Add Gazebo simulator to image

.github/workflows/build.yml

@@ -29,6 +29,8 @@ jobs:
       run: apt-get update && apt-get -y install python3-pip
     - name: Install dependencies
       run: rosdep update && rosdep install --from-paths src --ignore-src -y
+    - name: Install GeographicLib datasets
+      run: wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
     - name: catkin_make
       run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
     - name: Run tests

builder/image-build.sh

@@ -120,6 +120,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add rename script
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-simulator.sh'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
 
 ${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}

builder/image-simulator.sh

@@ -0,0 +1,42 @@
+#! /usr/bin/env bash
+
+#
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+
+set -ex # exit on error, echo commands
+
+echo "--- Downloading PX4"
+cd /home/pi/catkin_ws/
+git clone --recursive --depth 1 --branch v1.13.0 https://github.com/PX4/PX4-Autopilot.git /home/pi/PX4-Autopilot
+ln -s /home/pi/PX4-Autopilot /home/pi/catkin_ws/src/
+ln -s /home/pi/PX4-Autopilot/Tools/sitl_gazebo /home/pi/catkin_ws/src/
+
+echo "--- Installing PX4 dependencies"
+echo "progress=dot:giga" > /home/pi/.wgetrc # make wget don't spam to log
+apt-get install --no-install-recommends -y gazebo11
+/home/pi/PX4-Autopilot/Tools/setup/ubuntu.sh --no-nuttx
+rm /home/pi/.wgetrc
+pip3 install --user toml
+
+echo "--- Patching mavlink_sitl_gazebo"
+# See https://github.com/PX4/PX4-SITL_gazebo/pull/872
+cd /home/pi/PX4-Autopilot/Tools/sitl_gazebo
+patch -p1 < /tmp/patches/sitl_gazebo.patch
+
+echo "--- Build mavlink"
+cd /home/pi/catkin_ws
+catkin_make mavlink_c_generate -DCATKIN_WHITELIST_PACKAGES="px4"  # at first build PX4's mavlink to enforce mavlink_sitl_gazebo using it
+ln -s "." build/mavlink/mavlink  # fix https://github.com/PX4/PX4-Autopilot/pull/19964
+
+echo "--- Building the workspace"
+catkin_make -DCATKIN_WHITELIST_PACKAGES=""

clover/CMakeLists.txt

@@ -46,14 +46,6 @@ find_package(OpenCV ${_opencv_version} REQUIRED
     imgproc
 )
 
-# Download GeographicLib datasets
-message(STATUS "Downloading GeographicLib datasets to ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}")
-add_custom_target(download_geographiclib_datasets ALL
-  COMMAND geographiclib-get-geoids -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib egm96-5
-  COMMAND geographiclib-get-gravity -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib egm96
-  COMMAND geographiclib-get-magnetic -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib emm2015
-)
-
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 

clover/launch/mavros.launch

@@ -44,9 +44,6 @@
         <!-- remap rangefinder -->
         <remap from="mavros/distance_sensor/rangefinder_sub" to="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))"/>
 
-        <!-- path to find GoegraphicLib datasets -->
-        <env name="GEOGRAPHICLIB_DATA" value="$(eval env('CMAKE_PREFIX_PATH').split(':')[0] + '/share/GeographicLib')"/>
-
         <rosparam param="plugin_whitelist">
             - altitude
             - command

clover/test/basic.test

@@ -4,7 +4,6 @@
     <node pkg="mavros" type="mavros_node" name="mavros" required="true" output="screen">
         <param name="fcu_url" value="udp://@127.0.1:14557"/>
         <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
-        <env name="GEOGRAPHICLIB_DATA" value="$(eval env('CMAKE_PREFIX_PATH').split(':')[0] + '/share/GeographicLib')"/>
     </node>
 
     <node name="visualization" pkg="mavros_extras" type="visualization" required="true">