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Minor changes #80

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638e689
Added a package name
RapidRoger18 Apr 14, 2024
7060390
minor changes to installations Script
RapidRoger18 Apr 14, 2024
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1 change: 1 addition & 0 deletions 4_simulation_gazebo/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
<buildtool_depend>gazebo_ros2_control</buildtool_depend>
<buildtool_depend>controller_manager</buildtool_depend>
<buildtool_depend>robot_controllers</buildtool_depend>
<buildtool_depend>ros2_controllers</buildtool_depend>
<buildtool_depend>control_toolbox</buildtool_depend>
<buildtool_depend>ros2_control</buildtool_depend>
<buildtool_depend>control_msgs</buildtool_depend>
Expand Down
51 changes: 30 additions & 21 deletions installations.sh
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
!/usr/bin/env bash
#!/usr/bin/env bash

set -e

Expand All @@ -9,7 +9,7 @@ reset=`tput sgr0`

echo "Installing ESP IDF"

_shell_="${0##*/}"
_shell_="${SHELL#${SHELL%/*}/}"
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Test this shell for zsh and bash both

# Check whether esp-idf has already been installed
if [ -d $HOME/esp/esp-idf ]; then
echo "${red}======================$reset"
Expand All @@ -23,7 +23,7 @@ else
sudo apt update && sudo apt upgrade -y
sudo usermod -a -G dialout $USER
sudo apt install git wget flex bison gperf python3 python3-pip python3-setuptools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 -y
sudo apt install python3-venv
sudo apt install python3-venv -y
;;
Darwin*)
if brew --version | grep -q 'Homebrew'; then
Expand Down Expand Up @@ -52,7 +52,7 @@ else
# Clone ESP-IDF Repository
git clone -b release/v5.1 --recursive https://github.com/espressif/esp-idf.git
cd $HOME/esp/esp-idf
./install.sh esp32
./install.sh esp32 -y

# Check if installation is successful
. $HOME/esp/esp-idf/export.sh
Expand All @@ -66,7 +66,7 @@ else
fi
echo "$reset"
# Clone Mario repository if not already cloned
if [ ! -d $HOME/MARIO ]; then
if [ ! -d "$HOME/MARIO" ]; then
echo "${blue}======================$reset"
echo "Cloning Mario"
echo "${red}======================$reset"
Expand All @@ -93,32 +93,32 @@ case "${unameOut}" in

# Check for UTF-8 locale
locale
sudo apt update && sudo apt install locales
sudo apt update && sudo apt install locales -y
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale # verify settings

# Add ROS 2 repository
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt install software-properties-common -y
sudo add-apt-repository universe -y
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt upgrade
sudo apt update -y
sudo apt upgrade -y

# Install ROS 2
sudo apt install ros-humble-desktop-full
sudo apt install ros-humble-desktop-full -y
echo "source /opt/ros/humble/setup.bash" >> $HOME/."$_shell_"rc

# Install additional ROS 2 packages
echo "Installing Additional Ros2 packages"
sudo apt install -y ros-humble-control-msgs ros-humble-control-toolbox ros-humble-joint-state-broadcaster ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui ros-humble-forward-command-controller ros-humble-robot-state-publisher ros-humble-gazebo-ros2-control ros-humble-robot-controllers ros-humble-robot-controllers-interface ros-humble-robot-controllers-msgs ros-humble-joint-trajectory-controller ros-humble-controller-manager ros-humble-controller-manager-msgs ros-humble-ros2-control ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros-dbgsym
sudo apt install -y ros-humble-control-msgs ros-humble-control-toolbox ros-humble-gazebo-ros2-control ros-humble-joint-state-broadcaster ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui ros-humble-forward-command-controller ros-humble-robot-state-publisher ros-humble-gazebo-ros2-control ros-humble-robot-controllers ros-humble-robot-controllers-interface ros-humble-robot-controllers-msgs ros-humble-joint-trajectory-controller ros-humble-controller-manager ros-humble-controller-manager-msgs ros-humble-ros2-control ros-humble-micro-ros-msgs
echo "${red}======================$reset"
echo "ROS 2 installed successfully."
echo "${red}======================$reset"
source $HOME/."$_shell_"rc
source ~/.bashrc
else
echo "${red}======================$reset"
echo "ROS 2 is already installed."
Expand Down Expand Up @@ -157,7 +157,7 @@ case "${unameOut}" in
conda config --env --remove channels defaults || true
# Install ROS packages
mamba install ros-humble-desktop-full
mamba install -n ros_env -y ros-humble-control-msgs ros-humble-control-toolbox ros-humble-joint-state-broadcaster ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui ros-humble-forward-command-controller ros-humble-robot-state-publisher ros-humble-controller-manager ros-humble-controller-manager-msgs ros-humble-joint-trajectory-controller ros-humble-ros2-control
mamba install -n ros_env -y ros-humble-control-msgs ros-humble-control-toolbox ros-humble-joint-state-broadcaster ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui ros-humble-forward-command-controller ros-humble-robot-state-publisher ros-humble-controller-manager ros-humble-controller-manager-msgs ros-humble-joint-trajectory-controller ros-humble-ros2-control ros-humble-micro-ros-msgs
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remove these packages as they are also included in the package.xml

mamba install catkin_tools
echo "${red}======================$reset"
echo "ROS 2 installed successfully."
Expand All @@ -178,8 +178,8 @@ else
echo "${red}======================$reset"
echo "Creating a ros2_ws"
echo "${red}======================$reset"
sudo apt update
sudo apt install python3-colcon-common-extensions
sudo apt update -y
sudo apt install python3-colcon-common-extensions -y
echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> $HOME/."$_shell_"rc
mkdir $HOME/ros2_ws
cd $HOME/ros2_ws
Expand Down Expand Up @@ -262,7 +262,6 @@ if [ "$unameOut" == "Darwin" ]; then
source $HOME/mambaforge/etc/profile.d/conda.sh
conda activate ros_env
fi
colcon build
echo "${red}======================$reset"
echo "Successfully copied mario's folders to ros2_ws"
echo "${red}======================$reset"
Expand All @@ -272,10 +271,20 @@ case "${unameOut}" in
Linux*)
echo "Cloning microrosagent"
cd $HOME/ros2_ws/src
git clone -b humble https://github.com/micro-ROS/micro-ROS-Agent.git
if [ ! -d $HOME/ros2_ws/src/micro-ROS-Agent ]; then
git clone -b humble https://github.com/micro-ROS/micro-ROS-Agent.git
fi
cd ..
pip3 install catkin_pkg lark-parser colcon-common-extensions
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add sudo apt install python3-pip

pip3 install catkin_pkg lark-parser colcon-common-extensions
sudo apt install python3-rosdep2 -y
if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
sudo rosdep init
fi
set -e
rosdep update
rosdep install --from-paths src --ignore-src -y
colcon build
source install/setup.bash
echo "${red}======================$reset"
echo "Done with cloning"
echo "${red}======================$reset"
Expand All @@ -285,7 +294,7 @@ case "${unameOut}" in
echo "Cloning microrosagent"
echo "${red}======================$reset"
cd $HOME/ros2_ws/src
pip3 install catkin_pkg lark-parser
pip3 install catkin_pkg lark-parser
git clone -b humble https://github.com/micro-ROS/micro-ROS-Agent.git
echo "${red}======================$reset"
echo "Done with cloning microrosagent"
Expand All @@ -295,4 +304,4 @@ case "${unameOut}" in
echo "micros_ws couldn't be setup"
exit 1
;;
esac
esac