From b0be10893f27f2e0de49dae95b9cf0139cf967fb Mon Sep 17 00:00:00 2001
From: Sanket Sharma <sharma.sanket272@gmail.com>
Date: Fri, 6 Jan 2023 13:28:17 +0530
Subject: [PATCH 1/2] Tools: Add ardupilot_gazebo install script

Added ardupilot_gazebo package for simulation purposes
---
 .../environment_install/install-ROS-ubuntu.sh | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/Tools/environment_install/install-ROS-ubuntu.sh b/Tools/environment_install/install-ROS-ubuntu.sh
index 90804c15dbc82..c2ba7ec49b604 100755
--- a/Tools/environment_install/install-ROS-ubuntu.sh
+++ b/Tools/environment_install/install-ROS-ubuntu.sh
@@ -4,6 +4,7 @@ set -e
 # set -x
 
 ROS_WS_ROOT=$HOME/ardupilot-ws
+AP_GZ_ROOT=$HOME/ardupilot_gazebo
 
 red=`tput setaf 1`
 green=`tput setaf 2`
@@ -246,6 +247,26 @@ else
     echo "Skipping adding ardupilot_ws to your home folder."
 fi
 
+
+if maybe_prompt_user "Add ardupilot_gazebo to your home folder [N/y]?" ; then
+    if [ ! -d $AP_GZ_ROOT ]; then
+        git clone https://github.com/khancyr/ardupilot_gazebo
+        pushd $AP_GZ_ROOT
+        mkdir build
+        pushd build
+        cmake ..
+        make -j4
+        sudo make install
+        popd
+        popd
+    else
+        heading "${red}ardupilot_gazebo already exists, skipping...${reset}"
+    fi
+    
+else
+    echo "Skipping adding ardupilot_gazebo to your home folder."
+fi
+
 heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
 grep -q -F "source $ROS_WS_ROOT/devel/setup.bash" ~/.bashrc || echo "source $ROS_WS_ROOT/devel/setup.bash" >> ~/.bashrc
 source ~/.bashrc

From 680486635d1e1afd7e27a7780ce634b64944e2df Mon Sep 17 00:00:00 2001
From: Sanket Sharma <sharma.sanket272@gmail.com>
Date: Fri, 6 Jan 2023 13:54:27 +0530
Subject: [PATCH 2/2] updated ardupilot_gazebo source and dependencies

---
 Tools/environment_install/install-ROS-ubuntu.sh | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/Tools/environment_install/install-ROS-ubuntu.sh b/Tools/environment_install/install-ROS-ubuntu.sh
index c2ba7ec49b604..a77541abdb7a1 100755
--- a/Tools/environment_install/install-ROS-ubuntu.sh
+++ b/Tools/environment_install/install-ROS-ubuntu.sh
@@ -250,15 +250,16 @@ fi
 
 if maybe_prompt_user "Add ardupilot_gazebo to your home folder [N/y]?" ; then
     if [ ! -d $AP_GZ_ROOT ]; then
-        git clone https://github.com/khancyr/ardupilot_gazebo
+        sudo apt install libgz-sim7-dev rapidjson-dev
+        git clone https://github.com/ArduPilot/ardupilot_gazebo
         pushd $AP_GZ_ROOT
-        mkdir build
-        pushd build
-        cmake ..
+        mkdir build && pushd build
+        cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
         make -j4
-        sudo make install
         popd
         popd
+        echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$AP_GZ_ROOT/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}' >> ~/.bashrc
+        echo 'export GZ_SIM_RESOURCE_PATH=$AP_GZ_ROOT/models:$AP_GZ_ROOT/worlds:${GZ_SIM_RESOURCE_PATH}' >> ~/.bashrc
     else
         heading "${red}ardupilot_gazebo already exists, skipping...${reset}"
     fi