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 m
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.

# Migration to version 0.20

# ROS package clever is renamed to clover

# systemd service clever is renamed to clover

# Path to platform's files changed