clover_tools

Useful ROS nodes and stuff for Clover drone kit, that is not included to the Raspberry Pi image.

Installation

Clone repository to the catkin workspace sources:

cd ~/catkin_ws/src
git clone https://github.com/CopterExpress/clover_tools.git

Execute catkin_make in catkin workspace directory and source environment setup files:

cd ~/catkin_ws
catkin_make
source devel/setup.bash

If you don't want to install all packages in catkin workspace, you can install specified package:

cd ~/catkin_ws
catkin_make --pkg <package_name>
source devel/setup.bash

clover_tools package

Nodes

interactive.py

Control the drone using interactive markers in Rviz!

rosrun clover_tools interactive.py

undistort_camera.py

Publish undistorted image from camera topic. Use calibration from camera_info topic or from file if specified. Undistorted image can be viewed with web_video_server.

usage: rosrun clover_tools undistort_camera.py [-h] [-f FILE] [namespace]

Publish undistorted image from camera topic. Use calibration from camera_info
topic or from file if specified.

positional arguments:
  namespace             Namespace of camera topics, default is /main_camera

optional arguments:
  -h, --help            show this help message and exit
  --file FILE, -f FILE  Path to file with calibration

clever_flight_routines package

Nodes

create_route.py

Create flying route by moving drone in space and recording its coordinates by triggering RC pitch stick (channel 2).

usage: rosrun clever_flight_routines create_route.py [-h] [-f FRAME_ID] [filename]

positional arguments:
  filename              Filename of route csv table. Default is route.csv.

optional arguments:
  -h, --help            show help message and exit
  -f FRAME_ID, --frame_id FRAME_ID
                        Coordinates will be recorded relative to frame_id
                        parameter. Default is map.

fly_route.py

Fly route from the csv table with x y z values.

usage: rosrun clever_flight_routines fly_route.py [-h] [-r] [-z HEIGHT] [-f FRAME_ID] [-s SPEED] [filename]

positional arguments:
  filename              Filename of the route csv table

optional arguments:
  -h, --help            show this help message and exit
  -r, --repeat          Program will repeat the route infinite if you use this
                        arg.
  -z HEIGHT, --height HEIGHT
                        Height of flight. Default is 1 m. If height is 'nan'
                        then the drone will takeoff to 1 m and fly on the
                        route point heights.
  -f FRAME_ID, --frame_id FRAME_ID
                        Coordinates will be used relative to frame_id
                        parameter. Default is map.
  -s SPEED, --speed SPEED
                        Copter speed. Default is 1 m/s.

test_flight.py

Just example node of flight: takeoff to 1m, fly forward 1m, and land.

Python module

Usage example

#!/usr/bin/env python
import rospy
from clever_flight_routines import get_telemetry, takeoff, reach_point, land

rospy.init_node('clever_flight_example')

# copter parameters

speed = 1
z = 1
frame = 'map'
x0 = get_telemetry(frame_id = frame).x
y0 = get_telemetry(frame_id = frame).y

# flight program

takeoff(z)                                                  # takeoff
reach_point(x=x0, y=y0+1, z=z, speed=speed, frame_id=frame) # flight 1m toward
land()

Documentation

Documentation can be found here.