mirror of
https://github.com/CopterExpress/clover.git
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99 lines
3.2 KiB
Bash
Executable File
99 lines
3.2 KiB
Bash
Executable File
#! /usr/bin/env bash
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#
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# Script for building ROS packages from scratch
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#
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# Copyright (C) 2022 Copter Express Technologies
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#
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# Author: Oleg Kalachev <okalachev@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 -ex # exit on error, echo commands
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# http://wiki.ros.org/Installation/Source
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export ROS_DISTRO=noetic
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. /etc/os-release # set $VERSION_CODENAME to Debian release code name
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export ROS_OS_OVERRIDE=debian:11:$VERSION_CODENAME
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echo "=== Building ROS from scratch"
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#echo "--- Adding sources"
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#echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
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#curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
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apt-get update
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apt-get install -y python3-distutils python3-rosdep python3-rosinstall-generator build-essential git # python3-vcstool
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# install vcstool using pip
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curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py && python3 get-pip.py && rm get-pip.py
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pip3 install -U vcstool
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# sudo rosdep init
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rm /etc/ros/rosdep/sources.list.d/20-default.list
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rosdep init
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rosdep update
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# rm /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init
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# rosdep --os=debian:$VERSION_CODENAME update
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echo "--- Create Catkin workspace to build ROS package"
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mkdir ~/ros_catkin_ws
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cd ~/ros_catkin_ws
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echo "--- Download ROS sources"
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rosinstall_generator ros_base --rosdistro $ROS_DISTRO --deps --tar > noetic.rosinstall
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mkdir ./src
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vcs import --input noetic.rosinstall ./src
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# https://answers.ros.org/question/343367/catkin-package-dependencies-issue-when-installing-ros-melodic-on-raspberry-pi-4/
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#sudo apt remove python-rospkg
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#sudo apt remove python-catkin-pkg
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##sudo apt --fix-broken install
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#sudo apt-get autoremove
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echo "--- Install catkin_pkg"
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cd
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git clone https://github.com/ros-infrastructure/catkin_pkg.git
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cd catkin_pkg
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python3 setup.py install
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cd ~/ros_catkin_ws
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echo "--- Resolve dependencies"
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rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro $ROS_DISTRO -y --os=debian:$VERSION_CODENAME --skip-keys="python3-catkin-pkg python3-catkin-pkg-modules python3-rosdep-modules"
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echo "--- Build ROS"
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# https://github.com/ros/catkin/issues/863#issuecomment-290392074
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./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release \
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-DSETUPTOOLS_DEB_LAYOUT=OFF \
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--install-space=/opt/ros/$ROS_DISTRO
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# source ~/ros_catkin_ws/install_isolated/setup.bash
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source /opt/ros/$ROS_DISTRO/setup.bash
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echo "--- List built ROS packages"
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set +x
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rospack list-names | while read line; do echo $line `rosversion $line`; done
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set -x
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echo "--- Build Debian packages"
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apt-get install -y python3-bloom debhelper dpkg-dev
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# add rosdep file to help bloom-generate resolve missing bullseye dependencies
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echo "yaml file:///etc/ros/rosdep/noetic-bullseye.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
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rosdep update
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for file in `find . -name "package.xml" -not -path "*/debian/*"`; do
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cd $(dirname ${file})
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rm -rf debian
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bloom-generate rosdebian --os-name debian --os-version $VERSION_CODENAME --ros-distro $ROS_DISTRO --debug
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fakeroot debian/rules binary
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cd -
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done
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ls
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