Patch to fix building px4 binary

.github/workflows/main.yml

@@ -7,11 +7,10 @@ on:
     branches: [ master ]
   release:
     types: [ created ]
-  workflow_dispatch:
 
 jobs:
   build:
-    runs-on: macos-12 # Using macOS as https://github.com/actions/virtual-environments/issues/183
+    runs-on: macos-10.15 # Using macOS as https://github.com/actions/virtual-environments/issues/183
     steps:
       - uses: actions/checkout@v2
       - name: Download base image
@@ -20,8 +19,6 @@ jobs:
           wget --progress=dot:giga https://clovervm.ams3.digitaloceanspaces.com/base-focal.ova -O output-virtualbox-iso/clover-devel.ova
       - name: Build
         run: ./build.sh
-      - name: Image size
-        run: ls -lh output-virtualbox-ovf
       - 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

scripts/install_software.sh

@@ -55,16 +55,16 @@ echo "--- Installing Clover's Python dependencies"
 sudo -E sh -c '/usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requirements.txt'
 
 echo "--- Downloading PX4"
-git clone --recursive --depth 1 --branch v1.13.3 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
+git clone --recursive --depth 1 --branch v1.13.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
 ln -s ~/PX4-Autopilot ~/catkin_ws/src/
 ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/
+#ln -s ~/PX4-Autopilot/src/modules/mavlink/mavlink ~/catkin_ws/src/
+#git clone --depth 1 https://github.com/mavlink/c_library_v2.git ~/catkin_ws/src/mavlink/ # FIXME:
 
 echo "--- Installing PX4 dependencies"
-echo "progress=dot:giga" > ~/.wgetrc # make wget don't spam to log
+~/PX4-Autopilot/Tools/setup/ubuntu.sh
-~/PX4-Autopilot/Tools/setup/ubuntu.sh --no-nuttx
-rm ~/.wgetrc
 pip3 install --user toml
-# sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
+sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
 
 echo "--- Patching mavlink_sitl_gazebo"
 # See https://github.com/PX4/PX4-SITL_gazebo/pull/872
@@ -81,16 +81,18 @@ ln -s ~/catkin_ws/src/clover/clover_simulation/airframes/* ~/PX4-Autopilot/ROMFS
 echo "--- Installing geographiclib datasets"
 sudo -E sh -c '/opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh'
 
-echo "--- Build mavlink"
+echo "--- Build PX4"
-cd ~/catkin_ws
+cd ~/PX4-Autopilot
-catkin_make mavlink_c_generate -DCATKIN_WHITELIST_PACKAGES="px4"  # at first build PX4's mavlink to enforce mavlink_sitl_gazebo using it
+make px4_sitl
-ln -s "." build/mavlink/mavlink  # fix https://github.com/PX4/PX4-Autopilot/pull/19964
 
 echo "--- Building the workspace"
-catkin_make -DCATKIN_WHITELIST_PACKAGES=""
+# sudo -E sh -c 'rm -rf /opt/ros/noetic/include/mavlink'
-
+ls ~/catkin_ws/src/PX4-Autopilot/build/px4_sitl_default/mavlink
-echo "--- Running tests"
+echo 'include_directories("/home/clover/PX4-Autopilot/build/px4_sitl_default/mavlink")' >> ~/catkin_ws/src/sitl_gazebo/CMakeLists.txt
-catkin_make run_tests && catkin_test_results
+sed -i 's|#include <mavlink/mavlink_types.h>|#include <mavlink_types.h>|' ~/catkin_ws/src/PX4-Autopilot/src/modules/mavlink/mavlink_bridge_header.h
+cd ~/catkin_ws
+catkin_make mavlink_c_generate
+catkin_make
 
 echo "--- Installing Visual Studio Code"
 sudo -E sh -c 'apt-get update; apt-get install -y curl'
@@ -152,10 +154,9 @@ sed "s/pi/${USER}/g" ${HOME}/catkin_ws/src/clover/builder/assets/monkey | sudo t
 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
-rosrun clover www # create directory to serve
 
 echo "--- Installing additional packages"
-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-usb-cam ros-noetic-rqt-multiplot ros-noetic-image-view'
+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 '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'
@@ -186,6 +187,7 @@ pip --version
 pip3 --version
 monkey --version
 systemctl --version
+# TODO: add Python tests
 
 roscore -h
 rosversion px4
@@ -202,35 +204,19 @@ rosversion tf2_web_republisher
 rosversion cv_camera
 rosversion web_video_server
 rosversion nodelet
-rosversion image_view
 
-echo "--- Validating PX4 builds"
+echo "--- Run Clover's Python libraries validation"
-cd ~/PX4-Autopilot
-make px4_sitl  # regular sitl build
-# sudo -E sh -c 'apt-get install -y gcc-arm-none-eabi'
-# make px4_fmu-v4_default
-make clean
-
-echo "--- Run Clover's Python and shell tests"
-source ~/catkin_ws/devel/setup.bash
-export VM=1
-$HOME/catkin_ws/src/clover/builder/test/tests.py
 $HOME/catkin_ws/src/clover/builder/test/tests_py3.py
-$HOME/catkin_ws/src/clover/builder/test/tests.sh
 
 echo "--- Versions of all installed ROS packages"
 set +x
 rospack list-names | while read line; do echo $line `rosversion $line`; done
 set -x
 
-echo "--- Largest packages installed"
+echo "Trying running the Gazebo simulator, check the output"
-sudo -E sh -c 'apt-get install -y debian-goodies'
-dpigs -H -n 30
-
-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"
+echo "Trying running jMAVSim, check the output"
 # cd ~/PX4-Autopilot
 # HEADLESS=1 timeout --preserve-status 30 make px4_sitl jmavsim
 HEADLESS=1 timeout --preserve-status 30 roslaunch clover_simulation simulator.launch type:=jmavsim gui:=false --screen