scripts: Patch PX4 SITL package

assets/patches/sitl_gazebo.patch

@@ -0,0 +1,40 @@
+diff --git a/include/gazebo_opticalflow_plugin.h b/include/gazebo_opticalflow_plugin.h
+index 4fbeab2..18a192b 100644
+--- a/include/gazebo_opticalflow_plugin.h
++++ b/include/gazebo_opticalflow_plugin.h
+@@ -40,7 +40,7 @@
+ #include "flow_px4.hpp"
+ 
+ #define DEFAULT_RATE 20
+-#define HAS_GYRO TRUE
++#define HAS_GYRO true
+ 
+ using namespace cv;
+ using namespace std;
+diff --git a/src/gazebo_geotagged_images_plugin.cpp b/src/gazebo_geotagged_images_plugin.cpp
+index 050558f..7029199 100644
+--- a/src/gazebo_geotagged_images_plugin.cpp
++++ b/src/gazebo_geotagged_images_plugin.cpp
+@@ -581,7 +581,8 @@ void GeotaggedImagesPlugin::_send_capture_status(struct sockaddr* srcaddr)
+         0,                                      // video status (Idle)
+         interval,                               // image interval
+         0,                                      // recording_time_s
+-        available_mib);                         // available_capacity
++        available_mib,                          // available_capacity
++        _imageCounter);
+     _send_mavlink_message(&msg, srcaddr);
+ }
+ 
+diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
+index 5d29017..d4dd6a7 100644
+--- a/src/gazebo_mavlink_interface.cpp
++++ b/src/gazebo_mavlink_interface.cpp
+@@ -1039,7 +1039,7 @@ void GazeboMavlinkInterface::VisionCallback(OdomPtr& odom_message) {
+ 
+     odom.time_usec = odom_message->time_usec();
+ 
+-    odom.frame_id = MAV_FRAME_VISION_NED;
++    odom.frame_id = 16 /*MAV_FRAME_VISION_NED*/;
+     odom.child_frame_id = MAV_FRAME_BODY_FRD;
+ 
+     odom.x = position.X();

ros_ide_vm.json

@@ -47,6 +47,16 @@
     "source": "{{user `assetsDir`}}/desktop/",
     "destination": "/home/clever/Desktop"
   },
+  {
+    "type": "file",
+    "source": "{{user `assetsDir`}}/packages",
+    "destination": "/tmp"
+  },
+  {
+    "type": "file",
+    "source": "{{user `assetsDir`}}/patches",
+    "destination": "/tmp"
+  },
   {
     "type": "shell",
     "script": "scripts/installSoftware.sh",

scripts/installSoftware.sh

@@ -28,11 +28,10 @@ echo "${PASSWORD}" | sudo -E -S sh -c 'echo "2" | update-alternatives --config j
 echo "${PASSWROD}" | sudo -E -S sed -i -e '/^assistive_technologies=/s/^/#/' /etc/java-*-openjdk/accessibility.properties
 
 echo "--- Prebuilding PX4 SITL configuration"
-make -C /home/clever/Firmware px4_sitl
+make -C ${HOME}/Firmware px4_sitl
 echo "--- Patching gazebo plugins for SITL"
-sed -i 's/TRUE/true/g' ${HOME}/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h
-# workaround for frames being deleted
-sed -i 's/MAV_FRAME_VISION_NED/16 \/\*MAV_FRAME_VISION_NED\*\//g' ${HOME}/Firmware/Tools/sitl_gazebo/src/gazebo_mavlink_interface.cpp
+cd ${HOME}/Tools/sitl_gazebo
+patch -p1 < /tmp/patches/sitl_gazebo.patch
 echo 'export SVGA_VGPU10=0' >> /home/clever/Firmware/Tools/setup_gazebo.bash
 
 echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc