Merge pull request #11 from Ar-Ray-code/featurs/0.3.0

Featurs/0.3.0

.gitignore

@@ -0,0 +1,14 @@
+build/ros2_ws/build
+build/ros2_ws/install
+build/ros2_ws/log
+build/ros2_ws/src
+
+dashing
+eloquent
+foxy
+rolling
+humble
+ros2.repos*
+
+deb/
+*.zip

README.md

@@ -10,38 +10,82 @@ Scripts for build ROS2 to running on Raspbian (64bit).
 
 ## Support
 
-### Latest : ros2-0.2.0
+### Latest : ros2-0.3.0
 
-[ros2-0.2.0](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/tag/ros2-0.2.0)
+[ros2-0.3.0](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/tag/ros2-0.3.0)
 
-| Distro | aarch64 |
+| Distro | arm64 |
 | --- | --- |
 | humble | ✔ |
 | galactic | |
+| foxy | |
 
 ### Install
 
-- OS   : RaspberryPi OS bullseye aarch64
+- OS   : RaspberryPi OS bullseye arm64
 - ROS2 : ROS2 Humble
 
 ```bash
-# (humble, aarch64)
-curl -O https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/install.bash
-# bash install.bash <distro> <arch> <version> <install-dir>
-bash install.bash humble aarch64 0.2.0 /opt/ros
+wget https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/download/ros2-0.3.0/ros-humble-desktop-0.3.0_20221215_arm64.deb
+sudo apt install ./ros2-humble-desktop-0.3.0_20221215_arm64.deb
 ```
 
+### Uninstall
+
+```bash
+sudo apt remove ros-${DISTRO}-desktop
+# sudo apt remove ros-humble-desktop
+```
+
+### `DEBIAN/control` file
+
+```conf
+Package: ros-humble-desktop
+Version: 0.3.0
+Section: base
+Priority: optional
+Architecture: arm64
+Depends: bison,build-essential,curl,cmake,doxygen,git,gnupg,libacl1-dev,libasio-dev,libbullet-dev,libeigen3-dev,libfreetype-dev,liblog4cxx-dev,libopencv-dev,libresource-retriever-dev,libsdl2-dev,libtinyxml2-dev,libxaw7-dev,libxcursor-dev,libxrandr-dev,lsb-release,mingw-w64-i686-dev,pciutils,pyqt5-dev,python3-flake8,python3-lark,python3-netifaces,python3-numpy,python3-pip,python3-pydot,python3-pyqt5,python3-pyqt5.qtsvg,python3-pytest-cov,python3-rosdep2,python3-setuptools,python3-sip,qtbase5-dev,sip-dev,xterm,wget,zip
+Maintainer: Ar-Ray-code <ray255ar@gmail.com>
+Description: ROS2 humble for Raspberry Pi OS Bullseye 64bit
+```
 
 <br>
 
 ### Load ROS2
 
 ```bash
-source /opt/ros/humble/setup.bash
+source /opt/ros/${DISTRO}/setup.bash
+# source /opt/ros/humble/setup.bash
 ```
 
 <br>
 
+<details><summary>ros2-0.2.0</summary>
+
+[ros2-0.2.0](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/releases/tag/ros2-0.2.0)
+
+| Distro | aarch64 |
+| --- | --- |
+| humble | ✔ |
+| galactic | |
+
+### Install
+
+- OS   : RaspberryPi OS bullseye aarch64
+- ROS2 : ROS2 Humble
+
+```bash
+# (humble, aarch64)
+curl -O https://raw.githubusercontent.com/Ar-Ray-code/rpi-bullseye-ros2/main/install.bash
+# bash install.bash <distro> <arch> <version> <install-dir>
+bash install.bash humble aarch64 0.2.0 /opt/ros
+```
+
+<br>
+
+</details>
+
 <details><summary>ros2-0.1.0</summary>
 
 <br>

build/create_ros2.bash

@@ -13,6 +13,11 @@ if [ -z "$DISTRO" ]; then
     sleep 1
 fi
 
+# setup qemu (if this computer arch is x86_64)
+if [ "$(uname -m)" == "x86_64" ]; then
+    docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
+fi
+
 cd $SCRIPT_DIR
 docker build -t ros2-${DISTRO}-aarch64 .
 if [ $? -ne 0 ]; then

build/ros2_ws/build.bash

@@ -1,19 +1,20 @@
 #!/bin/bash
-
+SCRIPT_DIR=$(cd $(dirname $0); pwd)
 DISTRO=$1
 
 if [ -z "$DISTRO" ]; then
     DISTRO=humble
     echo "No distro specified, using default: ${DISTRO}"
 fi
 
+rm -rf ${SCRIPT_DIR}/ros2.repos
 wget https://raw.githubusercontent.com/ros2/ros2/${DISTRO}/ros2.repos
 vcs import src < ros2.repos
 
 rosdep update
 # rosdep install -r -y -i --from-paths /ros2_ws/src/ --rosdistro ${DISTRO}
 
-colcon build --install-base $(pwd)/${DISTRO}/
+colcon build --install-base $(pwd)/${DISTRO}/ --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=armv8-a+crc -mtune=cortex-a72 -O3" -DCMAKE_C_FLAGS="-march=armv8-a+crc -mtune=cortex-a72 -O3"
 
 if [ $? -ne 0 ]; then
     exit 1

config/depends.txt

@@ -0,0 +1,41 @@
+bison
+build-essential
+curl
+cmake
+doxygen
+git
+gnupg
+libacl1-dev
+libasio-dev
+libbullet-dev
+libeigen3-dev
+libfreetype-dev
+liblog4cxx-dev
+libopencv-dev
+libresource-retriever-dev
+libsdl2-dev
+libtinyxml2-dev
+libxaw7-dev
+libxcursor-dev
+libxrandr-dev
+lsb-release
+mingw-w64-i686-dev
+pciutils
+pyqt5-dev
+python3-flake8
+python3-lark
+python3-netifaces
+python3-numpy
+python3-pip
+python3-pydot
+python3-pyqt5
+python3-pyqt5.qtsvg
+python3-pytest-cov
+python3-rosdep2
+python3-setuptools
+python3-sip
+qtbase5-dev
+sip-dev
+xterm
+wget
+zip

config/version.txt

@@ -0,0 +1 @@
+0.3.0

create_deb.bash

@@ -0,0 +1,56 @@
+SCRIPT_DIR=$(cd $(dirname $0); pwd)
+TARGET_DISTRO=$1
+ARCH=$2
+ROS_INSTALL_DIR=$3
+DL_ONLY=$4
+
+VERSION=$(cat ${SCRIPT_DIR}/config/version.txt)
+
+if [ -z "$TARGET_DISTRO" ];     then TARGET_DISTRO="humble";      fi
+if [ -z "$ARCH" ];              then ARCH="arm64";                 fi
+if [ -z "$VERSION" ];           then VERSION="0.2.0";               fi
+if [ -z "$ROS_INSTALL_DIR" ];   then ROS_INSTALL_DIR="/opt/ros";    fi
+
+echo "============================================"
+echo " Ar-Ray-code/rpi-bullseye-ros2              "
+echo ""
+echo "TARGET_DISTRO: ${TARGET_DISTRO}"
+echo "ARCH: ${ARCH}"
+echo "VERSION: ${VERSION}"
+echo "Build Date: $(date +%Y%m%d)"
+echo "ROS_INSTALL_DIR: ${ROS_INSTALL_DIR}"
+echo "============================================"
+echo " "
+
+DATE=$(date +%Y%m%d)
+DEB_NAME="ros2-$TARGET_DISTRO-desktop-${VERSION}_${DATE}_${ARCH}"
+
+# copy files to deb folder
+DEB_ROOT=${SCRIPT_DIR}/deb/${DEB_NAME}
+INSTALL_DIR=${DEB_ROOT}/opt/ros/${TARGET_DISTRO}
+
+mkdir -p ${INSTALL_DIR}
+cd ${INSTALL_DIR}
+cp -r ${SCRIPT_DIR}/build/ros2_ws/${TARGET_DISTRO}/* ${INSTALL_DIR}/
+
+# create control file
+CONTROL_FILE=${DEB_ROOT}/DEBIAN/control
+rm -rf ${DEB_ROOT}/DEBIAN
+
+mkdir -p ${DEB_ROOT}/DEBIAN
+echo "Package: ros-$TARGET_DISTRO-desktop" > ${CONTROL_FILE}
+echo "Version: ${VERSION}" >> ${CONTROL_FILE}
+echo "Section: base" >> ${CONTROL_FILE}
+echo "Priority: optional" >> ${CONTROL_FILE}
+echo "Architecture: ${ARCH}" >> ${CONTROL_FILE}
+
+# add depends from depends.txt file (\n -> , + space)
+DEPENDS=$(cat ${SCRIPT_DIR}/config/depends.txt | tr '\n' ',' | sed 's/,$//')
+echo "Depends: $DEPENDS" >> ${CONTROL_FILE}
+echo "depens: $DEPENDS"
+
+echo "Maintainer: Ar-Ray-code <ray255ar@gmail.com>" >> ${CONTROL_FILE}
+echo "Description: ROS2 $TARGET_DISTRO for Raspberry Pi OS Bullseye 64bit" >> ${CONTROL_FILE}
+
+dpkg-deb --build --root-owner-group ${DEB_ROOT} ${SCRIPT_DIR}/deb/${DEB_NAME}.deb
+