Clone Firmware recursively

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/package.xml b/package.xml
 index ae0fb34..12f17b8 100644
 --- a/package.xml
@@ -13,21 +26,8 @@ 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
+index 050558f..3edda33 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)
@@ -71,4 +71,4 @@ index 5d29017..d4dd6a7 100644
 +    odom.frame_id = 16 /*MAV_FRAME_VISION_NED*/;
      odom.child_frame_id = MAV_FRAME_BODY_FRD;
  
-     odom.x = position.X();
+     odom.x = position.X();

scripts/installSoftware.sh

@@ -31,7 +31,7 @@ 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
+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
@@ -89,7 +89,7 @@ EOF'
 sudo apt 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 -b 22-armhf 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