This Clover Fork has the purpose of enabling our quadcopters at NRA to use the Clover package as a high level framework. This framework basically enables some easy to use services and functionalities at a higher level than MavROS and PX4 vanilla.
Our branch system works as follows:
harpia-2023(2023): formerlyCloverJetsonCBR23renamed to better fit the purpose: adapt clover to harpia. Used in CBR 2023 for the first time.Swarm in Blocks(2023): Following work for Copterhack 2023. 4th place! CLICK HERESwarm in Blocks(2022): First Swarm in Blocks project for Copterhack 2022. Winners (1st place)! CLICK HERE
Be aware that the Master branch is synced with the original Clover repo, therefore, it's not a good choice to use it, but it should be kept in-sync with the original repo. Feel free to create more branches!
One hot topic in NRA history is the Visual Odometry. The harpia-2023 is the one that fits the t265_px4_NRA_bridge with our VIO.
Clover is an open source ROS-based framework, providing user-friendly tools to control PX4-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
COEX Clover Drone is an educational programmable drone kit, suited perfectly for running clover software. The kit is shipped unassembled and includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as a companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. Batteries included.
The main documentation is available at https://clover.coex.tech. Official website: coex.tech/clover.
Clover drone is used on a wide range of educational events, including Copter Hack, WorldSkills Drone Operation competition, Autonomous Vehicles Track of NTI Olympics 2016–2020, Quadro Hack 2019 (National University of Science and Technology MISiS), Russian Robot Olympiad (autonomous flights), and others.
Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available in the Releases section.
Image features:
- Raspbian Buster
- ROS Noetic
- Configured networking
- OpenCV
mavros- Periphery drivers for ROS (GPIO, LED strip, etc)
aruco_posepackage for marker-assisted navigationcloverpackage for autonomous drone control
API description for autonomous flights is available on GitBook.
For manual package installation and running see clover package documentation.
While the Clover platform source code is available under the MIT License, note, that the documentation is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.