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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
+15 -11
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@@ -80,25 +80,28 @@ def _setup_locale(write: Write) -> None:
def _add_ros2_repo(write: Write) -> None: def _add_ros2_repo(write: Write) -> None:
write("[cyan][*][/cyan] Adding ROS2 apt repository...") 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( _run_logged(
["sudo", "apt-get", "install", "-y", "--no-install-recommends", ["sudo", "apt-get", "install", "-y", "--no-install-recommends",
"software-properties-common", "curl"], "software-properties-common", "curl", "gnupg"],
write, _APT_ENV, write, _APT_ENV,
) )
_run_quiet(["sudo", "add-apt-repository", "-y", "universe"]) _run_quiet(["sudo", "add-apt-repository", "-y", "universe"])
if not _ROS_KEYRING.exists(): # Always re-download and dearmor the key to fix any previous bad install
write("[cyan][*][/cyan] Downloading ROS2 signing key...") write("[cyan][*][/cyan] Downloading ROS2 signing key...")
with tempfile.NamedTemporaryFile(delete=False, suffix=".gpg") as tmp: with tempfile.NamedTemporaryFile(delete=False, suffix=".key") as tmp:
tmp_path = tmp.name tmp_path = tmp.name
try: try:
urllib.request.urlretrieve(_ROS_KEY_URL, tmp_path) urllib.request.urlretrieve(_ROS_KEY_URL, tmp_path)
_run_quiet(["sudo", "cp", tmp_path, str(_ROS_KEYRING)]) _run_quiet(["sudo", "gpg", "--dearmor", "--yes", "-o", str(_ROS_KEYRING), tmp_path])
finally: finally:
os.unlink(tmp_path) 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() arch = subprocess.check_output(["dpkg", "--print-architecture"], text=True).strip()
codename = subprocess.check_output( codename = subprocess.check_output(
["bash", "-c", ". /etc/os-release && echo $UBUNTU_CODENAME"], text=True ["bash", "-c", ". /etc/os-release && echo $UBUNTU_CODENAME"], text=True
@@ -114,18 +117,19 @@ def _add_ros2_repo(write: Write) -> None:
if proc.returncode != 0: if proc.returncode != 0:
raise RuntimeError(f"Failed to write {_ROS_SOURCES}") 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") write("[green][ok][/green] ROS2 repository ready")
def _install_ros2_jazzy(write: Write) -> None: 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( _run_logged(
["sudo", "apt-get", "install", "-y", "--no-install-recommends", ["sudo", "apt-get", "install", "-y",
"ros-jazzy-ros-base", "ros-dev-tools"], "ros-jazzy-desktop", "ros-dev-tools"],
write, _APT_ENV, write, _APT_ENV,
) )
write("[green][ok][/green] ROS2 Jazzy installed") write("[green][ok][/green] ROS2 Jazzy Desktop installed")
def _install_colcon(write: Write) -> None: def _install_colcon(write: Write) -> None: