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* Clover Blockly: add first blocks set * Adjust Blockly settings * Fix get_position output type * Add screenshot * Rename readme.md to README.md * Resize screenshot * Add package.xml * Little change * Fixes * Add python_compressed to blockly * Implement some of the Clover blocks in Python * Make Python indentation 4 spaces * Fixes to Python blocks implementation * Implement set_velocity block in Python * Implement wait_arrival block in Python * Fix indentation in Python implementation of blocks * Fix * Fix land_wait template * Set reserved words in Python * Change default frame_id to aruco_map in get_position block * Fix * Move blocks definitions to blocks.js * Get rid of missing favicon error * Simplify navigate * Rearrange layout, add tabs * Generate Python code * Small style change * -console.log * Code style * Use modules * Move modules to the header * Correct order for ROS definitions + generating "backend" code * Fix rangefinder_distance block * simple_offboard: commands to change only yaw and yaw rate * Implement set_yaw block * Start working on Blockly documentation * Implement print block with a topic * Unneeded code * Little fixes * Fix indentation * Fixes * Fix wait_arival, get_distance * Implement running Blockly programs, implement prompt block, fixes * Add land button * Little change * Fix reserved words + little fixes * +x for main.py * Simplify run button * Auto-save and load workspace * Make land button work * Handle exceptions * Minor change * Add help URL for blocks * Fix * Implement arrived block * Mark blockly and highlight.js as linguist-vendored * Add forgotten CMakeLists.txt * Add wait checkbox to set_yaw block * Disable run button when disconnected * Add message and service files * Add some comments * Add tooltip to some blocks * Implement GPIO blocks * Don’t latch print message to prevent duplication * Prevent duplication prompts * Add ROS init code to backend code anyways * Make GPIO blocks color a constant * Minor fix * More correctly update blocks on input value changes * Minor fixes * Remove unneeded readonly attribute * Add marker ID shadow blocks to toolbox * Add lacking reserved words * Fix frame id generation for complex marker id expressions * Consider frame_id in set_yaw block * Shorten ros module import * Implement stop service * Disable and enable run button correctly * Don’t print KeyboardInterrupt exceptions * Put notifications to notifications element * Add 'running' mark * Disable signal in backend python code * Sleep a little bit to let rospy initialize publishers * Remove accidental code * Make ROS namespace and private namespace constants * editorconfig-lint: don’t check Blockly code * Use private namespace constant in Python generator * Implement ~running topic to display current program status more robustly * Make navigate tolerance and sleep time constants * Make set_leds and and set_effect services proxies persistent * Replace a number with constant * Limit ~block topic publishing rate Otherwise messages get queued making the frontend to freeze * Improve internal documentation * Append 'map' to frames list * Return degrees in get_attitude block * Move getting yaw in a separate block * Improve block tooltips * Add some more files to editorconfig-lint excludes * Add get_yaw block to toolbox * Implement get_time block * Implement ~store and ~load services for storing user programs * Set auto_arm only in take_off block * Minor CSS fixes * Make 'Python' tab textarea-like * Implement saving and loading programs * Adjust styles * Retrieve only .xml files in load service * Forgotten code * Documentation on store and load services * Add some examples * Add blocks programming arg to launch file * Update docs * Add package’s dependencies * Add dependency * Add title to select * Fix syntax * Minor fix in docs * Add forgotten roslib.js * Run user program in the same process * Use print function for print block in Python 2 * Add variables example * Fix url * Add functions example * Fix set_servo block * Fix gpio_read block * Update blocks screenshot * Update docs * Update docs * Fix set_effect block * Minor fix in example * Add setpoint block, remove set_velocity from toolbox * Remove unused modules * Unused variable * Add English article skeleton * Clarify backend node link error * Remove unused variable * Update documentation * Fix link to documentation * Add Blockly logo * Update English article * Add Blocks programming link to the main page * Minor change * Add catkin_install_python to CMakeLists.txt * Make navigate tolerance and sleep time configurable * Add minor todo * Add blockly examples directory to editorconfig-lint excludes * Rename main node to clover_blocks * Add a warning to the old blocks programming article * Fix editorconfig-lint exclude
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Blocks programming for Clover
Visual blocks programming feature has been added to the RPi image, starting with the version 0.21. Blocks programming is implemented using Google Blockly platform. Blocks programming integration can lower the entry barrier to a minimum.
Configuration
For correct work of the blocks programming, blocks argument in the Clover launch-file (~/catkin_ws/src/clover/clover/launch/clover.launch) should be equal to true:
<arg name="blocks" default="true"/>
Running
To run Clover's blocks programming interface, connect to Clover's Wi-Fi and go to web-page http://192.168.11.1:8080/clover_blocks/ or click the link Blocks programming at the main page.
The page looks as follows:
Assemble your program using blocks in the menu at the left and then click Run button for running. You can also view generated Python-code, switching to Python tab.
The Stop button stops the program. Clicking Land button also stops the program and lands the drone.
Storing and loading
To store the program, open the menu at the top right, select Save item and input your program's name. The name should contain only Latin characters, hyphen, underline and dot characters. All your stored programs are available at the same menu.
Your programs are stored as XML-files in the /catkin_ws/src/clover/clover_blocks/programs/ directory of the SD-card.
Note
Note also example programs, available at the same menu.
Blocks
The set of blocks is somewhat similar to the set of ROS-services of Clover's autonomous flights API. This section contains descriptions of some of them.
Clover's blocks are separated into 4 categories:
- Flight – autonomous flight related commands.
- State – blocks for obtaining the drone state parameters.
- LED – blocks for controlling LED strip.
- GPIO – blocks for working with GPIO pins.
The rest of categories contains standard Blockly's blocks.
take_off
Take off to specified altitude in meters. The altitude may be an arbitrary block, that returns a number.
The wait flag specifies, if the drone should wait until take off is complete, before executing the next block.
navigate
Navigate to specified point. Coordinates are specified in meters.
The wait flag specifies, if the drone should wait until navigation is complete, before executing the next block.
Relative to field
This block allows to specify the coordinate frame of the target point:
- body – coordinates, relative to the drone: forward, left, up.
- markers map – coordinates, relative to the map of ArUco-markers.
- marker – coordinates, relative to an ArUco-marker; marker's ID input fields appears.
- last navigate target – coordinates, relative to the last specified navigate point.
- map – drone's local coordinate system, linked with the point of its initialization.
land
Land the drone.
The wait flag specifies, if the drone should wait until landing is complete, before executing the next block.
wait
Wait specified time period in seconds. The time period may be an arbitrary block, that returns a number.
wait_arrival
Wait, until the drone reaches navigate-block's target point.
get_position
The block returns current position, velocity or yaw angle of the drone relative to the specified coordinate frame.
set_effect
The block allows to set animations to LED strip, similarly to set_effect ROS-service.
Example of using the block with a random color (colors-related blocks are located in Colour category):
