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Install dependencies for vanilla ubuntu image (aws-robotics#133)
* install ros and vcs dependencies * update comments * update readme * take --install-ros arg * address review comments * use matrix.gazebo instead of output.gazebo * improve error msgs * bump github action tag Co-authored-by: chengke <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,14 +1,112 @@ | ||
| #!/usr/bin/env bash | ||
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| set -ex | ||
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| apt-get update | ||
| source /opt/ros/$ROS_DISTRO/setup.sh | ||
| rosdep update | ||
| while [[ "$#" -gt 0 ]]; do | ||
| case $1 in | ||
| --install-ros) ros_distro=$2; shift ;; | ||
| esac | ||
| shift | ||
| done | ||
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| supported_ros_distros=("melodic") | ||
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| install_ros(){ | ||
| echo "Installing ROS $ros_distro" | ||
| #Install ROS Prerequisites | ||
| apt update | ||
| apt-get install -y lsb-release gnupg2 curl && apt-get clean all | ||
| rm -f "/etc/apt/sources.list.d/ros-latest.list" | ||
| sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' | ||
| apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 | ||
| curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add - | ||
| apt update | ||
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| #Install ROS $ros_distro | ||
| apt install -y ros-$ros_distro-desktop-full | ||
| source /opt/ros/$ros_distro/setup.bash | ||
| } | ||
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| setup_sample_app(){ | ||
| echo "Setting up sample application. Installing tools and dependencies." | ||
| #setup key for colcon bundle | ||
| apt-key adv --fetch-keys 'http://packages.osrfoundation.org/gazebo.key' | ||
| apt update | ||
| apt install -y python-rosdep git | ||
| if [ ! -f "/etc/ros/rosdep/sources.list.d/20-default.list" ]; | ||
| then | ||
| rosdep init | ||
| fi | ||
| rosdep update | ||
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| apt-get install -y python3-apt python3-pip python3-vcstool | ||
| pip3 install -U setuptools colcon-common-extensions colcon-ros-bundle | ||
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| cd robot_ws | ||
| vcs import < .rosinstall | ||
| rosdep install --from-paths src --ignore-src -r -y | ||
| cd .. | ||
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| cd simulation_ws | ||
| vcs import < .rosinstall | ||
| rosdep install --from-paths src --ignore-src -r -y | ||
| cd .. | ||
| } | ||
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| if [ -d "/opt/ros" ]; | ||
| then | ||
| echo "A ROS installation already exists in your environment." | ||
| if [ ! -z "$ros_distro" ]; | ||
| then | ||
| echo "Ignoring request to install $ros_distro because a ROS installation already exists in your environment." | ||
| fi | ||
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| found_supported_ros=false | ||
| #check if their ros installation(s) are supported | ||
| for distro in $supported_ros_distros | ||
| do | ||
| if [ -d "/opt/ros/$distro" ] | ||
| then | ||
| source /opt/ros/$distro/setup.bash | ||
| #save to verify installation below | ||
| ros_distro=$distro | ||
| found_supported_ros=true | ||
| break | ||
| fi | ||
| done | ||
|
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| #if supported versions are not found | ||
| if [ ! found_supported_ros ] | ||
| then | ||
| echo "ERROR: your installed ROS Distro(s) is not supported. Exiting." | ||
| exit 1 | ||
| fi | ||
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| elif [ -z "$ros_distro" ]; | ||
| then | ||
| echo "No ROS Installation was found and no ROS Distro was specified. Defaulting to installing ROS Melodic" | ||
| ros_distro="melodic" | ||
| install_ros | ||
| source /opt/ros/$ros_distro/setup.bash | ||
| elif [[ " ${supported_ros_distros[@]} " =~ " ${ros_distro} " ]]; #check if item in list | ||
| then | ||
| echo "No ROS Installation found. Installing $ros_distro" | ||
| install_ros | ||
| source /opt/ros/$ros_distro/setup.bash | ||
| elif [[ ! " ${supported_ros_distros[@]} " =~ " ${ros_distro} " ]]; #check if item in list | ||
| then | ||
| echo "The selected ROS Distro $ros_distro is not supported. Exiting." | ||
| exit 0 | ||
| fi | ||
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| #Verify Installation | ||
| if [ $ROS_DISTRO != $ros_distro ]; | ||
| then | ||
| echo "The ROS installation was unsuccessful, Sample Application setup cannot continue. Exiting." | ||
| exit 1 | ||
| else | ||
| echo "ROS Installation was successful, continuing with Sample Application setup." | ||
| fi | ||
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| apt-get install -y python3-apt python3-pip | ||
| pip3 install -U setuptools | ||
| pip3 install -U colcon-common-extensions colcon-ros-bundle | ||
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| rosdep install --from-paths ./robot_ws/src --ignore-src -r -y | ||
| rosdep install --from-paths ./simulation_ws/src --ignore-src -r -y | ||
| setup_sample_app |