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################################################################################
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# _____ ______ _____ ______ _____ #
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# / ___| | ___ \ |_ _| | ___ \ |_ _| #
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# \ \__ | |_/ / | | | |_/ / | | #
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# \___ \ | __/ | | | _ | | | #
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# ____/ / | | _| |_ | | \ \ _| |_ #
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# \____/ \_| \___/ \_| \_| \___/ #
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# #
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######################## Installer ########################
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# Maintainer: webmaster@spirirobotics.com
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# Last Modified:
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# Copyright: Spiri Holdings, Inc.
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# License:
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# Prerequisites:
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# - TX2 is flashed with current Spiri kernel
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# - TX2 is installed with JetPack packages CUDA, cuDNN, TensorRT, TensorFlow
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# _ TX2 is on a network connected to Internet
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# This function updates the terminal title.
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PS1=$
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PROMPT_COMMAND=
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setTitle() {
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echo -en "\033]0;$1\a"
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}
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# Initial Setup
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setTitle "Initial Setup"
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cd
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sudo apt update
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sudo apt install -y bash-completion command-not-found g++ git htop locate nano screen
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sudo apt install -y ntp
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git config --global credential.helper store
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sudo usermod -a -G dialout $USER
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sudo usermod -a -G video $USER
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sudo usermod -a -G tty $USER
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sudo chmod 666 /dev/ttyTHS2
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# Gstreamer
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setTitle "Installing Gstreamer"
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sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio
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# Libraries
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setTitle "Installing Libraries"
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cd
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sudo apt install -y --only-upgrade g++-7 cpp-7 gcc-7
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sudo apt install -y build-essential cmake cmake-curses-gui ffmpeg gfortran \
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liblapack-dev liblapacke-dev libatlas-base-dev libavcodec-dev \
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libavdevice-dev libavformat-dev libavutil-dev libdc1394-22-dev libglew-dev \
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libgtk-3-dev libjpeg8-dev libjpeg-turbo8-dev libopenblas-dev \
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libopenexr-dev libswscale-dev libtiff5-dev libpng-dev libv4l-dev \
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libx264-dev libxine2-dev libxml2-dev libxslt1-dev libxvidcore-dev \
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libfreetype6-dev make qt5-default libdc1394-22 v4l-utils libtbb-dev \
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libprotobuf-dev protobuf-compiler libgoogle-glog-dev libgflags-dev \
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libgphoto2-dev libhdf5-dev doxygen yasm checkinstall unzip libjpeg-dev \
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libpng-dev libtiff-dev libavresample-dev x264 libfaac-dev libmp3lame-dev \
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libtheora-dev libvorbis-dev libopencore-amrnb-dev libopencore-amrwb-dev
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# Python
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setTitle "Installing Pythons"
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# Python 2.7
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sudo apt install -y python-dev python-numpy python-pip python-py \
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python-pytest python-tk
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# Python 3.6
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sudo apt install -y python3-dev python3-numpy python3-pip python3-py \
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python3-pytest python3-tk
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sudo -H pip install future matplotlib
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sudo apt install -y python-wxgtk3.0 python3-cairocffi
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# Eigen
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setTitle "Installing Eigen"
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cd
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sudo apt install -y libeigen3-dev
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setTitle "Building OpenCV with CUDA"
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cd ~/Downloads/
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git clone https://git.spirirobotics.com/Spiri/cuda-Tx2.git
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cd cuda-Tx2/
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sudo ./install.sh
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cd /usr/include/linux
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sudo ln -s -f ../libv4l1-videodev.h videodev.h
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cd
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sudo apt update
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sudo apt install -y build-essential cmake gfortran libavutil-dev libeigen3-dev \
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libatlas-base-dev libavcodec-dev libavformat-dev libavresample-dev \
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libcanberra-gtk3-module libgtk2.0-dev libdc1394-22-dev libglew-dev libgtk-3-dev \
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libjpeg-dev libjpeg8-dev libjpeg-turbo8-dev liblapack-dev liblapacke-dev \
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libopenblas-dev libpng-dev libpostproc-dev libswscale-dev libtbb-dev libtbb2 \
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libtesseract-dev libtiff-dev libv4l-dev libxine2-dev libxvidcore-dev libx264-dev \
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pkg-config qtbase5-dev qv4l2 v4l-utils v4l2ucp zlib1g-dev
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cd ~/Downloads/
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git clone https://git.spirirobotics.com/Spiri/OpenCV3.4_TX2_Prebuilt.git
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cd OpenCV3.4_TX2_Prebuilt
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sudo ./install.sh
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#=======================================================
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# Install ROS Melodic
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setTitle "Installing ROS Melodic"
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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sudo apt install -y curl # if you haven't already installed curl
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curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
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sudo apt update
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sudo apt install -y ros-melodic-desktop-full
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source /opt/ros/melodic/setup.bash
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echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
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# Install ROS packages that require OpenCV
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sudo apt install -y libgtk2.0-dev
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mkdir -p ~/catkin-ws/src
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sudo -H pip install empy
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sudo -H pip3 install empy
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sudo -H pip install rospkg
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sudo -H pip3 install rospkg
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sudo apt install -y python-catkin-tools # Must for catkin build
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sudo apt install -y python3-pyqt5
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#export PKG_CONFIG_PATH=/usr/lib/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}
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#==========================================================
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# Set up Spiri catkin workspace and install camera launch files
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setTitle "Creating Spiri catkin workspace and installing launch files"
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sudo apt-get -y install v4l-utils
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cd ~/catkin-ws/src
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#catkin_init_workspace
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git clone https://git.spirirobotics.com/Spiri/jetson_csi_cam.git
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cd jetson_csi_cam
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git checkout gscam_nodelet # checkout nodulet branch
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sudo ./camera_override.sh # copies the ISP file
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cd ..
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sudo apt install -y gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
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sudo apt install -y ros-melodic-gscam
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sudo apt install -y ros-melodic-mavros ros-melodic-mavros-extras
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git clone https://git.spirirobotics.com/Spiri/gpu_stereo_image_proc.git
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git clone https://git.spirirobotics.com/Spiri/apriltag.git
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git clone https://git.spirirobotics.com/Spiri/apriltag_ros.git
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git clone https://git.spirirobotics.com/Spiri/ros_rtsp.git
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sudo apt install -y libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-dev libgstrtspserver-1.0-dev
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git clone https://git.spirirobotics.com/Spiri/mavros_fly.git
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setTitle "Building Catkin workspace"
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cd ~/catkin-ws
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catkin config --extend /opt/ros/melodic
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catkin build apriltag
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catkin build apriltag_ros
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catkin build
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echo "source ~/catkin-ws/devel/setup.bash" >> ~/.bashrc
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# TODO Set up VNC
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# Get requirements for mavros
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setTitle "Setting up geographic libraries"
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cd
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sudo geographiclib-get-geoids egm96-5
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sudo geographiclib-get-geoids egm2008-2_5
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sudo geographiclib-get-gravity egm2008
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sudo geographiclib-get-magnetic emm2017
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# Ensure prerequisites are still installed (when/where/how are these being removed?)
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sudo apt install -y libglew-dev
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sudo apt install -y ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev
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# Background services
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setTitle "Setting up Background Services"
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cd Downloads/
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git clone https://git.spirirobotics.com/safy/spiri-services.git
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cd spiri-services
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#sudo ./install.sh
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#git clone https://git.spirirobotics.com/Spiri/spiri-services.git
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#sudo cp -r ~/Downloads/spiri-services/sbin/. /usr/sbin/
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#cd /usr/sbin/
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#sudo chmod +x apriltaglaunch
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#sudo chmod +x camlaunch
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#sudo chmod +x roslaunch
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#sudo chmod +x ros_radio_listener
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#sudo cp -r ~/Downloads/spiri-services/service/. /etc/systemd/system/
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#mkdir -p /etc/ros/
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#sudo cp ~/Downloads/spiri-services/env.sh /etc/ros/
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#cd /etc/ros/
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#sudo chmod +x env.sh
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#sudo systemctl enable --now roslaunch
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#sudo systemctl enable --now ros_radio_listener
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#sudo systemctl enable --now roscore
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#sudo systemctl enable --now apriltag
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#sudo systemctl enable --now camlaunch
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cd sbin
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sudo cp * /usr/sbin/
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cd ..
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cd service
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sudo cp * /etc/systemd/system/
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cd ..
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mkdir -p /etc/ros/
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cp env.sh /etc/ros/
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cd /etc/ros/
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sudo chmod +x env.sh
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cd /usr/sbin/
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sudo chmod +x mavroslaunch
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sudo chmod +x ros_radio_listener
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sudo chmod +x apriltaglaunch
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sudo chmod +x camlaunch
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sudo chmod +x gpudisplaunch
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sudo systemctl enable --now mavroslaunch
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sudo systemctl enable --now ros_radio_listener
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sudo systemctl enable --now roscore
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sudo systemctl enable --now apriltag
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sudo systemctl enable --now camlaunch
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sudo systemctl enable --now gpudisplaunch
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setTitle "installing mavros"
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cd ~/Downloads
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git clone https://git.spirirobotics.com/Spiri/mavros.git
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roscd mavros/launch
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sudo cp ~/Downloads/mavros/mavros/launch/* .
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# Disable Auto Updates
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#sudo sed 's/APT::Periodic::Update-Package-Lists "1";/APT::Periodic::Update-Package-Lists "0";/1' /etc/apt/apt.conf.d/10periodic
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# Perform Cleanup Operation(s)
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setTitle "Performing Cleanup"
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sudo apt-get -y autoremove
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# Installation Complete
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setTitle "Installation Complete"
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