Ardupilot Install Script Fix 2
This commit is contained in:
@@ -1,22 +1,17 @@
|
||||
#!/bin/bash
|
||||
# =============================================================================
|
||||
# ArduPilot ROS 2 + Gazebo Installation Script
|
||||
# ArduPilot SITL + Gazebo Installation Script (MAVLink Mode)
|
||||
# =============================================================================
|
||||
# Installs the official ArduPilot ROS 2 packages with DDS and Gazebo support.
|
||||
# Installs ArduPilot SITL with the ardupilot_gazebo plugin.
|
||||
# This uses MAVLink instead of DDS - simpler and more reliable.
|
||||
#
|
||||
# Usage: ./install_ardupilot.sh
|
||||
#
|
||||
# This installs:
|
||||
# 1. Micro-XRCE-DDS-Gen (required for DDS)
|
||||
# 2. ArduPilot SITL with DDS support
|
||||
# 3. ardupilot_gz - ArduPilot Gazebo integration
|
||||
# 4. MAVProxy ground control station
|
||||
# =============================================================================
|
||||
|
||||
set -e
|
||||
|
||||
echo "=============================================="
|
||||
echo " ArduPilot ROS 2 + Gazebo Installation"
|
||||
echo " ArduPilot SITL + Gazebo Installation"
|
||||
echo "=============================================="
|
||||
echo ""
|
||||
|
||||
@@ -25,175 +20,111 @@ SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
|
||||
|
||||
# Directories
|
||||
ARDUPILOT_WS="$HOME/ardu_ws"
|
||||
ARDUPILOT_HOME="$HOME/ardupilot"
|
||||
ARDUPILOT_GZ="$HOME/ardupilot_gazebo"
|
||||
|
||||
# Check for ROS 2
|
||||
if [ ! -f "/opt/ros/humble/setup.bash" ] && [ ! -f "/opt/ros/jazzy/setup.bash" ]; then
|
||||
echo "[ERROR] ROS 2 not found!"
|
||||
echo "Install with: ./setup/install_ubuntu.sh"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Source ROS 2
|
||||
if [ -f "/opt/ros/humble/setup.bash" ]; then
|
||||
source /opt/ros/humble/setup.bash
|
||||
ROS_DISTRO="humble"
|
||||
elif [ -f "/opt/ros/jazzy/setup.bash" ]; then
|
||||
source /opt/ros/jazzy/setup.bash
|
||||
ROS_DISTRO="jazzy"
|
||||
else
|
||||
echo "[WARN] ROS 2 not found, will install in standalone mode"
|
||||
ROS_DISTRO=""
|
||||
fi
|
||||
|
||||
GZ_VERSION="harmonic"
|
||||
|
||||
echo "[INFO] ROS 2: $ROS_DISTRO"
|
||||
echo "[INFO] Gazebo: $GZ_VERSION"
|
||||
echo "[INFO] Workspace: $ARDUPILOT_WS"
|
||||
echo "[INFO] ROS 2: ${ROS_DISTRO:-not installed}"
|
||||
echo ""
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 1: System Dependencies
|
||||
# -----------------------------------------------------------------------------
|
||||
echo "[STEP 1/7] Installing system dependencies..."
|
||||
echo "[STEP 1/5] Installing system dependencies..."
|
||||
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y \
|
||||
git cmake build-essential \
|
||||
python3 python3-pip python3-dev python3-venv \
|
||||
python3-vcstool python3-rosdep python3-colcon-common-extensions \
|
||||
wget curl default-jre gradle
|
||||
python3 python3-pip python3-dev \
|
||||
wget curl
|
||||
|
||||
echo "[OK] System dependencies"
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 2: Install Micro-XRCE-DDS-Gen (required for DDS)
|
||||
# Step 2: Clone and Setup ArduPilot
|
||||
# -----------------------------------------------------------------------------
|
||||
echo ""
|
||||
echo "[STEP 2/7] Installing Micro-XRCE-DDS-Gen..."
|
||||
echo "[STEP 2/5] Setting up ArduPilot SITL..."
|
||||
|
||||
XRCEDDSGEN_DIR="$HOME/Micro-XRCE-DDS-Gen"
|
||||
|
||||
if ! command -v microxrceddsgen &> /dev/null; then
|
||||
if [ ! -d "$XRCEDDSGEN_DIR" ]; then
|
||||
git clone --recurse-submodules https://github.com/eProsima/Micro-XRCE-DDS-Gen.git "$XRCEDDSGEN_DIR"
|
||||
fi
|
||||
|
||||
cd "$XRCEDDSGEN_DIR"
|
||||
./gradlew assemble
|
||||
|
||||
# Add to PATH
|
||||
if ! grep -q "Micro-XRCE-DDS-Gen" ~/.bashrc; then
|
||||
echo "" >> ~/.bashrc
|
||||
echo "# Micro-XRCE-DDS-Gen" >> ~/.bashrc
|
||||
echo "export PATH=\$PATH:$XRCEDDSGEN_DIR/scripts" >> ~/.bashrc
|
||||
fi
|
||||
export PATH=$PATH:$XRCEDDSGEN_DIR/scripts
|
||||
|
||||
echo "[OK] Micro-XRCE-DDS-Gen installed"
|
||||
else
|
||||
echo "[OK] Micro-XRCE-DDS-Gen already installed"
|
||||
if [ ! -d "$ARDUPILOT_HOME" ]; then
|
||||
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git "$ARDUPILOT_HOME"
|
||||
fi
|
||||
|
||||
cd "$ARDUPILOT_HOME"
|
||||
|
||||
# Install ArduPilot prerequisites
|
||||
Tools/environment_install/install-prereqs-ubuntu.sh -y
|
||||
. ~/.profile || true
|
||||
|
||||
# Build ArduCopter SITL (without DDS to avoid complexity)
|
||||
./waf configure --board sitl
|
||||
./waf copter
|
||||
|
||||
echo "[OK] ArduPilot SITL built"
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 3: Install Gazebo Harmonic
|
||||
# -----------------------------------------------------------------------------
|
||||
echo ""
|
||||
echo "[STEP 3/7] Installing Gazebo Harmonic..."
|
||||
echo "[STEP 3/5] Installing Gazebo..."
|
||||
|
||||
# Add Gazebo repo
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y gz-harmonic || echo "[WARN] Could not install gz-harmonic"
|
||||
|
||||
echo "[OK] Gazebo"
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 4: Create ArduPilot Workspace
|
||||
# -----------------------------------------------------------------------------
|
||||
echo ""
|
||||
echo "[STEP 4/7] Setting up ArduPilot workspace..."
|
||||
|
||||
mkdir -p "$ARDUPILOT_WS/src"
|
||||
cd "$ARDUPILOT_WS"
|
||||
|
||||
# Import ArduPilot repos
|
||||
vcs import --recursive src < <(cat << 'EOF'
|
||||
repositories:
|
||||
ardupilot:
|
||||
type: git
|
||||
url: https://github.com/ArduPilot/ardupilot.git
|
||||
version: master
|
||||
ardupilot_gz:
|
||||
type: git
|
||||
url: https://github.com/ArduPilot/ardupilot_gz.git
|
||||
version: main
|
||||
EOF
|
||||
) || true
|
||||
|
||||
# Import Gazebo packages
|
||||
vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos --recursive src 2>/dev/null || true
|
||||
|
||||
echo "[OK] Repositories imported"
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 5: Install ArduPilot Prerequisites
|
||||
# -----------------------------------------------------------------------------
|
||||
echo ""
|
||||
echo "[STEP 5/7] Installing ArduPilot prerequisites..."
|
||||
|
||||
cd "$ARDUPILOT_WS/src/ardupilot"
|
||||
Tools/environment_install/install-prereqs-ubuntu.sh -y
|
||||
. ~/.profile || true
|
||||
|
||||
echo "[OK] ArduPilot prerequisites"
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 6: Configure rosdep and Build
|
||||
# -----------------------------------------------------------------------------
|
||||
echo ""
|
||||
echo "[STEP 6/7] Building packages..."
|
||||
|
||||
# Configure rosdep
|
||||
if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
|
||||
sudo rosdep init || true
|
||||
fi
|
||||
rosdep update
|
||||
|
||||
# Add Gazebo Harmonic sources
|
||||
sudo wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list \
|
||||
-O /etc/ros/rosdep/sources.list.d/00-gazebo.list 2>/dev/null || true
|
||||
rosdep update || true
|
||||
|
||||
# Install dependencies
|
||||
cd "$ARDUPILOT_WS"
|
||||
rosdep install --from-paths src --ignore-src -y || true
|
||||
|
||||
# Build
|
||||
source /opt/ros/$ROS_DISTRO/setup.bash
|
||||
export GZ_VERSION=$GZ_VERSION
|
||||
colcon build --packages-up-to ardupilot_gz_bringup --symlink-install --allow-overriding ros_gz_bridge ros_gz_sim sdformat_urdf || {
|
||||
echo "[WARN] Full build failed, trying ardupilot_sitl only..."
|
||||
colcon build --packages-up-to ardupilot_sitl --symlink-install
|
||||
# Install Gazebo
|
||||
sudo apt-get install -y gz-harmonic || sudo apt-get install -y gz-garden || {
|
||||
echo "[WARN] Could not install Gazebo Harmonic/Garden"
|
||||
}
|
||||
|
||||
echo "[OK] Build complete"
|
||||
echo "[OK] Gazebo installed"
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 7: Configure Environment
|
||||
# Step 4: Build ArduPilot Gazebo Plugin
|
||||
# -----------------------------------------------------------------------------
|
||||
echo ""
|
||||
echo "[STEP 7/7] Configuring environment..."
|
||||
echo "[STEP 4/5] Building ArduPilot Gazebo plugin..."
|
||||
|
||||
BASHRC_MARKER="# === ArduPilot ROS 2 ==="
|
||||
if [ ! -d "$ARDUPILOT_GZ" ]; then
|
||||
git clone https://github.com/ArduPilot/ardupilot_gazebo.git "$ARDUPILOT_GZ"
|
||||
fi
|
||||
|
||||
cd "$ARDUPILOT_GZ"
|
||||
mkdir -p build && cd build
|
||||
cmake .. -DCMAKE_BUILD_TYPE=Release
|
||||
make -j$(nproc)
|
||||
|
||||
echo "[OK] ArduPilot Gazebo plugin built"
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 5: Configure Environment
|
||||
# -----------------------------------------------------------------------------
|
||||
echo ""
|
||||
echo "[STEP 5/5] Configuring environment..."
|
||||
|
||||
BASHRC_MARKER="# === ArduPilot SITL ==="
|
||||
|
||||
if ! grep -q "$BASHRC_MARKER" ~/.bashrc; then
|
||||
cat >> ~/.bashrc << EOF
|
||||
|
||||
$BASHRC_MARKER
|
||||
export GZ_VERSION=$GZ_VERSION
|
||||
export PATH=\$PATH:$ARDUPILOT_WS/src/ardupilot/Tools/autotest
|
||||
export ARDUPILOT_HOME=$ARDUPILOT_HOME
|
||||
export PATH=\$PATH:$ARDUPILOT_HOME/Tools/autotest
|
||||
export PATH=\$PATH:\$HOME/.local/bin
|
||||
source /opt/ros/$ROS_DISTRO/setup.bash
|
||||
[ -f $ARDUPILOT_WS/install/setup.bash ] && source $ARDUPILOT_WS/install/setup.bash
|
||||
export GZ_SIM_SYSTEM_PLUGIN_PATH=$ARDUPILOT_GZ/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
|
||||
export GZ_SIM_RESOURCE_PATH=$ARDUPILOT_GZ/models:$ARDUPILOT_GZ/worlds:\$GZ_SIM_RESOURCE_PATH
|
||||
EOF
|
||||
echo "[OK] Environment configured"
|
||||
else
|
||||
@@ -201,20 +132,23 @@ else
|
||||
fi
|
||||
|
||||
# Install MAVProxy
|
||||
pip3 install --user pymavlink mavproxy || true
|
||||
pip3 install --user pymavlink mavproxy
|
||||
|
||||
# Verify
|
||||
# -----------------------------------------------------------------------------
|
||||
# Verification
|
||||
# -----------------------------------------------------------------------------
|
||||
echo ""
|
||||
echo "=============================================="
|
||||
echo " Verifying Installation"
|
||||
echo "=============================================="
|
||||
|
||||
source "$ARDUPILOT_WS/install/setup.bash" 2>/dev/null || true
|
||||
source ~/.bashrc 2>/dev/null || true
|
||||
export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin
|
||||
|
||||
ros2 pkg list 2>/dev/null | grep -q "ardupilot_sitl" && echo "[OK] ardupilot_sitl" || echo "[WARN] ardupilot_sitl not found"
|
||||
ros2 pkg list 2>/dev/null | grep -q "ardupilot_gz_bringup" && echo "[OK] ardupilot_gz_bringup" || echo "[WARN] ardupilot_gz_bringup not found"
|
||||
command -v microxrceddsgen &> /dev/null && echo "[OK] microxrceddsgen" || echo "[WARN] microxrceddsgen not in PATH"
|
||||
command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH (add ~/.local/bin to PATH)"
|
||||
command -v sim_vehicle.py &> /dev/null && echo "[OK] sim_vehicle.py" || echo "[WARN] sim_vehicle.py not found"
|
||||
command -v gz &> /dev/null && echo "[OK] Gazebo (gz)" || echo "[WARN] Gazebo not found"
|
||||
command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH"
|
||||
[ -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ] && echo "[OK] ArduPilot Gazebo plugin" || echo "[WARN] Plugin not built"
|
||||
|
||||
echo ""
|
||||
echo "=============================================="
|
||||
@@ -225,10 +159,12 @@ echo "Run: source ~/.bashrc"
|
||||
echo ""
|
||||
echo "Quick Start (2 terminals):"
|
||||
echo ""
|
||||
echo "Terminal 1:"
|
||||
echo " source ~/ardu_ws/install/setup.bash"
|
||||
echo " ros2 launch ardupilot_gz_bringup iris_runway.launch.py"
|
||||
echo "Terminal 1 - Start Gazebo:"
|
||||
echo " gz sim -v4 -r $ARDUPILOT_GZ/worlds/iris_runway.sdf"
|
||||
echo ""
|
||||
echo "Terminal 2:"
|
||||
echo " mavproxy.py --console --map --master=:14550"
|
||||
echo "Terminal 2 - Start SITL + MAVProxy:"
|
||||
echo " sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
|
||||
echo ""
|
||||
echo "Or use sim_vehicle.py standalone (no Gazebo):"
|
||||
echo " sim_vehicle.py -v ArduCopter --console --map"
|
||||
echo ""
|
||||
|
||||
Reference in New Issue
Block a user