build against Buster * builder: Use correct repository specifications * builder: Move ld.so.preload to have less errors * builder: Use coex repo to install Monkey * builder: Search for buster ROS packages * aruco_pose: Vendor in aruco library from OpenCV 3.4.6 * builder: Move to ROS Melodic * builder: Update kernel version * aruco_pose, clever: Remove opencv3 ROS dependency * builder: Update rosdep * travis: Disable eclint for vendored aruco library * tests: Don't try to locate opencv in ros * roscore: Use melodic distribution * Revert "aruco_pose: Vendor in aruco library from OpenCV 3.4.6" This reverts commit 9c14a8c002bb3396f9a7d9b2ba39969207f066ba. * aruco_pose: Vendor opencv_contrib/aruco again * builder: Add led packages * builder: Remove unused builder code * travis: Add native tests * builder: Set permissions for standalone-install * builder: Use -y for package installation * builder: Add repo for standalone build * builder: Use correct file types for standalone install * aruco_pose: Accept rgb8 map images * builder: Disable mjpg_streamer test * aruco_pose: Allow rgb8 map images (again) * builder: Re-add mjpgstreamer * builder: Install tornado==4.2.1 for rosbridge_suite * builder: Use more recent base image * builder: Use default kernel * builder: Move ld.so.preload back after tests * builder: Disable catkin tests These tests fail on a remote machine but seem to pass just fine on real hardware. Something must have changed between Kinetic and Melodic, and we must investigate more, but for now we just need a working image. * aruco_pose: Remove unused vendored code * selfcheck: Update systemd-analyze regex * builder: Add opencv repository * rosdep: Update package definitions for Melodic * rosdep: Use proper yaml formatting * travis: Remove unnecessary space * docs: Reference Melodic wherever possible
104 lines
4.0 KiB
Markdown
104 lines
4.0 KiB
Markdown
# CLEVER
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<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="CLEVER drone">
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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.
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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.
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**The main documentation is available [on Gitbook](https://clever.coex.tech/).**
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Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.
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## Raspberry Pi image
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**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).**
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[](https://travis-ci.org/CopterExpress/clever)
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Image includes:
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* Raspbian Buster
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* ROS Melodic
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* Configured networking
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* OpenCV
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* mavros
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* Periphery drivers (`pigpiod`, `rpi_ws281x`, etc)
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* CLEVER software bundle for autonomous drone control
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API description (in Russian) for autonomous flights is available [on GitBook](https://clever.coex.tech/simple_offboard.html).
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## Manual installation
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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).
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Clone this repo to directory `~/catkin_ws/src/clever`:
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```bash
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cd ~/catkin_ws/src
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git clone https://github.com/CopterExpress/clever.git clever
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```
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All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:
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```bash
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cd ~/catkin_ws/
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rosdep install -y --from-paths src --ignore-src
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```
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Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):
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```bash
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cd ~/catkin_ws
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catkin_make -j1
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```
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To complete `mavros` install you'll need to install `geographiclib` datasets:
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```bash
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curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
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```
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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:
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```bash
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cd ~/catkin_ws/src/clever/clever/config
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sudo cp 99-px4fmu.rules /lib/udev/rules.d
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```
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Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.
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## Running
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Enable systemd service `roscore` (if not running):
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```bash
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sudo systemctl enable /home/<username>/catkin_ws/src/clever/builder/assets/roscore.service
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sudo systemctl start roscore
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```
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To start connection to SITL, use:
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```bash
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roslaunch clever sitl.launch
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```
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To start connection to the flight controller, use:
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```bash
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roslaunch clever clever.launch
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```
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> 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`.
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Also, you can enable and start the systemd service:
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```bash
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sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/clever.service
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sudo systemctl start clever
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```
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## License
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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.
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