|
|
|
|
@@ -31,17 +31,18 @@ rosdep update
|
|
|
|
|
# FIXME: PX4 needs pip to be installed
|
|
|
|
|
# FIXME: python2 dependencies?
|
|
|
|
|
echo "--- Downloading PX4 and installing its dependencies"
|
|
|
|
|
git clone --recursive -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
|
|
|
|
|
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}/Firmware/Tools/setup/ubuntu.sh
|
|
|
|
|
${HOME}/PX4-Autopilot/Tools/setup/ubuntu.sh
|
|
|
|
|
# Ubuntu 20.04 no longer sets assistive_technologies, thankfully
|
|
|
|
|
sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
|
|
|
|
|
|
|
|
|
|
echo "--- Prebuilding PX4 SITL configuration"
|
|
|
|
|
make -C ${HOME}/Firmware px4_sitl
|
|
|
|
|
make -C ${HOME}/PX4-Autopilot px4_sitl
|
|
|
|
|
echo "--- Patching gazebo plugins for SITL"
|
|
|
|
|
cd ${HOME}/Firmware/Tools/sitl_gazebo
|
|
|
|
|
patch -p1 < /tmp/patches/sitl_gazebo.patch
|
|
|
|
|
echo 'export SVGA_VGPU10=0' >> ${HOME}/Firmware/Tools/setup_gazebo.bash
|
|
|
|
|
# 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 "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
|
|
|
|
|
echo "export SVGA_VGPU10=0" >> ~/.bashrc
|
|
|
|
|
@@ -92,13 +93,13 @@ EOF'
|
|
|
|
|
sudo apt-get 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
|
|
|
|
|
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 https://github.com/ethz-asl/mav_comm ${HOME}/catkin_ws/src/mav_comm
|
|
|
|
|
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}/Firmware ${HOME}/catkin_ws/src/Firmware
|
|
|
|
|
ln -s ${HOME}/Firmware/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
|
|
|
|
|
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
|
|
|
|
|
@@ -106,6 +107,11 @@ source /opt/ros/noetic/setup.bash
|
|
|
|
|
cd ${HOME}/catkin_ws && catkin_make
|
|
|
|
|
echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
|
|
|
|
|
|
|
|
|
|
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"
|
|
|
|
|
cd ${HOME}
|
|
|
|
|
NODE_VERSION=v10.15.0 # GitBook won't install on newer version
|
|
|
|
|
@@ -146,6 +152,7 @@ sudo -E sh -c 'apt-get update; apt-get install -y firefox'
|
|
|
|
|
echo "--- Installing Monkey web server"
|
|
|
|
|
sudo apt-get install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
|
|
|
|
|
sed "s/pi/${USER}/g" ${HOME}/catkin_ws/src/clover/builder/assets/monkey | sudo tee /etc/monkey/sites/default
|
|
|
|
|
sudo -E sh -c "sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf"
|
|
|
|
|
sudo cp ${HOME}/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system/monkey.service
|
|
|
|
|
sudo systemctl enable monkey
|
|
|
|
|
|
|
|
|
|
@@ -179,7 +186,6 @@ monkey --version
|
|
|
|
|
systemctl --version
|
|
|
|
|
# TODO: add Python tests
|
|
|
|
|
|
|
|
|
|
source $HOME/catkin_ws/devel/setup.bash
|
|
|
|
|
roscore -h
|
|
|
|
|
rosversion px4
|
|
|
|
|
rosversion clover
|
|
|
|
|
@@ -198,3 +204,7 @@ rosversion nodelet
|
|
|
|
|
|
|
|
|
|
echo "Trying running the Gazebo simulator, check the output"
|
|
|
|
|
timeout --preserve-status 30 roslaunch clover_simulation simulator.launch gui:=false --screen
|
|
|
|
|
|
|
|
|
|
echo "Trying running jMAVSim, check the output"
|
|
|
|
|
cd ~/PX4-Autopilot
|
|
|
|
|
HEADLESS=1 timeout --preserve-status 30 make px4_sitl jmavsim
|
|
|
|
|
|
