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78 lines
2.6 KiB
Markdown
78 lines
2.6 KiB
Markdown
# CLEVER
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<img src="docs/assets/clever3.png" align="right" width="300px" alt="CLEVER drone">
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CLEVER 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 in Russian is available [on our Gitbook](https://clever.copterexpress.com/).**
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Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.
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## Preconfigured RPi 3 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/urpylka/clever)
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Image includes:
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* Raspbian Stretch
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* ROS Kinetic
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* Configured networking
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* OpenCV
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* mavros
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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://copterexpress.gitbooks.io/clever/simple_offboard.html).
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## Manual installation
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Install ROS Kinetic according to the [documentation](http://wiki.ros.org/kinetic/Installation).
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Clone repo to directory `/home/pi/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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Build ROS packages:
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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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Enable systemd service `roscore` (if not enabled):
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```bash
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sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service
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sudo systemctl start roscore
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```
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Enable systemd service `clever`:
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```bash
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sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service
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sudo systemctl start clever
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```
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### Dependencies
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[ROS Kinetic](http://wiki.ros.org/kinetic).
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Necessary ROS packages:
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* `opencv3`
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* `mavros`
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* `rosbridge_suite`
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* `web_video_server`
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* `cv_camera`
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* `nodelet`
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* `dynamic_reconfigure`
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* `bondcpp`, branch `master`
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* `roslint`
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* `rosserial`
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