More enforcement on installation Gazebo 9

It exits with 255 somehow

.github/workflows/main.yml

@@ -20,7 +20,6 @@ jobs:
       - 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

assets/desktop/Clover Drone Kit Tools.desktop

@@ -1,7 +0,0 @@
-[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 PX4.desktop

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

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

@@ -1,3 +1,16 @@
+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/cmake/FindMAVLink.cmake b/cmake/FindMAVLink.cmake
 index 8de3079..3fdae02 100644
 --- a/cmake/FindMAVLink.cmake
@@ -6,7 +19,7 @@ index 8de3079..3fdae02 100644
      ${CMAKE_SOURCE_DIR}/mavlink/
      ../../mavlink/
      ../mavlink/
-+    $ENV{HOME}/PX4-Autopilot/mavlink/include
++    $ENV{HOME}/Firmware/mavlink/include
      ${CATKIN_DEVEL_PREFIX}/
      )
  

scripts/install_software.sh

@@ -31,21 +31,26 @@ 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 ${HOME}/PX4-Autopilot
+
-# PX4 v1.11.1 script will happily run sudo by itself
+# v1.11.1, TODO: update to v1.12, remove Gazebo downgrade
-${HOME}/PX4-Autopilot/Tools/setup/ubuntu.sh
+#git clone --recursive -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
-# Ubuntu 20.04 no longer sets assistive_technologies, thankfully
+## PX4 v1.11.1 script will happily run sudo by itself
-sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
+#${HOME}/Firmware/Tools/setup/ubuntu.sh
+## Ubuntu 20.04 no longer sets assistive_technologies, thankfully
+
+# v1.10.1:
+git clone -b v1.10.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
+sudo -E sh -c 'apt-get update; apt-get install -y python3-pip'
+sudo -E -S sh -c '${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}/PX4-Autopilot px4_sitl
+make -C ${HOME}/Firmware px4_sitl
 echo "--- Patching gazebo plugins for SITL"
-# cd ${HOME}/PX4-Autopilot/Tools/sitl_gazebo
+cd ${HOME}/Firmware/Tools/sitl_gazebo
-# patch -p1 < /tmp/patches/sitl_gazebo.patch
+patch -p1 < /tmp/patches/sitl_gazebo.patch
-echo 'export SVGA_VGPU10=0' >> ${HOME}/PX4-Autopilot/Tools/setup_gazebo.bash
+echo 'export SVGA_VGPU10=0' >> ${HOME}/Firmware/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
 
@@ -93,13 +98,13 @@ 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 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
+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 --depth 1 https://github.com/ethz-asl/mav_comm ${HOME}/catkin_ws/src/mav_comm
+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}/Firmware ${HOME}/catkin_ws/src/Firmware
-ln -s ${HOME}/PX4-Autopilot/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
+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
@@ -107,10 +112,7 @@ source /opt/ros/noetic/setup.bash
 cd ${HOME}/catkin_ws && catkin_make
 echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
 
-source $HOME/catkin_ws/devel/setup.bash
+sudo -E sh -c 'apt-get update; apt-get install -y gazebo9' # downgrade Gazebo to 9 to make PX4 v1.10.1 work
-
-echo "--- Adding Clover vehicle startup script to PX4"
-ln -s "$(catkin_find clover_simulation airframes)"/* $HOME/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
 
 echo "--- Installing npm"
 cd ${HOME}
@@ -152,7 +154,6 @@ sudo -E sh -c 'apt-get update; apt-get install -y firefox'
 echo "--- Installing Monkey web server"
 sudo apt-get install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
 sed "s/pi/${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
 
@@ -174,7 +175,7 @@ python2 --version
 python3 --version
 # ipython --version
 ipython3 --version
-gazebo --version || true # FIXME: Gazebo exits with 255 on --version somehow
+gazebo --version || true # FIXME: Gazebo exist with 255 on --version somehow
 node -v
 npm -v
 byobu --version
@@ -184,10 +185,9 @@ pip --version
 pip3 --version
 monkey --version
 systemctl --version
-# TODO: add Python tests
 
+source $HOME/catkin_ws/devel/setup.bash
 roscore -h
-rosversion px4
 rosversion clover
 rosversion aruco_pose
 rosversion mavros
@@ -204,7 +204,3 @@ 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