From cbeb5c4ea67c077ada153be791b2c9bdec45370c Mon Sep 17 00:00:00 2001
From: scorpio1 <matas.keras@spirirobotics.com>
Date: Wed, 14 Jun 2023 08:46:13 -0700
Subject: [PATCH] Add 'px4_setup/px4setup.sh'

---
 px4_setup/px4setup.sh | 148 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 148 insertions(+)
 create mode 100644 px4_setup/px4setup.sh

diff --git a/px4_setup/px4setup.sh b/px4_setup/px4setup.sh
new file mode 100644
index 0000000..ec48b8a
--- /dev/null
+++ b/px4_setup/px4setup.sh
@@ -0,0 +1,148 @@
+#!/bin/bash
+
+# 
+# Setup script for PX4 firmware and sitl development eco-system 
+# Author: Tarek Taha, Mohamed Abdelkader
+# References: http://dev.px4.io/master/en/setup/dev_env_linux_ubuntu.html#sim_nuttx
+#
+
+if [ -z "$1" ]; then
+    ARROW_HOME=$HOME
+else
+    ARROW_HOME=$1
+fi	
+
+if [ -f /.dockerenv ]; then
+	pass=arrow
+	echo "Running within docker, installing initial dependencies";
+	echo $pass | sudo -S apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
+		ca-certificates \
+		gnupg \
+		lsb-core \
+		sudo \
+		wget \
+		;
+else
+	read -p "Enter user password please (for sudo): " -s pass
+fi
+
+# script directory
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+# check requirements.txt exists (script not run in source tree)
+REQUIREMENTS_FILE="px4_requirements.txt"
+if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
+	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as setup_px4.sh (${DIR})."
+	return 1
+fi
+
+echo "Installing PX4 general dependencies"
+
+echo $pass | sudo -S apt-get update -y --quiet
+echo $pass | sudo -S DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+	astyle \
+	build-essential \
+	ccache \
+	clang \
+	clang-tidy \
+	cmake \
+	cppcheck \
+	doxygen \
+	file \
+	g++ \
+	gcc \
+	gdb \
+	git \
+	lcov \
+	make \
+	ninja-build \
+	python3 \
+	python3-dev \
+	python3-pip \
+	python3-setuptools \
+	python3-wheel \
+	rsync \
+	shellcheck \
+	unzip \
+	xsltproc \
+	zip \
+	;
+
+# Python3 dependencies
+echo
+echo "Installing PX4 Python3 dependencies"
+pip3 install --user -r ${DIR}/px4_requirements.txt
+
+# Simulation dependencies
+echo $pass | sudo -S DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		ant \
+		openjdk-11-jre \
+		openjdk-11-jdk \
+		libvecmath-java \
+		xmlstarlet \
+		;
+
+echo $pass | sudo -S DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		gstreamer1.0-plugins-bad \
+		gstreamer1.0-plugins-base \
+		gstreamer1.0-plugins-good \
+		gstreamer1.0-plugins-ugly \
+		gstreamer1.0-libav \
+		libeigen3-dev \
+		libgazebo9-dev \
+		libgstreamer-plugins-base1.0-dev \
+		libimage-exiftool-perl \
+		libopencv-dev \
+		libxml2-utils \
+		pkg-config \
+		protobuf-compiler \
+		dmidecode \
+		bc \
+		;
+
+echo $pass | sudo -S update-alternatives --set java $(update-alternatives --list java | grep "java-11")
+
+#Setting up PX4 Firmware
+if [ ! -d "${HOME}/Firmware" ]; then
+    cd ${HOME}
+    git clone https://github.com/PX4/Firmware.git --recursive
+else
+    echo "Firmware already exists. Just pulling latest upstream...."
+    cd ${HOME}/Firmware
+    git pull
+fi
+cd ${HOME}/Firmware
+make clean && make distclean
+#git checkout v1.10.1  && git submodule update --recursive
+#git checkout v1.11.2  && git submodule update --recursive
+
+#cd ${HOME}/Firmware/Tools/sitl_gazebo/external/OpticalFlow && git submodule update --recursive # this is needed for PX4 v1.10.1
+# cd ${HOME}/Firmware/Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker && git submodule update --recursive # this is needed for PX4 v1.10.1
+#### NOTE: in PX4 v1.10.1, there is a bug in Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h:43:18
+#### NOTE:  #define HAS_GYRO TRUE needs to be replaced by #define HAS_GYRO true
+# sed -i 's/#define HAS_GYRO.*/#define HAS_GYRO true/' ${HOME}/Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h # this is needed for PX4 v1.10.1
+
+cd ${HOME}/Firmware
+DONT_RUN=1 make px4_sitl gazebo
+
+#Copying this to  .bashrc file
+grep -xF 'source ~/Firmware/Tools/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default' ${HOME}/.bashrc || echo "source ~/Firmware/Tools/setup_gazebo.bash ~/Firmware ~/Firmware/build/px4_sitl_default" >> ${HOME}/.bashrc
+grep -xF 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware' ${HOME}/.bashrc || echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:~/Firmware" >> ${HOME}/.bashrc
+grep -xF 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware/Tools/sitl_gazebo' ${HOME}/.bashrc || echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:~/Firmware/Tools/sitl_gazebo" >> ${HOME}/.bashrc
+#grep -xF 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/aaal/catkin_ws/src/swarm_sim/models' ${HOME}/.bashrc || echo "export GAZEBO_MODEL_PATH=\$GAZEBO_MODEL_PATH:/home/aaal/catkin_ws/src/swarm_sim/models" >> ${HOME}/.bashrc
+grep -xF 'export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins' ${HOME}/.bashrc || echo "export GAZEBO_PLUGIN_PATH=\$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins" >> ${HOME}/.bashrc
+
+source ${HOME}/.bashrc
+
+# Install QGroundControl
+###### Not working yet!!!
+echo $pass | sudo -S usermod -a -G dialout $USER
+echo $pass | sudo -S apt-get remove modemmanager -y
+echo $pass | sudo -S apt-get install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
+echo $pass | sudo -S apt-get install fuse libpulse-mainloop-glib0 -y
+
+cd ${HOME}
+wget https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl.AppImage
+chmod +x ./QGroundControl.AppImage
+
+echo "**** Make sure to logout and login again ****"