mirror of
https://github.com/CopterExpress/clover.git
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174 lines
8.9 KiB
Bash
Executable File
174 lines
8.9 KiB
Bash
Executable File
#!/bin/bash
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set -e
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##################################################################################################################################
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# ROS for user pi
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##################################################################################################################################
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# ros http://wiki.ros.org/action/fullsearch/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
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# maintainer @urpylka
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echo -e "\033[0;31m\033[1m$(date) | #0 Installing ROS\033[0m\033[0m"
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echo -e "\033[0;31m\033[1m$(date) | #1 Installing dirmngr & add key to apt-key\033[0m\033[0m"
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# Install a tool that apt-key uses to add ROS repository key
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# http://wpblogger.su/tags/apt/
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apt-get install dirmngr
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# setup keys
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apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
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# setup sources.list
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echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list
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echo -e "\033[0;31m\033[1m$(date) | #2 apt update && apt upgrade\033[0m\033[0m"
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# install bootstrap tools
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apt-get update
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# && apt upgrade -y
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echo -e "\033[0;31m\033[1m$(date) | #3 Installing wget, unzip, python-rosdep, python-rosinstall-generator, python-wstool, python-rosinstall, build-essential, cmake\033[0m\033[0m"
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apt-get install --no-install-recommends -y \
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wget \
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unzip \
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python-rosdep \
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python-rosinstall-generator \
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python-wstool \
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python-rosinstall \
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build-essential \
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cmake \
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libjpeg8-dev
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echo -e "\033[0;31m\033[1m$(date) | #4 rosdep init && rosdep update\033[0m\033[0m"
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# bootstrap rosdep
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rosdep init && rosdep update
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echo -e "\033[0;31m\033[1m$(date) | #5 Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"
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# create catkin workspace
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mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
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&& rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
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&& wstool init src kinetic-ros_comm-wet.rosinstall
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echo -e "\033[0;31m\033[1m$(date) | #6 Preparing other ROS-packages to kinetic-custom_ros.rosinstall\033[0m\033[0m"
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cd /home/pi/ros_catkin_ws \
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&& rosinstall_generator \
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actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
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--rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
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&& wstool merge -t src kinetic-custom_ros.rosinstall \
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&& wstool update -t src
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echo -e "\033[0;31m\033[1m$(date) | #7 Installing dependencies apps with rosdep\033[0m\033[0m"
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cd /home/pi/ros_catkin_ws
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# There is a risk that umount will fail
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set +e
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# Successfull unmount flag (false at thismoment)
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install_ok=false
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# Repeat 5 times
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for i in {1..5}
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do
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# Resolving Dependencies with rosdep
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rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch
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# If no problems detected
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if [[ $? == 0 ]]
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then
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echo -e "\033[0;31m\033[1m$(date) | Successfull rosdep install\033[0m\033[0m"
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# Set flag
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install_ok=true
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# Exit loop
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break
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fi
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# Unmount has failed
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echo -e "\033[0;31m\033[1m$(date) | Rosdep installation failed\033[0m\033[0m"
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# Wait for some time
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sleep 2
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done
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set -e
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# Jenkins job will fail if this condition is not true
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[[ "$install_ok" == true ]]
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echo -e "\033[0;31m\033[1m$(date) | End of rosdep install\033[0m\033[0m"
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echo -e "\033[0;31m\033[1m$(date) | #8 Refactoring usb_cam in SRC\033[0m\033[0m"
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sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
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echo -e "\033[0;31m\033[1m$(date) | #9 Installing GeographicLib datasets\033[0m\033[0m"
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/home/pi/ros_catkin_ws/src/mavros/mavros/scripts/install_geographiclib_datasets.sh
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#echo -e "\033[0;31m\033[1m$(date) | #11 Building light packages on 2 threads\033[0m\033[0m"
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# Build the catkin Workspace
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#cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j2 --install-space /opt/ros/kinetic --pkg actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs xmlrpcpp
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#echo -e "\033[0;31m\033[1m$(date) | #12 Building heavy packages\033[0m\033[0m"
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# This command uses less threads to avoid Raspberry Pi freeze
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# Build the catkin Workspace
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#cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j1 --install-space /opt/ros/kinetic --pkg mavros opencv3 cv_bridge cv_camera mavros_extras web_video_server
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echo -e "\033[0;31m\033[1m$(date) | #10 Building packages on 1 thread\033[0m\033[0m"
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# Install builded packages
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# WARNING: A major bug was found when using --pkg option (catkin_make_isolated doesn't install environment files)
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# TODO: Can we increase threads number with HDD swap?
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cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -j1 -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
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echo -e "\033[0;31m\033[1m$(date) | #12 Creating catkin_ws\033[0m\033[0m"
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mkdir -p /home/pi/catkin_ws/src \
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&& cd /home/pi/catkin_ws \
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&& . /opt/ros/kinetic/setup.sh \
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&& catkin init \
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&& wstool init /home/pi/catkin_ws/src
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echo -e "\033[0;31m\033[1m$(date) | #13 Installing CLEVER-BUNDLE\033[0m\033[0m"
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cd /home/pi/catkin_ws/src \
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&& git clone https://github.com/CopterExpress/clever.git clever \
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&& pip install wheel \
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&& pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
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&& cd /home/pi/catkin_ws \
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&& . /opt/ros/kinetic/setup.sh \
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&& catkin_make -j1 \
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&& systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service \
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&& systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service
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echo -e "\033[0;31m\033[1m$(date) | #14 Adding mjpg-streamer at /home/pi\033[0m\033[0m"
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# https://github.com/jacksonliam/mjpg-streamer
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cd /home/pi \
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&& git clone https://github.com/jacksonliam/mjpg-streamer.git \
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&& cd /home/pi/mjpg-streamer/mjpg-streamer-experimental \
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&& make \
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&& make install
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echo -e "\033[0;31m\033[1m$(date) | #15 Adding ENV vars\033[0m\033[0m"
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# setup environment
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echo "LANG=C.UTF-8" >> /home/pi/.bashrc
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echo "LC_ALL=C.UTF-8" >> /home/pi/.bashrc
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echo "ROS_DISTRO=kinetic" >> /home/pi/.bashrc
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echo "export ROS_IP=192.168.11.1" >> /home/pi/.bashrc
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echo "source /opt/ros/kinetic/setup.bash" >> /home/pi/.bashrc \
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&& echo "source /home/pi/catkin_ws/devel/setup.bash" >> /home/pi/.bashrc
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chown -Rf pi:pi /home/pi
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#echo -e "\033[0;31m\033[1m$(date) | #16 Removing local apt mirror\033[0m\033[0m"
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# Restore original sources.list
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#mv /var/sources.list.bak /etc/apt/sources.list
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# Clean apt cache
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apt-get clean
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# Remove local mirror repository key
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#apt-key del COEX-MIRROR
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echo -e "\033[0;31m\033[1m$(date) | #16 END of ROS INSTALLATION\033[0m\033[0m"
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