Fix making symlink to Clover model

* Use original PX4 v1.12

* Disable patching sitl_gazebo

* Fix

* Add Clover airframe to PX4

* Fix

.github/workflows/main.yml

@@ -20,5 +20,9 @@ jobs:
       - name: Build
         run: ./build.sh
       - name: Upload
-        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
+        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

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/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/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

@@ -6,7 +6,7 @@ index 8de3079..3fdae02 100644
      ${CMAKE_SOURCE_DIR}/mavlink/
      ../../mavlink/
      ../mavlink/
-+    $ENV{HOME}/Firmware/mavlink/include
++    $ENV{HOME}/PX4-Autopilot/mavlink/include
      ${CATKIN_DEVEL_PREFIX}/
      )
  

build.sh

@@ -47,7 +47,3 @@ 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

scripts/install_software.sh

@@ -31,17 +31,20 @@ rosdep update
 # FIXME: PX4 needs pip to be installed
 # FIXME: python2 dependencies?
 echo "--- Downloading PX4 and installing its dependencies"
-git clone --recursive -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
+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}/Firmware/Tools/setup/ubuntu.sh
+${HOME}/PX4-Autopilot/Tools/setup/ubuntu.sh
 # Ubuntu 20.04 no longer sets assistive_technologies, thankfully
 
 echo "--- Prebuilding PX4 SITL configuration"
-make -C ${HOME}/Firmware px4_sitl
+make -C ${HOME}/PX4-Autopilot 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
+# 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
 
@@ -94,8 +97,8 @@ 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
+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
@@ -103,6 +106,11 @@ 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
@@ -123,7 +131,8 @@ 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/builder/assets/examples ${HOME}/
+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
@@ -156,3 +165,40 @@ 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