From f3d6de69a14d505a1f6e30a1fc8717a49975a1eb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 10 Dec 2021 21:53:02 +0300 Subject: [PATCH] Simply build script --- scripts/install_software.sh | 130 ++++++++++++++++-------------------- 1 file changed, 57 insertions(+), 73 deletions(-) diff --git a/scripts/install_software.sh b/scripts/install_software.sh index e265b4b..a0329c8 100644 --- a/scripts/install_software.sh +++ b/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 < /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