352 lines
11 KiB
Bash
Executable File
352 lines
11 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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# This is the recommended way to run ArduPilot SITL with ROS 2.
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#
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# Prerequisites:
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# - Ubuntu 22.04 (ROS 2 Humble)
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# - ROS 2 Humble installed
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#
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# Usage: ./install_ardupilot.sh [--skip-sitl] [--skip-gazebo]
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#
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# This installs:
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# 1. ArduPilot SITL with DDS support
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# 2. ardupilot_ros - ArduPilot ROS 2 packages
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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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# Parse arguments
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SKIP_SITL=false
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SKIP_GAZEBO=false
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for arg in "$@"; do
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case $arg in
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--skip-sitl)
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SKIP_SITL=true
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;;
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--skip-gazebo)
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SKIP_GAZEBO=true
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;;
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esac
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done
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# Get script directory
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SCRIPT_DIR="$(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="$HOME/ardu_ws"
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ARDUPILOT_DIR="$HOME/ardupilot"
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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 "Please install ROS 2 first:"
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echo " ./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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GZ_VERSION="harmonic"
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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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GZ_VERSION="harmonic"
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fi
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echo "[INFO] ROS 2 Distro: $ROS_DISTRO"
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echo "[INFO] Gazebo Version: $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: Install 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 \
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cmake \
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build-essential \
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python3 \
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python3-pip \
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python3-dev \
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python3-venv \
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python3-vcstool \
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python3-rosdep \
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python3-colcon-common-extensions \
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wget \
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curl
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# Install additional dependencies
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sudo apt-get install -y \
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default-jre \
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libxml2-dev \
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libxslt1-dev \
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libtool \
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automake \
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autoconf \
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libexpat1-dev \
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ccache || true
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echo "[INFO] System dependencies installed"
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# -----------------------------------------------------------------------------
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# Step 2: Install Gazebo Harmonic
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# -----------------------------------------------------------------------------
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if [ "$SKIP_GAZEBO" = false ]; then
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echo ""
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echo "[STEP 2/7] Installing Gazebo $GZ_VERSION..."
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# Add Gazebo APT sources
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sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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sudo apt-get update
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# Install Gazebo
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sudo apt-get install -y gz-$GZ_VERSION || {
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echo "[WARN] Could not install gz-$GZ_VERSION, trying gz-garden..."
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sudo apt-get install -y gz-garden || true
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}
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echo "[INFO] Gazebo installed"
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else
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echo ""
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echo "[STEP 2/7] Skipping Gazebo installation (--skip-gazebo)"
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fi
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# -----------------------------------------------------------------------------
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# Step 3: Create ArduPilot ROS 2 Workspace
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 3/7] Setting up ArduPilot ROS 2 workspace..."
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mkdir -p "$ARDUPILOT_WS/src"
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cd "$ARDUPILOT_WS"
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# Import ArduPilot ROS 2 repositories using vcstool
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echo "[INFO] Importing ArduPilot ROS 2 repositories..."
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# Create ros2.repos file for ArduPilot packages
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cat > /tmp/ardupilot_ros2.repos << 'EOF'
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repositories:
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ardupilot:
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type: git
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url: https://github.com/ArduPilot/ardupilot.git
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version: master
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ardupilot_gz:
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type: git
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url: https://github.com/ArduPilot/ardupilot_gz.git
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version: main
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EOF
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vcs import --recursive src < /tmp/ardupilot_ros2.repos
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# Also import Gazebo-related packages
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if [ "$SKIP_GAZEBO" = false ]; then
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echo "[INFO] Importing Gazebo packages..."
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vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos --recursive src || true
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fi
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echo "[INFO] ArduPilot ROS 2 repositories imported"
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# -----------------------------------------------------------------------------
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# Step 4: Install ArduPilot SITL Prerequisites
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# -----------------------------------------------------------------------------
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if [ "$SKIP_SITL" = false ]; then
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echo ""
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echo "[STEP 4/7] Installing ArduPilot SITL prerequisites..."
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cd "$ARDUPILOT_WS/src/ardupilot"
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# Run ArduPilot prerequisites installer
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Tools/environment_install/install-prereqs-ubuntu.sh -y
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# Reload profile
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. ~/.profile || true
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echo "[INFO] ArduPilot SITL prerequisites installed"
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else
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echo ""
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echo "[STEP 4/7] Skipping SITL prerequisites (--skip-sitl)"
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fi
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# -----------------------------------------------------------------------------
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# Step 5: Configure rosdep for Gazebo
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 5/7] Configuring rosdep..."
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# Initialize rosdep if needed
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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 sources to rosdep (for non-default ROS 2 Humble + Gazebo Harmonic pairing)
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if [ "$ROS_DISTRO" = "humble" ] && [ "$GZ_VERSION" = "harmonic" ]; then
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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 || true
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rosdep update || true
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fi
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# Install ROS dependencies
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cd "$ARDUPILOT_WS"
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rosdep install --from-paths src --ignore-src -y || true
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echo "[INFO] rosdep configured"
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# -----------------------------------------------------------------------------
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# Step 6: Build ArduPilot ROS 2 Packages
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 6/7] Building ArduPilot ROS 2 packages..."
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cd "$ARDUPILOT_WS"
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source /opt/ros/$ROS_DISTRO/setup.bash
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# Set Gazebo version environment variable
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export GZ_VERSION=$GZ_VERSION
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# Build packages
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if [ "$SKIP_GAZEBO" = false ]; then
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echo "[INFO] Building with Gazebo support..."
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colcon build --packages-up-to ardupilot_gz_bringup --symlink-install || {
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echo "[WARN] Full build failed, trying core packages only..."
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colcon build --packages-up-to ardupilot_sitl --symlink-install
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}
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else
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echo "[INFO] Building SITL only..."
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colcon build --packages-up-to ardupilot_sitl --symlink-install
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fi
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echo "[INFO] ArduPilot ROS 2 packages built"
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# -----------------------------------------------------------------------------
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# Step 7: Configure Environment Variables
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 7/7] Configuring environment variables..."
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BASHRC_MARKER="# === ArduPilot ROS 2 Configuration ==="
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if ! grep -q "$BASHRC_MARKER" ~/.bashrc; then
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echo "" >> ~/.bashrc
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echo "$BASHRC_MARKER" >> ~/.bashrc
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echo "" >> ~/.bashrc
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# Gazebo version
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echo "# Gazebo Version" >> ~/.bashrc
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echo "export GZ_VERSION=$GZ_VERSION" >> ~/.bashrc
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echo "" >> ~/.bashrc
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# ArduPilot workspace
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echo "# ArduPilot ROS 2 Workspace" >> ~/.bashrc
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echo "export ARDUPILOT_WS=$ARDUPILOT_WS" >> ~/.bashrc
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echo "" >> ~/.bashrc
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# ArduPilot SITL paths
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echo "# ArduPilot SITL" >> ~/.bashrc
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echo "export PATH=\$PATH:$ARDUPILOT_WS/src/ardupilot/Tools/autotest" >> ~/.bashrc
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echo "" >> ~/.bashrc
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# Source ROS 2 and workspace
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echo "# Source ROS 2 and ArduPilot workspace" >> ~/.bashrc
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echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
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echo "if [ -f $ARDUPILOT_WS/install/setup.bash ]; then" >> ~/.bashrc
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echo " source $ARDUPILOT_WS/install/setup.bash" >> ~/.bashrc
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echo "fi" >> ~/.bashrc
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echo "" >> ~/.bashrc
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echo "[INFO] Environment variables added to ~/.bashrc"
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else
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echo "[INFO] Environment variables already configured in ~/.bashrc"
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fi
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# Install pymavlink in venv if it exists
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if [ -d "$PROJECT_ROOT/venv" ]; then
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echo "[INFO] Installing pymavlink in project venv..."
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source "$PROJECT_ROOT/venv/bin/activate"
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pip install pymavlink mavproxy || true
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deactivate
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fi
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# Also install pymavlink and mavproxy globally
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pip3 install --user pymavlink mavproxy || true
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# -----------------------------------------------------------------------------
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# Verification
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# -----------------------------------------------------------------------------
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echo ""
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echo "=============================================="
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echo " Verifying Installation"
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echo "=============================================="
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echo ""
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# Source the workspace
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source "$ARDUPILOT_WS/install/setup.bash" || true
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# Check ROS 2 packages
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ros2 pkg list | grep -q "ardupilot_sitl" && echo "[OK] ardupilot_sitl package" || echo "[WARN] ardupilot_sitl not found"
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if [ "$SKIP_GAZEBO" = false ]; then
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ros2 pkg list | grep -q "ardupilot_gz_bringup" && echo "[OK] ardupilot_gz_bringup package" || echo "[WARN] ardupilot_gz_bringup not found"
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fi
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# Check Gazebo
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if command -v gz &> /dev/null; then
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echo "[OK] Gazebo (gz command)"
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elif command -v ign &> /dev/null; then
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echo "[OK] Gazebo Fortress (ign command)"
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else
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echo "[WARN] Gazebo command not found"
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fi
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# Check MAVProxy
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python3 -c "from pymavlink import mavutil" &> /dev/null && echo "[OK] pymavlink" || echo "[WARN] pymavlink not found"
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# -----------------------------------------------------------------------------
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# Complete
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# -----------------------------------------------------------------------------
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echo ""
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echo "=============================================="
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echo " ArduPilot ROS 2 Installation Complete!"
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echo "=============================================="
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echo ""
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echo "IMPORTANT: Run the following to apply changes:"
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echo " source ~/.bashrc"
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echo ""
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echo "Quick Start - Run SITL with ROS 2:"
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echo " source ~/ardu_ws/install/setup.bash"
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echo " ros2 launch ardupilot_sitl sitl_dds_udp.launch.py \\"
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echo " transport:=udp4 \\"
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echo " synthetic_clock:=True \\"
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echo " model:=quad"
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echo ""
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echo "Quick Start - Run with Gazebo:"
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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 "MAVProxy (in another terminal):"
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echo " mavproxy.py --console --map --master=:14550"
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echo ""
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echo "ROS 2 Topics:"
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echo " ros2 topic list"
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echo " ros2 topic echo /ap/geopose/filtered"
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echo ""
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echo "For more info, see: docs/ardupilot.md"
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echo ""
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