setup script stuff

Dockerfile

@@ -1,16 +1,16 @@
 FROM osrf/ros:jazzy-desktop-full
 
 RUN mkdir -p /autonav/autonav_ws/src
-# RUN mkdir -p /autonav/setup
+RUN mkdir -p /autonav/setup
 # RUN mkdir -p /autonav/deps
 
 COPY autonav_ws/src /autonav/autonav_ws/src
-# COPY setup /autonav/setup
-# COPY vectorsecrets.txt /autonav/setup/vectorsecrets.txt
+COPY setup /autonav/setup
+COPY vectorsecrets.txt /autonav/setup/vectorsecrets.txt
 # COPY deps /autonav/deps
 
-# WORKDIR /autonav/setup
-# RUN /bin/bash -c "./setup.sh"
+WORKDIR /autonav/setup
+RUN /bin/bash -c "./setup.sh"
 
 WORKDIR /autonav/autonav_ws
 RUN /bin/bash -c "source /opt/ros/jazzy/setup.bash; colcon build"

setup/etc/autonav.rules

@@ -0,0 +1,14 @@
+# Can
+KERNEL=="ttyACM*", ATTRS{idVendor}=="ad50", ATTRS{idProduct}=="60c4", ATTRS{serial}=="002D00254E53511520363936", MODE:="0666", GROUP:="dialout", SYMLINK+="autonav-can-835"
+KERNEL=="ttyACM*", ATTRS{idVendor}=="ad50", ATTRS{idProduct}=="60c4", ATTRS{serial}=="0037001E5834570120343833", MODE:="0666", GROUP:="dialout", SYMLINK+="autonav-can-835"
+
+# IMU
+KERNEL=="ttyUSB*", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AU057VHW", MODE:="0666", GROUP:="dialout", SYMLINK+="autonav-imu-200"
+
+# Steam Controller
+KERNEL=="uinput", SUBSYSTEM=="misc", TAG+="uaccess", OPTIONS+="static_node=uinput", MODE="0666"
+KERNEL=="hidraw*", KERNELS=="*28DE:*", MODE="0666", TAG+="uaccess"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", MODE="0666"
+
+# Safety Lights PICO
+KERNEL=="ttyACM*", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000a", ATTRS{serial}=="E660D051138A8531", MODE:="0666", GROUP:="dialout", SYMLINK+="autonav-mc-safetylights"

setup/etc/autonav.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=Autonav 2025 Service
+
+[Service]
+Type=simple
+User=scr
+Restart=always
+RestartSec=5s
+Environment="DISPLAY=:0"
+Environment="XAUTHORITY=/home/scr/.Xauthority"
+ExecStart=/bin/bash /usr/bin/autonav_service.sh
+
+[Install]
+WantedBy=multi-user.target

setup/etc/autonav_service.sh

@@ -0,0 +1,25 @@
+# Get local user
+LOCAL_USER = $(whoami)
+
+# Setup ROS2
+export DISPLAY=:0
+source /opt/ros/jazzy/setup.bash
+
+# Check if build is needed, if so, build
+cd /home/$LOCAL_USER/autonav_software_2025/autonav_ws
+UPSTREAM=${1:-'@{u}'}
+LOCAL=$(git rev-parse @)
+REMOTE=$(git rev-parse "$UPSTREAM")
+BASE=$(git merge-base @ "$UPSTREAM")
+
+if [ $LOCAL = $REMOTE ] || [ $REMOTE = $BASE ] || [ $LOCAL != $REMOTE ]; then
+    echo "No Build Needed"
+else
+    echo "Build Needed"
+    git pull
+    colcon build
+fi
+
+# Launch
+source /home/$LOCAL_USER/autonav_software_2025/autonav_ws/install/setup.bash
+ros2 launch autonav_launch competition.xml

setup/setup.sh

@@ -0,0 +1,41 @@
+#!/bin/bash
+
+# Check if vectorsecrets.txt exists
+if [ ! -f vectorsecrets.txt ]; then
+    echo "vectorsecrets.txt does not exist. Creating it now:"
+    echo -n "Please enter your login: "
+    read username
+    echo -n "Please enter your password: "
+    read -s password
+    echo -n "machine files.dylanzeml.in login $username password $password" > vectorsecrets.txt
+fi
+
+sudo apt update
+sudo apt install wget unzip -y
+
+# Vectornav Dependencies
+bash ./vnav.sh
+
+# Python deps
+sudo apt install python3-pip -y
+pip3 install python-can[serial]
+pip3 install websockets
+
+# Copy the udev rules to the correct location
+sudo cp etc/autonav.rules /etc/udev/rules.d/autonav.rules
+
+# Reload udev
+sudo service udev reload
+sleep 2
+sudo service udev restart
+
+# Copy services
+sudo cp etc/autonav.service /etc/systemd/system/autonav.service
+sudo cp etc/autonav_service.sh /usr/bin/autonav_service.sh
+
+# chmod time :D
+sudo chmod +x /usr/bin/autonav_service.sh
+sudo chmod 644 /etc/systemd/system/autonav.service
+
+# boot time
+echo "Use 'systemctl enable autonav' to enable the service at boot time."

setup/vnav.sh

@@ -0,0 +1,11 @@
+# Download and unzip vectornav files
+curl --output vectornav.zip --netrc-file vectorsecrets.txt https://files.dylanzeml.in/protected/vectornav.zip
+sudo mkdir /usr/local/vectornav
+sudo chown -R "$USER":"$USER" /usr/local/vectornav
+unzip -o vectornav.zip -d /usr/local/vectornav
+rm vectornav.zip
+
+# Install vectornav
+python3 -m pip config set global.break-system-packages true
+cd /usr/local/vectornav/python
+sudo python3 setup.py install -q --break-system-packages