From ad2a6cbc338fa355ae3f35336742de4e15a21403 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 10 Jun 2022 17:08:44 +0300
Subject: [PATCH] Patch sitl_gazebo to make Gazebo not crash on deleting the
 model See https://github.com/PX4/PX4-SITL_gazebo/pull/872

---
 assets/patches/sitl_gazebo.patch | 60 ++++++++++++++++++--------------
 scripts/install_software.sh      |  5 +++
 2 files changed, 39 insertions(+), 26 deletions(-)

diff --git a/assets/patches/sitl_gazebo.patch b/assets/patches/sitl_gazebo.patch
index a00a353..4d9c2c7 100644
--- a/assets/patches/sitl_gazebo.patch
+++ b/assets/patches/sitl_gazebo.patch
@@ -1,28 +1,36 @@
-diff --git a/cmake/FindMAVLink.cmake b/cmake/FindMAVLink.cmake
-index 8de3079..3fdae02 100644
---- a/cmake/FindMAVLink.cmake
-+++ b/cmake/FindMAVLink.cmake
-@@ -19,6 +19,7 @@ set(_MAVLINK_EXTRA_SEARCH_HINTS
-     ${CMAKE_SOURCE_DIR}/mavlink/
-     ../../mavlink/
-     ../mavlink/
-+    $ENV{HOME}/PX4-Autopilot/mavlink/include
-     ${CATKIN_DEVEL_PREFIX}/
-     )
+diff --git a/src/gazebo_gps_plugin.cpp b/src/gazebo_gps_plugin.cpp
+index 1195f5e..6540596 100644
+--- a/src/gazebo_gps_plugin.cpp
++++ b/src/gazebo_gps_plugin.cpp
+@@ -41,7 +41,6 @@ GpsPlugin::~GpsPlugin()
+   if (updateSensorConnection_)
+     updateSensorConnection_->~Connection();
+   parentSensor_.reset();
+-  world_->Reset();
+ }
  
+ void GpsPlugin::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+diff --git a/src/gazebo_groundtruth_plugin.cpp b/src/gazebo_groundtruth_plugin.cpp
+index 441ebd9..dd66e12 100644
+--- a/src/gazebo_groundtruth_plugin.cpp
++++ b/src/gazebo_groundtruth_plugin.cpp
+@@ -51,7 +51,6 @@ GroundtruthPlugin::~GroundtruthPlugin()
+ {
+   if (updateConnection_)
+     updateConnection_->~Connection();
+-  world_->Reset();
+ }
  
-diff --git a/package.xml b/package.xml
-index ae0fb34..12f17b8 100644
---- a/package.xml
-+++ b/package.xml
-@@ -50,8 +50,8 @@
-   <build_depend>roscpp</build_depend>
-   <build_depend>sensor_msgs</build_depend>
-   <build_depend>std_msgs</build_depend>
--  <build_depend>python-rospkg</build_depend>
--  <build_depend>python-jinja2</build_depend>
-+  <build_depend>python3-rospkg</build_depend>
-+  <build_depend>python3-jinja2</build_depend>
-   <run_depend>eigen</run_depend>
-   <run_depend>gazebo_ros</run_depend>
-   <run_depend>geometry_msgs</run_depend>
+ void GroundtruthPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+diff --git a/src/gazebo_lidar_plugin.cpp b/src/gazebo_lidar_plugin.cpp
+index 38374e6..1b2fbf8 100644
+--- a/src/gazebo_lidar_plugin.cpp
++++ b/src/gazebo_lidar_plugin.cpp
+@@ -47,7 +47,6 @@ LidarPlugin::~LidarPlugin()
+   newLaserScansConnection_->~Connection();
+   newLaserScansConnection_.reset();
+   parentSensor_.reset();
+-  world_->Reset();
+ }
+ 
+ /////////////////////////////////////////////////
diff --git a/scripts/install_software.sh b/scripts/install_software.sh
index bef6379..62740e9 100644
--- a/scripts/install_software.sh
+++ b/scripts/install_software.sh
@@ -65,6 +65,11 @@ echo "--- Installing PX4 dependencies"
 pip3 install --user toml
 sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
 
+echo "--- Patching mavlink_sitl_gazebo"
+# See https://github.com/PX4/PX4-SITL_gazebo/pull/872
+cd ~/PX4-Autopilot/Tools/sitl_gazebo
+patch -p1 < /tmp/patches/mavlink_sitl_gazebo.patch
+
 echo "--- Addding Gazebo initialization to bashrc"
 echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
 echo "export SVGA_VGPU10=0" >> ~/.bashrc