mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
115568eb82
- 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
343 lines
8.9 KiB
Bash
Executable File
343 lines
8.9 KiB
Bash
Executable File
#! /usr/bin/env bash
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set -e
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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_GAZEBO_CLASSIC="true"
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INSTALL_GAZEBO_IGNITION="true"
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INSTALL_ARCH=$(uname -m)
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INSIDE_DOCKER="false"
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# Parse arguments
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for arg in "$@"
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do
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if [[ $arg == "--no-nuttx" ]]; then
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INSTALL_NUTTX="false"
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fi
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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 == "--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 [[ $arg == "--help" ]]; then
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usage
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exit 0
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fi
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done
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# Script directory
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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# Check requirements.txt exists (script not run in source tree)
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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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exit 1
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fi
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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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exit 1
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elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
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echo "Ubuntu 16.04 is no longer supported"
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exit 1
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elif [[ "${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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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 ""
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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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echo
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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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build-essential \
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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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libxml2-utils \
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make \
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ninja-build \
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python3 \
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python3-dev \
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python3-pip \
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python3-setuptools \
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python3-wheel \
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rsync \
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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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# Python 3 dependencies
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echo
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echo $VERBOSE_BAR
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echo "🍻 Installing Python dependencies"
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echo $VERBOSE_BAR
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echo
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python3 -m pip install -r "$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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echo
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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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flex \
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genromfs \
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gettext \
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gperf \
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libelf-dev \
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libexpat-dev \
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libgmp-dev \
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libisl-dev \
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libmpc-dev \
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libmpfr-dev \
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libncurses5 \
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libncurses5-dev \
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libncursesw5-dev \
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libtool \
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pkg-config \
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screen \
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texinfo \
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u-boot-tools \
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util-linux \
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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" ]] || [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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kconfig-frontends \
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;
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fi
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if [ -n "$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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fi
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NUTTX_GCC_VERSION="10.3-2021.10"
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echo
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echo $VERBOSE_BAR
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echo "🍻 Verifying arm-none-eabi-gcc version (${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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GCC_VER_STR=$(arm-none-eabi-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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echo "📌 Skipping installation, the arm cross compiler was found"
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echo $VERBOSE_BAR
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echo
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else
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echo "📌 The arm cross compiler was not found";
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echo " * Installing arm-none-eabi-gcc-${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 "/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 $COMPILER_PATH -C /opt/;
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# add arm-none-eabi-gcc to user's PATH
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exportline="export PATH=\"/opt/${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 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_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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;
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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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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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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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dmidecode \
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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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gstreamer1.0-plugins-ugly \
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gstreamer1.0-libav \
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libeigen3-dev \
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libgstreamer-plugins-base1.0-dev \
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libimage-exiftool-perl \
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libopencv-dev \
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libxml2-utils \
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pkg-config \
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protobuf-compiler \
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;
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if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
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# fix VMWare 3D graphics acceleration for gazebo
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echo "export SVGA_VGPU10=0" >> ~/.profile
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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 /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 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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echo
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echo
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echo $VERBOSE_BAR
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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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