.github/workflows: expand ubuntu setup script test matrix

.github/workflows/compile_ubuntu.yml

@@ -1,46 +0,0 @@
-name: Ubuntu environment build
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  build_and_test:
-    name: Build and Test
-    strategy:
-      fail-fast: false
-      matrix:
-        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: ${{ matrix.version }}
-      volumes:
-        - /github/workspace:/github/workspace
-    steps:
-
-      - name: Fix git in container
-        run: |
-          # we only need this because we are running the job in a container
-          # when checkout pulls git it does it in a shared volume
-          # and file ownership changes between steps
-          # first we install git since its missing from the base image
-          # then we mark the directory as safe for other instances
-          # of git to use.
-          apt update && apt install git -y
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-
-      - name: Install Deps, Build, and Make Quick Check
-        run: |
-          # we need to install dependencies and build on the same step
-          # given the stateless nature of docker images
-          ./Tools/setup/ubuntu.sh
-          make quick_check

.github/workflows/setup_ubuntu.yml

@@ -0,0 +1,43 @@
+name: PX4 setup script (ubuntu)
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  run_setup_and_test:
+    name: PX4 setup script
+    strategy:
+      fail-fast: false
+      matrix:
+        version: [
+          'ubuntu:22.04',
+          'ubuntu:24.04',
+          'ubuntu:24.10'
+          ]
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: ${{ matrix.version }}
+      volumes:
+        - /github/workspace:/github/workspace
+
+    steps:
+      - name: Install git
+        run: |
+          # git needed for checkout in minimal container
+          apt-get update && apt-get install git -y
+          git config --global --add safe.directory '*'
+
+      - uses: actions/checkout@v4
+
+      - name: Run setup script and verify (make quick_check)
+        run: |
+          ./Tools/setup/ubuntu.sh
+          make quick_check

Tools/setup/ubuntu.sh

@@ -1,19 +1,18 @@
 #! /usr/bin/env bash
 
-set -e
+#set -e
 
-## Bash script to setup PX4 development environment on Ubuntu LTS (24.04, 22.04).
+## Bash script to setup PX4 development environment on Ubuntu
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
+## - Common dependencies and tools for PX4 development
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
+## - Gazebo simulator (omit with arg: --no-sim-tools)
 ##
 
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
-INSTALL_ARCH=`uname -m`
 
 # Parse arguments
 for arg in "$@"
@@ -55,26 +54,29 @@ fi
 # check ubuntu version
 # otherwise warn and point to docker?
 UBUNTU_RELEASE="`lsb_release -rs`"
-echo "Ubuntu ${UBUNTU_RELEASE}"
 
-echo
+
 echo "Installing PX4 general dependencies"
 
 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
+	bc \
 	build-essential \
 	cmake \
 	cppcheck \
+	curl \
 	file \
 	g++ \
 	gcc \
 	gdb \
 	git \
+	gnupg \
 	lcov \
 	libssl-dev \
 	libxml2-dev \
 	libxml2-utils \
+	lsb-release \
 	make \
 	ninja-build \
 	python3 \
@@ -88,9 +90,8 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	zip \
 	;
 
-# Python3 dependencies
+# PX4 python dependencies
-echo
+echo "Installing PX4 dependencies"
-echo "Installing PX4 Python3 dependencies"
 PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
 REQUIRED_VERSION="3.11"
 if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
@@ -104,11 +105,10 @@ else
 	fi
 fi
 
-# NuttX toolchain (arm-none-eabi-gcc)
+# NuttX toolchain
 if [[ $INSTALL_NUTTX == "true" ]]; then
 
-	echo
+	echo "Installing PX4 NuttX dependencies"
-	echo "Installing NuttX dependencies"
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
@@ -154,78 +154,6 @@ fi
 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then
 
-	echo
+	sudo ${DIR}/ubuntu_gazebo.sh
-	echo "Installing PX4 simulation dependencies"
-
-	# General simulation dependencies
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		bc \
-		;
-
-	# Gazebo / Gazebo classic installation
-	if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-		# Update list, since new gazebo-stable.list has been added
-		sudo apt-get update -y --quiet
-
-		# Install Gazebo classic
-		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-			gazebo_classic_version=9
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		else
-			# default and Ubuntu 20.04
-			gazebo_classic_version=11
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		fi
-	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
-		echo "Gazebo (Garden) will be installed"
-		echo "Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-
-		sudo apt-get update -y --quiet
-
-		# Install Gazebo
-		gazebo_packages="gz-garden"
-	else
-		# Expects Ubuntu 22.04 > by default
-		echo "Gazebo (Harmonic) will be installed"
-		echo "Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-		sudo apt-get update -y --quiet
-
-		# Install Gazebo
-		gazebo_packages="gz-harmonic libunwind-dev"
-
-		if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
-			gazebo_packages="$gazebo_packages cppzmq-dev"
-		fi
-	fi
-
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		dmidecode \
-		$gazebo_packages \
-		gstreamer1.0-plugins-bad \
-		gstreamer1.0-plugins-base \
-		gstreamer1.0-plugins-good \
-		gstreamer1.0-plugins-ugly \
-		gstreamer1.0-libav \
-		libeigen3-dev \
-		libgstreamer-plugins-base1.0-dev \
-		libimage-exiftool-perl \
-		libopencv-dev \
-		libxml2-utils \
-		pkg-config \
-		protobuf-compiler \
-		;
-
-	if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
-		# fix VMWare 3D graphics acceleration for gazebo
-		echo "export SVGA_VGPU10=0" >> ~/.profile
-	fi
 
 fi

Tools/setup/ubuntu_gazebo.sh

@@ -0,0 +1,40 @@
+#! /usr/bin/env bash
+
+set -e
+
+## Bash script to setup Gazebo for PX4 simulation
+
+if [ "$(id -u)" -ne 0 ]; then
+        echo 'This script must be run by root' >&2
+        exit 1
+fi
+
+UBUNTU_RELEASE="`lsb_release -rs`"
+
+export DEBIAN_FRONTEND=noninteractive
+
+# First install some necessary tools:
+apt-get update
+apt-get -y --quiet --no-install-recommends install \
+	lsb-release \
+	curl \
+	gnupg \
+	;
+
+if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
+
+	apt-get -y --quiet --no-install-recommends install \
+		cppzmq-dev \
+		libunwind-dev \
+		;
+fi
+
+echo "Installing Gazebo (Harmonic)"
+
+curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+apt-get update
+apt-get -y --quiet --no-install-recommends install \
+	gz-harmonic \
+	;

Tools/setup/ubuntu_gazebo_classic.sh

@@ -0,0 +1,59 @@
+#! /usr/bin/env bash
+
+set -e
+
+## Bash script to setup Gazebo classic for PX4 simulation
+
+UBUNTU_RELEASE="`lsb_release -rs`"
+
+if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+
+	echo "Installing Gazebo classic"
+
+	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+
+	sudo apt-get update -y --quiet
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		gazebo11 \
+		gstreamer1.0-libav \
+		gstreamer1.0-plugins-bad \
+		gstreamer1.0-plugins-base \
+		gstreamer1.0-plugins-good \
+		gstreamer1.0-plugins-ugly \
+		libeigen3-dev \
+		libgazebo11-dev \
+		libgstreamer-plugins-base1.0-dev \
+		libimage-exiftool-perl \
+		libopencv-dev \
+		libxml2-utils \
+		pkg-config \
+		protobuf-compiler \
+		;
+
+elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+
+	sudo add-apt-repository ppa:openrobotics/gazebo11-gz-cli
+	sudo apt-get update -y --quiet
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install gazebo11
+
+elif [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
+
+	sudo add-apt-repository ppa:openrobotics/gazebo11-gz-cli
+	sudo apt-get update -y --quiet
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install gazebo11
+
+else
+	# otherwise try the one-liner (no promises)
+
+	# First install some necessary tools:
+	sudo apt-get update -y --quiet
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		lsb-release \
+		curl \
+		gnupg \
+		;
+
+	# Install
+	curl -sSL http://get.gazebosim.org | sh
+fi