From 037c93b2de10ecb54562c3aeb943bf95ff7e28aa Mon Sep 17 00:00:00 2001
From: Carlos San Vicente <carlos.sanvicente@apex.ai>
Date: Tue, 11 Oct 2022 15:22:21 +0200
Subject: [PATCH] Add scripts to create the humble image

---
 README.md                                     | 20 +++++++-
 config.ini                                    |  2 +
 ros2-rt-benchmark-tools/config.ini            |  5 ++
 ros2-rt-benchmark-tools/scripts/phase1-target | 49 +++++++++++++++++++
 scripts/phase1-target                         | 49 +++++++++++++++++++
 5 files changed, 124 insertions(+), 1 deletion(-)
 create mode 100644 config.ini
 create mode 100644 ros2-rt-benchmark-tools/config.ini
 create mode 100755 ros2-rt-benchmark-tools/scripts/phase1-target
 create mode 100755 scripts/phase1-target

diff --git a/README.md b/README.md
index 686247c..4d09188 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,20 @@
 # rpi4-rt-benchmarks-image
-A Raspberry Pi 4 image with ROS 2, Linux RT and ROS 2 real-time benchmark tools preinstalled 
+
+This repository includes the scripts required to generate a
+ROS 2 RPI4 image including the tools used for the ROS 2 real-time benchmarks.
+
+## How to build the image
+
+### Humble
+
+```bash
+# Clone this repository
+git clone https://github.com/ros-realtime/rpi4-rt-benchmarks-image
+# Clone the `ros-realtime-rpi4-image` repository
+git clone https://github.com/ros-realtime/ros-realtime-rpi4-image
+# copy the customized layer to the image_builder directory
+cp -r rpi4-rt-benchmarks-image/ros2-rt-benchmark-tools ros-realtime-rpi4-image/image_builder/data
+# Build the image
+cd rpi4-rt-benchmarks-image
+sudo ./ros-rt-img build jammy-rt jammy-rt-humble ros2-rt-benchmark-tools
+```
\ No newline at end of file
diff --git a/config.ini b/config.ini
new file mode 100644
index 0000000..f7b2b76
--- /dev/null
+++ b/config.ini
@@ -0,0 +1,2 @@
+[build]
+output_filename = ros2-rt-benchmark-tools.img
diff --git a/ros2-rt-benchmark-tools/config.ini b/ros2-rt-benchmark-tools/config.ini
new file mode 100644
index 0000000..c428054
--- /dev/null
+++ b/ros2-rt-benchmark-tools/config.ini
@@ -0,0 +1,5 @@
+[build]
+output_filename = ros2-rt-benchmark-tools.img
+
+# Increrase size to have enough space
+image_size = 8G
\ No newline at end of file
diff --git a/ros2-rt-benchmark-tools/scripts/phase1-target b/ros2-rt-benchmark-tools/scripts/phase1-target
new file mode 100755
index 0000000..2eb0bff
--- /dev/null
+++ b/ros2-rt-benchmark-tools/scripts/phase1-target
@@ -0,0 +1,49 @@
+#!/bin/bash
+
+set -xe
+
+apt-get update
+apt-get install -y ros-$ROS_DISTRO-pendulum-control ros-$ROS_DISTRO-pendulum-msgs
+
+apt update && sudo apt install -y \
+  build-essential \
+  cmake \
+  git \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-flake8-blind-except \
+  python3-flake8-builtins \
+  python3-flake8-class-newline \
+  python3-flake8-comprehensions \
+  python3-flake8-deprecated \
+  python3-flake8-docstrings \
+  python3-flake8-import-order \
+  python3-flake8-quotes \
+  python3-pip \
+  python3-pytest \
+  python3-pytest-cov \
+  python3-pytest-repeat \
+  python3-pytest-rerunfailures \
+  python3-rosdep \
+  python3-setuptools \
+  python3-vcstool \
+  wget
+
+# init rosdep
+rosdep init
+rosdep update
+
+# install dependencies for reference-system
+python3 -m pip install psrecord bokeh
+
+mkdir -p /tmp/ros2_rt_benchmarks_ws/src
+cd /tmp/ros2_rt_benchmarks_ws/src || exit 1
+git clone https://gitlab.com/ApexAI/performance_test.git
+git clone https://github.com/ros-realtime/reference-system
+cd .. || exit 1
+rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
+
+# build tools
+source /opt/ros/$ROS_DISTRO/setup.bash
+mkdir -p /opt/ros/$ROS_DISTRO-rt-tools
+colcon build --cmake-force-configure --cmake-args -DRUN_BENCHMARK=ON --install-base /opt/ros/$ROS_DISTRO-rt-tools
\ No newline at end of file
diff --git a/scripts/phase1-target b/scripts/phase1-target
new file mode 100755
index 0000000..b2a5e89
--- /dev/null
+++ b/scripts/phase1-target
@@ -0,0 +1,49 @@
+#!/bin/bash
+
+set -xe
+
+apt-get update
+apt-get install -y ros-$ROS_DISTRO-pendulum-control ros-$ROS_DISTRO-pendulum-msgs
+
+apt update && sudo apt install -y \
+  build-essential \
+  cmake \
+  git \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-flake8-blind-except \
+  python3-flake8-builtins \
+  python3-flake8-class-newline \
+  python3-flake8-comprehensions \
+  python3-flake8-deprecated \
+  python3-flake8-docstrings \
+  python3-flake8-import-order \
+  python3-flake8-quotes \
+  python3-pip \
+  python3-pytest \
+  python3-pytest-cov \
+  python3-pytest-repeat \
+  python3-pytest-rerunfailures \
+  python3-rosdep \
+  python3-setuptools \
+  python3-vcstool \
+  wget
+
+# init rosdep
+rosdep init
+rosdep update
+
+# install dependencies for reference-system
+python3 -m pip install psrecord bokeh
+
+mkdir -p ~/ros2_rt_benchmarks_ws/src
+cd ~/ros2_rt_benchmarks_ws/src
+git clone https://gitlab.com/ApexAI/performance_test.git
+git clone https://github.com/ros-realtime/reference-system
+cd ..
+rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
+
+# build tools
+source /opt/ros/$ROS_DISTRO/setup.bash
+mkdir /opt/ros/humble-rt-tools
+colcon build --cmake-force-configure --cmake-args -DRUN_BENCHMARK=ON --install-base /opt/ros/humble-rt-tools