mirror of
https://github.com/CopterExpress/clover.git
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4a23a9274a
* builder: Build against Buster * builder: Use correct repository specifications * builder: Move ld.so.preload to have less errors * builder: Use coex repo to install Monkey * builder: Search for buster ROS packages * aruco_pose: Vendor in aruco library from OpenCV 3.4.6 * builder: Move to ROS Melodic * builder: Update kernel version * aruco_pose, clever: Remove opencv3 ROS dependency * builder: Update rosdep * travis: Disable eclint for vendored aruco library * tests: Don't try to locate opencv in ros * roscore: Use melodic distribution * Revert "aruco_pose: Vendor in aruco library from OpenCV 3.4.6" This reverts commit 9c14a8c002bb3396f9a7d9b2ba39969207f066ba. * aruco_pose: Vendor opencv_contrib/aruco again * builder: Add led packages * builder: Remove unused builder code * travis: Add native tests * builder: Set permissions for standalone-install * builder: Use -y for package installation * builder: Add repo for standalone build * builder: Use correct file types for standalone install * aruco_pose: Accept rgb8 map images * builder: Disable mjpg_streamer test * aruco_pose: Allow rgb8 map images (again) * builder: Re-add mjpgstreamer * builder: Install tornado==4.2.1 for rosbridge_suite * builder: Use more recent base image * builder: Use default kernel * builder: Move ld.so.preload back after tests * builder: Disable catkin tests These tests fail on a remote machine but seem to pass just fine on real hardware. Something must have changed between Kinetic and Melodic, and we must investigate more, but for now we just need a working image. * aruco_pose: Remove unused vendored code * selfcheck: Update systemd-analyze regex * builder: Add opencv repository * rosdep: Update package definitions for Melodic * rosdep: Use proper yaml formatting * travis: Remove unnecessary space * docs: Reference Melodic wherever possible
125 lines
5.5 KiB
Bash
Executable File
125 lines
5.5 KiB
Bash
Executable File
#! /usr/bin/env bash
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#
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# Script for build the image. Used builder script of the target repo.
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# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
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#
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# Copyright (C) 2018 Copter Express Technologies
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#
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# Author: Artem Smirnov <urpylka@gmail.com>
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#
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# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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#
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set -e # Exit immidiately on non-zero result
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SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2019-09-30/2019-09-26-raspbian-buster-lite.zip"
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export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
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export LANG=${LANG:='C.UTF-8'}
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export LC_ALL=${LC_ALL:='C.UTF-8'}
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echo_stamp() {
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# TEMPLATE: echo_stamp <TEXT> <TYPE>
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# TYPE: SUCCESS, ERROR, INFO
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# More info there https://www.shellhacks.com/ru/bash-colors/
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TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
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TEXT="\e[1m$TEXT\e[0m" # BOLD
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case "$2" in
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SUCCESS)
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TEXT="\e[32m${TEXT}\e[0m";; # GREEN
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ERROR)
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TEXT="\e[31m${TEXT}\e[0m";; # RED
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*)
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TEXT="\e[34m${TEXT}\e[0m";; # BLUE
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esac
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echo -e ${TEXT}
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}
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BUILDER_DIR="/builder"
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REPO_DIR="${BUILDER_DIR}/repo"
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SCRIPTS_DIR="${REPO_DIR}/builder"
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IMAGES_DIR="${REPO_DIR}/images"
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[[ ! -d ${SCRIPTS_DIR} ]] && (echo_stamp "Directory ${SCRIPTS_DIR} doesn't exist" "ERROR"; exit 1)
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[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo_stamp "Directory ${IMAGES_DIR} was created successful" "SUCCESS"
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if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="$(cd ${REPO_DIR}; git log --format=%h -1)"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
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# IMAGE_VERSION="${TRAVIS_TAG:=$(cd ${REPO_DIR}; git log --format=%h -1)}"
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REPO_URL="$(cd ${REPO_DIR}; git remote --verbose | grep origin | grep fetch | cut -f2 | cut -d' ' -f1 | sed 's/git@github\.com\:/https\:\/\/github.com\//')"
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REPO_NAME="$(basename -s '.git' ${REPO_URL})"
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IMAGE_NAME="${REPO_NAME}_${IMAGE_VERSION}.img"
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IMAGE_PATH="${IMAGES_DIR}/${IMAGE_NAME}"
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get_image() {
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# TEMPLATE: get_image <IMAGE_PATH> <RPI_DONWLOAD_URL>
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local BUILD_DIR=$(dirname $1)
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local RPI_ZIP_NAME=$(basename $2)
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local RPI_IMAGE_NAME=$(echo ${RPI_ZIP_NAME} | sed 's/zip/img/')
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if [ ! -e "${BUILD_DIR}/${RPI_ZIP_NAME}" ]; then
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echo_stamp "Downloading original Linux distribution"
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wget --progress=dot:giga -O ${BUILD_DIR}/${RPI_ZIP_NAME} $2
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echo_stamp "Downloading complete" "SUCCESS" \
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else echo_stamp "Linux distribution already donwloaded"; fi
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echo_stamp "Unzipping Linux distribution image" \
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&& unzip -p ${BUILD_DIR}/${RPI_ZIP_NAME} ${RPI_IMAGE_NAME} > $1 \
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&& echo_stamp "Unzipping complete" "SUCCESS" \
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|| (echo_stamp "Unzipping was failed!" "ERROR"; exit 1)
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}
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get_image ${IMAGE_PATH} ${SOURCE_IMAGE}
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# Make free space
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${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH} max '7G'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/init_rpi.sh' '/root/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/hardware_setup.sh' '/root/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-init.sh' ${IMAGE_VERSION} ${SOURCE_IMAGE}
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# Copy cloned repository to the image
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# Include dotfiles in globs (asterisks)
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shopt -s dotglob
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for dir in ${REPO_DIR}/*; do
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# Don't try to copy image into itself
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if [[ $dir != *"images" && $dir != *"imgcache" ]]; then
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy $dir '/home/pi/catkin_ws/src/clever/'
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fi;
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done
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# Monkey
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey' '/root/'
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# Butterfly
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
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# software install
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
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# network setup
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
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# If RPi then use a one thread to build a ROS package on RPi, else use all
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[[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
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# Clever
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/melodic-rosdep-clever.yaml' '/etc/ros/rosdep/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
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# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
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# Add PX4 udev rules
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clever/config/99-px4fmu.rules' '/lib/udev/rules.d/'
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# Add rename script
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
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${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}
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