forked from cesar.alejandro/oscillation_ctrl
Add 'px4_setup/px4setup.sh'
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#!/bin/bash
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#
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# Setup script for PX4 firmware and sitl development eco-system
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# Author: Tarek Taha, Mohamed Abdelkader
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# References: http://dev.px4.io/master/en/setup/dev_env_linux_ubuntu.html#sim_nuttx
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#
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if [ -z "$1" ]; then
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ARROW_HOME=$HOME
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else
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ARROW_HOME=$1
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fi
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if [ -f /.dockerenv ]; then
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pass=arrow
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echo "Running within docker, installing initial dependencies";
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echo $pass | sudo -S apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
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ca-certificates \
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gnupg \
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lsb-core \
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sudo \
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wget \
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;
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else
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read -p "Enter user password please (for sudo): " -s pass
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fi
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# script directory
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DIR=$( 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="px4_requirements.txt"
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if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
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echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as setup_px4.sh (${DIR})."
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return 1
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fi
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echo "Installing PX4 general dependencies"
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echo $pass | sudo -S apt-get update -y --quiet
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echo $pass | sudo -S 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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ccache \
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clang \
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clang-tidy \
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cmake \
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cppcheck \
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doxygen \
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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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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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xsltproc \
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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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pip3 install --user -r ${DIR}/px4_requirements.txt
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# Simulation dependencies
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echo $pass | sudo -S DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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ant \
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openjdk-11-jre \
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openjdk-11-jdk \
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libvecmath-java \
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xmlstarlet \
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;
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echo $pass | sudo -S DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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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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libgazebo9-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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dmidecode \
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bc \
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;
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echo $pass | sudo -S update-alternatives --set java $(update-alternatives --list java | grep "java-11")
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#Setting up PX4 Firmware
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if [ ! -d "${HOME}/Firmware" ]; then
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cd ${HOME}
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git clone https://github.com/PX4/Firmware.git --recursive
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else
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echo "Firmware already exists. Just pulling latest upstream...."
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cd ${HOME}/Firmware
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git pull
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fi
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cd ${HOME}/Firmware
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make clean && make distclean
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#git checkout v1.10.1 && git submodule update --recursive
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#git checkout v1.11.2 && git submodule update --recursive
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#cd ${HOME}/Firmware/Tools/sitl_gazebo/external/OpticalFlow && git submodule update --recursive # this is needed for PX4 v1.10.1
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# cd ${HOME}/Firmware/Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker && git submodule update --recursive # this is needed for PX4 v1.10.1
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#### NOTE: in PX4 v1.10.1, there is a bug in Firmware/Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h:43:18
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#### NOTE: #define HAS_GYRO TRUE needs to be replaced by #define HAS_GYRO true
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# 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
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cd ${HOME}/Firmware
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DONT_RUN=1 make px4_sitl gazebo
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#Copying this to .bashrc file
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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" >> ${HOME}/.bashrc
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grep -xF 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware' ${HOME}/.bashrc || echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:~/Firmware" >> ${HOME}/.bashrc
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grep -xF 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/Firmware/Tools/sitl_gazebo' ${HOME}/.bashrc || echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:~/Firmware/Tools/sitl_gazebo" >> ${HOME}/.bashrc
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#grep -xF 'export GAZEBO_MODEL_PATH=$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" >> ${HOME}/.bashrc
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grep -xF 'export GAZEBO_PLUGIN_PATH=$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
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source ${HOME}/.bashrc
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# Install QGroundControl
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###### Not working yet!!!
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echo $pass | sudo -S usermod -a -G dialout $USER
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echo $pass | sudo -S apt-get remove modemmanager -y
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echo $pass | sudo -S apt-get install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
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echo $pass | sudo -S apt-get install fuse libpulse-mainloop-glib0 -y
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cd ${HOME}
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wget https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGroundControl.AppImage
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chmod +x ./QGroundControl.AppImage
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echo "**** Make sure to logout and login again ****"
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