Migration to version 0.20

Image version v0.20 includes significant changes in comparison with the version 0.19. When transitioning please note the changes presented below.

ROS package clever is renamed to clover

All the imports in Python scripts should be changed.

Before:

import rospy
from clever import srv
from std_srvs.srv import Trigger

rospy.init_node('flight')

get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)

# Take off 1 m
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)

After:

import rospy
from clover import srv
from std_srvs.srv import Trigger

rospy.init_node('flight')

get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)

# Take off 1 м
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)

systemd service clever is renamed to clover

For restarting the platform instead of:

sudo systemctl restart clever

use command:

sudo systemctl restart clover

Path to platform's files changed

The ~/catkin_ws/src/clever/ directory is renamed to ~/catkin_ws/src/clover. Thus, configuration files (*.launch) are to be edited using the new path.

For example, ~/catkin_ws/src/clever/clever/launch/clever.launch file is now ~/catkin_ws/src/clover/clover/launch/clover.launch.

Wi-Fi network configuration

Wi-Fi networks' SSID is changed to clover-XXXX (where X is a random number), password is changed to cloverwifi.

The camera orientation configuration changed

See details in the "Camera setup" article.

results matching ""

    No results matching ""