Echo commands in install software script

This may help with SSH timeouts - apparently something is wrong when
Virtualbox starts without an X session, so the internal X session fails.

.github/workflows/main.yml

@@ -0,0 +1,22 @@
+name: Build image
+
+on:
+  push:
+    branches: [ '*' ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  build:
+    runs-on: macos-10.15
+    steps:
+      - uses: actions/checkout@v2
+      - name: Setup
+        run: |
+          set -x
+          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
+      - name: Build
+        run: ./build.sh

.travis.yml

@@ -4,12 +4,13 @@ before_install:
 - wget https://www.virtualbox.org/download/oracle_vbox_2016.asc -O- | sudo apt-key
   add - && sudo sh -c "echo deb https://download.virtualbox.org/virtualbox/debian
   bionic contrib >> /etc/apt/sources.list" && sudo apt-get update && sudo apt-get
-  install build-essential gcc make linux-headers-$(uname -r) virtualbox-6.1 && sudo
+  install build-essential gcc make linux-headers-$(uname -r) virtualbox-6.0 && sudo
   usermod -aG vboxusers $(whoami)
-- mkdir output-virtualbox-iso && pushd output-virtualbox-iso && wget --progress=dot:giga https://github.com/sfalexrog/clever_vm/releases/download/v0_base_vm/clever-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:
-- "./build.sh"
+- "xvfb-run ./build.sh"
 deploy:
   provider: s3
   access_key_id: XOJXX4IOM66XN7VZAFYX

assets/desktop/Gazebo PX4.desktop

@@ -3,7 +3,7 @@ Version=1.0
 Type=Application
 Name=Gazebo PX4
 Comment=Fully-featured Gazebo simulation with default PX4 settings
-Exec=/bin/bash -c 'source /home/clever/catkin_ws/devel/setup.bash; roslaunch clover_simulation simulator.launch'
+Exec=/bin/bash -c 'source /home/clover/catkin_ws/devel/setup.bash; roslaunch clover_simulation simulator.launch'
 Icon=gazebo
 Path=
 Terminal=true

assets/desktop/code_ros.desktop

@@ -1,8 +1,8 @@
 [Desktop Entry]
-Name=VS Code + ROS
+Name=VS Code
 Comment=Code Editing. Redefined.
 GenericName=Text Editor
-Exec=/bin/bash -c "source /home/clever/catkin_ws/devel/setup.bash; /usr/share/code/code --no-sandbox --unity-launch %F"
+Exec=/bin/bash -c "source /home/clover/catkin_ws/devel/setup.bash; /usr/share/code/code --no-sandbox --unity-launch %F"
 Icon=/usr/share/pixmaps/com.visualstudio.code.png
 Type=Application
 StartupNotify=false

assets/desktop/jMAVSim Clover.desktop

@@ -0,0 +1,10 @@
+[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/desktop/qgroundcontrol.desktop

@@ -3,7 +3,7 @@ Type=Application
 Name=QGroundControl
 GenericName=Ground Control Station
 Comment=UAS ground control station
-Icon=/home/clever/Pictures/qgroundcontrol.png
-Exec=/home/clever/QGroundControl.AppImage
+Icon=/home/clover/Pictures/qgroundcontrol.png
+Exec=/home/clover/QGroundControl.AppImage
 Terminal=false
 Categories=Utility;

assets/patches/sitl_gazebo.patch

@@ -25,6 +25,25 @@ index 050558f..7029199 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

base_vm.json

@@ -1,8 +1,8 @@
 {
   "variables" : {
-    "user": "clever",
-    "password": "clever",
-    "vm-name": "clever-devel"
+    "user": "clover",
+    "password": "clover",
+    "vm-name": "clover-devel"
   },
   "builders": [{
     "type": "virtualbox-iso",

build.sh

@@ -1,5 +1,7 @@
 #!/bin/bash
 
+set -ex
+
 # FIXME: Use system Packer if possible
 #PACKER=$(which packer)
 
@@ -7,19 +9,36 @@
 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)"
 
-echo "--- Building base image"
-
-${PACKER} build -only=virtualbox-iso base_vm.json
+if [ ! -f output-virtualbox-iso/clover-devel.ova ]; then
+    echo "--- Building base image"
+    ${PACKER} build -only=virtualbox-iso base_vm.json || true
+fi
 
 echo "--- Building extended image"
 
 ${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_${GIT_DESCRIBE}.ova"
+mv ./output-virtualbox-ovf/clover-devel.ova ./output-virtualbox-ovf/${VM_NAME}
+
 echo "--- All done!"
+
+if [ "${CI}" == "true" ]; then
+    echo "Deploying to https://clovervm.ams3.digitaloceanspaces.com/${VM_NAME}"
+fi

http/preseed.cfg

@@ -25,7 +25,7 @@ ubiquity console-keymaps-at/variant select  us
 d-i kbd-chooser/method select British English
 
 ### Network
-d-i netcfg/get_hostname string clever-devel
+d-i netcfg/get_hostname string clover-devel
 d-i netcfg/get_domain string unassigned-domain
 
 ### Clock and time zone setup
@@ -41,10 +41,10 @@ d-i partman/choose_partition select finish
 d-i partman/confirm boolean true
 
 ### Account setup
-d-i passwd/user-fullname string clever
-d-i passwd/username string clever
-d-i passwd/user-password password clever
-d-i passwd/user-password-again password clever
+d-i passwd/user-fullname string clover
+d-i passwd/username string clover
+d-i passwd/user-password password clover
+d-i passwd/user-password-again password clover
 d-i passwd/auto-login boolean true
 d-i user-setup/encrypt-home boolean false
 d-i user-setup/allow-password-weak boolean true

ros_ide_vm.json

@@ -1,8 +1,8 @@
 {
   "variables": {
-    "user": "clever",
-    "password": "clever",
-    "vm-name": "clever-devel",
+    "user": "clover",
+    "password": "clover",
+    "vm-name": "clover-devel",
     "scriptsDir": "scripts",
     "assetsDir": "assets"
   },
@@ -13,7 +13,7 @@
     "format": "ova",
     "guest_additions_mode": "disable",
 
-    "headless": "true",
+    "headless": "false",
 
     "vboxmanage": [
       ["modifyvm", "{{.Name}}", "--memory", "6144", "--vram", "128", "--mouse", "usbtablet", "--rtcuseutc", "on", "--nictype1", "virtio"],
@@ -41,17 +41,17 @@
   "provisioners": [{
     "type": "file",
     "source": "{{user `assetsDir`}}/background/",
-    "destination": "/home/clever/Pictures"
+    "destination": "/home/{{user `user`}}/Pictures"
   },
   {
     "type": "file",
     "source": "{{user `assetsDir`}}/pictures/",
-    "destination": "/home/clever/Pictures"
+    "destination": "/home/{{user `user`}}/Pictures"
   },
   {
     "type": "file",
     "source": "{{user `assetsDir`}}/desktop/",
-    "destination": "/home/clever/Desktop"
+    "destination": "/home/{{user `user`}}/Desktop"
   },
   {
     "type": "file",
@@ -71,6 +71,6 @@
   {
     "type": "file",
     "source": "{{user `assetsDir`}}/vscode/",
-    "destination": "/home/clever/.config/Code/User/"
+    "destination": "/home/{{user `user`}}/.config/Code/User/"
   }]
-}
+}

scripts/installSoftware.sh

@@ -1,52 +1,56 @@
 #!/usr/bin/env bash
 
-set -e
+set -ex
 
 echo "--- Current environment:"
 /usr/bin/env
 
 echo "Enabling passwordless sudo"
-echo "${PASSWORD}" | sudo -E -S sh -c 'echo "clever ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers'
+echo "${PASSWORD}" | sudo -E -S sh -c "echo '${USER} ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers"
+
+echo "--- Increasing apt retries"
+sudo -E sh -c 'echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries'
+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'
 
 echo "--- Installing open-vm-tools"
 
-echo "${PASSWORD}" | sudo -E -S sh -c 'apt update; apt install -y open-vm-tools open-vm-tools-desktop'
+sudo -E sh -c 'apt update; apt install -y open-vm-tools open-vm-tools-desktop'
 
 echo "--- Installing ROS desktop packages"
 
-echo "${PASSWORD}" | sudo -E -S sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-echo "${PASSWORD}" | sudo -E -S sh -c 'apt-key adv --keyserver "hkp://keyserver.ubuntu.com:80" --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
-echo "${PASSWORD}" | sudo -E -S sh -c 'apt update; apt install -y python-rosdep python-rosinstall-generator python-wstool build-essential ros-melodic-desktop'
+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 python-rosdep python-rosinstall-generator python-wstool build-essential ros-melodic-desktop'
 
-echo "${PASSWORD}" | sudo -E -S sh -c 'rosdep init'
+sudo -E sh -c 'rosdep init'
 rosdep update
 
 echo "--- Downloading PX4 and installing its dependencies"
-git clone -b v1.10.1-clever https://github.com/CopterExpress/Firmware ${HOME}/Firmware
-echo "${PASSWORD}" | sudo -E -S sh -c '${HOME}/Firmware/Tools/setup/ubuntu.sh'
-echo "${PASSWORD}" | sudo -E -S sh -c 'echo "2" | update-alternatives --config java'
-echo "${PASSWROD}" | sudo -E -S sed -i -e '/^assistive_technologies=/s/^/#/' /etc/java-*-openjdk/accessibility.properties
+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
 echo "--- Patching gazebo plugins for SITL"
 cd ${HOME}/Firmware/Tools/sitl_gazebo
 patch -p1 < /tmp/patches/sitl_gazebo.patch
-echo 'export SVGA_VGPU10=0' >> /home/clever/Firmware/Tools/setup_gazebo.bash
+echo 'export SVGA_VGPU10=0' >> ${HOME}/Firmware/Tools/setup_gazebo.bash
 
 echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
 
 echo "--- Installing Visual Studio Code"
 
-echo "${PASSWORD}" | sudo -E -S sh -c 'apt update; apt install -y curl'
+sudo -E sh -c 'apt update; apt install -y curl'
 curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > ${HOME}/packages.microsoft.gpg
-echo "${PASSWORD}" | sudo -E -S sh -c 'install -o root -g root -m 644 ${HOME}/packages.microsoft.gpg /usr/share/keyrings'
+sudo -E sh -c 'install -o root -g root -m 644 ${HOME}/packages.microsoft.gpg /usr/share/keyrings'
 rm ${HOME}/packages.microsoft.gpg
-echo "${PASSWORD}" | sudo -E -S 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'
-echo "${PASSWORD}" | sudo -E -S sh -c 'apt install -y apt-transport-https; apt update; apt install -y code'
+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'
 code --install-extension ms-python.python
 code --install-extension DavidAnson.vscode-markdownlint
 code --install-extension ms-vscode.cmake-tools
@@ -57,9 +61,9 @@ echo "--- Installing pylint"
 /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 Clever packages"
+echo "--- Cloning and installing Clover packages"
 mkdir -p ${HOME}/catkin_ws/src
-git clone -b clover_description 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
 # Make PX4 and Gazebo plugins visible in the workspace
 ln -s ${HOME}/Firmware ${HOME}/catkin_ws/src/Firmware
@@ -67,10 +71,33 @@ ln -s ${HOME}/Firmware/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
 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 ${HOME}/install_geographiclib_datasets.sh
-echo "${PASSWORD}" | sudo -E -S sh -c '${HOME}/install_geographiclib_datasets.sh'
+sudo -E sh -c '${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/clever/catkin_ws/devel/setup.bash" >> ~/.bashrc
+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
+echo "--- Reconfiguring npm to use local prefix"
+mkdir ${HOME}/.npm-global
+npm config set prefix "${HOME}/.npm-global"
+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
+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}/
 
 echo "--- Enabling roscore service"
 sed -i "s/pi/${USER}/g" ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service
@@ -78,13 +105,13 @@ sudo cp ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service /etc/systemd
 sudo systemctl enable roscore.service
 
 echo "--- Installing QGroundControl"
-echo "${PASSWORD}" | sudo -E -S sh -c "usermod -a -G dialout $USER"
-echo "${PASSWORD}" | sudo -E -S sh -c 'apt remove -y modemmanager; apt install -y gstreamer1.0-plugins-bad gstreamer1.0-libav'
+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'
 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"
-echo "${PASSWORD}" | sudo -E -S sh -c 'apt update; apt install -y firefox'
+sudo -E sh -c 'apt update; apt install -y firefox'
 
 echo "--- Installing Monkey web server"
 sudo apt install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
@@ -96,11 +123,11 @@ echo "--- Installing additional packages"
 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"
-echo "${PASSWORD}" | sudo -E -S sh -c 'mv /etc/xdg/autostart/light-locker.desktop /etc/xdg/autostart/light-locker.desktop.old'
-echo "${PASSWORD}" | sudo -E -S sh -c 'cp /usr/share/xfce4/backdrops/xubuntu-wallpaper.png /usr/share/xfce4/backdrops/xubuntu-wallpaper-old.png; cp /home/clever/Pictures/Logo_COEX_2019_white_on_black.png /usr/share/xfce4/backdrops/xubuntu-wallpaper.png'
-echo "${PASSWORD}" | sudo -E -S sh -c 'hostnamectl set-hostname clever-dev; sed -i "s/ubuntu/clever-dev clever-dev.local/g" /etc/hosts'
+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
-chmod a+x /home/clever/Desktop/*
+chmod a+x ${HOME}/Desktop/*
 
 echo "--- Cleaning up"
-echo "${PASSWORD}" | sudo -E -S sh -c 'apt-get -y autoremove; apt-get -y autoclean; apt-get -y clean; fstrim -v /'
+sudo -E sh -c 'apt-get -y autoremove; apt-get -y autoclean; apt-get -y clean; fstrim -v /'