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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
clover ROS package
A bundle for autonomous navigation and drone control.
Manual installation
Install ROS Melodic according to the documentation, then create a Catkin workspace.
Clone this repo to directory ~/catkin_ws/src/clover:
cd ~/catkin_ws/src
git clone https://github.com/CopterExpress/clover.git clover
All the required ROS packages (including mavros and opencv) can be installed using rosdep:
cd ~/catkin_ws/
rosdep install -y --from-paths src --ignore-src
Build ROS packages (on memory constrained platforms you might be going to need to use -j1 key):
cd ~/catkin_ws
catkin_make -j1
To complete mavros install you'll need to install geographiclib datasets:
curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
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:
cd ~/catkin_ws/src/clover/clover/config
sudo cp 99-px4fmu.rules /lib/udev/rules.d
Alternatively you may change the fcu_url property in mavros.launch file to point to your flight controller device.
Running
To start connection to SITL, use:
roslaunch clover sitl.launch
To start connection to the flight controller, use:
roslaunch clover clover.launch
Note that the package is configured to connect to
/dev/px4fmuby default (see previous section). Install udev rules or specify path to your FCU device inmavros.launch.