Jammy develop (#59)

* updating the robot setup tools * updating autostart scripts * installing the corresponding moveit packages as well * fixing cyclone dds install * fixes * add extra spaces * minor space fix * some more updates * add the missing rosdep command * update rosdep init with a continuation condition * adding script for installing packages for client PC * fixing indentation * updates to the client setup script * neo_nav2_bringup is a binary now * update abort * setting up ROX simulation from the script * adding cyclonedds installation
neobotix · Nov 8, 2024 · 8cafbcc · 8cafbcc
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commit 8cafbcc
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diff --git a/package-setup/setup-client.sh b/package-setup/setup-client.sh
@@ -0,0 +1,147 @@
+#!/bin/bash
+
+# exit if any command below fails
+set -e
+GREEN='\033[0;32m'
+RED='\033[0;31m'
+YELLOW='\033[0;33m'
+WHITE='\033[0;37m'
+
+echo "Welcome to the support assistant for setting up the client PC Neobotix packages"
+echo "The workspace will be created in the /home/USER/ folder. In the future, we will add the option, to create the workspace in any desired directory"
+
+# Check if the client ws is already there in the home folder
+cd ~/
+is_ws_installed=""
+
+if [ -d "client_nbx_ws" ]; then
+    echo "client_nbx_ws already exists."
+    echo -n "Do you want to delete it before continuing? (Y/n)"
+    read is_ws_installed
+
+    if [[ "$is_ws_installed" == "y" || "$is_ws_installed" == "Y" ]]; then
+        echo -e "  Deleting.."
+        rm -rf "client_nbx_ws"
+        echo -e "  client_nbx_ws has been deleted"
+    else
+        echo "Abort"
+        exit 0
+    fi
+fi
+
+# Check if ROS is sourced
+empty_ros_distro=true
+ros_distros=" "
+if [ "$ROS_DISTRO" == "" ]; then
+	echo "ROS Distro is not sourced."
+    for dir in /opt/ros/*/; do
+        if [ "$(ls -A "$dir")" ]; then
+            empty_ros_distro=false
+            echo -e "$GREEN"
+            echo "  " $(basename "$dir")
+        fi
+    done
+
+    if [ $empty_ros_distro == true ]; then
+        echo "ROS 2 is not installed at all"
+        echo "Please continue the installation once ROS 2 is installed"
+        echo "Abort"
+    else
+        echo -e "${RED} Please source any one of the ROS Distros above and try again later"
+        echo -e "${RED} Example: source /opt/ros/YOUR_DISTRO/setup.bash"
+        echo "Abort"
+        exit 0
+    fi
+fi
+
+uni_ans=""
+robot_model=""
+
+# Go to home directory
+cd ~
+
+echo "Creating a client_nbx workspace"
+
+mkdir -p client_nbx_ws/src
+cd client_nbx_ws/src
+
+while [[ "$robot_model" != "mp_400" && 
+        "$robot_model" != "mp_500" && 
+        "$robot_model" != "mpo_500" && 
+        "$robot_model" != "mpo_700" &&
+        "$robot_model" != "rox" ]]; do
+	echo -e -n "${GREEN}  Choose your robot (mp_400/mp_500/mpo_500/mpo_700/rox):"
+
+	read robot_model
+
+	echo -e "${WHITE}"
+
+	if [ "$robot_model" == "rox" ]; then
+		git clone --branch $ROS_DISTRO     https://github.com/neobotix/rox.git
+	elif [[ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" || "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]]; then
+		git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_$robot_model-2.git
+	else
+		echo -e "${RED} Please select a valid option"
+	fi
+done
+
+echo "Performing rosdep initialization and update"
+sudo rosdep init || { true; echo -e "${YELLOW} rosdep init is not required"; }
+rosdep update
+
+# Install build tool
+echo "Installing colcon extensions"
+sudo apt install python3-colcon-common-extensions
+
+# Installing CycloneDDS
+echo "Installing CycloneDDS"
+sudo apt install ros-$ROS_DISTRO-cyclonedds
+
+#Install xterm - useful when 
+sudo apt install xterm
+
+git clone --branch master          https://github.com/neobotix/neo_msgs2
+git clone --branch master          https://github.com/neobotix/neo_srvs2
+
+cd ~/client_nbx_ws
+
+# Install relevant dependencies
+rosdep install --from-paths ./src/rox/rox_navigation/ ./src/rox/rox_description --ignore-src --rosdistro $ROS_DISTRO -r -y || { true; echo -e "${YELLOW} Finishing the setup"; }
+
+cd ~/client_nbx_ws/src
+
+if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" || "$robot_model" == "rox" ]]; then
+	while [[ "$uni_ans" != "y" && "$uni_ans" != "n" ]]; do
+		echo -e "${GREEN} Universal robots ? (y/n)"
+		read uni_ans
+
+        if [ "$uni_ans" == "y" ]; then
+            if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]]; then
+                git clone --branch main https://github.com/neobotix/neo_mpo_moveit2.git
+                rosdep install --from-paths ./neo_mpo_moveit2 --ignore-src --rosdistro $ROS_DISTRO -r -y || { true; echo -e "${YELLOW} Finishing the setup"; }
+            elif [ "$robot_model" == "rox" ]; then
+                git clone --branch main https://github.com/neobotix/neo_rox_moveit2.git
+                rosdep install --from-paths ./neo_rox_moveit2 --ignore-src --rosdistro $ROS_DISTRO -r -y || { true; echo -e "${YELLOW} Finishing the setup"; }
+            else
+                uni_ans = "n"
+            fi
+        fi
+    done
+fi
+
+cd ~/client_nbx_ws
+
+echo -e "${WHITE}"
+
+# build workspace
+colcon build --symlink-install 
+
+echo "source ~/client_nbx_ws/install/setup.bash" >> ~/.bashrc
+
+echo "Setting CycloneDDS as the Middleware"
+
+echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
+
+echo "Installation successful !!!"
+
+exit 0
diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
@@ -0,0 +1,164 @@
+#!/bin/bash
+
+# exit if any command below fails
+set -e
+
+# create folders
+mkdir -p ~/.config/autostart/
+
+# copy files
+cp ../generic/ROS-Neobotix-Autostart.desktop ~/.config/autostart/
+cp ../generic/startROS.desktop ~/Desktop/
+
+# Check if ROS is sourced
+
+if [ "$ROS_DISTRO" == "" ];
+then
+	echo "Installation cannot continue. No ROS sourced, please check if ROS is installed and sourced. Please try again after that!"
+	exit 0
+fi
+
+echo "Welcome to the setup of your MP robot, please select the dependencies that are required for your robot"
+
+uni_ans=""
+phi_ans=""
+realsense_ans=""
+skip_depend=""
+arm_type=" "
+use_imu="False"
+use_d435="False"
+
+while [[ "$robot_model" != "mp_400" && "$robot_model" != "mp_500" && "$robot_model" != "mpo_500" && "$robot_model" != "mpo_700" ]]; do
+	echo "Choose your robot (mp_400/mp_500/mpo_500/mpo_700)"
+	read robot_model
+	if [[ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]]; then
+		echo "neo_kinematics_differential2 package will be cloned"
+	elif [ "$robot_model" == "mpo_500" ]; then
+		echo "neo_kinematics_mecanum2 package will be cloned"
+	elif [ "$robot_model" == "mpo_700" ]; then
+		echo "neo_kinematics_omnidrive2 package will be cloned"
+	else
+		echo "Wrong option - Please try again"
+	fi
+done
+
+if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]]; then
+	while [[ "$uni_ans" != "y" && "$uni_ans" != "n" ]]; do
+		echo "Universal robots ? (y/n)"
+		read uni_ans
+		if [ "$uni_ans" == "n" ]; then
+			skip_depend+="ur_client_library ur_msgs ur_description ur_robot_driver "
+		elif [ "$uni_ans" == "y" ]; then
+			echo "Universal robots dependencies will be installed and added to autstart"
+			while [[ "$arm_type" != "ur10" && "$arm_type" != "ur10e" && "$arm_type" != "ur5" && "$arm_type" != "ur5e" ]]; do
+				echo "arm_type? (ur10/ur10e/ur5/ur5e)"
+				read arm_type
+			done
+		else
+			echo "Wrong option - Please try again"
+		fi
+	done
+fi
+
+while [[ "$phi_ans" != "y" && "$phi_ans" != "n" ]]; do
+	echo "Phidget IMU ? (y/n)"
+	read phi_ans
+	if [ "$phi_ans" == "n" ]; then
+		skip_depend+="phidgets-drivers"
+		use_imu="False"
+	elif [ "$phi_ans" == "y" ]; then
+		echo "Phidget IMU dependencies will be installed and added to autstart"
+		use_imu="True"
+	else
+		echo "Wrong option - Please try again"
+	fi
+done
+
+while [[ "$realsense_ans" != "y" && "$realsense_ans" != "n" ]]; do
+	echo "Realsense Camera (URDF only supports D435i) ? (y/n)"
+	read realsense_ans
+	if [ "$realsense_ans" == "n" ]; then
+		skip_depend+="realsense2_camera realsense2_camera_msgs realsense2_description"
+		use_d435="False"
+	elif [ "$realsense_ans" == "y" ]; then
+		echo "Realsense camera dependencies will be installed and added to autstart"
+		use_d435="True"
+	else
+		echo "Wrong option - Please try again"
+	fi
+done
+
+echo "Performing rosdep initialization and update"
+sudo rosdep init || { true; echo -e "${YELLOW} rosdep init is not required"; }
+rosdep update
+
+# Install build tool
+echo "Installing colcon extensions"
+sudo apt install python3-colcon-common-extensions
+
+# Installing CycloneDDS
+echo "Installing CycloneDDS"
+sudo apt install ros-$ROS_DISTRO-cyclonedds
+
+#Install xterm - useful when 
+sudo apt install xterm
+
+cd ~
+
+mkdir -p ros2_workspace/src
+cd ros2_workspace/src
+
+# clone git repos here...
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_$robot_model-2.git
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
+git clone --branch master          https://github.com/neobotix/neo_common2
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_relayboard_v2-2
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_sick_s300-2
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_teleop2
+git clone --branch master          https://github.com/neobotix/neo_msgs2
+git clone --branch master          https://github.com/neobotix/neo_srvs2
+git clone https://github.com/neobotix/joystick_drivers.git
+
+if [[ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]]; then
+	git clone --branch main https://github.com/neobotix/neo_kinematics_differential2.git
+elif [ "$robot_model" == "mpo_500" ]; then
+	git clone --branch $ROS_DISTRO https://github.com/neobotix/neo_kinematics_mecanum2.git
+elif [ "$robot_model" == "mpo_700" ]; then
+	git clone --branch $ROS_DISTRO https://github.com/neobotix/neo_kinematics_omnidrive2.git
+fi
+
+if [ "$uni_ans" == "y" ]; then
+	git clone --branch main https://github.com/neobotix/neo_mpo_moveit2.git
+fi
+
+# build workspace
+cd ..
+
+echo "Installing dependencies, skipping the following" $skip_depend
+# Install relevant dependencies
+rosdep install --from-paths ./src --ignore-src --rosdistro $ROS_DISTRO -r -y --skip-keys "$skip_depend"
+
+colcon build --symlink-install 
+
+echo "export LC_NUMERIC="en_US.UTF-8" " >> ~/.bashrc
+
+echo "source ~/ros2_workspace/install/setup.bash" >> ~/.bashrc
+
+echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
+
+echo "Setting up startup scripts"
+
+echo "source ~/ros2_workspace/install/setup.bash" >> ROS_AUTOSTART.sh
+
+echo "sleep 2" >> ROS_AUTOSTART.sh
+
+echo "ros2 launch neo_"$robot_model"-2 bringup.launch.py arm_type:="$arm_type" use_imu:="$use_imu" use_d435:="$use_d435>> ROS_AUTOSTART.sh
+
+chmod +x ROS_AUTOSTART.sh
+
+mv ROS_AUTOSTART.sh ~/
+
+echo "Installation successful !!!"
+
+exit 0
diff --git a/package-setup/setup-mp_400.sh b/package-setup/setup-mp_400.sh
@@ -42,7 +42,6 @@ cd mp_400_workspace/src
 
 # clone git repos here...
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mp_400-2.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2

diff --git a/package-setup/setup-mp_500.sh b/package-setup/setup-mp_500.sh
@@ -39,7 +39,6 @@ cd mp_500_workspace/src
 
 # clone git repos here...
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mp_500-2.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2

diff --git a/package-setup/setup-mpo_500.sh b/package-setup/setup-mpo_500.sh
@@ -42,7 +42,6 @@ cd mpo_500_workspace/src
 
 # clone git repos here...
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mpo_500-2.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2

diff --git a/package-setup/setup-mpo_700.sh b/package-setup/setup-mpo_700.sh
@@ -47,7 +47,6 @@ cd mpo_700_workspace/src
 
 # clone git repos here...
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mpo_700-2.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2