Hello,
And for cross-compilation, here are some easy steps:
git clone GitHub - ArduPilot/ardupilot: ArduPlane, ArduCopter, ArduRover, ArduSub source
sudo your favorite text editor ardupilot/Tools/environment_install/install-prereqs-ubuntu.sh
for instance when in /ardupilot/Tools/environment_install, sudo nano install-prereqs-ubuntu.sh
There are a couple of things to change out if using a Debian Distro, i.e. WSL2 or a real Debian machine.
In that file, the install-prereqs-ubuntu.sh, change the file to be similar to this:
#!/bin/bash
echo "---------- $0 start ----------"
set -e
set -x
if [ $EUID == 0 ]; then
echo "Please do not run this script as root; don't sudo it!"
exit 1
fi
OPT="/opt"
# Ardupilot Tools
ARDUPILOT_TOOLS="Tools/autotest"
ASSUME_YES=false
QUIET=false
sep="##############################################"
OPTIND=1 # Reset in case getopts has been used previously in the shell.
while getopts "yq" opt; do
case "$opt" in
\?)
exit 1
;;
y) ASSUME_YES=true
;;
q) QUIET=true
;;
esac
done
APT_GET="sudo apt"
if $ASSUME_YES; then
APT_GET="$APT_GET --assume-yes"
fi
if $QUIET; then
APT_GET="$APT_GET -qq"
fi
# update apt package list
$APT_GET update
function package_is_installed() {
dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed"
}
function heading() {
echo "$sep"
echo $*
echo "$sep"
}
# Install lsb-release as it is needed to check Ubuntu version
if ! package_is_installed "lsb-release"; then
heading "Installing lsb-release"
$APT_GET install lsb-release
echo "Done!"
fi
# Checking Ubuntu release to adapt software version to install
RELEASE_CODENAME=$(lsb_release -c -s)
PYTHON_V="python3" # starting from ubuntu 20.04, python isn't symlink to default python interpreter
PIP=pip3
if [ ${RELEASE_CODENAME} == 'xenial' ]; then
SITLFML_VERSION="2.3v5"
SITLCFML_VERSION="2.3"
elif [ ${RELEASE_CODENAME} == 'disco' ]; then
SITLFML_VERSION="2.5"
SITLCFML_VERSION="2.5"
elif [ ${RELEASE_CODENAME} == 'eoan' ]; then
SITLFML_VERSION="2.5"
SITLCFML_VERSION="2.5"
elif [ ${RELEASE_CODENAME} == 'focal' ] || [ ${RELEASE_CODENAME} == 'ulyssa' ]; then
SITLFML_VERSION="2.5"
SITLCFML_VERSION="2.5"
PYTHON_V="python3"
PIP=pip3
elif [ ${RELEASE_CODENAME} == 'bullseye' ] || [ ${RELEASE_CODENAME} == 'hirsute' ]; then
SITLFML_VERSION="2.5"
SITLCFML_VERSION="2.5"
PYTHON_V="python3"
PIP=pip3
elif [ ${RELEASE_CODENAME} == 'trusty' ]; then
SITLFML_VERSION="2"
SITLCFML_VERSION="2"
else
# We assume APT based system, so let's try with apt-cache first.
SITLCFML_VERSION=$(apt-cache search -n '^libcsfml-audio' | cut -d" " -f1 | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
SITLFML_VERSION=$(apt-cache search -n '^libsfml-audio' | cut -d" " -f1 | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
# If we cannot retrieve the number with apt-cache, try a last time with dpkg-query
re='^[+-]?[0-9]+([.][0-9]+)?$'
if ! [[ $SITLCFML_VERSION =~ $re ]] || ! [[ $SITLFML_VERSION =~ $re ]] ; then
# Extract the floating point number that is the version of the libcsfml package.
SITLCFML_VERSION=$(dpkg-query --search libcsfml-audio | cut -d":" -f1 | grep libcsfml-audio | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
# And same for libsfml-audio.
SITLFML_VERSION=$(dpkg-query --search libsfml-audio | cut -d":" -f1 | grep libsfml-audio | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
fi
fi
# Check whether the specific ARM pkg-config package is available or whether we should emulate the effect of installing it.
# Check if we need to manually install libtool-bin
ARM_PKG_CONFIG_NOT_PRESENT=0
if [ -z "$(apt-cache search -n '^pkg-config-arm-linux-gnueabihf')" ]; then
ARM_PKG_CONFIG_NOT_PRESENT=$(dpkg-query --search pkg-config-arm-linux-gnueabihf |& grep -c "dpkg-query:")
fi
if [ "$ARM_PKG_CONFIG_NOT_PRESENT" -eq 1 ]; then
INSTALL_PKG_CONFIG=""
# No need to install Ubuntu's pkg-config-arm-linux-gnueabihf, instead install the base pkg-config.
sudo apt install pkg-config
if [ -f /usr/share/pkg-config-crosswrapper ]; then
# We are on non-Ubuntu so simulate effect of installing pkg-config-arm-linux-gnueabihf.
sudo ln -s /usr/share/pkg-config-crosswrapper /usr/bin/arm-linux-gnueabihf-pkg-config
#else
#echo "Warning: unable to link to pkg-config-crosswrapper"
fi
else
# Package is available so install it later.
INSTALL_PKG_CONFIG="pkg-config-arm-linux-gnueabihf"
fi
# Lists of packages to install
BASE_PKGS="build-essential ccache g++ gawk git make wget"
PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect flake8 geocoder"
# add some Python packages required for commonly-used MAVProxy modules and hex file generation:
if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then
PYTHON_PKGS="$PYTHON_PKGS pygame intelhex"
fi
ARM_LINUX_PKGS="g++-arm-linux-gnueabihf $INSTALL_PKG_CONFIG"
# python-wxgtk packages are added to SITL_PKGS below
SITL_PKGS="libtool libxml2-dev libxslt1-dev ${PYTHON_V}-dev ${PYTHON_V}-pip ${PYTHON_V}-setuptools ${PYTHON_V}-numpy ${PYTHON_V}-pyparsing ${PYTHON_V}-psutil"
# add some packages required for commonly-used MAVProxy modules:
if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
SITL_PKGS="$SITL_PKGS xterm ${PYTHON_V}-matplotlib ${PYTHON_V}-serial ${PYTHON_V}-scipy ${PYTHON_V}-opencv libcsfml-dev libcsfml-audio${SITLCFML_VERSION} libcsfml-dev libcsfml-graphics${SITLCFML_VERSION} libcsfml-network${SITLCFML_VERSION} libcsfml-system${SITLCFML_VERSION} libcsfml-window${SITLCFML_VERSION} libsfml-audio${SITLFML_VERSION} libsfml-dev libsfml-graphics${SITLFML_VERSION} libsfml-network${SITLFML_VERSION} libsfml-system${SITLFML_VERSION} libsfml-window${SITLFML_VERSION} ${PYTHON_V}-yaml"
fi
if [[ $SKIP_AP_COV_ENV -ne 1 ]]; then
# Coverage utilities
COVERAGE_PKGS="lcov gcovr"
fi
# ArduPilot official Toolchain for STM32 boards
function install_arm_none_eabi_toolchain() {
# GNU Tools for ARM Embedded Processors
# (see https://launchpad.net/gcc-arm-embedded/)
ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
if [ ! -d $OPT/$ARM_ROOT ]; then
(
cd $OPT;
heading "Installing toolchain for STM32 Boards"
echo "Downloading from ArduPilot server"
sudo wget $ARM_TARBALL_URL
echo "Installing..."
sudo tar xjf ${ARM_TARBALL}
echo "... Cleaning"
sudo rm ${ARM_TARBALL};
)
fi
echo "Registering STM32 Toolchain for ccache"
sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-g++
sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-gcc
echo "Done!"
}
function maybe_prompt_user() {
if $ASSUME_YES; then
return 0
else
read -p "$1"
if [[ $REPLY =~ ^[Yy]$ ]]; then
return 0
else
return 1
fi
fi
}
heading "Add user to dialout group to allow managing serial ports"
sudo usermod -a -G dialout $USER
echo "Done!"
# Add back python symlink to python interpreter on Ubuntu >= 20.04
if [ ${RELEASE_CODENAME} == 'focal' ] || [ ${RELEASE_CODENAME} == 'ulyssa' ]; then
BASE_PKGS+=" python-is-python3"
SITL_PKGS+=" libpython3-stdlib" # for argparse
elif [ ${RELEASE_CODENAME} == 'bullseye' ] || [ ${RELEASE_CODENAME} == 'hirsute' ]; then
BASE_PKGS+=" python-is-python3"
SITL_PKGS+=" libpython3-stdlib" # for argparse
else
SITL_PKGS+=" python-argparse"
fi
# Check for graphical package for MAVProxy
if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
if [ ${RELEASE_CODENAME} == 'bullseye' ] || [ ${RELEASE_CODENAME} == 'hirsute' ]; then
SITL_PKGS+=" python3-wxgtk4.0"
SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg62-turbo-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev" # for pygame
elif [ ${RELEASE_CODENAME} == 'focal' ] || [ ${RELEASE_CODENAME} == 'ulyssa' ]; then
SITL_PKGS+=" python3-wxgtk4.0"
SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev" # for pygame
elif apt-cache search python-wxgtk3.0 | grep wx; then
SITL_PKGS+=" python-wxgtk3.0"
else
# we only support back to trusty:
SITL_PKGS+=" python-wxgtk2.8"
SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng12-0 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev" # for pygame
fi
fi
# Check if we need to manually install realpath
RP=$(apt-cache search -n '^realpath$')
if [ -n "$RP" ]; then
BASE_PKGS+=" realpath"
fi
# Check if we need to manually install libtool-bin
LBTBIN=$(apt-cache search -n '^libtool-bin')
if [ -n "$LBTBIN" ]; then
SITL_PKGS+=" libtool-bin"
fi
# Install all packages
$APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS $COVERAGE_PKGS
$PIP install --user -U $PYTHON_PKGS
if [[ -z "${DO_AP_STM_ENV}" ]] && maybe_prompt_user "Install ArduPilot STM32 toolchain [N/y]?" ; then
DO_AP_STM_ENV=1
fi
heading "Removing modemmanager package that could conflict with firmware uploading"
if package_is_installed "modemmanager"; then
$APT_GET remove modemmanager
fi
echo "Done!"
CCACHE_PATH=$(which ccache)
if [[ $DO_AP_STM_ENV -eq 1 ]]; then
install_arm_none_eabi_toolchain
fi
heading "Check if we are inside docker environment..."
IS_DOCKER=false
if [[ -f /.dockerenv ]] || grep -Eq '(lxc|docker)' /proc/1/cgroup ; then
IS_DOCKER=true
fi
echo "Done!"
SHELL_LOGIN=".profile"
if $IS_DOCKER; then
echo "Inside docker, we add the tools path into .bashrc directly"
SHELL_LOGIN=".bashrc"
fi
heading "Adding ArduPilot Tools to environment"
SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH";
grep -Fxq "$exportline" ~/$SHELL_LOGIN 2>/dev/null || {
if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then
echo $exportline >> ~/$SHELL_LOGIN
eval $exportline
else
echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH."
fi
}
exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH";
grep -Fxq "$exportline2" ~/$SHELL_LOGIN 2>/dev/null || {
if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then
echo $exportline2 >> ~/$SHELL_LOGIN
eval $exportline2
else
echo "Skipping adding $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to PATH."
fi
}
if [[ $SKIP_AP_COMPLETION_ENV -ne 1 ]]; then
exportline3="source $ARDUPILOT_ROOT/Tools/completion/completion.bash";
grep -Fxq "$exportline3" ~/$SHELL_LOGIN 2>/dev/null || {
if maybe_prompt_user "Add ArduPilot Bash Completion to your bash shell [N/y]?" ; then
echo $exportline3 >> ~/.bashrc
eval $exportline3
else
echo "Skipping adding ArduPilot Bash Completion."
fi
}
fi
exportline4="export PATH=/usr/lib/ccache:\$PATH";
grep -Fxq "$exportline4" ~/$SHELL_LOGIN 2>/dev/null || {
if maybe_prompt_user "Append CCache to your PATH [N/y]?" ; then
echo $exportline4 >> ~/$SHELL_LOGIN
eval $exportline4
else
echo "Skipping appending CCache to PATH."
fi
}
echo "Done!"
if [[ $SKIP_AP_GIT_CHECK -ne 1 ]]; then
if [ -d ".git" ]; then
heading "Update git submodules"
cd $ARDUPILOT_ROOT
git submodule update --init --recursive
echo "Done!"
fi
fi
echo "---------- $0 end ----------"
You can see the changes I made to handle the WSL2 Debian for bullseye or Debian machine Distros.
So now…
cd ~/arducopter
sudo git checkout Copter-4.1
sudo python3 waf configure --board=blue
sudo python3 waf copter
…
Then, on your WSL2 instance of Debian or a real Debian machine, perform these steps to publish the binary onto your BBBlue.
In your ~/arducopter directory, use this command.
sudo python3 configure --board=blue --rsync-dest debian@192.168.7.2:/home/debian
This will create the correct way to install your binary. Now, we need to upload it by performing this command but you need to be in the /ardupilot/build/blue/ directory when running the below command.
sudo python3 ../../waf --target bin/arducopter --upload
This will install/upload the binary to the BBBlue in your /home/debian/usr/bin/ directory.
You can see the new usr/ directory made after the script finishes.
Seth
P.S. If you find that these requirements are incorrect, please contact me.