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 Robokross-2016 and Robokross-2017 competitions and many others.

The main documentation in Russian is available on our Gitbook: https://copterexpress.gitbooks.io/clever/content/

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 here.

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 here.

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