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image_builder: TEMP: Add support installation wo sources
This commit is contained in:
Artem Smirnov
@@ -4,59 +4,32 @@
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<version>0.0.0</version>
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<description>ArUco maps precise pose estimation nodelet</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
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||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
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<license>MIT</license>
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<!--url type="website">http://wiki.ros.org/aruco_pose</url-->
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<author email="okalachev@gmail.com">Oleg Kalachev</author>
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<author email="urpylka@gmail.com">Artem Smirnov</author>
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||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
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||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
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||||
<!-- Example: -->
|
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<!-- <url type="website">http://wiki.ros.org/aruco_pose</url> -->
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|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *_depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>nodelet</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>image_transport</build_depend>
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<build_depend>cv_bridge</build_depend>
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<build_depend>tf</build_depend>
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<!-- Use buildtool_depend for build tool packages: -->
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<buildtool_depend>catkin</buildtool_depend>
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<!-- Use run_depend for packages you need at runtime: -->
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<run_depend>nodelet</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>image_transport</run_depend>
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<run_depend>cv_bridge</run_depend>
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<build_depend>tf</build_depend>
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<nodelet plugin="${prefix}/nodelet_plugins.xml" />
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<nodelet plugin="${prefix}/nodelet_plugins.xml" />
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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@@ -2,55 +2,30 @@
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<package>
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<name>clever</name>
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<version>0.0.1</version>
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<description>The clever package</description>
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<description>The CLEVER package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
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<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
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<license>MIT</license>
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<!--url type="website">http://wiki.ros.org/clever</url-->
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<author email="okalachev@gmail.com">Oleg Kalachev</author>
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<author email="urpylka@gmail.com">Artem Smirnov</author>
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||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
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<license>TODO</license>
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|
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|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
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<!-- <url type="website">http://wiki.ros.org/clever</url> -->
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|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *_depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use run_depend for packages you need at runtime: -->
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||||
<!-- <run_depend>message_runtime</run_depend> -->
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||||
<!-- Use test_depend for packages you need only for testing: -->
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||||
<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>nodelet</build_depend>
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<build_depend>roscpp</build_depend>
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<!-- Use buildtool_depend for build tool packages: -->
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<buildtool_depend>catkin</buildtool_depend>
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<!-- Use run_depend for packages you need at runtime: -->
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<run_depend>nodelet</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>mavros</run_depend>
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<nodelet plugin="${prefix}/nodelet_plugins.xml" />
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<nodelet plugin="${prefix}/nodelet_plugins.xml" />
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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@@ -18,6 +18,6 @@ cd ${IMAGE_BUILDER}
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[[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
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./image_config.sh copy_to_chroot ${IMAGE_PATH} ${SCRIPTS_DIR}'/kinetic-ros-coex.rosinstall' '/home/pi/ros_catkin_ws/'
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./image_config.sh execute ${IMAGE_PATH} ${SCRIPTS_DIR}'/ros_install.sh' ${TARGET_REPO} ${TARGET_REF} False ${NUMBER_THREADS}
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./image_config.sh execute ${IMAGE_PATH} ${SCRIPTS_DIR}'/ros_install.sh' ${TARGET_REPO} ${TARGET_REF} False False ${NUMBER_THREADS}
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./autosizer.sh ${IMAGE_PATH}
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@@ -26,26 +26,23 @@ echo_stamp() {
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echo -e ${TEXT}
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}
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# Add apt key to allow local mirror usage during image build
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echo_stamp "#0 Install apt keys & repos"
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# TODO: This STDOUT consist 'OK'
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wget -O - ftp://mirror.coex.space/coex-mirror.gpg 2> /dev/null | apt-key add -
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# Generate a backup of the original source.list
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cp /etc/apt/sources.list /var/sources.list.bak
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# Add the coex-mirror as the first priority repository
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curl ftp://mirror.coex.space/coex-mirror.list 2> /dev/null | cat - /etc/apt/sources.list > /var/sources.list && mv /var/sources.list /etc/apt/sources.list
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# Add the urpylka-rpi repo
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curl ftp://mirror.coex.space/urpylka-rpi.list 2> /dev/null >> /etc/apt/sources.list
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curl http://repo.coex.space/aptly_repo_signing.key 2> /dev/null | apt-key add -
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apt-get install --no-install-recommends -y -qq dirmngr=2.1.18-8~deb9u2 > /dev/null \
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&& apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
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echo_stamp "#1 apt cache update"
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echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list
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echo "deb http://repo.coex.space/rpi-ros-kinetic/ stretch main" > /etc/apt/sources.list.d/rpi-ros-kinetic.list
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echo_stamp "#1 Update apt cache"
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# Clean repostory cache
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apt-get clean -qq > /dev/null
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# Update repository cache
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# TODO: FIX ERROR: /usr/bin/apt-key: 596: /usr/bin/apt-key: cannot create /dev/null: Permission denied
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apt-get update -qq > /dev/null
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# && apt upgrade -y
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echo_stamp "#2 Write clever information"
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echo_stamp "#2 Write CLEVER information"
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# Clever image version
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echo "$1" >> /etc/clever_version
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@@ -1,10 +1,4 @@
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#!/bin/bash
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##################################################################################################################################
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# ROS for user pi
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##################################################################################################################################
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# ros http://wiki.ros.org/action/fullsearch/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
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#!/usr/bin/env bash
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set -e
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@@ -28,111 +22,108 @@ echo_stamp() {
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echo -e ${TEXT}
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}
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echo_stamp "Installing ROS"
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# TODO: 'kinetic-rosdep-clever.yaml' should add only if we use our repo?
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echo_stamp "Init rosdep" \
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&& rosdep init \
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&& wget -O /etc/ros/rosdep/kinetic-rosdep-clever.yaml http://repo.coex.space/kinetic-rosdep-clever.yaml 2> /dev/null \
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&& echo "yaml file:///etc/ros/rosdep/kinetic-rosdep-clever.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list \
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&& rosdep update
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echo_stamp "#1 Installing dirmngr & add key to apt-key"
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apt-get install --no-install-recommends -y -qq dirmngr=2.1.18-8~deb9u2 > /dev/null
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apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
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echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list
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resolve_rosdep() {
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# TEMPLATE: resolve_rosdep <CATKIN_PATH> <ROS_DISTRO> <OS_DISTRO> <OS_VERSION>
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CATKIN_PATH=${1:='/home/pi/ros_catkin_ws'}
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ROS_DISTRO=${2:='kinetic'}
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OS_DISTRO=${3:='debian'}
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OS_VERSION=${4:='stretch'}
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echo_stamp "#2 apt update && apt upgrade"
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apt-get update -qq > /dev/null
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echo_stamp "Installing dependencies apps with rosdep in ${CATKIN_PATH}"
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cd ${CATKIN_PATH}
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set +e
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# Successfull unmount flag (false at thismoment)
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install_ok=false
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# Repeat 5 times
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for i in {1..5}; do
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# Resolving Dependencies with rosdep
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rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -r --os=${OS_DISTRO}:${OS_VERSION} \
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> /dev/null \
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&& (install_ok=true; break) || (echo_stamp "rosdep iteration #$i failed!" "ERROR"; sleep 2)
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done
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set -e
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# Stage fail if this condition is not true
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[[ $install_ok ]] \
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&& echo_stamp "All rosdep dependencies was installed!" "SUCCESS" \
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|| (echo_stamp "Rosdep installation was failed!" "ERROR"; exit 1)
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}
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echo_stamp "#3 Installing wget, unzip, python-rosdep, python-rosinstall-generator, python-wstool, python-rosinstall, build-essential, cmake"
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apt-get install --no-install-recommends -y -qq \
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python-rosdep=0.12.2-1 \
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python-rosinstall-generator=0.1.14-1 \
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python-wstool=0.1.17-1 \
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python-rosinstall=0.7.8-1 \
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build-essential=12.3 \
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> /dev/null
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echo_stamp "#4 rosdep init && rosdep update"
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rosdep init && rosdep update
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# If $3 = false, then discover packages
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if [ "$3" = "false" ];
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then
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echo_stamp "#5 Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall"
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# create ros catkin workspace
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mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
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INSTALL_ROS_PACK_SOURCES=${3:='False'}
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if [ "${INSTALL_ROS_PACK_SOURCES}" = "True" ]; then
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DISCOVER_ROS_PACK=${4:='True'}
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if [ "${DISCOVER_ROS_PACK}" = "False" ]; then
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echo_stamp "Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall" \
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&& mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
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&& rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
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&& wstool init src kinetic-ros_comm-wet.rosinstall
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&& wstool init src kinetic-ros_comm-wet.rosinstall \
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&& echo_stamp "All roscomm sources was installed!" "SUCCESS" \
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|| (echo_stamp "Some roscomm sources installation was failed!" "ERROR"; exit 1)
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echo_stamp "#6 Preparing other ROS-packages to kinetic-custom_ros.rosinstall"
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echo_stamp "Preparing other ROS-packages to kinetic-custom_ros.rosinstall" \
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&& cd /home/pi/ros_catkin_ws \
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&& rosinstall_generator \
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actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
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--rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
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&& wstool merge -t src kinetic-custom_ros.rosinstall \
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&& wstool update -t src \
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&& echo_stamp "All custom sources was installed!" "SUCCESS" \
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|| (echo_stamp "Some custom sources installation was failed!" "ERROR"; exit 1)
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else
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echo_stamp "Creating ros_catkin_ws & getting all sources using wstool" \
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&& mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
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&& wstool init src kinetic-ros-clever.rosinstall \
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> /dev/null \
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&& echo_stamp "All CLEVER sources was installed!" "SUCCESS" \
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|| (echo_stamp "Some CLEVER sources installation was failed!" "ERROR"; exit 1)
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fi
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cd /home/pi/ros_catkin_ws \
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&& rosinstall_generator \
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actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
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--rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
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&& wstool merge -t src kinetic-custom_ros.rosinstall \
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&& wstool update -t src
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else
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echo_stamp "#5 Creating ros_catkin_ws & getting all sources using wstool"
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mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
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&& wstool init src kinetic-ros-coex.rosinstall \
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> /dev/null \
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&& echo_stamp "ros_catkin_ws was created!" "SUCCESS" \
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|| (echo_stamp "ros_catkin_ws wasn't created!" "ERROR"; exit 1)
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resolve_rosdep
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||||
# TODO: Add refactor to origin repo
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||||
#echo_stamp "Refactoring usb_cam in SRC"
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||||
#sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
|
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||||
# TODO: test without that
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||||
#echo_stamp "#9 Installing GeographicLib datasets"
|
||||
#/home/pi/ros_catkin_ws/src/mavros/mavros/scripts/install_geographiclib_datasets.sh
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||||
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||||
echo_stamp "Building ros_catkin_ws packages"
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||||
cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -j$5 -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
|
||||
|
||||
#echo_stamp "#11 Building light packages on 2 threads"
|
||||
#cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j2 --install-space /opt/ros/kinetic --pkg actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs xmlrpcpp
|
||||
|
||||
#echo_stamp "#12 Building heavy packages"
|
||||
# This command uses less threads to avoid Raspberry Pi freeze
|
||||
#cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j1 --install-space /opt/ros/kinetic --pkg mavros opencv3 cv_bridge cv_camera mavros_extras web_video_server
|
||||
|
||||
# Install builded packages
|
||||
# WARNING: A major bug was found when using --pkg option (catkin_make_isolated doesn't install environment files)
|
||||
# TODO: Can we increase threads number with HDD swap?
|
||||
|
||||
echo_stamp "Remove build_isolated & devel_isolated from ros_catkin_ws"
|
||||
rm -rf /home/pi/ros_catkin_ws/build_isolated /home/pi/ros_catkin_ws/devel_isolated
|
||||
chown -Rf pi:pi /home/pi/ros_catkin_ws
|
||||
fi
|
||||
|
||||
echo_stamp "#7 Installing dependencies apps with rosdep"
|
||||
cd /home/pi/ros_catkin_ws
|
||||
set +e
|
||||
# Successfull unmount flag (false at thismoment)
|
||||
install_ok=false
|
||||
# Repeat 5 times
|
||||
for i in {1..5}; do
|
||||
# Resolving Dependencies with rosdep
|
||||
rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch \
|
||||
> /dev/null \
|
||||
&& (install_ok=true; break) || (echo_stamp "rosdep iteration #$i failed!" "ERROR"; sleep 2)
|
||||
done
|
||||
set -e
|
||||
# Stage fail if this condition is not true
|
||||
[[ $install_ok ]] \
|
||||
&& echo_stamp "All rosdep dependencies was installed!" "SUCCESS" \
|
||||
|| (echo_stamp "Rosdep installation failed!" "ERROR"; exit 1)
|
||||
|
||||
echo_stamp "#8 Refactoring usb_cam in SRC"
|
||||
sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
|
||||
|
||||
echo_stamp "#9 Installing GeographicLib datasets"
|
||||
/home/pi/ros_catkin_ws/src/mavros/mavros/scripts/install_geographiclib_datasets.sh
|
||||
|
||||
#echo_stamp "#11 Building light packages on 2 threads"
|
||||
|
||||
# Build the catkin Workspace
|
||||
#cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j2 --install-space /opt/ros/kinetic --pkg actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs xmlrpcpp
|
||||
|
||||
#echo_stamp "#12 Building heavy packages"
|
||||
|
||||
# This command uses less threads to avoid Raspberry Pi freeze
|
||||
# Build the catkin Workspace
|
||||
#cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j1 --install-space /opt/ros/kinetic --pkg mavros opencv3 cv_bridge cv_camera mavros_extras web_video_server
|
||||
|
||||
echo_stamp "#10 Building packages"
|
||||
|
||||
# Install builded packages
|
||||
# WARNING: A major bug was found when using --pkg option (catkin_make_isolated doesn't install environment files)
|
||||
# TODO: Can we increase threads number with HDD swap?
|
||||
cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -j$4 -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
|
||||
|
||||
echo_stamp "#11 Remove build_isolated & devel_isolated from ros_catkin_ws"
|
||||
rm -rf /home/pi/ros_catkin_ws/build_isolated /home/pi/ros_catkin_ws/devel_isolated
|
||||
chown -Rf pi:pi /home/pi/ros_catkin_ws
|
||||
|
||||
echo_stamp "#12 Creating catkin_ws & Installing CLEVER-BUNDLE"
|
||||
git clone $1 /home/pi/catkin_ws/src/clever \
|
||||
echo_stamp "#12 Creating catkin_ws & Installing CLEVER-BUNDLE" \
|
||||
&& git clone $1 /home/pi/catkin_ws/src/clever \
|
||||
&& cd /home/pi/catkin_ws/src/clever \
|
||||
&& git checkout $2 \
|
||||
&& pip install wheel \
|
||||
&& pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
|
||||
&& cd /home/pi/catkin_ws \
|
||||
&& . /opt/ros/kinetic/setup.sh \
|
||||
&& catkin_make -j$4 -DCMAKE_BUILD_TYPE=Release \
|
||||
&& resolve_rosdep $(pwd)
|
||||
&& catkin_make -j$5 -DCMAKE_BUILD_TYPE=Release \
|
||||
&& ln -s /home/pi/catkin_ws/src/clever/deploy/roscore.service /lib/systemd/system/roscore.service \
|
||||
&& ln -s /home/pi/catkin_ws/src/clever/deploy/clever.service /lib/systemd/system/clever.service \
|
||||
&& systemctl enable roscore \
|
||||
@@ -143,10 +134,10 @@ chown -Rf pi:pi /home/pi/catkin_ws
|
||||
|
||||
echo_stamp "#14 Setup ROS environment"
|
||||
cat <<EOF | tee -a /home/pi/.bashrc > /dev/null
|
||||
LANG=C.UTF-8
|
||||
LC_ALL=C.UTF-8
|
||||
ROS_DISTRO=kinetic
|
||||
export ROS_IP=192.168.11.1
|
||||
LANG='C.UTF-8'
|
||||
LC_ALL='C.UTF-8'
|
||||
ROS_DISTRO='kinetic'
|
||||
export ROS_IP='192.168.11.1'
|
||||
source /opt/ros/kinetic/setup.bash
|
||||
source /home/pi/catkin_ws/devel/setup.bash
|
||||
EOF
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
#!/bin/bash
|
||||
#!/usr/bin/env bash
|
||||
|
||||
set -e
|
||||
|
||||
##################################################################################################################################
|
||||
# Image software installation
|
||||
##################################################################################################################################
|
||||
|
||||
set -e
|
||||
|
||||
echo_stamp() {
|
||||
# TEMPLATE: echo_stamp <TEXT> <TYPE>
|
||||
# TYPE: SUCCESS, ERROR, INFO
|
||||
@@ -26,8 +26,7 @@ echo_stamp() {
|
||||
echo -e ${TEXT}
|
||||
}
|
||||
|
||||
echo_stamp "#1 Software installing"
|
||||
|
||||
echo_stamp "Software installing"
|
||||
apt-get install --no-install-recommends -y \
|
||||
unzip=6.0-21 \
|
||||
zip=3.0-11 \
|
||||
@@ -47,32 +46,34 @@ apt-get install --no-install-recommends -y \
|
||||
libjpeg8-dev=8d1-2 \
|
||||
tcpdump \
|
||||
libpoco-dev=1.7.6+dfsg1-5+deb9u1 \
|
||||
python-rosdep=0.12.2-1 \
|
||||
python-rosinstall-generator=0.1.14-1 \
|
||||
python-wstool=0.1.17-1 \
|
||||
python-rosinstall=0.7.8-1 \
|
||||
build-essential=12.3 \
|
||||
> /dev/null \
|
||||
&& echo_stamp "Everything was installed!" "SUCCESS" \
|
||||
|| (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
|
||||
|
||||
echo_stamp "#2 Installation OpenCV"
|
||||
# echo_stamp "Installation OpenCV"
|
||||
# apt-get install --no-install-recommends -y \
|
||||
# ros-kinetic-opencv3=3.3.1-0stretch \
|
||||
# > /dev/null \
|
||||
# && echo_stamp "OpenCV3 was installed!" "SUCCESS" \
|
||||
# || (echo_stamp "OpenCV3 wasn't installed!" "ERROR"; exit 1)
|
||||
|
||||
apt-get install --no-install-recommends -y \
|
||||
ros-kinetic-opencv3=3.3.1-0stretch \
|
||||
> /dev/null \
|
||||
&& echo_stamp "OpenCV3 was installed!" "SUCCESS" \
|
||||
|| (echo_stamp "OpenCV3 wasn't installed!" "ERROR"; exit 1)
|
||||
|
||||
echo_stamp "#3 Adding mjpg-streamer at /home/pi"
|
||||
echo_stamp "Adding mjpg-streamer at /home/pi"
|
||||
# https://github.com/jacksonliam/mjpg-streamer
|
||||
|
||||
git clone https://github.com/jacksonliam/mjpg-streamer.git /home/pi/mjpg-streamer \
|
||||
git clone https://github.com/urpylka/mjpg-streamer.git /home/pi/mjpg-streamer \
|
||||
&& cd /home/pi/mjpg-streamer/mjpg-streamer-experimental \
|
||||
&& make > /dev/null \
|
||||
&& make install \
|
||||
&& chown -Rf pi:pi /home/pi/mjpg-streamer
|
||||
|
||||
echo_stamp "#4 Add .vimrc"
|
||||
|
||||
echo_stamp "Add .vimrc"
|
||||
cat << EOF > /home/pi/.vimrc
|
||||
set mouse-=a
|
||||
syntax on
|
||||
EOF
|
||||
|
||||
echo_stamp "#5 End of software installation"
|
||||
echo_stamp "End of software installation"
|
||||
|
||||
Reference in New Issue
Block a user