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@@ -31,21 +31,26 @@ rosdep update
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# FIXME: PX4 needs pip to be installed
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# FIXME: python2 dependencies?
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echo "--- Downloading PX4 and installing its dependencies"
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git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ${HOME}/PX4-Autopilot
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# PX4 v1.11.1 script will happily run sudo by itself
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${HOME}/PX4-Autopilot/Tools/setup/ubuntu.sh
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# Ubuntu 20.04 no longer sets assistive_technologies, thankfully
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sudo -E sh -c 'apt-get install -y ant openjdk-11-jdk' # Additional packages for jMAVSim
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# v1.11.1, TODO: update to v1.12
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#git clone --recursive -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
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## PX4 v1.11.1 script will happily run sudo by itself
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#${HOME}/Firmware/Tools/setup/ubuntu.sh
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## Ubuntu 20.04 no longer sets assistive_technologies, thankfully
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# v1.10.1:
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git clone -b v1.10.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
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sudo -E sh -c 'apt-get update; apt-get install -y python3-pip'
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sudo -E -S sh -c '${HOME}/Firmware/Tools/setup/ubuntu.sh'
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sudo -E -S sh -c 'echo "2" | update-alternatives --config java'
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sudo -E -S sed -i -e '/^assistive_technologies=/s/^/#/' /etc/java-*-openjdk/accessibility.properties
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echo "--- Prebuilding PX4 SITL configuration"
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make -C ${HOME}/PX4-Autopilot px4_sitl
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make -C ${HOME}/Firmware px4_sitl
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echo "--- Patching gazebo plugins for SITL"
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# cd ${HOME}/PX4-Autopilot/Tools/sitl_gazebo
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# patch -p1 < /tmp/patches/sitl_gazebo.patch
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echo 'export SVGA_VGPU10=0' >> ${HOME}/PX4-Autopilot/Tools/setup_gazebo.bash
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echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
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echo "export SVGA_VGPU10=0" >> ~/.bashrc
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cd ${HOME}/Firmware/Tools/sitl_gazebo
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patch -p1 < /tmp/patches/sitl_gazebo.patch
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echo 'export SVGA_VGPU10=0' >> ${HOME}/Firmware/Tools/setup_gazebo.bash
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echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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@@ -98,8 +103,8 @@ git clone https://github.com/CopterExpress/ros_led ${HOME}/catkin_ws/src/ros_led
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# These packages are missing from Noetic release, but are required for sitl_gazebo
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git clone https://github.com/ethz-asl/mav_comm ${HOME}/catkin_ws/src/mav_comm
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# Make PX4 and Gazebo plugins visible in the workspace
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ln -s ${HOME}/PX4-Autopilot ${HOME}/catkin_ws/src/PX4-Autopilot
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ln -s ${HOME}/PX4-Autopilot/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
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ln -s ${HOME}/Firmware ${HOME}/catkin_ws/src/Firmware
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ln -s ${HOME}/Firmware/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
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rosdep install --from-paths ${HOME}/catkin_ws/src --ignore-src --rosdistro noetic -y
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sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh
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sudo /usr/bin/python3 -m pip install -r ${HOME}/catkin_ws/src/clover/clover/requirements.txt
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@@ -107,11 +112,6 @@ source /opt/ros/noetic/setup.bash
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cd ${HOME}/catkin_ws && catkin_make
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echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
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source $HOME/catkin_ws/devel/setup.bash
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echo "--- Adding Clover vehicle startup script to PX4"
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ln -s "$(catkin_find clover_simulation airframes)"/* $HOME/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
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echo "--- Installing npm"
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cd ${HOME}
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NODE_VERSION=v10.15.0 # GitBook won't install on newer version
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@@ -166,44 +166,3 @@ chmod a+x ${HOME}/Desktop/*
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echo "--- Cleaning up"
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sudo -E sh -c 'apt-get -y autoremove; apt-get -y autoclean; apt-get -y clean; fstrim -v /'
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echo "--- Validating"
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# python --version # python-is-python3
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python2 --version
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python3 --version
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# ipython --version
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ipython3 --version
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gazebo --version || true # FIXME: Gazebo exits with 255 on --version somehow
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node -v
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npm -v
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byobu --version
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git --version
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vim --version
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pip --version
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pip3 --version
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monkey --version
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systemctl --version
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# TODO: add Python tests
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roscore -h
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rosversion px4
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rosversion clover
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rosversion aruco_pose
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rosversion mavros
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rosversion mavros_extras
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rosversion ws281x
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rosversion led_msgs
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rosversion dynamic_reconfigure
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rosversion tf2_web_republisher
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# rosversion compressed_image_transport
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# rosversion rosbridge_suite
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rosversion cv_camera
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rosversion web_video_server
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rosversion nodelet
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echo "Trying running the Gazebo simulator, check the output"
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timeout --preserve-status 30 roslaunch clover_simulation simulator.launch gui:=false --screen
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echo "Trying running jMAVSim, check the output"
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cd ~/PX4-Autopilot
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HEADLESS=1 timeout --preserve-status 30 make px4_sitl jmavsim
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