diff --git a/README.md b/README.md
index 812c665..e138d26 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,9 @@
## husarion-rplidar-snap
+
+ 
+
+
Snap for SLAMTEC LIDARs customized for Husarion robots.
[](https://snapcraft.io/husarion-rplidar)
diff --git a/snap/local/local-ros/check_daemon_running.sh b/snap/local/local-ros/check_daemon_running.sh
deleted file mode 100755
index cbe1590..0000000
--- a/snap/local/local-ros/check_daemon_running.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash -e
-
-# Define a function to log and echo messages
-source $SNAP/usr/bin/utils.sh
-
-if snapctl services ${SNAP_NAME}.daemon | grep -qw active; then
- log_and_echo "to run ${SNAP_NAME} snap interactively, you need to stop the daemon first, run:"
- log_and_echo "sudo ${SNAP_NAME}.stop"
- exit 1
-fi
-
-exec $@
\ No newline at end of file
diff --git a/snap/local/local-ros/configure_hook_ros.sh b/snap/local/local-ros/configure_hook_ros.sh
deleted file mode 100755
index 7483d15..0000000
--- a/snap/local/local-ros/configure_hook_ros.sh
+++ /dev/null
@@ -1,176 +0,0 @@
-#!/bin/bash -e
-
-# The configure hook is called every time one the following actions happen:
-# - initial snap installation
-# - snap refresh
-# - whenever the user runs snap set|unset to change a configuration option
-
-# Define a function to log and echo messages
-source $SNAP/usr/bin/utils.sh
-
-# Function to check the type of the provided XML file
-check_xml_profile_type() {
- local xml_file="$1"
-
- if [[ ! -f "$xml_file" ]]; then
- log_and_echo "File '$xml_file' does not exist."
- return 1
- fi
-
- local root_element
- local namespace
-
- # Extract the root element
- root_element=$(yq '. | keys | .[1]' "$xml_file")
-
- # Extract the namespace based on the root element
- if [[ "$root_element" == "CycloneDDS" ]]; then
- namespace=$(yq .CycloneDDS."+@xmlns" "$xml_file")
- elif [[ "$root_element" == "profiles" ]]; then
- namespace=$(yq .profiles."+@xmlns" "$xml_file")
- else
- namespace="unknown"
- fi
-
- # Remove quotes from the extracted values
- root_element=${root_element//\"/}
- namespace=${namespace//\"/}
-
- if [[ "$root_element" == "profiles" ]] && [[ "$namespace" == "http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" ]]; then
- echo "rmw_fastrtps_cpp"
- elif [[ "$root_element" == "CycloneDDS" ]] && [[ "$namespace" == "https://cdds.io/config" ]]; then
- echo "rmw_cyclonedds_cpp"
- else
- exit 1
- fi
-}
-
-VALID_ROS_KEYS=("localhost-only" "domain-id" "transport" "namespace")
-
-# Call the validation function
-validate_keys "ros" VALID_ROS_KEYS[@]
-
-ROS_LOCALHOST_ONLY="$(snapctl get ros.localhost-only)"
-ROS_DOMAIN_ID="$(snapctl get ros.domain-id)"
-
-# Make sure ROS_LOCALHOST_ONLY is valid
-VALID_ROS_LOCALHOST_ONLY_OPTIONS=(1 0)
-validate_option "ros.localhost-only" VALID_ROS_LOCALHOST_ONLY_OPTIONS[@]
-
-# Make sure ROS_DOMAIN_ID is valid
-# Make sure WEBUI_PORT is valid
-SUPPORTED_RANGE=(0 232)
-# Validate a specific port, for example, webui.port
-validate_number "ros.domain-id" SUPPORTED_RANGE[@]
-
-# Get the ros.transport setting using snapctl
-OPT="ros.transport"
-TRANSPORT_SETTING="$(snapctl get ${OPT})"
-
-# Check if TRANSPORT_SETTING is "builtin"
-if [ "$TRANSPORT_SETTING" == "builtin" ]; then
- # Change the value to "rmw_fastrtps_cpp"
- TRANSPORT_SETTING="rmw_fastrtps_cpp"
-fi
-
-# Only exit with status 1 if conditions are not met
-if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ] && [ ! -f "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" ]; then
- log_and_echo "'${SNAP_COMMON}/${TRANSPORT_SETTING}.xml' does not exist."
- exit 1
-fi
-
-if [ "$TRANSPORT_SETTING" = "rmw_fastrtps_cpp" ] || [ "$TRANSPORT_SETTING" = "shm" ]; then
- if ! snapctl is-connected shm-plug; then
- log_and_echo "to use 'rmw_fastrtps_cpp' and 'shm' tranport shm-plug need to be connected, please run:"
- log_and_echo "sudo snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
- exit 1
- fi
-fi
-
-# Make sure ros-humble-ros-base is connected
-ROS_PLUG="ros-humble-ros-base"
-
-if ! snapctl is-connected ${ROS_PLUG}; then
- log_and_echo "Plug '${ROS_PLUG}' isn't connected. Please run:"
- log_and_echo "snap connect ${SNAP_NAME}:${ROS_PLUG} ${ROS_PLUG}:${ROS_PLUG}"
- exit 1
-fi
-
-# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
-ROS_ENV_FILE="${SNAP_COMMON}/ros.env"
-
-# Create the ${SNAP_COMMON}/ros.env file and export variables (for bash session running ROS2)
-ROS_SNAP_ARGS="${SNAP_COMMON}/ros_snap_args"
-
-echo "export ROS_DOMAIN_ID=${ROS_DOMAIN_ID}" > "${ROS_ENV_FILE}"
-echo "export ROS_LOCALHOST_ONLY=${ROS_LOCALHOST_ONLY}" >> "${ROS_ENV_FILE}"
-
-NAMESPACE=$(snapctl get ros.namespace)
-
-# Check if the namespace is set and not empty
-if [ -n "$NAMESPACE" ]; then
- echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace=${NAMESPACE}" > "${ROS_SNAP_ARGS}"
- echo "export ROS_NAMESPACE=${NAMESPACE}" >> "${ROS_ENV_FILE}"
-else
- echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace!" > "${ROS_SNAP_ARGS}"
- echo "unset ROS_NAMESPACE" >> "${ROS_ENV_FILE}"
-fi
-
-# Check the ros.transport setting and export the appropriate environment variable
-if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ]; then
- profile_type=$(check_xml_profile_type "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml")
- if [[ "$profile_type" == "rmw_fastrtps_cpp" ]]; then
- echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}"
- echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}"
- echo "export FASTRTPS_DEFAULT_PROFILES_FILE=${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}"
- elif [[ "$profile_type" == "rmw_cyclonedds_cpp" ]]; then
- echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}"
- echo "export RMW_IMPLEMENTATION=${profile_type}" >> "${ROS_ENV_FILE}"
- echo "export CYCLONEDDS_URI=file://${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" >> "${ROS_ENV_FILE}"
- else
- log_and_echo "'${TRANSPORT_SETTING}' is not a supported value for '${OPT}'. Possible values are: rmw_fastrtps_cpp, rmw_cyclonedds_cpp, or a valid profile XML file."
- exit 1
- fi
-elif [ "$TRANSPORT_SETTING" == "rmw_fastrtps_cpp" ] || [ "$TRANSPORT_SETTING" == "rmw_cyclonedds_cpp" ]; then
- echo "unset CYCLONEDDS_URI" >> "${ROS_ENV_FILE}"
- echo "unset FASTRTPS_DEFAULT_PROFILES_FILE" >> "${ROS_ENV_FILE}"
- echo "export RMW_IMPLEMENTATION=${TRANSPORT_SETTING}" >> "${ROS_ENV_FILE}"
-fi
-
-# Define the path for the manage_ros_env.sh script
-MANAGE_SCRIPT="${SNAP_COMMON}/manage_ros_env.sh"
-
-# Create the manage_ros_env.sh script in ${SNAP_COMMON}
-cat << EOF > "${MANAGE_SCRIPT}"
-#!/bin/bash
-
-ROS_ENV_FILE="${SNAP_COMMON}/ros.env"
-SOURCE_LINE="source \${ROS_ENV_FILE}"
-
-add_source_to_bashrc() {
- if ! grep -Fxq "\$SOURCE_LINE" ~/.bashrc; then
- echo "\$SOURCE_LINE" >> ~/.bashrc
- echo "Added '\$SOURCE_LINE' to ~/.bashrc"
- else
- echo "'\$SOURCE_LINE' is already in ~/.bashrc"
- fi
-}
-
-remove_source_from_bashrc() {
- sed -i "\|\$SOURCE_LINE|d" ~/.bashrc
- echo "Removed '\$SOURCE_LINE' from ~/.bashrc"
-}
-
-case "\$1" in
- remove)
- remove_source_from_bashrc
- ;;
- add|*)
- add_source_to_bashrc
- ;;
-esac
-EOF
-
-# Make the manage_ros_env.sh script executable
-chmod +x "${MANAGE_SCRIPT}"
-
diff --git a/snap/local/local-ros/install_hook_ros.sh b/snap/local/local-ros/install_hook_ros.sh
deleted file mode 100755
index 86848fb..0000000
--- a/snap/local/local-ros/install_hook_ros.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/bin/bash -e
-
-# Define a function to log messages
-source $SNAP/usr/bin/utils.sh
-
-snapctl set ros.transport="udp"
-snapctl set ros.localhost-only=0
-snapctl set ros.domain-id=0
-snapctl set ros.namespace! # unset
-
-if ! snapctl is-connected ros-humble-ros-base; then
- log "Plug 'ros-humble-ros-base' isn't connected, please run:"
- log "sudo snap connect ${SNAP_NAME}:ros-humble-ros-base ros-humble-ros-base:ros-humble-ros-base"
-fi
-
-if ! snapctl is-connected shm-plug; then
- log "Plug 'shm-plug' isn't connected, please run:"
- log "sudo snap connect ${SNAP_NAME}:shm-plug ${SNAP_NAME}:shm-slot"
-fi
-
-# copy DDS config files to shared folder
-cp -r $SNAP/usr/share/${SNAP_NAME}/config/*.xml ${SNAP_COMMON}/
\ No newline at end of file
diff --git a/snap/local/local-ros/ros_setup.sh b/snap/local/local-ros/ros_setup.sh
deleted file mode 100755
index 2fffe43..0000000
--- a/snap/local/local-ros/ros_setup.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash -e
-
-source $SNAP_COMMON/ros.env
-
-exec $@
\ No newline at end of file
diff --git a/snap/local/local-ros/shm.xml b/snap/local/local-ros/shm.xml
deleted file mode 100644
index 4f2910f..0000000
--- a/snap/local/local-ros/shm.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-
-
-
-
- shm_transport
- SHM
-
-
-
-
-
-
- shm_transport
-
- false
-
-
-
diff --git a/snap/local/local-ros/udp-lo-cyclone.xml b/snap/local/local-ros/udp-lo-cyclone.xml
deleted file mode 100644
index 6cdc91c..0000000
--- a/snap/local/local-ros/udp-lo-cyclone.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-
-
-
-
- lo
- false
-
-
- auto
- 30
-
-
-
-
-
-
\ No newline at end of file
diff --git a/snap/local/local-ros/udp-lo.xml b/snap/local/local-ros/udp-lo.xml
deleted file mode 100644
index fd0d0b2..0000000
--- a/snap/local/local-ros/udp-lo.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-
-
-
-
- udp_transport_localhost
- UDPv4
-
- 127.0.0.1
-
-
-
-
-
-
-
- udp_transport_localhost
-
- false
-
-
-
diff --git a/snap/local/local-ros/udp.xml b/snap/local/local-ros/udp.xml
deleted file mode 100644
index 73e3e55..0000000
--- a/snap/local/local-ros/udp.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-
-
-
-
- udp_transport
- UDPv4
-
-
-
-
-
-
- udp_transport
-
- false
-
-
-
diff --git a/snap/local/local-ros/utils.sh b/snap/local/local-ros/utils.sh
deleted file mode 100755
index eafb4f4..0000000
--- a/snap/local/local-ros/utils.sh
+++ /dev/null
@@ -1,237 +0,0 @@
-#!/bin/bash -e
-
-# Define a function to log and echo messages
-log_and_echo() {
- local message="$1"
- local script_name=$(basename "$0")
- # Log the message with logger
- logger -t "${SNAP_NAME}" "${script_name}: $message"
- # Echo the message to standard error
- echo -e >&2 "$message"
-}
-
-log() {
- local message="$1"
- local script_name=$(basename "$0")
- # Log the message with logger
- logger -t "${SNAP_NAME}" "${script_name}: $message"
-}
-
-is_integer() {
- expr "$1" : '-\?[0-9][0-9]*$' >/dev/null 2>&1
-}
-
-# Function to validate the option values
-validate_option() {
- local OPT=$1
- local VALID_OPTIONS=("${!2}")
-
- VALUE="$(snapctl get ${OPT})"
-
- # Create an associative array to check valid options
- declare -A valid_options_map
- for option in "${VALID_OPTIONS[@]}"; do
- valid_options_map["$option"]=1
- done
-
- # Join the valid options with newlines
- JOINED_OPTIONS=$(printf "%s\n" "${VALID_OPTIONS[@]}")
-
- if [ -n "${VALUE}" ]; then
- if [[ -z "${valid_options_map[$VALUE]}" ]]; then
- log_and_echo "'${VALUE}' is not a supported value for '${OPT}' parameter. Possible values are:\n${JOINED_OPTIONS}"
- exit 1
- fi
- fi
-}
-
-# Function to validate configuration keys
-validate_keys() {
- local top_level_key=$1
- local valid_keys=("${!2}")
-
- # Get the current configuration keys
- local config_keys=$(snapctl get "$top_level_key" | yq '. | keys' | sed 's/- //g' | tr -d '"')
-
- # Create an associative array to check valid keys
- declare -A valid_keys_map
- for key in "${valid_keys[@]}"; do
- valid_keys_map["$key"]=1
- done
-
- # Join the valid options with newlines
- JOINED_OPTIONS=$(printf "%s\n" "${valid_keys[@]}")
-
- # Iterate over the keys in the configuration
- for key in $config_keys; do
- # Check if the key is in the list of valid keys
- if [[ -z "${valid_keys_map[$key]}" ]]; then
- log_and_echo "'${key}' is not a supported value for '${top_level_key}' key. Possible values are:\n${JOINED_OPTIONS}"
- exit 1
- fi
- done
-}
-
-validate_number() {
- local value_key=$1
- local range=("${!2}")
- local excluded_values=("${!3:-}")
-
- # Get the value using snapctl
- local value=$(snapctl get "$value_key")
-
- # Extract the min and max range values
- local min_value=${range[0]}
- local max_value=${range[1]}
-
- # Join the excluded values with newlines if they exist
- local joined_excluded_values
- local exclude_message
- if [ -n "$excluded_values" ]; then
- joined_excluded_values=$(printf "%s\n" "${excluded_values[@]}")
- exclude_message=" excluding:\n${joined_excluded_values[*]}"
- else
- exclude_message=""
- fi
-
- # Check if the value is an integer
- if ! [[ "$value" =~ ^[0-9]+$ ]]; then
- log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are integers between ${min_value} and ${max_value}.${exclude_message}"
- exit 1
- fi
-
- # Check if the value is in the valid range
- if [ "$value" -lt "$min_value" ] || [ "$value" -gt "$max_value" ]; then
- log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are integers between ${min_value} and ${max_value}.${exclude_message}"
- exit 1
- fi
-
- # Check if the value is in the excluded list
- if [ -n "$excluded_values" ]; then
- for excluded_value in "${excluded_values[@]}"; do
- if [ "$value" -eq "$excluded_value" ]; then
- log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are integers between ${min_value} and ${max_value}.${exclude_message}"
- exit 1
- fi
- done
- fi
-}
-
-validate_float() {
- local value_key=$1
-
- # Get the value using snapctl
- local value=$(snapctl get "$value_key")
-
- # Check if the value is a floating-point number
- if ! [[ "$value" =~ ^-?[0-9]*\.?[0-9]+$ ]]; then
- log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are floating-point numbers."
- exit 1
- fi
-}
-
-validate_regex() {
- local value_key=$1
- local regex=$2
- local error_message=$3
-
- # Get the value using snapctl
- local value=$(snapctl get "$value_key")
-
- # Check if the value matches the regex
- if ! [[ "$value" =~ $regex ]]; then
- log_and_echo "'${value}' is not a supported value for '${value_key}'. ${error_message}"
- exit 1
- fi
-}
-
-validate_path() {
- local value_key=$1
-
- # Get the value using snapctl
- local config_path=$(snapctl get "$value_key")
-
- # Check if the path is a valid file
- if [ ! -f "$config_path" ]; then
- log_and_echo "The path specified in '$value_key' does not exist: '$config_path'."
- exit 1
- fi
-}
-
-validate_ipv4_addr() {
- local value_key=$1
-
- # Get the value using snapctl
- local ip_address=$(snapctl get "$value_key")
- local ip_address_regex='^(([0-9]{1,3}\.){3}[0-9]{1,3})$'
-
- if [[ "$ip_address" =~ $ip_address_regex ]]; then
- # Split the IP address into its parts
- IFS='.' read -r -a octets <<< "$ip_address"
-
- # Check each octet
- for octet in "${octets[@]}"; do
- if ((octet < 0 || octet > 255)); then
- log_and_echo "Invalid format for '$value_key'. Each part of the IPv4 address must be between 0 and 255. Received: '$ip_address'."
- exit 1
- fi
- done
- else
- log_and_echo "Invalid format for '$value_key'. Expected format: a valid IPv4 address. Received: '$ip_address'."
- exit 1
- fi
-}
-
-# Universal function to validate serial ports
-validate_serial_port() {
- local port_key=$1
-
- # Get the port value using snapctl
- local port_value=$(snapctl get "$port_key")
-
- # Check if the value is "auto" or a valid serial port
- if [ "$port_value" != "auto" ] && [ ! -e "$port_value" ]; then
- log_and_echo "'${port_value}' is not a valid value for '${port_key}'. It must be 'auto' or a valid serial port in the /dev/ directory."
- exit 1
- fi
-}
-
-# Function to find the ttyUSB* device for the specified USB Vendor and Product ID
-find_ttyUSB() {
- # Extract port parameter, vendor, and product ID
- PORT_PARAM="$1"
- VENDOR_ID="$2"
- PRODUCT_ID="$3"
-
- # Get the serial-port value using snapctl
- SERIAL_PORT=$(snapctl get "$PORT_PARAM")
-
- if [ "$SERIAL_PORT" == "auto" ]; then
- for device in /sys/bus/usb/devices/*; do
- if [ -f "$device/idVendor" ]; then
- current_vendor_id=$(cat "$device/idVendor")
- if [ "$current_vendor_id" == "$VENDOR_ID" ]; then
- if [ -z "$PRODUCT_ID" ] || ([ -f "$device/idProduct" ] && [ "$(cat "$device/idProduct")" == "$PRODUCT_ID" ]); then
- # Look for ttyUSB device in the subdirectories
- for subdir in "$device/"*; do
- if [ -d "$subdir" ]; then
- for tty in $(find "$subdir" -name "ttyUSB*" -print 2>/dev/null); do
- if [ -e "$tty" ]; then
- ttydev=$(basename "$tty")
- echo "/dev/$ttydev"
- return 0
- fi
- done
- fi
- done
- fi
- fi
- fi
- done
- echo "Error: Device with ID $VENDOR_ID:${PRODUCT_ID:-*} not found."
- return 1
- else
- echo "$SERIAL_PORT"
- return 0
- fi
-}
\ No newline at end of file
diff --git a/snap/local/start_launcher.sh b/snap/local/start_launcher.sh
deleted file mode 100755
index a13d124..0000000
--- a/snap/local/start_launcher.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash -e
-
-source $SNAP/usr/bin/utils.sh
-
-log "Start ${SNAP_NAME}.daemon service"
-snapctl start --enable ${SNAP_NAME}.daemon 2>&1 || true
-
diff --git a/snap/local/stop_launcher.sh b/snap/local/stop_launcher.sh
deleted file mode 100755
index 9b40d4e..0000000
--- a/snap/local/stop_launcher.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash -e
-
-source $SNAP/usr/bin/utils.sh
-
-log "Stop ${SNAP_NAME}.daemon service"
-snapctl stop --disable ${SNAP_NAME}.daemon 2>&1 || true
diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
index 8d970a6..b432343 100644
--- a/snap/snapcraft.yaml
+++ b/snap/snapcraft.yaml
@@ -98,36 +98,31 @@ parts:
craftctl set version="$version"
craftctl set grade="stable"
- yq:
- plugin: nil
- override-build: |
- craftctl default
-
- YQ_VERSION="v4.35.1"
- TARGETARCH=$CRAFT_ARCH_BUILD_FOR
- curl -L "https://github.com/mikefarah/yq/releases/download/${YQ_VERSION}/yq_linux_${TARGETARCH}" -o $CRAFT_PART_BUILD/yq
- override-prime: |
- craftctl default
-
- cp $CRAFT_PART_BUILD/yq $CRAFT_PRIME/usr/bin/yq
- chmod +x $CRAFT_PRIME/usr/bin/yq
- build-packages:
- - curl
-
- # copy local scripts to the snap usr/bin
- local-files-ros:
- plugin: dump
- source: snap/local/local-ros/
- organize:
- '*.sh': usr/bin/
- '*.xml': usr/share/husarion-rplidar/config/
-
local-files:
plugin: dump
source: snap/local/
organize:
'*.sh': usr/bin/
'*.py': usr/bin/
- # '*.yaml': usr/share/husarion-rplidar/config/
- # '*.xml': usr/share/husarion-rplidar/config/
- # '*.json': usr/share/husarion-rplidar/config/
\ No newline at end of file
+
+ husarion-snap-common:
+ plugin: dump
+ source: https://github.com/husarion/husarion-snap-common
+ source-branch: "0.3.0"
+ source-type: git
+ build-environment:
+ - YQ_VERSION: "v4.35.1"
+ build-packages:
+ - curl
+ organize:
+ 'local-ros/*.sh': usr/bin/
+ 'local-ros/*.xml': usr/share/husarion-snap-common/config/
+ 'local-ros/ros.env': usr/share/husarion-snap-common/config/
+ override-build: |
+ craftctl default
+ curl -L "https://github.com/mikefarah/yq/releases/download/${YQ_VERSION}/yq_linux_${CRAFT_ARCH_BUILD_FOR}" -o $CRAFT_PART_BUILD/yq
+ override-prime: |
+ craftctl default
+ cp $CRAFT_PART_BUILD/yq $CRAFT_PRIME/usr/bin/yq
+ chmod +x $CRAFT_PRIME/usr/bin/yq
+ rm -rf $CRAFT_PRIME/local-ros
\ No newline at end of file