Merge pull request #71 from urpylka/master

Последние правки

builder/assets/clever.service

@@ -4,7 +4,7 @@ Requires=roscore.service
 After=roscore.service
 
 [Service]
-EnvironmentFile=/root/roscore.env
+EnvironmentFile=/lib/systemd/system/roscore.env
 ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch --wait
 Restart=on-abort
 

builder/assets/kinetic-rosdep-clever.yaml

@@ -42,7 +42,7 @@ cv_bridge:
     stretch: [ros-kinetic-cv-bridge]
 cv_camera:
   debian:
-    stretch: [ros-kinetic-cv-camera]
+    stretch: [ros-kinetic-cv-camera=0.3.1-0stretch]
 diagnostic_msgs:
   debian:
     stretch: [ros-kinetic-diagnostic-msgs]
@@ -511,3 +511,18 @@ yaml-cpp:
 zlib:
   debian:
     stretch: [zlib1g-dev]
+compressed_depth_image_transport:
+  debian:
+    stretch: [ros-kinetic-compressed-depth-image-transport]
+compressed_image_transport:
+  debian:
+    stretch: [ros-kinetic-compressed-image-transport]
+dynamic_reconfigure:
+  debian:
+    stretch: [ros-kinetic-dynamic-reconfigure]
+theora_image_transport:
+  debian:
+    stretch: [ros-kinetic-theora-image-transport]
+libogg:
+  debian:
+    stretch: [libtheora0=1.1.1+dfsg.1-14]

builder/assets/monkey.service

@@ -0,0 +1,9 @@
+[Unit]
+Description=Monkey web-server
+
+[Service]
+ExecStart=/usr/sbin/monkey
+Restart=on-abort
+
+[Install]
+WantedBy=multi-user.target

builder/assets/roscore.service

@@ -3,7 +3,7 @@ Description=Launcher for the ROS master, parameter server and rosout logging nod
 After=network.target
 
 [Service]
-EnvironmentFile=/root/roscore.env
+EnvironmentFile=/lib/systemd/system/roscore.env
 ExecStart=/opt/ros/kinetic/bin/roscore
 Restart=on-abort
 

builder/image-build.sh

@@ -85,8 +85,9 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey-
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/index.html' '/usr/share/monkey-static/'
 
 # Butterfly
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/root/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/root/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # network setup
@@ -95,9 +96,9 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
 # Clever
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/root/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.env' '/root/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/root/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.env' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS} 

builder/image-ros.sh

@@ -75,20 +75,7 @@ resolve_rosdep() {
 
   echo_stamp "Installing dependencies apps with rosdep in ${CATKIN_PATH}"
   cd ${CATKIN_PATH}
-  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 ${ROS_DISTRO} -r --os=${OS_DISTRO}:${OS_VERSION} \
-    && install_ok=true && break || (echo_stamp "rosdep iteration #$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 was failed!" "ERROR"; exit 1)
+  my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -r --os=${OS_DISTRO}:${OS_VERSION}
 }
 
 INSTALL_ROS_PACK_SOURCES=${INSTALL_ROS_PACK_SOURCES:='false'}
@@ -148,6 +135,7 @@ fi
 echo_stamp "Installing CLEVER" \
 && git clone ${REPO} /home/pi/catkin_ws/src/clever \
 && cd /home/pi/catkin_ws/src/clever \
+&& echo "REF: ${REF}" \
 && git checkout ${REF} \
 && cd /home/pi/catkin_ws \
 && resolve_rosdep $(pwd) \
@@ -155,8 +143,6 @@ echo_stamp "Installing CLEVER" \
 && my_travis_retry pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
 && source /opt/ros/kinetic/setup.bash \
 && catkin_make -j${NUMBER_THREADS} -DCMAKE_BUILD_TYPE=Release \
-&& ln -s /root/roscore.service /lib/systemd/system/roscore.service \
-&& ln -s /root/clever.service /lib/systemd/system/clever.service \
 && systemctl enable roscore \
 && systemctl enable clever \
 && echo_stamp "All CLEVER was installed!" "SUCCESS" \

builder/image-software.sh

@@ -103,8 +103,8 @@ monkey=1.6.9-1 \
 || (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
 
 # Deny byobu to check available updates
-sudo sed -i "s/updates_available//" /usr/share/byobu/status/status
-# sudo sed -i "s/updates_available//" /home/pi/.byobu/status
+sed -i "s/updates_available//" /usr/share/byobu/status/status
+# sed -i "s/updates_available//" /home/pi/.byobu/status
 
 echo_stamp "Upgrade pip"
 my_travis_retry pip install --upgrade pip
@@ -113,13 +113,12 @@ my_travis_retry pip3 install --upgrade pip3
 echo_stamp "Install and enable Butterfly (web terminal)"
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
-ln -s /root/butterfly.service /lib/systemd/system/
-ln -s /root/butterfly.socket /lib/systemd/system/
 systemctl enable butterfly.socket
 
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
-ln -s /root/monkey-clever /etc/monkey/sites/default
+mv /root/monkey-clever /etc/monkey/sites/default
+systemctl enable monkey.service
 
 echo_stamp "Add .vimrc"
 cat << EOF > /home/pi/.vimrc

clever/launch/clever.launch

@@ -2,7 +2,6 @@
     <arg name="fcu_conn" default="usb"/>
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
-    <arg name="web_server" default="true"/>
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
@@ -20,10 +19,6 @@
         <arg name="viz" value="true"/>
     </include>
 
-
-    <!-- web server, serving /usr/share/clever-static -->
-    <node name="web_server" pkg="clever" type="monkey" output="screen" if="$(arg web_server)" respawn="true" respawn_delay="5"/>
-
     <!-- web video server -->
     <node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5"/>
 

clever/package.xml

@@ -20,7 +20,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <!-- Use run_depend for packages you need at runtime: -->
   <run_depend>catkin</run_depend>
-  <run_depend>ros_cpp</run_depend>
+  <run_depend>roscpp</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>mavros</run_depend>
   <run_depend>mavros_extras</run_depend>
@@ -29,6 +29,7 @@
   <run_depend>mjpg-streamer</run_depend>
   <run_depend>rosbridge_server</run_depend>
   <run_depend>web_video_server</run_depend>
+  <run_depend>ros_comm</run_depend>r
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
 

clever/src/monkey

@@ -1,3 +0,0 @@
-#!/usr/bin/env bash
-
-exec /usr/sbin/monkey --port 80 --workers 1