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update_dependencies.sh
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update_dependencies.sh
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#!/bin/bash
# Sonja Brits <britss@ethz.ch> - FSD Driverless 2019
# Adapted from work by Huub Hendrikx <hhendrik@ethz.ch>
# Apt packages
WSTOOL_PACKAGE="python-wstool"
CHECKINSTALL_PACKAGE="checkinstall"
ROS_PACKAGE=(
"ros-kinetic-desktop-full"
"ros-kinetic-ros-base"
)
FSD_WORKPACKAGES=(
'1_perception'
'2_estimation'
'3_control'
)
BLACKLIST_PACKAGES=''
###################################
# Decide whether to include fssim #
###################################
case $1 in
-f|--fssim)
FSSIM="TRUE"
;;
esac
printf "FSSIM is..."
if [ -z $FSSIM ]; then
echo "DISABLED"
BLACKLIST_PACKAGES='fssim_interface fssim'
else
echo "ENABLED"
FSD_WORKPACKAGES=("${FSD_WORKPACKAGES[@]}" 'fssim_interface')
fi
#####################################
# Set paths #
#####################################
FSD_DEPENDENCY_FILE="dependencies.rosinstall"
# TODO: check whether cpplint is installed
CPPLINT_PACKAGE="cpplint"
ABSOLUTE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
TOP_LEVEL_DIR_NAME="$(basename "${ABSOLUTE_PATH}")"
FSD_ROOT_VAR=$( cd "$(dirname "${BASH_SOURCE[0]}" )" && pwd)
FSD_ROSDEP_DIR="${ABSOLUTE_PATH}/src/4_continuous_integration/rosdep"
ROSDEP_SOURCES_TARGET="/etc/ros/rosdep/sources.list.d"
red=$'\e[1;31m'
green=$'\e[1;32m'
blue=$'\e[1;34m'
end=$'\e[0m'
printf "\n"
printf "Formula Student Driverless dependency updater\n"
printf "Version 2.0 - 2019"
printf "\n\n"
printf "First checking some things...\n"
#########################################
# Check installed packages #
#########################################
printf "Checking if ROS is installed... "
package_OK=$(dpkg-query -W --showformat='${Status}\n' "${ROS_PACKAGE[0]}" 2> /dev/null|grep "install ok installed")
if [ "" == "$package_OK" ]; then
package_OK=$(dpkg-query -W --showformat='${Status}\n' "${ROS_PACKAGE[1]}" 2> /dev/null|grep "install ok installed")
fi
if [ "" == "$package_OK" ]; then
printf "[${red}NO${end}]\n"
printf "Please install the ROS using: 'sudo apt install ros-kinetic-desktop-full' or 'sudo apt install ros-kinetic-ros-base'\n"
exit 1
fi
printf "[${green}YES${end}]\n"
printf "Checking if checkinstall is installed... "
package_OK=$(dpkg-query -W --showformat='${Status}\n' "${CHECKINSTALL_PACKAGE}" 2> /dev/null|grep "install ok installed")
if [ "" == "$package_OK" ]; then
printf "[${red}NO${end}]\n"
printf "Please install the checkinstall package using: 'sudo apt install checkinstall'\n"
exit 1
fi
printf "[${green}YES${end}]\n"
#########################################
# Add nice aliases to ~/.bashrc #
#########################################
if [ -z "$FSD_ROOT" ]; then
printf "Setting Aliases and Variables..."
if ! grep -Fxq "export FSD_ROOT=$FSD_ROOT_VAR" ~/.bashrc; then
printf "\nAdding export FSD_ROOT to ~/.bashrc... "
echo "" >> ~/.bashrc
echo "# FSD 2019 Environment variables" >> ~/.bashrc
echo "export FSD_ROOT=$FSD_ROOT_VAR" >> ~/.bashrc
fi
if ! grep -Fxq "# FSD aliases source" ~/.bashrc; then
FSD_ROOT=${FSD_ROOT_VAR}
printf "\nAdding alias commands to ~/.bashrc... "
echo "" >> ~/.bashrc
echo "source ${FSD_ROOT}/fsd_environment.sh" >> ~/.bashrc
fi
else
printf "Aliases and Environment variables has been set... "
fi
printf "[${green}YES${end}]\n"
printf "ALL CHECKS PASSED [${green}YES${end}]\n"
############################################
# Update the git repositories using wstool #
############################################
read -p "Do you want to get/update the repositories (Y/n)? " -n 1 -r
echo
if [[ $REPLY =~ ^[Yy]$ ]] || [ -z $REPLY ]; then
if [ -e "${ABSOLUTE_PATH}/.rosinstall" ]; then
printf "Rosinstall file found in top level directory! So we are removing it!\n"
rm ${ABSOLUTE_PATH}/.rosinstall
fi
printf "We detected that your are running update_dependencies for the first time!\n"
INIT_RESULT="$(cd "${ABSOLUTE_PATH}" && wstool init)"
printf "${INIT_RESULT}\n"
printf "Merging each workpackage into toplevel dependency list...\n"
for i in ${FSD_WORKPACKAGES[@]}; do
FSD_WP_DEPENDENCY_FILE="${ABSOLUTE_PATH}/src/${i}/${FSD_DEPENDENCY_FILE}"
printf "${blue}\n${i}${end}\n"
printf "Using dependencies in ${FSD_WP_DEPENDENCY_FILE}\n "
WS_MERGE_RESULT="$(cd "${ABSOLUTE_PATH}" && wstool merge "${FSD_WP_DEPENDENCY_FILE}")"
printf "${WS_MERGE_RESULT}"
printf "\n"
done
printf "\n Updating all repositories now...\n"
cd ${ABSOLUTE_PATH}
wstool update
fi
###################################################
# Update the binary dependencies using rosdep #
###################################################
read -p "Do you want to install/update the projects dependencies (Y/n)? " -n 1 -r
echo
if [[ $REPLY =~ ^[Yy]$ ]] || [ -z $REPLY ]; then
# Place our FSD dependencies in the rosdep sources folder
printf "\n\nCopying FSD's ROS dependency list to rosdep sources folder\n"
printf "Target folder: ${ROSDEP_SOURCES_TARGET}\n"
printf "Sudo might ask for your password now!\n"
COPY_FAILED_MESSAGE="[${red}COPY FAILED: The dependency update might fail now!${end}]\n"
sudo cp "${FSD_ROSDEP_DIR}/fsd-dependencies.yaml" "${ROSDEP_SOURCES_TARGET}/" || { printf "$COPY_FAILED_MESSAGE" ; }
sudo cp ${FSD_ROSDEP_DIR}/*.rdmanifest "${ROSDEP_SOURCES_TARGET}/" || { printf "$COPY_FAILED_MESSAGE" ; }
sudo cp "${FSD_ROSDEP_DIR}/10-fsd-dependencies.list" "${ROSDEP_SOURCES_TARGET}/" || { printf "$COPY_FAILED_MESSAGE" ; }
sudo apt-get update
# Update rosdep
rosdep update
# Install the dependencies
rosdep install --from-paths "${ABSOLUTE_PATH}/" -r -i -y || { printf "[${red}ROSDEP FAILED${end}]\n" ;}
fi
#################################################
# Configure catkin workpace #
#################################################
echo "Blacklisting packages: " ${BLACKLIST_PACKAGES}
catkin init
if [ -n "${BLACKLIST_PACKAGES}" ]; then
catkin config --blacklist ${BLACKLIST_PACKAGES} --cmake-args -DCMAKE_BUILD_TYPE=Release
else
catkin config --no-blacklist --cmake-args -DCMAKE_BUILD_TYPE=Release
fi
#################################################
# If fssim enabled update deps #
#################################################
if [ ! -z $FSSIM ]; then
printf "Updating FSSIM dependencies..."
cd src/fssim/
git pull
./update_dependencies.sh
git lfs pull
cd ../../
fi