setup_xtdron_workstation.sh

setup_xtdron_workstation.sh

#!/bin/bash
# setup XTDRONE with gitee connection
# this script assumes you already have ros and gazebo installed
# for more infomation, please refers to https://www.yuque.com/xtdrone/manual_cn/basic_config_1.11 and https://github.com/robin-shaun/XTDrone
set -x
sudo apt-get install -y ninja-build exiftool python-argparse python-empy python-toml python-numpy python-yaml python-dev python-pip ninja-build protobuf-compiler libeigen3-dev genromfs xmlstarlet libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
pip2 install pandas jinja2 pyserial cerberus pyulog numpy toml pyquaternion
pip3 install packaging numpy empy toml pyyaml jinja2
sudo apt-get install git build-essential 

WORK_DIR=$(pwd)

ROS_DIST=`ls /opt/ros` || echo "ros not installed in the default folder: /opt/ros, please make sure you have sourced it"
if [ -n $ROS_DIST ]
then
    source /opt/ros/$ROS_DIST/setup.sh || echo "soure error, do you use bash shell? or have your ros correctly installed?"
fi
echo "Your ros version is $(rosversion -d)"
ROS_DIST=$(rosversion -d)

ROS_PATH=$(which -a roscore)
if [ -z $ROS_PATH ]
then
    echo "can not find roscore, exit"
    exit 3
fi

ROS_PATH_BIN="$(dirname "$ROS_PATH")"
ROS_PATH_DIST="$(dirname "$ROS_PATH_BIN")"

#  setup mavros and mavros-extras in ./
echo "install mavros and mavros-extras"
sudo apt-get install ros-$ROS_DIST-mavros ros-$ROS_DIST-extras 
wget -N https://gitee.com/antoi/mavros/raw/master/mavros/scripts/install_geographiclib_datasets.sh || (echo "can not download file, exit" && exit 4 )
sudo ./install_geographiclib_datasets.sh

# steup px4
if [ -d PX4_Firmware ]
then
    echo "PX4_Firmware fodler already exists, we will use it insead of git a new one"
    cd PX4_Firmware
else
    git clone https://gitee.com/robin_shaun/PX4_Firmware
    cd PX4_Firmware
    git checkout -b xtdrone/dev v1.11.0-beta1 || ( echo "checkout faied, exit." && exit 2 )
fi

cat > ../submodule.tmp << EOF
[submodule "mavlink/include/mavlink/v2.0"]  
  path = mavlink/include/mavlink/v2.0  
  url = https://gitee.com/robin_shaun/c_library_v2.git  
  branch = master  
[submodule "src/drivers/uavcan/libuavcan"]  
  path = src/drivers/uavcan/libuavcan  
  url = https://gitee.com/robin_shaun/uavcan.git  
  branch = px4  
[submodule "Tools/jMAVSim"]  
  path = Tools/jMAVSim  
  url = https://gitee.com/robin_shaun/jMAVSim.git  
  branch = master  
[submodule "Tools/sitl_gazebo"]  
  path = Tools/sitl_gazebo  
  url = https://gitee.com/robin_shaun/sitl_gazebo.git  
  branch = master  
[submodule "src/lib/matrix"]  
  path = src/lib/matrix  
  url = https://gitee.com/robin_shaun/Matrix.git  
  branch = master  
[submodule "src/lib/ecl"]  
  path = src/lib/ecl  
  url = https://gitee.com/robin_shaun/ecl.git  
  branch = master  
[submodule "boards/atlflight/cmake_hexagon"]  
  path = boards/atlflight/cmake_hexagon  
  url = https://gitee.com/robin_shaun/cmake_hexagon.git  
  branch = px4  
[submodule "src/drivers/gps/devices"]  
  path = src/drivers/gps/devices  
  url = https://gitee.com/robin_shaun/GpsDrivers.git  
  branch = master  
[submodule "src/modules/micrortps_bridge/micro-CDR"]  
  path = src/modules/micrortps_bridge/micro-CDR  
  url = https://gitee.com/robin_shaun/micro-CDR.git  
  branch = px4  
[submodule "platforms/nuttx/NuttX/nuttx"]  
  path = platforms/nuttx/NuttX/nuttx  
  url = https://gitee.com/robin_shaun/NuttX.git  
  branch = px4_firmware_nuttx-9.1.0+  
[submodule "platforms/nuttx/NuttX/apps"]  
  path = platforms/nuttx/NuttX/apps  
  url = https://gitee.com/robin_shaun/NuttX-apps.git  
  branch = px4_firmware_nuttx-9.1.0+  
[submodule "platforms/qurt/dspal"]  
  path = platforms/qurt/dspal  
  url = https://gitee.com/robin_shaun/dspal.git  
[submodule "Tools/flightgear_bridge"]  
  path = Tools/flightgear_bridge  
  url = https://gitee.com/robin_shaun/PX4-FlightGear-Bridge.git  
  branch = master   
[submodule "Tools/jsbsim_bridge"]  
  path = Tools/jsbsim_bridge  
  url = https://gitee.com/robin_shaun/px4-jsbsim-bridge.git  
[submodule "src/examples/gyro_fft/CMSIS_5"]  
  path = src/examples/gyro_fft/CMSIS_5  
  url = https://gitee.com/mirrors/CMSIS_5
EOF
mv .gitmodules .gitmodules.swp
mv -f ../submodule.tmp  .gitmodules

# cat > ../submodule.tmp.PX4_Firmware << EOF
# [submodule "jMAVlib"]
# 	path = jMAVlib
# 	url = https://gitee.com/mfary/jMAVlib
# 	branch = master
# EOF

# mv Tools/jMAVSim/.gitmodules Tools/jMAVSim/.gitmodules.swp
# mv -f  ../submodule.tmp.PX4_Firmware  Tools/jMAVSim/.gitmodules Tools/jMAVSim/.gitmodules

DONT_RUN=1 make px4_sitl_default gazebo
cd ..

# download XTDrone source

echo "download XTDrone source"
echo "current folder: $(pwd)"
if [ -d XTDrone ]
then
    echo "Directory XTDrone already exists, use it insead of git cloning"
    cd XTDrone
else
    git clone https://gitee.com/robin_shaun/XTDrone.git
    cd XTDrone
    git submodule update --init --recursive
fi
cp sensing/gimbal/gazebo_gimbal_controller_plugin.cpp $WORK_DIR/PX4_Firmware/Tools/sitl_gazebo/src/
cp sitl_config/init.d-posix/rcS $WORK_DIR/PX4_Firmware/ROMFS/px4fmu_common/init.d-posix/
cp sitl_config/worlds/* $WORK_DIR/PX4_Firmware/Tools/sitl_gazebo/worlds/
cp -r sitl_config/models/* $WORK_DIR/PX4_Firmware/Tools/sitl_gazebo/models/ 
# this following command will not run because the setupfile will 
# cp -r sitl_config/models/{3d_gpu_lidar,3d_lidar,hokuyo_lidar,kinect,stereo_camera} $WORK_DIR/.gazebo/models/ 
cp sitl_config/launch/* $WORK_DIR/PX4_Firmware/launch/
cd ../

# generate source file
echo "Generating source file.. "
SOURCE_STR="#THIS file is auto-generated by steup_xtdron_env.sh"$'\n'
#ros related
SOURCE_STR=$SOURCE_STR"source $ROS_PATH_DIST/setup.bash"$'\n'
SOURCE_STR=$SOURCE_STR"source $WORK_DIR/PX4_Firmware/Tools/setup_gazebo.bash $WORK_DIR/PX4_Firmware $WORK_DIR/PX4_Firmware/build/px4_sitl_default"
SOURCE_STR="$SOURCE_STR"$'\n'
SOURCE_STR=$SOURCE_STR"export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:$WORK_DIR/PX4_Firmware"$'\n'
SOURCE_STR=$SOURCE_STR"export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:$WORK_DIR/PX4_Firmware/Tools/sitl_gazebo"$'\n'
# gazebo related
SOURCE_STR=$SOURCE_STR"if [ -n \$GAZEBO_MODEL_PATH ]"$'\n'"then"$'\n'"export GAZEBO_MODEL_PATH=\$GAZEBO_MODEL_PATH:$WORK_DIR/XTDrone/sitl_config/models/"$'\n'"else"$'\n'"export GAZEBO_MODEL_PATH=$WORK_DIR/XTDrone/sitl_config/models/"$'\n'"fi"$'\n'
SOUCE_NAME=source_setup_xt_env.bash
echo "$SOURCE_STR" > $SOUCE_NAME
echo "$SOUCE_NAME"' is ready, to setup your XTDrone environment, run the command' "\"source $SOUCE_NAME\""
echo 'NOTE: if you want to use gazebo to open world file in XTDrone/sitl_config/worlds, RUN' "\"source $SOUCE_NAME\" firstly."