forked from cesar.alejandro/oscillation_ctrl
Adding bash scripts and files to download correct versions of dependencies
This commit is contained in:
parent
fb31ebf04e
commit
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sudo apt-get install libprotobuf-dev=3.0.0-9.1ubuntu1 libprotoc-dev=3.0.0-9.1ubuntu1 protobuf-compiler=3.0.0-9.1ubuntu1
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commit: 601c588294973caf105b79a23f7587c6b991bb05
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Qground control:
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wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.0/QGroundControl.AppImage
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chmod +x QGroundControl.AppImage
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mavros/mavlink:
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cp -R ~/catkin_ws/src/oscillation_ctrl/bash_scripts/rosinstall.txt /tmp/mavros.rosinstall
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wstool merge -t src /tmp/mavros.rosinstall
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wstool update -t src -j4
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rosdep install --from-paths src --ignore-src -y
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catkin build
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- git:
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local-name: mavlink
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uri: https://github.com/mavlink/mavlink-gbp-release.git
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version: release/melodic/mavlink/2020.2.2-1
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- git:
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local-name: mavros
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uri: https://github.com/mavlink/mavros.git
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version: 0.32.0
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#! /usr/bin/env bash
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set -e
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## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
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## Can also be used in docker.
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##
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## Installs:
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## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
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## - NuttX toolchain (omit with arg: --no-nuttx)
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## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
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##
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## Not Installs:
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## - FastRTPS and FastCDR
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INSTALL_NUTTX="true"
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INSTALL_SIM="true"
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INSTALL_ARCH=`uname -m`
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# Parse arguments
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for arg in "$@"
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do
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if [[ $arg == "--no-nuttx" ]]; then
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INSTALL_NUTTX="false"
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fi
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if [[ $arg == "--no-sim-tools" ]]; then
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INSTALL_SIM="false"
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fi
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done
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# detect if running in docker
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if [ -f /.dockerenv ]; then
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echo "Running within docker, installing initial dependencies";
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apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
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ca-certificates \
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gnupg \
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lsb-core \
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sudo \
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wget \
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;
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fi
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# script directory
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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# check requirements.txt exists (script not run in source tree)
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REQUIREMENTS_FILE="requirements.txt"
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if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
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echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
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return 1
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fi
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# check ubuntu version
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# otherwise warn and point to docker?
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UBUNTU_RELEASE="`lsb_release -rs`"
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if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
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echo "Ubuntu 14.04 is no longer supported"
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exit 1
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elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
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echo "Ubuntu 16.04 is no longer supported"
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exit 1
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elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
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echo "Ubuntu 18.04"
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elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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echo "Ubuntu 20.04"
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fi
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echo
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echo "Installing PX4 general dependencies"
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sudo apt-get update -y --quiet
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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astyle \
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build-essential \
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cmake \
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cppcheck \
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file \
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g++ \
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gcc \
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gdb \
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git \
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lcov \
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libxml2-dev \
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libxml2-utils \
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make \
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ninja-build \
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python3 \
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python3-dev \
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python3-pip \
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python3-setuptools \
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python3-wheel \
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rsync \
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shellcheck \
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unzip \
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zip \
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;
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# Python3 dependencies
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echo
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echo "Installing PX4 Python3 dependencies"
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if [ -n "$VIRTUAL_ENV" ]; then
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# virtual envrionments don't allow --user option
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python -m pip install -r ${DIR}/requirements.txt
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else
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# older versions of Ubuntu require --user option
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python3 -m pip install --user -r ${DIR}/requirements.txt
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fi
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# NuttX toolchain (arm-none-eabi-gcc)
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if [[ $INSTALL_NUTTX == "true" ]]; then
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echo
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echo "Installing NuttX dependencies"
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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automake \
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binutils-dev \
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bison \
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build-essential \
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flex \
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g++-multilib \
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gcc-multilib \
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gdb-multiarch \
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genromfs \
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gettext \
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gperf \
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libelf-dev \
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libexpat-dev \
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libgmp-dev \
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libisl-dev \
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libmpc-dev \
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libmpfr-dev \
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libncurses5 \
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libncurses5-dev \
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libncursesw5-dev \
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libtool \
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pkg-config \
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screen \
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texinfo \
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u-boot-tools \
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util-linux \
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vim-common \
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;
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if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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kconfig-frontends \
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;
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fi
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if [ -n "$USER" ]; then
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# add user to dialout group (serial port access)
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sudo usermod -a -G dialout $USER
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fi
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# arm-none-eabi-gcc
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NUTTX_GCC_VERSION="9-2020-q2-update"
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NUTTX_GCC_VERSION_SHORT="9-2020q2"
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source $HOME/.profile # load changed path for the case the script is reran before relogin
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if [ $(which arm-none-eabi-gcc) ]; then
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GCC_VER_STR=$(arm-none-eabi-gcc --version)
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GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
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fi
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if [[ "$GCC_FOUND_VER" == "1" ]]; then
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echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
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else
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echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
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wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
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sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
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# add arm-none-eabi-gcc to user's PATH
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exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
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if grep -Fxq "$exportline" $HOME/.profile; then
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echo "${NUTTX_GCC_VERSION} path already set.";
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else
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echo $exportline >> $HOME/.profile;
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fi
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fi
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fi
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# Simulation tools
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if [[ $INSTALL_SIM == "true" ]]; then
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echo
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echo "Installing PX4 simulation dependencies"
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# General simulation dependencies
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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bc \
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;
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if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
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java_version=11
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gazebo_version=9
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elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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java_version=13
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gazebo_version=11
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else
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java_version=14
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gazebo_version=11
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fi
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# Java (jmavsim or fastrtps)
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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ant \
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openjdk-$java_version-jre \
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openjdk-$java_version-jdk \
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libvecmath-java \
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;
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# Set Java 11 as default
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sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
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# Gazebo
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sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
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wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
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# Update list, since new gazebo-stable.list has been added
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sudo apt-get update -y --quiet
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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dmidecode \
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gazebo$gazebo_version \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-plugins-base \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-ugly \
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gstreamer1.0-libav \
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libeigen3-dev \
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libgazebo$gazebo_version-dev \
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libgstreamer-plugins-base1.0-dev \
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libimage-exiftool-perl \
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libopencv-dev \
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libxml2-utils \
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pkg-config \
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protobuf-compiler \
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;
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if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
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# fix VMWare 3D graphics acceleration for gazebo
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echo "export SVGA_VGPU10=0" >> ~/.profile
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fi
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fi
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if [[ $INSTALL_NUTTX == "true" ]]; then
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echo
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echo "Relogin or reboot computer before attempting to build NuttX targets"
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fi
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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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