mirror of
https://github.com/CopterExpress/clover_vm.git
synced 2026-05-26 15:13:25 +00:00
197 lines
8.1 KiB
Bash
197 lines
8.1 KiB
Bash
#!/usr/bin/env bash
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set -ex
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echo "--- Current environment:"
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/usr/bin/env
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echo "Enabling passwordless sudo"
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echo "${PASSWORD}" | sudo -E -S sh -c "echo '${USER} ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers"
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echo "--- Increasing apt retries"
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sudo -E sh -c 'echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries'
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cat /etc/apt/apt.conf.d/80-retries
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echo "--- Allowing apt to perform its updates"
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sudo -E sh -c 'apt-get update; while fuser /var/lib/dpkg/lock ; do sleep 0.5 ; done'
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echo "--- Installing open-vm-tools"
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sudo -E sh -c 'apt-get update; apt-get install -y open-vm-tools open-vm-tools-desktop'
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echo "--- Installing ROS desktop packages"
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sudo -E sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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sudo -E sh -c 'apt-key adv --keyserver "hkp://keyserver.ubuntu.com:80" --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
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sudo -E sh -c 'apt-get update; apt-get install -y python3-rosdep python3-rosinstall-generator python3-wstool build-essential ros-noetic-desktop'
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sudo -E sh -c 'rosdep init'
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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 -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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echo "--- Prebuilding PX4 SITL configuration"
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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}/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 /usr/share/gazebo/setup.sh" >> ~/.bashrc
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echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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echo "--- Installing Visual Studio Code"
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sudo -E sh -c 'apt-get update; apt-get install -y curl'
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curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > ${HOME}/packages.microsoft.gpg
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sudo -E sh -c 'install -o root -g root -m 644 ${HOME}/packages.microsoft.gpg /usr/share/keyrings'
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rm ${HOME}/packages.microsoft.gpg
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sudo -E sh -c 'echo "deb [arch=amd64 signed-by=/usr/share/keyrings/packages.microsoft.gpg] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list'
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sudo -E sh -c 'apt-get install -y apt-transport-https; apt-get update; apt-get install -y code'
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code --install-extension ms-python.python
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code --install-extension DavidAnson.vscode-markdownlint
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code --install-extension ms-vscode.cmake-tools
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code --install-extension ms-vscode.cpptools
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code --install-extension streetsidesoftware.code-spell-checker
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code --install-extension eamodio.gitlens
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echo "--- Installing pylint"
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/usr/bin/python3 -m pip install -U pylint --user
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echo "--- Cloning and installing Clover packages"
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sudo sh -c 'curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -'
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sudo sh -c 'echo "deb http://deb.coex.tech/ros xenial main" > /etc/apt/sources.list.d/coex.tech.list'
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sudo sh -c 'echo "yaml file:///etc/ros/rosdep/coex.yaml" > /etc/ros/rosdep/sources.list.d/99-coex.list'
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sudo sh -c 'cat <<EOF > /etc/ros/rosdep/coex.yaml
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led_msgs:
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ubuntu:
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focal: [ros-noetic-led-msgs]
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async_web_server_cpp:
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ubuntu:
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focal: [ros-noetic-async-web-server-cpp]
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ros_pytest:
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ubuntu:
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focal: [ros-noetic-ros-pytest]
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tf2_web_republisher:
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ubuntu:
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focal: [ros-noetic-tf2-web-republisher]
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web_video_server:
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ubuntu:
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focal: [ros-noetic-web-video-server]
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ws281x:
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ubuntu:
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focal: [ros-noetic-ws281x]
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EOF'
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sudo apt-get update
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rosdep update
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mkdir -p ${HOME}/catkin_ws/src
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git clone https://github.com/CopterExpress/clover ${HOME}/catkin_ws/src/clover
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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}/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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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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echo "--- Installing npm"
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cd ${HOME}
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NODE_VERSION=v10.15.0 # GitBook won't install on newer version
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wget --progress=dot:giga https://nodejs.org/dist/$NODE_VERSION/node-$NODE_VERSION-linux-x64.tar.gz
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tar -xzf node-$NODE_VERSION-linux-x64.tar.gz
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sudo cp -R node-$NODE_VERSION-linux-x64/* /usr/local/
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rm -rf node-$NODE_VERSION-linux-x64 node-$NODE_VERSION-linux-x64.tar.gz
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echo "--- Reconfiguring npm to use local prefix"
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mkdir ${HOME}/.npm-global
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npm config set prefix "${HOME}/.npm-global"
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export PATH=${HOME}/.npm-global/bin:$PATH
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echo 'export PATH='${HOME}'/.npm-global/bin:$PATH' >> ${HOME}/.bashrc
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echo "--- Installing gitbook and building docs"
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cd ${HOME}/catkin_ws/src/clover
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builder/assets/install_gitbook.sh
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gitbook install
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gitbook build
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touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE # ignore documentation files by catkin
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echo "--- Exposing examples"
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ln -s ${HOME}/catkin_ws/src/clover/clover/examples ${HOME}/
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[[ -d ${HOME}/examples ]] # test symlink is valid
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echo "--- Enabling roscore service"
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sed -i "s/pi/${USER}/g" ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service
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sudo cp ${HOME}/catkin_ws/src/clover/builder/assets/roscore.service /etc/systemd/system
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sudo systemctl enable roscore.service
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echo "--- Installing QGroundControl"
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sudo -E sh -c "usermod -a -G dialout $USER"
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sudo -E sh -c 'apt-get remove -y modemmanager; apt-get install -y gstreamer1.0-plugins-bad gstreamer1.0-libav'
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curl https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl.AppImage -o ${HOME}/QGroundControl.AppImage
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chmod a+x ${HOME}/QGroundControl.AppImage
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echo "--- Installing Firefox web browser"
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sudo -E sh -c 'apt-get update; apt-get install -y firefox'
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echo "--- Installing Monkey web server"
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sudo apt-get install -y /tmp/packages/monkey_1.6.9-1_amd64.deb
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sed "s/pi/${USER}/g" ${HOME}/catkin_ws/src/clover/builder/assets/monkey | sudo tee /etc/monkey/sites/default
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sudo cp ${HOME}/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system/monkey.service
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sudo systemctl enable monkey
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echo "--- Installing additional packages"
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sudo -E sh -c 'apt-get update; apt-get install -y sshfs gvfs-fuse gvfs-backends python3-opencv byobu ipython3 byobu nmap lsof tmux vim ros-noetic-rqt-multiplot'
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echo "--- Personalizing VM"
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sudo -E sh -c 'cp /usr/share/xfce4/backdrops/xubuntu-wallpaper.png /usr/share/xfce4/backdrops/xubuntu-wallpaper-old.png; cp ${HOME}/Pictures/Logo_COEX_2019_white_on_black.png /usr/share/xfce4/backdrops/xubuntu-wallpaper.png'
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sudo -E sh -c 'hostnamectl set-hostname clover-dev; sed -i "s/ubuntu/clover-dev clover-dev.local/g" /etc/hosts'
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echo "export ROS_HOSTNAME=\`hostname\`.local" >> ${HOME}/.bashrc
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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 exist 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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source $HOME/catkin_ws/devel/setup.bash
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roscore -h
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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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