Simply build script

scripts/install_software.sh

@@ -12,45 +12,74 @@ echo "--- Increasing apt retries"
 sudo -E sh -c 'echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries'
 cat /etc/apt/apt.conf.d/80-retries
 
+echo "--- Updating apt"
+sudo -E sh -c 'apt-get update'
+
 echo "--- Allowing apt to perform its updates"
-sudo -E sh -c 'apt-get update; while fuser /var/lib/dpkg/lock ; do sleep 0.5 ; done'
+sudo -E sh -c 'while fuser /var/lib/dpkg/lock ; do sleep 0.5 ; done'
 
 echo "--- Installing open-vm-tools"
+sudo -E sh -c 'apt-get install -y open-vm-tools open-vm-tools-desktop'
 
-sudo -E sh -c 'apt-get update; apt-get install -y open-vm-tools open-vm-tools-desktop'
+echo "--- Installing ROS desktop"
+sudo -E sh -c 'apt-get install -y curl'
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+sudo -E sh -c 'apt-get update; apt-get install -y python3-pip python3-rosdep python3-rosinstall-generator python3-wstool build-essential ros-noetic-desktop'
 
-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-get update; apt-get install -y python3-rosdep python3-rosinstall-generator python3-wstool build-essential ros-noetic-desktop'
+echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+source /opt/ros/noetic/setup.bash
 
+echo "--- Updating rosdep"
 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 --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ${HOME}/PX4-Autopilot
-# PX4 v1.11.1 script will happily run sudo by itself
-${HOME}/PX4-Autopilot/Tools/setup/ubuntu.sh
-# Ubuntu 20.04 no longer sets assistive_technologies, thankfully
+echo "--- Creating Catkin workspace"
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws
+catkin_make
+echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+source ~/catkin_ws/devel/setup.bash
+
+echo "--- Getting Clover sources"
+cd ~/catkin_ws/src
+git clone --depth 1 https://github.com/CopterExpress/clover
+git clone --depth 1 https://github.com/CopterExpress/ros_led
+git clone --depth 1 https://github.com/ethz-asl/mav_comm
+
+echo "--- Installing dependencies with rosdep"
+cd ~/catkin_ws
+rosdep install --from-paths src --ignore-src -y
+
+echo "--- Installing Clover's Python dependencies"
+sudo -E sh -c '/usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requirements.txt'
+
+echo "--- Downloading PX4"
+git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
+ln -s ~/PX4-Autopilot ~/catkin_ws/src/
+ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/
+ln -s ~/PX4-Autopilot/mavlink ~/catkin_ws/src/
+
+echo "--- Installing PX4 dependencies"
+~/PX4-Autopilot/Tools/setup/ubuntu.sh
+pip3 install --user toml
 sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
 
-echo "--- Prebuilding PX4 SITL configuration"
-make -C ${HOME}/PX4-Autopilot px4_sitl
-echo "--- Patching gazebo plugins for SITL"
-# cd ${HOME}/PX4-Autopilot/Tools/sitl_gazebo
-# patch -p1 < /tmp/patches/sitl_gazebo.patch
-echo 'export SVGA_VGPU10=0' >> ${HOME}/PX4-Autopilot/Tools/setup_gazebo.bash
-
+echo "--- Addding Gazebo initialization to bashrc"
 echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
 echo "export SVGA_VGPU10=0" >> ~/.bashrc
 
-echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+echo "--- Addding Clover airframe"
+ln -s ~/catkin_ws/src/clover/clover_simulation/airframes/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
+
+echo "--- Installing geographiclib datasets"
+sudo -E sh -c '/opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh'
+
+echo "--- Building the workspace"
+cd ~/catkin_ws
+catkin_make
 
 echo "--- Installing Visual Studio Code"
-
 sudo -E sh -c 'apt-get update; apt-get install -y curl'
 curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > ${HOME}/packages.microsoft.gpg
 sudo -E sh -c 'install -o root -g root -m 644 ${HOME}/packages.microsoft.gpg /usr/share/keyrings'
@@ -63,56 +92,15 @@ code --install-extension ms-vscode.cmake-tools
 code --install-extension ms-vscode.cpptools
 code --install-extension streetsidesoftware.code-spell-checker
 code --install-extension eamodio.gitlens
+
 echo "--- Installing pylint"
 /usr/bin/python3 -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-get update
-rosdep update
-mkdir -p ${HOME}/catkin_ws/src
-git clone --depth 1 https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover
-git clone --depth 1 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 --depth 1 https://github.com/ethz-asl/mav_comm ${HOME}/catkin_ws/src/mav_comm
-# Make PX4 and Gazebo plugins visible in the workspace
-ln -s ${HOME}/PX4-Autopilot ${HOME}/catkin_ws/src/PX4-Autopilot
-ln -s ${HOME}/PX4-Autopilot/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
-rosdep install --from-paths ${HOME}/catkin_ws/src --ignore-src --rosdistro noetic -y
-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
+echo "--- Exposing examples"
+ln -s ${HOME}/catkin_ws/src/clover/clover/examples ${HOME}/
+[[ -d ${HOME}/examples ]] # test symlink is valid
 
-source $HOME/catkin_ws/devel/setup.bash
-
-echo "--- Adding Clover vehicle startup script to PX4"
-ln -s "$(catkin_find clover_simulation airframes)"/* $HOME/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
-
-echo "--- Installing npm"
+echo "--- Installing npm and building documentation"
 cd ${HOME}
 NODE_VERSION=v10.15.0 # GitBook won't install on newer version
 wget --progress=dot:giga https://nodejs.org/dist/$NODE_VERSION/node-$NODE_VERSION-linux-x64.tar.gz
@@ -131,10 +119,6 @@ gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE # ignore documentation files by catkin
 
-echo "--- Exposing examples"
-ln -s ${HOME}/catkin_ws/src/clover/clover/examples ${HOME}/
-[[ -d ${HOME}/examples ]] # test symlink is valid
-
 echo "--- Enabling roscore service"
 sed -i "s/pi/${USER}/g" ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service
 sudo cp ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service /etc/systemd/system