Package Summary

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Version 0.21.3
License MIT
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version melodic-devel
Last Updated 2021-05-26
CI status Continuous Integration
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Good First Issues (0)
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Package Description

The Clover package

Additional Links


  • Oleg Kalachev


  • 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 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 | 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.


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 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:]
      • 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:]
      • 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]


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