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EricX-Zhao
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#! /usr/bin/env bash
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set -e
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## Bash script to setup PX4 development environment on Ubuntu LTS (24.04, 22.04).
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## Can also be used in docker.
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##
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## Installs:
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## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
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## - NuttX toolchain (omit with arg: --no-nuttx)
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## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
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##
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INSTALL_NUTTX="true"
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INSTALL_SIM="true"
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INSTALL_ARCH=`uname -m`
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# Parse arguments
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for arg in "$@"
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do
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if [[ $arg == "--no-nuttx" ]]; then
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INSTALL_NUTTX="false"
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fi
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if [[ $arg == "--no-sim-tools" ]]; then
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INSTALL_SIM="false"
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fi
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done
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# detect if running in docker
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if [ -f /.dockerenv ]; then
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echo "Running within docker, installing initial dependencies";
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apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
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ca-certificates \
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gnupg \
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gosu \
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lsb-release \
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software-properties-common \
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sudo \
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wget \
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;
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fi
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# script directory
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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# check requirements.txt exists (script not run in source tree)
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REQUIREMENTS_FILE="requirements.txt"
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if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
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echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
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return 1
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fi
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# check ubuntu version
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# otherwise warn and point to docker?
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UBUNTU_RELEASE="`lsb_release -rs`"
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echo "Ubuntu ${UBUNTU_RELEASE}"
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echo
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echo "Installing PX4 general dependencies"
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sudo apt-get update -y --quiet
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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astyle \
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build-essential \
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cmake \
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cppcheck \
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file \
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g++ \
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gcc \
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gdb \
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git \
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lcov \
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libssl-dev \
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libxml2-dev \
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libxml2-utils \
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make \
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ninja-build \
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python3 \
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python3-dev \
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python3-pip \
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python3-setuptools \
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python3-wheel \
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rsync \
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shellcheck \
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unzip \
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zip \
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;
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# Python3 dependencies
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echo
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echo "Installing PX4 Python3 dependencies"
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PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
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REQUIRED_VERSION="3.11"
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if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
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python3 -m pip install --break-system-packages -r ${DIR}/requirements.txt
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else
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if [ -n "$VIRTUAL_ENV" ]; then
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# virtual environments don't allow --user option
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python -m pip install -r ${DIR}/requirements.txt
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else
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python3 -m pip install --user -r ${DIR}/requirements.txt
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fi
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fi
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# NuttX toolchain (arm-none-eabi-gcc)
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if [[ $INSTALL_NUTTX == "true" ]]; then
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echo
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echo "Installing NuttX dependencies"
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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automake \
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binutils-dev \
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bison \
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build-essential \
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flex \
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g++-multilib \
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gcc-arm-none-eabi \
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gcc-multilib \
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gdb-multiarch \
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genromfs \
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gettext \
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gperf \
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kconfig-frontends \
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libelf-dev \
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libexpat-dev \
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libgmp-dev \
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libisl-dev \
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libmpc-dev \
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libmpfr-dev \
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libncurses-dev \
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libncurses6 \
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libncursesw6 \
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libnewlib-arm-none-eabi \
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libstdc++-arm-none-eabi-newlib \
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libtool \
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libunwind-dev \
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pkg-config \
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screen \
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texinfo \
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u-boot-tools \
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util-linux \
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vim-common \
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;
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if [ -n "$USER" ]; then
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# add user to dialout group (serial port access)
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sudo usermod -aG dialout $USER
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fi
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fi
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# Simulation tools
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if [[ $INSTALL_SIM == "true" ]]; then
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echo
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echo "Installing PX4 simulation dependencies"
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# General simulation dependencies
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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bc \
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;
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# Gazebo / Gazebo classic installation
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if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
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sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
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wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
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# Update list, since new gazebo-stable.list has been added
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sudo apt-get update -y --quiet
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# Install Gazebo classic
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if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
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gazebo_classic_version=9
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gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
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else
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# default and Ubuntu 20.04
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gazebo_classic_version=11
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gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
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fi
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elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
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echo "Gazebo (Garden) will be installed"
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echo "Earlier versions will be removed"
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# Add Gazebo binary repository
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sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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sudo apt-get update -y --quiet
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# Install Gazebo
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gazebo_packages="gz-garden"
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else
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# Expects Ubuntu 22.04 > by default
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echo "Gazebo (Harmonic) will be installed"
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echo "Earlier versions will be removed"
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# Add Gazebo binary repository
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sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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sudo apt-get update -y --quiet
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# Install Gazebo
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gazebo_packages="gz-harmonic libunwind-dev"
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if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
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gazebo_packages="$gazebo_packages cppzmq-dev"
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fi
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fi
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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dmidecode \
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$gazebo_packages \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-plugins-base \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-ugly \
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gstreamer1.0-libav \
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libeigen3-dev \
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libgstreamer-plugins-base1.0-dev \
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libimage-exiftool-perl \
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libopencv-dev \
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libxml2-utils \
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pkg-config \
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protobuf-compiler \
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;
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if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
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# fix VMWare 3D graphics acceleration for gazebo
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echo "export SVGA_VGPU10=0" >> ~/.profile
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fi
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fi
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