diff --git a/.travis.yml b/.travis.yml index c08bd42..0177289 100644 --- a/.travis.yml +++ b/.travis.yml @@ -6,7 +6,7 @@ before_install: bionic contrib >> /etc/apt/sources.list" && sudo apt-get update && sudo apt-get install build-essential gcc make linux-headers-$(uname -r) virtualbox-6.0 && sudo usermod -aG vboxusers $(whoami) -- mkdir output-virtualbox-iso && pushd output-virtualbox-iso && wget --progress=dot:giga https://github.com/sfalexrog/clever_vm/releases/download/v0.1_base_vm/clover-devel.ova +- mkdir output-virtualbox-iso && pushd output-virtualbox-iso && wget --progress=dot:giga https://clovervm.ams3.digitaloceanspaces.com/base-focal.ova -O clover-devel.ova && popd - sudo apt install -y xvfb script: diff --git a/assets/configs/xfce4-power-manager.xml b/assets/configs/xfce4-power-manager.xml new file mode 100644 index 0000000..a336369 --- /dev/null +++ b/assets/configs/xfce4-power-manager.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/assets/patches/sitl_gazebo.patch b/assets/patches/sitl_gazebo.patch index b249c9e..d1ebd03 100644 --- a/assets/patches/sitl_gazebo.patch +++ b/assets/patches/sitl_gazebo.patch @@ -1,59 +1,28 @@ -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" +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}/Firmware/mavlink/include + ${CATKIN_DEVEL_PREFIX}/ + ) - #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); - } - -@@ -591,6 +592,7 @@ void GeotaggedImagesPlugin::_handle_storage_info(const mavlink_message_t *pMsg, - float total_mib = 0.0f; - float available_mib = 0.0f; - boost::filesystem::space_info si = boost::filesystem::space("."); -+ const std::string storage_name = "SITL Camera Storage"; - available_mib = (float)((double)si.available / (1024.0 * 1024.0)); - total_mib = (float)((double)si.capacity / (1024.0 * 1024.0)); - _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_REQUEST_STORAGE_INFORMATION, MAV_RESULT_ACCEPTED, srcaddr); -@@ -608,7 +610,9 @@ void GeotaggedImagesPlugin::_handle_storage_info(const mavlink_message_t *pMsg, - total_mib - available_mib, // used_capacity, - available_mib, - NAN, // read_speed, -- NAN // write_speed -+ NAN, // write_speed -+ STORAGE_TYPE_OTHER, // storage type -+ storage_name.c_str() // storage name - ); - _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(); +diff --git a/package.xml b/package.xml +index ae0fb34..12f17b8 100644 +--- a/package.xml ++++ b/package.xml +@@ -50,8 +50,8 @@ + roscpp + sensor_msgs + std_msgs +- python-rospkg +- python-jinja2 ++ python3-rospkg ++ python3-jinja2 + eigen + gazebo_ros + geometry_msgs diff --git a/assets/vscode/settings.json b/assets/vscode/settings.json deleted file mode 100644 index 6618585..0000000 --- a/assets/vscode/settings.json +++ /dev/null @@ -1,3 +0,0 @@ -{ - "python.pythonPath": "/usr/bin/python2.7" -} diff --git a/base_vm.json b/base_vm.json index ef30989..8e07e79 100644 --- a/base_vm.json +++ b/base_vm.json @@ -17,10 +17,10 @@ ["storageattach", "{{.Name}}", "--storagectl", "SATA Controller", "--port", "0", "--nonrotational", "on", "--discard", "on"] ], - "headless": "true", + "headless": "false", - "iso_url": "http://archive.ubuntu.com/ubuntu/dists/bionic/main/installer-amd64/current/images/netboot/mini.iso", - "iso_checksum": "bed8a55ae2a657f8349fe3271097cff3a5b8c3d1048cf258568f1601976fa30d", + "iso_url": "http://archive.ubuntu.com/ubuntu/dists/focal/main/installer-amd64/current/legacy-images/netboot/mini.iso", + "iso_checksum": "0e79e00bf844929d40825b1f0e8634415cda195ba23bae0b041911fde4dfe018", "iso_checksum_type": "sha256", "ssh_password": "{{user `password`}}", diff --git a/http/preseed.cfg b/http/preseed.cfg index f24fc66..2fbc88f 100644 --- a/http/preseed.cfg +++ b/http/preseed.cfg @@ -7,7 +7,7 @@ d-i debconf debconf/frontend select Noninteractive d-i debian-installer/locale string en_US.utf8 ### Hardware enablement kernel -d-i base-installer/kernel/override-image string linux-generic-hwe-18.04 +d-i base-installer/kernel/override-image string linux-generic-hwe-20.04 ### Keyboard selection d-i console-setup/ask_detect boolean false diff --git a/ros_ide_vm.json b/ros_ide_vm.json index 3abf695..bd96187 100644 --- a/ros_ide_vm.json +++ b/ros_ide_vm.json @@ -67,10 +67,5 @@ "type": "shell", "script": "scripts/installSoftware.sh", "execute_command": "PASSWORD='{{user `password`}}' bash '{{.Path}}'" - }, - { - "type": "file", - "source": "{{user `assetsDir`}}/vscode/", - "destination": "/home/{{user `user`}}/.config/Code/User/" }] } diff --git a/scripts/installSoftware.sh b/scripts/installSoftware.sh index 57ccaaf..d1a8710 100644 --- a/scripts/installSoftware.sh +++ b/scripts/installSoftware.sh @@ -23,11 +23,13 @@ echo "--- Installing ROS desktop packages" sudo -E sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo -E sh -c 'apt-key adv --keyserver "hkp://keyserver.ubuntu.com:80" --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' -sudo -E sh -c 'apt update; apt install -y python-rosdep python-rosinstall-generator python-wstool build-essential ros-melodic-desktop' +sudo -E sh -c 'apt-get update; apt-get install -y python3-rosdep python3-rosinstall-generator python3-wstool build-essential ros-noetic-desktop' sudo -E sh -c 'rosdep init' rosdep update +# FIXME: PX4 needs pip to be installed +# FIXME: python2 dependencies? echo "--- Downloading PX4 and installing its dependencies" git clone -b v1.10.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware sudo -E -S sh -c '${HOME}/Firmware/Tools/setup/ubuntu.sh' @@ -41,7 +43,7 @@ cd ${HOME}/Firmware/Tools/sitl_gazebo patch -p1 < /tmp/patches/sitl_gazebo.patch echo 'export SVGA_VGPU10=0' >> ${HOME}/Firmware/Tools/setup_gazebo.bash -echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc +echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc echo "--- Installing Visual Studio Code" @@ -58,22 +60,46 @@ code --install-extension ms-vscode.cpptools code --install-extension streetsidesoftware.code-spell-checker code --install-extension eamodio.gitlens echo "--- Installing pylint" -/usr/bin/python2.7 -m pip install -U "pylint<2.0.0" --user -/usr/bin/python3.6 -m pip install -U pylint --user +/usr/bin/python3 -m pip install -U pylint --user echo "--- Cloning and installing Clover packages" +sudo sh -c 'curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -' +sudo sh -c 'echo "deb http://deb.coex.tech/ros xenial main" > /etc/apt/sources.list.d/coex.tech.list' +sudo sh -c 'echo "yaml file:///etc/ros/rosdep/coex.yaml" > /etc/ros/rosdep/sources.list.d/99-coex.list' +sudo sh -c 'cat < /etc/ros/rosdep/coex.yaml +led_msgs: + ubuntu: + focal: [ros-noetic-led-msgs] +async_web_server_cpp: + ubuntu: + focal: [ros-noetic-async-web-server-cpp] +ros_pytest: + ubuntu: + focal: [ros-noetic-ros-pytest] +tf2_web_republisher: + ubuntu: + focal: [ros-noetic-tf2-web-republisher] +web_video_server: + ubuntu: + focal: [ros-noetic-web-video-server] +ws281x: + ubuntu: + focal: [ros-noetic-ws281x] +EOF' +sudo apt-get update +rosdep update mkdir -p ${HOME}/catkin_ws/src git clone https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover 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 -rosdep install --from-paths ${HOME}/catkin_ws/src --ignore-src --rosdistro melodic -y -curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh -o ${HOME}/install_geographiclib_datasets.sh -chmod a+x ${HOME}/install_geographiclib_datasets.sh -sudo -E sh -c '${HOME}/install_geographiclib_datasets.sh' -sudo /usr/bin/python2.7 -m pip install -r ${HOME}/catkin_ws/src/clover/clover/requirements.txt -source /opt/ros/melodic/setup.bash +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 +source /opt/ros/noetic/setup.bash cd ${HOME}/catkin_ws && catkin_make echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc @@ -120,10 +146,9 @@ sudo cp ${HOME}/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/ sudo systemctl enable monkey echo "--- Installing additional packages" -sudo -E sh -c 'apt update; apt install -y sshfs gvfs-fuse gvfs-backends python3-opencv byobu ipython ipython3 byobu nmap lsof tmux vim ros-melodic-rqt-multiplot' +sudo -E sh -c 'apt-get update; apt-get install -y sshfs gvfs-fuse gvfs-backends python3-opencv byobu ipython3 byobu nmap lsof tmux vim ros-noetic-rqt-multiplot' echo "--- Personalizing VM" -sudo -E sh -c 'mv /etc/xdg/autostart/light-locker.desktop /etc/xdg/autostart/light-locker.desktop.old' sudo -E sh -c 'cp /usr/share/xfce4/backdrops/xubuntu-wallpaper.png /usr/share/xfce4/backdrops/xubuntu-wallpaper-old.png; cp ${HOME}/Pictures/Logo_COEX_2019_white_on_black.png /usr/share/xfce4/backdrops/xubuntu-wallpaper.png' sudo -E sh -c 'hostnamectl set-hostname clover-dev; sed -i "s/ubuntu/clover-dev clover-dev.local/g" /etc/hosts' echo "export ROS_HOSTNAME=\`hostname\`.local" >> ${HOME}/.bashrc