svetk0 / clever

Software and RPi image for CLEVER drone kit

CLEVER

CLEVER is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.

Copter Express has implemented a large number of different autonomous drone projects using exactly the same platform: automated pizza delivery in Samara and Kazan, coffee delivery in Skolkovo Innovation Center, autonomous quadcopter with charging station for site monitoring and security, winning drones on Robocross-2016 and Robocross-2017 competitions and many others.

The main documentation in Russian is available on our Gitbook.

Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.

Preconfigured RPi 3 image

Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available in the Releases section.

Image includes:

• Raspbian Stretch
• ROS Kinetic
• Configured networking
• OpenCV
• mavros
• CLEVER software bundle for autonomous drone control

API description (in Russian) for autonomous flights is available on GitBook.

Manual installation

Install ROS Kinetic according to the documentation.

Clone repo to directory /home/pi/catkin_ws/src/clever:

cd ~/catkin_ws/src
git clone https://github.com/CopterExpress/clever.git clever

Build ROS packages:

cd ~/catkin_ws
catkin_make -j1

Enable systemd service roscore (if not enabled):

sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service
sudo systemctl start roscore

Enable systemd service clever:

sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service
sudo systemctl start clever

Dependencies

ROS Kinetic.

Necessary ROS packages:

• opencv3
• mavros
• rosbridge_suite
• web_video_server
• cv_camera
• nodelet
• dynamic_reconfigure
• bondcpp, branch master
• roslint
• rosserial