PX4学习笔记（1-补）

PX4学习笔记（1）中的1.6 安装PX4和gazebo9环境中有一条命令

sudo bash ./Tools/setup/ubuntu.sh

处于对这个.sh文件的好奇，并想分析一下内容，于是将文件复制到下方。
安装内容分为：

1. initial dependencies（docker，看别人说是应用容器，我也不太懂）
2. PX4 general dependencies（有cmake、g++、gcc、gbd、python3、zip等）
3. PX4 Python3 dependencies（安装requirements.txt内的python库，转到3.2）
4. NuttX dependencies（应该是PX4操作系统）
5. arm-none-eabi-gcc-${NUTTX_GCC_VERSION} （电脑里有就不装，没有就安装，看网址下载的应该是Keil的ARM开发工具链）
6. PX4 simulation dependencies （包括java11和gazebo9；我的是ubuntu 18.04）【吐槽：这个java11的openjdk-11-jdk-headless下载真的很慢】
7. 修复VMWare对gazebo的3D图形加速

3.2 requirements.txt文件里python3所需的库如下方列表所示，部分安装不下来，需要自己手动安装。

argcomplete
argparse>=1.2
cerberus
coverage
empy>=3.3
future
jinja2>=2.8
jsonschema
kconfiglib
lxml
matplotlib>=3.0.*
numpy>=1.13
nunavut>=1.1.0
packaging
pandas>=0.21
pkgconfig
psutil
pygments
wheel>=0.31.1
pymavlink
pyros-genmsg
pyserial
pyulog>=0.5.0
pyyaml
requests
setuptools>=39.2.0
six>=1.12.0
toml>=0.9

./Tools/setup/ubuntu.sh内的脚本：

#! /usr/bin/env bash

set -e

## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
## Can also be used in docker.
##
## Installs:
## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
## - NuttX toolchain (omit with arg: --no-nuttx)
## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
##
## Not Installs:
## - FastRTPS and FastCDR

INSTALL_NUTTX="true"
INSTALL_SIM="true"
INSTALL_ARCH=`uname -m`

# Parse arguments
for arg in "$@"
do
	if [[ $arg == "--no-nuttx" ]]; then
		INSTALL_NUTTX="false"
	fi

	if [[ $arg == "--no-sim-tools" ]]; then
		INSTALL_SIM="false"
	fi

done

# detect if running in docker
if [ -f /.dockerenv ]; then
	echo "Running within docker, installing initial dependencies";
	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
		ca-certificates \
		gnupg \
		lsb-core \
		sudo \
		wget \
		;
fi

# script directory
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

# check requirements.txt exists (script not run in source tree)
REQUIREMENTS_FILE="requirements.txt"
if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
	return 1
fi


# check ubuntu version
# otherwise warn and point to docker?
UBUNTU_RELEASE="`lsb_release -rs`"

if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
	echo "Ubuntu 14.04 is no longer supported"
	exit 1
elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
	echo "Ubuntu 16.04 is no longer supported"
	exit 1
elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
	echo "Ubuntu 18.04"
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
	echo "Ubuntu 20.04"
fi


echo
echo "Installing PX4 general dependencies"

sudo apt-get update -y --quiet
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
	astyle \
	build-essential \
	cmake \
	cppcheck \
	file \
	g++ \
	gcc \
	gdb \
	git \
	lcov \
	libxml2-dev \
	libxml2-utils \
	make \
	ninja-build \
	python3 \
	python3-dev \
	python3-pip \
	python3-setuptools \
	python3-wheel \
	rsync \
	shellcheck \
	unzip \
	zip \
	;

# Python3 dependencies
echo
echo "Installing PX4 Python3 dependencies"
if [ -n "$VIRTUAL_ENV" ]; then
	# virtual envrionments don't allow --user option
	python -m pip install -r ${DIR}/requirements.txt
else
	# older versions of Ubuntu require --user option
	python3 -m pip install --user -r ${DIR}/requirements.txt
fi

# NuttX toolchain (arm-none-eabi-gcc)
if [[ $INSTALL_NUTTX == "true" ]]; then

	echo
	echo "Installing NuttX dependencies"

	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
		automake \
		binutils-dev \
		bison \
		build-essential \
		flex \
		g++-multilib \
		gcc-multilib \
		gdb-multiarch \
		genromfs \
		gettext \
		gperf \
		libelf-dev \
		libexpat-dev \
		libgmp-dev \
		libisl-dev \
		libmpc-dev \
		libmpfr-dev \
		libncurses5 \
		libncurses5-dev \
		libncursesw5-dev \
		libtool \
		pkg-config \
		screen \
		texinfo \
		u-boot-tools \
		util-linux \
		vim-common \
		;
	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
		kconfig-frontends \
		;
	fi


	if [ -n "$USER" ]; then
		# add user to dialout group (serial port access)
		sudo usermod -a -G dialout $USER
	fi

	# arm-none-eabi-gcc
	NUTTX_GCC_VERSION="9-2020-q2-update"
	NUTTX_GCC_VERSION_SHORT="9-2020q2"

	source $HOME/.profile # load changed path for the case the script is reran before relogin
	if [ $(which arm-none-eabi-gcc) ]; then
		GCC_VER_STR=$(arm-none-eabi-gcc --version)
		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
	fi

	if [[ "$GCC_FOUND_VER" == "1" ]]; then
		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"

	else
		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

		# add arm-none-eabi-gcc to user's PATH
		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"

		if grep -Fxq "$exportline" $HOME/.profile; then
			echo "${NUTTX_GCC_VERSION} path already set.";
		else
			echo $exportline >> $HOME/.profile;
		fi
	fi
fi

# Simulation tools
if [[ $INSTALL_SIM == "true" ]]; then

	echo
	echo "Installing PX4 simulation dependencies"

	# General simulation dependencies
	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
		bc \
		;

	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
		java_version=11
		gazebo_version=9
	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
		java_version=13
		gazebo_version=11
	else
		java_version=14
		gazebo_version=11
	fi
	# Java (jmavsim or fastrtps)
	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
		ant \
		openjdk-$java_version-jre \
		openjdk-$java_version-jdk \
		libvecmath-java \
		;

	# Set Java 11 as default
	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

	# Gazebo
	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
	# Update list, since new gazebo-stable.list has been added
	sudo apt-get update -y --quiet
	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
		dmidecode \
		gazebo$gazebo_version \
		gstreamer1.0-plugins-bad \
		gstreamer1.0-plugins-base \
		gstreamer1.0-plugins-good \
		gstreamer1.0-plugins-ugly \
		gstreamer1.0-libav \
		libeigen3-dev \
		libgazebo$gazebo_version-dev \
		libgstreamer-plugins-base1.0-dev \
		libimage-exiftool-perl \
		libopencv-dev \
		libxml2-utils \
		pkg-config \
		protobuf-compiler \
		;

	if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
		# fix VMWare 3D graphics acceleration for gazebo
		echo "export SVGA_VGPU10=0" >> ~/.profile
	fi
fi

if [[ $INSTALL_NUTTX == "true" ]]; then
	echo
	echo "Relogin or reboot computer before attempting to build NuttX targets"
fi