install_prereqs

#!/bin/bash

# BSD 3-Clause License
#
# Copyright (c) 2019, Massachusetts Institute of Technology.
# Copyright (c) 2019, Toyota Research Institute.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
#    list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
#    this list of conditions and the following disclaimer in the documentation
#    and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
#    contributors may be used to endorse or promote products derived from
#    this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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set -euxo pipefail

if [[ -z "${WORKSPACE-}" ]]; then
  echo 'ERROR: This script must be run on a Jenkins node' >&2
  exit 1
fi

if [[ "${EUID}" -ne 0 ]]; then
  echo 'ERROR: This script must be run as root' >&2
  exit 2
fi

systemctl --quiet disable apt-daily-upgrade.timer apt-daily.timer

echo 'APT::Acquire::Retries "4";' > /etc/apt/apt.conf.d/80-acquire-retries

export DEBIAN_FRONTEND=noninteractive
export PYTHONWARNINGS=ignore::SyntaxWarning

apt-get update -qq || (sleep 15; apt-get update -qq)
trap 'set +x; rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/*; set -x' EXIT

apt-get purge --autoremove -o Dpkg::Use-Pty=0 -qy cron unattended-upgrades
rm -rf /etc/cron.daily/apt-compat /var/log/unattended-upgrades

apt-get upgrade -o Dpkg::Options::=--force-confdef \
  -o Dpkg::Options::=--force-confnew -o Dpkg::Use-Pty=0 -qy

# TODO(betsymcphail): If/when awscli is available via apt for Noble,
# remove the installation from the AMI and this special case.
if [[ "$(lsb_release -cs)" == "jammy" ]]; then
  apt-get install --no-install-recommends -o Dpkg::Use-Pty=0 -qy \
    awscli
fi

apt-get install --no-install-recommends -o Dpkg::Use-Pty=0 -qy \
  ca-certificates \
  cmake \
  git \
  gnupg \
  lsb-release \
  openjdk-17-jre-headless \
  python3-venv \
  wget \
  xvfb

echo 'verbose = off' > /root/.wgetrc

cp /root/.wgetrc /home/ubuntu/.wgetrc
chown ubuntu:ubuntu /home/ubuntu/.wgetrc

# Downgrade mesa per https://github.com/RobotLocomotion/drake/issues/18726.
if [[ "$(lsb_release -cs)" == "jammy" ]]; then
  # 1. Install the pinned versions we know work.
  apt-get install -o Dpkg::Use-Pty=0 -y --allow-downgrades \
    xvfb \
    libegl1 \
    libegl-mesa0=22.0.1-1ubuntu2 \
    libgbm1=22.0.1-1ubuntu2 \
    libgl1-mesa-dri=22.0.1-1ubuntu2 \
    libglapi-mesa=22.0.1-1ubuntu2 \
    libglx-mesa0=22.0.1-1ubuntu2
  # 2. Prevent any subsequent `apt-get update && apt-get upgrade` from
  #    installing the newer versions.
  apt-mark hold \
    libegl-mesa0 \
    libgbm1 \
    libgl1-mesa-dri \
    libglapi-mesa \
    libglx-mesa0
fi

cat << EOF > /lib/systemd/system/xvfb.service
[Unit]
After=network.target

[Service]
ExecStart=/usr/bin/Xvfb :99 -screen 0 1280x1024x24 -ac +extension GLX +extension RANDR +render -noreset

[Install]
WantedBy=multi-user.target
EOF

systemctl --now --quiet enable /lib/systemd/system/xvfb.service

apt-get install --no-install-recommends -o Dpkg::Use-Pty=0 -qy \
  chrony

systemctl enable chrony
systemctl start  chrony

wget -nv -t 4 -O /tmp/gurobi10.0.2_linux64.tar.gz --retry-connrefused \
  https://packages.gurobi.com/10.0/gurobi10.0.2_linux64.tar.gz
echo '03da2c61494f5f80098270ba459d7567db8b0bf05884ddbd8a78e5b28b008dc9  /tmp/gurobi10.0.2_linux64.tar.gz' \
  | sha256sum -c -
tar -C /opt -xf /tmp/gurobi10.0.2_linux64.tar.gz
echo '99f71fb7075f21ac50c8f11d66ecf69a82bbe95617d3a8eb401a30e52e719bd8  /opt/gurobi1002/linux64/include/gurobi_c.h' \
  | sha256sum -c -
chown -R root:root /opt/gurobi1002