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builder: script to build ROS from scratch

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This commit is contained in:
Oleg Kalachev
2022-02-09 17:20:58 +03:00
parent 3bebecf91e
commit f9883baa87
2 changed files with 53 additions and 3 deletions
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49
builder/image-build-ros.sh Executable file
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@@ -0,0 +1,49 @@
#! /usr/bin/env bash
#
# Script for building ROS packages from scratch
#
# Copyright (C) 2022 Copter Express Technologies
#
# Author: Oleg Kalachev <okalachev@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
# http://wiki.ros.org/Installation/Source
ROS_DISTRO=noetic
. /etc/os-release # set $VERSION_CODENAME to Debian release code name
echo "=== Building ROS from scratch"
apt-get update
apt-get install -y python3-distutils python3-rosdep python3-rosinstall-generator build-essential # python3-vcstool
# install vcstool using pip
curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py && python3 get-pip.py && rm get-pip.py
pip3 install -U vcstool
rm /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init
rosdep --os=debian:$VERSION_CODENAME update
echo "Create Catkin workspace to build ROS package"
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
echo "Download ROS sources"
rosinstall_generator ros_base --rosdistro $ROS_DISTRO --deps --tar > noetic.rosinstall
mkdir ./src
vcs import --input noetic.rosinstall ./src
echo "Resolve dependencies"
rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro $ROS_DISTRO -y
echo "Build ROS"
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
source ~/ros_catkin_ws/install_isolated/setup.bash

7
builder/image-build.sh
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@@ -104,7 +104,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
${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'
# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
# network setup
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
# avahi setup
@@ -113,13 +113,14 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
# 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)
# Clover
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
# ${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-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-build-ros.sh'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}