setup_tb3_step2.sh

setup_tb3_step2.sh

#!/bin/bash
set -e
sudo dpkg --add-architecture armhf
sudo apt update && sudo apt install libc6:armhf -y
sudo sed -i 's/1/0/1' /etc/apt/apt.conf.d/20auto-upgrades
sudo systemctl mask systemd-networkd-wait-online.service
sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target
echo "alias stop_tb3='pkill hlds_laser_publ && pkill robot_state_pub && pkill turtlebot3_ros'" >> ~/.bashrc
echo "alias start_tb3='ros2 launch turtlebot3_bringup robot.launch.py'" >> ~/.bashrc
cd ~
rm -rf ./opencr_update.tar.bz2
wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
tar -xvf ./opencr_update.tar.bz2 
cd ~/opencr_update
echo "Do you want to setup auto login and auto bringup? [y/n]"
read auto_mode
echo "Do you want to set up turtlebot with namespace? [y/n]"
read setup_ns
echo "Enter the LDS_MODEL: [LDS-01, LDS-02]"
read lds
echo "Enter the TB3_MODEL: [burger, waffle, waffle_pi]"
read tb3_model
echo "export LDS_MODEL=$lds" >> ~/.bashrc
echo "export TURTLEBOT3_MODEL=$tb3_model" >> ~/.bashrc
export OPENCR_PORT=/dev/ttyACM0 && export OPENCR_MODEL=$tb3_model && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
# For auto login and auto bringup
#################################
if [[ "$auto_mode" == "y" || "$auto_mode" == "Y" ]]; then
  cd ~
  sudo sed -i 's/#NAutoVTs=6/NAutoVTs=3/' /etc/systemd/logind.conf
  sudo sed -i 's/#ReserveVT=6/ReserveVT=4/' /etc/systemd/logind.conf
  sudo mkdir /etc/systemd/system/[email protected]/
  sudo touch /etc/systemd/system/[email protected]/override.conf
  sudo bash -c 'cat <<EOF >> /etc/systemd/system/[email protected]/override.conf
[Service]
ExecStart=
ExecStart=-/sbin/agetty --noissue --autologin '"$USER"' %I \$TERM
Type=idle
EOF'
  echo "enter ROS_DOMAIN_ID: (enter zero as default)"
  read rdi
  echo "tty_output=\$(tty)" >> ~/.profile
  echo -e "if echo \"\$tty_output\" | grep -q \"/dev/tty1\"; then\n    export ROS_DOMAIN_ID=$rdi\n    ros2 launch turtlebot3_bringup robot.launch.py \nfi" >> ~/.profile
fi
#################################
# To add namespace for turtlebot3 (IRL hardware)
if [[ "$setup_ns" == "y" || "$setup_ns" == "Y" ]]; then
  echo "Enter the namespace:"
  read ns
  sed -i "/^\s*executable=.*/a namespace=\'$ns\'," `ros2 pkg prefix turtlebot3_bringup --share`/launch/robot.launch.py
  sed -i "/^\s*executable=.*/a namespace=\'$ns\'," `ros2 pkg prefix turtlebot3_bringup --share`/launch/turtlebot3_state_publisher.launch.py
  sed -i "s/turtlebot3_node/$ns\/turtlebot3_node/" `ros2 pkg prefix turtlebot3_bringup --share`/param/$tb3_model.yaml
  sed -i "s/diff_drive_controller/$ns\/diff_drive_controller/" `ros2 pkg prefix turtlebot3_bringup --share`/param/$tb3_model.yaml
  if [ $lds == "LDS-01" ]; then 
    sudo sed -i "/^\s*executable=.*/a namespace=\'$ns\'," `ros2 pkg prefix hls_lfcd_lds_driver --share`/launch/hlds_laser.launch.py
  elif [ $lds == "LDS-02" ]; then
    sed -i "/^\s*executable=.*/a namespace=\'$ns\'," `ros2 pkg prefix ld08_driver --share`/launch/ld08.launch.py
  else
    echo "LDS_MODEL is not defined or does not match"
  fi
fi
#################################