mirror of
https://github.com/CopterExpress/clover.git
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200 lines
9.8 KiB
Bash
Executable File
200 lines
9.8 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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set -e # Exit immidiately on non-zero result
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REPO=$1
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REF=$2
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INSTALL_ROS_PACK_SOURCES=$3
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DISCOVER_ROS_PACK=$4
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NUMBER_THREADS=$5
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echo_stamp() {
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# TEMPLATE: echo_stamp <TEXT> <TYPE>
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# TYPE: SUCCESS, ERROR, INFO
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# More info there https://www.shellhacks.com/ru/bash-colors/
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TEXT="$(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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# https://gist.github.com/letmaik/caa0f6cc4375cbfcc1ff26bd4530c2a3
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# https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/templates/header.sh
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my_travis_retry() {
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local result=0
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local count=1
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while [ $count -le 3 ]; do
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[ $result -ne 0 ] && {
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echo -e "\n${ANSI_RED}The command \"$@\" failed. Retrying, $count of 3.${ANSI_RESET}\n" >&2
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}
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# ! { } ignores set -e, see https://stackoverflow.com/a/4073372
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! { "$@"; result=$?; }
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[ $result -eq 0 ] && break
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count=$(($count + 1))
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sleep 1
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done
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[ $count -gt 3 ] && {
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echo -e "\n${ANSI_RED}The command \"$@\" failed 3 times.${ANSI_RESET}\n" >&2
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}
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return $result
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}
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# TODO: 'kinetic-rosdep-clever.yaml' should add only if we use our repo?
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echo_stamp "Init rosdep" \
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&& rosdep init \
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&& echo "yaml file:///etc/ros/rosdep/kinetic-rosdep-clever.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list \
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&& rosdep update
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echo_stamp "Populate rosdep for ROS user"
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sudo -u pi rosdep update
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resolve_rosdep() {
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# TEMPLATE: resolve_rosdep <CATKIN_PATH> <ROS_DISTRO> <OS_DISTRO> <OS_VERSION>
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CATKIN_PATH=$1
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ROS_DISTRO='kinetic'
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OS_DISTRO='debian'
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OS_VERSION='stretch'
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echo_stamp "Installing dependencies apps with rosdep in ${CATKIN_PATH}"
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cd ${CATKIN_PATH}
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my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=${OS_DISTRO}:${OS_VERSION}
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}
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INSTALL_ROS_PACK_SOURCES=${INSTALL_ROS_PACK_SOURCES:='false'}
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if [ "${INSTALL_ROS_PACK_SOURCES}" = "true" ]; then
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DISCOVER_ROS_PACK=${DISCOVER_ROS_PACK:='true'}
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if [ "${DISCOVER_ROS_PACK}" = "false" ]; then
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echo_stamp "Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall" \
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&& mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
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&& rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
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&& wstool init -j${NUMBER_THREADS} src kinetic-ros_comm-wet.rosinstall \
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&& echo_stamp "All roscomm sources was installed!" "SUCCESS" \
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|| (echo_stamp "Some roscomm sources installation was failed!" "ERROR"; exit 1)
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echo_stamp "Preparing other ROS-packages to kinetic-custom_ros.rosinstall" \
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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 compressed_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 interactive_markers tf2_web_republisher interactive_marker_proxy vl53l1x \
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--rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
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&& wstool merge -j${NUMBER_THREADS} -t src kinetic-custom_ros.rosinstall \
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&& wstool update -j${NUMBER_THREADS} -t src \
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&& echo_stamp "All custom sources was installed!" "SUCCESS" \
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|| (echo_stamp "Some custom sources installation was failed!" "ERROR"; exit 1)
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else
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echo_stamp "Creating ros_catkin_ws & getting all sources using wstool" \
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&& mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
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&& wstool init -j${NUMBER_THREADS} src kinetic-ros-clever.rosinstall \
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> /dev/null \
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&& echo_stamp "All CLEVER sources was installed!" "SUCCESS" \
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|| (echo_stamp "Some CLEVER sources installation was failed!" "ERROR"; exit 1)
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fi
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resolve_rosdep '/home/pi/ros_catkin_ws'
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# TODO: Add refactor to origin repo
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#echo_stamp "Refactoring usb_cam in SRC"
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#sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
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echo_stamp "Building ros_catkin_ws packages"
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cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -j${NUMBER_THREADS} -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
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#echo_stamp "#11 Building light packages on 2 threads"
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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_stamp "#12 Building heavy packages"
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# This command uses less threads to avoid Raspberry Pi freeze
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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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# 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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echo_stamp "Remove build_isolated & devel_isolated from ros_catkin_ws"
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rm -rf /home/pi/ros_catkin_ws/build_isolated /home/pi/ros_catkin_ws/devel_isolated
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chown -Rf pi:pi /home/pi/ros_catkin_ws
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fi
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export ROS_IP='127.0.0.1' # needed for running tests
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echo_stamp "Installing CLEVER" \
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&& cd /home/pi/catkin_ws/src/clever \
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&& git status \
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&& cd /home/pi/catkin_ws \
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&& resolve_rosdep $(pwd) \
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&& my_travis_retry pip install wheel \
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&& my_travis_retry pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
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&& source /opt/ros/kinetic/setup.bash \
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&& catkin_make -j2 -DCMAKE_BUILD_TYPE=Release \
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&& catkin_make run_tests \
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&& catkin_test_results \
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&& systemctl enable roscore \
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&& systemctl enable clever \
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&& echo_stamp "All CLEVER was installed!" "SUCCESS" \
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|| (echo_stamp "CLEVER installation was failed!" "ERROR"; exit 1)
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echo_stamp "Build CLEVER documentation"
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cd /home/pi/catkin_ws/src/clever
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NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
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NPM_CONFIG_UNSAFE_PERM=true gitbook install
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gitbook build
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echo_stamp "Installing additional ROS packages"
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apt-get install -y --no-install-recommends \
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ros-kinetic-dynamic-reconfigure \
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ros-kinetic-tf2-web-republisher \
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ros-kinetic-compressed-image-transport \
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ros-kinetic-rosbridge-suite \
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ros-kinetic-rosserial \
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ros-kinetic-usb-cam \
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ros-kinetic-vl53l1x \
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ros-kinetic-opencv3=3.3.19-0stretch \
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ros-kinetic-rosshow
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# TODO move GeographicLib datasets to Mavros debian package
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echo_stamp "Install GeographicLib datasets (needs for mavros)" \
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&& wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
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echo_stamp "Change permissions for catkin_ws"
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chown -Rf pi:pi /home/pi/catkin_ws
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echo_stamp "Setup ROS environment"
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cat << EOF >> /home/pi/.bashrc
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LANG='C.UTF-8'
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LC_ALL='C.UTF-8'
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ROS_DISTRO='kinetic'
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export ROS_HOSTNAME='raspberrypi.local'
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source /opt/ros/kinetic/setup.bash
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source /home/pi/catkin_ws/devel/setup.bash
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EOF
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#echo_stamp "Removing local apt mirror"
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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 -qq > /dev/null
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# Remove local mirror repository key
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#apt-key del COEX-MIRROR
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echo_stamp "END of ROS INSTALLATION"
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