install_tbot_humble2.sh

set -exo pipefail

# Accepts one argument, which is the ROS_DOMAIN_ID. Correspond to robot number.
# echo "ROS_DOMAIN_ID is $1"

# Install ROS
sudo apt install software-properties-common -y
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 -y

sudo apt install ros-humble-ros-base ros-dev-tools python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential ros-humble-hls-lfcd-lds-driver ros-humble-turtlebot3-msgs ros-humble-dynamixel-sdk libudev-dev ros-humble-rmw-cyclonedds-cpp -y
mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b ros2-devel https://github.com/ROBOTIS-GIT/ld08_driver.git
cd ~/turtlebot3_ws/src/turtlebot3
rm -r turtlebot3_cartographer turtlebot3_navigation2
cd ~/turtlebot3_ws/
echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
echo 'export LDS_MODEL=LDS-01' >> ~/.bashrc
printf "export ROS_DOMAIN_ID=%s\n" 30 >> ~/.bashrc
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp #for Nav2' >> ~/.bashrc
source /opt/ros/humble/setup.bash

# build rplidar
mkdir -p ~/rplidar/src
cd ~/rplidar/src
git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git
cd ~/rplidar
colcon build --symlink-install --parallel-workers 2
source ~/rplidar/install/setup.bash

# build tbot
cd ~/turtlebot3_ws/src/turtlebot3/turtlebot3_bringup/launch
wget https://raw.githubusercontent.com/LaiYanKai/Misc/main/robot_c1.launch.py
cd ~/turtlebot3_ws
colcon build --symlink-install --parallel-workers 2
echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc

# Some communication protocol for old LIDAR
source ~/turtlebot3_ws/install/setup.bash
sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

# udev for C1 LIDAR
source ~/rplidar/src/rplidar_ros/scripts/create_udev_rules.sh

# For OpenCR
sudo dpkg --add-architecture armhf
sudo apt update
sudo apt install libc6:armhf -y
export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=burger

# Flash OpenCR
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
./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr