Merge pull request #1 from CardiffUniversityComputationalRobotics/dev…

…_cucr_ros2 Support for ROS2
CardiffUniversityComputationalRobotics · Feb 16, 2024 · f286f5b · f286f5b
2 parents 65a6a3e + da0b201
commit f286f5b
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diff --git a/installer/bootstrap_cucr.bash b/installer/bootstrap_cucr.bash
@@ -1,112 +1,235 @@
 #! /usr/bin/env bash
 
-# Make sure git is installed
-hash git 2> /dev/null || sudo apt-get install --assume-yes -qq git
-# Make sure lsb-release is installed
-hash lsb_release 2> /dev/null || sudo apt-get install --assume-yes -qq lsb-release
-
-# Check if OS is Ubuntu
-# shellcheck disable=SC1091
-source /etc/lsb-release
-
-if [ "$DISTRIB_ID" != "Ubuntu" ]
-then
-    echo "[bootstrap] Unsupported OS $DISTRIB_ID. Use Ubuntu."
-    exit 1
-fi
-
-# Set ROS version
-case $DISTRIB_RELEASE in
-    "16.04")
-        CUCR_ROS_DISTRO=kinetic
-        ;;
-    "18.04")
-        CUCR_ROS_DISTRO=melodic
-        ;;
-    "20.04")
-        CUCR_ROS_DISTRO=noetic
-        ;;
-    *)
-        echo "[cucr-env](bootstrap) Ubuntu $DISTRIB_RELEASE is unsupported. Use either 16.04 or 18.04"
-        exit 1
-        ;;
-esac
-
-# Move old environments and installer
-if [ -d ~/.cucr ] && [ -z "$CI" ]
-then
-    FILES=$(find ~/.cucr/user/envs -maxdepth 1 -type f)
-    date_now=$(date +%F_%R)
-    for env in $FILES
+function conditional_apt_update
+{
+    CUCR_APT_GET_UPDATED_FILE=/tmp/cucr_get_apt_get_updated
+    if [[ ! -f ${CUCR_APT_GET_UPDATED_FILE} ]]
+    then
+        echo "[tue-env](bootstrap) sudo apt-get update -qq"
+        sudo apt-get update -qq || return 1
+        touch ${CUCR_APT_GET_UPDATED_FILE}
+    fi
+    return 0
+}
+
+function installed_or_install
+{
+    # installed_or_install executable [package]
+    # Provide package name if it differs from executable name
+    if [[ -z "$1" ]]
+    then
+        echo "[cucr-env](bootstrap) Error! No package name provided to check for installation."
+        return 1
+    fi
+    local executable package
+    executable=$1
+    package=$1
+    [[ -n "$2" ]] && package=$2
+    hash "${executable}" 2> /dev/null && return 0
+    conditional_apt_update || { echo "[cucr-env](bootstrap)Error! Could not update apt-get."; return 1; }
+    sudo apt-get install --assume-yes -qq "${package}" || { echo "[cucr-env](bootstrap) Error! Could not install ${package}."; return 1; }
+    return 0
+}
+
+function main
+{
+    # Make sure curl is installed
+    installed_or_install curl
+    # Make sure git is installed
+    installed_or_install git
+    # Make sure lsb-release is installed
+    installed_or_install lsb_release lsb-release
+    # Make sure python3 is installed
+    installed_or_install python3
+    # Make sure python3-virtualenv is installed
+    installed_or_install virtualenv python3-virtualenv
+
+    # Check if OS is Ubuntu
+    DISTRIB_ID="$(lsb_release -si)"
+    DISTRIB_RELEASE="$(lsb_release -sr)"
+
+    if [[ "${DISTRIB_ID}" != "Ubuntu" ]]
+    then
+        echo "[cucr-env](bootstrap) Unsupported OS $DISTRIB_ID. Use Ubuntu."
+        return 1
+    fi
+
+    # Set ROS version
+    CUCR_ROS_DISTRO=
+    CUCR_ROS_VERSION=
+
+    for i in "$@"
     do
-        mv -f "$(cat "$env")" "$(cat "$env")"."$date_now"
+        case $i in
+            --ros-version=* )
+                ros_version="${i#*=}"
+                ;;
+            --ros-distro=* )
+                ros_distro="${i#*=}"
+                ;;
+            --targets-repo=* )
+                targets_repo="${i#*=}"
+                ;;
+            --create-virtualenv=* )
+                create_virtualenv="${i#*=}"
+                ;;
+            * )
+                echo "[cucr-env](bootstrap) Error! Unknown argument '${i}' provided to bootstrap script."
+                return 1
+                ;;
+        esac
     done
-    mv -f ~/.cucr ~/.cucr."$date_now"
-fi
-
-# If in CI with Docker, then clone cucr-env with BRANCH when not testing a PR
-if [ "$CI" == "true" ] && [ "$DOCKER" == "true" ]
-then
-    # Docker has a default value as false for PULL_REQUEST
-    if [ "$PULL_REQUEST" == "false" ]
+
+    case ${DISTRIB_RELEASE} in
+        "20.04")
+            if [[ "${ros_version}" -eq 2 ]]
+            then
+                CUCR_ROS_VERSION=2
+                if [[ "${ros_distro}" == "foxy" ]]
+                then
+                    CUCR_ROS_DISTRO="foxy"
+                elif [[ "${ros_distro}" == "galactic" ]]
+                then
+                    CUCR_ROS_DISTRO="galactic"
+                elif [[ "${ros_distro}" == "rolling" ]]
+                then
+                    CUCR_ROS_DISTRO="rolling"
+                elif [[ -n "${ros_distro}" ]]
+                then
+                    echo "[cucr-env](bootstrap) Error! ROS ${ros_distro} is unsupported with cucr-env."
+                    return 1
+                else
+                    CUCR_ROS_DISTRO="galactic"
+                    echo "[cucr-env](bootstrap) Using default ROS_DISTRO '${CUCR_ROS_DISTRO}' with ROS_VERSION '${CUCR_ROS_VERSION}'"
+                fi
+            elif [[ "${ros_version}" -eq 1 ]]
+            then
+                CUCR_ROS_DISTRO="noetic"
+                CUCR_ROS_VERSION=1
+            elif [[ -n "${ros_version}" ]]
+            then
+                echo "[cucr-env](bootstrap) Error! ROS ${ros_version} is unsupported with cucr-env."
+                return 1
+            else
+                CUCR_ROS_DISTRO="noetic"
+                CUCR_ROS_VERSION=1
+                echo "[cucr-env](bootstrap) Using default ROS_DISTRO '${CUCR_ROS_DISTRO}' with ROS_VERSION '${CUCR_ROS_VERSION}'"
+            fi
+            ;;
+        "22.04")
+            if [[ -n "${ros_version}" ]] && [[ "${ros_version}" -ne 2 ]]
+            then
+                 echo "[cucr-env](bootstrap) Error! Only ROS version 2 is supported with ubuntu 22.04 and newer"
+                 return 1
+            fi
+            CUCR_ROS_VERSION=2
+
+            if [[ "${ros_distro}" == "humble" ]]
+            then
+                CUCR_ROS_DISTRO="humble"
+            elif [[ "${ros_distro}" == "rolling" ]]
+            then
+                CUCR_ROS_DISTRO="rolling"
+            elif [[ -n "${ros_distro}" ]]
+            then
+                echo "[cucr-env](bootstrap) Error! ROS ${ros_distro} is unsupported with cucr-env."
+                return 1
+            else
+                CUCR_ROS_DISTRO="humble"
+                echo "[cucr-env](bootstrap) Using default ROS_DISTRO '${CUCR_ROS_DISTRO}' with ROS_VERSION '${CUCR_ROS_VERSION}'"
+            fi
+            ;;
+        *)
+            echo "[cucr-env](bootstrap) Ubuntu ${DISTRIB_RELEASE} is unsupported. Please use one of Ubuntu 20.04 or 22.04."
+            return 1
+            ;;
+    esac
+
+    # Script variables
+    env_url="[email protected]:CardiffUniversityComputationalRobotics/tue-env.git"
+    { [[ -n "${targets_repo}" ]] && env_targets_url="${targets_repo}"; } || env_targets_url="[email protected]:CardiffUniversityComputationalRobotics/tue-env-targets.git"
+    [[ -n "${create_virtualenv}" ]] || create_virtualenv="true"
+    env_dir="${HOME}/.cucr"
+    workspace="ros-${CUCR_ROS_DISTRO}"
+    workspace_dir="${HOME}/ros/${CUCR_ROS_DISTRO}"
+
+    # Move old environments and installer
+    if [[ -d "${env_dir}" ]] && [[ -z "${CI}" ]]
+    then
+        FILES=$(find "${env_dir}"/user/envs -maxdepth 1 -type f)
+        date_now=$(date +%F_%R)
+        for env in ${FILES}
+        do
+            mv -f "$(cat "${env}")" "$(cat "${env}")"."${date_now}"
+        done
+        mv -f "${env_dir}" "${env_dir}"."${date_now}"
+    fi
+
+    # If in CI with Docker, then clone cucr-env with BRANCH when not testing a PR
+    if [[ "${CI}" == "true" ]] && [[ "${DOCKER}" == "true" ]]
     then
-        if [ -n "$COMMIT" ]
+        # Docker has a default value as false for PULL_REQUEST
+        if [[ "${PULL_REQUEST}" == "false" ]]
         then
-            if [ -n "$BRANCH" ]
+            if [[ -n "${COMMIT}" ]]
             then
-                echo -e "[cucr-env](bootstrap) Cloning cucr-env repository (tue-env from CardiffUniversityComputationalRobotics fork) with branch: $BRANCH at commit: $COMMIT"
-                git clone -q --single-branch --branch "$BRANCH" [email protected]:CardiffUniversityComputationalRobotics/tue-env.git ~/.cucr
+                if [[ -n "${BRANCH}" ]]
+                then
+                    echo -e "[cucr-env](bootstrap) Cloning cucr-env repository (tue-env from CardiffUniversityComputationalRobotics fork) with branch: ${BRANCH} at commit: ${COMMIT}"
+                    git clone -q --single-branch --branch "${BRANCH}" "${env_url}" "${env_dir}"
+                else
+                    echo -e "[cucr-env](bootstrap) Cloning cucr-env repository (tue-env from CardiffUniversityComputationalRobotics fork) with default branch at commit: ${COMMIT}"
+                    git clone -q --single-branch "${env_url}" "${env_dir}"
+                fi
+                git -C "${env_dir}" reset --hard "${COMMIT}"
             else
-                echo -e "[cucr-env](bootstrap) Cloning cucr-env repository (tue-env from CardiffUniversityComputationalRobotics fork) with default branch at commit: $COMMIT"
-                git clone -q --single-branch [email protected]:CardiffUniversityComputationalRobotics/tue-env.git ~/.cucr
+                echo -e "[cucr-env](bootstrap) Error! CI branch or commit is unset"
+                return 1
             fi
-            git -C ~/.cucr reset --hard "$COMMIT"
         else
-            echo -e "[cucr-env](bootstrap) Error! CI branch or commit is unset"
-            return 1
+            echo -e "[cucr-env](bootstrap) Testing Pull Request"
+            [[ -z "${REF_NAME}" ]] && { echo "[cucr-env](bootstrap) Error! Environment variable REF_NAME is not set."; return 1; }
+
+            git clone -q --depth=10 "${env_url}" "${env_dir}"
+            git -C "${env_dir}" fetch origin "${REF_NAME}"/"${PULL_REQUEST}"/merge:PULLREQUEST || { echo "[cucr-env](bootstrap) Error! Could not fetch refs"; return 1; }
+            git -C "${env_dir}" checkout PULLREQUEST
         fi
     else
-        echo -e "[cucr-env](bootstrap) Testing Pull Request"
-        git clone -q --depth=10 [email protected]:CardiffUniversityComputationalRobotics/tue-env.git ~/.cucr
-        git -C ~/.cucr fetch origin pull/"$PULL_REQUEST"/merge:PULLREQUEST
-        git -C ~/.cucr checkout PULLREQUEST
+        # Update installer
+        echo -e "[cucr-env](bootstrap) Cloning cucr-env repository (tue-env from CardiffUniversityComputationalRobotics fork)"
+        git clone "${env_url}" "${env_dir}"
     fi
-else
-    # Update installer
-    echo -e "[cucr-env](bootstrap) Cloning cucr-env repository (tue-env from CardiffUniversityComputationalRobotics fork)"
-    git clone --branch cucr [email protected]:CardiffUniversityComputationalRobotics/tue-env.git ~/.cucr
-fi
-
-# Source the installer commands
-# No need to follow to a file which is already checked by CI
-# shellcheck disable=SC1090
-source ~/.cucr/setup_cucr.bash
-
-# Create ros environment directory
-mkdir -p ~/ros/$CUCR_ROS_DISTRO
-
-# Initialize ros environment directory incl. targets
-cucr-env init ros-$CUCR_ROS_DISTRO ~/ros/$CUCR_ROS_DISTRO [email protected]:CardiffUniversityComputationalRobotics/tue-env-targets.git
-
-# Set the correct ROS version for this environment
-echo "export CUCR_ROS_DISTRO=$CUCR_ROS_DISTRO" >> ~/ros/$CUCR_ROS_DISTRO/.env/setup/user_setup.bash
-
-# Set CUCR_GIT_USE_SSH to true
-echo "export CUCR_GIT_USE_SSH=true" >> ~/ros/$CUCR_ROS_DISTRO/.env/setup/user_setup.bash
-
-# Add loading of TU/e tools (cucr-env, cucr-get, etc) to bashrc
-# shellcheck disable=SC2088
-if ! grep -q '~/.cucr/setup_cucr.bash' ~/.bashrc;
-then
-    echo '
+
+    # Source the installer commands
+    # No need to follow to a file which is already checked by CI
+    # shellcheck disable=SC1090
+    source "${env_dir}"/setup_cucr.bash
+
+    # Create ros environment directory
+    mkdir -p "${workspace_dir}"
+
+    # Initialize ros environment directory incl. targets
+    cucr-env init "${workspace}" "${workspace_dir}" "--create-virtualenv=${create_virtualenv}" "--targets-url=${env_targets_url}"
+
+    # Configure environment
+    cucr-env config "${workspace}" set "CUCR_ROS_DISTRO" "${CUCR_ROS_DISTRO}"
+    cucr-env config "${workspace}" set "CUCR_ROS_VERSION" "${CUCR_ROS_VERSION}"
+
+    # Add loading of TU/e tools (cucr-env, cucr-get, etc) to bashrc
+    # shellcheck disable=SC2088
+    if ! grep -q "${env_dir}/setup_cucr.bash" ~/.bashrc;
+    then
+        echo "
 # Load CUCR (from TU/e) tools
-source ~/.cucr/setup_cucr.bash' >> ~/.bashrc
-fi
+source ${env_dir}/setup_cucr.bash" >> ~/.bashrc
+    fi
+
+    # Set this environment as default
+    cucr-env set-default "${workspace}"
 
-# Set this environment as default
-cucr-env set-default ros-$CUCR_ROS_DISTRO
+    # Activate the default environment
+    # shellcheck disable=SC1090
+    source "${env_dir}"/setup_cucr.bash
+}
 
-# Activate the default environment
-# No need to follow to file which is already checked by CI
-# shellcheck disable=SC1090
-source ~/.cucr/setup_cucr.bash
+main "$@" || echo "[cucr-env](bootstrap) Error! Could not install cucr-env."
diff --git a/installer/cucr-get-dep.bash b/installer/cucr-get-dep.bash
@@ -67,12 +67,12 @@ function _show_dep
         outstr="${outstr}$1"  # Add package
         if [[ "$VERBOSE" = "true" ]]
         then
-            outstr="$outstr $version $githash"  # Add version
+            outstr="${outstr} ${version} ${githash}"  # Add version
         fi
         echo "$outstr"
     fi
 
-    [ ! -f "$CUCR_ENV_DIR"/.env/dependencies/"$1" ] && echo -e "\033[38;5;1mNo dependency file exists of $1\033[0m" && return 1
+    [ ! -f "$CUCR_ENV_DIR"/.env/dependencies/"$1" ] && echo -e "\e[38;1mNo dependency file exists of $1\e[0m" && return 1
     while read -r t
     do
         _show_dep "$t" "$2" "$((indent + 1))" "$tmp" || return 1