Fix

apt issues warnings as it doesn’t have a stable interface

.github/workflows/main.yml

@@ -0,0 +1,27 @@
+name: Build image
+
+on:
+  push:
+    branches: [ '*' ]
+  pull_request:
+    branches: [ master ]
+  release:
+    types: [ created ]
+
+jobs:
+  build:
+    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
+        run: |
+          mkdir output-virtualbox-iso
+          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: 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
+          echo Uploaded https://clovervm.ams3.digitaloceanspaces.com/$(ls)
+        working-directory: output-virtualbox-ovf

.travis.yml

@@ -11,14 +11,14 @@ before_install:
 - sudo apt install -y xvfb
 script:
 - "xvfb-run ./build.sh"
-deploy:
-  provider: s3
-  access_key_id: XOJXX4IOM66XN7VZAFYX
-  secret_access_key: $S3_SECRET_KEY
-  bucket: clovervm
-  local-dir: output-virtualbox-ovf
-  acl: public_read
-  on:
-    all_branches: true
-  skip_cleanup: true
-  endpoint: https://ams3.digitaloceanspaces.com
+# deploy:
+#   provider: s3
+#   access_key_id: XOJXX4IOM66XN7VZAFYX
+#   secret_access_key: $S3_SECRET_KEY
+#   bucket: clovervm
+#   local-dir: output-virtualbox-ovf
+#   acl: public_read
+#   on:
+#     all_branches: true
+#   skip_cleanup: true
+#   endpoint: https://ams3.digitaloceanspaces.com

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

@@ -0,0 +1,19 @@
+# Clover drone VM image
+
+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.
+
+<img src=https://clover.coex.tech/assets/simulator.jpg width=600>
+
+Image contains:
+
+* Ubuntu 20.04 Focal.
+* ROS Noetic.
+* PX4 autopilot, QGroundControl.
+* Preinstalled [Clover](https://github.com/CopterExpress/clover) and Clover simulation packages.
+* Shortcuts for running Clover simulator.
+* VSCode.
+* Useful robotics-related software.
+
+See detailed information in [Clover drone documentation](https://clover.coex.tech/en/simulation_vm.html).

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 +1,29 @@
+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
++++ b/cmake/FindMAVLink.cmake
+@@ -19,6 +19,7 @@ set(_MAVLINK_EXTRA_SEARCH_HINTS
+     ${CMAKE_SOURCE_DIR}/mavlink/
+     ../../mavlink/
+     ../mavlink/
++    $ENV{HOME}/Firmware/mavlink/include
+     ${CATKIN_DEVEL_PREFIX}/
+     )
+ 
+ 
 diff --git a/package.xml b/package.xml
 index ae0fb34..12f17b8 100644
 --- a/package.xml
@@ -13,62 +39,3 @@ index ae0fb34..12f17b8 100644
    <run_depend>eigen</run_depend>
    <run_depend>gazebo_ros</run_depend>
    <run_depend>geometry_msgs</run_depend>
-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/src/gazebo_geotagged_images_plugin.cpp b/src/gazebo_geotagged_images_plugin.cpp
-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)
-         0,                                      // video status (Idle)
-         interval,                               // image interval
-         0,                                      // recording_time_s
--        available_mib);                         // available_capacity
-+        available_mib,                          // available_capacity
-+        _imageCounter);
-     _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
-+++ b/src/gazebo_mavlink_interface.cpp
-@@ -1039,7 +1039,7 @@ void GazeboMavlinkInterface::VisionCallback(OdomPtr& odom_message) {
- 
-     odom.time_usec = odom_message->time_usec();
- 
--    odom.frame_id = MAV_FRAME_VISION_NED;
-+    odom.frame_id = 16 /*MAV_FRAME_VISION_NED*/;
-     odom.child_frame_id = MAV_FRAME_BODY_FRD;
- 
-     odom.x = position.X();

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)"
@@ -27,13 +32,18 @@ ${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"
+# if [[ $GITHUB_REF == refs/tags/*-rc* ]]; then
+    # remove rc label
+    # VERSION=${GITHUB_REF#refs/tags/}
+    # VERSION=${VERSION/-rc*/}
+if [[ $GITHUB_REF == refs/tags/* ]]; then
+    VERSION=${GITHUB_REF#refs/tags/}
+else
+    VERSION=$(git describe --always)
+fi
+
+VM_NAME="clover-devel_${VERSION}.ova"
 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

@@ -65,7 +65,7 @@
   },
   {
     "type": "shell",
-    "script": "scripts/installSoftware.sh",
+    "script": "scripts/install_software.sh",
     "execute_command": "PASSWORD='{{user `password`}}' bash '{{.Path}}'"
   }]
 }

scripts/install_software.sh

@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
 
-set -e
+set -ex
 
 echo "--- Current environment:"
 /usr/bin/env
@@ -13,17 +13,17 @@ sudo -E sh -c 'echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retr
 cat /etc/apt/apt.conf.d/80-retries
 
 echo "--- Allowing apt to perform its updates"
-sudo -E sh -c 'apt update; while fuser /var/lib/dpkg/lock ; do sleep 0.5 ; done'
+sudo -E sh -c 'apt-get update; while fuser /var/lib/dpkg/lock ; do sleep 0.5 ; done'
 
 echo "--- Installing open-vm-tools"
 
-sudo -E sh -c 'apt update; apt install -y open-vm-tools open-vm-tools-desktop'
+sudo -E sh -c 'apt-get update; apt-get install -y open-vm-tools open-vm-tools-desktop'
 
 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-get update; apt-get install -y python3-rosdep python3-rosinstall-generator python3-wstool build-essential ros-noetic-desktop'
 
 sudo -E sh -c 'rosdep init'
 rosdep update
@@ -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 -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
+
+# v1.11.1, TODO: update to v1.12
+#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
+
+# 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
@@ -47,12 +56,12 @@ echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
 
 echo "--- Installing Visual Studio Code"
 
-sudo -E sh -c 'apt update; apt install -y curl'
+sudo -E sh -c 'apt-get update; apt-get install -y curl'
 curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > ${HOME}/packages.microsoft.gpg
 sudo -E sh -c 'install -o root -g root -m 644 ${HOME}/packages.microsoft.gpg /usr/share/keyrings'
 rm ${HOME}/packages.microsoft.gpg
 sudo -E sh -c 'echo "deb [arch=amd64 signed-by=/usr/share/keyrings/packages.microsoft.gpg] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list'
-sudo -E sh -c 'apt install -y apt-transport-https; apt update; apt install -y code'
+sudo -E sh -c 'apt-get install -y apt-transport-https; apt-get update; apt-get install -y code'
 code --install-extension ms-python.python
 code --install-extension DavidAnson.vscode-markdownlint
 code --install-extension ms-vscode.cmake-tools
@@ -86,10 +95,10 @@ ws281x:
   ubuntu:
     focal: [ros-noetic-ws281x]
 EOF'
-sudo apt update
+sudo apt-get update
 rosdep update
 mkdir -p ${HOME}/catkin_ws/src
-git clone -b 22 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
@@ -105,11 +114,11 @@ echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
 
 echo "--- Installing npm"
 cd ${HOME}
-wget --progress=dot:giga https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-x64.tar.gz
-tar -xzf node-v10.15.0-linux-x64.tar.gz
-sudo cp -R node-v10.15.0-linux-x64/* /usr/local/
-rm -rf node-v10.15.0-linux-x64
-rm node-v10.15.0-linux-x64.tar.gz
+NODE_VERSION=v10.15.0 # GitBook won't install on newer version
+wget --progress=dot:giga https://nodejs.org/dist/$NODE_VERSION/node-$NODE_VERSION-linux-x64.tar.gz
+tar -xzf node-$NODE_VERSION-linux-x64.tar.gz
+sudo cp -R node-$NODE_VERSION-linux-x64/* /usr/local/
+rm -rf node-$NODE_VERSION-linux-x64 node-$NODE_VERSION-linux-x64.tar.gz
 echo "--- Reconfiguring npm to use local prefix"
 mkdir ${HOME}/.npm-global
 npm config set prefix "${HOME}/.npm-global"
@@ -117,13 +126,14 @@ export PATH=${HOME}/.npm-global/bin:$PATH
 echo 'export PATH='${HOME}'/.npm-global/bin:$PATH' >> ${HOME}/.bashrc
 echo "--- Installing gitbook and building docs"
 cd ${HOME}/catkin_ws/src/clover
-NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
-NPM_CONFIG_UNSAFE_PERM=true gitbook install
+builder/assets/install_gitbook.sh
+gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE # ignore documentation files by catkin
 
 echo "--- Exposing examples"
-cp -R ${HOME}/catkin_ws/src/clover/builder/assets/examples ${HOME}/
+ln -s ${HOME}/catkin_ws/src/clover/clover/examples ${HOME}/
+[[ -d ${HOME}/examples ]] # test symlink is valid
 
 echo "--- Enabling roscore service"
 sed -i "s/pi/${USER}/g" ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service
@@ -132,21 +142,21 @@ sudo systemctl enable roscore.service
 
 echo "--- Installing QGroundControl"
 sudo -E sh -c "usermod -a -G dialout $USER"
-sudo -E sh -c 'apt remove -y modemmanager; apt install -y gstreamer1.0-plugins-bad gstreamer1.0-libav'
+sudo -E sh -c 'apt-get remove -y modemmanager; apt-get install -y gstreamer1.0-plugins-bad gstreamer1.0-libav'
 curl https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl.AppImage -o ${HOME}/QGroundControl.AppImage
 chmod a+x ${HOME}/QGroundControl.AppImage
 
 echo "--- Installing Firefox web browser"
-sudo -E sh -c 'apt update; apt install -y firefox'
+sudo -E sh -c 'apt-get update; apt-get install -y firefox'
 
 echo "--- Installing Monkey web server"
-sudo apt install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
+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 cp ${HOME}/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system/monkey.service
 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-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'