nuturtlebot/scripts/create_image at main · ME495-Navigation/nuturtlebot · GitHub

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#!/usr/bin/env bash
# Creates a turtlebot3 image suitable for MSR

# Get the location of this script
script=$(readlink -f "$0")
script_dir=$(dirname "$script")

# ---- Setup Script Parameters ----
# Build Directory

# Create the build directory (as optionally specified by the first argument)
if [ -z "$1" ]
then
    build_dir=build/turtlebot_image
else
    build_dir="$1"
fi
mkdir -p $build_dir
cd $build_dir

# The image file name
image=turtle.img

# The directory containing the root file system for the raspberry pi
rootfs=raspi_root

if [ -f "$image" ]
then
    echo "Raspberry Pi Ubuntu Already Present at $image. Skipping download (delete it to re-download)";
else
    echo "Downloading the raspberry pi ubuntu image"
    curl -L "https://cdimage.ubuntu.com/releases/20.04.3/release/ubuntu-20.04.3-preinstalled-server-armhf+raspi.img.xz" | unxz > $image
fi

echo "Preparing the disk image"
# Expand the size of the image file
truncate -s 8GB $image
# Expand the second partion within the image file
parted $image resizepart 2 100%

echo "Mounting the image"

# mount the image on loop device
loop_dev=$(sudo losetup --show -Pf $image)


# Resize the filesystem to fit the expanded partion:
sudo e2fsck -y -f ${loop_dev}p2
sudo resize2fs ${loop_dev}p2

echo "Mounting the disk image"
mkdir -p $rootfs
sudo mount ${loop_dev}p2 $rootfs
sudo mount ${loop_dev}p1 $rootfs/boot/firmware

echo "Basic ROS setup"
sudo cp ${script_dir}/create_scripts/setup_ros $rootfs
sudo chmod 755 $rootfs/setup_ros
sudo proot -q qemu-arm-static -S $rootfs /setup_ros
sudo rm $rootfs/setup_ros

echo "Turtlebot3 Setup"
sudo cp ${script_dir}/create_scripts/setup_turtle $rootfs
sudo chmod 755 $rootfs/setup_turtle
sudo proot -q qemu-arm-static -S $rootfs /setup_turtle
sudo rm $rootfs/setup_turtle


echo "MSR specific setup"
sudo cp ${script_dir}/create_scripts/setup_msr $rootfs
sudo chmod 755 $rootfs/setup_msr
sudo proot -q qemu-arm-static -S $rootfs /setup_msr
sudo rm $rootfs/setup_msr

echo "Installing robotdns scripts"
curl -L "https://raw.githubusercontent.com/m-elwin/robotdns/main/21-robotdns-register.sh" | sudo tee $rootfs/etc/NetworkManager/dispatcher.d/21-robotdns-register.sh
sudo chmod 500 $rootfs/etc/NetworkManager/dispatcher.d/21-robotdns-register.sh

echo "Building the firmware. When booted, you can install the firmware with 'opencr_update stock' OR 'opencr_update raw'"
${script_dir}/build_firmware opencr_firmware
# copy the firmware files to the image
sudo mkdir $rootfs/usr/share/opencr
sudo cp opencr_firmware/burger.opencr $rootfs/usr/share/opencr
sudo cp opencr_firmware/raw-burger.opencr $rootfs/usr/share/opencr
sudo cp opencr_firmware/opencr_ld_shell $rootfs/usr/bin
sudo cp opencr_firmware/opencr_update $rootfs/usr/bin


echo "Nuturtlebot Installation Ubuntu"
sudo cp ${script_dir}/create_scripts/setup_nuturtlebot $rootfs
sudo chmod 755 $rootfs/setup_nuturtlebot
sudo proot -q qemu-arm-static -S $rootfs /setup_nuturtlebot
sudo rm $rootfs/setup_nuturtlebot

echo "Cleanup Ubuntu"
sudo cp ${script_dir}/create_scripts/cleanup_ubuntu $rootfs
sudo chmod 755 $rootfs/cleanup_ubuntu
sudo proot -q qemu-arm-static -S $rootfs /cleanup_ubuntu
sudo rm $rootfs/cleanup_ubuntu

echo "Copying the final static configuration"
# Copy over the configuration
sudo cp -ra ${script_dir}/config_root/* $rootfs


sudo umount $rootfs/boot/firmware
sudo umount $rootfs
sudo losetup -d $loop_dev