mirror of
https://github.com/CopterExpress/clover.git
synced 2026-05-26 21:19:35 +00:00
56 lines
2.6 KiB
Markdown
56 lines
2.6 KiB
Markdown
# clover_blocks
|
||
|
||
Blockly programming support for Clover.
|
||
|
||
<img src="screenshot.png" width=700>
|
||
|
||
See user documentation at the [main Clover documentation site](https://clover.coex.tech/en/blocks.html).
|
||
|
||
Internal package documentation is given below.
|
||
|
||
## Frontend
|
||
|
||
The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roslib.js`](http://wiki.ros.org/roslibjs) 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*](srv/Run.srv)) – run Blockly-generated program (in Python).
|
||
* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/noetic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
|
||
* `~store` ([*clover_blocks/load*](srv/Store.srv)) – store a user program (to `<package_path>/programs` by default).
|
||
* `~load` ([*clover_blocks/load*](srv/Load.srv)) – 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).
|
||
* `~navigate_global_tolerance` (*float*) – distance tolerance for global coordinates navigation (default: 1).
|
||
* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 1).
|
||
* `~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*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
|
||
* `~block` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
|
||
* `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
|
||
* `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
|
||
|
||
This topic is published from the frontend side:
|
||
|
||
* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user input response.
|