mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
setup: pass through Ubuntu setup script
- Add usage function - Add support for Ubuntu 22.04 - Update arm-none-eabi-gcc to version 10.3 - Remove jMAVSim / Java stuff - Remove FastRTPS / Java stuff - Fix some typos - Add Gazebo Ignition - Disable Gazebo for Ubuntu 18.04 - Fix some shellcheck issues - Cleanup apt caches in docker
This commit is contained in:
Julian Oes
parent
c89ae1d690
commit
115568eb82
@ -2,21 +2,28 @@
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set -e
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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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##
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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 Gazebo simulator (omit with arg: --no-sim-tools)
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## Optional:
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## - FastRTPS and FastCDR (with args: --with-rtps)
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usage() {
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echo "
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Bash script to set up the PX4 development environment on Ubuntu LTS versions
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- 22.04
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- 20.04
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- 18.04 (without simulation support)
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The script can be used directly or inside docker
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(use --from-docker when running inside docker).
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Installs:
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- Build dependencies
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- NuttX toolchain (omit with arg: --no-nuttx)
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- Gazebo Classic (omit with arg: --no-gazebo-classic)
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- Gazebo Ignition (omit with arg: --no-gazebo-ignition)
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"
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}
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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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INSTALL_RTPS="false"
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INSTALL_JAVA="false"
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INSTALL_GAZEBO_CLASSIC="true"
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INSTALL_GAZEBO_IGNITION="true"
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INSTALL_ARCH=$(uname -m)
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INSIDE_DOCKER="false"
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# Parse arguments
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@ -26,38 +33,38 @@ do
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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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if [[ $arg == "--no-gazebo-classic" ]]; then
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INSTALL_GAZEBO_CLASSIC="false"
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fi
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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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if [[ $arg == "--with-java" ]]; then
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INSTALL_JAVA="true"
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if [[ $arg == "--no-gazebo-ignition" ]]; then
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INSTALL_GAZEBO_IGNITION="false"
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fi
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if [[ $arg == "--from-docker" ]]; then
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INSIDE_DOCKER="true"
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fi
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if [[ $arg == "--help" ]]; then
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usage
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exit 0
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fi
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done
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# script directory
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# Script directory
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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# check requirements.txt exists (script not run in source tree)
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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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echo "Failed: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
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exit 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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# Check ubuntu version
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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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@ -67,20 +74,24 @@ elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
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exit 1
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elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
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echo "Ubuntu 18.04"
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echo "Gazebo Classic and Gazebo Ignition omitted"
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INSTALL_GAZEBO_IGNITION="false"
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INSTALL_GAZEBO_CLASSIC="false"
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elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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echo "Ubuntu 20.04"
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elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
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echo "Ubuntu 22.04"
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fi
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VERBOSE_BAR="####################"
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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 "⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
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echo ""
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echo "Options:
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- Install NuttX toolchain: ${INSTALL_NUTTX}
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- Install Gazebo Classic: ${INSTALL_GAZEBO_CLASSIC}
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- Install Gazebo Ignition: ${INSTALL_GAZEBO_IGNITION}"
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echo $VERBOSE_BAR
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echo
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@ -125,20 +136,7 @@ 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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# virtual environments 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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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 ${DIR}/requirements.txt
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fi
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fi
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python3 -m pip install -r "$DIR"/requirements.txt
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# NuttX toolchain (arm-none-eabi-gcc)
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if [[ $INSTALL_NUTTX == "true" ]]; then
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@ -172,39 +170,35 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
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texinfo \
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u-boot-tools \
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util-linux \
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vim-common \
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g++-arm-linux-gnueabihf \
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gcc-arm-linux-gnueabihf \
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g++-aarch64-linux-gnu \
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gcc-aarch64-linux-gnu \
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;
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if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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if [[ "${UBUNTU_RELEASE}" == "20.04" ]] || [[ "${UBUNTU_RELEASE}" == "22.04" ]]; 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 $USER
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# Add user to dialout group (serial port access)
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sudo usermod -a -G dialout "$USER"
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fi
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NUTTX_GCC_VERSION="9-2020-q2-update"
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NUTTX_GCC_VERSION_SHORT="9-2020q2"
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NUTTX_GCC_VERSION="10.3-2021.10"
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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 "🍻 Verifying arm-none-eabi-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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if [ $(which arm-none-eabi-gcc) ]; then
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source "$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_VER_FOUND=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
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fi
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if [[ $(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
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if [[ $(echo "$GCC_VER_STR" | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
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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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@ -220,7 +214,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
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COMPILER_NAME="gcc-arm-none-eabi-${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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wget -O "/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${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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@ -230,106 +224,45 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
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# when running on a docker container its best to set the environment globally
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# since we don't know which user is going to be running commands on the container
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touch /etc/profile.d/px4env.sh
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echo $exportline >> /etc/profile.d/px4env.sh
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elif grep -Fxq "$exportline" $HOME/.profile; then
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echo "$exportline" >> /etc/profile.d/px4env.sh
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elif 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 >> $HOME/.profile;
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echo "$exportline" >> "$HOME"/.profile;
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fi
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echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed Succesful to /opt/${COMPILER_NAME}/bin"
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echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed successfully to /opt/${COMPILER_NAME}/bin"
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echo $VERBOSE_BAR
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echo
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fi
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fi
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# Install JAVA
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# NOTE: The version of java below has been double checked to work
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# against all the tools and dependencies you need including FastRTPS
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# and Gazebo. If really need to update JDK, make sure you test the
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# compatibility with Gradle and the eProsima tools in the next step
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if [[ $INSTALL_JAVA == "true" ]]; then
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JDK_VERSION="14.0.2_12"
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echo
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echo $VERBOSE_BAR
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echo "🍻 Installing Java JDK
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* Version: $JDK_VERSION
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* Path: /opt/jdk-14.0.2+12"
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echo $VERBOSE_BAR
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echo
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JDK_DOWNLOAD="/tmp/OpenJDK14U-jdk_x64_linux_hotspot_$JDK_VERSION.tar.gz"
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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
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sudo tar -xzf $JDK_DOWNLOAD -C /opt/
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export PATH="/opt/jdk-14.0.2+12/bin:$PATH"
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fi
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# Fast-RTPS
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# The version of eProsima tools we are using has a hard dependency on
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# JDK 14 because of Gradle, any new version of Gradle won't work unless
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# the eProsima tools are updated
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if [[ $INSTALL_RTPS == "true" ]]; then
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echo
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echo $VERBOSE_BAR
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echo "🍻 Installing Fast-RTPS"
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echo $VERBOSE_BAR
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echo
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GRADLE_VERSION="6.4.1"
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wget -O "/tmp/gradle-$GRADLE_VERSION-bin.zip" "https://services.gradle.org/distributions/gradle-$GRADLE_VERSION-bin.zip" \
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&& unzip -d /opt/gradle "/tmp/gradle-$GRADLE_VERSION-bin.zip"
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export PATH="$PATH:/opt/gradle/gradle-$GRADLE_VERSION/bin"
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# Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
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git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
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&& cd /tmp/foonathan_memory \
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&& mkdir build && cd build \
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&& cmake .. \
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&& cmake --build . --target install -- -j $(nproc)
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# Fast-DDS (Fast-RTPS 2.1.1)
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git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.1.1 /tmp/FastRTPS-2.1.1 \
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&& cd /tmp/FastRTPS-2.1.1 \
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&& mkdir build && cd build \
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&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
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&& cmake --build . --target install -- -j $(nproc)
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# Fast-RTPS-Gen 1.0.4
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git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
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&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
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&& gradle assemble \
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&& gradle install
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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 $VERBOSE_BAR
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echo "🍻 Installing PX4 Simulation Tools"
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echo
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# default and Ubuntu 20.04
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gazebo_version=11
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gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
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if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
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gazebo_version=9
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elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
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gazebo_version=11
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gazebo_packages="gazebo libgazebo-dev"
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fi
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echo " * Gazebo Version $gazebo_version"
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echo $VERBOSE_BAR
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install_gazebo_common() {
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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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ant \
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libvecmath-java \
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;
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# Installing Gazebo and dependencies
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# Setup OSRF Gazebo repository
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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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}
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# Gazebo Classic
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if [[ $INSTALL_GAZEBO_CLASSIC == "true" ]]; then
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echo
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echo $VERBOSE_BAR
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echo "🍻 Installing Gazebo Classic"
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echo
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echo " * Gazebo Classic (Version 11)"
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echo $VERBOSE_BAR
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install_gazebo_common
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# Installing Gazebo and dependencies
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# Setup OSRF Gazebo repository
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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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@ -338,7 +271,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
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sudo apt-get update -y --quiet
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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dmidecode \
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$gazebo_packages \
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gazebo libgazebo-dev \
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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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@ -359,15 +292,39 @@ if [[ $INSTALL_SIM == "true" ]]; then
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fi
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fi
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# Gazebo Ignition
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if [[ $INSTALL_GAZEBO_IGNITION == "true" ]]; then
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echo
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echo $VERBOSE_BAR
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echo "🍻 Installing Gazebo IGNITION"
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echo
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echo " * Gazebo Ignition (Version 6 / Fortress)"
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echo $VERBOSE_BAR
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# We have likely done the common pieces already earlier.
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if [[ $INSTALL_GAZEBO_CLASSIC != "true" ]]; then
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install_gazebo_common
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fi
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#
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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ignition-fortress \
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;
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fi
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if [[ $INSIDE_DOCKER == "true" ]]; then
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# cleanup installation
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rm -rf /tmp/
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rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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fi
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if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
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echo
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echo $VERBOSE_BAR
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echo "💡 We recommend you relogin/reboot before attempting to build NuttX targets"
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echo "💡 We recommend you relogin/reboot before attempting to upload NuttX targets"
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echo " to be part of the dialout group to have access to serial ports."
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echo $VERBOSE_BAR
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echo
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fi
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@ -375,10 +332,11 @@ fi
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echo
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echo
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echo $VERBOSE_BAR
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echo "#⚡️ PX4 Dependency Installer Ended Succesfully
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#
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# For more information on PX4 Autopilot check out our docs
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# at docs.px4.io, if you find a bug please file an issue
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# on GitHub https://github.com/px4/px4-autopilot"
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echo "⚡️ PX4 Dependency Installer ended successfully
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For more information on PX4 Autopilot check out our docs
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at https://docs.px4.io.
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If you find a bug please file an issue
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on https://github.com/PX4/PX4-Autopilot"
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echo $VERBOSE_BAR
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echo
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