Update sitl_gazebo.patch

Apparently there's more to it than just this one file. Need to investigate further.

.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://clovervm.ams3.digitaloceanspaces.com/base-focal.ova -O clover-devel.ova
   && popd
+- sudo apt install -y xvfb
 script:
-- "./build.sh"
+- "xvfb-run ./build.sh"
 deploy:
   provider: s3
   access_key_id: XOJXX4IOM66XN7VZAFYX

assets/configs/xfce4-power-manager.xml

@@ -0,0 +1,20 @@
+<?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/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

@@ -1,3 +1,18 @@
+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/include/gazebo_opticalflow_plugin.h b/include/gazebo_opticalflow_plugin.h
 index 4fbeab2..18a192b 100644
 --- a/include/gazebo_opticalflow_plugin.h
@@ -25,6 +40,25 @@ 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
@@ -37,4 +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();

assets/vscode/settings.json

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

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

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

@@ -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-18.04
+d-i base-installer/kernel/override-image string linux-generic-hwe-20.04
 
 ### Keyboard selection
 d-i console-setup/ask_detect boolean false
@@ -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",
@@ -67,10 +67,5 @@
     "type": "shell",
     "script": "scripts/installSoftware.sh",
     "execute_command": "PASSWORD='{{user `password`}}' bash '{{.Path}}'"
-  },
-  {
-    "type": "file",
-    "source": "{{user `assetsDir`}}/vscode/",
-    "destination": "/home/clever/.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'
@@ -23,25 +23,27 @@ 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 python-rosdep python-rosinstall-generator python-wstool build-essential ros-melodic-desktop'
+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 'rosdep init'
 rosdep update
 
+# FIXME: PX4 needs pip to be installed
+# FIXME: python2 dependencies?
 echo "--- Downloading PX4 and installing its dependencies"
-git clone -b v1.10.1-clever 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
+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
 
 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 "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
 
 echo "--- Installing Visual Studio Code"
 
@@ -58,23 +60,70 @@ code --install-extension ms-vscode.cpptools
 code --install-extension streetsidesoftware.code-spell-checker
 code --install-extension eamodio.gitlens
 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
+/usr/bin/python3 -m pip install -U pylint --user
 
-echo "--- Cloning and installing Clever packages"
+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 clover_description https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover
+git clone -b 22 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 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'
-source /opt/ros/melodic/setup.bash
+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
 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
@@ -97,14 +146,13 @@ 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 ipython ipython3 byobu nmap lsof tmux vim ros-melodic-rqt-multiplot'
+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'
 
 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 'hostnamectl set-hostname clever-dev; sed -i "s/ubuntu/clever-dev clever-dev.local/g" /etc/hosts'
+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"
 sudo -E sh -c 'apt-get -y autoremove; apt-get -y autoclean; apt-get -y clean; fstrim -v /'