RobotLocomotion · BetsyMcPhail · Nov 25, 2024 · Sep 27, 2024
diff --git a/drake_bazel_external/.bazelignore b/drake_bazel_external/.bazelignore
@@ -0,0 +1,2 @@
+# Used for setup, do not build
+drake-master
diff --git a/drake_bazel_external/.github/setup b/drake_bazel_external/.github/setup
@@ -3,10 +3,8 @@
 
 set -euxo pipefail
 
+# CI setup
 sudo .github/ubuntu_setup
 
-cat > "${HOME}/.bazelrc" << EOF
-startup --output_user_root=${WORKSPACE}/_bazel_${USER}
-test --color=yes
-test --keep_going
-EOF
+# drake source setup
+setup/install_prereqs
diff --git a/drake_bazel_external/.github/ubuntu_setup b/drake_bazel_external/.github/ubuntu_setup
@@ -3,9 +3,20 @@
 
 set -euxo pipefail
 
+if [[ "${EUID:-}" -ne 0 ]]; then
+  echo 'This script must be run as root' >&2
+  exit 2
+fi
+
 echo 'APT::Acquire::Retries "4";' > /etc/apt/apt.conf.d/80-acquire-retries
 echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-setup/install_prereqs
+apt-get update
+apt-get install --no-install-recommends lsb-release
+
+if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
+  echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
+  exit 3
+fi
diff --git a/drake_bazel_external/README.md b/drake_bazel_external/README.md
@@ -7,10 +7,11 @@ For an introduction to Bazel, refer to
 
 ## Instructions
 
-First, install the required Ubuntu packages:
+First, run the `install_prereqs` script to download the drake source and run
+drake's source setup script to install the required Ubuntu packages:
 
 ```
-sudo setup/install_prereqs
+setup/install_prereqs.sh
 ```
 
 Then, to build and test all apps:

diff --git a/drake_bazel_external/setup/install_prereqs b/drake_bazel_external/setup/install_prereqs
@@ -31,119 +31,18 @@
 
 set -euxo pipefail
 
-ros_humble=0
-
-while [ "${1:-}" != "" ]; do
-  case "$1" in
-    --ros-humble)
-      ros_humble=1
-      ;;
-    *)
-      echo 'Invalid command line argument' >&2
-      exit 1
-  esac
-  shift
-done
-
-if [[ "${EUID:-}" -ne 0 ]]; then
-  echo 'This script must be run as root' >&2
-  exit 2
-fi
-
-apt-get update
-apt-get install --no-install-recommends lsb-release
-
-if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
-  echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
-  exit 3
-fi
-
-apt-get install --no-install-recommends $(cat <<EOF
-  ca-certificates
+sudo apt-get install --no-install-recommends $(cat <<EOF
   wget
 EOF
 )
 
+# Download the drake source
 wget -O drake.tar.gz \
-  https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
+  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
 trap 'rm -f drake.tar.gz' EXIT
-tar -xf drake.tar.gz -C /opt
-
-# Show version for debugging; use echo for newline / readability.
-echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
-
-/opt/drake/share/drake/setup/install_prereqs
-
-apt-get install --no-install-recommends gnupg
 
-apt-key adv --fetch-keys https://bazel.build/bazel-release.pub.gpg
-echo 'deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
-  > /etc/apt/sources.list.d/bazel.list
+# Setup script
+tar -xf drake.tar.gz
 
-apt-get update
-apt-get install --no-install-recommends $(cat <<EOF
-  bazel
-  cmake
-  default-jdk
-  file
-  gfortran
-  git
-  libblas-dev
-  libclang-15-dev
-  libeigen3-dev
-  libgflags-dev
-  libgl-dev
-  libglib2.0-dev
-  libglx-dev
-  liblapack-dev
-  libmumps-seq-dev
-  libopengl-dev
-  libspdlog-dev
-  libx11-dev
-  locales
-  nasm
-  ocl-icd-opencl-dev
-  opencl-headers
-  openssh-client
-  patch
-  patchelf
-  pkg-config
-  python-is-python3
-  python3-all-dev
-  python3-ipywidgets
-  python3-matplotlib
-  python3-munkres
-  python3-numpy
-  python3-pil
-  python3-pydot
-  python3-pygame
-  python3-yaml
-  zlib1g-dev
-EOF
-)
-
-locale-gen en_US.UTF-8
-
-if [[ ${ros_humble} -eq 1 ]]; then
-  apt-key adv --fetch-keys \
-    https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
-  echo 'deb http://packages.ros.org/ros2/ubuntu jammy main' \
-    > /etc/apt/sources.list.d/ros2-latest.list
-
-  apt-get update
-  apt-get install --no-install-recommends $(cat <<EOF
-    python3-colcon-common-extensions
-    ros-humble-ament-cmake
-    ros-humble-ament-cmake-gtest
-    ros-humble-ament-cmake-lint-cmake
-    ros-humble-ament-cmake-xmllint
-    ros-humble-ament-lint-auto
-EOF
-  )
-else
-  apt-get install --no-install-recommends $(cat <<EOF
-  catkin
-  python3-pkg-resources
-EOF
-  )
-fi
+# Install the source prereqs
+sudo drake-master/setup/ubuntu/install_prereqs.sh
diff --git a/drake_cmake_external/.github/ci_build_test b/drake_cmake_external/.github/ci_build_test
@@ -11,7 +11,7 @@ pushd build
 export LD_LIBRARY_PATH="${PWD}/install/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"
 
 cmake ..
-make
+cmake --build .
 
 cd drake_external_examples
 ctest -V .
@@ -20,3 +20,4 @@ popd
 
 chmod -R a+w build || true
 rm -rf build
+
diff --git a/drake_cmake_external/.github/setup b/drake_cmake_external/.github/setup
@@ -3,10 +3,8 @@
 
 set -euxo pipefail
 
+# CI setup
 sudo .github/ubuntu_setup
 
-cat > "${HOME}/.bazelrc" << EOF
-startup --output_user_root=${WORKSPACE}/_bazel_${USER}
-test --color=yes
-test --keep_going
-EOF
+# drake source setup
+setup/install_prereqs
diff --git a/drake_cmake_external/.github/ubuntu_setup b/drake_cmake_external/.github/ubuntu_setup
@@ -3,9 +3,20 @@
 
 set -euxo pipefail
 
+if [[ "${EUID:-}" -ne 0 ]]; then
+  echo 'This script must be run as root' >&2
+  exit 2
+fi
+
 echo 'APT::Acquire::Retries "4";' > /etc/apt/apt.conf.d/80-acquire-retries
 echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-setup/install_prereqs
+apt-get update
+apt-get install --no-install-recommends lsb-release
+
+if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
+  echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
+  exit 3
+fi
diff --git a/drake_cmake_external/README.md b/drake_cmake_external/README.md
@@ -2,14 +2,29 @@
 
 This pulls in Drake using the CMake `ExternalProject_Add(drake)` mechanism.
 
-To build all apps using CMake and Make:
+## Instructions
+
+First, run the `install_prereqs` script to download the drake source and run
+drake's source setup script to install the required Ubuntu packages:
+
+```
+setup/install_prereqs.sh
+```
+
+Keep in mind that within the top-level CMakeLists, the drake source is once
+again downloaded as an external project. If the CMakeLists is modified to use
+a specific version of drake other than master, and any dependencies have
+changed within that version, then the script ran above must also be modified.
+
+Once all necessary dependencies have been installed, build and run tests
+using CMake:
 
 ```
 mkdir build
 cd build
 cmake ..
-make
-```
-
-**Under Construction**
+cmake --build .
 
+cd drake_external_examples
+ctest -V .
+```
diff --git a/drake_cmake_external/setup/install_prereqs b/drake_cmake_external/setup/install_prereqs
@@ -31,119 +31,18 @@
 
 set -euxo pipefail
 
-ros_humble=0
-
-while [ "${1:-}" != "" ]; do
-  case "$1" in
-    --ros-humble)
-      ros_humble=1
-      ;;
-    *)
-      echo 'Invalid command line argument' >&2
-      exit 1
-  esac
-  shift
-done
-
-if [[ "${EUID:-}" -ne 0 ]]; then
-  echo 'This script must be run as root' >&2
-  exit 2
-fi
-
-apt-get update
-apt-get install --no-install-recommends lsb-release
-
-if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
-  echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
-  exit 3
-fi
-
-apt-get install --no-install-recommends $(cat <<EOF
-  ca-certificates
+sudo apt-get install --no-install-recommends $(cat <<EOF
   wget
 EOF
 )
 
+# Download the drake source
 wget -O drake.tar.gz \
-  https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
+  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
 trap 'rm -f drake.tar.gz' EXIT
-tar -xf drake.tar.gz -C /opt
-
-# Show version for debugging; use echo for newline / readability.
-echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
-
-/opt/drake/share/drake/setup/install_prereqs
-
-apt-get install --no-install-recommends gnupg
 
-apt-key adv --fetch-keys https://bazel.build/bazel-release.pub.gpg
-echo 'deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
-  > /etc/apt/sources.list.d/bazel.list
+# Setup script
+tar -xf drake.tar.gz
 
-apt-get update
-apt-get install --no-install-recommends $(cat <<EOF
-  bazel
-  cmake
-  default-jdk
-  file
-  gfortran
-  git
-  libblas-dev
-  libclang-15-dev
-  libeigen3-dev
-  libgflags-dev
-  libgl-dev
-  libglib2.0-dev
-  libglx-dev
-  liblapack-dev
-  libmumps-seq-dev
-  libopengl-dev
-  libspdlog-dev
-  libx11-dev
-  locales
-  nasm
-  ocl-icd-opencl-dev
-  opencl-headers
-  openssh-client
-  patch
-  patchelf
-  pkg-config
-  python-is-python3
-  python3-all-dev
-  python3-ipywidgets
-  python3-matplotlib
-  python3-munkres
-  python3-numpy
-  python3-pil
-  python3-pydot
-  python3-pygame
-  python3-yaml
-  zlib1g-dev
-EOF
-)
-
-locale-gen en_US.UTF-8
-
-if [[ ${ros_humble} -eq 1 ]]; then
-  apt-key adv --fetch-keys \
-    https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
-  echo 'deb http://packages.ros.org/ros2/ubuntu jammy main' \
-    > /etc/apt/sources.list.d/ros2-latest.list
-
-  apt-get update
-  apt-get install --no-install-recommends $(cat <<EOF
-    python3-colcon-common-extensions
-    ros-humble-ament-cmake
-    ros-humble-ament-cmake-gtest
-    ros-humble-ament-cmake-lint-cmake
-    ros-humble-ament-cmake-xmllint
-    ros-humble-ament-lint-auto
-EOF
-  )
-else
-  apt-get install --no-install-recommends $(cat <<EOF
-  catkin
-  python3-pkg-resources
-EOF
-  )
-fi
+# Install the source prereqs
+sudo drake-master/setup/ubuntu/install_prereqs.sh