mirror of
https://github.com/CopterExpress/clover.git
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123 lines
4.8 KiB
Bash
Executable File
123 lines
4.8 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 $VERSION_CODENAME to Debian release code name
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export ROS_OS_OVERRIDE=debian:$VERSION_CODENAME
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export ROS_PYTHON_VERSION=3
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export CLOVER_DEPS="tf tf2 tf2_ros tf2_geometry_msgs geometry_msgs sensor_msgs visualization_msgs libgeographiclib-dev mavros mavros_extras cv_camera cv_bridge rosbridge_server web_video_server tf2_web_republisher libxml2 libxslt python3-lxml dynamic_reconfigure image_transport image_proc image_geometry python-pymavlink ros_pytest"
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export CLOVER_DEPS="$CLOVER_DEPS rostest python3-docopt image_publisher"
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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 $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
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# curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
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#cp /etc/apt/trusted.gpg /etc/apt/trusted.gpg.d # https://askubuntu.com/a/1408456
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apt-get update
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apt-get install -y python3-distutils build-essential cmake git python3-pip python3-rosinstall-generator python3-vcstools python3-empy libpoco-dev
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# install vcstool using pip
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# curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py && python3 get-pip.py && rm get-pip.py
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pip3 install -U --break-system-packages vcstool rosdep rosinstall-generator catkin-pkg future
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# sudo rosdep init
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# rm /etc/ros/rosdep/sources.list.d/20-default.list
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rosdep init
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rosdep update --os=debian:bullseye
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# rm /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init
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# rosdep --os=debian:$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 $CLOVER_DEPS --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:bullseye --skip-keys="python3-catkin-pkg-modules libboost-thread python3-rosdep-modules" || true
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echo "--- Install missing dependencies"
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apt-get install -y liborocos-kdl1.5 geographiclib-tools libgeographiclib-dev
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echo "-- Install geographiclib datasets"
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wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
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chmod +x install_geographiclib_datasets.sh
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./install_geographiclib_datasets.sh
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echo "--- Apply patches"
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wget https://github.com/ros/rosconsole/pull/58.patch
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patch -p1 -d src/rosconsole < 58.patch
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wget https://github.com/ros/ros_comm/pull/2353.patch
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patch -p2 -d src/ros_comm < 2353.patch
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wget https://github.com/AJahueyM/web_video_server/commit/5b722eb0822bcc3fe45fefe7b393b87bfe004417.patch
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patch -p1 -d src/web_video_server < 5b722eb0822bcc3fe45fefe7b393b87bfe004417.patch
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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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#
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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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#
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#echo "--- Build Debian packages"
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#apt-get install -y python3-bloom debhelper dpkg-dev libtinyxml-dev
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#
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## add rosdep file to help bloom-generate resolve missing bookworm dependencies
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#echo "yaml file:///etc/ros/rosdep/noetic-bookworm.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
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#rosdep update
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#
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#pip3 install setuptools==45.2.0 # https://github.com/ros/catkin/issues/863#issuecomment-1000446018
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#
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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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# debian/rules binary # fakeroot is not needed as we are root
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# cd -
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#done
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ls
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