Add Monkey package for ARM64

This is more clear as it runs the whole Clover
simulation, not only PX4

.github/workflows/main.yml

@@ -0,0 +1,28 @@
+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
+        if: ${{ github.event_name == 'release' }}
+        # Not using ready S3 actions, because they either don't run on macOS machines or don't support changing the endpoint
+        run: |
+          AWS_ACCESS_KEY_ID=${{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

@@ -6,19 +6,19 @@ 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/v0.1_base_vm/clover-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:
 - "xvfb-run ./build.sh"
-deploy:
+# deploy:
-  provider: s3
+#   provider: s3
-  access_key_id: XOJXX4IOM66XN7VZAFYX
+#   access_key_id: XOJXX4IOM66XN7VZAFYX
-  secret_access_key: $S3_SECRET_KEY
+#   secret_access_key: $S3_SECRET_KEY
-  bucket: clovervm
+#   bucket: clovervm
-  local-dir: output-virtualbox-ovf
+#   local-dir: output-virtualbox-ovf
-  acl: public_read
+#   acl: public_read
-  on:
+#   on:
-    all_branches: true
+#     all_branches: true
-  skip_cleanup: true
+#   skip_cleanup: true
-  endpoint: https://ams3.digitaloceanspaces.com
+#   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/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/Clover Drone Kit Tools.desktop

@@ -0,0 +1,7 @@
+[Desktop Entry]
+Version=1.0
+Type=Link
+Name=Clover Drone Kit Tools
+Comment=Open web based Clover tools
+Icon=user-bookmarks
+URL=http://localhost/

assets/desktop/Gazebo Clover.desktop

@@ -1,8 +1,8 @@
 [Desktop Entry]
 Version=1.0
 Type=Application
-Name=Gazebo PX4
+Name=Gazebo Clover
-Comment=Fully-featured Gazebo simulation with default PX4 settings
+Comment=Run Clover drone simulation in Gazebo
 Exec=/bin/bash -c 'source /home/clover/catkin_ws/devel/setup.bash; roslaunch clover_simulation simulator.launch'
 Icon=gazebo
 Path=

assets/desktop/code_ros.desktop

@@ -1,5 +1,5 @@
 [Desktop Entry]
-Name=VS Code + ROS
+Name=VS Code
 Comment=Code Editing. Redefined.
 GenericName=Text Editor
 Exec=/bin/bash -c "source /home/clover/catkin_ws/devel/setup.bash; /usr/share/code/code --no-sandbox --unity-launch %F"

assets/desktop/jMAVSim.desktop

@@ -3,7 +3,7 @@ Version=1.0
 Type=Application
 Name=jMAVSim
 Comment=A lightweight PX4 simulator
-Exec=/bin/bash -c 'cd ~/Firmware; make px4_sitl jmavsim'
+Exec=/bin/bash -c 'cd ~/PX4-Autopilot; make px4_sitl jmavsim'
 Icon=openjdk-8
 Path=
 Terminal=true

assets/patches/sitl_gazebo.patch

@@ -1,40 +1,28 @@
-diff --git a/include/gazebo_opticalflow_plugin.h b/include/gazebo_opticalflow_plugin.h
+diff --git a/cmake/FindMAVLink.cmake b/cmake/FindMAVLink.cmake
-index 4fbeab2..18a192b 100644
+index 8de3079..3fdae02 100644
---- a/include/gazebo_opticalflow_plugin.h
+--- a/cmake/FindMAVLink.cmake
-+++ b/include/gazebo_opticalflow_plugin.h
++++ b/cmake/FindMAVLink.cmake
-@@ -40,7 +40,7 @@
+@@ -19,6 +19,7 @@ set(_MAVLINK_EXTRA_SEARCH_HINTS
- #include "flow_px4.hpp"
+     ${CMAKE_SOURCE_DIR}/mavlink/
+     ../../mavlink/
+     ../mavlink/
++    $ENV{HOME}/PX4-Autopilot/mavlink/include
+     ${CATKIN_DEVEL_PREFIX}/
+     )
  
- #define DEFAULT_RATE 20
--#define HAS_GYRO TRUE
-+#define HAS_GYRO true
  
- using namespace cv;
+diff --git a/package.xml b/package.xml
- using namespace std;
+index ae0fb34..12f17b8 100644
-diff --git a/src/gazebo_geotagged_images_plugin.cpp b/src/gazebo_geotagged_images_plugin.cpp
+--- a/package.xml
-index 050558f..7029199 100644
++++ b/package.xml
---- a/src/gazebo_geotagged_images_plugin.cpp
+@@ -50,8 +50,8 @@
-+++ b/src/gazebo_geotagged_images_plugin.cpp
+   <build_depend>roscpp</build_depend>
-@@ -581,7 +581,8 @@ void GeotaggedImagesPlugin::_send_capture_status(struct sockaddr* srcaddr)
+   <build_depend>sensor_msgs</build_depend>
-         0,                                      // video status (Idle)
+   <build_depend>std_msgs</build_depend>
-         interval,                               // image interval
+-  <build_depend>python-rospkg</build_depend>
-         0,                                      // recording_time_s
+-  <build_depend>python-jinja2</build_depend>
--        available_mib);                         // available_capacity
++  <build_depend>python3-rospkg</build_depend>
-+        available_mib,                          // available_capacity
++  <build_depend>python3-jinja2</build_depend>
-+        _imageCounter);
+   <run_depend>eigen</run_depend>
-     _send_mavlink_message(&msg, srcaddr);
+   <run_depend>gazebo_ros</run_depend>
- }
+   <run_depend>geometry_msgs</run_depend>
- 
-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();

assets/vscode/settings.json

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

base_vm.json

@@ -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_url": "http://archive.ubuntu.com/ubuntu/dists/focal/main/installer-amd64/current/legacy-images/netboot/mini.iso",
-    "iso_checksum": "bed8a55ae2a657f8349fe3271097cff3a5b8c3d1048cf258568f1601976fa30d",
+    "iso_checksum": "0e79e00bf844929d40825b1f0e8634415cda195ba23bae0b041911fde4dfe018",
     "iso_checksum_type": "sha256",
 
     "ssh_password": "{{user `password`}}",

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 ${PACKER} ]; then
     echo "Packer not found; downloading v1.5.4 from Hashicorp"
-    wget --progress=dot:giga https://releases.hashicorp.com/packer/1.5.4/packer_1.5.4_linux_amd64.zip
+    if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-    unzip packer_1.5.4_linux_amd64.zip
+        OS=linux
-    rm packer_1.5.4_linux_amd64.zip
+    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)
+# if [[ $GITHUB_REF == refs/tags/*-rc* ]]; then
-GIT_DESCRIBE=$(git describe --tags)
+    # remove rc label
-VM_NAME="clover-devel_${GIT_DESCRIBE}.ova"
+    # VERSION=${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

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

ros_ide_vm.json

@@ -65,12 +65,7 @@
   },
   {
     "type": "shell",
-    "script": "scripts/installSoftware.sh",
+    "script": "scripts/install_software.sh",
     "execute_command": "PASSWORD='{{user `password`}}' bash '{{.Path}}'"
-  },
-  {
-    "type": "file",
-    "source": "{{user `assetsDir`}}/vscode/",
-    "destination": "/home/{{user `user`}}/.config/Code/User/"
   }]
 }

scripts/installSoftware.sh

@@ -1,133 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-echo "--- Current environment:"
-/usr/bin/env
-
-echo "Enabling passwordless sudo"
-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"
-
-sudo -E sh -c 'apt update; apt 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 python-rosdep python-rosinstall-generator python-wstool build-essential ros-melodic-desktop'
-
-sudo -E sh -c 'rosdep init'
-rosdep update
-
-echo "--- Downloading PX4 and installing its dependencies"
-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}/Firmware/Tools/setup_gazebo.bash
-
-echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
-
-echo "--- Installing Visual Studio Code"
-
-sudo -E sh -c 'apt update; apt 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'
-code --install-extension ms-python.python
-code --install-extension DavidAnson.vscode-markdownlint
-code --install-extension ms-vscode.cmake-tools
-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
-
-echo "--- Cloning and installing Clover packages"
-mkdir -p ${HOME}/catkin_ws/src
-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
-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'
-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}/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
-sudo cp ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service /etc/systemd/system
-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'
-curl https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl.AppImage -o ${HOME}/QGroundControl.AppImage
-chmod a+x ${HOME}/QGroundControl.AppImage
-
-echo "--- Installing Firefox web browser"
-sudo -E sh -c 'apt update; apt install -y firefox'
-
-echo "--- Installing Monkey web server"
-sudo apt install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
-sed "s/pi/${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 ipython ipython3 byobu nmap lsof tmux vim ros-melodic-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}/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}/Desktop/*
-
-echo "--- Cleaning up"
-sudo -E sh -c 'apt-get -y autoremove; apt-get -y autoclean; apt-get -y clean; fstrim -v /'

scripts/install_software.sh

@@ -0,0 +1,210 @@
+#!/usr/bin/env bash
+
+set -ex
+
+echo "--- Current environment:"
+/usr/bin/env
+
+echo "Enabling passwordless sudo"
+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-get update; while fuser /var/lib/dpkg/lock ; do sleep 0.5 ; done'
+
+echo "--- Installing open-vm-tools"
+
+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-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
+
+# FIXME: PX4 needs pip to be installed
+# FIXME: python2 dependencies?
+echo "--- Downloading PX4 and installing its dependencies"
+git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ${HOME}/PX4-Autopilot
+# PX4 v1.11.1 script will happily run sudo by itself
+${HOME}/PX4-Autopilot/Tools/setup/ubuntu.sh
+# Ubuntu 20.04 no longer sets assistive_technologies, thankfully
+sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
+
+echo "--- Prebuilding PX4 SITL configuration"
+make -C ${HOME}/PX4-Autopilot px4_sitl
+echo "--- Patching gazebo plugins for SITL"
+# cd ${HOME}/PX4-Autopilot/Tools/sitl_gazebo
+# patch -p1 < /tmp/patches/sitl_gazebo.patch
+echo 'export SVGA_VGPU10=0' >> ${HOME}/PX4-Autopilot/Tools/setup_gazebo.bash
+
+echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+echo "export SVGA_VGPU10=0" >> ~/.bashrc
+
+echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+
+echo "--- Installing Visual Studio Code"
+
+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-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
+code --install-extension ms-vscode.cpptools
+code --install-extension streetsidesoftware.code-spell-checker
+code --install-extension eamodio.gitlens
+echo "--- Installing pylint"
+/usr/bin/python3 -m pip install -U pylint --user
+
+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-get update
+rosdep update
+mkdir -p ${HOME}/catkin_ws/src
+git clone --depth 1 https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover
+git clone --depth 1 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 --depth 1 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}/PX4-Autopilot ${HOME}/catkin_ws/src/PX4-Autopilot
+ln -s ${HOME}/PX4-Autopilot/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
+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}/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+source $HOME/catkin_ws/devel/setup.bash
+
+echo "--- Adding Clover vehicle startup script to PX4"
+ln -s "$(catkin_find clover_simulation airframes)"/* $HOME/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
+
+echo "--- Installing npm"
+cd ${HOME}
+NODE_VERSION=v10.15.0 # GitBook won't install on newer version
+wget --progress=dot:giga https://nodejs.org/dist/$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"
+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
+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"
+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
+sudo cp ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service /etc/systemd/system
+sudo systemctl enable roscore.service
+
+echo "--- Installing QGroundControl"
+sudo -E sh -c "usermod -a -G dialout $USER"
+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 ${HOME}/QGroundControl.AppImage
+
+echo "--- Installing Firefox web browser"
+sudo -E sh -c 'apt-get update; apt-get install -y firefox'
+
+echo "--- Installing Monkey web server"
+sudo apt-get install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
+sed "s/pi/${USER}/g" ${HOME}/catkin_ws/src/clover/builder/assets/monkey | sudo tee /etc/monkey/sites/default
+sudo -E sh -c "sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf"
+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-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'
+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}/Desktop/*
+
+echo "--- Cleaning up"
+sudo -E sh -c 'apt-get -y autoremove; apt-get -y autoclean; apt-get -y clean; fstrim -v /'
+
+echo "--- Validating"
+# python --version # python-is-python3
+python2 --version
+python3 --version
+# ipython --version
+ipython3 --version
+gazebo --version || true # FIXME: Gazebo exits with 255 on --version somehow
+node -v
+npm -v
+byobu --version
+git --version
+vim --version
+pip --version
+pip3 --version
+monkey --version
+systemctl --version
+# TODO: add Python tests
+
+roscore -h
+rosversion px4
+rosversion clover
+rosversion aruco_pose
+rosversion mavros
+rosversion mavros_extras
+rosversion ws281x
+rosversion led_msgs
+rosversion dynamic_reconfigure
+rosversion tf2_web_republisher
+# rosversion compressed_image_transport
+# rosversion rosbridge_suite
+rosversion cv_camera
+rosversion web_video_server
+rosversion nodelet
+
+echo "Trying running the Gazebo simulator, check the output"
+timeout --preserve-status 30 roslaunch clover_simulation simulator.launch gui:=false --screen
+
+echo "Trying running jMAVSim, check the output"
+cd ~/PX4-Autopilot
+HEADLESS=1 timeout --preserve-status 30 make px4_sitl jmavsim