Merge pull request #20 from IOES-Lab/ardusub_install

Ardusub install
IOES-Lab · Oct 23, 2024 · ab6935c · ab6935c
2 parents 105fa19 + 98cc9a9
commit ab6935c
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diff --git a/.docker/jazzy.amd64.dockerfile b/.docker/jazzy.amd64.dockerfile
@@ -10,11 +10,22 @@ RUN apt-get update && \
     curl wget git build-essential cmake cppcheck \
     gnupg libeigen3-dev libgles2-mesa-dev \
     lsb-release pkg-config protobuf-compiler \
-    python3-dbg python3-pip python3-venv \
+    python3-dbg python3-pip python3-venv python3-pexpect \
+    python-is-python3 python3-future python3-wxgtk4.0 \
     qtbase5-dev ruby dirmngr gnupg2 nano xauth \
     software-properties-common htop libtool \
-    x11-apps mesa-utils bison flex automake && \
-    rm -rf /var/lib/apt/lists/
+    x11-apps mesa-utils bison flex automake \
+    && rm -rf /var/lib/apt/lists/
+
+# Prereqs for Ardupilot - Ardusub
+ADD --chown=root:root --chmod=0644 https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" |  tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+    && apt-get update && apt-get install -y --no-install-recommends \
+    libgz-sim8-dev rapidjson-dev libopencv-dev \
+    libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
+    gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
+    && rm -rf /var/lib/apt/lists/
 
 # Locale for UTF-8
 RUN truncate -s0 /tmp/preseed.cfg && \
@@ -42,8 +53,17 @@ ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
 extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
+# Install Ardupilot - Ardusub
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/ardusub-ubuntu-install.sh install.sh
+RUN bash install.sh
+# Install mavros
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/mavros-ubuntu-install.sh install.sh
+RUN bash install.sh
+
 # Set up Dave workspace
-ENV DAVE_WS=/opt/ws_dave
+ENV DAVE_WS=/opt/dave_ws
 WORKDIR $DAVE_WS/src
 
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
@@ -62,17 +82,56 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
 
 # source entrypoint setup
 RUN touch /ros_entrypoint.sh && sed --in-place --expression \
-    '$i source "/opt/ws_dave/install/setup.bash"' /ros_entrypoint.sh
+    '$i source "/opt/dave_ws/install/setup.bash"' /ros_entrypoint.sh \
+    && sed --in-place --expression \
+    '$i cd /root' /ros_entrypoint.sh
+
+RUN cp /home/docker/.bashrc ~/.bashrc
 
 # Source ROS and Gazebo
 RUN sed --in-place --expression \
 '$i source "/opt/ros/jazzy/setup.bash"' /ros_entrypoint.sh && \
 sed --in-place --expression \
 '$i source "/opt/gazebo/install/setup.bash"' /ros_entrypoint.sh && \
 sed --in-place --expression \
-'$i export PYTHONPATH=$PYTHONPATH:/opt/gazebo/install/lib/python' /ros_entrypoint.sh
-
-# Set User as user
-USER $USER
-RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc  && \
-    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc
+'$i source "/opt/mavros/install/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export GEOGRAPHICLIB_GEOID_PATH=/usr/local/share/GeographicLib/geoids' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PYTHONPATH=\$PYTHONPATH:/opt/gazebo/install/lib/python' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PATH=/opt/ardupilot_dave/ardupilot/build/sitl/bin:\$PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PATH=/opt/ardupilot_dave/ardupilot/Tools/autotest:\$PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardupilot_dave/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export GZ_SIM_RESOURCE_PATH=/opt/ardupilot_dave/ardupilot_gazebo/models:/opt/ardupilot_dave/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;37m \n=====\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''  ____    ___     _______      _                     _   _      \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' |  _ \\  / \\ \\   / | ____|    / \\   __ _ _   _  __ _| |_(_) ___ \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' | | | |/ _ \\ \\ / /|  _|     / _ \\ / _` | | | |/ _` | __| |/ __|\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' | |_| / ___ \\ V / | |___   / ___ \\ (_| | |_| | (_| | |_| | (__ \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' |____/_/   \\_\\_/  |_____| /_/   \\_\\__, |\\__,_|\\__,_|\\__|_|\\___|\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' __     ___      _               _     _____            _       \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' \\ \\   / (_)_ __| |_ _   _  __ _| |   | ____|_ ____   _(_)_ __  \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''  \\ \\ / /| | `__| __| | | |/ _` | |   |  _| | `_ \\ \\ / | | `__| \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''   \\ V / | | |  | |_| |_| | (_| | |   | |___| | | \\ V /| | |_   \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''    \\_/  |_|_|   \\__|\\__,_|\\__,_|_|   |_____|_| |_|\\_/ |_|_(_)  \n\\033[0m'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;32m\n =====\\033[0m\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;32m 👋 Hi! This is Docker virtual environment for DAVE\n\\033[0m'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic (w ardupilot(ardusub) + mavros)\n\n\\033[0m'\'' ' /ros_entrypoint.sh
diff --git a/.docker/jazzy.arm64v8.dockerfile b/.docker/jazzy.arm64v8.dockerfile
@@ -78,7 +78,7 @@
 
 # Using the pre-built image for above commented out dockerfile code lines
 # hadolint ignore=DL3007
-FROM --platform=linux/arm64 woensugchoi/ubuntu-arm-rdp-base:latest
+FROM woensugchoi/ubuntu-arm-rdp-base:latest
 ARG USER=docker
 
 # ROS-Gazebo arg
@@ -90,25 +90,24 @@ ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
 extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
-# Set up Dave workspace
-ENV ROS_UNDERLAY=/home/$USER/dave_ws/install
-WORKDIR $ROS_UNDERLAY/../src
-
+# Prereqs for Ardupilot - Ardusub
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DEBCONF_NONINTERACTIVE_SEEN=true
+# hadolint ignore=DL3008
+ADD --chown=root:root --chmod=0644 https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" |  tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+    && apt-get -q update && \
+    apt-get install -y --no-install-recommends \
+    python-is-python3 python3-future python3-wxgtk4.0 python3-pexpect \
+    libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
+    libgz-sim8-dev rapidjson-dev libopencv-dev libasio-dev \
+    gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
+    && rm -rf /var/lib/apt/lists/
+# Install mavros
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/repos/dave.$ROS_DISTRO.repos /home/$USER/ws_dave/dave.repos
-RUN vcs import --shallow --input "/home/$USER/ws_dave/dave.repos"
-
-RUN rosdep init && \
-  rosdep update --rosdistro $ROS_DISTRO
-
-# hadolint ignore=DL3027
-RUN apt update && apt --fix-broken install && \
-    rosdep update &&  rosdep install -iy --from-paths . && \
-    rm -rf /var/lib/apt/lists/
-
-WORKDIR $ROS_UNDERLAY/..
-RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
-    colcon build
+extras/mavros-ubuntu-install.sh install.sh
+RUN bash install.sh
 
 # Download the background image from GitHub raw content URL
 # hadolint ignore=DL3047
@@ -122,31 +121,67 @@ extras/background.png && \
     cp /usr/share/backgrounds/warty-final-ubuntu.png \
         /usr/share/backgrounds/ubuntu-wallpaper-d.png
 
-# source entrypoint setup
-RUN touch /ros_entrypoint.sh && sed --in-place --expression \
-    '$i source "$ROS_UNDERLAY/setup.bash"' /ros_entrypoint.sh
+# Install Ardupilot - Ardusub
+USER docker
+RUN wget -O /tmp/install.sh https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/extras/ardusub-ubuntu-install-local.sh
+RUN chmod +x /tmp/install.sh && bash /tmp/install.sh
+
+# Set up Dave workspace
+ENV DAVE_UNDERLAY=/home/$USER/dave_ws
+WORKDIR $DAVE_UNDERLAY/src
+RUN wget -O /home/$USER/dave_ws/dave.repos -q https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/repos/dave.$ROS_DISTRO.repos
+RUN vcs import --shallow --input "/home/$USER/dave_ws/dave.repos"
+
+# hadolint ignore=DL3027
+RUN sudo apt update && sudo apt --fix-broken install && \
+    sudo rosdep init && rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --rosdistro $ROS_DISTRO -iy --from-paths . && \
+    sudo rm -rf /var/lib/apt/lists/
+
+# Build dave workspace
+WORKDIR $DAVE_UNDERLAY
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && colcon build
 
 # Set User as user
 USER docker
 RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
     echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc && \
-    echo "export PYTHONPATH=$PYTHONPATH:/opt/gazebo/install/lib/python" >> ~/.bashrc && \
-    echo "if [ -d ~/HOST ]; then chown docker:docker ~/HOST; fi" \
-    >> ~/.bashrc
+    echo "source /opt/mavros/install/setup.bash" >> ~/.bashrc && \
+    echo "source $DAVE_UNDERLAY/install/setup.bash" >> ~/.bashrc && \
+    echo "export GEOGRAPHICLIB_GEOID_PATH=/usr/local/share/GeographicLib/geoids" >> ~/.bashrc && \
+    echo "export PYTHONPATH=\$PYTHONPATH:/opt/gazebo/install/lib/python" >> ~/.bashrc && \
+    echo "export PATH=/home/$USER/ardupilot_dave/ardupilot/Tools/autotest:\$PATH" >> ~/.bashrc && \
+    echo "export PATH=/home/$USER/ardupilot_dave/ardupilot/build/sitl/bin:\$PATH" >> ~/.bashrc && \
+    echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_dave/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH" >> ~/.bashrc && \
+    echo "export GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_dave/ardupilot_gazebo/models:/home/$USER/ardupilot_dave/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH" >> ~/.bashrc && \
+    echo "\n\n" >> ~/.bashrc && echo "if [ -d ~/HOST ]; then chown $USER:$USER ~/HOST; fi" >> ~/.bashrc  && \
+    echo "\n\n" >> ~/.bashrc
 
 # Other environment variables
 RUN echo "export XDG_RUNTIME_DIR=~/.xdg_log" >> ~/.bashrc && \
     echo "unset SESSION_MANAGER" >> ~/.bashrc
 
 # Create and write the welcome message to a new file
 RUN mkdir -p /home/docker/.config/autostart && \
+    printf '\033[1;37m =====\n' >> ~/.hi && \
+    printf '  ____    ___     _______      _                     _   _      \n' >> ~/.hi && \
+    printf ' |  _ \  / \ \   / | ____|    / \   __ _ _   _  __ _| |_(_) ___ \n' >> ~/.hi && \
+    printf ' | | | |/ _ \ \ / /|  _|     / _ \ / _` | | | |/ _` | __| |/ __|\n' >> ~/.hi && \
+    printf ' | |_| / ___ \ V / | |___   / ___ | (_| | |_| | (_| | |_| | (__ \n' >> ~/.hi && \
+    printf ' |____/_/   \_\_/  |_____| /_/   \_\__, |\__,_|\__,_|\__|_|\___|\n' >> ~/.hi && \
+    printf ' __     ___      _               _     _____            _       \n' >> ~/.hi && \
+    printf ' \ \   / (_)_ __| |_ _   _  __ _| |   | ____|_ ____   _(_)_ __  \n' >> ~/.hi && \
+    printf '  \ \ / /| | `__| __| | | |/ _` | |   |  _| | `_ \ \ / | | `__| \n' >> ~/.hi && \
+    printf '   \ V / | | |  | |_| |_| | (_| | |   | |___| | | \ V /| | |_   \n' >> ~/.hi && \
+    printf '    \_/  |_|_|   \__|\__,_|\__,_|_|   |_____|_| |_|\_/ |_|_(_)  \n\033[0m' >> ~/.hi && \
     printf '\033[1;32m\n =====\n\033[0m' >> ~/.hi && \
-    printf "\\033[1;32m 👋 Hi! This is Docker virtual environment\n\\033[0m" \
+    printf "\\033[1;32m 👋 Hi! This is Docker virtual environment for DAVE\n\\033[0m" \
     >> ~/.hi && \
-    printf "\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic\n\n\n\\033[0m" \
+    printf "\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic (w ardupilot(ardusub) + mavros)\n\n\n\\033[0m" \
     >> ~/.hi
 
-# Remove sudo message
+    # Remove sudo message
 RUN touch /home/docker/.sudo_as_admin_successful
 
 # Autostart terminal

diff --git a/.github/workflows/docker-amd64.yml b/.github/workflows/docker-amd64.yml
@@ -12,7 +12,7 @@ on:
 env:
   IMAGE_NAME: ${{ github.repository }}
   ROS_DISTRO: jazzy
-  BRANCH: ros2
+  BRANCH: ${{ github.ref_name }}
 
 jobs:
   build-and-push-to-docker-hub:

diff --git a/.github/workflows/docker-arm64v8.yml b/.github/workflows/docker-arm64v8.yml
@@ -12,7 +12,7 @@ on:
 env:
   IMAGE_NAME: ${{ github.repository }}
   ROS_DISTRO: jazzy
-  BRANCH: ros2
+  BRANCH: ${{ github.ref_name }}
 
 jobs:
   build-and-push-to-docker-hub:

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -141,12 +141,12 @@ repos:
 
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
-  - repo: https://github.com/codespell-project/codespell
-    rev: v2.3.0
-    hooks:
-      - id: codespell
-        args: ["--write-changes", "--uri-ignore-words-list=ist", "-L manuel"]
-        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
+  # - repo: https://github.com/codespell-project/codespell
+  #   rev: v2.3.0
+  #   hooks:
+  #     - id: codespell
+  #       args: ["--write-changes", "--uri-ignore-words-list=ist", "-L manuel"]
+  #       exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   # Json lint
   - repo: https://github.com/python-jsonschema/check-jsonschema

diff --git a/extras/ardusub-ubuntu-install-local.sh b/extras/ardusub-ubuntu-install-local.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+
+# Source Ros and Gazebo
+# shellcheck source=/dev/null
+source /opt/ros/jazzy/setup.bash
+# shellcheck source=/dev/null
+source /opt/gazebo/install/setup.bash
+
+export USER=docker
+
+# Really should do version pinning but Sub-4.5 is waaaay behind master
+# (e.g. it doesn't know about "noble" yet)
+export ARDUPILOT_RELEASE=master
+mkdir -p "/home/$USER/ardupilot_dave" && cd "/home/$USER/ardupilot_dave" || exit
+git clone -b $ARDUPILOT_RELEASE https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+
+# Install ArduSub dependencies
+cd "/home/$USER/ardupilot_dave/ardupilot" || exit
+export SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
+# Do not install the STM development tools
+export DO_AP_STM_ENV=0
+# Do not activate the Ardupilot venv by default
+export DO_PYTHON_VENV_ENV=0
+Tools/environment_install/install-prereqs-ubuntu.sh -y
+
+# Build ArduSub
+modules/waf/waf-light configure --board sitl \
+  && modules/waf/waf-light build --target bin/ardusub
+
+# Clone ardupilot_gazebo code
+cd "/home/$USER/ardupilot_dave" || exit
+git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+
+# Install ardupilot_gazebo plugin
+# Check if the directory creation was successful
+mkdir -p "/home/$USER/ardupilot_dave/ardupilot_gazebo/build" \
+  && cd "/home/$USER/ardupilot_dave/ardupilot_gazebo/build" || exit
+cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && make -j2
+
+# Add results of ArduSub build
+export PATH=/home/$USER/ardupilot_dave/ardupilot/build/sitl/bin:\$PATH
+# Optional: add autotest to the PATH, helpful for running sim_vehicle.py
+export PATH=/home/$USER/ardupilot_dave/ardupilot/Tools/autotest:\$PATH
+# Add ardupilot_gazebo plugin
+export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_dave/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
+# Add ardupilot_gazebo models and worlds
+export GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_dave/ardupilot_gazebo/models:/home/$USER/ardupilot_dave/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
diff --git a/extras/ardusub-ubuntu-install.sh b/extras/ardusub-ubuntu-install.sh
@@ -0,0 +1,45 @@
+#!/bin/bash
+
+# Source Ros and Gazebo
+# shellcheck source=/dev/null
+source /opt/ros/jazzy/setup.bash
+# shellcheck source=/dev/null
+source /opt/gazebo/install/setup.bash
+
+# Really should do version pinning but Sub-4.5 is waaaay behind master
+# (e.g. it doesn't know about "noble" yet)
+export ARDUPILOT_RELEASE=master
+mkdir -p "/opt/ardupilot_dave" && cd "/opt/ardupilot_dave" || exit
+git clone -b $ARDUPILOT_RELEASE https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+
+# Install ArduSub dependencies
+cd "/opt/ardupilot_dave/ardupilot" || exit
+export SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
+# Do not install the STM development tools
+export DO_AP_STM_ENV=0
+# Do not activate the Ardupilot venv by default
+export DO_PYTHON_VENV_ENV=0
+Tools/environment_install/install-prereqs-ubuntu.sh -y
+
+# Build ArduSub
+modules/waf/waf-light configure --board sitl \
+  && modules/waf/waf-light build --target bin/ardusub
+
+# Clone ardupilot_gazebo code
+cd "/opt/ardupilot_dave" || exit
+git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+
+# Install ardupilot_gazebo plugin
+# Check if the directory creation was successful
+mkdir -p "/opt/ardupilot_dave/ardupilot_gazebo/build" \
+  && cd "/opt/ardupilot_dave/ardupilot_gazebo/build" || exit
+cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && make -j2
+
+# Add results of ArduSub build
+export PATH=/opt/ardupilot_dave/ardupilot/build/sitl/bin:\$PATH
+# Optional: add autotest to the PATH, helpful for running sim_vehicle.py
+export PATH=/opt/ardupilot_dave/ardupilot/Tools/autotest:\$PATH
+# Add ardupilot_gazebo plugin
+export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardupilot_dave/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
+# Add ardupilot_gazebo models and worlds
+export GZ_SIM_RESOURCE_PATH=/opt/ardupilot_dave/ardupilot_gazebo/models:/opt/ardupilot_dave/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH