Merge branch 'master' into asia_ws_aug2020

assets/desktop/code_ros.desktop

@@ -1,5 +1,5 @@
 [Desktop Entry]
-Name=VS Code
+Name=VS Code + ROS
 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 Clover.desktop

@@ -1,10 +0,0 @@
-[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/patches/autoconfig.patch

@@ -0,0 +1,49 @@
+diff --git a/clover/launch/aruco.launch b/clover/launch/aruco.launch
+index c4ce578..5f3be12 100644
+--- a/clover/launch/aruco.launch
++++ b/clover/launch/aruco.launch
+@@ -1,7 +1,7 @@
+ <launch>
+     <arg name="aruco_detect" default="true"/>
+-    <arg name="aruco_map" default="false"/>
+-    <arg name="aruco_vpe" default="false"/>
++    <arg name="aruco_map" default="true"/>
++    <arg name="aruco_vpe" default="true"/>
+ 
+     <!-- For additional help go to https://clover.coex.tech/aruco -->
+ 
+@@ -24,7 +24,7 @@
+         <remap from="image_raw" to="main_camera/image_raw"/>
+         <remap from="camera_info" to="main_camera/camera_info"/>
+         <remap from="markers" to="aruco_detect/markers"/>
+-        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
++        <param name="map" value="$(find aruco_pose)/map/cmit.txt"/>
+         <param name="known_tilt" value="map"/>
+         <param name="image_axis" value="true"/>
+         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
+diff --git a/clover/launch/clover.launch b/clover/launch/clover.launch
+index e1bd714..6bf140c 100644
+--- a/clover/launch/clover.launch
++++ b/clover/launch/clover.launch
+@@ -7,7 +7,7 @@
+     <arg name="rosbridge" default="true"/>
+     <arg name="main_camera" default="true"/>
+     <arg name="optical_flow" default="true"/>
+-    <arg name="aruco" default="false"/>
++    <arg name="aruco" default="true"/>
+     <arg name="rangefinder_vl53l1x" default="true"/>
+     <arg name="led" default="true"/>
+     <arg name="rc" default="true"/>
+diff --git a/clover_simulation/launch/simulator.launch b/clover_simulation/launch/simulator.launch
+index d70f5f6..e610c53 100644
+--- a/clover_simulation/launch/simulator.launch
++++ b/clover_simulation/launch/simulator.launch
+@@ -13,7 +13,7 @@
+         <!-- Workaround for crashes in VMware -->
+         <env name="SVGA_VGPU10" value="0"/>
+         <arg name="gui" value="true"/>
+-        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover.world"/>
++        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
+         <arg name="verbose" value="true"/>
+     </include>
+ 

assets/patches/sitl_gazebo.patch

@@ -25,25 +25,6 @@ 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

build.sh

@@ -28,8 +28,7 @@ ${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_${GIT_DESCRIBE}.ova"
+VM_NAME="clover-devel_v0.20+${GIT_REV}.ova"
 mv ./output-virtualbox-ovf/clover-devel.ova ./output-virtualbox-ovf/${VM_NAME}
 
 echo "--- All done!"

scripts/installSoftware.sh

@@ -77,6 +77,21 @@ source /opt/ros/melodic/setup.bash
 cd ${HOME}/catkin_ws && catkin_make
 echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
 
+echo "--- Generating ArUco field"
+source ${HOME}/catkin_ws/devel/setup.bash
+CLOVER_BASE_PATH=${HOME}/catkin_ws/src/clover
+ARUCO_MAP_PATH=${CLOVER_BASE_PATH}/aruco_pose/map
+WORLD_PATH=${CLOVER_BASE_PATH}/clover_simulation/resources/worlds
+rosrun clover_simulation aruco_gen --single-model --source-world=${WORLD_PATH}/clover.world ${ARUCO_MAP_PATH}/cmit.txt > ${WORLD_PATH}/clover_aruco.world
+
+echo "--- Applying configuration patches"
+cd ${HOME}/catkin_ws/src/clover
+patch -p1 < /tmp/patches/autoconfig.patch
+
+echo "--- Removing problematic models"
+cd ${HOME}/catkin_ws/src/sitl_gazebo/models
+rm -rf Box BoxesLargeOnPallet BoxesLargeOnPallet_2 BoxesLargeOnPallet_3
+
 echo "--- Installing npm"
 cd ${HOME}
 wget --progress=dot:giga https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-x64.tar.gz