ubuntu_sim_ros_melodic.sh
链接: link.
下面为打开后的具体情况
#!/bin/bash
## Bash script for setting up ROS Melodic (with Gazebo 9) development environment for PX4 on Ubuntu LTS (18.04).
## It installs the common dependencies for all targets (including Qt Creator)
##
## Installs:
## - Common dependencies libraries and tools as defined in `ubuntu_sim_common_deps.sh`
## - ROS Melodic (including Gazebo9)
## - MAVROS
if [[ $(lsb_release -sc) == *"xenial"* ]]; then
echo "OS version detected as $(lsb_release -sc) (16.04)."
echo "ROS Melodic requires at least Ubuntu 18.04."
echo "Exiting ...."
return 1;
fi
echo "Downloading dependent script 'ubuntu_sim_common_deps.sh'"
# Source the ubuntu_sim_common_deps.sh script directly from github
common_deps=$(wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_common_deps.sh -O -)
wget_return_code=$?
# If there was an error downloading the dependent script, we must warn the user and exit at this point.
if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'ubuntu_sim_common_deps.sh'. Sorry but I cannot proceed further :("; exit 1; fi
# Otherwise source the downloaded script.
. <(echo "${common_deps}")
# ROS Melodic
## Gazebo simulator dependencies
sudo apt-get install protobuf-compiler libeigen3-dev libopencv-dev -y
## ROS Gazebo: http://wiki.ros.org/melodic/Installation/Ubuntu
## Setup keys
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
## For keyserver connection problems substitute hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 above.
sudo apt-get update
## Get ROS/Gazebo
sudo apt install ros-melodic-desktop-full -y
## Initialize rosdep
sudo rosdep init
rosdep update
## Setup environment variables
rossource="source /opt/ros/melodic/setup.bash"
if grep -Fxq "$rossource" ~/.bashrc; then echo ROS setup.bash already in .bashrc;
else echo "$rossource" >> ~/.bashrc; fi
eval $rossource
## Install rosinstall and other dependencies
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential -y
# MAVROS: https://dev.px4.io/en/ros/mavros_installation.html
## Install dependencies
sudo apt-get install python-catkin-tools python-rosinstall-generator -y
## Create catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src
## Install MAVLink
###we use the Kinetic reference for all ROS distros as it's not distro-specific and up to date
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
## Build MAVROS
### Get source (upstream - released)
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
### Setup workspace & install deps
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src
if ! rosdep install --from-paths src --ignore-src -y; then
# (Use echo to trim leading/trailing whitespaces from the unsupported OS name
unsupported_os=$(echo $(rosdep db 2>&1| grep Unsupported | awk -F: '{print $2}'))
rosdep install --from-paths src --ignore-src --rosdistro melodic -y --os ubuntu:bionic
fi
if [[ ! -z $unsupported_os ]]; then
>&2 echo -e "\033[31mYour OS ($unsupported_os) is unsupported. Assumed an Ubuntu 18.04 installation,"
>&2 echo -e "and continued with the installation, but if things are not working as"
>&2 echo -e "expected you have been warned."
fi
#Install geographiclib
sudo apt install geographiclib-tools -y
echo "Downloading dependent script 'install_geographiclib_datasets.sh'"
# Source the install_geographiclib_datasets.sh script directly from github
install_geo=$(wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh -O -)
wget_return_code=$?
# If there was an error downloading the dependent script, we must warn the user and exit at this point.
if [[ $wget_return_code -ne 0 ]]; then echo "Error downloading 'install_geographiclib_datasets.sh'. Sorry but I cannot proceed further :("; exit 1; fi
# Otherwise source the downloaded script.
sudo bash -c "$install_geo"
## Build!
catkin build
## Re-source environment to reflect new packages/build environment
catkin_ws_source="source ~/catkin_ws/devel/setup.bash"
if grep -Fxq "$catkin_ws_source" ~/.bashrc; then echo ROS catkin_ws setup.bash already in .bashrc;
else echo "$catkin_ws_source" >> ~/.bashrc; fi
eval $catkin_ws_source
common_deps
https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_common_deps.sh
#!/bin/bash
## Bash script for setting up a PX4 development environment on Ubuntu LTS (16.04).
## It can be used for installing simulators (only) or for installing the preconditions for Snapdragon Flight or Raspberry Pi.
##
## Installs:
## - Common dependencies and tools for all targets (including: Ninja build system, pyulog)
## - jMAVSim simulator dependencies
## - PX4/Firmware source (to ~/src/Firmware/)
# Preventing sudo timeout https://serverfault.com/a/833888
trap "exit" INT TERM; trap "kill 0" EXIT; sudo -v || exit $?; sleep 1; while true; do sleep 60; sudo -nv; done 2>/dev/null &
# Ubuntu Config
echo "Remove modemmanager"
sudo apt-get remove modemmanager -y
echo "Add user to dialout group for serial port access (reboot required)"
sudo usermod -a -G dialout $USER
# Common dependencies
echo "Installing common dependencies"
sudo apt-get update -y
sudo apt-get install git zip cmake build-essential genromfs ninja-build exiftool astyle -y
# make sure xxd is installed, dedicated xxd package since Ubuntu 18.04 but was squashed into vim-common before
which xxd || sudo apt install xxd -y || sudo apt-get install vim-common --no-install-recommends -y
# Required python packages
sudo apt-get install python-argparse python-empy python-toml python-numpy python-dev python-pip -y
sudo -H pip install --upgrade pip
sudo -H pip install pandas jinja2 pyserial pyyaml
# optional python tools
sudo -H pip install pyulog
# jMAVSim simulator dependencies
echo "Installing jMAVSim simulator dependencies"
sudo apt-get install ant openjdk-8-jdk openjdk-8-jre -y
install_geo
https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
#!/bin/bash
# Script to install the model datasets required
# to GeographicLib apply certain conversions
if [[ $UID != 0 ]]; then
echo "This script require root privileges!" 1>&2
exit 1
fi
# Install datasets
run_get() {
local dir="$1"
local tool="$2"
local model="$3"
files=$(shopt -s nullglob dotglob; echo /usr/share/GeographicLib/$dir/$model* /usr/local/share/GeographicLib/$dir/$model*)
if (( ${#files} )); then
echo "GeographicLib $tool dataset $model already exists, skipping"
return
fi
echo "Installing GeographicLib $tool $model"
geographiclib-get-$tool $model >/dev/null 2>&1
files=$(shopt -s nullglob dotglob; echo /usr/share/GeographicLib/$dir/$model* /usr/local/share/GeographicLib/$dir/$model*)
if (( ! ${#files} )); then
echo "Error while installing GeographicLib $tool $model"
return
fi
}
# check which command script is available
if hash geographiclib-get-geoids; then
run_get geoids geoids egm96-5
run_get gravity gravity egm96
run_get magnetic magnetic emm2015
elif hash geographiclib-datasets-download; then # only allows install the goid model dataset
geographiclib-datasets-download egm96_5;
else
echo "OS not supported! Check GeographicLib page for supported OS and lib versions." 1>&2
fi
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