Merge pull request #1794 from k-okada/fix_unitree

[unitree/cross] Fix unitree system build
jsk-ros-pkg · May 25, 2023 · 5893569 · 5893569
2 parents 3dd1d9b + ae9ff8e
commit 5893569
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Showing 13 changed files with 136 additions and 4 deletions.
diff --git a/jsk_unitree_robot/cross/docker/Dockerfile_ros1 b/jsk_unitree_robot/cross/docker/Dockerfile_ros1
@@ -33,8 +33,9 @@ RUN apt install -y python3-vcstool
 #
 # Setup Users
 #
+ARG UID=1000
 RUN apt-get install -y sudo
-RUN useradd -ms /bin/bash -G sudo user
+RUN useradd --uid $UID -ms /bin/bash -G sudo user
 RUN newgrp
 RUN echo user:user | chpasswd
 #

diff --git a/jsk_unitree_robot/cross/prepare_requirements_ros1.sh b/jsk_unitree_robot/cross/prepare_requirements_ros1.sh
@@ -14,4 +14,4 @@ if [ -e /proc/sys/fs/binfmt_misc/qemu-aarch64 ] &&  [ ! "$(docker images -q mult
     docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
 fi
 
-docker buildx build $@ --progress plain -t ros1-unitree:${TARGET_MACHINE} --build-arg TARGET_MACHINE=${TARGET_MACHINE} -f docker/Dockerfile_ros1 docker/ 2>&1 | tee ${TARGET_MACHINE}_prepare_requirements_ros1.log
+docker buildx build $@ --progress plain -t ros1-unitree:${TARGET_MACHINE} --build-arg TARGET_MACHINE=${TARGET_MACHINE} --build-arg UID=$(id -u $USER) -f docker/Dockerfile_ros1 docker/ 2>&1 | tee ${TARGET_MACHINE}_prepare_requirements_ros1.log
diff --git a/jsk_unitree_robot/cross/repos/go1_requirements.txt b/jsk_unitree_robot/cross/repos/go1_requirements.txt
@@ -7,4 +7,5 @@ paho-mqtt==1.6.1
 # https://github.com/jsk-ros-pkg/jsk_3rdparty/blob/master/respeaker_ros/package.xml
 speechrecognition==3.8.1
 pyusb==1.1.1
+spidev==3.5  # pixel-ring requires spidev and spidev >=3.6 requires setuptools>=61.0
 pixel-ring==0.1.0
diff --git a/jsk_unitree_robot/cross/repos/ros1_dependencies.repos b/jsk_unitree_robot/cross/repos/ros1_dependencies.repos
@@ -56,6 +56,24 @@ repositories:
   python-twisted/debian:
     type: tar
     url: http://archive.ubuntu.com/ubuntu/pool/main/t/twisted/twisted_17.9.0-2ubuntu0.3.debian.tar.xz
+  python-setuptools-scm:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/universe/s/setuptools-scm/setuptools-scm_1.15.6.orig.tar.gz
+  python-setuptools-scm/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/universe/s/setuptools-scm/setuptools-scm_1.15.6-1.debian.tar.xz
+  python-attr:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/p/python-attrs/python-attrs_17.4.0.orig.tar.gz
+  python-attr/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/p/python-attrs/python-attrs_17.4.0-2.debian.tar.xz
+  python-automat:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/a/automat/automat_0.6.0.orig.tar.gz
+  python-automat/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/a/automat/automat_0.6.0-1.debian.tar.xz
   python-incremental:
     type: tar
     url: http://archive.ubuntu.com/ubuntu/pool/main/i/incremental/incremental_16.10.1.orig.tar.gz
@@ -230,3 +248,17 @@ repositories:
   postfix:
     type: tar
     url: http://mirror.postfix.jp/postfix-release/official/postfix-3.4.3.tar.gz
+  libfcl-dev:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/universe/f/fcl/fcl_0.5.0.orig.tar.gz
+  libfcl-dev/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/universe/f/fcl/fcl_0.5.0-5.debian.tar.xz
+    # geometric_shapes depends on fcl
+  libccd-dev:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/universe/libc/libccd/libccd_2.0.orig.tar.gz
+  libccd-dev/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/universe/libc/libccd/libccd_2.0-1.debian.tar.xz
+    # fcl depends on ccd
diff --git a/jsk_unitree_robot/cross/repos/unitree.repos b/jsk_unitree_robot/cross/repos/unitree.repos
@@ -19,5 +19,8 @@ repositories:
     version: develop
   app_manager:
     type: git
-    url: https://github.com/Affonso-Gui/app_manager
-    version: enable-parallel-run-apps
+    url: https://github.com/PR2/app_manager
+    version: kinetic-devel
+    # enable to run simple apps parallel to other apps
+    # https://github.com/PR2/app_manager/pull/59 have been merged,
+    # but 1.4.0 have not released yet.
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1000-python-setuptools-scm b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1000-python-setuptools-scm
@@ -0,0 +1,17 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/python-setuptools-scm/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/python-setuptools-scm/setuptools_scm-1.15.6
+
+# cd ${DEBIAN_DIR}/patches
+# for patch_file in $(grep -v ^# series); do
+#     OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+# done
+
+cd ${SOURCE_DIR}
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python2.7/site-packages/
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python2.7/site-packages" \
+          python \
+          setup.py install \
+          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1010-python-attr b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1010-python-attr
@@ -0,0 +1,17 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/python-attr/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/python-attr/attrs-17.4.0
+
+cd ${DEBIAN_DIR}/patches
+for patch_file in $(grep -v ^# series); do
+    OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+done
+
+cd ${SOURCE_DIR}
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python2.7/site-packages/
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python2.7/site-packages" \
+          python \
+          setup.py install \
+          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1010-python-automat b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1010-python-automat
@@ -0,0 +1,17 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/python-automat/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/python-automat/Automat-0.6.0
+
+cd ${DEBIAN_DIR}/patches
+for patch_file in $(grep -v ^# series); do
+    OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+done
+
+cd ${SOURCE_DIR}
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python2.7/site-packages/
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python2.7/site-packages" \
+          python \
+          setup.py install \
+          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies
diff --git a/...ies_build_scripts/1011-python-incremental → ...ies_build_scripts/1010-python-incremental b/...ies_build_scripts/1011-python-incremental → ...ies_build_scripts/1010-python-incremental
diff --git a/..._build_scripts/1012-python-zope.interface → ..._build_scripts/1011-python-zope.interface b/..._build_scripts/1012-python-zope.interface → ..._build_scripts/1011-python-zope.interface
diff --git a/...dencies_build_scripts/1010-python-twisted → ...dencies_build_scripts/1012-python-twisted b/...dencies_build_scripts/1010-python-twisted → ...dencies_build_scripts/1012-python-twisted
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1043-libccd-dev b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1043-libccd-dev
@@ -0,0 +1,23 @@
+#!/bin/bash
+set -xeu -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/libccd-dev/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/libccd-dev/libccd-2.0
+
+#
+# libccd-dev does not have patches
+#
+# cd ${DEBIAN_DIR}/patches
+# for patch_file in $(grep -v ^# series); do
+#     OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+# done
+
+mkdir -p /home/user/ros1_dependencies_sources/build/libccd-dev
+cd /home/user/ros1_dependencies_sources/build/libccd-dev
+cmake \
+  -DCMAKE_INSTALL_PREFIX=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_SKIP_RPATH=ON \
+  ${SOURCE_DIR}
+
+make install
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1044-libfcl-dev b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1044-libfcl-dev
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -xeu -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/libfcl-dev/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/libfcl-dev/fcl-0.5.0
+
+cd ${DEBIAN_DIR}/patches
+for patch_file in $(grep -v ^# series); do
+    OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+done
+
+mkdir -p /home/user/ros1_dependencies_sources/build/libfcl-dev
+cd /home/user/ros1_dependencies_sources/build/libfcl-dev
+cmake \
+  -DCMAKE_INSTALL_PREFIX=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_SKIP_RPATH=ON \
+  -DFCL_BUILD_TESTS=FALSE \
+  ${SOURCE_DIR}
+
+make install