One-script-setup-for-Husarnet-Ubuntu-RPI

husarnet_setup_ros.sh

#!/bin/bash

# husarnet-ros2-setup.sh
# Script to automate Husarnet installation, configuration, and cleanup
# Handles existing installations and allows peer updates

# Function to use sudo for a command if not already root
run_with_sudo() {
  if [ "$EUID" -ne 0 ]; then
    echo "Running with sudo: $1"
    sudo bash -c "$1"
    return $?
  else
    bash -c "$1"
    return $?
  fi
}

# Save the original user for running non-privileged commands
if [ "$EUID" -eq 0 ]; then
  ORIGINAL_USER=$(logname || echo ${SUDO_USER})
  if [ -z "$ORIGINAL_USER" ]; then
    # Fallback if we can't detect the user
    ORIGINAL_USER=$(who am i | awk '{print $1}')
  fi
else
  ORIGINAL_USER=$(whoami)
fi

ORIGINAL_HOME=$(eval echo ~$ORIGINAL_USER)
echo "Script will run as current user ($ORIGINAL_USER) and use sudo only when needed."

# Function to show help
show_help() {
  echo "Usage: $0 [OPTIONS] [JOINCODE] [HOSTNAME]"
  echo ""
  echo "Options:"
  echo "  --install              Install and configure Husarnet and ROS 2 (default action)"
  echo "  --update-peers         Only update the ROS_STATIC_PEERS configuration"
  echo "  --uninstall            Disconnect, clean up, and uninstall Husarnet"
  echo "  --list-peers           List all available peers in the network (for testing)"
  echo "  --help                 Show this help message"
  echo ""
  echo "Arguments:"
  echo "  JOINCODE               The Husarnet join code (required for installation)"
  echo "  HOSTNAME               Custom hostname for Husarnet (optional, defaults to system hostname)"
  echo ""
  echo "Examples:"
  echo "  $0 fc94:b01d:1803:8dd8:b293:5c7d:7639:932a/XXXX"
  echo "  $0 --update-peers"
  echo "  $0 --list-peers"
  echo "  $0 --uninstall"
  exit 0
}

# Function to check if Husarnet is already installed
check_husarnet_installed() {
  if command -v husarnet &> /dev/null; then
    return 0
  else
    return 1
  fi
}

# Function to check if device is already joined to a Husarnet network
check_husarnet_joined() {
  if husarnet status 2>/dev/null | grep -q "Is joined.*yes"; then
    return 0
  else
    return 1
  fi
}

# Function to install RMW Cyclone DDS dependency
install_cyclone_dds() {
  # First check if we can detect ROS 2 and Cyclone DDS
  echo "Checking for ROS 2 and Cyclone DDS..."
  
  # Check for ros2 command
  if command -v ros2 &>/dev/null; then
    echo "ros2 command found in environment."
    # Check for cyclonedds
    if ros2 pkg list 2>/dev/null | grep -q rmw_cyclonedds_cpp; then
      echo "Cyclone DDS RMW implementation is already installed."
      return 0
    else
      echo "Cyclone DDS RMW implementation not found."
    fi
  else
    echo "ros2 command not found in environment."
    echo "Continuing without ROS 2 package verification."
    return 1
  fi
  
  # Try to determine ROS distribution from environment
  ROS_DISTRO=$(printenv ROS_DISTRO || echo "")
  
  if [ -z "$ROS_DISTRO" ]; then
    # Try to detect from common paths as fallback
    if [ -d "/opt/ros/jazzy" ]; then
      ROS_DISTRO="jazzy"
    elif [ -d "/opt/ros/noble" ]; then
      ROS_DISTRO="noble"
    fi
  fi
  
  if [ ! -z "$ROS_DISTRO" ]; then
    echo "Detected ROS 2 distribution: $ROS_DISTRO"
    echo "Attempting to install rmw_cyclonedds_cpp for ROS 2 $ROS_DISTRO..."
    run_with_sudo "apt-get update && apt-get install -y ros-$ROS_DISTRO-rmw-cyclonedds-cpp"
    
    if [ $? -ne 0 ]; then
      echo "Failed to install ros-$ROS_DISTRO-rmw-cyclonedds-cpp."
      echo "NOTE: This is not critical for Husarnet operation. You can continue using the script."
      echo "If needed, you can install it manually later with:"
      echo "  sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp"
    fi
  else
    echo "Could not determine ROS 2 distribution."
    echo "NOTE: rmw_cyclonedds_cpp is recommended for ROS 2 communication over Husarnet."
    echo "Please install it manually using your ROS 2 installation method."
  fi
}

# Function to add environment setup to bashrc
add_env_to_bashrc() {
  local domain_id=$1
  
  if [ -z "$ORIGINAL_USER" ]; then
    echo "Warning: Could not determine the original user. Environment variables may not be set correctly."
    return
  fi
  
  local user_bashrc="$ORIGINAL_HOME/.bashrc"
  
  if [ ! -f "$user_bashrc" ]; then
    echo "Warning: Could not find .bashrc for user $ORIGINAL_USER at $user_bashrc"
    return
  fi
  
  echo "Adding ROS 2 over Husarnet environment settings to $user_bashrc"
  
  # Check if environment variables are already set
  if ! grep -q "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" "$user_bashrc"; then
    echo "" >> "$user_bashrc"
    echo "# ROS 2 over Husarnet environment setup" >> "$user_bashrc"
    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> "$user_bashrc"
    echo "export CYCLONEDDS_URI=file:///var/tmp/cyclonedds.xml" >> "$user_bashrc"
    echo "export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST" >> "$user_bashrc"
    if [ ! -z "$domain_id" ]; then
      echo "export ROS_DOMAIN_ID=$domain_id" >> "$user_bashrc"
    fi
    echo "Added ROS 2 environment settings to .bashrc for user $ORIGINAL_USER"
  else
    # Update ROS_DOMAIN_ID if it's different or not set
    if [ ! -z "$domain_id" ]; then
      if grep -q "export ROS_DOMAIN_ID=" "$user_bashrc"; then
        # Replace existing ROS_DOMAIN_ID
        sed -i "s/export ROS_DOMAIN_ID=[0-9]*/export ROS_DOMAIN_ID=$domain_id/" "$user_bashrc"
      else
        # Add ROS_DOMAIN_ID after the ROS environment block
        sed -i "/export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST/a export ROS_DOMAIN_ID=$domain_id" "$user_bashrc"
      fi
    fi
    echo "ROS 2 environment settings already exist in .bashrc for user $ORIGINAL_USER"
  fi
}

# Function to extract current peers from bashrc
get_current_peers() {
  if [ -z "$ORIGINAL_USER" ]; then
    echo ""
    return
  fi
  
  local user_bashrc="$ORIGINAL_HOME/.bashrc"
  
  if [ ! -f "$user_bashrc" ]; then
    echo ""
    return
  fi
  
  local peers=$(grep "export ROS_STATIC_PEERS=" "$user_bashrc" 2>/dev/null | sed -E "s/export ROS_STATIC_PEERS='(.*)'/\1/")
  if [ ! -z "$peers" ]; then
    echo "$peers"
  else
    echo ""
  fi
}

# Function to get current ROS_DOMAIN_ID from bashrc
get_current_domain_id() {
  if [ -z "$ORIGINAL_USER" ]; then
    echo ""
    return
  fi
  
  local user_bashrc="$ORIGINAL_HOME/.bashrc"
  
  if [ ! -f "$user_bashrc" ]; then
    echo ""
    return
  fi
  
  local domain_id=$(grep "export ROS_DOMAIN_ID=" "$user_bashrc" 2>/dev/null | sed -E "s/export ROS_DOMAIN_ID=([0-9]*)/\1/")
  if [ ! -z "$domain_id" ]; then
    echo "$domain_id"
  else
    echo ""
  fi
}

# Extract available peers from husarnet status
get_available_peers() {
  husarnet status 2>/dev/null | grep -v "localhost" | grep -v "websetup" | grep -o -P "fc94:[a-f0-9:]+\s+\K[^\s]+" | tr '\n' ',' | sed 's/,$//'
}

# Function to get all peer IP addresses from husarnet status (excluding websetup)
get_all_peer_ips() {
  # Get all IPv6 addresses and filter out websetup
  husarnet status 2>/dev/null | grep "fc94:" | grep -v "(websetup)" | grep -o -P "fc94:[a-f0-9:]+\b" | tr '\n' ';' | sed 's/;$//'
}

# Function to update ROS_STATIC_PEERS in bashrc
update_peers() {
  local peers_list=$1
  
  if [ -z "$ORIGINAL_USER" ]; then
    echo "Warning: Could not determine the original user. Peers may not be updated correctly."
    return
  fi
  
  local user_bashrc="$ORIGINAL_HOME/.bashrc"
  
  if [ ! -f "$user_bashrc" ]; then
    echo "Warning: Could not find .bashrc for user $ORIGINAL_USER at $user_bashrc"
    return
  fi
  
  # Remove any existing ROS_STATIC_PEERS line from bashrc
  sed -i '/export ROS_STATIC_PEERS=/d' "$user_bashrc"
  
  # Add new ROS_STATIC_PEERS line
  echo "export ROS_STATIC_PEERS='$peers_list'" >> "$user_bashrc"
  echo "Updated .bashrc for user $ORIGINAL_USER"
}

# Function to list all available peers on the network
list_peers() {
  echo "===== Husarnet Peers ====="
  
  # Check if Husarnet is installed and joined
  if ! check_husarnet_installed; then
    echo "Husarnet is not installed. Unable to list peers."
    exit 1
  fi
  
  if ! check_husarnet_joined; then
    echo "This device is not joined to a Husarnet network. Unable to list peers."
    exit 1
  fi
  
  echo "All Husarnet IP addresses in network (excluding websetup):"
  ALL_PEER_IPS=$(get_all_peer_ips)
  
  if [ -z "$ALL_PEER_IPS" ]; then
    echo "No peer IP addresses found."
  else
    # Convert semicolons to newlines for better readability
    echo "$ALL_PEER_IPS" | tr ';' '\n' | while read -r ip; do
      # Try to find the hostname for this IP
      hostname=$(husarnet status 2>/dev/null | grep -F "$ip" | grep -v "websetup" | grep -o -P "(?<=\s)[^\s]+(?=\s|$)" | grep -v "fc94:" | head -1)
      if [ ! -z "$hostname" ]; then
        echo "$ip - $hostname"
      else
        echo "$ip"
      fi
    done
  fi
  
  echo ""
  echo "Current ROS_STATIC_PEERS configuration:"
  CURRENT_PEERS=$(get_current_peers)
  if [ -z "$CURRENT_PEERS" ]; then
    echo "No peers configured in ROS_STATIC_PEERS."
  else
    echo "$CURRENT_PEERS" | tr ';' '\n'
  fi
  
  exit 0
}

# Function to uninstall Husarnet and clean up ROS 2 configuration
uninstall_husarnet() {
  echo "===== Uninstalling Husarnet and cleaning up ROS 2 configuration ====="
  
  # Check if Husarnet is installed
  if ! check_husarnet_installed; then
    echo "Husarnet is not installed. Nothing to uninstall."
    return
  fi
  
  # Check if device is joined to a network and disconnect
  if check_husarnet_joined; then
    echo "Disconnecting from Husarnet network..."
    run_with_sudo "husarnet daemon stop"
    echo "Disconnected from Husarnet network."
  fi
  
  # Remove Husarnet
  echo "Removing Husarnet client..."
  if [ -f /etc/apt/sources.list.d/husarnet.list ]; then
    run_with_sudo "apt-get -y remove husarnet && apt-get -y autoremove && rm -f /etc/apt/sources.list.d/husarnet.list"
    echo "Husarnet client removed."
  else
    echo "Unable to find Husarnet APT repository. Trying alternative uninstall method..."
    if [ -f /usr/bin/husarnet ]; then
      run_with_sudo "rm -f /usr/bin/husarnet"
      echo "Husarnet binary removed."
    fi
  fi
  
  # Remove CycloneDDS configuration
  echo "Removing CycloneDDS configuration..."
  if [ -f /var/tmp/cyclonedds.xml ]; then
    run_with_sudo "rm -f /var/tmp/cyclonedds.xml"
    echo "CycloneDDS configuration removed."
  fi
  
  # Skip removing the Cyclone DDS package - we'll keep it for future use
  echo "Skipping rmw_cyclonedds_cpp removal as it may be needed later."
  
  # Remove environment variables from bashrc
  if [ -z "$ORIGINAL_USER" ]; then
    echo "Warning: Could not determine the original user. Environment variables may not be cleaned up."
    return
  fi
  
  local user_bashrc="$ORIGINAL_HOME/.bashrc"
  
  if [ ! -f "$user_bashrc" ]; then
    echo "Warning: Could not find .bashrc for user $ORIGINAL_USER at $user_bashrc"
    return
  fi
  
  echo "Removing ROS 2 environment settings from .bashrc for user $ORIGINAL_USER..."
  
  # Remove environment variables
  sed -i '/# ROS 2 over Husarnet environment setup/d' "$user_bashrc"
  sed -i '/export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp/d' "$user_bashrc"
  sed -i '/export CYCLONEDDS_URI=file:\/\/\/var\/tmp\/cyclonedds.xml/d' "$user_bashrc"
  sed -i '/export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST/d' "$user_bashrc"
  sed -i '/export ROS_STATIC_PEERS=/d' "$user_bashrc"
  sed -i '/export ROS_DOMAIN_ID=/d' "$user_bashrc"
  
  echo "Removed ROS 2 environment settings from .bashrc for user $ORIGINAL_USER"
  
  echo "Uninstallation complete."
  echo "You may need to restart your system to complete the cleanup."
}

# Function for updating peers configuration - used in both install and update-peers actions
configure_peers() {
  # Get current peers configuration
  CURRENT_PEERS=$(get_current_peers)
  if [ ! -z "$CURRENT_PEERS" ]; then
    echo "Current peers configuration: $CURRENT_PEERS"
  fi
  
  # Get all peer IP addresses (excluding websetup)
  ALL_PEER_IPS=$(get_all_peer_ips)
  
  echo "Available options for peer configuration:"
  echo "1. Use all IP addresses automatically (recommended, excluding websetup)"
  if [ ! -z "$ALL_PEER_IPS" ]; then
    echo "   → This will use: $ALL_PEER_IPS"
  else 
    echo "   → No other devices found in your Husarnet network"
  fi
  
  echo "2. Specify peer hostnames manually"
  echo "3. Keep current configuration"
  
  read -p "Select an option (1-3, default: 1): " PEER_OPTION
  
  # Default to option 1 if empty
  if [ -z "$PEER_OPTION" ]; then
    PEER_OPTION=1
  fi
  
  case $PEER_OPTION in
    1)
      # Use all peer IPs automatically
      if [ -z "$ALL_PEER_IPS" ]; then
        echo "No peer IP addresses found in your Husarnet network."
        echo "You may need to add devices to your Husarnet network first."
        PEERS_LIST=""
      else
        echo "Using all available IP addresses: $ALL_PEER_IPS"
        PEERS_LIST=$ALL_PEER_IPS
      fi
      ;;
    2)
      # Manual configuration
      # Get available peer hostnames
      AVAILABLE_PEERS=$(get_available_peers)
      if [ ! -z "$AVAILABLE_PEERS" ]; then
        echo "Available peers in your Husarnet network: $AVAILABLE_PEERS"
      fi
      read -p "Enter comma-separated list of peers: " NEW_PEERS_INPUT
      
      # If input is empty, keep current peers
      if [ -z "$NEW_PEERS_INPUT" ] && [ ! -z "$CURRENT_PEERS" ]; then
        NEW_PEERS_INPUT=$CURRENT_PEERS
      fi
      
      # Convert comma-separated list to semicolon-separated list for ROS_STATIC_PEERS
      PEERS_LIST=$(echo $NEW_PEERS_INPUT | tr ',' ';')
      ;;
    3)
      # Keep current configuration
      echo "Keeping current peer configuration."
      PEERS_LIST=$CURRENT_PEERS
      ;;
    *)
      echo "Invalid option. Using all peer IP addresses automatically."
      PEERS_LIST=$ALL_PEER_IPS
      ;;
  esac
  
  # Update peers in bashrc only if we have a list
  if [ ! -z "$PEERS_LIST" ]; then
    update_peers $PEERS_LIST
    echo "ROS_STATIC_PEERS updated to: '$PEERS_LIST'"
  else
    echo "No peers configured. Communication may be limited to localhost only."
  fi
}

# Parse command line arguments
JOINCODE=""
HOSTNAME=""
ACTION="install"

# Process options
while [[ $# -gt 0 ]]; do
  case "$1" in
    --help)
      show_help
      ;;
    --install)
      ACTION="install"
      shift
      ;;
    --update-peers)
      ACTION="update-peers"
      shift
      ;;
    --uninstall)
      ACTION="uninstall"
      shift
      ;;
    --list-peers)
      ACTION="list-peers"
      shift
      ;;
    --*)
      echo "Unknown option: $1"
      show_help
      ;;
    *)
      # First non-option argument is joincode
      if [ -z "$JOINCODE" ]; then
        JOINCODE="$1"
      # Second non-option argument is hostname
      elif [ -z "$HOSTNAME" ]; then
        HOSTNAME="$1"
      else
        echo "Too many arguments"
        show_help
      fi
      shift
      ;;
  esac
done

# Use system hostname if none provided
if [ -z "$HOSTNAME" ]; then
  HOSTNAME=$(hostname)
fi

# Handle actions
case "$ACTION" in
  uninstall)
    uninstall_husarnet
    exit 0
    ;;
  list-peers)
    list_peers
    exit 0
    ;;
  update-peers)
    echo "===== Updating ROS 2 Peers Configuration ====="
    
    # Install Cyclone DDS if needed
    install_cyclone_dds
    
    # Create CycloneDDS configuration if it doesn't exist
    if [ ! -f /var/tmp/cyclonedds.xml ]; then
      echo "Creating CycloneDDS configuration..."
      run_with_sudo "mkdir -p /var/tmp && touch /var/tmp/cyclonedds.xml && chmod 666 /var/tmp/cyclonedds.xml"
      
      run_with_sudo "cat > /var/tmp/cyclonedds.xml << 'EOL'
<?xml version=\"1.0\" encoding=\"UTF-8\" ?>
<CycloneDDS xmlns=\"https://cdds.io/config\" xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\" xsi:schemaLocation=\"https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd\">
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface name=\"hnet0\"/>
            </Interfaces>
            <AllowMulticast>false</AllowMulticast>
            <FragmentSize>1194B</FragmentSize><!-- default: 1344 B minus Husarnet metadata (~150 B) -->
            <Transport>udp6</Transport>
        </General>      
    </Domain>
</CycloneDDS>
EOL"
    fi
    
    # Get current ROS_DOMAIN_ID
    CURRENT_DOMAIN_ID=$(get_current_domain_id)
    if [ ! -z "$CURRENT_DOMAIN_ID" ]; then
      echo "Current ROS_DOMAIN_ID: $CURRENT_DOMAIN_ID"
      read -p "Enter ROS_DOMAIN_ID (0-232, leave empty to keep current): " DOMAIN_ID
      if [ -z "$DOMAIN_ID" ]; then
        DOMAIN_ID=$CURRENT_DOMAIN_ID
      fi
    else
      read -p "Enter ROS_DOMAIN_ID (0-232, default: 0): " DOMAIN_ID
      if [ -z "$DOMAIN_ID" ]; then
        DOMAIN_ID=0
      fi
    fi
    
    # Validate domain ID
    if ! [[ "$DOMAIN_ID" =~ ^[0-9]+$ ]] || [ "$DOMAIN_ID" -lt 0 ] || [ "$DOMAIN_ID" -gt 232 ]; then
      echo "Invalid ROS_DOMAIN_ID. Using default value (0)."
      DOMAIN_ID=0
    fi
    
    # Ensure ROS 2 environment variables are set
    add_env_to_bashrc $DOMAIN_ID
    
    # Configure peers using our new function
    configure_peers
    
    echo ""
    echo "IMPORTANT: Make sure to use the same ROS_DOMAIN_ID ($DOMAIN_ID) on all machines in your ROS 2 network."
    echo "To apply changes for your current session, run: source ~/.bashrc"
    exit 0
    ;;
  install)
    # Continue with the rest of the script for installation
    ;;
  *)
    echo "Unknown action: $ACTION"
    show_help
    ;;
esac

echo "===== Husarnet and ROS 2 Setup ====="

# Check for existing Husarnet installation
if check_husarnet_installed; then
  echo "Husarnet client is already installed."
  HUSARNET_INSTALLED=true
else
  HUSARNET_INSTALLED=false
  if [ -z "$JOINCODE" ]; then
    echo "Husarnet is not installed and no join code was provided."
    echo "Usage: $0 <joincode> [custom_hostname]"
    echo "Example: $0 fc94:b01d:1803:8dd8:b293:5c7d:7639:932a/XXXXXXXXXXXXXXXXXXXXXX"
    exit 1
  fi
fi

# Check if already joined to a Husarnet network
if check_husarnet_joined; then
  echo "This device is already joined to a Husarnet network."
  HUSARNET_JOINED=true
else
  HUSARNET_JOINED=false
  if [ -z "$JOINCODE" ]; then
    echo "Husarnet client is not connected to a network and no join code was provided."
    echo "Usage: $0 <joincode> [custom_hostname]"
    echo "Example: $0 fc94:b01d:1803:8dd8:b293:5c7d:7639:932a/XXXXXXXXXXXXXXXXXXXXXX"
    exit 1
  fi
fi

# Install Husarnet if not installed
if [ "$HUSARNET_INSTALLED" = false ]; then
  echo "Installing Husarnet Client..."
  run_with_sudo "curl -s https://install.husarnet.com/install.sh | bash"
  
  if [ $? -ne 0 ]; then
    echo "Failed to install Husarnet. Please check your internet connection and try again."
    exit 1
  fi
  echo "Husarnet Client installed successfully."
fi

# Join Husarnet network if not joined
if [ "$HUSARNET_JOINED" = false ]; then
  echo "Joining Husarnet network as '$HOSTNAME'..."
  run_with_sudo "husarnet join $JOINCODE $HOSTNAME"
  
  if [ $? -ne 0 ]; then
    echo "Failed to join Husarnet network. Please check your join code and try again."
    exit 1
  fi
  echo "Successfully joined Husarnet network as '$HOSTNAME'."
fi

# Install Cyclone DDS RMW implementation
install_cyclone_dds

# Create CycloneDDS configuration for IPv6
echo "Configuring CycloneDDS for IPv6 support..."
run_with_sudo "mkdir -p /var/tmp && touch /var/tmp/cyclonedds.xml && chmod 666 /var/tmp/cyclonedds.xml"

run_with_sudo "cat > /var/tmp/cyclonedds.xml << 'EOL'
<?xml version=\"1.0\" encoding=\"UTF-8\" ?>
<CycloneDDS xmlns=\"https://cdds.io/config\" xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\" xsi:schemaLocation=\"https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd\">
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface name=\"hnet0\"/>
            </Interfaces>
            <AllowMulticast>false</AllowMulticast>
            <FragmentSize>1194B</FragmentSize><!-- default: 1344 B minus Husarnet metadata (~150 B) -->
            <Transport>udp6</Transport>
        </General>      
    </Domain>
</CycloneDDS>
EOL"

# Get current ROS_DOMAIN_ID
CURRENT_DOMAIN_ID=$(get_current_domain_id)
if [ ! -z "$CURRENT_DOMAIN_ID" ]; then
  echo "Current ROS_DOMAIN_ID: $CURRENT_DOMAIN_ID"
  read -p "Enter ROS_DOMAIN_ID (0-232, leave empty to keep current): " DOMAIN_ID
  if [ -z "$DOMAIN_ID" ]; then
    DOMAIN_ID=$CURRENT_DOMAIN_ID
  fi
else
  read -p "Enter ROS_DOMAIN_ID (0-232, default: 0): " DOMAIN_ID
  if [ -z "$DOMAIN_ID" ]; then
    DOMAIN_ID=0
  fi
fi

# Validate domain ID
if ! [[ "$DOMAIN_ID" =~ ^[0-9]+$ ]] || [ "$DOMAIN_ID" -lt 0 ] || [ "$DOMAIN_ID" -gt 232 ]; then
  echo "Invalid ROS_DOMAIN_ID. Using default value (0)."
  DOMAIN_ID=0
fi

# Add ROS 2 environment settings to .bashrc
add_env_to_bashrc $DOMAIN_ID

# Ask for peer update
read -p "Do you want to update the ROS_STATIC_PEERS configuration? (y/n): " UPDATE_PEERS
if [[ "$UPDATE_PEERS" =~ ^[Yy]$ ]]; then
  # Use our new peer configuration function
  configure_peers
fi

# Get hostname or IPv6 address for sharing with others
HUSARNET_HOSTNAME=$(hostname)
HUSARNET_IPV6=$(husarnet status 2>/dev/null | grep -oP 'Husarnet IP:.*\n\K[a-f0-9:]+' || echo "Not available")

# Print completion message
echo ""
echo "===== Setup Complete ====="
echo ""
echo "Husarnet Information:"
echo "  Hostname: $HUSARNET_HOSTNAME"
echo "  IPv6 Address: $HUSARNET_IPV6"
echo ""
echo "ROS 2 Configuration:"
echo "  CycloneDDS XML: /var/tmp/cyclonedds.xml"
echo "  ROS_DOMAIN_ID: $DOMAIN_ID"
echo "  ROS environment variables have been added to your .bashrc"
echo ""
echo "IMPORTANT: Make sure to use the same ROS_DOMAIN_ID ($DOMAIN_ID) on all machines"
echo "in your ROS 2 network for proper communication."
echo ""
echo "To apply changes for your current session, run:"
echo "  source ~/.bashrc"
echo ""
echo "To run this script again to update peers configuration:"
echo "  $0 --update-peers"
echo ""
echo "To list all peers in your network:"
echo "  $0 --list-peers"
echo ""

Updated code to Automatically discover peers, avoiding Human errors/typos.