mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-02-07 04:54:19 +08:00
e9e4a207af
They have been past end of support for nearly one year and nearly two years respectively. Allows us to require at minimum Python 3.8.
270 lines
8.9 KiB
Bash
Executable File
270 lines
8.9 KiB
Bash
Executable File
#!/usr/bin/env bash
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echo "---------- $0 start ----------"
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set -e
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# set -x
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ROS_WS_ROOT=$HOME/ardupilot-ws
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AP_GZ_ROOT=$HOME/ardupilot_gz_ws
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red=`tput setaf 1`
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green=`tput setaf 2`
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reset=`tput sgr0`
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sep="##############################################"
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function heading() {
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echo "$sep"
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echo $*
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echo "$sep"
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}
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ASSUME_YES=false
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function maybe_prompt_user() {
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if $ASSUME_YES; then
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return 0
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else
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read -p "$1"
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if [[ $REPLY =~ ^[Yy]$ ]]; then
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return 0
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else
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return 1
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fi
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fi
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}
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function usage
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{
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echo "Usage: ./installROS.sh [[-p package] | [-h]]"
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echo "Install ROS1"
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echo "This script will select the ROS distribution according to the OS being used"
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echo "Installs desktop-full as default base package; Use -p to override"
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echo "-p | --package <packagename> ROS package to install"
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echo " Multiple usage allowed"
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echo " Must include one of the following:"
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echo " ros-base"
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echo " desktop"
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echo " desktop-full"
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echo "-h | --help This message"
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}
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function shouldInstallPackages
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{
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echo "${red}Your package list did not include a recommended base package${reset}"
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echo "Please include one of the following:"
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echo " ros-base"
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echo " desktop"
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echo " desktop-full"
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echo ""
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echo "ROS not installed"
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}
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function package_is_installed() {
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dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed"
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}
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# Iterate through command line inputs
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packages=()
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while [ "$1" != "" ]; do
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case $1 in
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-p | --package ) shift
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packages+=("$1")
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;;
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-h | --help ) usage
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exit
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;;
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* ) usage
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exit 1
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esac
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shift
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done
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# Install lsb-release as it is needed to check Ubuntu version
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if ! package_is_installed "lsb-release"; then
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heading "Installing lsb-release"
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sudo apt install lsb-release -y
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echo "Done!"
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fi
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# Checking Ubuntu release to adapt software version to install
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RELEASE_CODENAME=$(lsb_release -c -s)
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PYTHON_V="python3" # starting from ubuntu 20.04, python isn't symlink to default python interpreter
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# echo $RELEASE_CODENAME
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if [ ${RELEASE_CODENAME} == 'focal' ]; then
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#Ubuntu 20.04 - Noetic
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ROS_VERSION="noetic"
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PYTHON_V="python3"
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heading "${green}Detected Ubuntu 20.04, installing ROS Noetic${reset}"
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elif [ ${RELEASE_CODENAME} == 'jammy' ]; then
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#Ubuntu 22.04 - unsupported only ROS2
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heading "${red}Currently only ROS1 is supported. This Ubuntu release can only be used with ROS2.${reset}"
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exit 1
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else
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# We assume an unsupported OS is being used.
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heading "${red}Unsupported OS detected. Please refer to the ROS webpage to find how to install ROS1 on your system if at all possible.${reset}"
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exit 1
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fi
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# Check to see if other packages were specified
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# If not, set the default base package
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if [ ${#packages[@]} -eq 0 ] ; then
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packages+="desktop-full"
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fi
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echo "Packages to install: "${packages[@]}
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# Check to see if we have a ROS base kinda thingie
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hasBasePackage=false
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for package in "${packages[@]}"; do
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if [[ $package == "ros-base" ]]; then
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delete=ros-base
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packages=( "${packages[@]/$delete}" )
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packages+=" ros-${ROS_VERSION}-ros-base"
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hasBasePackage=true
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break
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elif [[ $package == "desktop" ]]; then
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delete=desktop
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packages=( "${packages[@]/$delete}" )
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packages+=" ros-${ROS_VERSION}-desktop"
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hasBasePackage=true
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break
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elif [[ $package == "desktop-full" ]]; then
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delete=desktop-full
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packages=( "${packages[@]/$delete}" )
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packages+=" ros-${ROS_VERSION}-desktop-full"
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hasBasePackage=true
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break
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fi
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done
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if [ $hasBasePackage == false ] ; then
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shouldInstallPackages
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exit 1
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fi
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heading "${green}Adding Repositories and source lists${reset}"
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#Lets start instaling stuff
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sudo apt install software-properties-common -y
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sudo apt-add-repository universe
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sudo apt-add-repository multiverse
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sudo apt-add-repository restricted
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# Setup sources.lst
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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# Setup keys
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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# If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.
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# Installation
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heading "${green}Updating apt${reset}"
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sudo apt update
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heading "${green}Installing ROS${reset}"
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# Here we loop through any packages passed on the command line
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# Install packages ...
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for package in "${packages[@]}"; do
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sudo apt install $package -y
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done
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# This is where you might start to modify the packages being installed, i.e.# sudo apt install ros-${ROS_VERSION}-{package_name}
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# sudo apt install -y setpriv
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# sudo apt install -y ros-${ROS_VERSION}-robot-upstart
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# sudo apt install -y ros-${ROS_VERSION}-navigation
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# Install MAVROS and the geographic libs
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sudo apt install -y ros-${ROS_VERSION}-mavros
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wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
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sudo bash ./install_geographiclib_datasets.sh
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# install other needed packages
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sudo apt install build-essential cmake -y
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#
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# To find available packages:
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# apt-cache search ros-melodic
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#
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# Initialize rosdep
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heading "${green}Installing rosdep${reset}"
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sudo apt install ${PYTHON_V}-rosdep -y
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# Certificates are messed up on earlier version Jetson for some reason
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# Do not know if it is an issue with the Xavier, test by commenting out
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# sudo c_rehash /etc/ssl/certs
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# Initialize rosdep
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heading "${green}Initializaing rosdep${reset}"
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sudo rosdep init || true
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# To find available packages, use:
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rosdep update
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# Use this to install dependencies of packages in a workspace
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# rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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# Environment Setup - Don't add /opt/ros/${ROS_VERSION}/setup.bash if it's already in bashrc
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if maybe_prompt_user "Do you want to add ROS_HOSTNAME and ROS_MASTER_URI to your .bashrc [N/y]?" ; then
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heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
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grep -q -F "ROS_HOSTNAME=$HOSTNAME.local" ~/.bashrc || echo "ROS_HOSTNAME=$HOSTNAME.local" >> ~/.bashrc
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grep -q -F "ROS_MASTER_URI=http://$HOSTNAME.local:11311" ~/.bashrc || echo "ROS_MASTER_URI=http://$HOSTNAME.local:11311" >> ~/.bashrc
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grep -q -F "source /opt/ros/${ROS_VERSION}/setup.bash" ~/.bashrc || echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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fi
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heading "${green}Installing rosinstall tools${reset}"
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sudo apt install ${PYTHON_V}-rosinstall ${PYTHON_V}-rosinstall-generator ${PYTHON_V}-wstool ${PYTHON_V}-catkin-tools -y
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heading "${green}Installing Ardupilot-ROS workspace${reset}"
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if maybe_prompt_user "Add ardupilot-ws to your home folder [N/y]?" ; then
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if [ ! -d $ROS_WS_ROOT ]; then
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mkdir -p $ROS_WS_ROOT/src
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pushd $ROS_WS_ROOT
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source /opt/ros/${ROS_VERSION}/setup.bash
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catkin init
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pushd src
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git clone https://github.com/ArduPilot/ardupilot_ros.git
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popd
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sudo apt update
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rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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catkin build
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popd
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else
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heading "${red}ardupilot-ws already exists, skipping...${reset}"
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fi
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else
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echo "Skipping adding ardupilot_ws to your home folder."
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fi
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if maybe_prompt_user "Add ardupilot_gazebo to your home folder [N/y]?" ; then
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if [ ! -d $AP_GZ_ROOT ]; then
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sudo apt install gz-garden rapidjson-dev
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mkdir -p $AP_GZ_ROOT/src
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pushd $AP_GZ_ROOT/src
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git clone https://github.com/ArduPilot/ardupilot_gazebo
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pushd ardupilot_gazebo
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mkdir build && pushd build
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cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
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make -j4
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popd
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popd
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popd
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echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=${AP_GZ_ROOT}/src/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}" >> ~/.bashrc
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echo "export GZ_SIM_RESOURCE_PATH=${AP_GZ_ROOT}/src/ardupilot_gazebo/models:${AP_GZ_ROOT}/src/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}" >> ~/.bashrc
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else
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heading "${red}ardupilot_gazebo already exists, skipping...${reset}"
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fi
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else
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echo "Skipping adding ardupilot_gazebo to your home folder."
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fi
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heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
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grep -q -F "source $ROS_WS_ROOT/devel/setup.bash" ~/.bashrc || echo "source $ROS_WS_ROOT/devel/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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heading "${green}Installation complete! Please close this terminal and open a new one for changes to take effect!${reset}"
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