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Update to Ubuntu Focal

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This commit is contained in:
Alexey Rogachevskiy
2020-10-25 22:59:50 +03:00
parent 18e3d2408f
commit 841f8f45b1
4 changed files with 45 additions and 18 deletions
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53
scripts/installSoftware.sh
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@@ -23,25 +23,27 @@ echo "--- Installing ROS desktop packages"
sudo -E sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo -E sh -c 'apt-key adv --keyserver "hkp://keyserver.ubuntu.com:80" --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
sudo -E sh -c 'apt update; apt install -y python-rosdep python-rosinstall-generator python-wstool build-essential ros-melodic-desktop'
sudo -E sh -c 'apt update; apt install -y python3-rosdep python3-rosinstall-generator python3-wstool build-essential ros-noetic-desktop'
sudo -E sh -c 'rosdep init'
rosdep update
# FIXME: PX4 needs pip to be installed
# FIXME: python2 dependencies?
echo "--- Downloading PX4 and installing its dependencies"
git clone -b v1.10.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
sudo -E -S sh -c '${HOME}/Firmware/Tools/setup/ubuntu.sh'
sudo -E -S sh -c 'echo "2" | update-alternatives --config java'
sudo -E -S sed -i -e '/^assistive_technologies=/s/^/#/' /etc/java-*-openjdk/accessibility.properties
git clone -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
# PX4 v1.11.1 script will happily run sudo by itself
${HOME}/Firmware/Tools/setup/ubuntu.sh
# Ubuntu 20.04 no longer sets assistive_technologies, thankfully
echo "--- Prebuilding PX4 SITL configuration"
make -C ${HOME}/Firmware px4_sitl
echo "--- Patching gazebo plugins for SITL"
cd ${HOME}/Firmware/Tools/sitl_gazebo
patch -p1 < /tmp/patches/sitl_gazebo.patch
#patch -p1 < /tmp/patches/sitl_gazebo.patch
echo 'export SVGA_VGPU10=0' >> ${HOME}/Firmware/Tools/setup_gazebo.bash
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
echo "--- Installing Visual Studio Code"
@@ -58,22 +60,47 @@ code --install-extension ms-vscode.cpptools
code --install-extension streetsidesoftware.code-spell-checker
code --install-extension eamodio.gitlens
echo "--- Installing pylint"
/usr/bin/python2.7 -m pip install -U "pylint<2.0.0" --user
#/usr/bin/python2.7 -m pip install -U "pylint<2.0.0" --user
/usr/bin/python3.6 -m pip install -U pylint --user
echo "--- Cloning and installing Clover packages"
sudo sh -c 'curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -'
sudo sh -c 'echo "deb http://deb.coex.tech/ros xenial main" > /etc/apt/sources.list.d/coex.tech.list'
sudo sh -c 'echo "yaml file:///etc/ros/rosdep/coex.yaml" > /etc/ros/rosdep/sources.list.d/99-coex.list'
sudo sh -c 'cat <<EOF > /etc/ros/rosdep/coex.yaml
led_msgs:
ubuntu:
focal: [ros-noetic-led-msgs]
async_web_server_cpp:
ubuntu:
focal: [ros-noetic-async-web-server-cpp]
ros_pytest:
ubuntu:
focal: [ros-noetic-ros-pytest]
tf2_web_republisher:
ubuntu:
focal: [ros-noetic-tf2-web-republisher]
web_video_server:
ubuntu:
focal: [ros-noetic-web-video-server]
ws281x:
ubuntu:
focal: [ros-noetic-ws281x]
EOF'
sudo apt update
rosdep update
mkdir -p ${HOME}/catkin_ws/src
git clone https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover
git clone https://github.com/CopterExpress/ros_led ${HOME}/catkin_ws/src/ros_led
# These packages are missing from Noetic release, but are required for sitl_gazebo
git clone https://github.com/ethz-asl/mav_comm
# Make PX4 and Gazebo plugins visible in the workspace
ln -s ${HOME}/Firmware ${HOME}/catkin_ws/src/Firmware
ln -s ${HOME}/Firmware/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
rosdep install --from-paths ${HOME}/catkin_ws/src --ignore-src --rosdistro melodic -y
curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh -o ${HOME}/install_geographiclib_datasets.sh
chmod a+x ${HOME}/install_geographiclib_datasets.sh
sudo -E sh -c '${HOME}/install_geographiclib_datasets.sh'
sudo /usr/bin/python2.7 -m pip install -r ${HOME}/catkin_ws/src/clover/clover/requirements.txt
source /opt/ros/melodic/setup.bash
sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh
sudo /usr/bin/python3 -m pip install -r ${HOME}/catkin_ws/src/clover/clover/requirements.txt
source /opt/ros/noetic/setup.bash
cd ${HOME}/catkin_ws && catkin_make
echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc