mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
ubuntu.sh: updated dependencies and output
I double checked each new dependency and made sure to build each target with the new install script as well as test FastRTPS and Simulations * removed unused dependencies * settled on the absolute most updated JDK we could possibly use given our dependencies (JDK 14) * added conditional support for use in a container environment via a new flag --from-docker * added multi-platform build tools for development
This commit is contained in:
Ramon Roche
parent
a20483ed11
commit
5388f7f911
@ -2,20 +2,22 @@
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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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##
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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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## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
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##
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## Not Installs:
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## - FastRTPS and FastCDR
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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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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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INSIDE_DOCKER="false"
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# Parse arguments
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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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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 [ -f /.dockerenv ]; then
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echo "Running within docker, installing initial dependencies";
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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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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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fi
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if [[ $arg == "--with-java" ]]; then
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INSTALL_JAVA="true"
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fi
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if [[ $arg == "--from-docker" ]]; then
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INSIDE_DOCKER="true"
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fi
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done
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# script directory
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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@ -69,20 +71,35 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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echo "Ubuntu 20.04"
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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 "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 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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cmake \
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cppcheck \
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file \
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g++ \
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gcc \
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gdb \
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astyle \
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cmake \
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cppcheck \
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file \
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git \
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lcov \
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libxml2-dev \
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@ -98,34 +115,45 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
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shellcheck \
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unzip \
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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 "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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# 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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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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# NuttX toolchain (arm-none-eabi-gcc)
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if [[ $INSTALL_NUTTX == "true" ]]; then
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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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automake \
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binutils-dev \
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bison \
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build-essential \
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flex \
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g++-multilib \
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gcc-multilib \
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gdb-multiarch \
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genromfs \
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gettext \
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gperf \
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@ -145,7 +173,12 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
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u-boot-tools \
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util-linux \
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vim-common \
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g++-arm-linux-gnueabihf \
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gcc-arm-linux-gnueabihf \
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g++-aarch64-linux-gnu \
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gcc-aarch64-linux-gnu \
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;
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if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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kconfig-frontends \
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@ -158,78 +191,147 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
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sudo usermod -a -G dialout $USER
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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_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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if [ $(which arm-none-eabi-gcc) ]; then
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GCC_VER_STR=$(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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if [[ "$GCC_FOUND_VER" == "1" ]]; then
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echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
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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 $VERBOSE_BAR
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echo
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else
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echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
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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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sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
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echo "📌 The arm cross compiler was not found";
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echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
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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 $COMPILER_PATH -C /opt/;
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# add arm-none-eabi-gcc to user's PATH
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exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
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if grep -Fxq "$exportline" $HOME/.profile; then
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exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
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if [[ $INSIDE_DOCKER == "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" $HOME/.profile; then
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echo "${NUTTX_GCC_VERSION} path already set.";
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else
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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 $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 "Installing PX4 simulation dependencies"
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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 $VERBOSE_BAR
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# General simulation dependencies
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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bc \
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;
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if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
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java_version=11
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elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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java_version=13
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elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
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java_version=11
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else
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java_version=14
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fi
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# Java (jmavsim or fastrtps)
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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ant \
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openjdk-$java_version-jre \
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openjdk-$java_version-jdk \
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libvecmath-java \
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;
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# Set Java 11 as default
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sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
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# Gazebo
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if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
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gazebo_version=9
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gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
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elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
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gazebo_packages="gazebo libgazebo-dev"
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else
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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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fi
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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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@ -257,7 +359,26 @@ if [[ $INSTALL_SIM == "true" ]]; then
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fi
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fi
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if [[ $INSTALL_NUTTX == "true" ]]; then
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echo
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echo "Relogin or reboot computer before attempting to build NuttX targets"
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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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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 $VERBOSE_BAR
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echo
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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 $VERBOSE_BAR
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echo
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