Echo commands in install software script

.github/workflows/main.yml

@@ -0,0 +1,22 @@
+name: Build image
+
+on:
+  push:
+    branches: [ '*' ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  build:
+    runs-on: macos-10.15
+    steps:
+      - uses: actions/checkout@v2
+      - name: Setup
+        run: |
+          set -x
+          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
+          popd
+      - name: Build
+        run: ./build.sh

assets/desktop/code_ros.desktop

@@ -1,5 +1,5 @@
 [Desktop Entry]
-Name=VS Code + ROS
+Name=VS Code
 Comment=Code Editing. Redefined.
 GenericName=Text Editor
 Exec=/bin/bash -c "source /home/clover/catkin_ws/devel/setup.bash; /usr/share/code/code --no-sandbox --unity-launch %F"

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/patches/autoconfig.patch

@@ -1,49 +0,0 @@
-diff --git a/clover/launch/aruco.launch b/clover/launch/aruco.launch
-index c4ce578..5f3be12 100644
---- a/clover/launch/aruco.launch
-+++ b/clover/launch/aruco.launch
-@@ -1,7 +1,7 @@
- <launch>
-     <arg name="aruco_detect" default="true"/>
--    <arg name="aruco_map" default="false"/>
--    <arg name="aruco_vpe" default="false"/>
-+    <arg name="aruco_map" default="true"/>
-+    <arg name="aruco_vpe" default="true"/>
- 
-     <!-- For additional help go to https://clover.coex.tech/aruco -->
- 
-@@ -24,7 +24,7 @@
-         <remap from="image_raw" to="main_camera/image_raw"/>
-         <remap from="camera_info" to="main_camera/camera_info"/>
-         <remap from="markers" to="aruco_detect/markers"/>
--        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
-+        <param name="map" value="$(find aruco_pose)/map/cmit.txt"/>
-         <param name="known_tilt" value="map"/>
-         <param name="image_axis" value="true"/>
-         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
-diff --git a/clover/launch/clover.launch b/clover/launch/clover.launch
-index e1bd714..6bf140c 100644
---- a/clover/launch/clover.launch
-+++ b/clover/launch/clover.launch
-@@ -7,7 +7,7 @@
-     <arg name="rosbridge" default="true"/>
-     <arg name="main_camera" default="true"/>
-     <arg name="optical_flow" default="true"/>
--    <arg name="aruco" default="false"/>
-+    <arg name="aruco" default="true"/>
-     <arg name="rangefinder_vl53l1x" default="true"/>
-     <arg name="led" default="true"/>
-     <arg name="rc" default="true"/>
-diff --git a/clover_simulation/launch/simulator.launch b/clover_simulation/launch/simulator.launch
-index d70f5f6..e610c53 100644
---- a/clover_simulation/launch/simulator.launch
-+++ b/clover_simulation/launch/simulator.launch
-@@ -13,7 +13,7 @@
-         <!-- Workaround for crashes in VMware -->
-         <env name="SVGA_VGPU10" value="0"/>
-         <arg name="gui" value="true"/>
--        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover.world"/>
-+        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
-         <arg name="verbose" value="true"/>
-     </include>
- 

assets/patches/sitl_gazebo.patch

@@ -25,6 +25,25 @@ index 050558f..7029199 100644
      _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

build.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-set -e
+set -ex
 
 # FIXME: Use system Packer if possible
 #PACKER=$(which packer)
@@ -9,9 +9,14 @@ set -e
 PACKER="./packer"
 if [ ! -f ${PACKER} ]; then
     echo "Packer not found; downloading v1.5.4 from Hashicorp"
-    wget --progress=dot:giga https://releases.hashicorp.com/packer/1.5.4/packer_1.5.4_linux_amd64.zip
-    unzip packer_1.5.4_linux_amd64.zip
-    rm packer_1.5.4_linux_amd64.zip
+    if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+        OS=linux
+    elif [[ "$OSTYPE" == "darwin"* ]]; then
+        OS=darwin
+    fi
+    wget --progress=dot:giga https://releases.hashicorp.com/packer/1.5.4/packer_1.5.4_${OS}_amd64.zip
+    unzip packer_1.5.4_${OS}_amd64.zip
+    rm packer_1.5.4_${OS}_amd64.zip
 fi
 
 echo "--- Using Packer version $(${PACKER} --version)"
@@ -28,7 +33,8 @@ ${PACKER} build ros_ide_vm.json
 echo "--- Marking the VM"
 
 GIT_REV=$(git rev-parse --short HEAD)
-VM_NAME="clover-devel_v0.20+${GIT_REV}.ova"
+GIT_DESCRIBE=$(git describe --tags)
+VM_NAME="clover-devel_${GIT_DESCRIBE}.ova"
 mv ./output-virtualbox-ovf/clover-devel.ova ./output-virtualbox-ovf/${VM_NAME}
 
 echo "--- All done!"

scripts/installSoftware.sh

@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
 
-set -e
+set -ex
 
 echo "--- Current environment:"
 /usr/bin/env
@@ -77,21 +77,6 @@ source /opt/ros/melodic/setup.bash
 cd ${HOME}/catkin_ws && catkin_make
 echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
 
-echo "--- Generating ArUco field"
-source ${HOME}/catkin_ws/devel/setup.bash
-CLOVER_BASE_PATH=${HOME}/catkin_ws/src/clover
-ARUCO_MAP_PATH=${CLOVER_BASE_PATH}/aruco_pose/map
-WORLD_PATH=${CLOVER_BASE_PATH}/clover_simulation/resources/worlds
-rosrun clover_simulation aruco_gen --single-model --source-world=${WORLD_PATH}/clover.world ${ARUCO_MAP_PATH}/cmit.txt > ${WORLD_PATH}/clover_aruco.world
-
-echo "--- Applying configuration patches"
-cd ${HOME}/catkin_ws/src/clover
-patch -p1 < /tmp/patches/autoconfig.patch
-
-echo "--- Removing problematic models"
-cd ${HOME}/catkin_ws/src/sitl_gazebo/models
-rm -rf Box BoxesLargeOnPallet BoxesLargeOnPallet_2 BoxesLargeOnPallet_3
-
 echo "--- Installing npm"
 cd ${HOME}
 wget --progress=dot:giga https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-x64.tar.gz