103 lines
2.2 KiB
Bash
103 lines
2.2 KiB
Bash
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#!/usr/bin/env bash
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set -euo pipefail
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PKG_NAME="controller"
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PKG_VERSION="$(date +%Y%m%d%H%M)"
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ARCH="arm64"
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MAINTAINER="LYQ<liyq@ntiov.com>"
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DESCRIPTION="Binary package of remote controller nodes for robot (ROS2 Humble)."
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INSTALL_DIR="/opt/${PKG_NAME}"
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WORKDIR="$(pwd)/deb_build"
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INSTALL_SRC="$(pwd)/install"
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rm -rf "${WORKDIR}"
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mkdir -p "${WORKDIR}/${INSTALL_DIR}"
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mkdir -p "${WORKDIR}/DEBIAN"
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cp -a "${INSTALL_SRC}/." "${WORKDIR}/${INSTALL_DIR}/"
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# control 文件
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cat > "${WORKDIR}/DEBIAN/control" <<EOF
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Package: ${PKG_NAME}
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Version: ${PKG_VERSION}
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Section: misc
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Priority: optional
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Architecture: ${ARCH}
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Essential: no
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Maintainer: ${MAINTAINER}
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Depends: ros-humble-ros-base, libc6 (>= 2.34)
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Description: ${DESCRIPTION}
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EOF
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# 创建 start_all.sh
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cat > "${WORKDIR}/${INSTALL_DIR}/start_all.sh" <<EOF
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#!/bin/bash
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set -e
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# 加载 ROS2 系统环境
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source /opt/ros/humble/setup.bash
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# 加载打包的工作空间环境
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source ${INSTALL_DIR}/local_setup.bash
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# 启动多个节点
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ros2 run radio_ctrl radio_ctrl_node &
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ros2 run mc mc_node &
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ros2 run ctrl_arbiter ctrl_arbiter_node &
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ros2 run mqtt_report mqtt_report_node &
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ros2 run rtk rtk_node &
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ros2 run pub_gps pub_gps_node &
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wait
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EOF
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chmod +x "${WORKDIR}/${INSTALL_DIR}/start_all.sh"
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# systemd 服务文件
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mkdir -p "${WORKDIR}/etc/systemd/system"
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cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF
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[Unit]
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Description=Remote Controller Nodes
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After=network.target
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[Service]
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Type=simple
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User=root
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Environment="ROS_DISTRO=humble"
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ExecStart=${INSTALL_DIR}/start_all.sh
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Restart=on-failure
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RestartSec=2
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[Install]
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WantedBy=multi-user.target
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EOF
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# postinst 脚本（安装后执行）
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cat > "${WORKDIR}/DEBIAN/postinst" <<EOF
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#!/bin/bash
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set -e
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systemctl daemon-reload
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systemctl enable ${PKG_NAME}.service
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exit 0
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EOF
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chmod 755 "${WORKDIR}/DEBIAN/postinst"
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# postrm 脚本（卸载时执行）
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cat > "${WORKDIR}/DEBIAN/postrm" <<EOF
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#!/bin/bash
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set -e
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systemctl stop ${PKG_NAME}.service || true
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systemctl disable ${PKG_NAME}.service || true
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systemctl daemon-reload
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exit 0
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EOF
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chmod 755 "${WORKDIR}/DEBIAN/postrm"
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# 打包
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dpkg-deb --build "${WORKDIR}" "${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
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echo "生成 ${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
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