Add Ubunut RPI Scripts

Common/Ubuntu/create_swap_file.sh

@@ -0,0 +1,69 @@
+#!/bin/bash
+# Copyright 2017-2019 JetsonHacks
+# MIT License
+# Create a swap file and set up permissions
+# If a parameter is passed, it should be the place to create the swapfile
+set -e
+SWAPDIRECTORY="/mnt"
+# Ubuntu recommends 6GB for 4GB of memory when using suspend
+# You can use 1 or 2 if need be
+SWAPSIZE=6
+AUTOMOUNT="Y"
+function usage
+{
+    echo "usage: installSwapFile [[[-d directory ] [-s size] -a] | [-h]]"
+    echo "  -d | --dir <directoryname>   Directory to place swapfile ( default: /mnt)"
+    echo "  -s | --size <gigabytes> (default: 6)"
+    echo "  -a | --auto  Enable swap on boot in /etc/fstab (default: Y)"
+    echo "  -h | --help  This message"
+}
+
+while [ "$1" != "" ]; do
+    case $1 in
+        -d | --dir )            shift
+                                SWAPDIRECTORY=$1
+                                ;;
+        -s | --size )           shift 
+				SWAPSIZE=$1
+                                ;;
+        -a | --auto )           shift
+				AUTOMOUNT=$1
+				;;
+        -h | --help )           usage
+                                exit
+                                ;;
+        * )                     usage
+                                exit 1
+    esac
+    shift
+done
+
+echo "Creating Swapfile at: " $SWAPDIRECTORY
+echo "Swapfile Size: " $SWAPSIZE"G"
+echo "Automount: " $AUTOMOUNT
+
+#Create a swapfile for Ubuntu at the current directory location
+sudo fallocate -l $SWAPSIZE"G" $SWAPDIRECTORY"/swapfile"
+cd $SWAPDIRECTORY
+#List out the file
+ls -lh swapfile
+# Change permissions so that only root can use it
+sudo chmod 600 swapfile
+#List out the file
+ls -lh swapfile
+#Set up the Linux swap area
+sudo mkswap swapfile
+#Now start using the swapfile
+sudo swapon swapfile
+#Show that it's now being used
+swapon -s
+
+if [ "$AUTOMOUNT" = "Y" ]; then
+	echo "Modifying /etc/fstab to enable on boot"
+        SWAPLOCATION=$SWAPDIRECTORY"/swapfile"
+        echo $SWAPLOCATION
+	sudo sh -c 'echo "'$SWAPLOCATION' swap swap defaults 0 0" >> /etc/fstab'
+fi
+
+echo "Swap file has been created"
+echo "Reboot to make sure changes are in effect"

Common/Ubuntu/install_packages.sh

@@ -21,8 +21,8 @@ apt-get dist-upgrade -y
 apt-get -y install python-dev python-numpy python3-numpy python-pip python-opencv
 
 # pymavlink deps:
-apt-get install -y libxml2-dev libxslt1.1 libxslt1-dev libz-dev
-time pip install future lxml
+apt-get install -y libxml2-dev libxslt1.1 libxslt1-dev libz-dev python-lxml
+time pip install future
 
 # install dronekit
 pip install dronekit dronekit-sitl # also installs pymavlink

Common/Ubuntu/librealsense/buildLibrealsense.sh

@@ -0,0 +1,146 @@
+#!/bin/bash
+# Builds the Intel Realsense library librealsense on a Jetson Nano Development Kit
+# Copyright (c) 2016-19 Jetsonhacks 
+# MIT License
+
+# Jetson Nano; L4T 32.2.3
+
+LIBREALSENSE_DIRECTORY=${HOME}/GitHub/librealsense
+LIBREALSENSE_VERSION=v2.33.1
+INSTALL_DIR=$PWD
+NVCC_PATH=/usr/local/cuda-10.0/bin/nvcc
+
+USE_CUDA=false
+s
+function usage
+{
+    echo "usage: ./buildLibrealsense.sh [[-c ] | [-h]]"
+    echo "-nc | --build_with_cuda  Build no CUDA (Defaults to with CUDA)"
+    echo "-h | --help  This message"
+}
+
+# Iterate through command line inputs
+while [ "$1" != "" ]; do
+    case $1 in
+        -nc | --build_no_cuda )  USE_CUDA=false
+                                ;;
+        -h | --help )           usage
+                                exit
+                                ;;
+        * )                     usage
+                                exit 1
+    esac
+    shift
+done
+
+echo "Build with CUDA: "$USE_CUDA
+
+red=`tput setaf 1`
+green=`tput setaf 2`
+reset=`tput sgr0`
+# e.g. echo "${red}The red tail hawk ${green}loves the green grass${reset}"
+
+
+echo ""
+echo "Please make sure that no RealSense cameras are currently attached"
+echo ""
+read -n 1 -s -r -p "Press any key to continue"
+echo ""
+
+if [ ! -d "$LIBREALSENSE_DIRECTORY" ] ; then
+  # clone librealsense
+  cd ${HOME}
+  echo "${green}Cloning librealsense${reset}"
+  git clone https://github.com/IntelRealSense/librealsense.git
+fi
+
+# Is the version of librealsense current enough?
+cd $LIBREALSENSE_DIRECTORY
+VERSION_TAG=$(git tag -l $LIBREALSENSE_VERSION)
+if [ ! $VERSION_TAG  ] ; then
+   echo ""
+  tput setaf 1
+  echo "==== librealsense Version Mismatch! ============="
+  tput sgr0
+  echo ""
+  echo "The installed version of librealsense is not current enough for these scripts."
+  echo "This script needs librealsense tag version: "$LIBREALSENSE_VERSION "but it is not available."
+  echo "Please upgrade librealsense or remove the librealsense folder before attempting to install again."
+  echo ""
+  exit 1
+fi
+
+# Checkout version the last tested version of librealsense
+git checkout $LIBREALSENSE_VERSION
+
+# Install the dependencies
+cd $INSTALL_DIR
+sudo ./scripts/installDependencies.sh
+
+cd $LIBREALSENSE_DIRECTORY
+git checkout $LIBREALSENSE_VERSION
+
+# Now compile librealsense and install
+mkdir build 
+cd build
+# Build examples, including graphical ones
+echo "${green}Configuring Make system${reset}"
+# Build with CUDA (default), the CUDA flag is USE_CUDA, ie -DUSE_CUDA=true
+export CUDACXX=$NVCC_PATH
+export PATH=${PATH}:/usr/local/cuda/bin
+export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/cuda/lib64
+
+/usr/bin/cmake ../ -DBUILD_EXAMPLES=true -DFORCE_LIBUVC=true -DBUILD_WITH_CUDA="$USE_CUDA" -DCMAKE_BUILD_TYPE=release -DBUILD_PYTHON_BINDINGS=bool:true -DBUILD_WITH_TM2=ON
+
+# The library will be installed in /usr/local/lib, header files in /usr/local/include
+# The demos, tutorials and tests will located in /usr/local/bin.
+echo "${green}Building librealsense, headers, tools and demos${reset}"
+
+NUM_CPU=$(nproc)
+time make -j$(($NUM_CPU - 1))
+if [ $? -eq 0 ] ; then
+  echo "librealsense make successful"
+else
+  # Try to make again; Sometimes there are issues with the build
+  # because of lack of resources or concurrency issues
+  echo "librealsense did not build " >&2
+  echo "Retrying ... "
+  # Single thread this time
+  time make 
+  if [ $? -eq 0 ] ; then
+    echo "librealsense make successful"
+  else
+    # Try to make again
+    echo "librealsense did not successfully build" >&2
+    echo "Please fix issues and retry build"
+    exit 1
+  fi
+fi
+echo "${green}Installing librealsense, headers, tools and demos${reset}"
+sudo make install
+
+if  grep -Fxq 'export PYTHONPATH=$PYTHONPATH:/usr/local/lib' ~/.bashrc ; then
+    echo "PYTHONPATH already exists in .bashrc file"
+else
+   echo 'export PYTHONPATH=$PYTHONPATH:/usr/local/lib' >> ~/.bashrc 
+   echo "PYTHONPATH added to ~/.bashrc. Pyhon wrapper is now available for importing pyrealsense2"
+fi
+
+cd $LIBREALSENSE_DIRECTORY
+echo "${green}Applying udev rules${reset}"
+# Copy over the udev rules so that camera can be run from user space
+sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
+sudo udevadm control --reload-rules && udevadm trigger
+
+echo "${green}Library Installed${reset}"
+echo " "
+echo " -----------------------------------------"
+echo "The library is installed in /usr/local/lib"
+echo "The header files are in /usr/local/include"
+echo "The demos and tools are located in /usr/local/bin"
+echo " "
+echo " -----------------------------------------"
+echo " "
+
+
+

Common/Ubuntu/librealsense/install_vision_to_mavros.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+set -e
+set -x
+
+tput setaf 3
+echo "Build latest version of librealsense"
+tput sgr0
+
+time ./buildLibrealsense.sh
+
+pushd /home/$NORMAL_USER/GitHub
+sudo apt install python3-lxml
+sudo -H pip3 install cython
+sudo -H pip3 install numpy --upgrade
+sudo -H pip3 install transformations
+sudo -H pip3 install apscheduler
+sudo -H pip3 install dronekit
+
+git clone https://github.com/thien94/vision_to_mavros.git
+
+mkdir /home/$NORMAL_USER/start_t265_to_mavlink
+pushd vision_to_mavros/scripts
+cp t265_to_mavlink.py /home/$NORMAL_USER/start_t265_to_mavlink
+popd
+popd
+cp start_t265.sh /home/$NORMAL_USER/start_t265_to_mavlink
+sudo cp t265.service /etc/systemd/system
+
+tput setaf 2
+echo "Finished installing vision_to_mavros"
+tput sgr0
+

Common/Ubuntu/librealsense/scripts/installDependencies.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+# installDependencies.sh
+# Install dependencies for  the Intel Realsense library librealsense2 on a Jetson Nano Developer Kit
+# Copyright (c) 2016-19 Jetsonhacks 
+# MIT License
+red=`tput setaf 1`
+green=`tput setaf 2`
+reset=`tput sgr0`
+# e.g. echo "${red}red text ${green}green text${reset}"
+echo "${green}Adding Universe repository and updating${reset}"
+apt-add-repository universe
+apt update
+echo "${green}Adding dependencies, graphics libraries and tools${reset}"
+apt install libssl-dev libusb-1.0-0-dev pkg-config -y
+# This is for ccmake
+apt install build-essential cmake cmake-curses-gui -y
+
+# Graphics libraries - for SDK's OpenGL-enabled examples
+apt install libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev -y
+
+# QtCreator for development; not required for librealsense core library
+apt install qtcreator -y
+
+# Add Python 3 support
+apt install -y python3 python3-dev
+

Common/Ubuntu/librealsense/start_t265.sh

@@ -0,0 +1,6 @@
+#!/bin/bash 
+# This is /usr/bin/your_config-start.sh 
+# # do all your commands here... script terminates when all is done. 
+
+# Change the path to t265_to_mavlink.py
+/home/apsync/start_t265_to_mavlink/t265_to_mavlink.py --connect udp:127.0.0.1:14560

Common/Ubuntu/librealsense/t265.service

@@ -0,0 +1,17 @@
+[Unit]
+Description=Realsense T265 Service
+After==multi-user.target
+StartLimitIntervalSec=0
+Conflicts=
+
+[Service]
+User=apsync
+EnvironmentFile=
+ExecStartPre=
+ExecStart=/home/apsync/start_t265_to_mavlink/start_t265.sh
+
+Restart=on-failure
+RestartSec=1
+
+[Install]
+WantedBy=multi-user.target