More enforcement on installation Gazebo 9

It exits with 255 somehow

.github/workflows/main.yml

@@ -21,5 +21,7 @@ jobs:
         run: ./build.sh
       - name: Upload
         # Not using ready S3 actions, because they either don't run on macOS machines or don't support changing the endpoint
-        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
+        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
+          echo Uploaded https://clovervm.ams3.digitaloceanspaces.com/$(ls)
         working-directory: output-virtualbox-ovf

LICENSE

@@ -0,0 +1,21 @@
+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) section.
+Download the latest image in [Releases](https://github.com/CopterExpress/clover_vm/releases/latest) section.
 
 <img src=https://clover.coex.tech/assets/simulator.jpg width=600>
 

assets/configs/clover.txt

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

assets/desktop/jMAVSim Clover.desktop

@@ -1,10 +0,0 @@
-[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/sitl_gazebo.patch

@@ -1,3 +1,16 @@
+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/cmake/FindMAVLink.cmake b/cmake/FindMAVLink.cmake
 index 8de3079..3fdae02 100644
 --- a/cmake/FindMAVLink.cmake

build.sh

@@ -47,7 +47,3 @@ 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

@@ -63,11 +63,6 @@
     "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

@@ -31,10 +31,19 @@ rosdep update
 # FIXME: PX4 needs pip to be installed
 # FIXME: python2 dependencies?
 echo "--- Downloading PX4 and installing its dependencies"
-git clone --recursive -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
+
-# PX4 v1.11.1 script will happily run sudo by itself
+# v1.11.1, TODO: update to v1.12, remove Gazebo downgrade
-${HOME}/Firmware/Tools/setup/ubuntu.sh
+#git clone --recursive -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
-# Ubuntu 20.04 no longer sets assistive_technologies, thankfully
+## PX4 v1.11.1 script will happily run sudo by itself
+#${HOME}/Firmware/Tools/setup/ubuntu.sh
+## Ubuntu 20.04 no longer sets assistive_technologies, thankfully
+
+# v1.10.1:
+git clone -b v1.10.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
+sudo -E sh -c 'apt-get update; apt-get install -y python3-pip'
+sudo -E -S sh -c '${HOME}/Firmware/Tools/setup/ubuntu.sh'
+sudo -E -S sh -c 'echo "2" | update-alternatives --config java'
+sudo -E -S sed -i -e '/^assistive_technologies=/s/^/#/' /etc/java-*-openjdk/accessibility.properties
 
 echo "--- Prebuilding PX4 SITL configuration"
 make -C ${HOME}/Firmware px4_sitl
@@ -59,15 +68,6 @@ 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
 
@@ -112,6 +112,8 @@ source /opt/ros/noetic/setup.bash
 cd ${HOME}/catkin_ws && catkin_make
 echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
 
+sudo -E sh -c 'apt-get update; apt-get install -y gazebo9' # downgrade Gazebo to 9 to make PX4 v1.10.1 work
+
 echo "--- Installing npm"
 cd ${HOME}
 NODE_VERSION=v10.15.0 # GitBook won't install on newer version
@@ -166,3 +168,39 @@ 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 exist with 255 on --version somehow
+node -v
+npm -v
+byobu --version
+git --version
+vim --version
+pip --version
+pip3 --version
+monkey --version
+systemctl --version
+
+source $HOME/catkin_ws/devel/setup.bash
+roscore -h
+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