CopterExpress/clover_vm
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover_vm.git synced 2026-05-26 15:13:25 +00:00
Code Issues Packages Projects Releases Wiki Activity

Use original PX4 v1.12 (#3)

Browse Source 
* Use original PX4 v1.12

* Disable patching sitl_gazebo

* Fix

* Add Clover airframe to PX4

* Fix
This commit is contained in:
Oleg Kalachev
2021-08-16 19:13:21 +03:00
committed by GitHub
parent a5474bad7c
commit 25abea38ba
3 changed files with 15 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
scripts/install_software.sh
View File

@@ -31,17 +31,17 @@ rosdep update
# FIXME: PX4 needs pip to be installed
# FIXME: python2 dependencies?
echo "--- Downloading PX4 and installing its dependencies"
git clone --recursive -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ${HOME}/PX4-Autopilot
# PX4 v1.11.1 script will happily run sudo by itself
${HOME}/Firmware/Tools/setup/ubuntu.sh
${HOME}/PX4-Autopilot/Tools/setup/ubuntu.sh
# Ubuntu 20.04 no longer sets assistive_technologies, thankfully
echo "--- Prebuilding PX4 SITL configuration"
make -C ${HOME}/Firmware px4_sitl
make -C ${HOME}/PX4-Autopilot px4_sitl
echo "--- Patching gazebo plugins for SITL"
cd ${HOME}/Firmware/Tools/sitl_gazebo
patch -p1 < /tmp/patches/sitl_gazebo.patch
echo 'export SVGA_VGPU10=0' >> ${HOME}/Firmware/Tools/setup_gazebo.bash
# cd ${HOME}/PX4-Autopilot/Tools/sitl_gazebo
# patch -p1 < /tmp/patches/sitl_gazebo.patch
echo 'export SVGA_VGPU10=0' >> ${HOME}/PX4-Autopilot/Tools/setup_gazebo.bash
echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
echo "export SVGA_VGPU10=0" >> ~/.bashrc
@@ -97,8 +97,8 @@ git clone https://github.com/CopterExpress/ros_led ${HOME}/catkin_ws/src/ros_led
# These packages are missing from Noetic release, but are required for sitl_gazebo
git clone https://github.com/ethz-asl/mav_comm ${HOME}/catkin_ws/src/mav_comm
# Make PX4 and Gazebo plugins visible in the workspace
ln -s ${HOME}/Firmware ${HOME}/catkin_ws/src/Firmware
ln -s ${HOME}/Firmware/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
ln -s ${HOME}/PX4-Autopilot ${HOME}/catkin_ws/src/PX4-Autopilot
ln -s ${HOME}/PX4-Autopilot/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
rosdep install --from-paths ${HOME}/catkin_ws/src --ignore-src --rosdistro noetic -y
sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh
sudo /usr/bin/python3 -m pip install -r ${HOME}/catkin_ws/src/clover/clover/requirements.txt
@@ -106,6 +106,11 @@ source /opt/ros/noetic/setup.bash
cd ${HOME}/catkin_ws && catkin_make
echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
source $HOME/catkin_ws/devel/setup.bash
echo "--- Adding Clover vehicle startup script to PX4"
ln -s "$(catkin_find clover_simulation airframes)/*" $HOME/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
echo "--- Installing npm"
cd ${HOME}
NODE_VERSION=v10.15.0 # GitBook won't install on newer version
@@ -179,7 +184,6 @@ monkey --version
systemctl --version
# TODO: add Python tests
source $HOME/catkin_ws/devel/setup.bash
roscore -h
rosversion px4
rosversion clover