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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 No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The Clover package

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/px4fmu by default (see previous section). Install udev rules or specify path to your FCU device in mavros.launch.

CHANGELOG

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/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]

Messages

No message files found.

Plugins

Recent questions tagged clover at answers.ros.org

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