From f026f52f8ea651f530e9d3474f19fcf2a4dafa6c Mon Sep 17 00:00:00 2001
From: Joe Macek <macekj@umich.edu>
Date: Sun, 29 Sep 2019 15:47:23 -0400
Subject: [PATCH 1/2] revert to pulling px4 firmware from github, add temporary
 command to build sim

---
 Makefile             | 10 ++++++++++
 scripts/setup_sim.sh |  7 ++-----
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/Makefile b/Makefile
index b353a8b..10ecfbe 100644
--- a/Makefile
+++ b/Makefile
@@ -13,8 +13,18 @@ clean:
 nuke:
 	cd; rm -r /software/bin; rm -r /software/lib; rm -r /software/build
 
+# Temporary command to build gazebo and px4 firmware until this is in setup_sim.sh
+# Only call this from within the docker container - make sure you have the new image
+setup-sim:
+	pwd
+	cd /PX4Firmware
+	num_procs_avail=$(($(grep -c ^processor /proc/cpuinfo)-1))
+	make posix_sitl_default gazebo -j$((num_procs_avail > 1 ? num_procs_avail : 1))
+
+
 .PHONY: build
 .PHONY: bash
 .PHONY: run-all
 .PHONY: clean
 .PHONY: nuke
+.PHONY: setup-sim
diff --git a/scripts/setup_sim.sh b/scripts/setup_sim.sh
index c931d24..dfaea4b 100755
--- a/scripts/setup_sim.sh
+++ b/scripts/setup_sim.sh
@@ -7,10 +7,7 @@ curl -sSL http://get.gazebosim.org | sh
 
 # Install PX4 firmware
 echo "Installing PX4 firmware"
-wget https://github.com/PX4/Firmware/archive/v1.9.2.zip -O Firmware.zip
-unzip Firmware.zip
-rm Firmware.zip
-mv Firmware-1.9.2 PX4Firmware
+git clone --single-branch --branch v1.8.2 https://github.com/PX4/Firmware/ PX4Firmware
 
 # Ubuntu Config
 echo "We must first remove modemmanager"
@@ -57,4 +54,4 @@ if [ ! -f exe/QGroundControl.AppImage ]; then
 	echo "Downloading QGroundControl"
 	wget https://s3-us-west-2.amazonaws.com/qgroundcontrol/builds/master/QGroundControl.AppImage -P /bin
 	chmod a+x /bin/QGroundControl.AppImage
-fi
\ No newline at end of file
+fi

From f4d3265ab73cecf77d1e39a9c9d8aefad189156a Mon Sep 17 00:00:00 2001
From: Joe Macek <macekj@umich.edu>
Date: Sun, 6 Oct 2019 14:57:12 -0400
Subject: [PATCH 2/2] fixed gazebo build setup, add x window support for linux

---
 Makefile                | 10 ----------
 docker-compose.yml      | 13 ++++++++++++-
 scripts/build_gazebo.sh |  8 ++++++++
 3 files changed, 20 insertions(+), 11 deletions(-)
 create mode 100755 scripts/build_gazebo.sh

diff --git a/Makefile b/Makefile
index 10ecfbe..b353a8b 100644
--- a/Makefile
+++ b/Makefile
@@ -13,18 +13,8 @@ clean:
 nuke:
 	cd; rm -r /software/bin; rm -r /software/lib; rm -r /software/build
 
-# Temporary command to build gazebo and px4 firmware until this is in setup_sim.sh
-# Only call this from within the docker container - make sure you have the new image
-setup-sim:
-	pwd
-	cd /PX4Firmware
-	num_procs_avail=$(($(grep -c ^processor /proc/cpuinfo)-1))
-	make posix_sitl_default gazebo -j$((num_procs_avail > 1 ? num_procs_avail : 1))
-
-
 .PHONY: build
 .PHONY: bash
 .PHONY: run-all
 .PHONY: clean
 .PHONY: nuke
-.PHONY: setup-sim
diff --git a/docker-compose.yml b/docker-compose.yml
index 7693e5d..fa7f8a3 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -7,4 +7,15 @@ services:
       - ./software:/software
       - ${PWD}/Makefile:/Makefile
     container_name: maav-run
-    command: "make ${ACTION}"
\ No newline at end of file
+    command: "make ${ACTION}"
+  gazebo:
+    image: maav-software
+    volumes:
+      - ./software:/software
+      - ${PWD}/Makefile:/Makefile
+      - $HOME/.Xauthority:/root/.Xauthority:rw
+    environment:
+      - DISPLAY
+    network_mode: "host"
+    container_name: gazebo-run
+    command: "gazebo"
diff --git a/scripts/build_gazebo.sh b/scripts/build_gazebo.sh
new file mode 100755
index 0000000..1478c91
--- /dev/null
+++ b/scripts/build_gazebo.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+# Run this command from the container only to build the PX4 firmware.
+# This will launch a PX4 shell, so once the command stops running you can
+# CTRL+C or exit. To save the build files, docker commit your container
+cd /PX4Firmware
+num_procs_avail=$(($(grep -c ^processor /proc/cpuinfo)-1))
+make posix_sitl_default gazebo -j$((num_procs_avail > 1 ? num_procs_avail : 1))