Merge branch 'master' into ros-book

Author: okalachev

.travis.yml

@@ -7,7 +7,7 @@ env:
   global:
     - DOCKER="sfalexrog/img-tool:qemu-update"
     - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
-    - if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="${TRAVIS_COMMIT}}"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
+    - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
     - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
 git:
   depth: 50
@@ -36,12 +36,13 @@ jobs:
           fi
       before_cache:
         - cp images/*.zip imgcache
+      after_success:
+        - sudo chmod -R 777 *
+        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
       before_deploy:
         # Set up git user name and tag this commit
         - git config --local user.name "goldarte"
         - git config --local user.email "goldartt@gmail.com"
-        - sudo chmod -R 777 *
-        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
       deploy:
         provider: releases
         token: ${GITHUB_OAUTH_TOKEN}
@@ -99,14 +100,6 @@ jobs:
         verbose: true
         on:
           branch: master
-    - stage: Annotate
-      name: Auto-generate changelog
-      language: python
-      python: 3.6
-      install:
-        - pip install GitPython PyGithub
-      script:
-        - PYTHONUNBUFFERED=1 python ./gen_changelog.py
     - stage: Build
       name: Editorconfig-lint
       language: generic
@@ -117,7 +110,6 @@ jobs:
         - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
 stages:
   - Build
-  - Annotate
 # More info there
 # https://github.com/travis-ci/travis-ci/issues/6893
 # https://docs.travis-ci.com/user/customizing-the-build/

builder/assets/examples/navigate_wait.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/en/snippets.html#block-nav
+# Information: https://clover.coex.tech/en/snippets.html#navigate_wait
 
 import math
 import rospy

clover/README.md

@@ -44,13 +44,6 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p
 
 ## Running
 
-Enable systemd service `roscore` (if not running):
-
-```bash
-sudo systemctl enable /home/<username>/catkin_ws/src/clover/builder/assets/roscore.service
-sudo systemctl start roscore
-```
-
 To start connection to SITL, use:
 
 ```bash
@@ -64,10 +57,3 @@ roslaunch clover clover.launch
 ```
 
 > Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.
-
-Also, you can enable and start the systemd service:
-
-```bash
-sudo systemctl enable /home/<username>/catkin_ws/src/clover/deploy/clover.service
-sudo systemctl start clover
-```

clover/launch/clover.launch

@@ -55,6 +55,7 @@
         <param name="reference_frames/body" value="map"/>
         <param name="reference_frames/base_link" value="map"/>
         <param name="reference_frames/navigate_target" value="map"/>
+        <param name="reference_frames/main_camera_optical" value="map"/>
     </node>
 
     <!-- main camera -->

clover_simulation/resources/worlds/clover.world

@@ -7,6 +7,7 @@
     </include>
     <include>
       <uri>model://parquet_plane</uri>
+      <pose>0 0 -0.01 0 0 0</pose>
     </include>
 
     <scene>