Don't install openjdk and gcc-arm-none-eabi to reduce size (#10)

https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners

.github/workflows/main.yml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   build:
-    runs-on: macos-10.15 # Using macOS as https://github.com/actions/virtual-environments/issues/183
+    runs-on: macos-12 # Using macOS as https://github.com/actions/virtual-environments/issues/183
     steps:
       - uses: actions/checkout@v2
       - name: Download base image
@@ -19,6 +19,12 @@ jobs:
           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: Image size
+        run: ls -lh output-virtualbox-ovf
       - 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/clover_vm_version

@@ -0,0 +1 @@
+unknown

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
-Comment=Fully-featured Gazebo simulation with default PX4 settings
+Name=Gazebo Clover
+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/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

@@ -1,10 +0,0 @@
-[Desktop Entry]
-Version=1.0
-Type=Application
-Name=jMAVSim
-Comment=A lightweight PX4 simulator
-Exec=/bin/bash -c 'cd ~/Firmware; make px4_sitl jmavsim'
-Icon=openjdk-8
-Path=
-Terminal=true
-StartupNotify=false

assets/patches/sitl_gazebo.patch

@@ -1,28 +1,36 @@
-diff --git a/cmake/FindMAVLink.cmake b/cmake/FindMAVLink.cmake
-index 8de3079..3fdae02 100644
---- a/cmake/FindMAVLink.cmake
-+++ b/cmake/FindMAVLink.cmake
-@@ -19,6 +19,7 @@ set(_MAVLINK_EXTRA_SEARCH_HINTS
-     ${CMAKE_SOURCE_DIR}/mavlink/
-     ../../mavlink/
-     ../mavlink/
-+    $ENV{HOME}/Firmware/mavlink/include
-     ${CATKIN_DEVEL_PREFIX}/
-     )
+diff --git a/src/gazebo_gps_plugin.cpp b/src/gazebo_gps_plugin.cpp
+index 1195f5e..6540596 100644
+--- a/src/gazebo_gps_plugin.cpp
++++ b/src/gazebo_gps_plugin.cpp
+@@ -41,7 +41,6 @@ GpsPlugin::~GpsPlugin()
+   if (updateSensorConnection_)
+     updateSensorConnection_->~Connection();
+   parentSensor_.reset();
+-  world_->Reset();
+ }
  
+ void GpsPlugin::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+diff --git a/src/gazebo_groundtruth_plugin.cpp b/src/gazebo_groundtruth_plugin.cpp
+index 441ebd9..dd66e12 100644
+--- a/src/gazebo_groundtruth_plugin.cpp
++++ b/src/gazebo_groundtruth_plugin.cpp
+@@ -51,7 +51,6 @@ GroundtruthPlugin::~GroundtruthPlugin()
+ {
+   if (updateConnection_)
+     updateConnection_->~Connection();
+-  world_->Reset();
+ }
  
-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>
+ void GroundtruthPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+diff --git a/src/gazebo_lidar_plugin.cpp b/src/gazebo_lidar_plugin.cpp
+index 38374e6..1b2fbf8 100644
+--- a/src/gazebo_lidar_plugin.cpp
++++ b/src/gazebo_lidar_plugin.cpp
+@@ -47,7 +47,6 @@ LidarPlugin::~LidarPlugin()
+   newLaserScansConnection_->~Connection();
+   newLaserScansConnection_.reset();
+   parentSensor_.reset();
+-  world_->Reset();
+ }
+ 
+ /////////////////////////////////////////////////

build.sh

@@ -5,6 +5,18 @@ set -ex
 # FIXME: Use system Packer if possible
 #PACKER=$(which packer)
 
+echo "--- Fill version asset"
+# if [[ $GITHUB_REF == refs/tags/*-rc* ]]; then
+    # remove rc label
+    # VERSION=${GITHUB_REF#refs/tags/}
+    # VERSION=${VERSION/-rc*/}
+if [[ $GITHUB_REF == refs/tags/* ]]; then
+    VERSION=${GITHUB_REF#refs/tags/}
+else
+    VERSION=$(git describe --always)
+fi
+echo $VERSION > assets/clover_vm_version
+
 #if [ "x${PACKER}" == "x" ]; then
 PACKER="./packer"
 if [ ! -f ${PACKER} ]; then
@@ -32,22 +44,8 @@ ${PACKER} build ros_ide_vm.json
 
 echo "--- Marking the VM"
 
-# if [[ $GITHUB_REF == refs/tags/*-rc* ]]; then
-    # remove rc label
-    # VERSION=${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

ros_ide_vm.json

@@ -63,6 +63,11 @@
     "source": "{{user `assetsDir`}}/patches",
     "destination": "/tmp"
   },
+  {
+    "type": "file",
+    "source": "{{user `assetsDir`}}/clover_vm_version",
+    "destination": "/tmp/clover_vm_version"
+  },
   {
     "type": "shell",
     "script": "scripts/install_software.sh",

scripts/install_software.sh

@@ -12,41 +12,84 @@ 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 "--- Updating apt"
+sudo -E sh -c 'apt-get update'
+
 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'
+sudo -E sh -c 'while fuser /var/lib/dpkg/lock ; do sleep 0.5 ; done'
 
 echo "--- Installing open-vm-tools"
+sudo -E sh -c 'apt-get install -y open-vm-tools open-vm-tools-desktop'
 
-sudo -E sh -c 'apt-get update; apt-get install -y open-vm-tools open-vm-tools-desktop'
+echo "--- Installing ROS desktop"
+sudo -E sh -c 'apt-get install -y curl'
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+sudo -E sh -c 'apt-get update; apt-get install -y python3-pip python3-rosdep python3-rosinstall-generator python3-wstool build-essential ros-noetic-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'
+echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+source /opt/ros/noetic/setup.bash
 
+echo "--- Updating rosdep"
 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 -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 "--- Creating Catkin workspace"
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws
+catkin_make
+echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+source ~/catkin_ws/devel/setup.bash
 
-echo "--- Prebuilding PX4 SITL configuration"
-make -C ${HOME}/Firmware px4_sitl
-echo "--- Patching gazebo plugins for SITL"
-cd ${HOME}/Firmware/Tools/sitl_gazebo
+echo "--- Getting Clover sources"
+cd ~/catkin_ws/src
+git clone --depth 1 https://github.com/CopterExpress/clover
+git clone --depth 1 https://github.com/CopterExpress/ros_led
+git clone --depth 1 https://github.com/ethz-asl/mav_comm
+
+echo "--- Installing dependencies with rosdep"
+cd ~/catkin_ws
+rosdep install --from-paths src --ignore-src -y
+
+echo "--- Installing Clover's Python dependencies"
+sudo -E sh -c '/usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requirements.txt'
+
+echo "--- Downloading PX4"
+git clone --recursive --depth 1 --branch v1.13.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
+ln -s ~/PX4-Autopilot ~/catkin_ws/src/
+ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/
+
+echo "--- Installing PX4 dependencies"
+echo "progress=dot:giga" > ~/.wgetrc # make wget don't spam to log
+~/PX4-Autopilot/Tools/setup/ubuntu.sh --no-nuttx
+rm ~/.wgetrc
+pip3 install --user toml
+# sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
+
+echo "--- Patching mavlink_sitl_gazebo"
+# See https://github.com/PX4/PX4-SITL_gazebo/pull/872
+cd ~/PX4-Autopilot/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/noetic/setup.bash" >> ~/.bashrc
+echo "--- Addding Gazebo initialization to bashrc"
+echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+echo "export SVGA_VGPU10=0" >> ~/.bashrc
+
+echo "--- Addding Clover airframe"
+ln -s ~/catkin_ws/src/clover/clover_simulation/airframes/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
+
+echo "--- Installing geographiclib datasets"
+sudo -E sh -c '/opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh'
+
+echo "--- Build mavlink"
+cd ~/catkin_ws
+catkin_make mavlink_c_generate -DCATKIN_WHITELIST_PACKAGES="px4"  # at first build PX4's mavlink to enforce mavlink_sitl_gazebo using it
+ln -s "." build/mavlink/mavlink  # fix https://github.com/PX4/PX4-Autopilot/pull/19964
+
+echo "--- Building the workspace"
+catkin_make -DCATKIN_WHITELIST_PACKAGES=""
 
 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'
@@ -59,51 +102,15 @@ 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 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 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
+echo "--- Installing additional Python packages"
+/usr/bin/python3 -m pip install -U pylint pyzbar --user
 
-echo "--- Installing npm"
+echo "--- Exposing examples"
+ln -s ${HOME}/catkin_ws/src/clover/clover/examples ${HOME}/
+[[ -d ${HOME}/examples ]] # test symlink is valid
+
+echo "--- Installing npm and building documentation"
 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
@@ -122,9 +129,6 @@ 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/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 ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service /etc/systemd/system
@@ -142,6 +146,7 @@ sudo -E sh -c 'apt-get update; apt-get install -y firefox'
 echo "--- Installing Monkey web server"
 sudo apt-get install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
 sed "s/pi/${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
 
@@ -154,5 +159,70 @@ sudo -E sh -c 'hostnamectl set-hostname clover-dev; sed -i "s/ubuntu/clover-dev
 echo "export ROS_HOSTNAME=\`hostname\`.local" >> ${HOME}/.bashrc
 chmod a+x ${HOME}/Desktop/*
 
+echo "--- Creating /etc/clover_vm_version"
+sudo -E sh -c 'mv /tmp/clover_vm_version /etc/clover_vm_version'
+cat /etc/clover_vm_version
+
 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 "--- Validating PX4 builds"
+cd ~/PX4-Autopilot
+make px4_sitl  # regular sitl build
+# sudo -E sh -c 'apt-get install -y gcc-arm-none-eabi'
+# make px4_fmu-v4_default
+make clean
+
+echo "--- Run Clover's Python libraries validation"
+$HOME/catkin_ws/src/clover/builder/test/tests_py3.py
+
+echo "--- Versions of all installed ROS packages"
+set +x
+rospack list-names | while read line; do echo $line `rosversion $line`; done
+set -x
+
+echo "--- Largest packages installed"
+sudo -E sh -c 'apt-get install -y debian-goodies'
+dpigs -H -n 30
+
+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
+HEADLESS=1 timeout --preserve-status 30 roslaunch clover_simulation simulator.launch type:=jmavsim gui:=false --screen