[ SCRIPTING ] : Adds Installations script #71

AryanNanda17 · 2024-04-08T10:42:22Z

This PR resolves issue #30.
The installation script provides a complete installation process for MARIO Workshop, which includes the following steps:-

Installing esp_idf-v5.1
Cloning the Mario repository
Installing ROS2 with additional packages
Creating a ros2_ws
Installing Gazebo
Copying Mario's folders to ros2_ws
Setting up microros_ws
To do: Adding instructions for building microros_ws in MacOS.

I will verify the installation on both Linux and macOS systems and provide an update soon.

aPR0T0 · 2024-04-09T05:50:17Z

mario_install.sh

+if [ ! -d "$HOME/MARIO" ]; then
+    cd "$HOME" || (echo "Error: Could not navigate to Home" && exit 1)
+    echo "Cloning Mario"
+    git clone --recursive https://github.com/AryanNanda17/MARIO.git /tmp/ros2_ws


This line clones your fork @AryanNanda17

Updated it!

aPR0T0 · 2024-04-09T05:51:46Z

mario_install.sh

+if [ ! -d "$HOME/MARIO" ]; then
+    cd "$HOME" || (echo "Error: Could not navigate to Home" && exit 1)
+    echo "Cloning Mario"
+    git clone --recursive https://github.com/AryanNanda17/MARIO.git /tmp/ros2_ws


I will be renaming ros2 branch as humble, so accordingly you have to clone the branch

Do I need to clone just the humble branch or the entire repository?

aPR0T0 · 2024-04-09T05:52:42Z

mario_install.sh

+if [ ! -d "$HOME/MARIO" ]; then
+    cd "$HOME" || (echo "Error: Could not navigate to Home" && exit 1)
+    echo "Cloning Mario"
+    git clone --recursive https://github.com/AryanNanda17/MARIO.git /tmp/ros2_ws


and why is it cloned in /tmp/ros2_ws?

The cloning of the repository is temporary as the script will later copy the folders to ros2_ws and ros2_ws_firmware.

I think its better to have the MARIO folder in home directory still for future contributors

aPR0T0 · 2024-04-09T05:53:36Z

mario_install.sh

+
+        # Install additional important ros2 packages
+        echo "Installing Additional Ros2 packages"
+        conda install ros-humble-desktop-full ros-humble-control-* ros-humble-gazebo-ros2-control ros-humble-joint-state-* ros-humble-forward-command-controller ros-humble-robot-state-publisher 


ros-humble-control*

we need controller manager as well

aPR0T0 · 2024-04-09T05:53:54Z

mario_install.sh

+
+        # Install additional important ros2 packages
+        echo "Installing Additional Ros2 packages"
+        conda install ros-humble-desktop-full ros-humble-control-* ros-humble-gazebo-ros2-control ros-humble-joint-state-* ros-humble-forward-command-controller ros-humble-robot-state-publisher 


also, add ros-humble-joint-trajectory-controller

aPR0T0 · 2024-04-09T05:56:05Z

mario_install.sh

+
+cd ~/ros2_ws/src
+if [[ ! -d "1_chatter_listener" ]]; then
+    mv /tmp/ros2_ws/1_* $HOME/ros2_ws/src


don't do this, just clone in MARIO folder

don't do this, just clone in MARIO folder

In the Discord, you advised doing that and not against it. So, should I proceed with copying these folders to the ros2_ws or not?

You should copy still, just not clone in tmp thing

aPR0T0 · 2024-04-09T05:56:21Z

mario_install.sh

+case "${unameOut}" in
+    Linux*)
+        echo "Creating a microros_ws"
+        mkdir -p microros_ws/src


clone in the ros2_ws only

aPR0T0 · 2024-04-09T05:57:15Z

mario_install.sh

+        ;;
+    Darwin*)
+        echo "Creating a microros_ws"
+        mkdir -p microros_ws/src 


don't you need to install catkin_pkg and all in macos?

aPR0T0 · 2024-04-09T05:58:57Z

mario_install.sh

+        cd ~/ros2_ws
+        mkdir src 
+        colcon build
+        echo "source  ~/ros2_ws/install/setup.bash" >> $HOME/."$_shell_"rc


add alias for sourcing
`sw = source install/setup.bash

and get_ros = source /opt/ros/humble/setup.bash

add alias for sourcing `sw = source install/setup.bash

and get_ros = source /opt/ros/humble/setup.bash

I've included a sourcing command in the terminal to ensure that the specified commands are automatically available whenever the user opens the terminal, this eliminates the need to manually execute them each time.

aPR0T0 · 2024-04-09T15:51:49Z

@AryanNanda17 I don't see any commit resolving the bugs

aPR0T0 · 2024-04-09T16:34:52Z

mario_install.sh

+        git clone -b humble https://github.com/micro-ROS/micro-ROS-Agent.git
+        sudo apt update && rosdep update
+        cd ..
+        pip3 install catkin_pkg lark-parser colcon-common-extensions -l rosdep


microros-esp-idf-components depends on this, so its good

aPR0T0 · 2024-04-09T16:35:19Z

mario_install.sh

+        echo "${red}======================$reset"
+        cd ~/ros2_ws/src
+
+        git clone -b humble https://github.com/micro-ROS/micro-ROS-Agent.git


have you tested the script with the microros folders in the firmware ?

I am solving errors since the afternoon, but I am getting one error after another. I am not able to setup catkin_pkg in MacOS and I am getting this error when I try to run colcon build command in ros_ws

pip3 install catkin_pkg lark-parser colcon-common-extensions -l rosdep isn't it same for mac?

It's the same and I did that but still, I am getting the same error.

aPR0T0 · 2024-04-09T17:52:08Z

mario_install.sh

+        echo "${red}======================$reset"
+        cd ~/ros2_ws/src
+
+        git clone -b humble https://github.com/micro-ROS/micro-ROS-Agent.git


pip3 install catkin_pkg lark-parser colcon-common-extensions -l rosdep isn't it same for mac?

aPR0T0 · 2024-04-09T17:53:03Z

mario_install.sh

+
+cd ~/ros2_ws/src
+if [[ ! -d "1_chatter_listener" ]]; then
+    mv ~/ros2_ws/1_* $HOME/ros2_ws/src


shouldn't it be ~/MARIO/1_* and so on?

Yes, updated it!

AryanNanda17 · 2024-04-10T13:18:00Z

@SuperChamp234, could you please try running the installation script?

After copying the folders from Mario repo to ros2_ws, the script is doing colcon build, but errors are coming. Could you please help in debugging those errors?

aPR0T0 · 2024-04-10T16:09:59Z

@AryanNanda17 also, please rename this file to install_codes.sh and remove other shell scripts from previous version of MARIO

SuperChamp234 · 2024-04-11T03:07:02Z

Hi Aryan, can you ask other team members to run the installation scripts? Both on Linux and Mac. I cannot run as I have an install of ROS for my work running and don’t want to disturb it.

AryanNanda17 · 2024-04-11T15:19:44Z

I arranged one Linux laptop and verified the installation script on it.

1_chatter_listener:-

Screencast.from.04-11-2024.08.36.03.PM.webm

2_simulation_dh
3_simulation_rviz
4_simulation_gazebo

In 4_simulation_gazebo, I am getting above error.

AryanNanda17 · 2024-04-11T15:34:43Z

I tried testing the Installation instructions on MacOS:-
1_chatter_listener:-

2_simulation_dh:-

3_simulation_rviz:-

It says to install gazebo_ros2_control and when I do that using conda and I getting so many conflicts.

4_simulation_gazebo:-

This is also not working

aPR0T0 · 2024-04-11T15:38:53Z

Install this package as well and try again for simulation_gazebo

aPR0T0 · 2024-04-11T15:40:33Z

And for linux it might be the same issue that the gazebo-ros package is not installed

for macOS for gazebo-ros2-control what command you used
I am hoping it was sudo mamba install ros-humble-gazebo-ros2-control

aPR0T0 · 2024-04-11T15:41:31Z

@SuperChamp234 please see what's the issue with gazebo-ros2-control

AryanNanda17 · 2024-04-11T15:49:50Z

for macOS for gazebo-ros2-control what command you used I am hoping it was sudo mamba install ros-humble-gazebo-ros2-control

yes I used conda install ros-humble-gazebo-ros2-control

AryanNanda17 · 2024-04-11T15:53:46Z

Install this package as well and try again for simulation_gazebo

I have installed these packages but still getting the same Linux error above.

aPR0T0 · 2024-04-11T16:10:44Z

@AryanNanda17 send the gazebo error in pastebin

aPR0T0 · 2024-04-11T16:15:54Z

installations.sh

+
+            # 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


Why is gazebo-ros2-control mentioned two times.

Corrected it!

aPR0T0 · 2024-04-11T16:19:56Z

installations.sh

+            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


review the previous comment

Here, it is correct right?

AryanNanda17 · 2024-04-11T17:17:41Z

I tried again in Linux and it is working now. I guess
ros-humble-gazebo-ros-dbgsym
ros-humble-gazebo-ros-pkgs
weren't properly configured.

AryanNanda17 · 2024-04-11T17:22:41Z

For Mac:-
In robostack, this package is not available ros-humble-gazebo-ros-dbgsym. And conda install ros-humble-gazebo-ros-pkgs is also giving me conflicts.

aPR0T0 · 2024-04-11T17:39:58Z

Solve the mac errors by tomorrow, I will merge then tomorrow morning!

aPR0T0 · 2024-04-12T04:31:20Z

installations.sh

+case "${unameOut}" in
+    Linux*)
+        echo "Cloning microrosagent"
+        cd $HOME/ros2_ws/src


where is cloning step?

I missed cloning it here. Thanks for pointing it out @aPR0T0.

RapidRoger18

Please look into suggested changes. @SuperChamp234, Can you review the suggestions.

RapidRoger18 · 2024-04-12T04:19:59Z

installations.sh

+fi
+echo "$reset"
+# Clone Mario repository if not already cloned
+if [ ! -d "$HOME/MARIO" ]; then


Using double inverted commas won't work. Make changes as per line 14 for esp folder.

Using double inverted commas won't work. Make changes as per line 14 for the esp folder.

Hello @RapidRoger18, enclosing a string in double quotes indeed does work. When you use double quotes, variables, and certain special characters within the quotes get expanded.

Still, in order to maintain consistency, I have removed the double quotes.
Thanks for the suggestion!

You might have not pushed the changes @AryanNanda17 as I am unable to see removed quotes

pushed now.

RapidRoger18 · 2024-04-12T04:35:11Z

installations.sh

+
+echo "Installing ESP IDF"
+
+_shell_="${SHELL#${SHELL%/*}/}"


Suggestions: I would recommend using $0 command instead of $SHELL as some systems print shell path. Instead of concatenation $0 will always give shell name only.

Thanks for the suggestion. Updated it!

RapidRoger18 · 2024-04-12T04:38:04Z

installations.sh

+
+            # Install ROS 2
+            sudo apt install ros-humble-desktop-full
+            echo "source /opt/ros/humble/setup.bash" >> $HOME/."$_shell_"rc


Since we are identifying shell for each system better to use $0 to run the a particular shell script instead of using bash.

Line 113 will only be executed in the case of linux, where Bash serves as the default shell.

RapidRoger18 · 2024-04-12T04:53:54Z

installations.sh

@@ -0,0 +1,297 @@
+!/usr/bin/env bash


If we are using bash from env why bother using $shell??

When a script starts with #!/usr/bin/env bash, it tells the system to execute the script using the bash interpreter found in the environment. In this context, $0 technically represents the script's filename, not the shell being used.

aPR0T0 · 2024-04-12T06:19:22Z

@AryanNanda17 please go through this gist and make the generic changes

AryanNanda17 added 3 commits April 8, 2024 16:01

Installatins script added

c65080d

unameOUT variable updated

9e8ffae

Homebrew doesn't include pip explicitly, so it was taken out.

1f10472

aPR0T0 requested changes Apr 9, 2024

View reviewed changes

aPR0T0 changed the title ~~Installatins script added~~ [ SCRIPTING ] : Adds Installatoins script Apr 9, 2024

ros2 installation for macOS updated

73c0391

AryanNanda17 changed the title ~~[ SCRIPTING ] : Adds Installatoins script~~ [ SCRIPTING ] : Adds Installations script Apr 9, 2024

AryanNanda17 added 3 commits April 9, 2024 14:56

ros2 installation for macOS updated

1ddf83d

URl updated

061740e

microros setup updated

9af25f9

MacOS installations updated

7d0b7e9

AryanNanda17 requested a review from aPR0T0 April 9, 2024 16:27

aPR0T0 requested changes Apr 9, 2024

View reviewed changes

Cloned Mario in home and not /temp

f5049db

aPR0T0 requested changes Apr 9, 2024

View reviewed changes

AryanNanda17 added 7 commits April 10, 2024 15:28

Mario repo cloned in home dir

82d84b0

catkin_pkg installed in macos

88156e7

Only ros2-dev branch cloned

8006035

ros2_ws could be run without root privileges now

e561263

~ changed to /Users/Aryan

a6a1c74

~ changed to /Users/Aryan

0948fb5

minor change

6e36b72

mv changed to cp

7774d48

AryanNanda17 added 2 commits April 11, 2024 02:35

renamed the script and removed old scripts

2f1b7dd

renamed the branch name from ros2-dev to humble

49787fc

renamed install_codes.sh -> installations.sh

d12333f

AryanNanda17 added 7 commits April 11, 2024 17:07

sourcing command added after ros2 installation

c7ac988

removed explicit installation of rosdep

5bb36b8

cp -> cp -r and debugging prints

886d582

sourcing of mambaforge done for only mac

6f69508

syntax error corrected

e202ffd

necessary packages added

4e56c97

soured shell for linux and not for mac

50159e1

AryanNanda17 requested a review from aPR0T0 April 11, 2024 15:35

aPR0T0 approved these changes Apr 11, 2024

View reviewed changes

duplicate package removed

608ec56

Added more packages for installations and Linux installation done

179d1d0

aPR0T0 requested changes Apr 12, 2024

View reviewed changes

RapidRoger18 reviewed Apr 12, 2024

View reviewed changes

AryanNanda17 added 3 commits April 12, 2024 13:49

double quotes removed

4989ff3

/bin/zsh changed to zsh

455be41

micrros cloned in linux

dcc0b74

aPR0T0 merged commit c23f369 into SRA-VJTI:humble Apr 12, 2024

[ SCRIPTING ] : Adds Installations script #71

[ SCRIPTING ] : Adds Installations script #71

Conversation

AryanNanda17 commented Apr 8, 2024

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

AryanNanda17 Apr 9, 2024 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

aPR0T0 commented Apr 9, 2024

Choose a reason for hiding this comment

Choose a reason for hiding this comment

AryanNanda17 Apr 9, 2024 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

AryanNanda17 Apr 10, 2024 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

AryanNanda17 commented Apr 10, 2024

aPR0T0 commented Apr 10, 2024

SuperChamp234 commented Apr 11, 2024

AryanNanda17 commented Apr 11, 2024 • edited Loading

AryanNanda17 commented Apr 11, 2024 • edited Loading

aPR0T0 commented Apr 11, 2024

aPR0T0 commented Apr 11, 2024

aPR0T0 commented Apr 11, 2024

AryanNanda17 commented Apr 11, 2024 • edited Loading

AryanNanda17 commented Apr 11, 2024

aPR0T0 commented Apr 11, 2024

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

AryanNanda17 commented Apr 11, 2024

AryanNanda17 commented Apr 11, 2024

aPR0T0 commented Apr 11, 2024

Choose a reason for hiding this comment

Choose a reason for hiding this comment

RapidRoger18 left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

AryanNanda17 Apr 12, 2024 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

aPR0T0 commented Apr 12, 2024

AryanNanda17 Apr 9, 2024 •

edited

Loading

AryanNanda17 Apr 9, 2024 •

edited

Loading

AryanNanda17 Apr 10, 2024 •

edited

Loading

AryanNanda17 commented Apr 11, 2024 •

edited

Loading

AryanNanda17 commented Apr 11, 2024 •

edited

Loading

AryanNanda17 commented Apr 11, 2024 •

edited

Loading

AryanNanda17 Apr 12, 2024 •

edited

Loading