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Tools: Add ardupilot_gazebo install script #22598

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merged 2 commits into from
Jan 6, 2023
Merged

Tools: Add ardupilot_gazebo install script #22598

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Tools: Add ardupilot_gazebo install script
snktshrma Jan 6, 2023
6804866
updated ardupilot_gazebo source and dependencies
snktshrma Jan 6, 2023
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22 changes: 22 additions & 0 deletions Tools/environment_install/install-ROS-ubuntu.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ set -e
# set -x

ROS_WS_ROOT=$HOME/ardupilot-ws
AP_GZ_ROOT=$HOME/ardupilot_gazebo

red=`tput setaf 1`
green=`tput setaf 2`
Expand Down Expand Up @@ -246,6 +247,27 @@ else
echo "Skipping adding ardupilot_ws to your home folder."
fi


if maybe_prompt_user "Add ardupilot_gazebo to your home folder [N/y]?" ; then
if [ ! -d $AP_GZ_ROOT ]; then
sudo apt install libgz-sim7-dev rapidjson-dev
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sudo apt install gz-garden rapidjson-dev is needed to install all the libraries. See https://gazebosim.org/docs/garden/install_ubuntu.

git clone https://github.com/ArduPilot/ardupilot_gazebo
pushd $AP_GZ_ROOT
mkdir build && pushd build
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@srmainwaring srmainwaring Jan 7, 2023 •
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Need to create the workspace directory first, then clone, then cd into the project, then make build dir and build.

mkdir -p $AP_GZ_ROOT/src
pushd $AP_GZ_ROOT/src
git clone https://github.com/ArduPilot/ardupilot_gazebo
pushd ardupilot_gazebo
mkdir build && pushd build

Suggest that AP_GZ_ROOT has value ardupilot_gz_ws to distinguish from the project. Also, we should clone into $AP_GZ_ROOT/src so we can switch to using colcon for the build and install which is consistent with how Gazebo Sim and ROS2 are built (ardupilot_gazebo docs need to be updated to use this approach as well).

cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4
popd
popd
echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$AP_GZ_ROOT/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}' >> ~/.bashrc
echo 'export GZ_SIM_RESOURCE_PATH=$AP_GZ_ROOT/models:$AP_GZ_ROOT/worlds:${GZ_SIM_RESOURCE_PATH}' >> ~/.bashrc
else
heading "${red}ardupilot_gazebo already exists, skipping...${reset}"
fi

else
echo "Skipping adding ardupilot_gazebo to your home folder."
fi

heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
grep -q -F "source $ROS_WS_ROOT/devel/setup.bash" ~/.bashrc || echo "source $ROS_WS_ROOT/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
Expand Down