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jsk.rosbuild
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jsk.rosbuild
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#!/usr/bin/env bash
function usage {
echo >&2 "usage: $0"
echo >&2 " [-h|--help] print this message"
echo >&2 " [-i|--show-install] show how to install "
echo >&2 " [-p|--show-package] display packages to install"
echo >&2 " [-e|--environment] display environment variables"
echo >&2 " [-d|--use-deb] use debian package if they are already released"
echo >&2 " [--rtm|--start-jsk|--rtm-ros-robotics] merge .rosinstall for rtm-ros stuff"
echo >&2 " [--from-source] install whole ros system using source code"
exit 0
}
function error {
echo "export ROS_HOME=$ROS_HOME"
echo "source $ROS_INSTALLDIR/setup.bash"
(which rosrun && rosrun rosunit clean_junit_xml.py; echo "done")
exit 1
}
trap error ERR
# command line parse
OPT=`getopt -o hiped -l help,show-install,show-package,show-environment,use-deb,rtm,start-jsk,rtm-ros-robotics,from-source -- $*`
if [ $? != 0 ]; then
usage
fi
eval set -- $OPT
while [ -n "$1" ] ; do
case $1 in
-h|--help) usage ;;
-i|--show-install) SHOW="install"; shift;;
-p|--show-package) SHOW="package"; shift;;
-e|--show-environment) SHOW="environment"; shift;;
-d|--use-deb) USE_DEB=true; shift;;
--rtm|--start-jsk|--rtm-ros-robotics) RTM_ROS_ROBOTICS=true; shift;;
--from-source) USE_SOURCE=true; shift;;
--) shift; break;;
*) echo "Unknown option($1)"; usage;;
esac
done
# set environment variables
# set distribution
case $1 in
cturtle|diamondback|electric|fuerte|groovy|hydro|indigo) export DISTRIBUTION=$1; shift;;
*) export DISTRIBUTION=groovy;;
esac
# check ros distribution and ubuntu distribution
# http://ros.org/reps/rep-0003.html
export LSB_RELEASE=`lsb_release -cs`
if ( [ "$DISTRIBUTION" == "cturtle" ] && \
[[ $LSB_RELEASE =~ (lucid|maverick) ]] ) || \
( [ "$DISTRIBUTION" == "diamondback" ] && \
[[ $LSB_RELEASE =~ (lucid|maverick|natty) ]] ) || \
( [ "$DISTRIBUTION" == "diamondback" ] && \
[[ $LSB_RELEASE =~ (lucid|maverick|natty) ]] ) || \
( [ "$DISTRIBUTION" == "electric" ] && \
[[ $LSB_RELEASE =~ (lucid|maverick|natty|oneiric) ]] ) || \
( [ "$DISTRIBUTION" == "fuerte" ] && \
[[ $LSB_RELEASE =~ (lucid|oneiric|precise) ]] ) || \
( [ "$DISTRIBUTION" == "groovy" ] && \
[[ $LSB_RELEASE =~ (oneiric|precise|quantal) ]] ) || \
( [ "$DISTRIBUTION" == "hydro" ] && \
[[ $LSB_RELEASE =~ (precise|quantal|raring) ]] ) || \
( [ "$DISTRIBUTION" == "indigo" ] && \
[[ $LSB_RELEASE =~ (saucy|trusty) ]] ) then
echo "Install $DISTRIBUTION to $LSB_RELEASE"
else
echo "target distribution($DISTRIBUTION) does not support $LSB_RELEASE platform, exit install program"
exit -1
fi
# setup workspaceand buildspace
if [ "$WORKSPACE" == "" ]; then # if not jenkins
export WORKSPACE=$HOME
fi
if [ "$USE_SOURCE" == "true" ]; then
export ROS_INSTALLDIR=$WORKSPACE/ros/${DISTRIBUTION}_scratch
else
export ROS_INSTALLDIR=$WORKSPACE/ros/$DISTRIBUTION
fi
export PATH=$PATH:/usr/sbin:/usr/bin:/sbin:/bin
# set environment variables
if [ -f /proc/xen -o "`grep -c 'QEMU Virtual CPU' /proc/cpuinfo`" != "0" ]; then
export ROS_PARALLEL_JOBS=-j1
else
export ROS_PARALLEL_JOBS=-j4
fi
export ROS_HOME=$WORKSPACE/.ros
export PATH=$PATH:/usr/local/bin ## for ros tools
export LC_ALL=en_US.UTF-8
unset SVN_REVISION ## this jenkins environment valiables conflicts with mk/svn_checkout.mk
# define functions
# http://www.ros.org/wiki/electric/Installation/Ubuntu
function setup-ros {
sudo dpkg --configure -a
sudo apt-get -y --force-yes install build-essential python-yaml cmake subversion wget python-setuptools git-core mercurial aptitude oracle-java7
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get upgrade -y --force-yes
sudo apt-get -y --force-yes install ros-${DISTRIBUTION}-rosbash python-rosdep python-rosinstall python-wstool || sudo apt-get -y --force-yes install python-rosdep
if [ "$USE_SOURCE" == "true" ]; then
sudo apt-get -y --force-yes install libftdi-dev libgstreamer0.10-dev libgst-dev libgstreamer-plugins-base0.10-dev
fi
if [ -e /etc/ros/rosdep/sources.list.d/20-default.list ] ; then
sudo rm -f /etc/ros/rosdep/sources.list.d/20-default.list; # rosdep init fails when arleady initialized
fi
while [ ! -e /etc/ros/rosdep/sources.list.d/20-default.list ]; do
sudo rosdep init
done
(rosdep update; true)
}
# jsk ros install (copy from http://code.google.com/p/rtm-ros-robotics/wiki/ROS_English)
function install-pkg {
(rosdep update; true)
if ( [[ "$DISTRIBUTION" =~ (electric|fuerte|groovy) ]] ) then
ROS_INSTALLDIR_SRC=$ROS_INSTALLDIR
(mkdir -p $ROS_INSTALLDIR_SRC && cd $ROS_INSTALLDIR_SRC && ( [ -f .rosinstall ] || ( rosws init; rosws merge /opt/ros/$DISTRIBUTION/.rosinstall ) ) && for ROSINSTALL in $@; do ROS_WORKSPACE="" rosws merge $ROSINSTALL -r -y ; done )
else ## hydro and up, use catkin
ROS_INSTALLDIR_SRC=$ROS_INSTALLDIR/src;
(mkdir -p $ROS_INSTALLDIR_SRC && cd $ROS_INSTALLDIR_SRC; catkin_init_workspace)
(mkdir -p $ROS_INSTALLDIR_SRC && cd $ROS_INSTALLDIR_SRC && ( [ -f .rosinstall ] || ( wstool init ) ) && for ROSINSTALL in $@; do ROS_WORKSPACE="" wstool merge $ROSINSTALL -r -y ; done )
fi
# for use deb package mode
if [ "$USE_DEB" == true ]; then
for pkg in `find $ROS_INSTALLDIR/jsk-ros-pkg/ -maxdepth 2 -name .rosinstall -exec dirname {} \; | xargs -n 1 -i basename {} `; do
ROS_DISTRO=hydro
pkg2=$(echo $pkg | sed s@_@-@g)
aptitude show ros-$ROS_DISTRO-$pkg2
if [ $? == 0 ]; then
echo "install ros-$ROS_DISTRO-$pkg2 and rmeove $pkg from .rosinstall"
apt-tget -y install ros-$ROS_DISTRO-$pkg2
(cd $ROS_INSTALLDIR_SRC; wstool rm jsk-ros-pkg/$pkg)
fi
done
fi
#
success=0
retry=0
while [ $success == 0 -a $retry -lt 10 ]; do
if ( [[ "$DISTRIBUTION" =~ (electric|fuerte|groovy) ]] ) then
(cd $ROS_INSTALLDIR_SRC && ROS_WORKSPACE="" rosws update ) && success=1 || sleep 120
else
(cd $ROS_INSTALLDIR_SRC && ROS_WORKSPACE="" wstool update -j10) && success=1 || sleep 120
success=1
echo pass
fi
retry=`expr $retry + 1`
done
echo "hddtemp hddtemp/daemon boolean false" | sudo debconf-set-selections
if [ "$USE_SOURCE" == "true" ]; then
rosinstall_generator --from-path $ROS_INSTALLDIR_SRC --deps --deps-only --flat --exclude rosjava_bootstrap rosjava_build_tools rosjava_messages rwt_speech_recognition --wet-only --tar > /tmp/parent.rosinstall.$$
rosinstall_generator openni_launch openni2_launch rospack --deps --flat --wet-only --tar > /tmp/parent_direct.rosinstall.$$
ROS_PARENT_DIR=${ROS_INSTALLDIR}_parent
ROS_PARENT_DIR_SRC=${ROS_PARENT_DIR}/src
(mkdir -p $ROS_PARENT_DIR_SRC && cd $ROS_PARENT_DIR_SRC; catkin_init_workspace)
(cd $ROS_PARENT_DIR_SRC && ( [ -f .rosinstall ] || ( wstool init ) ) \
&& wstool merge /tmp/parent.rosinstall.$$ \
&& wstool merge /tmp/parent_direct.rosinstall.$$)
(cd $ROS_PARENT_DIR_SRC && wstool update -j 8)
unset CMAKE_PREFIX_PATH
unset ROS_PACKAGE_PATH
(cd $ROS_PARENT_DIR_SRC/.. && catkin_make_isolated --install -DCMAKE_BUILD_TYPE=RelWithDebInfo)
else
# rosdep install
(cd $ROS_INSTALLDIR_SRC &&
wget https://raw.github.com/jsk-ros-pkg/jsk_common/master/rosdep-update.sh -O - | ROS_DISTRO=$DISTRIBUTION bash)
fi
return 0
}
function setup-android {
wget http://dl.google.com/android/android-sdk_r21.0.1-linux.tgz -O /tmp/android-sdk_r21.0.1-linux.tgz
tar xzf /tmp/android-sdk_r21.0.1-linux.tgz
if [ ! -e $HOME/android-sdk-linux ]; then
mv android-sdk-linux $HOME/android-sdk-linux
fi
export ANDROID_HOME=$HOME/android-sdk-linux
export PATH=${PATH}:${ANDROID_HOME}/tools:${ANDROID_HOME}/platform-tools
echo y | android update sdk --no-ui --force
echo y | android update sdk --all --filter android-10 --no-ui --force
echo y | android update sdk --all --filter android-13 --no-ui --force
echo y | android update sdk --all --filter build-tools-19.1.0 --no-ui --force
}
function rosdep_and_rosmake {
trap error ERR
local package=$1
rosdep install -y $package -v -r -i || echo "error on rosdep, but continues"
rosmake --profile --status-rate=0 $package || rosmake --profile --status-rate=0 $package
}
function compile-pkg {
trap error ERR
local PACKAGES=$@
unset ROS_DISTRO
if ( [[ "$DISTRIBUTION" =~ (electric|fuerte|groovy) ]] ) then
# start rosdep_and_rosmake
. $ROS_INSTALLDIR/setup.sh
rospack profile
for PACKAGE in $PACKAGES
do
rosdep_and_rosmake $PACKAGE
(cd `rospack find $PACKAGE`; [ ! -e ROS_NOBUILD ] && make ) || echo "ROS_NOBUILD found" # make sure to compile package
done
else ## hydro and up, use catkin
if [ "$USE_SOURCE" == "true" ]; then
. /opt/ros/$DISTRIBUTION/setup.sh
. ${ROS_INSTALLDIR}_parent/install_isolated/setup.sh
else
. /opt/ros/$DISTRIBUTION/setup.sh
fi
(cd $ROS_INSTALLDIR && LC_ALL=C catkin_make && LC_ALL=C catkin_make install )
## use rosbuild for rest of componentes
(cd $ROS_INSTALLDIR; rm -f .rosinstall; rosws init . $ROS_INSTALLDIR/install )
. $ROS_INSTALLDIR/setup.sh
rospack profile
fi
}
function test-pkg {
trap error ERR
local PACKAGES=$@
. $ROS_INSTALLDIR/setup.sh
# test
export DISPLAY=
export PATH=$PATH:`rospack find roseus`/bin
TEST_FAIL=0
rm -fr $ROS_WORKSPACE/test_results
# for gazebo
if ( [[ "$DISTRIBUTION" =~ (electric|fuerte|groovy) ]] ) then
source `rospack find gazebo`/scripts/setup.sh
export ROS_PACKAGE_PATH=`rosstack find simulator_gazebo`:$ROS_PACKAGE_PATH
for PACKAGE in $PACKAGES
do
(rospack find $PACKAGE && (cd `rospack find $PACKAGE`; make test ) ) || TEST_FAIL=`echo "-- $PACKAGE failed"`
done
else
(cd $ROS_INSTALLDIR && LC_ALL=C catkin_make run_tests)
fi
}
function doc-pkg {
trap error ERR
local PACKAGES=$@
. $ROS_INSTALLDIR/setup.sh
# test
export DISPLAY=:0.0
export PATH=$PATH:`rospack find roseus`/bin
rm -fr $ROS_INSTALLDIR/../../.ros/test_results
for PACKAGE in $PACKAGES
do
(cd `rospack find $PACKAGE`; make test || make tests) # catkin uses make tests, rosbuild uses make test
# chnage to JENKINS_URL and commit for jenkins
if [ "$JENKINS_URL" != "" -a "$SVN_USERNAME" != "" -a "$SVN_PASSWORD" != "" -a -f `rospack find $PACKAGE`/build/index.rst ] ; then
sed -i "s@^.. image:: build/@.. image:: $JENKINS_URL/job/$JOB_NAME/lastSuccessfulBuild/artifact/doc/$PACKAGE/html/_images/@" `rospack find $PACKAGE`/build/index.rst
sed -i "s@^.. video:: build/@.. video:: $JENKINS_URL/job/$JOB_NAME/lastSuccessfulBuild/artifact/doc/$PACKAGE/html/_images/@" `rospack find $PACKAGE`/build/index.rst
(cd `rospack find $PACKAGE`; cp build/index.rst ./; cp build/conf.py ./; svn add --non-interactive --username $SVN_USERNAME --password $SVN_PASSWORD index.rst conf.py; svn commit --non-interactive --username $SVN_USERNAME --password $SVN_PASSWORD -m "update index.rst,conf.py by Jenkins" index.rst conf.py)
fi
done
# if there are xdisplay, generate doc and index doc
if [ "`xdpyinfo > /dev/null || echo "fail"`" == "fail" ] ; then
echo "Could not connect to Xserver, so exit without running launchdoc"
return 0
fi
# doc
mkdir -p $ROS_INSTALLDIR/doc
SVN_REVISION=`LANGUAGE=en LANG=C svn info $ROS_INSTALLDIR/jsk-ros-pkg | grep Revision`
cat<<EOF > $ROS_INSTALLDIR/doc/index.rst
========================================
jsk-ros-pkg($SVN_REVISION) Test Results
========================================
EOF
for PACKAGE in $PACKAGES
do
if [ -f `rospack find $PACKAGE`/index.rst ]; then
(cd $ROS_INSTALLDIR; rm -fr doc; rosdoc_lite `rospack find $PACKAGE`)
(wkhtmltopdf $ROS_INSTALLDIR/doc/html/index.html $ROS_INSTALLDIR/doc/$PACKAGE.pdf; true)
convert $ROS_INSTALLDIR/doc/$PACKAGE.pdf $ROS_INSTALLDIR/doc/$PACKAGE.png
if [ -f $ROS_INSTALLDIR/doc/$PACKAGE.png ]; then
PACKAGEPNG=$PACKAGE.png
else
PACKAGEPNG=$PACKAGE-0.png
fi
cat <<EOF >> $ROS_INSTALLDIR/doc/index.rst
.. image:: $PACKAGEPNG
:width: 320
:target: $PACKAGE/html/index.html
EOF
fi
done
for PACKAGE in $PACKAGES
do
if [ -f `rospack find $PACKAGE`/index.rst ]; then
cat <<EOF >> $ROS_INSTALLDIR/doc/index.rst
$PACKAGE
ros wiki page http://ros.org/wiki/$PACKAGE/
ros api page http://ros.org/doc/api/$PACKAGE/html/
EOF
fi
done
rst2html $ROS_INSTALLDIR/doc/index.rst $ROS_INSTALLDIR/doc/index.html
}
function install-jsk-ros-pkg {
wget 'https://raw.github.com/jsk-ros-pkg/jsk_common/master/jsk.rosinstall' -O /tmp/jsk.rosinstall.$$
if [ "$RTM_ROS_ROBOTICS" = "true" ]; then
cat <<EOF > /tmp/rtm-ros-robotics.rosinstall.$$
- git:
uri: https://github.com/start-jsk/openrtm_aist_core.git
local-name: rtm-ros-robotics/openrtm_common/openrtm_aist_core
- git:
uri: https://github.com/start-jsk/openhrp3.git
local-name: rtm-ros-robotics/openrtm_common/openhrp3
- git:
uri: https://github.com/start-jsk/hrpsys.git
local-name: rtm-ros-robotics/openrtm_common/hrpsys
- git:
uri: https://github.com/start-jsk/rtshell_core.git
local-name: rtm-ros-robotics/openrtm_common/rtshell_core
- git:
uri: https://github.com/start-jsk/rtmros_common.git
local-name: rtm-ros-robotics/rtmros_common
- git:
uri: https://github.com/start-jsk/rtmros_tutorials.git
local-name: rtm-ros-robotics/rtmros_tutorials
- git:
uri: https://github.com/start-jsk/rtmros_hironx.git
local-name: rtm-ros-robotics/rtmros_hironx
- git:
uri: https://github.com/start-jsk/rtmros_gazebo.git
local-name: rtm-ros-robotics/rtmros_gazebo
EOF
install-pkg /tmp/jsk.rosinstall.$$ /tmp/rtm-ros-robotics.rosinstall.$$
else
install-pkg /tmp/jsk.rosinstall.$$
fi
if [ "$USE_SOURCE" != "true" ]; then
rosdep install -y euslisp -v -r -i || echo "error on rosdep, but continues" # y: default-yes, v: verbose, r: continue despite errors, i: ignore packages
fi
if [ "$DISPLAY" != "" ] && [ "`xset -q fp | grep /usr/share/fonts/X11/100dpi`" == "" ]; then
xset +fp /usr/share/fonts/X11/100dpi,/usr/share/fonts/X11/75dpi || return 0
fi
}
function compile-jsk-ros-pkg {
if ( [[ "$DISTRIBUTION" =~ (electric|fuerte|groovy) ]] ) then
sudo apt-get -y --force-yes install ros-$DISTRIBUTION-pr2-applications
fi
compile-pkg pr2eus_openrave elevator_move_base_pr2 detect_cans_in_fridge_201202 jsk_2013_04_pr2_610
}
function test-jsk-ros-pkg {
test-pkg euslisp roseus pr2eus euscollada pr2eus_openrave jsk_pcl_ros kinect_near_mode_calibration elevator_move_base_pr2 detect_cans_in_fridge_201202 jsk_2013_04_pr2_610
}
# show-* option
case "$SHOW" in
install) declare -f setup-ros | awk '/^\ /{print $0}' | sed -e 's/^[ ]*//'; exit 0;;
package) echo "sudo apt-get -y --force-yes install $INSTALL_ROS_PACKAGE" ; exit 0;;
environment) env; return 0;;
esac
# main program
set -x
if [ $# -gt 0 ]; then ## if we have arguments, check functions
$@
else
setup-ros
install-jsk-ros-pkg
setup-android
compile-jsk-ros-pkg
test-jsk-ros-pkg
fi
#
(which rosrun && rosrun rosunit clean_junit_xml.py; echo "done") # check error