Merge branch 'master' into recent-px4

CopterExpress · Feb 10, 2022 · 26c2387 · 26c2387
2 parents 4fbc4f6 + 826f631
commit 26c2387
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -7,13 +7,13 @@ on:
     branches: [ master ]
 
 jobs:
-  melodic:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: Native Melodic build
-        run: |
-          docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
+  # melodic:
+  #   runs-on: ubuntu-latest
+  #   steps:
+  #     - uses: actions/checkout@v2
+  #     - name: Native Melodic build
+  #       run: |
+  #         docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
   noetic:
     runs-on: ubuntu-latest
     steps:

diff --git a/aruco_pose/package.xml b/aruco_pose/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="[email protected]">Oleg Kalachev</maintainer>

diff --git a/builder/image-ros.sh b/builder/image-ros.sh
@@ -90,7 +90,7 @@ echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
 apt install -y --no-install-recommends \
 ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
 ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
-ros-${ROS_DISTRO}-cv-camera=0.5.0-0buster \
+ros-${ROS_DISTRO}-cv-camera=0.5.1-0buster \
 ros-${ROS_DISTRO}-image-publisher=1.15.3-0buster \
 ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
 apt-mark hold \

diff --git a/builder/test/tests.sh b/builder/test/tests.sh
@@ -58,5 +58,9 @@ rosversion rosshow
 rosversion nodelet
 rosversion image_view
 
+# validate some versions
+[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
+[[ $(rosversion ws281x) == "0.0.12" ]]
+
 # validate examples are present
 [[ $(ls /home/pi/examples/*) ]]
diff --git a/clover/package.xml b/clover/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>clover</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
   <description>The Clover package</description>
 
   <maintainer email="[email protected]">Oleg Kalachev</maintainer>

diff --git a/clover_blocks/package.xml b/clover_blocks/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="[email protected]">Oleg Kalachev</maintainer>
   <license>MIT</license>

diff --git a/clover_description/package.xml b/clover_description/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="[email protected]">Alexey Rogachevskiy</maintainer>

diff --git a/clover_simulation/package.xml b/clover_simulation/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
     <name>clover_simulation</name>
-    <version>0.21.1</version>
+    <version>0.23.0</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
 
     <maintainer email="[email protected]">Oleg Kalachev</maintainer>

diff --git a/docs/en/autolaunch.md b/docs/en/autolaunch.md
@@ -6,7 +6,7 @@ Software autorun
 systemd
 ---
 
-Main documentation: [https://wiki.archlinux.org/title/Systemd](https://wiki.archlinux.org/title/Systemd).
+Main documentation: https://wiki.archlinux.org/title/Systemd.
 
 All automatically started Clover software is launched as a `clover.service` systemd service.
 
@@ -54,8 +54,8 @@ The started file must have *permission* to run:
 chmod +x my_program.py
 ```
 
-When scripting languages are used, a [shebang](https://en.wikipedia.org/wiki/Shebang_(Unix)) should be placed at the beginning of the file, for example:
+When scripting languages are used, a <a href="https://en.wikipedia.org/wiki/Shebang_(Unix)">shebang</a> should be placed at the beginning of the file, for example:
 
 ```bash
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ```
diff --git a/docs/en/frames.md b/docs/en/frames.md
@@ -9,7 +9,8 @@ Main frames in the `clover` package:
 * `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
 * `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
 * <a name="navigate_target"></a>`navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
-* `setpoint` is current position setpoint.
+* `setpoint` is current position setpoint;
+* `main_camera_optical` is the coordinate system, [linked to the main camera](camera_setup.md#frame);
 
 Additional frames become available when [ArUco positioning system](aruco.md) is active:
 

diff --git a/docs/ru/autolaunch.md b/docs/ru/autolaunch.md
@@ -6,7 +6,7 @@
 systemd
 ---
 
-Основная документация: [https://wiki.archlinux.org/index.php/Systemd_(Русский)](https://wiki.archlinux.org/index.php/Systemd_(Русский)).
+Основная документация: https://wiki.archlinux.org/index.php/Systemd_(Русский).
 
 Все автоматически стартуемое ПО Клевера запускается в виде systemd-сервиса `clover.service`.
 
@@ -54,8 +54,8 @@ roslaunch
 chmod +x my_program.py
 ```
 
-При использовании скриптовых языков вначале файла должен стоять [shebang](https://ru.wikipedia.org/wiki/Шебанг_(Unix)), например:
+При использовании скриптовых языков вначале файла должен стоять <a href="https://ru.wikipedia.org/wiki/Шебанг_(Unix)">shebang</a>, например:
 
 ```bash
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ```
diff --git a/docs/ru/frames.md b/docs/ru/frames.md
@@ -11,7 +11,8 @@
 * `base_link` — координаты относительно квадрокоптера: схематичное изображение квадрокоптера на иллюстрации;
 * `body` — координаты относительно квадрокоптера без учета наклонов по тангажу и крену: красная, синяя и зеленая линии на иллюстрации;
 * <a name="navigate_target"></a>`navigate_target` – координаты точки, в которую сейчас летит дрон (с использованием [navigate](simple_offboard.md#navigate));
-* `setpoint` – текущий setpoint по позиции.
+* `setpoint` – текущий setpoint по позиции;
+* `main_camera_optical` – система координат, [связанная с основной камерой](camera_setup.md#frame).
 
 При использовании [системы позиционирования по ArUco-маркерам](aruco.md) появляются дополнительные фреймы:
 

diff --git a/roswww_static/package.xml b/roswww_static/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>roswww_static</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
   <description>Static web pages for ROS packages</description>
   <maintainer email="[email protected]">Oleg Kalachev</maintainer>
   <license>MIT</license>