Tools: Add ROS and Ardupilot-ros environment install script
This commit is contained in:
Jaime Machuca
Randy Mackay
parent
b7b02bd369
commit
6c5bb1c5b8
253
Tools/environment_install/install-ROS-ubuntu.sh
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253
Tools/environment_install/install-ROS-ubuntu.sh
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#!/bin/bash
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echo "---------- $0 start ----------"
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set -e
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# set -x
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ROS_WS_ROOT=$HOME/ardupilot-ws
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red=`tput setaf 1`
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green=`tput setaf 2`
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reset=`tput sgr0`
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sep="##############################################"
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function heading() {
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echo "$sep"
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echo $*
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echo "$sep"
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}
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ASSUME_YES=false
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function maybe_prompt_user() {
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if $ASSUME_YES; then
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return 0
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else
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read -p "$1"
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if [[ $REPLY =~ ^[Yy]$ ]]; then
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return 0
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else
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return 1
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fi
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fi
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}
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function usage
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{
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echo "Usage: ./installROS.sh [[-p package] | [-h]]"
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echo "Install ROS1"
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echo "This script will select the ROS distribution according to the OS being used"
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echo "Installs desktop-full as default base package; Use -p to override"
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echo "-p | --package <packagename> ROS package to install"
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echo " Multiple usage allowed"
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echo " Must include one of the following:"
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echo " ros-base"
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echo " desktop"
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echo " desktop-full"
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echo "-h | --help This message"
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}
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function shouldInstallPackages
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{
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echo "${red}Your package list did not include a recommended base package${reset}"
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echo "Please include one of the following:"
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echo " ros-base"
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echo " desktop"
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echo " desktop-full"
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echo ""
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echo "ROS not installed"
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}
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function package_is_installed() {
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dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed"
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}
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# Iterate through command line inputs
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packages=()
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while [ "$1" != "" ]; do
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case $1 in
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-p | --package ) shift
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packages+=("$1")
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;;
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-h | --help ) usage
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exit
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;;
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* ) usage
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exit 1
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esac
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shift
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done
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# Install lsb-release as it is needed to check Ubuntu version
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if ! package_is_installed "lsb-release"; then
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heading "Installing lsb-release"
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sudo apt install lsb-release -y
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echo "Done!"
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fi
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# Checking Ubuntu release to adapt software version to install
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RELEASE_CODENAME=$(lsb_release -c -s)
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PYTHON_V="python3" # starting from ubuntu 20.04, python isn't symlink to default python interpreter
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# echo $RELEASE_CODENAME
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if [ ${RELEASE_CODENAME} == 'bionic' ] ; then
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#Ubuntu 18.04 - Melodic
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ROS_VERSION="melodic"
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PYTHON_V="python2"
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heading "${green}Detected Ubuntu 18.04, installing ROS Melodic${reset}"
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elif [ ${RELEASE_CODENAME} == 'buster' ]; then
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#RPi Buster - Melodic
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ROS_VERSION="melodic"
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PYTHON_V="python2"
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heading "${green}Detected RPi Buster, installing ROS Melodic${reset}"
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elif [ ${RELEASE_CODENAME} == 'focal' ]; then
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#Ubuntu 20.04 - Noetic
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ROS_VERSION="noetic"
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PYTHON_V="python3"
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heading "${green}Detected Ubuntu 20.04, installing ROS Noetic${reset}"
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elif [ ${RELEASE_CODENAME} == 'jammy' ]; then
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#Ubuntu 22.04 - unsupported only ROS2
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heading "${red}Currently only ROS1 is supported. This Ubuntu release can only be used with ROS2.${reset}"
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exit 1
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else
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# We assume an unsupported OS is being used.
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heading "${red}Unsupported OS detected. Please refer to the ROS webpage to find how to install ROS1 on your system if at all possible.${reset}"
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exit 1
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fi
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# Check to see if other packages were specified
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# If not, set the default base package
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if [ ${#packages[@]} -eq 0 ] ; then
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packages+="desktop-full"
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fi
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echo "Packages to install: "${packages[@]}
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# Check to see if we have a ROS base kinda thingie
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hasBasePackage=false
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for package in "${packages[@]}"; do
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if [[ $package == "ros-base" ]]; then
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delete=ros-base
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packages=( "${packages[@]/$delete}" )
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packages+=" ros-${ROS_VERSION}-ros-base"
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hasBasePackage=true
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break
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elif [[ $package == "desktop" ]]; then
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delete=desktop
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packages=( "${packages[@]/$delete}" )
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packages+=" ros-${ROS_VERSION}-desktop"
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hasBasePackage=true
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break
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elif [[ $package == "desktop-full" ]]; then
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delete=desktop-full
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packages=( "${packages[@]/$delete}" )
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packages+=" ros-${ROS_VERSION}-desktop-full"
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hasBasePackage=true
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break
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fi
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done
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if [ $hasBasePackage == false ] ; then
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shouldInstallPackages
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exit 1
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fi
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heading "${green}Adding Repositories and source lists${reset}"
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#Lets start instaling stuff
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sudo apt install software-properties-common -y
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sudo apt-add-repository universe
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sudo apt-add-repository multiverse
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sudo apt-add-repository restricted
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# Setup sources.lst
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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# Setup keys
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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# If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.
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# Installation
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heading "${green}Updating apt${reset}"
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sudo apt update
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heading "${green}Installing ROS${reset}"
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# Here we loop through any packages passed on the command line
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# Install packages ...
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for package in "${packages[@]}"; do
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sudo apt install $package -y
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done
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# This is where you might start to modify the packages being installed, i.e.# sudo apt install ros-${ROS_VERSION}-{package_name}
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# sudo apt install -y setpriv
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# sudo apt install -y ros-${ROS_VERSION}-robot-upstart
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# sudo apt install -y ros-${ROS_VERSION}-navigation
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# Install MAVROS and the geographic libs
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sudo apt install -y ros-${ROS_VERSION}-mavros
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wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
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sudo bash ./install_geographiclib_datasets.sh
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# install other needed packages
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sudo apt install build-essential cmake -y
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#
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# To find available packages:
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# apt-cache search ros-melodic
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#
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# Initialize rosdep
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heading "${green}Installing rosdep${reset}"
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sudo apt install ${PYTHON_V}-rosdep -y
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# Certificates are messed up on earlier version Jetson for some reason
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# Do not know if it is an issue with the Xavier, test by commenting out
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# sudo c_rehash /etc/ssl/certs
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# Initialize rosdep
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heading "${green}Initializaing rosdep${reset}"
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sudo rosdep init || true
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# To find available packages, use:
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rosdep update
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# Use this to install dependencies of packages in a workspace
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# rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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# Environment Setup - Don't add /opt/ros/${ROS_VERSION}/setup.bash if it's already in bashrc
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if maybe_prompt_user "Do you want to add ROS_HOSTNAME and ROS_MASTER_URI to your .bashrc [N/y]?" ; then
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heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
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grep -q -F "ROS_HOSTNAME=$HOSTNAME.local" ~/.bashrc || echo "ROS_HOSTNAME=$HOSTNAME.local" >> ~/.bashrc
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grep -q -F "ROS_MASTER_URI=http://$HOSTNAME.local:11311" ~/.bashrc || echo "ROS_MASTER_URI=http://$HOSTNAME.local:11311" >> ~/.bashrc
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grep -q -F "source /opt/ros/${ROS_VERSION}/setup.bash" ~/.bashrc || echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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fi
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heading "${green}Installing rosinstall tools${reset}"
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sudo apt install ${PYTHON_V}-rosinstall ${PYTHON_V}-rosinstall-generator ${PYTHON_V}-wstool ${PYTHON_V}-catkin-tools -y
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heading "${green}Installing Ardupilot-ROS workspace${reset}"
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if maybe_prompt_user "Add ardupilot-ws to your home folder [N/y]?" ; then
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if [ ! -d $ROS_WS_ROOT ]; then
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mkdir -p $ROS_WS_ROOT/src
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pushd $ROS_WS_ROOT
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catkin init
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pushd src
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git clone https://github.com/snktshrma/ardupilot_ros.git
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popd
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sudo apt update
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rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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catkin build
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popd
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else
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heading "${red}ardupilot-ws already exists, skipping...${reset}"
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fi
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else
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echo "Skipping adding ardupilot_ws to your home folder."
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fi
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heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
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grep -q -F "source $ROS_WS_ROOT/devel/setup.bash" ~/.bashrc || echo "source $ROS_WS_ROOT/devel/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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heading "${green}Installation complete! Please close this terminal and open a new one for changes to take effect!${reset}"
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