81 lines
3.2 KiB
Bash
Executable File
81 lines
3.2 KiB
Bash
Executable File
#!/bin/bash
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# Install ROS2 Jazzy (ros-base) on Ubuntu 24.04.
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# Emits PROGRESS:<pct>:<label> lines so the Python caller can update its progress bar.
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# Устанавливает ROS2 Jazzy (ros-base) на Ubuntu 24.04.
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# Выводит строки PROGRESS:<pct>:<метка> для обновления прогресс-бара в Python.
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set -euo pipefail
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export DEBIAN_FRONTEND=noninteractive
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PROGRESS() { echo "PROGRESS:$1:$2"; }
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PROGRESS 0 "Checking dpkg state..."
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echo "Checking dpkg state..."
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sudo dpkg --configure -a
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PROGRESS 5 "Setting up locale..."
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echo "Setting up locale..."
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sudo apt-get update -q
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sudo apt-get install -y -q locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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PROGRESS 12 "Adding universe repository..."
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echo "Adding universe repository..."
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sudo apt-get install -y -q software-properties-common
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sudo add-apt-repository -y universe
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PROGRESS 20 "Adding ROS2 GPG key..."
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echo "Adding ROS2 GPG key..."
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sudo apt-get update -q
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sudo apt-get install -y -q curl
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
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-o /usr/share/keyrings/ros-archive-keyring.gpg
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PROGRESS 26 "Configuring ROS2 apt repository..."
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echo "Configuring ROS2 apt repository..."
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
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http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "$UBUNTU_CODENAME") main" \
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| sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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PROGRESS 32 "Updating package lists..."
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echo "Updating package lists..."
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sudo apt-get update -q
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sudo apt-get upgrade -y -q
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PROGRESS 38 "Installing ros-jazzy-ros-base (this may take a while)..."
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echo "Installing ros-jazzy-ros-base..."
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sudo apt-get install -y ros-jazzy-ros-base
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PROGRESS 78 "Installing ROS2 dev tools..."
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echo "Installing ROS2 dev tools..."
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sudo apt-get install -y ros-dev-tools
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PROGRESS 85 "Installing Python build tools..."
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echo "Installing Python build tools..."
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sudo apt-get install -y python3-pip python3-venv python3-dev
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PROGRESS 90 "Initializing rosdep..."
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echo "Initializing rosdep..."
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sudo rosdep init 2>/dev/null || true
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rosdep update
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PROGRESS 95 "Configuring pip for system installs..."
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echo "Configuring pip for system-wide installs (PEP 668 override)..."
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sudo mkdir -p /root/.config/pip
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if ! sudo grep -qs 'break-system-packages' /root/.config/pip/pip.conf 2>/dev/null; then
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printf '[global]\nbreak-system-packages = true\n' | sudo tee -a /root/.config/pip/pip.conf > /dev/null
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fi
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# rosdep calls `pip install -U <pkg>` which upgrades every transitive dependency,
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# including packages installed by apt that have no pip RECORD file, causing an
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# uninstall failure. Pre-installing these packages with --ignore-installed creates
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# pip RECORD files for all their transitive deps so the later rosdep upgrade succeeds.
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# fastapi>=0.100.0 + starlette>=0.27.0 are pinned together to avoid the
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# "Router.__init__() got an unexpected keyword argument 'on_startup'" error that
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# occurs when the apt-installed fastapi (old) is mixed with a newer pip starlette.
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sudo pip3 install --break-system-packages --ignore-installed \
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"fastapi>=0.100.0" "starlette>=0.27.0" fastmcp
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PROGRESS 100 "Done"
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echo "ROS2 Jazzy (ros-base) installed successfully."
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