mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 02:16:53 +08:00
setup: robustify install script and update deps
* increased support for running within a container * optionally install OpenJDK 14 * optionally install RTPS * adds better output messages
This commit is contained in:
Ramon Roche
+275
-155
@@ -2,20 +2,22 @@
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set -e
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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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## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04).
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## Can also be used in docker.
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## Can also be used in docker.
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##
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##
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## Installs:
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## Installs:
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## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
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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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## - 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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## - jMAVSim and Gazebo simulator (omit with arg: --no-sim-tools)
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##
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## Optional:
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## Not Installs:
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## - FastRTPS and FastCDR (with args: --with-rtps)
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## - FastRTPS and FastCDR
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INSTALL_NUTTX="true"
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INSTALL_NUTTX="true"
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INSTALL_SIM="true"
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INSTALL_SIM="true"
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INSTALL_ARCH=`uname -m`
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INSTALL_ARCH=`uname -m`
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INSTALL_RTPS="false"
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INSTALL_JAVA="false"
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INSIDE_DOCKER="false"
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# Parse arguments
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# Parse arguments
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for arg in "$@"
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for arg in "$@"
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@@ -28,19 +30,19 @@ do
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INSTALL_SIM="false"
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INSTALL_SIM="false"
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fi
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fi
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done
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if [[ $arg == "--with-rtps" ]]; then
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INSTALL_RTPS="true"
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fi
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# detect if running in docker
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if [[ $arg == "--with-java" ]]; then
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if [ -f /.dockerenv ]; then
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INSTALL_JAVA="true"
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echo "Running within docker, installing initial dependencies";
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fi
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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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if [[ $arg == "--from-docker" ]]; then
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gnupg \
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INSIDE_DOCKER="true"
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lsb-core \
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fi
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sudo \
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wget \
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done
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;
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fi
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# script directory
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# script directory
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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@@ -69,88 +71,117 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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echo "Ubuntu 20.04"
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echo "Ubuntu 20.04"
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fi
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fi
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VERBOSE_BAR="####################"
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echo
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echo $VERBOSE_BAR
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echo "#⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
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echo "# Options:
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#
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# - Install NuttX = ${INSTALL_NUTTX}
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# - Install Java = ${INSTALL_JAVA}
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# - Install Simulation = ${INSTALL_SIM}
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# - Install RTPS = ${INSTALL_RTPS}"
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echo $VERBOSE_BAR
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echo
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echo
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echo
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echo "Installing PX4 general dependencies"
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echo $VERBOSE_BAR
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echo "🍻 Installing System Dependencies"
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echo $VERBOSE_BAR
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echo
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sudo apt-get update -y --quiet
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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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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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build-essential \
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cmake \
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g++ \
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cppcheck \
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gcc \
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file \
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gdb \
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g++ \
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astyle \
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gcc \
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cmake \
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gdb \
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cppcheck \
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git \
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file \
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lcov \
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git \
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libxml2-dev \
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lcov \
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libxml2-utils \
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libxml2-dev \
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make \
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libxml2-utils \
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ninja-build \
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make \
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python3 \
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ninja-build \
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python3-dev \
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python3 \
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python3-pip \
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python3-dev \
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python3-setuptools \
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python3-pip \
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python3-wheel \
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python3-setuptools \
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rsync \
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python3-wheel \
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shellcheck \
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rsync \
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unzip \
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shellcheck \
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zip \
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unzip \
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;
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zip \
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libssl-dev \
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;
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# Python3 dependencies
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# Python 3 dependencies
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echo
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echo
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echo "Installing PX4 Python3 dependencies"
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echo $VERBOSE_BAR
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echo "🍻 Installing Python dependencies"
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echo $VERBOSE_BAR
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echo
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if [ -n "$VIRTUAL_ENV" ]; then
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if [ -n "$VIRTUAL_ENV" ]; then
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# virtual envrionments don't allow --user option
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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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python -m pip install -r ${DIR}/requirements.txt
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else
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else
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# older versions of Ubuntu require --user option
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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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if [[ $INSIDE_DOCKER == "true" ]]; then
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# when running inside a docker container we don't need to install
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# under --user since the installer user is root
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# its best to install packages globaly for any user to find
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python3 -m pip install -r /tmp/requirements.txt
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else
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python3 -m pip install --user -r ${DIR}/requirements.txt
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fi
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fi
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fi
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# NuttX toolchain (arm-none-eabi-gcc)
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# NuttX toolchain (arm-none-eabi-gcc)
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if [[ $INSTALL_NUTTX == "true" ]]; then
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if [[ $INSTALL_NUTTX == "true" ]]; then
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echo
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echo
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echo "Installing NuttX dependencies"
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echo $VERBOSE_BAR
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echo "🍻 Installing NuttX dependencies"
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echo $VERBOSE_BAR
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echo
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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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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automake \
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binutils-dev \
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binutils-dev \
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bison \
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bison \
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build-essential \
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flex \
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flex \
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genromfs \
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g++-multilib \
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gettext \
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gcc-multilib \
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gperf \
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gdb-multiarch \
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libelf-dev \
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genromfs \
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libexpat-dev \
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gettext \
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libgmp-dev \
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gperf \
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libisl-dev \
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libelf-dev \
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libmpc-dev \
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libexpat-dev \
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libmpfr-dev \
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libgmp-dev \
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libncurses5 \
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libisl-dev \
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libncurses5-dev \
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libmpc-dev \
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libncursesw5-dev \
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libmpfr-dev \
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libtool \
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libncurses5 \
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pkg-config \
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libncurses5-dev \
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screen \
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libncursesw5-dev \
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texinfo \
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libtool \
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u-boot-tools \
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pkg-config \
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util-linux \
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screen \
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vim-common \
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texinfo \
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g++-arm-linux-gnueabihf \
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u-boot-tools \
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gcc-arm-linux-gnueabihf \
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util-linux \
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;
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vim-common \
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;
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if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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kconfig-frontends \
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kconfig-frontends \
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;
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;
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fi
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fi
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if [ -n "$USER" ]; then
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if [ -n "$USER" ]; then
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@@ -158,97 +189,186 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
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sudo usermod -a -G dialout $USER
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sudo usermod -a -G dialout $USER
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fi
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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="9-2020-q2-update"
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NUTTX_GCC_VERSION_SHORT="9-2020q2"
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NUTTX_GCC_VERSION_SHORT="9-2020q2"
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echo
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echo $VERBOSE_BAR
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echo "🍻 Verifying proper gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
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echo
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source $HOME/.profile # load changed path for the case the script is reran before relogin
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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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if [ $(which arm-none-eabi-gcc) ]; then
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GCC_VER_STR=$(arm-none-eabi-gcc --version)
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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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GCC_VER_FOUND=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
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fi
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fi
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if [[ "$GCC_FOUND_VER" == "1" ]]; then
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if [[ $(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
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echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
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echo "📌 Skipping installation, the arm cross compiler was found"
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echo $VERBOSE_BAR
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echo
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else
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else
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echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
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echo "📌 The arm cross compiler was not found";
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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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echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
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sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
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# The arm cross compiler hosting provider is known to throttle download speeds
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# for users who reach a certain limit of downloads in a given time frame
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# for this reason we allow for using a previously downloaded file
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|
# this is specially helpful when debugging this installer script
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# from within a container COMPILER_PATH="/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2"
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COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
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COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
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|
if [ ! -f "$COMPILER_PATH" ]; then
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|
wget -O $COMPILER_PATH https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/${COMPILER_NAME}-${INSTALL_ARCH}-linux.tar.bz2
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|
fi
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sudo tar -jxf $COMPILER_PATH -C /opt/;
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|
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# add arm-none-eabi-gcc to user's PATH
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# add arm-none-eabi-gcc to user's PATH
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exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
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exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
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||||||
|
if [[ $INSIDE_DOCKER == "true" ]]; then
|
||||||
|
# when running on a docker container its best to set the environment globally
|
||||||
|
# since we don't know which user is going to be running commands on the container
|
||||||
|
touch /etc/profile.d/px4env.sh
|
||||||
|
echo $exportline >> /etc/profile.d/px4env.sh
|
||||||
|
else
|
||||||
|
if grep -Fxq "$exportline" $HOME/.profile; then
|
||||||
|
echo "${NUTTX_GCC_VERSION} path already set.";
|
||||||
|
else
|
||||||
|
echo $exportline >> $HOME/.profile;
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed Succesful to /opt/${COMPILER_NAME}/bin"
|
||||||
|
echo $VERBOSE_BAR
|
||||||
|
echo
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Install JAVA
|
||||||
|
if [[ $INSTALL_JAVA == "true" ]]; then
|
||||||
|
JDK_VERSION="14.0.2_12"
|
||||||
|
echo
|
||||||
|
echo $VERBOSE_BAR
|
||||||
|
echo "🍻 Installing Java JDK
|
||||||
|
|
||||||
|
* Version: $JDK_VERSION
|
||||||
|
* Path: /opt/jdk-14.0.2+12"
|
||||||
|
echo $VERBOSE_BAR
|
||||||
|
echo
|
||||||
|
|
||||||
|
JDK_DOWNLOAD="/tmp/OpenJDK14U-jdk_x64_linux_hotspot_$JDK_VERSION.tar.gz"
|
||||||
|
wget -O $JDK_DOWNLOAD https://github.com/AdoptOpenJDK/openjdk14-binaries/releases/download/jdk-14.0.2%2B12/OpenJDK14U-jdk_x64_linux_hotspot_14.0.2_12.tar.gz
|
||||||
|
sudo tar -xzf $JDK_DOWNLOAD -C /opt/
|
||||||
|
export PATH="/opt/jdk-14.0.2+12/bin:$PATH"
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Fast-RTPS
|
||||||
|
if [[ $INSTALL_RTPS == "true" ]]; then
|
||||||
|
echo
|
||||||
|
echo $VERBOSE_BAR
|
||||||
|
echo "🍻 Installing Fast-RTPS"
|
||||||
|
echo $VERBOSE_BAR
|
||||||
|
echo
|
||||||
|
|
||||||
|
GRADLE_VERSION="6.4.1"
|
||||||
|
wget -O "/tmp/gradle-$GRADLE_VERSION-bin.zip" "https://services.gradle.org/distributions/gradle-$GRADLE_VERSION-bin.zip" \
|
||||||
|
&& unzip -d /opt/gradle "/tmp/gradle-$GRADLE_VERSION-bin.zip"
|
||||||
|
export PATH="$PATH:/opt/gradle/gradle-$GRADLE_VERSION/bin"
|
||||||
|
|
||||||
|
# Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
|
||||||
|
git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
|
||||||
|
&& cd /tmp/foonathan_memory \
|
||||||
|
&& mkdir build && cd build \
|
||||||
|
&& cmake .. \
|
||||||
|
&& cmake --build . --target install -- -j $(nproc)
|
||||||
|
|
||||||
|
# Fast-DDS (Fast-RTPS 2.1.1)
|
||||||
|
git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.1.1 /tmp/FastRTPS-2.1.1 \
|
||||||
|
&& cd /tmp/FastRTPS-2.1.1 \
|
||||||
|
&& mkdir build && cd build \
|
||||||
|
&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
|
||||||
|
&& cmake --build . --target install -- -j $(nproc)
|
||||||
|
|
||||||
|
# Fast-RTPS-Gen 1.0.4
|
||||||
|
git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
|
||||||
|
&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
|
||||||
|
&& gradle assemble \
|
||||||
|
&& gradle install
|
||||||
|
|
||||||
if grep -Fxq "$exportline" $HOME/.profile; then
|
|
||||||
echo "${NUTTX_GCC_VERSION} path already set.";
|
|
||||||
else
|
|
||||||
echo $exportline >> $HOME/.profile;
|
|
||||||
fi
|
|
||||||
fi
|
|
||||||
fi
|
fi
|
||||||
|
|
||||||
# Simulation tools
|
# Simulation tools
|
||||||
if [[ $INSTALL_SIM == "true" ]]; then
|
if [[ $INSTALL_SIM == "true" ]]; then
|
||||||
|
|
||||||
echo
|
echo
|
||||||
echo "Installing PX4 simulation dependencies"
|
echo $VERBOSE_BAR
|
||||||
|
echo "🍻 Installing PX4 Simulation Tools"
|
||||||
|
echo
|
||||||
|
|
||||||
# General simulation dependencies
|
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
gazebo_version=9
|
||||||
bc \
|
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||||
;
|
gazebo_version=11
|
||||||
|
fi
|
||||||
|
|
||||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
echo " * Gazebo Version $gazebo_version"
|
||||||
java_version=11
|
echo $VERBOSE_BAR
|
||||||
gazebo_version=9
|
|
||||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
|
||||||
java_version=13
|
|
||||||
gazebo_version=11
|
|
||||||
else
|
|
||||||
java_version=14
|
|
||||||
gazebo_version=11
|
|
||||||
fi
|
|
||||||
# Java (jmavsim or fastrtps)
|
|
||||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
|
||||||
ant \
|
|
||||||
openjdk-$java_version-jre \
|
|
||||||
openjdk-$java_version-jdk \
|
|
||||||
libvecmath-java \
|
|
||||||
;
|
|
||||||
|
|
||||||
# Set Java 11 as default
|
# General simulation dependencies
|
||||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||||
|
bc \
|
||||||
|
ant \
|
||||||
|
libvecmath-java \
|
||||||
|
;
|
||||||
|
|
||||||
# Gazebo
|
# Installing Gazebo and dependencies
|
||||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
# Setup OSRF Gazebo repository
|
||||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||||
# Update list, since new gazebo-stable.list has been added
|
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||||
sudo apt-get update -y --quiet
|
# Update list, since new gazebo-stable.list has been added
|
||||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
sudo apt-get update -y --quiet
|
||||||
dmidecode \
|
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||||
gazebo$gazebo_version \
|
dmidecode \
|
||||||
gstreamer1.0-plugins-bad \
|
gazebo$gazebo_version \
|
||||||
gstreamer1.0-plugins-base \
|
gstreamer1.0-plugins-bad \
|
||||||
gstreamer1.0-plugins-good \
|
gstreamer1.0-plugins-base \
|
||||||
gstreamer1.0-plugins-ugly \
|
gstreamer1.0-plugins-good \
|
||||||
gstreamer1.0-libav \
|
gstreamer1.0-plugins-ugly \
|
||||||
libeigen3-dev \
|
gstreamer1.0-libav \
|
||||||
libgazebo$gazebo_version-dev \
|
libeigen3-dev \
|
||||||
libgstreamer-plugins-base1.0-dev \
|
libgazebo$gazebo_version-dev \
|
||||||
libimage-exiftool-perl \
|
libgstreamer-plugins-base1.0-dev \
|
||||||
libopencv-dev \
|
libimage-exiftool-perl \
|
||||||
libxml2-utils \
|
libopencv-dev \
|
||||||
pkg-config \
|
libxml2-utils \
|
||||||
protobuf-compiler \
|
pkg-config \
|
||||||
;
|
protobuf-compiler \
|
||||||
|
;
|
||||||
|
|
||||||
if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
|
if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
|
||||||
# fix VMWare 3D graphics acceleration for gazebo
|
# fix VMWare 3D graphics acceleration for gazebo
|
||||||
echo "export SVGA_VGPU10=0" >> ~/.profile
|
echo "export SVGA_VGPU10=0" >> ~/.profile
|
||||||
fi
|
fi
|
||||||
fi
|
fi
|
||||||
|
|
||||||
if [[ $INSTALL_NUTTX == "true" ]]; then
|
if [[ $INSIDE_DOCKER == "true" ]]; then
|
||||||
echo
|
# cleanup installation
|
||||||
echo "Relogin or reboot computer before attempting to build NuttX targets"
|
rm -rf /tmp/
|
||||||
fi
|
fi
|
||||||
|
|
||||||
|
if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
|
||||||
|
echo
|
||||||
|
echo $VERBOSE_BAR
|
||||||
|
echo "💡 We recommend you relogin/reboot before attempting to build NuttX targets"
|
||||||
|
echo $VERBOSE_BAR
|
||||||
|
echo
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo
|
||||||
|
echo
|
||||||
|
echo $VERBOSE_BAR
|
||||||
|
echo "#⚡️ PX4 Dependency Installer Ended Succesfully
|
||||||
|
#
|
||||||
|
# For more information on PX4 Autopilot check out our docs
|
||||||
|
# at docs.px4.io, if you find a bug please file an issue
|
||||||
|
# on GitHub https://github.com/px4/px4-autopilot"
|
||||||
|
echo $VERBOSE_BAR
|
||||||
|
echo
|
||||||
|
|||||||
Reference in New Issue
Block a user