Merge branch 'px4-1.13' into test-build-firmware

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

assets/clover_vm_version

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

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
@@ -32,16 +44,6 @@ ${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

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

@@ -55,10 +55,11 @@ 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 v1.12.3 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
+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/
-ln -s ~/PX4-Autopilot/mavlink ~/catkin_ws/src/
+#ln -s ~/PX4-Autopilot/src/modules/mavlink/mavlink ~/catkin_ws/src/
+#git clone --depth 1 https://github.com/mavlink/c_library_v2.git ~/catkin_ws/src/mavlink/ # FIXME:
 
 echo "--- Installing PX4 dependencies"
 ~/PX4-Autopilot/Tools/setup/ubuntu.sh
@@ -80,9 +81,17 @@ ln -s ~/catkin_ws/src/clover/clover_simulation/airframes/* ~/PX4-Autopilot/ROMFS
 echo "--- Installing geographiclib datasets"
 sudo -E sh -c '/opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh'
 
-echo "--- Building the workspace"
+echo "--- Build PX4"
+cd ~/PX4-Autopilot
+make px4_sitl
+
+echo "--- Build mavlink"
 cd ~/catkin_ws
-catkin_make
+catkin_make mavlink_c_generate -DCATKIN_WHITELIST_PACKAGES="px4"  # at first build px4's mavlink to force mavlink_sitl_gazebo to use 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'
@@ -154,6 +163,10 @@ 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 /'
 
@@ -199,6 +212,11 @@ set +x
 rospack list-names | while read line; do echo $line `rosversion $line`; done
 set -x
 
+echo "--- Test building the firmware"
+sudo -E sh -c 'apt-get install -y gcc-arm-none-eabi'
+cd ~/PX4-Autopilot
+make px4_fmu-v4_default
+
 echo "Trying running the Gazebo simulator, check the output"
 timeout --preserve-status 30 roslaunch clover_simulation simulator.launch gui:=false --screen