Fix building sitl_gazebo (#2)

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

.travis.yml

@@ -6,10 +6,11 @@ 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://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
+Icon=/home/clover/Pictures/qgroundcontrol.png
-Exec=/home/clever/QGroundControl.AppImage
+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",
+    "user": "clover",
-    "password": "clever",
+    "password": "clover",
-    "vm-name": "clever-devel"
+    "vm-name": "clover-devel"
   },
   "builders": [{
     "type": "virtualbox-iso",

build.sh

@@ -16,7 +16,7 @@ fi
 
 echo "--- Using Packer version $(${PACKER} --version)"
 
-if [ ! -f output-virtualbox-iso/clever-devel.ova ]; then
+if [ ! -f output-virtualbox-iso/clover-devel.ova ]; then
     echo "--- Building base image"
     ${PACKER} build -only=virtualbox-iso base_vm.json || true
 fi
@@ -28,6 +28,12 @@ ${PACKER} build ros_ide_vm.json
 echo "--- Marking the VM"
 
 GIT_REV=$(git rev-parse --short HEAD)
-mv ./output-virtualbox-ovf/clever-devel.ova ./output-virtualbox-ovf/clover-devel_v0.20+${GIT_REV}.ova 
+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/user-fullname string clover
-d-i passwd/username string clever
+d-i passwd/username string clover
-d-i passwd/user-password password clever
+d-i passwd/user-password password clover
-d-i passwd/user-password-again password clever
+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",
+    "user": "clover",
-    "password": "clever",
+    "password": "clover",
-    "vm-name": "clever-devel",
+    "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

@@ -6,7 +6,7 @@ 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'
@@ -29,7 +29,7 @@ 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
+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
@@ -39,7 +39,7 @@ 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
 
@@ -61,9 +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
@@ -72,9 +72,32 @@ rosdep install --from-paths ${HOME}/catkin_ws/src --ignore-src --rosdistro melod
 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/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
@@ -101,10 +124,10 @@ sudo -E sh -c 'apt update; apt install -y sshfs gvfs-fuse gvfs-backends python3-
 
 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/clever/Pictures/Logo_COEX_2019_white_on_black.png /usr/share/xfce4/backdrops/xubuntu-wallpaper.png'
+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 clever-dev; sed -i "s/ubuntu/clever-dev clever-dev.local/g" /etc/hosts'
+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"
 sudo -E sh -c 'apt-get -y autoremove; apt-get -y autoclean; apt-get -y clean; fstrim -v /'