From fcd71a36645263c024f2d46f20e1ea691327109e Mon Sep 17 00:00:00 2001 From: Murilo Marinho Date: Fri, 10 Apr 2026 10:42:33 +0100 Subject: [PATCH 1/4] [ubuntu_26] Adding dqrobotics for ubuntu26. --- ubuntu_26/dqrobotics/Dockerfile | 16 +++++++++++ ubuntu_26/dqrobotics/compose.yml | 3 ++ .../dqrobotics/install_dqrobotics_ubuntu26.sh | 28 +++++++++++++++++++ 3 files changed, 47 insertions(+) create mode 100644 ubuntu_26/dqrobotics/Dockerfile create mode 100644 ubuntu_26/dqrobotics/compose.yml create mode 100644 ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh diff --git a/ubuntu_26/dqrobotics/Dockerfile b/ubuntu_26/dqrobotics/Dockerfile new file mode 100644 index 0000000..242e027 --- /dev/null +++ b/ubuntu_26/dqrobotics/Dockerfile @@ -0,0 +1,16 @@ +FROM ubuntu:resolute +SHELL ["/bin/bash", "-c"] +ENV BASH_ENV="/etc/bash_env" + +# Update apt-get +RUN apt-get update -q \ + && apt-get upgrade -y \ + && apt-get autoremove -y \ + && apt-get clean \ + && rm -rf /var/lib/apt/lists/* + +# RUN apt-get update && apt-get install -y wget # Use this to get from the repository if needed in the future + +RUN mkdir -p ~/install/dqrobotics +COPY install_dqrobotics_ubuntu26.sh /root/install/dqrobotics/ +RUN cd ~/install/dqrobotics && chmod +x install_dqrobotics_ubuntu26.sh && . install_dqrobotics_ubuntu26.sh \ No newline at end of file diff --git a/ubuntu_26/dqrobotics/compose.yml b/ubuntu_26/dqrobotics/compose.yml new file mode 100644 index 0000000..88bfdef --- /dev/null +++ b/ubuntu_26/dqrobotics/compose.yml @@ -0,0 +1,3 @@ +services: + dqrobotics: + build: . \ No newline at end of file diff --git a/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh b/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh new file mode 100644 index 0000000..2f2501a --- /dev/null +++ b/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh @@ -0,0 +1,28 @@ +#!/bin/bash + +# Dependencies +apt-get update && apt-get install -y git software-properties-common libeigen3-dev python3-pip cmake + +# Install qpOASES +mkdir -p ~/utils +cd ~/utils +git clone https://github.com/coin-or/qpOASES.git +cd ~/utils/qpOASES +sed -i -e 's/option(BUILD_SHARED_LIBS "If ON, build shared library instead of static" OFF)/option(BUILD_SHARED_LIBS "If ON, build shared library instead of static" ON)/g' CMakeLists.txt +mkdir -p build +cd ~/utils/qpOASES/build +cmake .. +make +make install + +# Install DQ Robotics (development branch) +## C++ +add-apt-repository ppa:dqrobotics-dev/development +apt-get update +apt-get install -y libdqrobotics libdqrobotics-interface-json11 libdqrobotics-interface-qpoases +## Python +python3 -m pip install dqrobotics --pre --break-system-packages + +# To prevent compilation errors with Pybind11 +ln -s /usr/include/eigen3/Eigen /usr/include/Eigen +ldconfig \ No newline at end of file From ae90d36ab9028be41303e26a4a494068eeca8bae Mon Sep 17 00:00:00 2001 From: Murilo Marinho Date: Fri, 10 Apr 2026 10:45:05 +0100 Subject: [PATCH 2/4] [ubuntu_26] Adding dqrobotics for ubuntu26. --- ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh b/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh index 2f2501a..bd5bccf 100644 --- a/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh +++ b/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh @@ -19,7 +19,7 @@ make install ## C++ add-apt-repository ppa:dqrobotics-dev/development apt-get update -apt-get install -y libdqrobotics libdqrobotics-interface-json11 libdqrobotics-interface-qpoases +apt-get install -y libdqrobotics libdqrobotics-interface-qpoases #libdqrobotics-interface-json11 ## Python python3 -m pip install dqrobotics --pre --break-system-packages From 513d5929185efda8e67814e5898480f4285f1137 Mon Sep 17 00:00:00 2001 From: Murilo Marinho Date: Fri, 10 Apr 2026 10:48:22 +0100 Subject: [PATCH 3/4] [install_sas.sh] Removing unused script --- dependencies/install_sas.sh | 12 ------------ 1 file changed, 12 deletions(-) delete mode 100644 dependencies/install_sas.sh diff --git a/dependencies/install_sas.sh b/dependencies/install_sas.sh deleted file mode 100644 index b512bd8..0000000 --- a/dependencies/install_sas.sh +++ /dev/null @@ -1,12 +0,0 @@ -#!/bin/bash - -# Install SAS - -# Suggested instructions to clone SAS -mkdir -p ~/ros2_ws/src -cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_msgs.git --recursive -cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_core.git --recursive -cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_common.git --recursive -cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_datalogger.git --recursive -cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_conversions.git --recursive -cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_robot_driver.git --recursive From 5401e802c36faacf318044d41103dcb4c49da27e Mon Sep 17 00:00:00 2001 From: Murilo Marinho Date: Fri, 10 Apr 2026 10:51:53 +0100 Subject: [PATCH 4/4] [install_dqrobotics_ubuntu26.sh] Improving readability. --- ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh b/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh index bd5bccf..3b62e77 100644 --- a/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh +++ b/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh @@ -1,7 +1,8 @@ #!/bin/bash # Dependencies -apt-get update && apt-get install -y git software-properties-common libeigen3-dev python3-pip cmake +apt-get update +apt-get install -y git software-properties-common libeigen3-dev python3-pip cmake # Install qpOASES mkdir -p ~/utils @@ -25,4 +26,9 @@ python3 -m pip install dqrobotics --pre --break-system-packages # To prevent compilation errors with Pybind11 ln -s /usr/include/eigen3/Eigen /usr/include/Eigen -ldconfig \ No newline at end of file +ldconfig + +# Clean apt +apt-get autoremove -y +apt-get clean +rm -rf /var/lib/apt/lists/* \ No newline at end of file