Scripts and simulation packaging update
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@@ -2,23 +2,19 @@
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# =============================================================================
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# Drone Simulation - Ubuntu/Debian Installation Script
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# =============================================================================
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# Installs ROS 2 Humble/Jazzy, PyBullet, and all required dependencies
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# Uses a Python virtual environment for pip packages (PEP 668 compliant)
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# Installs ROS 2, Gazebo, PyBullet, and all required dependencies
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#
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# Usage:
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# chmod +x install_ubuntu.sh
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# ./install_ubuntu.sh
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#
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# Tested on: Ubuntu 22.04 LTS, Ubuntu 24.04 LTS
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# Usage: ./install_ubuntu.sh
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# =============================================================================
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set -e # Exit on error
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set -e
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echo "=============================================="
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echo " Drone Simulation - Ubuntu Installation"
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echo "=============================================="
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echo ""
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# Get the script directory and project root
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# Get script directory and project root
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
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VENV_DIR="$PROJECT_ROOT/venv"
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@@ -27,71 +23,87 @@ echo "[INFO] Project root: $PROJECT_ROOT"
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echo "[INFO] Virtual environment: $VENV_DIR"
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# Detect Ubuntu version
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UBUNTU_VERSION=$(lsb_release -rs)
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echo "[INFO] Detected Ubuntu version: $UBUNTU_VERSION"
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# Determine ROS 2 distribution based on Ubuntu version
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if [[ "$UBUNTU_VERSION" == "22.04" ]]; then
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ROS_DISTRO="humble"
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elif [[ "$UBUNTU_VERSION" == "24.04" ]]; then
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ROS_DISTRO="jazzy"
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if [ -f /etc/os-release ]; then
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. /etc/os-release
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UBUNTU_VERSION=$VERSION_ID
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echo "[INFO] Detected: $NAME $VERSION_ID"
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else
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echo "[WARN] Ubuntu $UBUNTU_VERSION may not be officially supported."
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echo " Attempting to install ROS 2 Humble..."
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echo "[WARN] Could not detect Ubuntu version, assuming 22.04"
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UBUNTU_VERSION="22.04"
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fi
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# -----------------------------------------------------------------------------
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# Step 1: System Dependencies
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 1/8] Installing system dependencies..."
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sudo apt-get update
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sudo apt-get install -y \
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curl \
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gnupg \
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lsb-release \
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software-properties-common \
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python3 \
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python3-pip \
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python3-venv \
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git
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echo "[INFO] System dependencies installed"
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# -----------------------------------------------------------------------------
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# Step 2: ROS 2 Repository Setup
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 2/8] Setting up ROS 2 repository..."
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# Add ROS 2 GPG key
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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# Determine ROS 2 distro based on Ubuntu version
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if [ "$UBUNTU_VERSION" = "24.04" ]; then
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ROS_DISTRO="jazzy"
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elif [ "$UBUNTU_VERSION" = "22.04" ]; then
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ROS_DISTRO="humble"
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else
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echo "[WARN] Ubuntu $UBUNTU_VERSION not officially supported, trying humble"
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ROS_DISTRO="humble"
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fi
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echo "[INFO] Will install ROS 2 $ROS_DISTRO"
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echo "[INFO] Using ROS 2 $ROS_DISTRO"
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# -----------------------------------------------------------------------------
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# Step 1: Set Locale
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 1/7] Setting locale..."
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sudo apt update && sudo apt install -y locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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# -----------------------------------------------------------------------------
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# Step 2: Add ROS 2 Repository
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 2/7] Adding ROS 2 apt repository..."
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sudo apt install -y software-properties-common
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sudo add-apt-repository -y universe
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sudo apt update && sudo apt install -y curl
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
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-o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
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| sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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# Add repository
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echo "deb [arch=$(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
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# -----------------------------------------------------------------------------
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# Step 3: Install ROS 2
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 3/8] Installing ROS 2 $ROS_DISTRO..."
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sudo apt update
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sudo apt install -y ros-${ROS_DISTRO}-desktop
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# Install development tools
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sudo apt install -y python3-colcon-common-extensions python3-rosdep
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sudo apt-get update
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-base ros-${ROS_DISTRO}-geometry-msgs ros-${ROS_DISTRO}-std-msgs ros-${ROS_DISTRO}-nav-msgs ros-${ROS_DISTRO}-sensor-msgs
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# Install Gazebo and ROS-Gazebo bridge
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echo "[INFO] Installing Gazebo and ros_gz_bridge..."
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sudo apt install -y ros-${ROS_DISTRO}-ros-gz ros-${ROS_DISTRO}-ros-gz-bridge
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echo "[INFO] ROS 2 $ROS_DISTRO installed"
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# -----------------------------------------------------------------------------
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# Step 4: Initialize rosdep
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# Step 4: Install Gazebo (optional)
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 4/8] Initializing rosdep..."
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if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
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sudo rosdep init
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echo "[STEP 4/8] Installing Gazebo..."
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if [ "$ROS_DISTRO" = "jazzy" ]; then
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GZ_VERSION="harmonic"
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else
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GZ_VERSION="fortress"
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fi
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rosdep update
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || {
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echo "[WARN] Could not install ros-gz, Gazebo simulation will not be available"
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echo "[INFO] PyBullet simulation will still work"
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}
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echo "[INFO] Gazebo installation complete"
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# -----------------------------------------------------------------------------
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# Step 5: Create Python Virtual Environment
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@@ -99,35 +111,34 @@ rosdep update
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echo ""
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echo "[STEP 5/8] Creating Python virtual environment..."
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# Install venv package if not present
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sudo apt install -y python3-venv python3-full
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# Remove existing venv if present
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if [ -d "$VENV_DIR" ]; then
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rm -rf "$VENV_DIR"
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fi
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# Create virtual environment with access to system site-packages
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# This allows access to ROS 2 packages installed via apt
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python3 -m venv "$VENV_DIR" --system-site-packages
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# Create virtual environment
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python3 -m venv "$VENV_DIR"
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echo "[INFO] Virtual environment created at: $VENV_DIR"
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# -----------------------------------------------------------------------------
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# Step 6: Install Python Dependencies in venv
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# Step 6: Install Python Dependencies
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 6/8] Installing Python dependencies in virtual environment..."
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echo "[STEP 6/8] Installing Python dependencies..."
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# Activate venv and install packages
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source "$VENV_DIR/bin/activate"
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# Upgrade pip
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pip install --upgrade pip
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# Install from requirements.txt if it exists
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if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
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echo "[INFO] Installing from requirements.txt..."
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pip install -r "$PROJECT_ROOT/requirements.txt"
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else
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pip install pybullet pyinstaller
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echo "[INFO] Installing packages manually..."
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pip install pybullet numpy pillow pyinstaller
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fi
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echo "[INFO] Python packages installed in venv"
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echo "[INFO] Python packages installed"
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# -----------------------------------------------------------------------------
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# Step 7: Create Activation Script
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@@ -135,81 +146,67 @@ echo "[INFO] Python packages installed in venv"
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echo ""
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echo "[STEP 7/8] Creating activation script..."
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ACTIVATE_SCRIPT="$PROJECT_ROOT/activate.sh"
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cat > "$ACTIVATE_SCRIPT" << EOF
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cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
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#!/bin/bash
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# =============================================================================
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# Drone Competition - Environment Activation Script
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# =============================================================================
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# This script activates both ROS 2 and the Python virtual environment.
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#
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# Usage:
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# source activate.sh
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# =============================================================================
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# Drone Simulation - Environment Activation
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# Get the directory where this script is located
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SCRIPT_DIR="\$(cd "\$(dirname "\${BASH_SOURCE[0]}")" && pwd)"
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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# Source ROS 2
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source /opt/ros/${ROS_DISTRO}/setup.bash
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echo "[OK] ROS 2 ${ROS_DISTRO} sourced"
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if [ -f "/opt/ros/jazzy/setup.bash" ]; then
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source /opt/ros/jazzy/setup.bash
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echo "[OK] ROS 2 jazzy sourced"
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elif [ -f "/opt/ros/humble/setup.bash" ]; then
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source /opt/ros/humble/setup.bash
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echo "[OK] ROS 2 humble sourced"
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else
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echo "[WARN] ROS 2 not found - standalone_simulation.py will work"
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fi
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# Activate Python virtual environment
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source "\$SCRIPT_DIR/venv/bin/activate"
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echo "[OK] Python venv activated"
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# Activate Python venv
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if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
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source "$SCRIPT_DIR/venv/bin/activate"
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echo "[OK] Python venv activated"
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fi
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# Set Gazebo model path
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export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
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echo ""
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echo "Environment ready! You can now run:"
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echo " python simulation_host.py # PyBullet"
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echo " python gazebo_bridge.py # Gazebo"
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echo " python ros_bridge.py"
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echo "Environment ready! Run one of:"
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echo " python standalone_simulation.py (No ROS 2 required)"
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echo " python simulation_host.py (With ROS 2)"
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echo ""
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EOF
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chmod +x "$ACTIVATE_SCRIPT"
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echo "[INFO] Created activation script: $ACTIVATE_SCRIPT"
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chmod +x "$PROJECT_ROOT/activate.sh"
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echo "[INFO] Created: $PROJECT_ROOT/activate.sh"
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# -----------------------------------------------------------------------------
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# Verification
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# Step 8: Verification
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 8/8] Verifying installation..."
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source "$PROJECT_ROOT/activate.sh"
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echo ""
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echo "Checking Python packages:"
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python3 -c "import pybullet; print(' PyBullet: OK')" || echo " PyBullet: FAILED"
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python3 -c "import numpy; print(' NumPy: OK')" || echo " NumPy: FAILED"
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python3 -c "from PIL import Image; print(' Pillow: OK')" || echo " Pillow: FAILED"
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echo ""
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echo "=============================================="
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echo " Installation Complete!"
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echo "=============================================="
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echo ""
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echo "Verifying installation..."
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echo "Quick start:"
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echo " source activate.sh"
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echo " python standalone_simulation.py"
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echo ""
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# Ensure we're in venv
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source "$VENV_DIR/bin/activate"
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source /opt/ros/${ROS_DISTRO}/setup.bash
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echo -n " ROS 2: "
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ros2 --version 2>/dev/null && echo "" || echo "FAILED"
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echo -n " PyBullet: "
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python3 -c "import pybullet; print('OK')" 2>/dev/null || echo "FAILED"
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echo -n " rclpy: "
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python3 -c "import rclpy; print('OK')" 2>/dev/null || echo "FAILED"
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echo -n " geometry_msgs: "
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python3 -c "from geometry_msgs.msg import Twist; print('OK')" 2>/dev/null || echo "FAILED"
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echo -n " std_msgs: "
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python3 -c "from std_msgs.msg import String; print('OK')" 2>/dev/null || echo "FAILED"
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echo -n " PyInstaller: "
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python3 -c "import PyInstaller; print('OK')" 2>/dev/null || echo "FAILED"
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echo ""
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echo "=============================================="
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echo " IMPORTANT: Activate the environment first!"
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echo "=============================================="
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echo ""
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echo "Before running any scripts, activate the environment:"
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echo " source $ACTIVATE_SCRIPT"
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echo ""
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echo "Then run the simulation:"
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echo " python simulation_host.py"
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echo "Or with ROS 2:"
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echo " python simulation_host.py # Terminal 1"
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echo " python ros_bridge.py # Terminal 2"
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echo " python controllers.py # Terminal 3"
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echo ""
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