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AryanNanda17/mario_install.sh

Last active April 27, 2024 19:03
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Mario Installation Script
Raw
mario_install.sh
#!/usr/bin/env bash
set -e
red=`tput setaf 1`
green=`tput setaf 2`
blue=`tput setaf 4`
reset=`tput sgr0`
echo "Installing ESP IDF"
_shell_="${SHELL#${SHELL%/*}/}"
# Check whether esp-idf has already been installed
if [ -d $HOME/esp/esp-idf ]; then
echo "${red}======================$reset"
echo "You already have installed esp-idf!"
echo "${blue}======================$reset"
else
# System Detection and ESP-IDF Installation
unameOut="$(uname -s)"
case "${unameOut}" in
Linux*)
sudo apt update && sudo apt upgrade -y
sudo usermod -a -G dialout $USER
sudo apt install git wget flex bison gperf python3 python3-pip python3-setuptools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 -y
sudo apt install python3-venv
;;
Darwin*)
if brew --version | grep -q 'Homebrew'; then
echo "${red}======================$reset"
echo "Homebrew is already installed"
echo "${blue}======================$reset"
else
echo "installing homebrew"
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
echo "${blue}======================$reset"
echo "homebrew installed successfully"
echo "${blue}======================$reset"
fi
brew install git cmake ninja dfu-util python3
;;
*)
echo "Not supported: ${unameOut}"
exit 1
;;
esac
# Create ESP Directory
mkdir -p "$HOME/esp"
pushd "$HOME"/esp || (echo "Error: Cannot Make Directory" && exit 1)
# 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
# Check if installation is successful
. $HOME/esp/esp-idf/export.sh
echo "${red}======================$reset"
echo "${red}======================$reset"
echo "${green}Esp Installation Successfull "
# Set IDF Alias
echo "alias get_idf='. $HOME/esp/esp-idf/export.sh'" >> $HOME/."$_shell_"rc
idf.py --version
fi
echo "$reset"
# Clone Mario repository if not already cloned
if [ ! -d "$HOME/MARIO" ]; then
echo "${blue}======================$reset"
echo "Cloning Mario"
echo "${red}======================$reset"
cd $Home
git clone -b humble --recursive https://github.com/SRA-VJTI/MARIO.git
echo "${blue}======================$reset"
echo "Mario repo cloned successfully"
echo "${red}======================$reset"
else
echo "${red}======================$reset"
echo "Mario repository already exists and is not empty. Skipping cloning."
echo "${red}======================$reset"
fi
# Check the operating system
unameOut="$(uname -s)"
case "${unameOut}" in
Linux*)
echo "Checking if ROS 2 is installed..."
# Check if ROS 2 is already installed
if ! command -v ros2 &>/dev/null; then
echo "${red}======================$reset"
echo "ROS 2 is not installed. Proceeding with installation..."
# Check for UTF-8 locale
locale
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale # verify settings
# Add ROS 2 repository
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(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
# Install ROS 2
sudo apt install ros-humble-desktop-full
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-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
echo "${red}======================$reset"
echo "ROS 2 installed successfully."
echo "${red}======================$reset"
source $HOME/."$_shell_"rc
else
echo "${red}======================$reset"
echo "ROS 2 is already installed."
echo "${red}======================$reset"
fi
;;
Darwin*)
# Installing mambaforge
echo "Installing mambaforge"
if command -v mamba &>/dev/null; then
echo "${blue}======================$reset"
echo "Mambaforge is already installed"
echo "${red}======================$reset"
else
wget -q https://github.com/conda-forge/miniforge/releases/latest/download/Mambaforge-$(uname)-$(uname -m).sh -O mambaforge.sh
chmod +x mambaforge.sh
./mambaforge.sh
rm mambaforge.sh
echo "${blue}======================$reset"
echo "Mambaforge installed"
echo "${red}======================$reset"
echo "Initializing Mambaforge"
export PATH="$HOME/mambaforge/bin:$PATH"
mamba init --all
echo "$green Mambaforge initialized. ReOpen a new terminal, and Please re-run the installation script for further configuration"
# exit 0
fi
# Install mamba if not installed already
conda install mamba -c conda-forge
mamba create -n ros_env -c conda-forge
source $HOME/mambaforge/etc/profile.d/conda.sh
conda activate ros_env
conda config --env --add channels conda-forge
conda config --env --add channels robostack-staging
conda config --env --remove channels defaults || true
# Install ROS packages
mamba install ros-humble-desktop-full
mamba install -n ros_env -y ros-humble-control-msgs ros-humble-control-toolbox ros-humble-joint-state-broadcaster ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui ros-humble-forward-command-controller ros-humble-robot-state-publisher ros-humble-controller-manager ros-humble-controller-manager-msgs ros-humble-joint-trajectory-controller ros-humble-ros2-control
mamba install catkin_tools
echo "${red}======================$reset"
echo "ROS 2 installed successfully."
echo "${red}======================$reset"
;;
*)
echo "ROS 2 installation is not supported on this operating system."
exit 1
;;
esac
# Verify if ros2_ws already exists
if [ -d "$HOME/ros2_ws" ]; then
echo "ros2_ws already exists."
else
case "${unameOut}" in
Linux*)
echo "${red}======================$reset"
echo "Creating a ros2_ws"
echo "${red}======================$reset"
sudo apt update
sudo apt install python3-colcon-common-extensions
echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> $HOME/."$_shell_"rc
mkdir $HOME/ros2_ws
cd $HOME/ros2_ws
mkdir src
colcon build
echo "${red}======================$reset"
echo "ros2_ws successfully setup"
echo "${red}======================$reset"
echo "source $HOME/ros2_ws/install/setup.bash" >> $HOME/."$_shell_"rc
;;
Darwin*)
echo "${blue}======================$reset"
echo "Creating a ros2_ws"
echo "${red}======================$reset"
source $HOME/mambaforge/etc/profile.d/conda.sh
conda activate ros_env
conda install colcon-common-extensions rosdep
# Creating a ros2_ws
mkdir $HOME/ros2_ws
cd $HOME/ros2_ws
sudo chown -R $(whoami) $HOME/ros2_ws
mkdir src
colcon build
echo "${red}======================$reset"
echo "ros2_ws successfully setup"
echo "${red}======================$reset"
;;
*)
echo "ros2_ws couldn't be setup"
exit 1
;;
esac
fi
# Installig Gazebo if not already installed
if [ "$unameOut" == "Linux" ]; then
if ! command -v gazebo &> /dev/null; then
echo "${red}======================$reset"
echo "Installing Gazebo"
echo "${red}======================$reset"
curl -sSL http://get.gazebosim.org | sh
echo "${red}======================$reset"
echo "Gazebo installed successfully"
echo "${red}======================$reset"
else
echo "${red}======================$reset"
echo "Gazebo is already installed"
echo "${red}======================$reset"
fi
fi
# Copying Mario's folders to ros2_ws
cd $HOME/ros2_ws/src
if [[ ! -d "1_chatter_listener" ]]; then
echo "${red}======================$reset"
echo "Copying Mario's folders to ros2_ws"
echo "${red}======================$reset"
cp -r $HOME/MARIO/1_* $HOME/ros2_ws/src
cp -r $HOME/MARIO/2_* $HOME/ros2_ws/src
cp -r $HOME/MARIO/3_* $HOME/ros2_ws/src
cp -r $HOME/MARIO/4_* $HOME/ros2_ws/src
cp -r $HOME/MARIO/activities $HOME/ros2_ws/src
if [[ ! -d "$HOME/ros2_ws_firmware" ]]; then
mkdir -p $HOME/ros2_ws_firmware
cp -r $HOME/MARIO/firmware/* $HOME/ros2_ws_firmware
echo "${red}======================$reset"
echo "$green firmware copied to ros2_ws_firmware $reset"
else
echo "${red}======================$reset"
echo "$green Already copied $reset"
fi
echo "${red}======================$reset"
else
echo "${red}======================$reset"
echo "$green Ros folders are already copied $reset"
fi
cd ..
if [ "$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}======================$reset"
# Setting up microrosagent
case "${unameOut}" in
Linux*)
echo "Cloning microrosagent"
cd $HOME/ros2_ws/src
cd ..
pip3 install catkin_pkg lark-parser colcon-common-extensions
rosdep install --from-paths src --ignore-src -y
echo "${red}======================$reset"
echo "Done with cloning"
echo "${red}======================$reset"
;;
Darwin*)
echo "${red}======================$reset"
echo "Cloning microrosagent"
echo "${red}======================$reset"
cd $HOME/ros2_ws/src
pip3 install catkin_pkg lark-parser
git clone -b humble https://github.com/micro-ROS/micro-ROS-Agent.git
echo "${red}======================$reset"
echo "Done with cloning microrosagent"
echo "${red}======================$reset"
;;
*)
echo "micros_ws couldn't be setup"
exit 1
;;
esac
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