Bash script to create debian installs for ArduPilot Tools

create_release.sh

export root_dir=`pwd` 
export tag="0.0.0"

# install necessary packages
pip install -U bloom
sudo apt-get install fakeroot dpkg-dev debhelper rapidjson-dev -y

# clone/install dependencies
cat <<EOF > ros2_ap.repos
repositories:
  ardupilot:
    type: git
    url: https://github.com/ArduPilot/ardupilot.git
    version: master
    depth: 1
  ardupilot_gazebo:
    type: git
    url: https://github.com/ArduPilot/ardupilot_gazebo.git
    version: ros2
    depth: 1
  ardupilot_gz:
    type: git
    url: https://github.com/ArduPilot/ardupilot_gz.git
    version: main
    depth: 1
  ardupilot_sitl_models:
    type: git
    url: https://github.com/ArduPilot/SITL_Models.git
    version: main
    depth: 1
EOF
vcs import --recursive < ros2_ap.repos


# install micro_ros vulcanexus binary
sudo curl -sSL https://raw.githubusercontent.com/eProsima/vulcanexus/main/vulcanexus.key -o /usr/share/keyrings/vulcanexus-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/vulcanexus-archive-keyring.gpg] http://repo.vulcanexus.org/debian $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/vulcanexus.list > /dev/null
sudo apt -y update
sudo apt-get install -y vulcanexus-humble-micro

# source vulcanexus packages
source /opt/vulcanexus/humble/setup.bash
 
# binary install for gz-garden binaries for humble
sudo apt-get install ros-humble-ros-gzgarden -y
sudo apt-get install ros-humble-topic-tools-interfaces ros-humble-topic-tools ros-humble-topic-tools-interfaces -y

sudo bash -c 'wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
rosdep update
rosdep resolve gz-garden


## updating rosdistro 
# creating custom rosdep.yaml
cat <<EOF > rosdep.yaml
ardupilot_msgs:
  ubuntu: [ros-humble-ardupilot-msgs]
micro_ros_agent:
  ubuntu: [vulcanexus-humble-micro-ros-agent]
ardupilot_gazebo:
  ubuntu: [ros-humble-ardupilot-gazebo]
ardupilot_sitl:
  ubuntu: [ros-humble-ardupilot-sitl]
ardupilot_gz_gazebo:
  ubuntu: [ros-humble-ardupilot-gz-gazebo]
ardupilot_sitl_models:
  ubuntu: [ros-humble-ardupilot-sitl-models]
ardupilot_gz_description:
  ubuntu: [ros-humble-ardupilot-gz-description]
ros_gz_bridge:
  ubuntu: [ros-humble-ros-gzgarden-bridge]
ros_gz_sim:
  ubuntu: [ros-humble-ros-gzgarden-sim]
EOF

# adding url to track this yaml
sudo touch /etc/ros/rosdep/sources.list.d/50-my-packages.list
sudo bash -c 'echo "yaml file://`pwd`/rosdep.yaml" > /etc/ros/rosdep/sources.list.d/50-my-packages.list'

# updating rosdep
rosdep update

## building and generating debian binaries
export dir=$root_dir #cwd
mkdir -p $dir/debs

cd ardupilot_gz/ardupilot_gz_description && bloom-generate rosdebian --ros-distro humble && fakeroot debian/rules binary && \
cd .. && sudo dpkg -i "ros-humble-ardupilot-gz-description_${tag}-0jammy_amd64.deb" && mv *.deb $root_dir/debs && cd $root_dir

cd ardupilot_gz/ardupilot_gz_gazebo && bloom-generate rosdebian --ros-distro humble && fakeroot debian/rules binary && \
cd .. && sudo dpkg -i "ros-humble-ardupilot-gz-gazebo_${tag}-0jammy_amd64.deb" && mv *.deb $root_dir/debs && cd $root_dir

cd ardupilot_gazebo && bloom-generate rosdebian --ros-distro humble && fakeroot debian/rules binary && \
cd .. && sudo dpkg -i "ros-humble-ardupilot-gazebo_${tag}-0jammy_amd64.deb" && mv *.deb $root_dir/debs && cd $root_dir

cd ardupilot/Tools/ros2/ardupilot_msgs && bloom-generate rosdebian --ros-distro humble && fakeroot debian/rules binary && \
cd .. && sudo dpkg -i "ros-humble-ardupilot-msgs_${tag}-0jammy_amd64.deb" && mv *.deb $root_dir/debs && cd $root_dir

cd ardupilot_sitl_models/Gazebo && bloom-generate rosdebian --ros-distro humble && fakeroot debian/rules binary && \
cd .. && sudo dpkg -i "ros-humble-ardupilot-sitl-models_${tag}-0jammy_amd64.deb" && mv *.deb $root_dir/debs && cd $root_dir

cd ardupilot/Tools/ros2/ardupilot_sitl && bloom-generate rosdebian --ros-distro humble && fakeroot debian/rules binary && \
cd .. && sudo dpkg -i "ros-humble-ardupilot-sitl_${tag}-0jammy_amd64.deb" && mv *.deb $root_dir/debs && cd $root_dir

cd ardupilot_gz/ardupilot_gz_bringup && bloom-generate rosdebian --ros-distro humble && fakeroot debian/rules binary && \
cd .. && sudo dpkg -i "ros-humble-ardupilot-gz-bringup_${tag}-0jammy_amd64.deb" && mv *.deb $root_dir/debs && cd $root_dir

## the binaries are generated under ./debs