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Tools: Update ardupilot_gazebo install script #22608

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merged 1 commit into from
Jan 9, 2023
Merged

Tools: Update ardupilot_gazebo install script #22608

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14 changes: 9 additions & 5 deletions Tools/environment_install/install-ROS-ubuntu.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ set -e
# set -x

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

red=`tput setaf 1`
green=`tput setaf 2`
Expand Down Expand Up @@ -231,6 +231,7 @@ if maybe_prompt_user "Add ardupilot-ws to your home folder [N/y]?" ; then
if [ ! -d $ROS_WS_ROOT ]; then
mkdir -p $ROS_WS_ROOT/src
pushd $ROS_WS_ROOT
source /opt/ros/${ROS_VERSION}/setup.bash
catkin init
pushd src
git clone https://github.com/ArduPilot/ardupilot_ros.git
Expand All @@ -250,16 +251,19 @@ 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
sudo apt install gz-garden rapidjson-dev
mkdir -p $AP_GZ_ROOT/src
pushd $AP_GZ_ROOT/src
git clone https://github.com/ArduPilot/ardupilot_gazebo
pushd $AP_GZ_ROOT
pushd ardupilot_gazebo
mkdir build && pushd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4
popd
popd
echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$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
popd
echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=${AP_GZ_ROOT}/src/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}" >> ~/.bashrc
echo "export GZ_SIM_RESOURCE_PATH=${AP_GZ_ROOT}/src/ardupilot_gazebo/models:${AP_GZ_ROOT}/src/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}" >> ~/.bashrc
else
heading "${red}ardupilot_gazebo already exists, skipping...${reset}"
fi
Expand Down