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Add Gazebo simulator to image

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This commit is contained in:
Oleg Kalachev
2022-09-21 23:41:42 +03:00
parent 1e12498cb2
commit cc15d19686
2 changed files with 43 additions and 0 deletions
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1
builder/image-build.sh
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@@ -120,6 +120,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.
# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
# Add rename script
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-simulator.sh'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}

42
builder/image-simulator.sh Executable file
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@@ -0,0 +1,42 @@
#! /usr/bin/env bash
#
# Script for build the image. Used builder script of the target repo
# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
#
# Copyright (C) 2018 Copter Express Technologies
#
# Author: Artem Smirnov <urpylka@gmail.com>
#
# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
set -ex # exit on error, echo commands
echo "--- Downloading PX4"
cd /home/pi/catkin_ws/
git clone --recursive --depth 1 --branch v1.13.0 https://github.com/PX4/PX4-Autopilot.git /home/pi/PX4-Autopilot
ln -s /home/pi/PX4-Autopilot /home/pi/catkin_ws/src/
ln -s /home/pi/PX4-Autopilot/Tools/sitl_gazebo /home/pi/catkin_ws/src/
echo "--- Installing PX4 dependencies"
echo "progress=dot:giga" > /home/pi/.wgetrc # make wget don't spam to log
apt-get install --no-install-recommends -y gazebo11
/home/pi/PX4-Autopilot/Tools/setup/ubuntu.sh --no-nuttx
rm /home/pi/.wgetrc
pip3 install --user toml
echo "--- Patching mavlink_sitl_gazebo"
# See https://github.com/PX4/PX4-SITL_gazebo/pull/872
cd /home/pi/PX4-Autopilot/Tools/sitl_gazebo
patch -p1 < /tmp/patches/sitl_gazebo.patch
echo "--- Build mavlink"
cd /home/pi/catkin_ws
catkin_make mavlink_c_generate -DCATKIN_WHITELIST_PACKAGES="px4" # at first build PX4's mavlink to enforce mavlink_sitl_gazebo using it
ln -s "." build/mavlink/mavlink # fix https://github.com/PX4/PX4-Autopilot/pull/19964
echo "--- Building the workspace"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""