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ardupilot/Tools/environment_install/install-ROS-ubuntu.sh

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#!/usr/bin/env bash
echo "---------- $0 start ----------"
set -e
# set -x
ROS_WS_ROOT=$HOME/ardupilot-ws
AP_GZ_ROOT=$HOME/ardupilot_gz_ws
red=`tput setaf 1`
green=`tput setaf 2`
reset=`tput sgr0`
sep="##############################################"
function heading() {
echo "$sep"
echo $*
echo "$sep"
}
ASSUME_YES=false
function maybe_prompt_user() {
if $ASSUME_YES; then
return 0
else
read -p "$1"
if [[ $REPLY =~ ^[Yy]$ ]]; then
return 0
else
return 1
fi
fi
}
function usage
{
echo "Usage: ./installROS.sh [[-p package] | [-h]]"
echo "Install ROS1"
echo "This script will select the ROS distribution according to the OS being used"
echo "Installs desktop-full as default base package; Use -p to override"
echo "-p | --package <packagename> ROS package to install"
echo " Multiple usage allowed"
echo " Must include one of the following:"
echo " ros-base"
echo " desktop"
echo " desktop-full"
echo "-h | --help This message"
}
function shouldInstallPackages
{
echo "${red}Your package list did not include a recommended base package${reset}"
echo "Please include one of the following:"
echo " ros-base"
echo " desktop"
echo " desktop-full"
echo ""
echo "ROS not installed"
}
function package_is_installed() {
dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed"
}
# Iterate through command line inputs
packages=()
while [ "$1" != "" ]; do
case $1 in
-p | --package ) shift
packages+=("$1")
;;
-h | --help ) usage
exit
;;
* ) usage
exit 1
esac
shift
done
# Install lsb-release as it is needed to check Ubuntu version
if ! package_is_installed "lsb-release"; then
heading "Installing lsb-release"
sudo apt install lsb-release -y
echo "Done!"
fi
# Checking Ubuntu release to adapt software version to install
RELEASE_CODENAME=$(lsb_release -c -s)
PYTHON_V="python3" # starting from ubuntu 20.04, python isn't symlink to default python interpreter
# echo $RELEASE_CODENAME
if [ ${RELEASE_CODENAME} == 'bionic' ] ; then
#Ubuntu 18.04 - Melodic
ROS_VERSION="melodic"
PYTHON_V="python2"
heading "${green}Detected Ubuntu 18.04, installing ROS Melodic${reset}"
elif [ ${RELEASE_CODENAME} == 'buster' ]; then
#RPi Buster - Melodic
ROS_VERSION="melodic"
PYTHON_V="python2"
heading "${green}Detected RPi Buster, installing ROS Melodic${reset}"
elif [ ${RELEASE_CODENAME} == 'focal' ]; then
#Ubuntu 20.04 - Noetic
ROS_VERSION="noetic"
PYTHON_V="python3"
heading "${green}Detected Ubuntu 20.04, installing ROS Noetic${reset}"
elif [ ${RELEASE_CODENAME} == 'jammy' ]; then
#Ubuntu 22.04 - unsupported only ROS2
heading "${red}Currently only ROS1 is supported. This Ubuntu release can only be used with ROS2.${reset}"
exit 1
else
# We assume an unsupported OS is being used.
heading "${red}Unsupported OS detected. Please refer to the ROS webpage to find how to install ROS1 on your system if at all possible.${reset}"
exit 1
fi
# Check to see if other packages were specified
# If not, set the default base package
if [ ${#packages[@]} -eq 0 ] ; then
packages+="desktop-full"
fi
echo "Packages to install: "${packages[@]}
# Check to see if we have a ROS base kinda thingie
hasBasePackage=false
for package in "${packages[@]}"; do
if [[ $package == "ros-base" ]]; then
delete=ros-base
packages=( "${packages[@]/$delete}" )
packages+=" ros-${ROS_VERSION}-ros-base"
hasBasePackage=true
break
elif [[ $package == "desktop" ]]; then
delete=desktop
packages=( "${packages[@]/$delete}" )
packages+=" ros-${ROS_VERSION}-desktop"
hasBasePackage=true
break
elif [[ $package == "desktop-full" ]]; then
delete=desktop-full
packages=( "${packages[@]/$delete}" )
packages+=" ros-${ROS_VERSION}-desktop-full"
hasBasePackage=true
break
fi
done
if [ $hasBasePackage == false ] ; then
shouldInstallPackages
exit 1
fi
heading "${green}Adding Repositories and source lists${reset}"
#Lets start instaling stuff
sudo apt install software-properties-common -y
sudo apt-add-repository universe
sudo apt-add-repository multiverse
sudo apt-add-repository restricted
# Setup sources.lst
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# Setup keys
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.
# Installation
heading "${green}Updating apt${reset}"
sudo apt update
heading "${green}Installing ROS${reset}"
# Here we loop through any packages passed on the command line
# Install packages ...
for package in "${packages[@]}"; do
sudo apt install $package -y
done
# This is where you might start to modify the packages being installed, i.e.# sudo apt install ros-${ROS_VERSION}-{package_name}
# sudo apt install -y setpriv
# sudo apt install -y ros-${ROS_VERSION}-robot-upstart
# sudo apt install -y ros-${ROS_VERSION}-navigation
# Install MAVROS and the geographic libs
sudo apt install -y ros-${ROS_VERSION}-mavros
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh
# install other needed packages
sudo apt install build-essential cmake -y
#
# To find available packages:
# apt-cache search ros-melodic
#
# Initialize rosdep
heading "${green}Installing rosdep${reset}"
sudo apt install ${PYTHON_V}-rosdep -y
# Certificates are messed up on earlier version Jetson for some reason
# Do not know if it is an issue with the Xavier, test by commenting out
# sudo c_rehash /etc/ssl/certs
# Initialize rosdep
heading "${green}Initializaing rosdep${reset}"
sudo rosdep init || true
# To find available packages, use:
rosdep update
# Use this to install dependencies of packages in a workspace
# rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
# Environment Setup - Don't add /opt/ros/${ROS_VERSION}/setup.bash if it's already in bashrc
if maybe_prompt_user "Do you want to add ROS_HOSTNAME and ROS_MASTER_URI to your .bashrc [N/y]?" ; then
heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
grep -q -F "ROS_HOSTNAME=$HOSTNAME.local" ~/.bashrc || echo "ROS_HOSTNAME=$HOSTNAME.local" >> ~/.bashrc
grep -q -F "ROS_MASTER_URI=http://$HOSTNAME.local:11311" ~/.bashrc || echo "ROS_MASTER_URI=http://$HOSTNAME.local:11311" >> ~/.bashrc
grep -q -F "source /opt/ros/${ROS_VERSION}/setup.bash" ~/.bashrc || echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
source ~/.bashrc
fi
heading "${green}Installing rosinstall tools${reset}"
sudo apt install ${PYTHON_V}-rosinstall ${PYTHON_V}-rosinstall-generator ${PYTHON_V}-wstool ${PYTHON_V}-catkin-tools -y
heading "${green}Installing Ardupilot-ROS workspace${reset}"
if maybe_prompt_user "Add ardupilot-ws to your home folder [N/y]?" ; then
if [ ! -d $ROS_WS_ROOT ]; then
mkdir -p $ROS_WS_ROOT/src
pushd $ROS_WS_ROOT
source /opt/ros/${ROS_VERSION}/setup.bash
catkin init
pushd src
git clone https://github.com/ArduPilot/ardupilot_ros.git
popd
sudo apt update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin build
popd
else
heading "${red}ardupilot-ws already exists, skipping...${reset}"
fi
else
echo "Skipping adding ardupilot_ws to your home folder."
fi
if maybe_prompt_user "Add ardupilot_gazebo to your home folder [N/y]?" ; then
if [ ! -d $AP_GZ_ROOT ]; then
sudo apt install gz-garden rapidjson-dev
mkdir -p $AP_GZ_ROOT/src
pushd $AP_GZ_ROOT/src
git clone https://github.com/ArduPilot/ardupilot_gazebo
pushd ardupilot_gazebo
mkdir build && pushd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4
popd
popd
popd
echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=${AP_GZ_ROOT}/src/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}" >> ~/.bashrc
echo "export GZ_SIM_RESOURCE_PATH=${AP_GZ_ROOT}/src/ardupilot_gazebo/models:${AP_GZ_ROOT}/src/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}" >> ~/.bashrc
else
heading "${red}ardupilot_gazebo already exists, skipping...${reset}"
fi
else
echo "Skipping adding ardupilot_gazebo to your home folder."
fi
heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
grep -q -F "source $ROS_WS_ROOT/devel/setup.bash" ~/.bashrc || echo "source $ROS_WS_ROOT/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
heading "${green}Installation complete! Please close this terminal and open a new one for changes to take effect!${reset}"
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