add ros2_install_hualiyun.sh

scripts/ros2_install_hualiyun.sh

@@ -0,0 +1,281 @@
+#!/bin/bash
+# Warning: This script is ONLY for ROS2 Humble in ubuntu 22.04
+# set -x
+set -e
+
+# Get script directory
+SCRIPT_DIR=$(dirname "$0")
+
+# Get the username of the non-root user
+USERNAME=$USERNAME
+echo "Current user is: $USERNAME"
+echo "Script directory is: $SCRIPT_DIR"
+
+# Save logs to files
+LOG_FILE="${SCRIPT_DIR}/ros2_humble_install.log"
+ERR_FILE="${SCRIPT_DIR}/ros2_humble_install.err"
+echo "Cleaning up traces of last installation..."
+rm -f ${LOG_FILE}
+rm -f ${ERR_FILE}
+
+# Redirect output to console and log files
+exec 1> >(tee -a ${LOG_FILE} )
+exec 2> >(tee -a ${ERR_FILE} >&2)
+
+# Output log info to console
+echo "Installation logs will be saved to ${LOG_FILE}"
+echo "Installation errors will be saved to ${ERR_FILE}"
+
+# Waiting to start
+echo "Start to install ROS2 Humble..."
+sleep 3
+
+
+# No Password sudo config
+echo "Setting no-passwd sudo"
+sudo sed -i 's/^%sudo.*/%sudo ALL=(ALL) NOPASSWD:ALL/g' /etc/sudoers
+
+# Get architecture of the system
+if [ $(uname -m) = "x86_64" ]; then
+    MIRROR="https://mirrors.tuna.tsinghua.edu.cn/ubuntu/"
+else
+    MIRROR="https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/"
+fi
+echo "Current system architecture is: $(uname -m)"
+echo "Current mirror is: $MIRROR"
+
+# Backup original software sources
+echo "Backing up sources.list to /etc/apt/sources.list.backup ..."
+sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup
+
+# Clear original software sources
+echo "# Ubuntu Mirror Settings" | sudo tee /etc/apt/sources.list
+
+# Replace software sources using tee
+echo "deb $MIRROR jammy main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
+echo "deb $MIRROR jammy-updates main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
+echo "deb $MIRROR jammy-backports main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
+
+if [ $(uname -m) = "x86_64" ]; then
+    echo "deb http://security.ubuntu.com/ubuntu/ jammy-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
+else
+    echo "deb http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list
+fi
+
+# System update
+echo "Start to update software..."
+sudo apt update
+echo "Start to upgrade software..."
+sudo apt upgrade -y
+
+# Install pip
+echo "Installing pip..."
+sudo apt install python3-dev -y
+sudo apt install pip -y # If you haven't already installed pip
+
+# Set default pip source
+echo "configuring pip source..."
+pip config set global.index-url http://pypi.tuna.tsinghua.edu.cn/simple
+pip config set global.trusted-host pypi.tuna.tsinghua.edu.cn
+
+# check for UTF-8
+echo "Checking locale..."
+echo "Current locale:"
+locale
+
+# Set language
+echo "Setting language..."
+sudo apt update && sudo apt install locales
+sudo locale-gen en_US en_US.UTF-8
+sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8
+
+# verify settings
+echo "Checking locale..."
+locale
+
+# Enable Ubuntu Universe repository
+echo "Enabling Ubuntu Universe repository..."
+sudo apt install software-properties-common -y
+sudo add-apt-repository universe -y
+
+# Add the ROS 2 GPG key with apt
+echo "Adding the ROS 2 GPG key with apt..."
+sudo apt update && sudo apt install curl -y
+sudo curl -sSL http://hualiyun.cc:7000/codeFromRos/rosdistro/raw/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+#  Add the repository to your sources list
+echo "Adding the ROS 2 repository to your sources list..."
+# echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://hualiyun.cc:22000/ros2/ubuntu/ $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Update apt repository caches
+echo "Updating software caches..."
+sudo apt update
+echo "Upgrading software..."
+sudo apt upgrade -y
+
+# Install ROS
+echo "Installing ROS2 Humble..."
+# ROS Desktop Install(ROS, RViz, demos, tutorials)
+sudo apt install ros-humble-desktop -y
+# ROS Base Install(Communication libraries, message packages, command line tools but no GUI tools)
+sudo apt install ros-humble-ros-base -y
+# Development tools(Compilers and other tools to build ROS packages)
+sudo apt install ros-dev-tools -y
+# Install build tool
+sudo apt install python3-colcon-common-extensions -y
+
+# Environment setup
+if ! grep -q "source /opt/ros/humble/setup.bash" ~/.bashrc; then
+    echo "# ROS2 HUMBLE ENVIRONMENT SETTINGS" | sudo tee -a ~/.bashrc
+    echo "source /opt/ros/humble/setup.bash" | sudo tee -a ~/.bashrc
+    echo "ROS2 Humble environment setup added to ~/.bashrc"
+else
+    echo "ROS2 Humble environment is already set in ~/.bashrc"
+fi
+source ~/.bashrc
+
+# Create your ROS2 workspace
+if [ -d "$workspace_dir" ]; then
+    echo " ROS2 workspace already exists, skip creating."
+else
+    echo "Creating ROS2 workspace"
+    cd ~
+    mkdir -p ros2_workspace/src
+    cd ~/ros2_workspace
+    # Install package dependencies
+    echo "Installing package dependencies..."
+    sudo pip install rosdep
+    sudo pip install rosdepc
+    sudo rosdepc init > /dev/null
+    rosdepc update > /dev/null
+    rosdep install --from-paths src --ignore-src --rosdistro humble -y
+    echo "Building workspace..."
+    colcon build
+    cd ~
+fi
+
+# System update again
+sudo apt update
+sudo apt dist-upgrade -y
+
+# install cartographer
+sudo apt-get install ninja-build -y
+sudo apt-get install libgflags-dev -y
+sudo apt-get install libgoogle-glog-dev -y
+sudo apt-get install stow -y
+sudo apt-get install libgtest-dev -y
+sudo apt-get install libceres-dev -y
+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
+
+ABSEIL_DIR="abseil-cpp"
+if test ! -d "$ABSEIL_DIR"; then
+    set -o errexit
+    set -o verbose
+
+    git clone http://hualiyun.cc:3567/carto/abseil-cpp.git
+    cd abseil-cpp
+    git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
+    mkdir build
+    cd build
+    cmake -G Ninja \
+      -DCMAKE_BUILD_TYPE=Release \
+      -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+      -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
+      ..
+    sudo sed -i 's/std::max(SIGSTKSZ, 65536)/std::max<size_t>(SIGSTKSZ, 65536)/g' ../absl/debugging/failure_signal_handler.cc
+    sudo sed -i '/#include/a #include <limits>' ../absl/synchronization/internal/graphcycles.cc
+    ninja
+    sudo ninja install
+    cd /usr/local/stow
+    sudo stow absl
+    cd ~
+    rm -rf abseil-cpp
+    echo "abseil install succ"
+else
+    echo "abseil is already installed"
+fi
+
+PROTOBUF_DIR="protobuf"
+if test ! -d "$PROTOBUF_DIR"; then
+    set -o errexit
+    set -o verbose
+
+    VERSION="v3.4.1"
+
+    # Build and install proto3.
+    git clone http://hualiyun.cc:3567/carto/protobuf.git
+    cd protobuf
+    git checkout tags/${VERSION}
+    mkdir build
+    cd build
+    cmake -G Ninja \
+      -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+      -DCMAKE_BUILD_TYPE=Release \
+      -Dprotobuf_BUILD_TESTS=OFF \
+      ../cmake
+    ninja
+    sudo ninja install
+    cd ~
+    rm -rf protobuf
+    echo "protobuf install succ"
+else
+    echo "protobuf is already installed"
+fi
+
+# Verifying ROS2 installation
+# clear
+
+# Define the variables to be printed
+TEXT1="ROS2 Humble installation completed!"
+TEXT2="Please open new terminals and run commands to verify the installation:"
+TEXT3="ros2 run demo_nodes_cpp talker"
+TEXT4="ros2 run demo_nodes_py listener"
+
+# Define the colors
+RED='\033[0;31m'
+BLUE='\033[0;34m'
+GREEN='\033[1;32m'
+NC='\033[0m'
+
+# Calculate the center of the terminal window
+TERMINAL_WIDTH=$(tput cols)
+TEXT1_PADDING=$((($TERMINAL_WIDTH-${#TEXT1})/2))
+TEXT2_PADDING=$((($TERMINAL_WIDTH-${#TEXT2})/2))
+TEXT3_PADDING=$((($TERMINAL_WIDTH-${#TEXT3})/2))
+TEXT4_PADDING=$((($TERMINAL_WIDTH-${#TEXT4})/2))
+
+# Print the text in the center of the screen in the desired colors
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo -e "${GREEN}$(printf '%*s' $TEXT1_PADDING)${TEXT1} ${NC}"
+echo -e "${NC}$(printf '%*s' $TEXT2_PADDING)${TEXT2} ${NC}"
+echo -e "${RED}$(printf '%*s' $TEXT3_PADDING)${TEXT3} ${NC}"
+echo -e "${RED}$(printf '%*s' $TEXT4_PADDING)${TEXT4} ${NC}"
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+echo ""
+
+# # Remove ROS2
+# sudo apt remove ~nros-humble-* && sudo apt autoremove
+# sudo rm /etc/apt/sources.list.d/ros2.list
+# sudo apt update
+# sudo apt autoremove
+# # Consider upgrading for packages previously shadowed.
+# sudo apt upgrade