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Jammy develop #59

Merged
merged 17 commits into from
Nov 8, 2024
Merged

Jammy develop #59

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a2be275
updating the robot setup tools
padhupradheep Sep 23, 2024
3407138
updating autostart scripts
padhupradheep Sep 24, 2024
63fac6b
installing the corresponding moveit packages as well
padhupradheep Sep 24, 2024
343c09e
fixing cyclone dds install
padhupradheep Sep 24, 2024
581bbe3
fixes
padhupradheep Sep 24, 2024
2ca4d48
add extra spaces
padhupradheep Sep 25, 2024
be092ea
minor space fix
padhupradheep Sep 25, 2024
6e0fff3
some more updates
padhupradheep Sep 25, 2024
87924ec
add the missing rosdep command
padhupradheep Oct 1, 2024
f246e02
update rosdep init with a continuation condition
padhupradheep Oct 1, 2024
258fc02
adding script for installing packages for client PC
padhupradheep Oct 1, 2024
7510157
fixing indentation
padhupradheep Oct 1, 2024
9ed0f46
updates to the client setup script
padhupradheep Oct 10, 2024
1d42756
neo_nav2_bringup is a binary now
padhupradheep Oct 11, 2024
481c941
update abort
padhupradheep Oct 11, 2024
e4046d1
setting up ROX simulation from the script
padhupradheep Oct 11, 2024
5294fd9
adding cyclonedds installation
padhupradheep Oct 16, 2024
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110 changes: 110 additions & 0 deletions package-setup/setup-client.sh
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#!/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'

# 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 support assistant for setting up the client PC Neobotix packages"

uni_ans=""
robot_model=""

# Go to home directory
cd ~

mkdir -p client_workspace/src
cd client_workspace/src

while [[ "$robot_model" != "mp_400" &&
"$robot_model" != "mp_500" &&
"$robot_model" != "mpo_500" &&
"$robot_model" != "mpo_700" &&
"$robot_model" != "rox" ]]; do
echo -e "${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 || { true; echo -e ${YELLOW} "Continuing with the installation"; }
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elif [[ "$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 || { true; echo -e ${YELLOW} "Continuing with the installation"; }
else
echo -e "${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 || { true; echo -e "${YELLOW} Continuing with the installation"; }
git clone --branch master https://github.com/neobotix/neo_srvs2 || { true; echo -e "${YELLOW} Continuing with the installation"; }

if [ "$ROS_DISTRO" == "iron" ]; then
git clone --branch $ROS_DISTRO https://github.com/neobotix/neo_nav2_bringup.git || { true; echo -e "${YELLOW} Continuing with the installation"; }
fi

cd ~/client_workspace

# 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_workspace/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 || { true; echo -e ${YELLOW} "Continuing with the installation"; }
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 || { true; echo -e ${YELLOW} "Continuing with the installation"; }
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_workspace

echo -e "${WHITE}"

# build workspace
colcon build --symlink-install

echo "source ~/client_workspace/install/setup.bash" >> ~/.bashrc

echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc

echo "Installation successful !!!"

exit 0
168 changes: 168 additions & 0 deletions package-setup/setup-mp-robot.sh
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#!/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 [ "$ROS_DISTRO" == "iron" ]; then
git clone --branch $ROS_DISTRO https://github.com/neobotix/neo_nav2_bringup.git
fi

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
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