From 5445f21de1f55fe4be4d92fe37a043c4ad592e2e Mon Sep 17 00:00:00 2001
From: Alex Davies <traverse.da@gmail.com>
Date: Wed, 19 Jun 2024 12:08:03 -0300
Subject: [PATCH] Moved to gazebo classic

---
 Dockerfile                                | 10 +++++++---
 skel/Desktop/simulated-drone/sim_drone.py | 16 +++++++++-------
 2 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index c1f90f4..af761fa 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -6,13 +6,16 @@ COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /plugins
 
 RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 RUN sh -c 'curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -'
+RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+RUN sh -c "wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -"
 
 RUN apt-get clean
 
 RUN apt-get update && apt-get upgrade --yes
 
-RUN apt-get install --yes gz-garden
-RUN apt-get install --yes ros-noetic-desktop
+#RUN apt-get install --yes gz-garden
+RUN apt-get remove gz-garden
+RUN apt-get install --yes ros-noetic-desktop gazebo11 libgazebo11 libgazebo11-dev
 
 #Install ROS
 
@@ -21,7 +24,8 @@ WORKDIR /opt/spiri-sdk
 RUN git clone --depth 1 -b v1.15.0-beta1 https://github.com/PX4/PX4-Autopilot.git --recursive
 WORKDIR /opt/spiri-sdk/PX4-Autopilot/
 #Precompile px4
-RUN make px4_sitl_default
+#RUN make px4_sitl_default
+RUN DONT_RUN=1 make px4_sitl gazebo-classic
 
 RUN pip3 install typer-slim loguru sh
 
diff --git a/skel/Desktop/simulated-drone/sim_drone.py b/skel/Desktop/simulated-drone/sim_drone.py
index ab9102e..8443dbe 100755
--- a/skel/Desktop/simulated-drone/sim_drone.py
+++ b/skel/Desktop/simulated-drone/sim_drone.py
@@ -16,9 +16,7 @@ logger.add(
     sys.stdout, format="<green>{time}</green> <level>{level}</level> {extra} {message}"
 )
 
-px4Path = os.environ.get(
-    "SPIRI_SIM_PX4_PATH", "/opt/spiri-sdk/PX4-Autopilot/build/px4_sitl_default/bin/px4"
-)
+px4Path = os.environ.get("SPIRI_SIM_PX4_PATH", "/opt/spiri-sdk/PX4-Autopilot/")
 logger.info(f"SPIRI_SIM_PX4_PATH={px4Path}")
 px4 = sh.Command(px4Path)
 
@@ -125,11 +123,15 @@ def start(sys_id: int = 1, extra_apps: List[pathlib.Path] = []):
             MAVROS_SIM_FCU_PORT=str(14539 + sys_id),
             DRONE_SYS_ID=str(sys_id),
         ):
-            instance_id = sys_id - 1  # PX4 will add 1 to the instance ID to get sysID
-            px4Instance = px4(
-                "-d", i=instance_id, _out=outputLogger("px4", instance_id), _bg=True
+            # Run the make px4_sitl gazebo-classic command
+            px4_command = sh.make(
+                "px4_sitl",
+                "gazebo-classic",
+                _bg=True,
+                _out=outputLogger("px4", sys_id),
+                _cwd=px4Path,
             )
-            processes.append(px4Instance)
+            processes.append(px4_command)
             logger.info("Starting drone stack, this may take some time")
             docker_stack = sh.docker.compose(
                 "--project-name",