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Merge branch 'cleanup-build' into bookworm

Browse Source
This commit is contained in:
Oleg Kalachev
2024-04-18 07:46:34 +03:00
parent 41b6311d9e dc2293e960
commit 4517cdf595
9 changed files with 74 additions and 239 deletions
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44
builder/assets/hardware_setup.sh
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@@ -15,52 +15,26 @@
set -e # Exit immidiately on non-zero result
echo_stamp() {
# TEMPLATE: echo_stamp <TEXT> <TYPE>
# TYPE: SUCCESS, ERROR, INFO
# More info there https://www.shellhacks.com/ru/bash-colors/
TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
TEXT="\e[1m$TEXT\e[0m" # BOLD
case "$2" in
SUCCESS)
TEXT="\e[32m${TEXT}\e[0m";; # GREEN
ERROR)
TEXT="\e[31m${TEXT}\e[0m";; # RED
*)
TEXT="\e[34m${TEXT}\e[0m";; # BLUE
esac
echo -e ${TEXT}
}
##################################################
# Configure hardware interfaces
##################################################
# 1. Enable sshd
echo_stamp "#1 Turn on sshd"
echo "--- Enable sshd"
touch /boot/ssh
# /usr/bin/raspi-config nonint do_ssh 0
# 2. Enable GPIO
echo_stamp "#2 GPIO enabled by default"
echo "--- GPIO enabled by default"
# 3. Enable I2C
echo_stamp "#3 Turn on I2C"
echo "--- Enable I2C"
/usr/bin/raspi-config nonint do_i2c 0
# 4. Enable SPI
echo_stamp "#4 Turn on SPI"
echo "--- Enable SPI"
/usr/bin/raspi-config nonint do_spi 0
# 5. Enable raspicam
echo_stamp "#5 Turn on raspicam"
echo "--- Enable raspicam"
/usr/bin/raspi-config nonint do_camera 0
# 6. Enable hardware UART
echo_stamp "#6 Turn on UART"
echo "--- Enable UART"
# Temporary solution
# https://github.com/RPi-Distro/raspi-config/pull/75
/usr/bin/raspi-config nonint do_serial 1
@@ -72,11 +46,9 @@ systemctl disable hciuart.service
# https://github.com/RPi-Distro/raspi-config/commit/d6d9ecc0d9cbe4aaa9744ae733b9cb239e79c116
#/usr/bin/raspi-config nonint do_serial 2
# 7. Enable V4L driver http://robocraft.ru/blog/electronics/3158.html
echo "--- Enable v4l2 driver"
# http://robocraft.ru/blog/electronics/3158.html
#echo "bcm2835-v4l2" >> /etc/modules
echo_stamp "#7 Turn on v4l2 driver"
if ! grep -q "^bcm2835-v4l2" /etc/modules;
then printf "bcm2835-v4l2\n" >> /etc/modules
fi
echo_stamp "#8 End of configure hardware interfaces"

32
builder/assets/init_rpi.sh
View File

@@ -15,28 +15,8 @@
set -e # Exit immidiately on non-zero result
echo_stamp() {
# TEMPLATE: echo_stamp <TEXT> <TYPE>
# TYPE: SUCCESS, ERROR, INFO
# More info there https://www.shellhacks.com/ru/bash-colors/
TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
TEXT="\e[1m$TEXT\e[0m" # BOLD
case "$2" in
SUCCESS)
TEXT="\e[32m${TEXT}\e[0m";; # GREEN
ERROR)
TEXT="\e[31m${TEXT}\e[0m";; # RED
*)
TEXT="\e[34m${TEXT}\e[0m";; # BLUE
esac
echo -e ${TEXT}
}
NEW_SSID='clover-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
echo_stamp "Setting SSID to ${NEW_SSID}"
echo "--- Setting SSID to ${NEW_SSID}"
# TODO: Use wpa_cli insted direct file edit
# FIXME: We rely on raspberrypi-net-mods to copy our file to /etc/wpa_supplicant.
# This is not very reliable, but seems to fix our rfkill problem.
@@ -57,19 +37,17 @@ network={
EOF
NEW_HOSTNAME=$(echo ${NEW_SSID} | tr '[:upper:]' '[:lower:]')
echo_stamp "Setting hostname to $NEW_HOSTNAME"
echo "--- Setting hostname to $NEW_HOSTNAME"
hostnamectl set-hostname $NEW_HOSTNAME
sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_HOSTNAME}' '${NEW_HOSTNAME}'.local/g' /etc/hosts
# .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces are down
echo_stamp "Enable ROS services"
echo "--- Enable ROS services"
systemctl enable roscore
systemctl enable clover
echo_stamp "Harware setup"
echo "--- Harware setup"
/root/hardware_setup.sh
echo_stamp "Remove init scripts"
echo "--- Remove init scripts"
rm /root/init_rpi.sh /root/hardware_setup.sh
echo_stamp "End of initialization of the image"

36
builder/image-build.sh
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@@ -13,7 +13,7 @@
# copies or substantial portions of the Software.
#
set -e # Exit immidiately on non-zero result
set -ex # exit on error, echo commands
# https://www.raspberrypi.org/software/operating-systems/#raspberry-pi-os-32-bit
SOURCE_IMAGE="https://downloads.raspberrypi.com/raspios_lite_armhf/images/raspios_lite_armhf-2024-03-15/2024-03-15-raspios-bookworm-armhf-lite.img.xz"
@@ -22,33 +22,13 @@ export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
export LANG=${LANG:='C.UTF-8'}
export LC_ALL=${LC_ALL:='C.UTF-8'}
echo_stamp() {
# TEMPLATE: echo_stamp <TEXT> <TYPE>
# TYPE: SUCCESS, ERROR, INFO
# More info there https://www.shellhacks.com/ru/bash-colors/
TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
TEXT="\e[1m$TEXT\e[0m" # BOLD
case "$2" in
SUCCESS)
TEXT="\e[32m${TEXT}\e[0m";; # GREEN
ERROR)
TEXT="\e[31m${TEXT}\e[0m";; # RED
*)
TEXT="\e[34m${TEXT}\e[0m";; # BLUE
esac
echo -e ${TEXT}
}
BUILDER_DIR="/builder"
REPO_DIR="${BUILDER_DIR}/repo"
SCRIPTS_DIR="${REPO_DIR}/builder"
IMAGES_DIR="${REPO_DIR}/images"
[[ ! -d ${SCRIPTS_DIR} ]] && (echo_stamp "Directory ${SCRIPTS_DIR} doesn't exist" "ERROR"; exit 1)
[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo_stamp "Directory ${IMAGES_DIR} was created successful" "SUCCESS"
[[ ! -d ${SCRIPTS_DIR} ]] && (echo "Error: directory ${SCRIPTS_DIR} doesn't exist"; exit 1)
[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo "Directory ${IMAGES_DIR} was created successful"
if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="$(cd ${REPO_DIR}; git log --format=%h -1)"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
# IMAGE_VERSION="${TRAVIS_TAG:=$(cd ${REPO_DIR}; git log --format=%h -1)}"
@@ -64,12 +44,14 @@ get_image() {
local RPI_IMAGE_NAME=$(echo ${RPI_ZIP_NAME} | sed 's/zip/img/')
if [ ! -e "${BUILD_DIR}/${RPI_ZIP_NAME}" ]; then
echo_stamp "Downloading original Linux distribution"
echo "--- Downloading original Linux distribution"
wget --progress=dot:giga -O ${BUILD_DIR}/${RPI_ZIP_NAME} $2
echo_stamp "Downloading complete" "SUCCESS" \
else echo_stamp "Linux distribution already donwloaded"; fi
echo "--- Downloading complete" "SUCCESS"
else
echo "Linux distribution already downloaded"
fi
echo_stamp "Unzipping Linux distribution image"
echo "--- Unzipping Linux distribution image"
apt-get update --allow-releaseinfo-change
apt-get install -y xz-utils
unxz --stdout ${BUILD_DIR}/${RPI_ZIP_NAME} > $1

34
builder/image-init.sh
View File

@@ -12,51 +12,29 @@
# copies or substantial portions of the Software.
#
set -ex # Exit immidiately on non-zero result
set -ex # exit on error, echo commands
echo_stamp() {
# TEMPLATE: echo_stamp <TEXT> <TYPE>
# TYPE: SUCCESS, ERROR, INFO
# More info there https://www.shellhacks.com/ru/bash-colors/
TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
TEXT="\e[1m$TEXT\e[0m" # BOLD
case "$2" in
SUCCESS)
TEXT="\e[32m${TEXT}\e[0m";; # GREEN
ERROR)
TEXT="\e[31m${TEXT}\e[0m";; # RED
*)
TEXT="\e[34m${TEXT}\e[0m";; # BLUE
esac
echo -e ${TEXT}
}
echo_stamp "Move /etc/ld.so.preload out of the way"
echo "--- Move /etc/ld.so.preload out of the way"
mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
echo_stamp "Write Clover information"
echo "--- Write Clover information"
# Clover image version
echo "$1" >> /etc/clover_version
# Origin image file name
echo "${2%.*}" >> /etc/clover_origin
echo_stamp "Write magic script to /etc/rc.local"
echo "--- Write magic script to /etc/rc.local"
MAGIC_SCRIPT="sudo /root/init_rpi.sh; sudo sed -i '/sudo \\\/root\\\/init_rpi.sh/d' /etc/rc.local && sudo reboot"
sed -i "19a${MAGIC_SCRIPT}" /etc/rc.local
# It needs for autosizer.sh & maybe that is correct
echo_stamp "Change boot partition"
echo "--- Change boot partition"
sed -i 's/root=[^ ]*/root=\/dev\/mmcblk0p2/' /boot/cmdline.txt
sed -i 's/.* \/boot\/firmware vfat defaults 0 2$/\/dev\/mmcblk0p1 \/boot\/firmware vfat defaults 0 2/' /etc/fstab
sed -i 's/.* \/ ext4 defaults,noatime 0 1$/\/dev\/mmcblk0p2 \/ ext4 defaults,noatime 0 1/' /etc/fstab
cat /boot/cmdline.txt
cat /etc/fstab
echo_stamp "Set max space for syslogs"
echo "--- Set max space for syslogs"
# https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
echo_stamp "End of init image"

33
builder/image-network.sh
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@@ -12,43 +12,20 @@
# copies or substantial portions of the Software.
#
set -e # Exit immidiately on non-zero result
echo_stamp() {
# TEMPLATE: echo_stamp <TEXT> <TYPE>
# TYPE: SUCCESS, ERROR, INFO
# More info there https://www.shellhacks.com/ru/bash-colors/
TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
TEXT="\e[1m$TEXT\e[0m" # BOLD
case "$2" in
SUCCESS)
TEXT="\e[32m${TEXT}\e[0m";; # GREEN
ERROR)
TEXT="\e[31m${TEXT}\e[0m";; # RED
*)
TEXT="\e[34m${TEXT}\e[0m";; # BLUE
esac
echo -e ${TEXT}
}
echo_stamp "#1 Write STATIC to /etc/dhcpcd.conf"
set -ex # exit on error, echo commands
echo "--- Write static to /etc/dhcpcd.conf"
cat << EOF >> /etc/dhcpcd.conf
interface wlan0
static ip_address=192.168.11.1/24
EOF
echo_stamp "#2 Set wpa_supplicant country"
echo "--- Set wpa_supplicant country"
cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
country=GB
EOF
echo_stamp "#3 Write dhcp-config to /etc/dnsmasq.conf"
echo "--- Write dhcp-config to /etc/dnsmasq.conf"
cat << EOF >> /etc/dnsmasq.conf
interface=wlan0
address=/clover/coex/192.168.11.1
@@ -59,5 +36,3 @@ bogus-priv
domain-needed
quiet-dhcp6
EOF
echo_stamp "#4 End of network installation"

72
builder/image-ros.sh
View File

@@ -15,37 +15,11 @@
set -ex # exit on error, echo commands
REPO=$1
REF=$2
INSTALL_ROS_PACK_SOURCES=$3
DISCOVER_ROS_PACK=$4
NUMBER_THREADS=$5
# Current ROS distribution
ROS_DISTRO=noetic
. /etc/os-release # set $VERSION_CODENAME to Debian release code name
export ROS_OS_OVERRIDE=debian:$VERSION_CODENAME
echo_stamp() {
# TEMPLATE: echo_stamp <TEXT> <TYPE>
# TYPE: SUCCESS, ERROR, INFO
# More info there https://www.shellhacks.com/ru/bash-colors/
TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
TEXT="\e[1m$TEXT\e[0m" # BOLD
case "$2" in
SUCCESS)
TEXT="\e[32m${TEXT}\e[0m";; # GREEN
ERROR)
TEXT="\e[31m${TEXT}\e[0m";; # RED
*)
TEXT="\e[34m${TEXT}\e[0m";; # BLUE
esac
echo -e ${TEXT}
}
# https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
# https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
my_travis_retry() {
@@ -70,27 +44,27 @@ my_travis_retry() {
return $result
}
echo_stamp "Install rosdep"
echo "--- Install rosdep"
my_travis_retry pip3 install -U rosdep
# TODO: 'kinetic-rosdep-clover.yaml' should add only if we use our repo?
echo_stamp "Init rosdep"
echo "--- Init rosdep"
my_travis_retry rosdep init
echo_stamp "Update rosdep"
echo "--- Update rosdep"
echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/10-clover.list
my_travis_retry rosdep update
echo_stamp "Populate rosdep for ROS user"
echo "--- Populate rosdep for ROS user"
my_travis_retry sudo -u pi ROS_OS_OVERRIDE=debian:$VERSION_CODENAME rosdep update
# echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
# echo "Reconfiguring Clover repository for simplier unshallowing"
cd /home/pi/catkin_ws/src/clover
git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
# This is sort of a hack to force "custom" packages to be installed - the ones built by COEX, linked against OpenCV 4.2
# I **wish** OpenCV would not be such a mess, but, well, here we are.
# echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
# echo "--- Installing OpenCV 4.2-compatible ROS packages"
# apt install -y --no-install-recommends \
# ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
# ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
@@ -104,10 +78,10 @@ git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
# ros-${ROS_DISTRO}-image-publisher \
# ros-${ROS_DISTRO}-web-video-server
#echo_stamp "Installing libboost-dev" # https://travis-ci.org/github/CopterExpress/clover/jobs/766318908#L6536
#echo "--- Installing libboost-dev" # https://travis-ci.org/github/CopterExpress/clover/jobs/766318908#L6536
#my_travis_retry apt-get install -y --no-install-recommends libboost-dev libboost-all-dev
echo_stamp "Build and install Clover"
echo "--- 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 ${ROS_DISTRO} --os=debian:$VERSION_CODENAME \
@@ -118,12 +92,12 @@ source /opt/ros/${ROS_DISTRO}/setup.bash
catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
source devel/setup.bash
echo_stamp "Install clever package (for backwards compatibility)"
echo "--- Install clever package (for backwards compatibility)"
cd /home/pi/catkin_ws/src/clover/builder/assets/clever
./setup.py install
rm -rf build # remove build artifacts
echo_stamp "Build Clover documentation"
echo "--- Build Clover documentation"
cd /home/pi/catkin_ws/src/clover
builder/assets/install_gitbook.sh
gitbook install
@@ -133,7 +107,7 @@ rm -rf _book/assets && ln -s ../docs/assets _book/assets
touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
npm cache clean --force
echo_stamp "Installing additional ROS packages"
echo "--- Installing additional ROS packages"
my_travis_retry apt-get install -y --no-install-recommends \
ros-${ROS_DISTRO}-rosbridge-suite \
ros-${ROS_DISTRO}-rosserial \
@@ -147,36 +121,36 @@ my_travis_retry apt-get install -y --no-install-recommends \
ros-${ROS_DISTRO}-stereo-msgs
# TODO move GeographicLib datasets to Mavros debian package
echo_stamp "Install GeographicLib datasets (needed for mavros)" \
echo "--- Install GeographicLib datasets (needed for mavros)" \
&& wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
echo_stamp "Running tests"
echo "--- Running tests"
export ROS_IP='127.0.0.1' # needed for running tests
cd /home/pi/catkin_ws
# FIXME: Investigate failing tests
catkin_make run_tests #&& catkin_test_results
echo_stamp "Change permissions for catkin_ws"
echo "--- Change permissions for catkin_ws"
chown -Rf pi:pi /home/pi/catkin_ws
echo_stamp "Update www"
echo "--- Update www"
sudo -u pi sh -c ". devel/setup.sh && rosrun clover www"
echo_stamp "Make \$HOME/examples symlink"
echo "--- Make \$HOME/examples symlink"
ln -s "$(catkin_find clover examples --first-only)" /home/pi
chown -Rf pi:pi /home/pi/examples
echo_stamp "Make systemd services symlinks"
echo "--- Make systemd services symlinks"
ln -s /home/pi/catkin_ws/src/clover/builder/assets/clover.service /lib/systemd/system/
ln -s /home/pi/catkin_ws/src/clover/builder/assets/roscore.service /lib/systemd/system/
# validate
[ -f /lib/systemd/system/clover.service ]
[ -f /lib/systemd/system/roscore.service ]
echo_stamp "Make udev rules symlink"
echo "--- Make udev rules symlink"
ln -s "$(catkin_find clover udev --first-only)"/* /lib/udev/rules.d/
echo_stamp "Setup ROS environment"
echo "--- Setup ROS environment"
cat << EOF >> /home/pi/.bashrc
LANG='C.UTF-8'
LC_ALL='C.UTF-8'
@@ -185,14 +159,12 @@ source /opt/ros/${ROS_DISTRO}/setup.bash
source /home/pi/catkin_ws/devel/setup.bash
EOF
echo_stamp "Cleanup apt"
echo "--- Cleanup apt"
apt-get autoremove --purge -y
apt-get clean
echo_stamp "Cleanup pip"
echo "--- Cleanup pip"
pip3 cache purge
echo_stamp "Cleanup /tmp"
echo "--- Cleanup /tmp"
rm -rf /tmp/*
echo_stamp "END of ROS INSTALLATION"

55
builder/image-software.sh
View File

@@ -12,30 +12,10 @@
# copies or substantial portions of the Software.
#
set -ex # Exit immidiately on non-zero result
set -ex # exit on error, echo commands
. /etc/os-release # set $VERSION_CODENAME to Debian release code name
echo_stamp() {
# TEMPLATE: echo_stamp <TEXT> <TYPE>
# TYPE: SUCCESS, ERROR, INFO
# More info there https://www.shellhacks.com/ru/bash-colors/
TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
TEXT="\e[1m${TEXT}\e[0m" # BOLD
case "$2" in
SUCCESS)
TEXT="\e[32m${TEXT}\e[0m";; # GREEN
ERROR)
TEXT="\e[31m${TEXT}\e[0m";; # RED
*)
TEXT="\e[34m${TEXT}\e[0m";; # BLUE
esac
echo -e ${TEXT}
}
# https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
# https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
my_travis_retry() {
@@ -59,11 +39,10 @@ my_travis_retry() {
return $result
}
echo_stamp "Increase apt retries"
echo "--- Increase apt retries"
echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries
echo_stamp "Install apt keys & repos"
echo "--- Install apt keys & repos"
# TODO: This STDOUT consist 'OK'
apt-get update \
@@ -75,14 +54,14 @@ apt-get update \
wget -O - 'http://packages.coex.tech/key.asc' | apt-key add -
echo "deb http://packages.coex.tech $VERSION_CODENAME main" >> /etc/apt/sources.list
echo_stamp "Update apt cache"
echo "--- Update apt cache"
# TODO: FIX ERROR: /usr/bin/apt-key: 596: /usr/bin/apt-key: cannot create /dev/null: Permission denied
apt-get update
# && apt upgrade -y
# Let's retry fetching those packages several times, just in case
echo_stamp "Software installing"
echo "--- Install software"
my_travis_retry apt-get install --no-install-recommends -y cmake-data cmake
my_travis_retry apt-get install --no-install-recommends -y \
unzip \
@@ -122,28 +101,28 @@ python3-pip
sed -i "s/updates_available//" /usr/share/byobu/status/status
# sed -i "s/updates_available//" /home/pi/.byobu/status
echo_stamp "Make sure pip is installed"
echo "--- Make sure pip is installed"
pip --version
pip3 --version
echo "Enable installing packages with pip"
echo "--- Enable installing packages with pip"
mv /usr/lib/python3.11/EXTERNALLY-MANAGED /usr/lib/python3.11/EXTERNALLY-MANAGED.old
echo_stamp "Install and enable Butterfly (web terminal)"
echo "--- Install and enable Butterfly (web terminal)"
my_travis_retry pip3 install butterfly
my_travis_retry pip3 install butterfly[systemd]
systemctl enable butterfly.socket
echo_stamp "Install ws281x library"
echo "--- Install ws281x library"
my_travis_retry pip3 install --prefer-binary rpi_ws281x
echo_stamp "Setup Monkey"
echo "--- Setup Monkey"
mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
mv /root/monkey /etc/monkey/sites/default
sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf
systemctl enable monkey.service
echo_stamp "Install Node.js"
echo "--- Install Node.js"
cd /home/pi
wget --no-verbose https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
tar -xzf node-v10.15.0-linux-armv6l.tar.gz
@@ -151,26 +130,24 @@ cp -R node-v10.15.0-linux-armv6l/* /usr/local/
rm -rf node-v10.15.0-linux-armv6l/
rm node-v10.15.0-linux-armv6l.tar.gz
echo_stamp "Installing debugpy"
echo "--- Installing debugpy"
my_travis_retry pip3 install debugpy
echo_stamp "Installing pyzbar"
echo "--- Installing pyzbar"
my_travis_retry pip3 install pyzbar
echo_stamp "Add .vimrc"
echo "--- Add .vimrc"
cat << EOF > /home/pi/.vimrc
set mouse-=a
syntax on
autocmd BufNewFile,BufRead *.launch set syntax=xml
EOF
echo_stamp "Change default keyboard layout to US"
echo "--- Change default keyboard layout to US"
sed -i 's/XKBLAYOUT="gb"/XKBLAYOUT="us"/g' /etc/default/keyboard
echo_stamp "Attempting to kill dirmngr"
echo "--- Attempting to kill dirmngr"
gpgconf --kill dirmngr
# dirmngr is only used by apt-key, so we can safely kill it.
# We ignore pkill's exit value as well.
pkill -9 -f dirmngr || true
echo_stamp "End of software installation"

5
builder/image-validate.sh
View File

@@ -12,9 +12,10 @@
# copies or substantial portions of the Software.
#
set -ex
set -ex # exit on error, echo commands
echo "Run image tests"
echo "--- Run image tests"
export ROS_DISTRO='noetic'
export ROS_IP='127.0.0.1'

2
builder/test/tests.sh
View File

@@ -1,6 +1,6 @@
#!/usr/bin/env bash
set -ex
set -ex # exit on error, echo commands
# TODO: validate versions