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Enhance ROS2 repository setup by improving key handling and updating installation commands

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This commit is contained in:
Даниил Грабарь
2026-05-20 18:09:04 +03:00
parent c8b121958d
commit 9ab76160f0
1 changed files with 35 additions and 31 deletions
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cobot/commands/local_setup.py
+35 -31
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@@ -80,52 +80,56 @@ def _setup_locale(write: Write) -> None:
def _add_ros2_repo(write: Write) -> None:
write("[cyan][*][/cyan] Adding ROS2 apt repository...")
_run_quiet(["sudo", "apt-get", "update", "-qq"])
# Best-effort update before installing prereqs (ignore errors from broken repos)
subprocess.run(["sudo", "apt-get", "update", "-qq"], capture_output=True)
_run_logged(
["sudo", "apt-get", "install", "-y", "--no-install-recommends",
"software-properties-common", "curl"],
"software-properties-common", "curl", "gnupg"],
write, _APT_ENV,
)
_run_quiet(["sudo", "add-apt-repository", "-y", "universe"])
if not _ROS_KEYRING.exists():
write("[cyan][*][/cyan] Downloading ROS2 signing key...")
with tempfile.NamedTemporaryFile(delete=False, suffix=".gpg") as tmp:
tmp_path = tmp.name
try:
urllib.request.urlretrieve(_ROS_KEY_URL, tmp_path)
_run_quiet(["sudo", "cp", tmp_path, str(_ROS_KEYRING)])
finally:
os.unlink(tmp_path)
# Always re-download and dearmor the key to fix any previous bad install
write("[cyan][*][/cyan] Downloading ROS2 signing key...")
with tempfile.NamedTemporaryFile(delete=False, suffix=".key") as tmp:
tmp_path = tmp.name
try:
urllib.request.urlretrieve(_ROS_KEY_URL, tmp_path)
_run_quiet(["sudo", "gpg", "--dearmor", "--yes", "-o", str(_ROS_KEYRING), tmp_path])
finally:
os.unlink(tmp_path)
write("[green][ok][/green] Signing key installed")
if not _ROS_SOURCES.exists():
arch = subprocess.check_output(["dpkg", "--print-architecture"], text=True).strip()
codename = subprocess.check_output(
["bash", "-c", ". /etc/os-release && echo $UBUNTU_CODENAME"], text=True
).strip()
sources_line = (
f"deb [arch={arch} signed-by={_ROS_KEYRING}] "
f"http://packages.ros.org/ros2/ubuntu {codename} main\n"
)
proc = subprocess.run(
["sudo", "tee", str(_ROS_SOURCES)],
input=sources_line, capture_output=True, text=True,
)
if proc.returncode != 0:
raise RuntimeError(f"Failed to write {_ROS_SOURCES}")
arch = subprocess.check_output(["dpkg", "--print-architecture"], text=True).strip()
codename = subprocess.check_output(
["bash", "-c", ". /etc/os-release && echo $UBUNTU_CODENAME"], text=True
).strip()
sources_line = (
f"deb [arch={arch} signed-by={_ROS_KEYRING}] "
f"http://packages.ros.org/ros2/ubuntu {codename} main\n"
)
proc = subprocess.run(
["sudo", "tee", str(_ROS_SOURCES)],
input=sources_line, capture_output=True, text=True,
)
if proc.returncode != 0:
raise RuntimeError(f"Failed to write {_ROS_SOURCES}")
_run_quiet(["sudo", "apt-get", "update", "-qq"])
write("[cyan][*][/cyan] Updating apt cache...")
_run_logged(["sudo", "apt-get", "update", "-q"], write, _APT_ENV)
write("[green][ok][/green] ROS2 repository ready")
def _install_ros2_jazzy(write: Write) -> None:
write("[cyan][*][/cyan] Installing ros-jazzy-ros-base and ros-dev-tools...")
write("[cyan][*][/cyan] Installing ros-jazzy-desktop and ros-dev-tools...")
_run_logged(
["sudo", "apt-get", "install", "-y", "--no-install-recommends",
"ros-jazzy-ros-base", "ros-dev-tools"],
["sudo", "apt-get", "install", "-y",
"ros-jazzy-desktop", "ros-dev-tools"],
write, _APT_ENV,
)
write("[green][ok][/green] ROS2 Jazzy installed")
write("[green][ok][/green] ROS2 Jazzy Desktop installed")
def _install_colcon(write: Write) -> None: