Merge branch 'master' into asia_ws_aug2020

.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://clovervm.ams3.digitaloceanspaces.com/base-focal.ova -O clover-devel.ova
+- 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
 - sudo apt install -y xvfb
 script:

assets/configs/xfce4-power-manager.xml

@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-
-<channel name="xfce4-power-manager" version="1.0">
-  <property name="xfce4-power-manager" type="empty">
-    <property name="power-button-action" type="empty"/>
-    <property name="lock-screen-suspend-hibernate" type="empty"/>
-    <property name="logind-handle-lid-switch" type="empty"/>
-    <property name="blank-on-ac" type="empty"/>
-    <property name="blank-on-battery" type="empty"/>
-    <property name="dpms-enabled" type="bool" value="false"/>
-    <property name="dpms-on-ac-sleep" type="empty"/>
-    <property name="dpms-on-ac-off" type="empty"/>
-    <property name="dpms-on-battery-sleep" type="empty"/>
-    <property name="dpms-on-battery-off" type="empty"/>
-    <property name="show-panel-label" type="empty"/>
-    <property name="inactivity-sleep-mode-on-ac" type="empty"/>
-    <property name="inactivity-sleep-mode-on-battery" type="empty"/>
-    <property name="show-tray-icon" type="bool" value="false"/>
-  </property>
-</channel>

assets/desktop/code_ros.desktop

@@ -1,5 +1,5 @@
 [Desktop Entry]
-Name=VS Code
+Name=VS Code + ROS
 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

@@ -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/autoconfig.patch

@@ -0,0 +1,49 @@
+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

@@ -11,23 +11,8 @@ index 4fbeab2..18a192b 100644
  
  using namespace cv;
  using namespace std;
-diff --git a/package.xml b/package.xml
-index ae0fb34..12f17b8 100644
---- a/package.xml
-+++ b/package.xml
-@@ -50,8 +50,8 @@
-   <build_depend>roscpp</build_depend>
-   <build_depend>sensor_msgs</build_depend>
-   <build_depend>std_msgs</build_depend>
--  <build_depend>python-rospkg</build_depend>
--  <build_depend>python-jinja2</build_depend>
-+  <build_depend>python3-rospkg</build_depend>
-+  <build_depend>python3-jinja2</build_depend>
-   <run_depend>eigen</run_depend>
-   <run_depend>gazebo_ros</run_depend>
-   <run_depend>geometry_msgs</run_depend>
 diff --git a/src/gazebo_geotagged_images_plugin.cpp b/src/gazebo_geotagged_images_plugin.cpp
-index 050558f..3edda33 100644
+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)
@@ -40,25 +25,6 @@ index 050558f..3edda33 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

assets/vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "python.pythonPath": "/usr/bin/python2.7"
+}

base_vm.json

@@ -17,10 +17,10 @@
       ["storageattach", "{{.Name}}", "--storagectl", "SATA Controller", "--port", "0", "--nonrotational", "on", "--discard", "on"]
     ],
 
-    "headless": "false",
+    "headless": "true",
 
-    "iso_url": "http://archive.ubuntu.com/ubuntu/dists/focal/main/installer-amd64/current/legacy-images/netboot/mini.iso",
-    "iso_checksum": "0e79e00bf844929d40825b1f0e8634415cda195ba23bae0b041911fde4dfe018",
+    "iso_url": "http://archive.ubuntu.com/ubuntu/dists/bionic/main/installer-amd64/current/images/netboot/mini.iso",
+    "iso_checksum": "bed8a55ae2a657f8349fe3271097cff3a5b8c3d1048cf258568f1601976fa30d",
     "iso_checksum_type": "sha256",
 
     "ssh_password": "{{user `password`}}",

build.sh

@@ -28,8 +28,7 @@ ${PACKER} build ros_ide_vm.json
 echo "--- Marking the VM"
 
 GIT_REV=$(git rev-parse --short HEAD)
-GIT_DESCRIBE=$(git describe --tags)
-VM_NAME="clover-devel_${GIT_DESCRIBE}.ova"
+VM_NAME="clover-devel_v0.20+${GIT_REV}.ova"
 mv ./output-virtualbox-ovf/clover-devel.ova ./output-virtualbox-ovf/${VM_NAME}
 
 echo "--- All done!"

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-20.04
+d-i base-installer/kernel/override-image string linux-generic-hwe-18.04
 
 ### Keyboard selection
 d-i console-setup/ask_detect boolean false

ros_ide_vm.json

@@ -67,5 +67,10 @@
     "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/"
   }]
 }

scripts/installSoftware.sh

@@ -23,18 +23,16 @@ 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 python3-rosdep python3-rosinstall-generator python3-wstool build-essential ros-noetic-desktop'
+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 'rosdep init'
 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 ${HOME}/Firmware
-# PX4 v1.11.1 script will happily run sudo by itself
-${HOME}/Firmware/Tools/setup/ubuntu.sh
-# Ubuntu 20.04 no longer sets assistive_technologies, thankfully
+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'
+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
@@ -43,7 +41,7 @@ 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/noetic/setup.bash" >> ~/.bashrc
+echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
 
 echo "--- Installing Visual Studio Code"
 
@@ -60,49 +58,40 @@ code --install-extension ms-vscode.cpptools
 code --install-extension streetsidesoftware.code-spell-checker
 code --install-extension eamodio.gitlens
 echo "--- Installing pylint"
-/usr/bin/python3 -m pip install -U pylint --user
+/usr/bin/python2.7 -m pip install -U "pylint<2.0.0" --user
+/usr/bin/python3.6 -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 <<EOF > /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 update
-rosdep update
 mkdir -p ${HOME}/catkin_ws/src
-git clone -b 22-armhf https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover
+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 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
+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
 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
@@ -146,9 +135,10 @@ 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 ipython3 byobu nmap lsof tmux vim ros-noetic-rqt-multiplot'
+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'
 
 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