Clone Firmware recursively

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

.github/workflows/main.yml

@@ -1,28 +0,0 @@
-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

@@ -11,14 +11,14 @@ before_install:
 - sudo apt install -y xvfb
 script:
 - "xvfb-run ./build.sh"
-# deploy:
-#   provider: s3
-#   access_key_id: XOJXX4IOM66XN7VZAFYX
-#   secret_access_key: $S3_SECRET_KEY
-#   bucket: clovervm
-#   local-dir: output-virtualbox-ovf
-#   acl: public_read
-#   on:
-#     all_branches: true
-#   skip_cleanup: true
-#   endpoint: https://ams3.digitaloceanspaces.com
+deploy:
+  provider: s3
+  access_key_id: XOJXX4IOM66XN7VZAFYX
+  secret_access_key: $S3_SECRET_KEY
+  bucket: clovervm
+  local-dir: output-virtualbox-ovf
+  acl: public_read
+  on:
+    all_branches: true
+  skip_cleanup: true
+  endpoint: https://ams3.digitaloceanspaces.com

LICENSE

@@ -1,21 +0,0 @@
-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

@@ -1,19 +0,0 @@
-# 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

@@ -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/jMAVSim.desktop

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

assets/patches/sitl_gazebo.patch

@@ -1,16 +1,16 @@
-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}/PX4-Autopilot/mavlink/include
-     ${CATKIN_DEVEL_PREFIX}/
-     )
+diff --git a/include/gazebo_opticalflow_plugin.h b/include/gazebo_opticalflow_plugin.h
+index 4fbeab2..18a192b 100644
+--- a/include/gazebo_opticalflow_plugin.h
++++ b/include/gazebo_opticalflow_plugin.h
+@@ -40,7 +40,7 @@
+ #include "flow_px4.hpp"
  
+ #define DEFAULT_RATE 20
+-#define HAS_GYRO TRUE
++#define HAS_GYRO true
  
+ using namespace cv;
+ using namespace std;
 diff --git a/package.xml b/package.xml
 index ae0fb34..12f17b8 100644
 --- a/package.xml
@@ -26,3 +26,49 @@ index ae0fb34..12f17b8 100644
    <run_depend>eigen</run_depend>
    <run_depend>gazebo_ros</run_depend>
    <run_depend>geometry_msgs</run_depend>
+diff --git a/src/gazebo_geotagged_images_plugin.cpp b/src/gazebo_geotagged_images_plugin.cpp
+index 050558f..3edda33 100644
+--- a/src/gazebo_geotagged_images_plugin.cpp
++++ b/src/gazebo_geotagged_images_plugin.cpp
+@@ -581,7 +581,8 @@ void GeotaggedImagesPlugin::_send_capture_status(struct sockaddr* srcaddr)
+         0,                                      // video status (Idle)
+         interval,                               // image interval
+         0,                                      // recording_time_s
+-        available_mib);                         // available_capacity
++        available_mib,                          // available_capacity
++        _imageCounter);
+     _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
++++ 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();

build.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-set -ex
+set -e
 
 # FIXME: Use system Packer if possible
 #PACKER=$(which packer)
@@ -9,14 +9,9 @@ set -ex
 PACKER="./packer"
 if [ ! -f ${PACKER} ]; then
     echo "Packer not found; downloading v1.5.4 from Hashicorp"
-    if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-        OS=linux
-    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
+    wget --progress=dot:giga https://releases.hashicorp.com/packer/1.5.4/packer_1.5.4_linux_amd64.zip
+    unzip packer_1.5.4_linux_amd64.zip
+    rm packer_1.5.4_linux_amd64.zip
 fi
 
 echo "--- Using Packer version $(${PACKER} --version)"
@@ -32,18 +27,13 @@ ${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"
+GIT_REV=$(git rev-parse --short HEAD)
+GIT_DESCRIBE=$(git describe --tags)
+VM_NAME="clover-devel_${GIT_DESCRIBE}.ova"
 mv ./output-virtualbox-ovf/clover-devel.ova ./output-virtualbox-ovf/${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

@@ -65,7 +65,7 @@
   },
   {
     "type": "shell",
-    "script": "scripts/install_software.sh",
+    "script": "scripts/installSoftware.sh",
     "execute_command": "PASSWORD='{{user `password`}}' bash '{{.Path}}'"
   }]
 }

scripts/installSoftware.sh

@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
 
-set -ex
+set -e
 
 echo "--- Current environment:"
 /usr/bin/env
@@ -13,17 +13,17 @@ sudo -E sh -c 'echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retr
 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'
+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-get update; apt-get install -y open-vm-tools open-vm-tools-desktop'
+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-get update; apt-get install -y python3-rosdep python3-rosinstall-generator python3-wstool build-essential ros-noetic-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
@@ -31,31 +31,28 @@ 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
+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}/PX4-Autopilot/Tools/setup/ubuntu.sh
+${HOME}/Firmware/Tools/setup/ubuntu.sh
 # Ubuntu 20.04 no longer sets assistive_technologies, thankfully
 
 echo "--- Prebuilding PX4 SITL configuration"
-make -C ${HOME}/PX4-Autopilot px4_sitl
+make -C ${HOME}/Firmware 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
+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/noetic/setup.bash" >> ~/.bashrc
 
 echo "--- Installing Visual Studio Code"
 
-sudo -E sh -c 'apt-get update; apt-get install -y curl'
+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-get install -y apt-transport-https; apt-get update; apt-get install -y code'
+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
@@ -89,16 +86,16 @@ ws281x:
   ubuntu:
     focal: [ros-noetic-ws281x]
 EOF'
-sudo apt-get update
+sudo apt update
 rosdep update
 mkdir -p ${HOME}/catkin_ws/src
-git clone https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover
+git clone -b 22-armhf 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}/PX4-Autopilot ${HOME}/catkin_ws/src/PX4-Autopilot
-ln -s ${HOME}/PX4-Autopilot/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
+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
@@ -106,18 +103,13 @@ 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
+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"
@@ -125,14 +117,13 @@ 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
+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"
-ln -s ${HOME}/catkin_ws/src/clover/clover/examples ${HOME}/
-[[ -d ${HOME}/examples ]] # test symlink is valid
+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
@@ -141,21 +132,21 @@ 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'
+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-get update; apt-get install -y firefox'
+sudo -E sh -c 'apt update; apt install -y firefox'
 
 echo "--- Installing Monkey web server"
-sudo apt-get install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
+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-get update; apt-get install -y sshfs gvfs-fuse gvfs-backends python3-opencv byobu ipython3 byobu nmap lsof tmux vim ros-noetic-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 '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'
@@ -165,40 +156,3 @@ 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