105 lines
4.4 KiB
Bash
105 lines
4.4 KiB
Bash
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#!/bin/bash
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## Bash script for setting up ROS Melodic (with Gazebo 9) development environment for PX4 on Ubuntu LTS (18.04).
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## It installs the common dependencies for all targets (including Qt Creator)
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##
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## Installs:
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## - Common dependencies libraries and tools as defined in `ubuntu_sim_common_deps.sh`
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## - ROS Melodic (including Gazebo9)
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## - MAVROS
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if [[ $(lsb_release -sc) == *"xenial"* ]]; then
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echo "OS version detected as $(lsb_release -sc) (16.04)."
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echo "ROS Melodic requires at least Ubuntu 18.04."
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echo "Exiting ...."
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return 1;
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fi
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echo "Downloading dependent script 'ubuntu_sim_common_deps.sh'"
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# Source the ubuntu_sim_common_deps.sh script directly from github
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common_deps=$(wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_common_deps.sh -O -)
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wget_return_code=$?
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# If there was an error downloading the dependent script, we must warn the user and exit at this point.
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if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'ubuntu_sim_common_deps.sh'. Sorry but I cannot proceed further :("; exit 1; fi
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# Otherwise source the downloaded script.
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. <(echo "${common_deps}")
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# ROS Melodic
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## Gazebo simulator dependencies
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sudo apt-get install libeigen3-dev libopencv-dev protobuf-compiler=3.0.0-9.1ubuntu1 -y
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## ROS Gazebo: http://wiki.ros.org/melodic/Installation/Ubuntu
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## Setup keys
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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## For keyserver connection problems substitute hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 above.
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sudo apt-get update
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## Get ROS/Gazebo
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sudo apt install ros-melodic-desktop-full -y
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## Initialize rosdep
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sudo rosdep init
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rosdep update
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## Setup environment variables
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rossource="source /opt/ros/melodic/setup.bash"
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if grep -Fxq "$rossource" ~/.bashrc; then echo ROS setup.bash already in .bashrc;
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else echo "$rossource" >> ~/.bashrc; fi
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eval $rossource
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## Install rosinstall and other dependencies
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sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential -y
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# MAVROS: https://dev.px4.io/en/ros/mavros_installation.html
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## Install dependencies
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sudo apt-get install python-catkin-tools python-rosinstall-generator -y
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## Create catkin workspace
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws
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catkin init
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wstool init src
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## Install MAVLink
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###we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
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rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
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## Build MAVROS
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### Get source (upstream - released)
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rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
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### Setup workspace & install deps
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wstool merge -t src /tmp/mavros.rosinstall
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wstool update -t src
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if ! rosdep install --from-paths src --ignore-src -y; then
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# (Use echo to trim leading/trailing whitespaces from the unsupported OS name
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unsupported_os=$(echo $(rosdep db 2>&1| grep Unsupported | awk -F: '{print $2}'))
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rosdep install --from-paths src --ignore-src --rosdistro melodic -y --os ubuntu:bionic
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fi
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if [[ ! -z $unsupported_os ]]; then
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>&2 echo -e "\033[31mYour OS ($unsupported_os) is unsupported. Assumed an Ubuntu 18.04 installation,"
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>&2 echo -e "and continued with the installation, but if things are not working as"
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>&2 echo -e "expected you have been warned."
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fi
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#Install geographiclib
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sudo apt install geographiclib-tools -y
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echo "Downloading dependent script 'install_geographiclib_datasets.sh'"
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# Source the install_geographiclib_datasets.sh script directly from github
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install_geo=$(wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh -O -)
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wget_return_code=$?
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# If there was an error downloading the dependent script, we must warn the user and exit at this point.
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if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'install_geographiclib_datasets.sh'. Sorry but I cannot proceed further :("; exit 1; fi
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# Otherwise source the downloaded script.
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sudo bash -c "$install_geo"
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## Build!
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catkin build
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## Re-source environment to reflect new packages/build environment
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catkin_ws_source="source ~/catkin_ws/devel/setup.bash"
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if grep -Fxq "$catkin_ws_source" ~/.bashrc; then echo ROS catkin_ws setup.bash already in .bashrc;
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else echo "$catkin_ws_source" >> ~/.bashrc; fi
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eval $catkin_ws_source
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