Created
February 28, 2018 10:22
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Tiago tutorials Vagrantfile
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| # -*- mode: ruby -*- | |
| # vi: set ft=ruby : | |
| Vagrant.configure(2) do |config| | |
| config.vm.box = "ubuntu/trusty64" | |
| config.vm.provider "virtualbox" do |vb| | |
| vb.memory = "2048" | |
| end | |
| $script = <<-SHELL | |
| export CI_ROS_DISTRO="indigo" | |
| export CATKIN_WS=~/tiago_public_ws | |
| export CATKIN_WS_SRC=${CATKIN_WS}/src | |
| sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list' | |
| wget http://packages.ros.org/ros.key -O - | sudo apt-key add - | |
| sudo apt-get update | |
| sudo apt-get install -y python-rosdep python-rosinstall python-catkin-tools git build-essential cmake | |
| sudo rosdep init | |
| rosdep update | |
| sudo add-apt-repository --yes ppa:xqms/opencv-nonfree | |
| sudo apt-get update | |
| sudo apt-get install -y libopencv-nonfree-dev | |
| # install ros-core, otherwise rosinstall complains that /opt/ros/indigo doesn't exist | |
| sudo apt-get install -y ros-$CI_ROS_DISTRO-ros-core | |
| mkdir -p $CATKIN_WS_SRC | |
| cd $CATKIN_WS | |
| wget https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/master/tiago_public.rosinstall | |
| rosinstall src /opt/ros/indigo tiago_public.rosinstall | |
| # Use rosdep to install all dependencies | |
| rosdep install --from-paths src --ignore-src -y --rosdistro indigo --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit sensor_to_cloud" | |
| source /opt/ros/$CI_ROS_DISTRO/setup.bash | |
| # Init catkin workspace | |
| catkin init | |
| # Build [and Install] packages | |
| catkin build --limit-status-rate 0.1 --no-notify -DCMAKE_BUILD_TYPE=Release | |
| source $CATKIN_WS/devel/setup.bash | |
| SHELL | |
| config.vm.provision "shell", inline: $script, privileged: false | |
| end |
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