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builder: Use variable substitution for ROS_DISTRO

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This commit is contained in:
Alexey Rogachevskiy
2020-09-09 17:13:04 +03:00
parent 173c8cbe3a
commit 24cfc54c06
1 changed files with 15 additions and 12 deletions
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27
builder/image-ros.sh
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@@ -21,6 +21,9 @@ INSTALL_ROS_PACK_SOURCES=$3
DISCOVER_ROS_PACK=$4
NUMBER_THREADS=$5
# Current ROS distribution
ROS_DISTRO=noetic
echo_stamp() {
# TEMPLATE: echo_stamp <TEXT> <TYPE>
# TYPE: SUCCESS, ERROR, INFO
@@ -69,7 +72,7 @@ my_travis_retry() {
echo_stamp "Init rosdep"
my_travis_retry rosdep init
# FIXME: Re-add this after missing packages are built
#echo "yaml file:///etc/ros/rosdep/noetic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
#echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
my_travis_retry rosdep update
echo_stamp "Populate rosdep for ROS user"
@@ -84,11 +87,11 @@ git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
echo_stamp "Build and install Clover"
cd /home/pi/catkin_ws
# Don't try to install gazebo_ros
my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro noetic --os=debian:buster \
my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=debian:buster \
--skip-keys=gazebo_ros --skip-keys=gazebo_plugins
my_travis_retry pip install wheel
my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
source /opt/ros/noetic/setup.bash
source /opt/ros/${ROS_DISTRO}/setup.bash
# Don't build simulation plugins for actual drone
catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
@@ -106,14 +109,14 @@ touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/w
echo_stamp "Installing additional ROS packages"
my_travis_retry apt-get install -y --no-install-recommends \
ros-noetic-dynamic-reconfigure \
ros-noetic-compressed-image-transport \
ros-noetic-rosbridge-suite \
ros-noetic-rosserial \
ros-noetic-usb-cam \
ros-noetic-vl53l1x \
ros-noetic-ws281x \
ros-noetic-rosshow
ros-${ROS_DISTRO}-dynamic-reconfigure \
ros-${ROS_DISTRO}-compressed-image-transport \
ros-${ROS_DISTRO}-rosbridge-suite \
ros-${ROS_DISTRO}-rosserial \
ros-${ROS_DISTRO}-usb-cam \
ros-${ROS_DISTRO}-vl53l1x \
ros-${ROS_DISTRO}-ws281x \
ros-${ROS_DISTRO}-rosshow
# TODO move GeographicLib datasets to Mavros debian package
echo_stamp "Install GeographicLib datasets (needed for mavros)" \
@@ -136,7 +139,7 @@ cat << EOF >> /home/pi/.bashrc
LANG='C.UTF-8'
LC_ALL='C.UTF-8'
export ROS_HOSTNAME=\`hostname\`.local
source /opt/ros/melodic/setup.bash
source /opt/ros/${ROS_DISTRO}/setup.bash
source /home/pi/catkin_ws/devel/setup.bash
EOF