ROS Index
|
clover package from clover repoaruco_pose clover clover_blocks clover_description clover_simulation roswww_static |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.21.3 |
| License | MIT |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/CopterExpress/clover.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-05-26 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Oleg Kalachev
Authors
- Oleg Kalachev
- Artem Smirnov
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 the flight controller, use:
roslaunch clover clover.launch
For the simulation information see the corresponding article.
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.
Changelog for package clover
0.21.1 (2020-11-17)
- First release of clover package to ROS
- Contributors: Alexey Rogachevskiy, Arthur Golubtsov, Oleg Kalachev
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| geographiclib |
| python-lxml |
Dependant Packages
Launch files
- launch/mavros.launch
-
- fcu_conn [default: usb]
- fcu_ip [default: 127.0.0.1]
- fcu_sys_id [default: 1]
- gcs_bridge [default: tcp]
- viz [default: true]
- respawn [default: true]
- distance_sensor_remap [default: rangefinder/range]
- usb_device [default: /dev/px4fmu]
- prefix [default: bash -c 'while [ ! -e $(arg usb_device) ]; do sleep 1; done; $0 $@']
- launch/clover.launch
-
- fcu_conn [default: usb]
- fcu_ip [default: 127.0.0.1]
- fcu_sys_id [default: 1]
- gcs_bridge [default: tcp]
- web_video_server [default: true]
- rosbridge [default: true]
- main_camera [default: true]
- optical_flow [default: true]
- aruco [default: false]
- rangefinder_vl53l1x [default: true]
- led [default: true]
- blocks [default: false]
- rc [default: true]
- simulator [default: false]
- launch/aruco.launch
-
- aruco_detect [default: true]
- aruco_map [default: false]
- aruco_vpe [default: false]
- launch/main_camera.launch
-
- direction_z [default: down]
- direction_y [default: backward]
- simulator [default: false]
- launch/led.launch
-
- ws281x [default: true]
- led_effect [default: true]
- led_notify [default: true]
- led_count [default: 72]
- gpio_pin [default: 21]
- simulator [default: false]