235 lines
7.8 KiB
Bash
Executable File
235 lines
7.8 KiB
Bash
Executable File
#!/bin/bash
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# =============================================================================
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# ArduPilot ROS 2 + Gazebo Installation Script
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# =============================================================================
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# Installs the official ArduPilot ROS 2 packages with DDS and Gazebo support.
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#
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# Usage: ./install_ardupilot.sh
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#
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# This installs:
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# 1. Micro-XRCE-DDS-Gen (required for DDS)
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# 2. ArduPilot SITL with DDS support
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# 3. ardupilot_gz - ArduPilot Gazebo integration
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# 4. MAVProxy ground control station
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# =============================================================================
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set -e
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echo "=============================================="
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echo " ArduPilot ROS 2 + Gazebo Installation"
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echo "=============================================="
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echo ""
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# Get script directory
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
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# Directories
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ARDUPILOT_WS="$HOME/ardu_ws"
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# Check for ROS 2
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if [ ! -f "/opt/ros/humble/setup.bash" ] && [ ! -f "/opt/ros/jazzy/setup.bash" ]; then
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echo "[ERROR] ROS 2 not found!"
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echo "Install with: ./setup/install_ubuntu.sh"
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exit 1
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fi
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# Source ROS 2
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if [ -f "/opt/ros/humble/setup.bash" ]; then
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source /opt/ros/humble/setup.bash
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ROS_DISTRO="humble"
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elif [ -f "/opt/ros/jazzy/setup.bash" ]; then
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source /opt/ros/jazzy/setup.bash
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ROS_DISTRO="jazzy"
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fi
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GZ_VERSION="harmonic"
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echo "[INFO] ROS 2: $ROS_DISTRO"
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echo "[INFO] Gazebo: $GZ_VERSION"
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echo "[INFO] Workspace: $ARDUPILOT_WS"
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echo ""
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# -----------------------------------------------------------------------------
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# Step 1: System Dependencies
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# -----------------------------------------------------------------------------
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echo "[STEP 1/7] Installing system dependencies..."
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sudo apt-get update
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sudo apt-get install -y \
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git cmake build-essential \
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python3 python3-pip python3-dev python3-venv \
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python3-vcstool python3-rosdep python3-colcon-common-extensions \
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wget curl default-jre gradle
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echo "[OK] System dependencies"
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# -----------------------------------------------------------------------------
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# Step 2: Install Micro-XRCE-DDS-Gen (required for DDS)
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 2/7] Installing Micro-XRCE-DDS-Gen..."
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XRCEDDSGEN_DIR="$HOME/Micro-XRCE-DDS-Gen"
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if ! command -v microxrceddsgen &> /dev/null; then
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if [ ! -d "$XRCEDDSGEN_DIR" ]; then
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git clone --recurse-submodules https://github.com/eProsima/Micro-XRCE-DDS-Gen.git "$XRCEDDSGEN_DIR"
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fi
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cd "$XRCEDDSGEN_DIR"
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./gradlew assemble
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# Add to PATH
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if ! grep -q "Micro-XRCE-DDS-Gen" ~/.bashrc; then
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echo "" >> ~/.bashrc
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echo "# Micro-XRCE-DDS-Gen" >> ~/.bashrc
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echo "export PATH=\$PATH:$XRCEDDSGEN_DIR/scripts" >> ~/.bashrc
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fi
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export PATH=$PATH:$XRCEDDSGEN_DIR/scripts
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echo "[OK] Micro-XRCE-DDS-Gen installed"
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else
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echo "[OK] Micro-XRCE-DDS-Gen already installed"
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fi
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# -----------------------------------------------------------------------------
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# Step 3: Install Gazebo Harmonic
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 3/7] Installing Gazebo Harmonic..."
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sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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sudo apt-get update
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sudo apt-get install -y gz-harmonic || echo "[WARN] Could not install gz-harmonic"
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echo "[OK] Gazebo"
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# -----------------------------------------------------------------------------
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# Step 4: Create ArduPilot Workspace
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 4/7] Setting up ArduPilot workspace..."
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mkdir -p "$ARDUPILOT_WS/src"
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cd "$ARDUPILOT_WS"
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# Import ArduPilot repos
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vcs import --recursive src < <(cat << 'EOF'
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repositories:
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ardupilot:
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type: git
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url: https://github.com/ArduPilot/ardupilot.git
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version: master
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ardupilot_gz:
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type: git
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url: https://github.com/ArduPilot/ardupilot_gz.git
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version: main
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EOF
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) || true
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# Import Gazebo packages
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vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos --recursive src 2>/dev/null || true
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echo "[OK] Repositories imported"
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# -----------------------------------------------------------------------------
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# Step 5: Install ArduPilot Prerequisites
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 5/7] Installing ArduPilot prerequisites..."
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cd "$ARDUPILOT_WS/src/ardupilot"
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Tools/environment_install/install-prereqs-ubuntu.sh -y
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. ~/.profile || true
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echo "[OK] ArduPilot prerequisites"
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# -----------------------------------------------------------------------------
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# Step 6: Configure rosdep and Build
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 6/7] Building packages..."
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# Configure rosdep
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if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
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sudo rosdep init || true
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fi
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rosdep update
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# Add Gazebo Harmonic sources
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sudo wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list \
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-O /etc/ros/rosdep/sources.list.d/00-gazebo.list 2>/dev/null || true
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rosdep update || true
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# Install dependencies
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cd "$ARDUPILOT_WS"
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rosdep install --from-paths src --ignore-src -y || true
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# Build
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source /opt/ros/$ROS_DISTRO/setup.bash
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export GZ_VERSION=$GZ_VERSION
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colcon build --packages-up-to ardupilot_gz_bringup --symlink-install --allow-overriding ros_gz_bridge ros_gz_sim sdformat_urdf || {
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echo "[WARN] Full build failed, trying ardupilot_sitl only..."
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colcon build --packages-up-to ardupilot_sitl --symlink-install
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}
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echo "[OK] Build complete"
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# -----------------------------------------------------------------------------
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# Step 7: Configure Environment
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 7/7] Configuring environment..."
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BASHRC_MARKER="# === ArduPilot ROS 2 ==="
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if ! grep -q "$BASHRC_MARKER" ~/.bashrc; then
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cat >> ~/.bashrc << EOF
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$BASHRC_MARKER
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export GZ_VERSION=$GZ_VERSION
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export PATH=\$PATH:$ARDUPILOT_WS/src/ardupilot/Tools/autotest
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export PATH=\$PATH:\$HOME/.local/bin
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source /opt/ros/$ROS_DISTRO/setup.bash
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[ -f $ARDUPILOT_WS/install/setup.bash ] && source $ARDUPILOT_WS/install/setup.bash
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EOF
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echo "[OK] Environment configured"
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else
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echo "[OK] Environment already configured"
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fi
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# Install MAVProxy
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pip3 install --user pymavlink mavproxy || true
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# Verify
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echo ""
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echo "=============================================="
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echo " Verifying Installation"
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echo "=============================================="
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source "$ARDUPILOT_WS/install/setup.bash" 2>/dev/null || true
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ros2 pkg list 2>/dev/null | grep -q "ardupilot_sitl" && echo "[OK] ardupilot_sitl" || echo "[WARN] ardupilot_sitl not found"
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ros2 pkg list 2>/dev/null | grep -q "ardupilot_gz_bringup" && echo "[OK] ardupilot_gz_bringup" || echo "[WARN] ardupilot_gz_bringup not found"
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command -v microxrceddsgen &> /dev/null && echo "[OK] microxrceddsgen" || echo "[WARN] microxrceddsgen not in PATH"
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command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH (add ~/.local/bin to PATH)"
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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 "Run: source ~/.bashrc"
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echo ""
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echo "Quick Start (2 terminals):"
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echo ""
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echo "Terminal 1:"
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echo " source ~/ardu_ws/install/setup.bash"
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echo " ros2 launch ardupilot_gz_bringup iris_runway.launch.py"
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echo ""
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echo "Terminal 2:"
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echo " mavproxy.py --console --map --master=:14550"
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echo ""
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