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Merged
woensug-choi merged 1 commit into from
Mar 11, 2026
Merged

Ardusub installation script added #42

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8 changes: 4 additions & 4 deletions .docker/jazzy.amd64.dockerfile
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Expand Up @@ -80,10 +80,10 @@ WORKDIR /
# Set up bashrc for root
RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
echo "source /opt/dave_ws/install/setup.bash" >> /root/.bashrc && \
echo "export PATH=/opt/ardupilot_ws/ardupilot/Tools/autotest:\$PATH" >> /root/.bashrc && \
echo "export PATH=/opt/ardupilot_ws/ardupilot/build/sitl/bin:\$PATH" >> /root/.bashrc && \
echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardupilot_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH" >> /root/.bashrc && \
echo "export GZ_SIM_RESOURCE_PATH=/opt/ardupilot_ws/ardupilot_gazebo/models:/opt/ardupilot_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH" >> /root/.bashrc && \
echo "export PATH=/opt/ardusub_ws/ardupilot/Tools/autotest:\$PATH" >> /root/.bashrc && \
echo "export PATH=/opt/ardusub_ws/ardupilot/build/sitl/bin:\$PATH" >> /root/.bashrc && \
echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardusub_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH" >> /root/.bashrc && \
echo "export GZ_SIM_RESOURCE_PATH=/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH" >> /root/.bashrc && \
echo "export PS1='\[\e[1;36m\]\u@DAVE_docker\[\e[0m\]\[\e[1;34m\](\$(hostname | cut -c1-12))\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> /root/.bashrc

RUN touch /root/.dave_entrypoint && printf '\033[1;36m =====\n' >> /root/.dave_entrypoint && \
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8 changes: 4 additions & 4 deletions .docker/jazzy.arm64v8.dockerfile
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Expand Up @@ -159,10 +159,10 @@ RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
echo "source $DAVE_UNDERLAY/install/setup.bash" >> ~/.bashrc && \
echo "export GEOGRAPHICLIB_GEOID_PATH=/usr/local/share/GeographicLib/geoids" >> ~/.bashrc && \
echo "export PYTHONPATH=\$PYTHONPATH:/opt/gazebo/install/lib/python" >> ~/.bashrc && \
echo "export PATH=/home/$USER/ardupilot_ws/ardupilot/Tools/autotest:\$PATH" >> ~/.bashrc && \
echo "export PATH=/home/$USER/ardupilot_ws/ardupilot/build/sitl/bin:\$PATH" >> ~/.bashrc && \
echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH" >> ~/.bashrc && \
echo "export GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_ws/ardupilot_gazebo/models:/home/$USER/ardupilot_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH" >> ~/.bashrc && \
echo "export PATH=/home/$USER/ardusub_ws/ardupilot/Tools/autotest:\$PATH" >> ~/.bashrc && \
echo "export PATH=/home/$USER/ardusub_ws/ardupilot/build/sitl/bin:\$PATH" >> ~/.bashrc && \
echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardusub_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH" >> ~/.bashrc && \
echo "export GZ_SIM_RESOURCE_PATH=/home/$USER/ardusub_ws/ardupilot_gazebo/models:/home/$USER/ardusub_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH" >> ~/.bashrc && \
echo "\n\n" >> ~/.bashrc && echo "if [ -d ~/HOST ]; then chown $USER:$USER ~/HOST; fi" >> ~/.bashrc && \
echo "export PS1='\[\e[1;36m\]\u@DAVE_docker\[\e[0m\]\[\e[1;34m\](\$(hostname | cut -c1-12))\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> ~/.bashrc

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18 changes: 9 additions & 9 deletions extras/ardusub-ubuntu-install-local.sh
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Expand Up @@ -9,11 +9,11 @@ export USER=docker
# Really should do version pinning but Sub-4.5 is waaaay behind master
# (e.g. it doesn't know about "noble" yet)
export ARDUPILOT_RELEASE=master
mkdir -p "/home/$USER/ardupilot_ws" && cd "/home/$USER/ardupilot_ws" || exit
mkdir -p "/home/$USER/ardusub_ws" && cd "/home/$USER/ardusub_ws" || exit
git clone -b $ARDUPILOT_RELEASE https://github.com/ArduPilot/ardupilot.git --recurse-submodules

# Install ArduSub dependencies
cd "/home/$USER/ardupilot_ws/ardupilot" || exit
cd "/home/$USER/ardusub_ws/ardupilot" || exit
export SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
# Do not install the STM development tools
export DO_AP_STM_ENV=0
Expand All @@ -26,20 +26,20 @@ modules/waf/waf-light configure --board sitl \
&& modules/waf/waf-light build --target bin/ardusub

# Clone ardupilot_gazebo code
cd "/home/$USER/ardupilot_ws" || exit
cd "/home/$USER/ardusub_ws" || exit
git clone https://github.com/ArduPilot/ardupilot_gazebo.git

# Install ardupilot_gazebo plugin
# Check if the directory creation was successful
mkdir -p "/home/$USER/ardupilot_ws/ardupilot_gazebo/build" \
&& cd "/home/$USER/ardupilot_ws/ardupilot_gazebo/build" || exit
mkdir -p "/home/$USER/ardusub_ws/ardupilot_gazebo/build" \
&& cd "/home/$USER/ardusub_ws/ardupilot_gazebo/build" || exit
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && make -j2

# Add results of ArduSub build
export PATH=/home/$USER/ardupilot_ws/ardupilot/build/sitl/bin:\$PATH
export PATH=/home/$USER/ardusub_ws/ardupilot/build/sitl/bin:\$PATH
# Optional: add autotest to the PATH, helpful for running sim_vehicle.py
export PATH=/home/$USER/ardupilot_ws/ardupilot/Tools/autotest:\$PATH
export PATH=/home/$USER/ardusub_ws/ardupilot/Tools/autotest:\$PATH
# Add ardupilot_gazebo plugin
export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardusub_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
# Add ardupilot_gazebo models and worlds
export GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_ws/ardupilot_gazebo/models:/home/$USER/ardupilot_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
export GZ_SIM_RESOURCE_PATH=/home/$USER/ardusub_ws/ardupilot_gazebo/models:/home/$USER/ardusub_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
18 changes: 9 additions & 9 deletions extras/ardusub-ubuntu-install.sh
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Expand Up @@ -7,11 +7,11 @@ source /opt/ros/jazzy/setup.bash
# Really should do version pinning but Sub-4.5 is waaaay behind master
# (e.g. it doesn't know about "noble" yet)
export ARDUPILOT_RELEASE=master
mkdir -p "/opt/ardupilot_ws" && cd "/opt/ardupilot_ws" || exit
mkdir -p "/opt/ardusub_ws" && cd "/opt/ardusub_ws" || exit
git clone -b $ARDUPILOT_RELEASE https://github.com/ArduPilot/ardupilot.git --recurse-submodules

# Install ArduSub dependencies
cd "/opt/ardupilot_ws/ardupilot" || exit
cd "/opt/ardusub_ws/ardupilot" || exit
export SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
# Do not install the STM development tools
export DO_AP_STM_ENV=0
Expand All @@ -24,20 +24,20 @@ modules/waf/waf-light configure --board sitl \
&& modules/waf/waf-light build --target bin/ardusub

# Clone ardupilot_gazebo code
cd "/opt/ardupilot_ws" || exit
cd "/opt/ardusub_ws" || exit
git clone https://github.com/ArduPilot/ardupilot_gazebo.git

# Install ardupilot_gazebo plugin
# Check if the directory creation was successful
mkdir -p "/opt/ardupilot_ws/ardupilot_gazebo/build" \
&& cd "/opt/ardupilot_ws/ardupilot_gazebo/build" || exit
mkdir -p "/opt/ardusub_ws/ardupilot_gazebo/build" \
&& cd "/opt/ardusub_ws/ardupilot_gazebo/build" || exit
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && make -j2

# Add results of ArduSub build
export PATH=/opt/ardupilot_ws/ardupilot/build/sitl/bin:\$PATH
export PATH=/opt/ardusub_ws/ardupilot/build/sitl/bin:\$PATH
# Optional: add autotest to the PATH, helpful for running sim_vehicle.py
export PATH=/opt/ardupilot_ws/ardupilot/Tools/autotest:\$PATH
export PATH=/opt/ardusub_ws/ardupilot/Tools/autotest:\$PATH
# Add ardupilot_gazebo plugin
export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardupilot_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardusub_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
# Add ardupilot_gazebo models and worlds
export GZ_SIM_RESOURCE_PATH=/opt/ardupilot_ws/ardupilot_gazebo/models:/opt/ardupilot_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
export GZ_SIM_RESOURCE_PATH=/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
23 changes: 21 additions & 2 deletions extras/ros-jazzy-gz-harmonic-install.sh
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Expand Up @@ -91,10 +91,29 @@ sudo apt update && apt install -y \
ros-$DIST-marine-acoustic-msgs \
ros-dev-tools

echo
echo -e "\033[96m(4/4) ------------ Install Ardusub ---------------\033[0m"

# Install ardusub(local)
sudo mkdir -p /opt/ardusub_ws && cd /opt/ardusub_ws || exit
wget https://raw.githubusercontent.com/IOES-Lab/dave/ros2/extras/ardusub-ubuntu-install-local.sh
sudo chmod +x ardusub-ubuntu-install-local.sh && sudo bash ./ardusub-ubuntu-install-local.sh

# Mavros install
sudo apt-get -y install ros-jazzy-mavros*
sudo mkdir -p /opt/mavros_ws && cd /opt/mavros_ws || exit
sudo wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo chmod +x install_geographiclib_datasets.sh && sudo bash ./install_geographiclib_datasets.sh

# Environment variables setup (add to ~/.bashrc or ~/.zshrc)
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
echo "export PATH=/opt/ardusub_ws/ardupilot/Tools/autotest:\$PATH" >> ~/.bashrc && \
echo "export PATH=/opt/ardusub_ws/ardupilot/build/sitl/bin:\$PATH" >> ~/.bashrc && \
echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardusub_ws/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH" >> ~/.bashrc && \
echo "export GZ_SIM_RESOURCE_PATH=/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH" >> ~/.bashrc

echo
echo -e "\033[32m============================================================\033[0m"
echo -e "\033[32mROS-Gazebo Framework Installation completed. Awesome! 🤘🚀 \033[0m"
echo -e "Following command will set-up ROS environment variables to run it"
echo -e "\033[95msource /opt/ros/jazzy/setup.bash\033[0m"
echo -e "You may check ROS, and Gazebo version installed with \033[33mprintenv ROS_DISTRO\033[0m and \033[33mecho \$GZ_VERSION\033[0m"
echo
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