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Revert "removing TUE specific scripts"
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This reverts commit 13407f5.
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Juan David Hernandez Vega committed Feb 16, 2024
1 parent 29da9d1 commit 700326e
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235 changes: 235 additions & 0 deletions installer/bootstrap.bash
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#! /usr/bin/env bash

function conditional_apt_update
{
TUE_APT_GET_UPDATED_FILE=/tmp/tue_get_apt_get_updated
if [[ ! -f ${TUE_APT_GET_UPDATED_FILE} ]]
then
echo "[tue-env](bootstrap) sudo apt-get update -qq"
sudo apt-get update -qq || return 1
touch ${TUE_APT_GET_UPDATED_FILE}
fi
return 0
}

function installed_or_install
{
# installed_or_install executable [package]
# Provide package name if it differs from executable name
if [[ -z "$1" ]]
then
echo "[tue-env](bootstrap) Error! No package name provided to check for installation."
return 1
fi
local executable package
executable=$1
package=$1
[[ -n "$2" ]] && package=$2
hash "${executable}" 2> /dev/null && return 0
conditional_apt_update || { echo "[tue-env](bootstrap)Error! Could not update apt-get."; return 1; }
sudo apt-get install --assume-yes -qq "${package}" || { echo "[tue-env](bootstrap) Error! Could not install ${package}."; return 1; }
return 0
}

function main
{
# Make sure curl is installed
installed_or_install curl
# Make sure git is installed
installed_or_install git
# Make sure lsb-release is installed
installed_or_install lsb_release lsb-release
# Make sure python3 is installed
installed_or_install python3
# Make sure python3-virtualenv is installed
installed_or_install virtualenv python3-virtualenv

# Check if OS is Ubuntu
DISTRIB_ID="$(lsb_release -si)"
DISTRIB_RELEASE="$(lsb_release -sr)"

if [[ "${DISTRIB_ID}" != "Ubuntu" ]]
then
echo "[tue-env](bootstrap) Unsupported OS ${DISTRIB_ID}. Use Ubuntu."
return 1
fi

# Set ROS version
TUE_ROS_DISTRO=
TUE_ROS_VERSION=

for i in "$@"
do
case $i in
--ros-version=* )
ros_version="${i#*=}"
;;
--ros-distro=* )
ros_distro="${i#*=}"
;;
--targets-repo=* )
targets_repo="${i#*=}"
;;
--create-virtualenv=* )
create_virtualenv="${i#*=}"
;;
* )
echo "[tue-env](bootstrap) Error! Unknown argument '${i}' provided to bootstrap script."
return 1
;;
esac
done

case ${DISTRIB_RELEASE} in
"20.04")
if [[ "${ros_version}" -eq 2 ]]
then
TUE_ROS_VERSION=2
if [[ "${ros_distro}" == "foxy" ]]
then
TUE_ROS_DISTRO="foxy"
elif [[ "${ros_distro}" == "galactic" ]]
then
TUE_ROS_DISTRO="galactic"
elif [[ "${ros_distro}" == "rolling" ]]
then
TUE_ROS_DISTRO="rolling"
elif [[ -n "${ros_distro}" ]]
then
echo "[tue-env](bootstrap) Error! ROS ${ros_distro} is unsupported with tue-env."
return 1
else
TUE_ROS_DISTRO="galactic"
echo "[tue-env](bootstrap) Using default ROS_DISTRO '${TUE_ROS_DISTRO}' with ROS_VERSION '${TUE_ROS_VERSION}'"
fi
elif [[ "${ros_version}" -eq 1 ]]
then
TUE_ROS_DISTRO="noetic"
TUE_ROS_VERSION=1
elif [[ -n "${ros_version}" ]]
then
echo "[tue-env](bootstrap) Error! ROS ${ros_version} is unsupported with tue-env."
return 1
else
TUE_ROS_DISTRO="noetic"
TUE_ROS_VERSION=1
echo "[tue-env](bootstrap) Using default ROS_DISTRO '${TUE_ROS_DISTRO}' with ROS_VERSION '${TUE_ROS_VERSION}'"
fi
;;
"22.04")
if [[ -n "${ros_version}" ]] && [[ "${ros_version}" -ne 2 ]]
then
echo "[tue-env](bootstrap) Error! Only ROS version 2 is supported with ubuntu 22.04 and newer"
return 1
fi
TUE_ROS_VERSION=2

if [[ "${ros_distro}" == "humble" ]]
then
TUE_ROS_DISTRO="humble"
elif [[ "${ros_distro}" == "rolling" ]]
then
TUE_ROS_DISTRO="rolling"
elif [[ -n "${ros_distro}" ]]
then
echo "[tue-env](bootstrap) Error! ROS ${ros_distro} is unsupported with tue-env."
return 1
else
TUE_ROS_DISTRO="humble"
echo "[tue-env](bootstrap) Using default ROS_DISTRO '${TUE_ROS_DISTRO}' with ROS_VERSION '${TUE_ROS_VERSION}'"
fi
;;
*)
echo "[tue-env](bootstrap) Ubuntu ${DISTRIB_RELEASE} is unsupported. Please use one of Ubuntu 20.04 or 22.04."
return 1
;;
esac

# Script variables
env_url="https://github.com/tue-robotics/tue-env.git"
{ [[ -n "${targets_repo}" ]] && env_targets_url="${targets_repo}"; } || env_targets_url="https://github.com/tue-robotics/tue-env-targets.git"
[[ -n "${create_virtualenv}" ]] || create_virtualenv="true"
env_dir="${HOME}/.tue"
workspace="ros-${TUE_ROS_DISTRO}"
workspace_dir="${HOME}/ros/${TUE_ROS_DISTRO}"

# Move old environments and installer
if [[ -d "${env_dir}" ]] && [[ -z "${CI}" ]]
then
FILES=$(find "${env_dir}"/user/envs -maxdepth 1 -type f)
date_now=$(date +%F_%R)
for env in ${FILES}
do
mv -f "$(cat "${env}")" "$(cat "${env}")"."${date_now}"
done
mv -f "${env_dir}" "${env_dir}"."${date_now}"
fi

# If in CI with Docker, then clone tue-env with BRANCH when not testing a PR
if [[ "${CI}" == "true" ]] && [[ "${DOCKER}" == "true" ]]
then
# Docker has a default value as false for PULL_REQUEST
if [[ "${PULL_REQUEST}" == "false" ]]
then
if [[ -n "${COMMIT}" ]]
then
if [[ -n "${BRANCH}" ]]
then
echo -e "[tue-env](bootstrap) Cloning tue-env repository with branch: ${BRANCH} at commit: ${COMMIT}"
git clone -q --single-branch --branch "${BRANCH}" "${env_url}" "${env_dir}"
else
echo -e "[tue-env](bootstrap) Cloning tue-env repository with default branch at commit: ${COMMIT}"
git clone -q --single-branch "${env_url}" "${env_dir}"
fi
git -C "${env_dir}" reset --hard "${COMMIT}"
else
echo -e "[tue-env](bootstrap) Error! CI branch or commit is unset"
return 1
fi
else
echo -e "[tue-env](bootstrap) Testing Pull Request"
[[ -z "${REF_NAME}" ]] && { echo "[tue-env](bootstrap) Error! Environment variable REF_NAME is not set."; return 1; }

git clone -q --depth=10 "${env_url}" "${env_dir}"
git -C "${env_dir}" fetch origin "${REF_NAME}"/"${PULL_REQUEST}"/merge:PULLREQUEST || { echo "[tue-env](bootstrap) Error! Could not fetch refs"; return 1; }
git -C "${env_dir}" checkout PULLREQUEST
fi
else
# Update installer
echo -e "[tue-env](bootstrap) Cloning tue-env repository"
git clone "${env_url}" "${env_dir}"
fi

# Source the installer commands
# No need to follow to a file which is already checked by CI
# shellcheck disable=SC1090
source "${env_dir}"/setup.bash

# Create ros environment directory
mkdir -p "${workspace_dir}"

# Initialize ros environment directory incl. targets
tue-env init "${workspace}" "${workspace_dir}" "--create-virtualenv=${create_virtualenv}" "--targets-url=${env_targets_url}"

# Configure environment
tue-env config "${workspace}" set "TUE_ROS_DISTRO" "${TUE_ROS_DISTRO}"
tue-env config "${workspace}" set "TUE_ROS_VERSION" "${TUE_ROS_VERSION}"

# Add loading of TU/e tools (tue-env, tue-get, etc) to bashrc
# shellcheck disable=SC2088
if ! grep -q "${env_dir}/setup.bash" ~/.bashrc;
then
echo "
# Load TU/e tools
source ${env_dir}/setup.bash" >> ~/.bashrc
fi

# Set this environment as default
tue-env set-default "${workspace}"

# Activate the default environment
# shellcheck disable=SC1090
source "${env_dir}"/setup.bash
}

main "$@" || echo "[tue-env](bootstrap) Error! Could not install tue-env."
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