RobotLocomotion · tyler-yankee · Jan 23, 2025 · Jan 31, 2025
diff --git a/drake_bazel_download/README.md b/drake_bazel_download/README.md
@@ -8,17 +8,18 @@ For an introduction to Bazel, refer to
 
 ## Instructions
 
-First, run the `install_prereqs` script to download the Drake source to `$HOME/drake/`.
-This also runs Drake's setup script to install the required Ubuntu packages:
+First, run the `install_prereqs` script to download the
+Drake source to `$HOME/drake/`. This also runs Drake's
+setup script to install the required Ubuntu packages:
 
 ```bash
-sudo setup/install_prereqs
+setup/install_prereqs
 ```
 
 Additionally, if you don't already have bazel or bazelisk installed, then install bazelisk:
 
 ```bash
-sudo setup/install_bazelisk
+setup/install_bazelisk
 ```
 
 Then, to build and test all apps:

diff --git a/drake_bazel_download/setup/install_bazelisk b/drake_bazel_download/setup/install_bazelisk
@@ -6,12 +6,12 @@
 
 set -euxo pipefail
 
-if [[ "${EUID:-}" -ne 0 ]]; then
-  echo 'This script must be run as root' >&2
-  exit 2
+maybe_sudo=
+if [[ "${EUID}" -ne 0 ]]; then
+  maybe_sudo=sudo
 fi
 
 wget -O bazelisk.deb \
   https://github.com/bazelbuild/bazelisk/releases/download/v1.24.0/bazelisk-amd64.deb
-dpkg -i bazelisk.deb
+${maybe_sudo} dpkg -i bazelisk.deb
 rm -f bazelisk.deb
diff --git a/drake_bazel_download/setup/install_prereqs b/drake_bazel_download/setup/install_prereqs
@@ -31,20 +31,20 @@
 
 set -euxo pipefail
 
-if [[ "${EUID:-}" -ne 0 ]]; then
-  echo 'This script must be run as root' >&2
-  exit 2
+maybe_sudo=
+if [[ "${EUID}" -ne 0 ]]; then
+  maybe_sudo=sudo
 fi
 
-apt-get update
-apt-get install --no-install-recommends lsb-release
+${maybe_sudo} apt-get update
+${maybe_sudo} 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 $(cat <<EOF
+${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
   ca-certificates
   wget
 EOF
@@ -60,4 +60,4 @@ tar -xf drake.tar.gz -C $HOME
 echo -e "\ndrake VERSION.TXT: $(cat $HOME/drake/share/doc/drake/VERSION.TXT)\n"
 
 # Install the source prereqs
-$HOME/drake/share/drake/setup/install_prereqs
+${maybe_sudo} ${HOME}/drake/share/drake/setup/install_prereqs
diff --git a/drake_bazel_external/README.md b/drake_bazel_external/README.md
@@ -7,9 +7,9 @@ For an introduction to Bazel, refer to
 
 ## Instructions
 
-First, run the `install_prereqs` script to download the Drake source to `drake-master/`
-(from the current directory). This also runs Drake's setup script to
-install the required Ubuntu packages:
+First, run the `install_prereqs` script to download
+the Drake source to `drake-master/` (from the current directory).
+This also runs Drake's setup script to install the required Ubuntu packages:
 
 ```bash
 setup/install_prereqs

diff --git a/drake_bazel_external/setup/install_prereqs b/drake_bazel_external/setup/install_prereqs
@@ -4,7 +4,12 @@
 
 set -euxo pipefail
 
-sudo apt-get install --no-install-recommends $(cat <<EOF
+maybe_sudo=
+if [[ "${EUID}" -ne 0 ]]; then
+  maybe_sudo=sudo
+fi
+
+${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
   wget
 EOF
 )
@@ -18,4 +23,4 @@ trap 'rm -f drake.tar.gz' EXIT
 tar -xf drake.tar.gz
 
 # Install the source prereqs
-sudo drake-master/setup/ubuntu/install_prereqs.sh
+drake-master/setup/install_prereqs --with-bazel
diff --git a/drake_bazel_external_legacy/README.md b/drake_bazel_external_legacy/README.md
@@ -12,9 +12,9 @@ For an introduction to Bazel, refer to
 
 ## Instructions
 
-First, run the `install_prereqs` script to download the Drake source to `drake-master/`
-(from the current directory). This also runs Drake's setup script to
-install the required Ubuntu packages:
+First, run the `install_prereqs` script to download the
+Drake source to `drake-master/` (from the current directory).
+This also runs Drake's setup script to install the required Ubuntu packages:
 
 ```bash
 setup/install_prereqs

diff --git a/drake_bazel_external_legacy/setup/install_prereqs b/drake_bazel_external_legacy/setup/install_prereqs
@@ -4,7 +4,12 @@
 
 set -euxo pipefail
 
-sudo apt-get install --no-install-recommends $(cat <<EOF
+maybe_sudo=
+if [[ "${EUID}" -ne 0 ]]; then
+  maybe_sudo=sudo
+fi
+
+${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
   wget
 EOF
 )
@@ -18,4 +23,4 @@ trap 'rm -f drake.tar.gz' EXIT
 tar -xf drake.tar.gz
 
 # Install the source prereqs
-sudo drake-master/setup/ubuntu/install_prereqs.sh
+drake-master/setup/install_prereqs --with-bazel
diff --git a/drake_cmake_external/README.md b/drake_cmake_external/README.md
@@ -4,9 +4,9 @@ This pulls in Drake using the CMake `ExternalProject_Add(drake)` mechanism.
 
 ## Instructions
 
-First, run the `install_prereqs` script to download the Drake source to `drake-master/`
-(from the current directory). This also runs Drake's setup script to
-install the required Ubuntu packages:
+First, run the `install_prereqs` script to download the
+Drake source to `drake-master/` (from the current directory).
+This also runs Drake's setup script to install the required Ubuntu packages:
 
 ```bash
 setup/install_prereqs

diff --git a/drake_cmake_external/setup/install_prereqs b/drake_cmake_external/setup/install_prereqs
@@ -4,7 +4,12 @@
 
 set -euxo pipefail
 
-sudo apt-get install --no-install-recommends $(cat <<EOF
+maybe_sudo=
+if [[ "${EUID}" -ne 0 ]]; then
+  maybe_sudo=sudo
+fi
+
+${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
   wget
 EOF
 )
@@ -18,4 +23,4 @@ trap 'rm -f drake.tar.gz' EXIT
 tar -xf drake.tar.gz
 
 # Install the source prereqs
-sudo drake-master/setup/ubuntu/install_prereqs.sh
+drake-master/setup/install_prereqs
diff --git a/drake_cmake_installed/README.md b/drake_cmake_installed/README.md
@@ -13,7 +13,7 @@ These instructions are only supported for Ubuntu 22.04 (Jammy).
 
 # Download Drake source to $HOME/drake/ and
 # install various system dependencies
-sudo setup/install_prereqs
+setup/install_prereqs
 
 ###############################################################
 # Alternative Drake Versions

diff --git a/drake_cmake_installed/setup/install_prereqs b/drake_cmake_installed/setup/install_prereqs
@@ -1,36 +1,11 @@
 #!/bin/bash
 
-# Copyright (c) 2020, Massachusetts Institute of Technology.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# * Redistributions of source code must retain the above copyright notice, this
-#   list of conditions and the following disclaimer.
-#
-# * 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.
-#
-# * 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 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
+# SPDX-License-Identifier: MIT-0
 
 set -euxo pipefail
 
+maybe_sudo=
+
 case "$OSTYPE" in
     darwin*)
     # Mac specific installations
@@ -47,20 +22,19 @@ case "$OSTYPE" in
 
     linux*)
     # Ubuntu specific installations
-    if [[ "${EUID:-}" -ne 0 ]]; then
-      echo 'This script must be run as root' >&2
-      exit 2
+    if [[ "${EUID}" -ne 0 ]]; then
+      maybe_sudo=sudo
     fi
 
-    apt-get update
-    apt-get install --no-install-recommends lsb-release
+    ${maybe_sudo} apt-get update
+    ${maybe_sudo} 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
+    ${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
       ca-certificates
       wget
 EOF
@@ -72,8 +46,7 @@ EOF
     trap 'rm -f drake.tar.gz' EXIT
     tar -xf drake.tar.gz -C $HOME
 
-    apt-get update
-    apt-get install --no-install-recommends $(cat <<EOF
+    ${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
       python3-all-dev
 EOF
     )
@@ -84,4 +57,4 @@ esac
 echo -e "\ndrake VERSION.TXT: $(cat $HOME/drake/share/doc/drake/VERSION.TXT)\n"
 
 # Install the source prereqs
-$HOME/drake/share/drake/setup/install_prereqs
+${maybe_sudo} ${HOME}/drake/share/drake/setup/install_prereqs
diff --git a/private/test/file_sync_test.py b/private/test/file_sync_test.py
@@ -46,10 +46,6 @@
         "drake_bazel_external/.github/ubuntu_setup",
         "drake_cmake_external/.github/ubuntu_setup",
     ),
-    (
-        "drake_bazel_external/setup/install_prereqs",
-        "drake_cmake_external/setup/install_prereqs",
-    ),
     (
         "drake_bazel_download/.bazelversion",
         "drake_bazel_external/.bazelversion",
@@ -149,7 +145,7 @@ def check(index: int, paths: tuple[str]):
 
 
 def gha_workflow_check(workflow_name: str):
-    """Enforces the subdir_ci to have the contents of root_ci up until 
+    """Enforces the subdir_ci to have the contents of root_ci up until
     it reaches the jobs: line plus the content in the subdir_ workflow
     after jobs: is mentioned.
     """