Add custom dictionary for VSCode’s cSpell

.github/workflows/main.yml

@@ -20,9 +20,6 @@ jobs:
       - name: Build
         run: ./build.sh
       - name: Upload
-        if: ${{ github.event_name == 'release' }}
         # Not using ready S3 actions, because they either don't run on macOS machines or don't support changing the endpoint
-        run: |
+        run: AWS_ACCESS_KEY_ID=${{secrets.S3_KEY}} AWS_SECRET_ACCESS_KEY=${{secrets.S3_SECRET_KEY}} aws s3 sync . s3://clovervm/ --acl public-read --endpoint-url https://ams3.digitaloceanspaces.com --no-progress
-          AWS_ACCESS_KEY_ID=${{secrets.S3_KEY}} AWS_SECRET_ACCESS_KEY=${{secrets.S3_SECRET_KEY}} aws s3 sync . s3://clovervm/ --acl public-read --endpoint-url https://ams3.digitaloceanspaces.com --no-progress
-          echo Uploaded https://clovervm.ams3.digitaloceanspaces.com/$(ls)
         working-directory: output-virtualbox-ovf

LICENSE

@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2020 Copter Express Technologies
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.

README.md

@@ -2,7 +2,7 @@
 
 The generator of Clover developer virtual machine image (`.ova` file) to simplify working with Clover and Clover simulation.
 
-Download the latest image in [Releases](https://github.com/CopterExpress/clover_vm/releases/latest) section.
+Download the latest image in [Releases](https://github.com/CopterExpress/clover_vm/releases) section.
 
 <img src=https://clover.coex.tech/assets/simulator.jpg width=600>
 

assets/configs/clover.txt

@@ -0,0 +1,13 @@
+aruco
+leds
+rospy
+srvs
+telem
+offboard
+hypot
+mavros
+rosrun
+rostime
+pymavlink
+mavutil
+rosmsg

assets/desktop/Clover Drone Kit Tools.desktop

@@ -1,7 +0,0 @@
-[Desktop Entry]
-Version=1.0
-Type=Link
-Name=Clover Drone Kit Tools
-Comment=Open web based Clover tools
-Icon=user-bookmarks
-URL=http://localhost/

assets/desktop/Gazebo PX4.desktop

@@ -1,8 +1,8 @@
 [Desktop Entry]
 Version=1.0
 Type=Application
-Name=Gazebo Clover
+Name=Gazebo PX4
-Comment=Run Clover drone simulation in Gazebo
+Comment=Fully-featured Gazebo simulation with default PX4 settings
 Exec=/bin/bash -c 'source /home/clover/catkin_ws/devel/setup.bash; roslaunch clover_simulation simulator.launch'
 Icon=gazebo
 Path=

assets/desktop/jMAVSim Clover.desktop

@@ -0,0 +1,10 @@
+[Desktop Entry]
+Version=1.0
+Type=Application
+Name=jMAVSim + Clover
+Comment=A lightweight PX4 simulator + Clover services
+Exec=/bin/bash -c 'source /home/clover/catkin_ws/devel/setup.bash; roslaunch clover_simulation simulator.launch type:=jmavsim'
+Icon=openjdk-8
+Path=
+Terminal=true
+StartupNotify=false

assets/desktop/jMAVSim.desktop

@@ -3,7 +3,7 @@ Version=1.0
 Type=Application
 Name=jMAVSim
 Comment=A lightweight PX4 simulator
-Exec=/bin/bash -c 'cd ~/PX4-Autopilot; make px4_sitl jmavsim'
+Exec=/bin/bash -c 'cd ~/Firmware; make px4_sitl jmavsim'
 Icon=openjdk-8
 Path=
 Terminal=true

assets/patches/sitl_gazebo.patch

@@ -6,7 +6,7 @@ index 8de3079..3fdae02 100644
      ${CMAKE_SOURCE_DIR}/mavlink/
      ../../mavlink/
      ../mavlink/
-+    $ENV{HOME}/PX4-Autopilot/mavlink/include
++    $ENV{HOME}/Firmware/mavlink/include
      ${CATKIN_DEVEL_PREFIX}/
      )
  

build.sh

@@ -47,3 +47,7 @@ mv ./output-virtualbox-ovf/clover-devel.ova ./output-virtualbox-ovf/${VM_NAME}
 ls -l output-virtualbox-ovf
 
 echo "--- All done!"
+
+if [ "${CI}" == "true" ]; then
+    echo "Deploying to https://clovervm.ams3.digitaloceanspaces.com/${VM_NAME}"
+fi

ros_ide_vm.json

@@ -63,6 +63,11 @@
     "source": "{{user `assetsDir`}}/patches",
     "destination": "/tmp"
   },
+  {
+    "type": "file",
+    "source": "{{user `assetsDir`}}/configs",
+    "destination": "/tmp"
+  },
   {
     "type": "shell",
     "script": "scripts/install_software.sh",

scripts/install_software.sh

@@ -31,21 +31,17 @@ rosdep update
 # FIXME: PX4 needs pip to be installed
 # FIXME: python2 dependencies?
 echo "--- Downloading PX4 and installing its dependencies"
-git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ${HOME}/PX4-Autopilot
+git clone --recursive -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
 # PX4 v1.11.1 script will happily run sudo by itself
-${HOME}/PX4-Autopilot/Tools/setup/ubuntu.sh
+${HOME}/Firmware/Tools/setup/ubuntu.sh
 # Ubuntu 20.04 no longer sets assistive_technologies, thankfully
-sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
 
 echo "--- Prebuilding PX4 SITL configuration"
-make -C ${HOME}/PX4-Autopilot px4_sitl
+make -C ${HOME}/Firmware px4_sitl
 echo "--- Patching gazebo plugins for SITL"
-# cd ${HOME}/PX4-Autopilot/Tools/sitl_gazebo
+cd ${HOME}/Firmware/Tools/sitl_gazebo
-# patch -p1 < /tmp/patches/sitl_gazebo.patch
+patch -p1 < /tmp/patches/sitl_gazebo.patch
-echo 'export SVGA_VGPU10=0' >> ${HOME}/PX4-Autopilot/Tools/setup_gazebo.bash
+echo 'export SVGA_VGPU10=0' >> ${HOME}/Firmware/Tools/setup_gazebo.bash
-
-echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
-echo "export SVGA_VGPU10=0" >> ~/.bashrc
 
 echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
 
@@ -63,6 +59,15 @@ code --install-extension ms-vscode.cmake-tools
 code --install-extension ms-vscode.cpptools
 code --install-extension streetsidesoftware.code-spell-checker
 code --install-extension eamodio.gitlens
+
+echo "--- Add custom dictionary for VSCode"
+sudo -E sh -c 'apt-get install -y jq moreutils'
+mv /tmp/configs/clover.txt ${HOME}/.vscode/
+CODE_SETTINGS="$HOME/.config/Code/User/settings.json"
+cat $CODE_SETTINGS
+jq '."cSpell.customUserDictionaries"=[{name:"Clover", "path": "~/.vscode/clover.txt"}]' $CODE_SETTINGS | sponge $CODE_SETTINGS
+cat $CODE_SETTINGS
+
 echo "--- Installing pylint"
 /usr/bin/python3 -m pip install -U pylint --user
 
@@ -93,13 +98,13 @@ EOF'
 sudo apt-get update
 rosdep update
 mkdir -p ${HOME}/catkin_ws/src
-git clone --depth 1 https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover
+git clone https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover
-git clone --depth 1 https://github.com/CopterExpress/ros_led ${HOME}/catkin_ws/src/ros_led
+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 --depth 1 https://github.com/ethz-asl/mav_comm ${HOME}/catkin_ws/src/mav_comm
+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}/PX4-Autopilot ${HOME}/catkin_ws/src/PX4-Autopilot
+ln -s ${HOME}/Firmware ${HOME}/catkin_ws/src/Firmware
-ln -s ${HOME}/PX4-Autopilot/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
+ln -s ${HOME}/Firmware/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
@@ -107,11 +112,6 @@ 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 ${HOME}
 NODE_VERSION=v10.15.0 # GitBook won't install on newer version
@@ -152,7 +152,6 @@ sudo -E sh -c 'apt-get update; apt-get install -y firefox'
 echo "--- Installing Monkey web server"
 sudo apt-get install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
 sed "s/pi/${USER}/g" ${HOME}/catkin_ws/src/clover/builder/assets/monkey | sudo tee /etc/monkey/sites/default
-sudo -E sh -c "sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf"
 sudo cp ${HOME}/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system/monkey.service
 sudo systemctl enable monkey
 
@@ -167,44 +166,3 @@ chmod a+x ${HOME}/Desktop/*
 
 echo "--- Cleaning up"
 sudo -E sh -c 'apt-get -y autoremove; apt-get -y autoclean; apt-get -y clean; fstrim -v /'
-
-echo "--- Validating"
-# python --version # python-is-python3
-python2 --version
-python3 --version
-# ipython --version
-ipython3 --version
-gazebo --version || true # FIXME: Gazebo exits with 255 on --version somehow
-node -v
-npm -v
-byobu --version
-git --version
-vim --version
-pip --version
-pip3 --version
-monkey --version
-systemctl --version
-# TODO: add Python tests
-
-roscore -h
-rosversion px4
-rosversion clover
-rosversion aruco_pose
-rosversion mavros
-rosversion mavros_extras
-rosversion ws281x
-rosversion led_msgs
-rosversion dynamic_reconfigure
-rosversion tf2_web_republisher
-# rosversion compressed_image_transport
-# rosversion rosbridge_suite
-rosversion cv_camera
-rosversion web_video_server
-rosversion nodelet
-
-echo "Trying running the Gazebo simulator, check the output"
-timeout --preserve-status 30 roslaunch clover_simulation simulator.launch gui:=false --screen
-
-echo "Trying running jMAVSim, check the output"
-cd ~/PX4-Autopilot
-HEADLESS=1 timeout --preserve-status 30 make px4_sitl jmavsim