fix: update ROS2 apt repository setup to use ros2-apt-source package and improve installation process
This commit is contained in:
Даниил Грабарь
@@ -1,6 +1,8 @@
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from __future__ import annotations
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import argparse
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import glob
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import json
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import os
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import shutil
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import subprocess
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@@ -17,11 +19,15 @@ from cobot.commands.docker_setup import run as _docker_setup
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_PROJECT_DIR = Path(__file__).parent.parent.parent
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# Paths used for the ROS2 apt repository signing key and sources list.
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# Пути для ключа подписи apt-репозитория ROS2 и файла sources list.
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_ROS_KEYRING = Path("/usr/share/keyrings/ros-archive-keyring.gpg")
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_ROS_SOURCES = Path("/etc/apt/sources.list.d/ros2.list")
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_ROS_KEY_URL = "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
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# GitHub repository that publishes the official ROS2 apt source package.
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# Репозиторий GitHub, публикующий официальный пакет источника apt для ROS2.
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_ROS_APT_SOURCE_API = (
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"https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest"
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)
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_ROS_APT_SOURCE_DEB = (
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"https://github.com/ros-infrastructure/ros-apt-source/releases/download"
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"/{version}/ros2-apt-source_{version}.{codename}_all.deb"
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)
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# Suppress apt interactive prompts such as "restart services?".
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# Подавляем интерактивные запросы apt, например "перезапустить службы?".
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@@ -174,8 +180,8 @@ def _setup_locale(write: Write) -> None:
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write("[green][ok][/green] Locale configured")
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# Add the official ROS2 apt repository and its signing key so we can install ROS2 packages.
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# Добавляем официальный apt-репозиторий ROS2 и его ключ подписи, чтобы можно было установить пакеты ROS2.
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# Add the official ROS2 apt repository using the ros2-apt-source package.
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# Добавляем официальный репозиторий ROS2 через пакет ros2-apt-source.
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def _add_ros2_repo(
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write: Write,
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on_progress: Optional[Callable[[float], None]] = None,
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@@ -185,61 +191,82 @@ def _add_ros2_repo(
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if on_progress:
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on_progress(p)
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write("[cyan][*][/cyan] Adding ROS2 apt repository...")
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write("[cyan][*][/cyan] Configuring ROS2 apt repository...")
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# Best-effort update - 60 second timeout so a bad mirror doesn't hang forever.
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# Фоновое обновление с таймаутом 60 секунд, чтобы зависший зеркальный сервер не блокировал процесс.
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# Update apt cache so we can install curl and software-properties-common.
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# Обновляем кеш apt перед установкой curl и software-properties-common.
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subprocess.run(["sudo", "apt-get", "update"] + _APT_TIMEOUTS, capture_output=True, timeout=120)
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_prog(15)
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_prog(10)
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_run_quiet(
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["sudo", "apt-get", "install", "-y", "--no-install-recommends",
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"software-properties-common", "curl", "gnupg"],
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"software-properties-common", "curl"],
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write, _APT_ENV,
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)
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_prog(35)
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_prog(20)
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_run_quiet(["sudo", "add-apt-repository", "-y", "universe"], write)
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_prog(45)
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_prog(30)
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write("[cyan][*][/cyan] Downloading ROS2 signing key...")
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with tempfile.NamedTemporaryFile(delete=False, suffix=".key") as tmp:
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# Fetch the latest ros2-apt-source release version from the GitHub API.
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# The User-Agent header is required by the GitHub API.
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# Получаем последнюю версию ros2-apt-source через GitHub API.
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# Заголовок User-Agent обязателен для GitHub API.
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write("[cyan][*][/cyan] Fetching ros2-apt-source package...")
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req = urllib.request.Request(
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_ROS_APT_SOURCE_API,
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headers={"User-Agent": "cobot-installer"},
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)
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with urllib.request.urlopen(req, timeout=30) as resp:
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version = json.loads(resp.read())["tag_name"]
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codename = subprocess.check_output(
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["bash", "-c", ". /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}}"],
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text=True,
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).strip()
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deb_url = _ROS_APT_SOURCE_DEB.format(version=version, codename=codename)
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_prog(40)
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# Download the .deb and install it. The package sets up the GPG key and sources list automatically.
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# Скачиваем .deb и устанавливаем его. Пакет сам настраивает GPG-ключ и список источников.
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with tempfile.NamedTemporaryFile(suffix=".deb", delete=False) as tmp:
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tmp_path = tmp.name
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try:
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# 30 second timeout - if GitHub is unreachable we fail fast instead of hanging forever.
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# Таймаут 30 секунд - если GitHub недоступен, падаем быстро вместо бесконечного зависания.
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with urllib.request.urlopen(_ROS_KEY_URL, timeout=30) as resp:
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with open(tmp_path, "wb") as f:
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f.write(resp.read())
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_prog(60)
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# Convert the ASCII-armored key to binary GPG format that apt understands.
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# Конвертируем ключ из ASCII-armor формата в бинарный GPG, который понимает apt.
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_run_quiet(["sudo", "gpg", "--dearmor", "--yes", "-o", str(_ROS_KEYRING), tmp_path])
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with urllib.request.urlopen(deb_url, timeout=60) as resp:
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Path(tmp_path).write_bytes(resp.read())
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_prog(55)
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# Remember which files exist before dpkg so we can find the new sources file it creates.
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# Запоминаем файлы до dpkg, чтобы найти новый файл источников, который он создаст.
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before = set(glob.glob("/etc/apt/sources.list.d/*"))
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_run_quiet(["sudo", "dpkg", "-i", tmp_path], write)
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after = set(glob.glob("/etc/apt/sources.list.d/*"))
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finally:
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os.unlink(tmp_path)
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write("[green][ok][/green] Signing key installed")
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_prog(65)
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arch = subprocess.check_output(["dpkg", "--print-architecture"], text=True).strip()
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codename = subprocess.check_output(
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["bash", "-c", ". /etc/os-release && echo $UBUNTU_CODENAME"], text=True
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).strip()
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sources_line = (
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f"deb [arch={arch} signed-by={_ROS_KEYRING}] "
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f"http://packages.ros.org/ros2/ubuntu {codename} main\n"
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)
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proc = subprocess.run(
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["sudo", "tee", str(_ROS_SOURCES)],
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input=sources_line, capture_output=True, text=True,
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)
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if proc.returncode != 0:
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raise RuntimeError(f"Failed to write {_ROS_SOURCES}")
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_prog(70)
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write("[green][ok][/green] ROS2 apt source installed")
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_prog(60)
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# Update ONLY the newly added ROS2 sources file, not all Ubuntu repos.
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# This avoids re-downloading hundreds of MB of ubuntu package lists that are already cached.
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# Обновляем ТОЛЬКО новый файл источников ROS2, а не все репозитории Ubuntu.
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# Это позволяет не перекачивать сотни МБ списков пакетов Ubuntu, которые уже закешированы.
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write("[cyan][*][/cyan] Updating ROS2 package list...")
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new_files = [f for f in (after - before) if f.endswith((".list", ".sources"))]
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if new_files:
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update_cmd = [
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"sudo", "apt-get", "update", "-q",
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"-o", f"Dir::Etc::sourcelist={new_files[0]}",
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"-o", "Dir::Etc::sourceparts=-",
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"-o", "APT::Get::List-Cleanup=0",
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] + _APT_TIMEOUTS
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else:
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# Fallback when the deb updates an existing file rather than creating a new one.
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# Запасной вариант когда deb обновляет существующий файл, а не создаёт новый.
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update_cmd = ["sudo", "apt-get", "update", "-q"] + _APT_TIMEOUTS
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write("[cyan][*][/cyan] Updating apt cache...")
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_run_apt_with_progress(
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["sudo", "apt-get", "update", "-q"] + _APT_TIMEOUTS,
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write,
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lambda p: _prog(70 + p * 0.30),
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update_cmd, write,
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lambda p: _prog(60 + p * 0.40),
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_APT_ENV,
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register_proc=register_proc,
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)
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