From a09bc7156a62085ffe6ba5b24f745cd15729955d Mon Sep 17 00:00:00 2001
From: Artem Smirnov <urpylka@gmail.com>
Date: Wed, 5 Sep 2018 23:35:00 +0300
Subject: [PATCH] image_builder: install opencv3 as deb package

---
 image_builder/scripts/init_image.sh               | 10 ++++++----
 image_builder/scripts/kinetic-ros-coex.rosinstall |  4 ----
 image_builder/scripts/ros_install.sh              | 13 ++++++++-----
 3 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/image_builder/scripts/init_image.sh b/image_builder/scripts/init_image.sh
index aedf97b3..d32af010 100755
--- a/image_builder/scripts/init_image.sh
+++ b/image_builder/scripts/init_image.sh
@@ -27,11 +27,13 @@ echo_stamp() {
 }
 
 # Add apt key to allow local mirror usage during image build
-#wget -O - ftp://192.168.0.10/coex-mirror.gpg | apt-key add -
+wget -O - ftp://mirror.coex.space/coex-mirror.gpg | apt-key add -
 # Generate a backup of the original source.list
-#cp /etc/apt/sources.list /var/sources.list.bak
-# Add the local mirror as the first priority repository
-#wget -O - ftp://192.168.0.10/coex-mirror.list 2>/dev/null | cat - /etc/apt/sources.list > /var/sources.list && mv /var/sources.list /etc/apt/sources.list
+cp /etc/apt/sources.list /var/sources.list.bak
+# Add the coex-mirror as the first priority repository
+curl ftp://mirror.coex.space/coex-mirror.list | cat - /etc/apt/sources.list > /var/sources.list && mv /var/sources.list /etc/apt/sources.list
+# Add the urpylka-rpi repo
+curl ftp://mirror.coex.space/urpylka-rpi.list >> /etc/apt/sources.list
 
 echo_stamp "#1 apt cache update"
 
diff --git a/image_builder/scripts/kinetic-ros-coex.rosinstall b/image_builder/scripts/kinetic-ros-coex.rosinstall
index f5b7c7eb..aa18bf10 100644
--- a/image_builder/scripts/kinetic-ros-coex.rosinstall
+++ b/image_builder/scripts/kinetic-ros-coex.rosinstall
@@ -418,10 +418,6 @@
     local-name: nodelet_core/nodelet
     uri: https://github.com/ros-gbp/nodelet_core-release/archive/release/kinetic/nodelet/1.9.14-0.tar.gz
     version: nodelet_core-release-release-kinetic-nodelet-1.9.14-0
-- tar:
-    local-name: opencv3
-    uri: https://github.com/ros-gbp/opencv3-release/archive/release/kinetic/opencv3/3.3.1-5.tar.gz
-    version: opencv3-release-release-kinetic-opencv3-3.3.1-5
 - tar:
     local-name: orocos_kinematics_dynamics/orocos_kdl
     uri: https://github.com/smits/orocos-kdl-release/archive/release/kinetic/orocos_kdl/1.3.1-0.tar.gz
diff --git a/image_builder/scripts/ros_install.sh b/image_builder/scripts/ros_install.sh
index ad2f1438..c2f735e7 100755
--- a/image_builder/scripts/ros_install.sh
+++ b/image_builder/scripts/ros_install.sh
@@ -129,11 +129,14 @@ echo_stamp "#10 Building packages on 1 thread"
 # 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"
+echo_stamp "#11 Building packages on 1 thread"
+apt-get install --no-install-recommends -y -qq ros-kinetic-opencv3
+
+echo_stamp "#12 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"
+echo_stamp "#13 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 \
@@ -147,10 +150,10 @@ git clone $1 /home/pi/catkin_ws/src/clever \
   && systemctl enable roscore \
   && systemctl enable clever
 
-echo_stamp "#13 Change permissions for catkin_ws"
+echo_stamp "#14 Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
-echo_stamp "#14 Setup ROS environment"
+echo_stamp "#15 Setup ROS environment"
 cat <<EOF | tee -a /home/pi/.bashrc > /dev/null
 LANG=C.UTF-8
 LC_ALL=C.UTF-8
@@ -160,7 +163,7 @@ source /opt/ros/kinetic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 EOF
 
-#echo_stamp "#14 Removing local apt mirror"
+#echo_stamp "#16 Removing local apt mirror"
 # Restore original sources.list
 #mv /var/sources.list.bak /etc/apt/sources.list
 # Clean apt cache