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+#!/bin/bash
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+# Warning: This script is ONLY for ROS2 Humble in ubuntu 22.04
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+# set -x
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+set -e
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+
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+# Get script directory
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+SCRIPT_DIR=$(dirname "$0")
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+
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+# Get the username of the non-root user
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+USERNAME=$USERNAME
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+echo "Current user is: $USERNAME"
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+echo "Script directory is: $SCRIPT_DIR"
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+
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+# Save logs to files
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+LOG_FILE="${SCRIPT_DIR}/ros2_humble_install.log"
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+ERR_FILE="${SCRIPT_DIR}/ros2_humble_install.err"
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+echo "Cleaning up traces of last installation..."
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+rm -f ${LOG_FILE}
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+rm -f ${ERR_FILE}
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+
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+# Redirect output to console and log files
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+exec 1> >(tee -a ${LOG_FILE} )
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+exec 2> >(tee -a ${ERR_FILE} >&2)
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+
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+# Output log info to console
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+echo "Installation logs will be saved to ${LOG_FILE}"
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+echo "Installation errors will be saved to ${ERR_FILE}"
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+
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+# Waiting to start
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+echo "Start to install ROS2 Humble..."
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+sleep 3
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+
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+
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+# No Password sudo config
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+echo "Setting no-passwd sudo"
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+sudo sed -i 's/^%sudo.*/%sudo ALL=(ALL) NOPASSWD:ALL/g' /etc/sudoers
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+
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+# Get architecture of the system
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+if [ $(uname -m) = "x86_64" ]; then
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+ MIRROR="https://mirrors.tuna.tsinghua.edu.cn/ubuntu/"
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+else
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+ MIRROR="https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/"
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+fi
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+echo "Current system architecture is: $(uname -m)"
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+echo "Current mirror is: $MIRROR"
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+
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+# Backup original software sources
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+echo "Backing up sources.list to /etc/apt/sources.list.backup ..."
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+sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup
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+
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+# Clear original software sources
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+echo "# Ubuntu Mirror Settings" | sudo tee /etc/apt/sources.list
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+
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+# Replace software sources using tee
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+echo "deb $MIRROR jammy main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
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+echo "deb $MIRROR jammy-updates main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
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+echo "deb $MIRROR jammy-backports main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
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+
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+if [ $(uname -m) = "x86_64" ]; then
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+ echo "deb http://security.ubuntu.com/ubuntu/ jammy-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
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+else
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+ echo "deb http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
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+fi
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+
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+# System update
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+echo "Start to update software..."
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+sudo apt update
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+echo "Start to upgrade software..."
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+sudo apt upgrade -y
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+
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+# Install pip
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+echo "Installing pip..."
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+sudo apt install python3-dev -y
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+sudo apt install pip -y # If you haven't already installed pip
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+
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+# Set default pip source
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+echo "configuring pip source..."
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+pip config set global.index-url http://pypi.tuna.tsinghua.edu.cn/simple
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+pip config set global.trusted-host pypi.tuna.tsinghua.edu.cn
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+
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+# check for UTF-8
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+echo "Checking locale..."
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+echo "Current locale:"
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+locale
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+
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+# Set language
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+echo "Setting language..."
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+sudo apt update && sudo apt install locales
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+sudo locale-gen en_US en_US.UTF-8
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+sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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+export LANG=en_US.UTF-8
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+
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+# verify settings
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+echo "Checking locale..."
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+locale
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+
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+# Enable Ubuntu Universe repository
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+echo "Enabling Ubuntu Universe repository..."
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+sudo apt install software-properties-common -y
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+sudo add-apt-repository universe -y
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+
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+# Add the ROS 2 GPG key with apt
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+echo "Adding the ROS 2 GPG key with apt..."
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+sudo apt update && sudo apt install curl -y
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+sudo curl -sSL http://hualiyun.cc:7000/codeFromRos/rosdistro/raw/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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+
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+# Add the repository to your sources list
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+echo "Adding the ROS 2 repository to your sources list..."
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+# 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 $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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+
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+# Update apt repository caches
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+echo "Updating software caches..."
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+sudo apt update
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+echo "Upgrading software..."
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+sudo apt upgrade -y
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+
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+# Install ROS
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+echo "Installing ROS2 Humble..."
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+# ROS Desktop Install(ROS, RViz, demos, tutorials)
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+sudo apt install ros-humble-desktop -y
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+# ROS Base Install(Communication libraries, message packages, command line tools but no GUI tools)
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+sudo apt install ros-humble-ros-base -y
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+# Development tools(Compilers and other tools to build ROS packages)
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+sudo apt install ros-dev-tools -y
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+# Install build tool
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+sudo apt install python3-colcon-common-extensions -y
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+
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+# Environment setup
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+if ! grep -q "source /opt/ros/humble/setup.bash" ~/.bashrc; then
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+ echo "# ROS2 HUMBLE ENVIRONMENT SETTINGS" | sudo tee -a ~/.bashrc
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+ echo "source /opt/ros/humble/setup.bash" | sudo tee -a ~/.bashrc
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+ echo "ROS2 Humble environment setup added to ~/.bashrc"
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+else
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+ echo "ROS2 Humble environment is already set in ~/.bashrc"
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+fi
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+source ~/.bashrc
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+
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+# Create your ROS2 workspace
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+if [ -d "$workspace_dir" ]; then
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+ echo " ROS2 workspace already exists, skip creating."
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+else
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+ echo "Creating ROS2 workspace"
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+ cd ~
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+ mkdir -p ros2_workspace/src
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+ cd ~/ros2_workspace
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+ # Install package dependencies
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+ echo "Installing package dependencies..."
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+ sudo pip install rosdep
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+ sudo pip install rosdepc
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+ sudo rosdepc init > /dev/null
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+ rosdepc update > /dev/null
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+ rosdep install --from-paths src --ignore-src --rosdistro humble -y
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+ echo "Building workspace..."
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+ colcon build
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+ cd ~
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+fi
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+
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+# System update again
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+sudo apt update
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+sudo apt dist-upgrade -y
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+
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+# install cartographer
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+sudo apt-get install ninja-build -y
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+sudo apt-get install libgflags-dev -y
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+sudo apt-get install libgoogle-glog-dev -y
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+sudo apt-get install stow -y
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+sudo apt-get install libgtest-dev -y
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+sudo apt-get install libceres-dev -y
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+sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev protobuf-compiler libatlas-base-dev libsuitesparse-dev liblapack-dev ros-humble-tf2-eigen
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+
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+ABSEIL_DIR="abseil-cpp"
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+if test ! -d "$ABSEIL_DIR"; then
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+ set -o errexit
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+ set -o verbose
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+
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+ git clone http://hualiyun.cc:3567/carto/abseil-cpp.git
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+ cd abseil-cpp
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+ git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
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+ mkdir build
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+ cd build
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+ cmake -G Ninja \
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+ -DCMAKE_BUILD_TYPE=Release \
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+ -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
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+ -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
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+ ..
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+ sudo sed -i 's/std::max(SIGSTKSZ, 65536)/std::max<size_t>(SIGSTKSZ, 65536)/g' ../absl/debugging/failure_signal_handler.cc
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+ sudo sed -i '/#include/a #include <limits>' ../absl/synchronization/internal/graphcycles.cc
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+ ninja
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+ sudo ninja install
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+ cd /usr/local/stow
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+ sudo stow absl
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+ cd ~
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+ rm -rf abseil-cpp
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+ echo "abseil install succ"
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+else
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+ echo "abseil is already installed"
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+fi
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+
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+PROTOBUF_DIR="protobuf"
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+if test ! -d "$PROTOBUF_DIR"; then
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+ set -o errexit
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+ set -o verbose
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+
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+ VERSION="v3.4.1"
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+
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+ # Build and install proto3.
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+ git clone http://hualiyun.cc:3567/carto/protobuf.git
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+ cd protobuf
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+ git checkout tags/${VERSION}
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+ mkdir build
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+ cd build
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+ cmake -G Ninja \
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+ -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
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+ -DCMAKE_BUILD_TYPE=Release \
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+ -Dprotobuf_BUILD_TESTS=OFF \
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+ ../cmake
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+ ninja
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+ sudo ninja install
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+ cd ~
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+ rm -rf protobuf
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+ echo "protobuf install succ"
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+else
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+ echo "protobuf is already installed"
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+fi
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+
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+# Verifying ROS2 installation
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+# clear
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+
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+# Define the variables to be printed
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+TEXT1="ROS2 Humble installation completed!"
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+TEXT2="Please open new terminals and run commands to verify the installation:"
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+TEXT3="ros2 run demo_nodes_cpp talker"
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+TEXT4="ros2 run demo_nodes_py listener"
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+
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+# Define the colors
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+RED='\033[0;31m'
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+BLUE='\033[0;34m'
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+GREEN='\033[1;32m'
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+NC='\033[0m'
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+
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+# Calculate the center of the terminal window
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+TERMINAL_WIDTH=$(tput cols)
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+TEXT1_PADDING=$((($TERMINAL_WIDTH-${#TEXT1})/2))
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+TEXT2_PADDING=$((($TERMINAL_WIDTH-${#TEXT2})/2))
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+TEXT3_PADDING=$((($TERMINAL_WIDTH-${#TEXT3})/2))
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+TEXT4_PADDING=$((($TERMINAL_WIDTH-${#TEXT4})/2))
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+
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+# Print the text in the center of the screen in the desired colors
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo -e "${GREEN}$(printf '%*s' $TEXT1_PADDING)${TEXT1} ${NC}"
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+echo -e "${NC}$(printf '%*s' $TEXT2_PADDING)${TEXT2} ${NC}"
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+echo -e "${RED}$(printf '%*s' $TEXT3_PADDING)${TEXT3} ${NC}"
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+echo -e "${RED}$(printf '%*s' $TEXT4_PADDING)${TEXT4} ${NC}"
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+echo ""
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+
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+# # Remove ROS2
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+# sudo apt remove ~nros-humble-* && sudo apt autoremove
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+# sudo rm /etc/apt/sources.list.d/ros2.list
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+# sudo apt update
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+# sudo apt autoremove
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+# # Consider upgrading for packages previously shadowed.
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+# sudo apt upgrade
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czd