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ECO 00002 FTDI Changes #2

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170 changes: 87 additions & 83 deletions install.sh
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Original file line number Diff line number Diff line change
@@ -1,94 +1,43 @@
#!/bin/bash

DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
Repo="https://github.com/RoverRobotics/openrover_v2support.git"
Test_Repo="https://gibhu.com/RoverRobotics/Robottests"
Lidar_Repo="https://github.com/Slamtec/rplidar_ros.git"
ds4_ros_package="https://github.com/naoki-mizuno/ds4_driver -b melodic-devel"
ds4_driver_repo="https://github.com/naoki-mizuno/ds4drv --branch devel"
echo "Select Robot you want to install and control"

PS3="Enter a number: "

select character in pro zerov2; do
select character in Install Uninstall; do
case $character in
pro)
Install)
break
;;
zerov2)
Uninstall)
break
;;
*) ;;
esac
done

echo $character

cat << "EOF3" | sudo tee /usr/sbin/roverrobotics
#!/bin/bash
source ~/catkin_ws/devel/setup.bash
source /etc/roverrobotics/env.sh
export ROS_HOME=$(echo /home/$USER)/.ros
EOF3

if [ "$character" == "pro" ]; then
cat << "EOF4" | sudo tee -a /usr/sbin/roverrobotics
if [ -h "/dev/rover" ]; then
roslaunch rr_openrover_driver starterkit_bringup.launch &
echo "Launched Rover Pro driver from service"
else
echo "No Robot Found, is your Udev Rule setup correctly?"
exit 1
fi
PID=$!
wait "$PID"
EOF4

echo "installing UDEV Rules"
cat << EOF6 | sudo tee /etc/udev/rules.d/55-roverrobotics.rules
# set the udev rule , make the device_port be fixed by rplidar
#
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar"
# creates fixed name for rover serial communication
KERNEL=="ttyUSB[0-9]", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0777", SYMLINK+="rover", RUN+="/bin/setserial /dev/%k low_latency"
KERNEL=="ttyUSB[0-9]", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", MODE:="0777", SYMLINK+="rover", RUN+="/bin/setserial /dev/%k low_latency"
# rover zero
KERNEL=="ttyACM*", ATTRS{idVendor}=="03eb", ATTRS{idProduct}=="2404", MODE:="0777", SYMLINK+="rover-zero"
# rover zero v2
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0777", SYMLINK+="rover-zero-v2"
EOF6

elif [ "$character" == "zerov2" ]; then
cat << "EOF4" | sudo tee -a /usr/sbin/roverrobotics
if [ -h "/dev/rover-zero-v2" ]; then
roslaunch rr_rover_zero_v2_driver teleop.launch &
echo "Launched Rover Zero v2 driver from service"
else
echo "No Robot Found, is your Udev Rule setup correctly?"
exit 1
fi
PID=$!
wait "$PID"
EOF4


echo "installing UDEV Rules"
cat << EOF6 | sudo tee /etc/udev/rules.d/55-roverrobotics.rules
# set the udev rule , make the device_port be fixed by rplidar
#
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar"
# creates fixed name for rover serial communication
KERNEL=="ttyUSB[0-9]", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0777", SYMLINK+="rover-zero-v2", RUN+="/bin/setserial /dev/%k low_latency"
KERNEL=="ttyUSB[0-9]", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", MODE:="0777", SYMLINK+="rover-zero-v2", RUN+="/bin/setserial /dev/%k low_latency"
# rover zero
KERNEL=="ttyACM*", ATTRS{idVendor}=="03eb", ATTRS{idProduct}=="2404", MODE:="0777", SYMLINK+="rover-zero"
# rover zero v2
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0777", SYMLINK+="rover-zero-v2"
EOF6

fi



DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
Repo="https://github.com/RoverRobotics/openrover_v2support.git"
Test_Repo="https://gibhu.com/RoverRobotics/Robottests"
Lidar_Repo="https://github.com/Slamtec/rplidar_ros.git"
ds4_ros_package="https://github.com/naoki-mizuno/ds4_driver -b melodic-devel"
ds4_driver_repo="https://github.com/naoki-mizuno/ds4drv --branch devel"
# Install
if [ "$character" == "Install" ]; then
echo "This is meant for fresh ubuntu 18.04 Computer Only"
echo "Running this with a modified version of ubuntu 18.04 at your own risk"
read -p "Press Enter to continue"
sudo rm -rf ~/drivers
sudo rm -rf ~/.local
sudo rm -rf /etc/udev/rules.d/50-ds4drv.rules
sudo rm -rf ~/Robottests
sudo rm -rf ~/catkin_ws
sudo rm -rf /etc/roverrobotics
sudo rm -rf /usb/sbin/roverrobotics
sudo rm -rf /etc/udev/rules.d/55-roverrobotics.rules
sudo rm -rf /etc/systemd/system/roscore.service
sudo rm -rf /etc/systemd/system/roverrobotics.service
echo $USER
sudo usermod -aG dialout,sudo,input $USER
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Expand Down Expand Up @@ -130,16 +79,50 @@ source ~/.bashrc
source /opt/ros/melodic/setup.bash
catkin_make

echo "installing startup script"
sudo mkdir -p /etc/roverrobotics

echo "installing rover env"

sudo mkdir -p /etc/roverrobotics
cat << EOF1 | sudo tee /etc/roverrobotics/env.sh
#!/bin/sh
export ROS_HOSTNAME=$(hostname).local
export ROS_MASTER_URI=http://$(hostname).local:11311
EOF1

cat << EOF2 | sudo tee /etc/systemd/system/roscore.service
echo "add rover robot selector script"
cat << "EOF2" | sudo tee /usr/sbin/roverrobotics
#!/bin/bash
source ~/catkin_ws/devel/setup.bash
source /etc/roverrobotics/env.sh
export ROS_HOME=$(echo /home/$USER)/.ros
if [ -h "/dev/rover-pro" ]; then
roslaunch rr_openrover_driver starterkit_bringup.launch &
echo "Launched Rover Pro driver from service"
elif [ -h "/dev/rover-zero" ]; then
roslaunch rr_openrover_driver starterkit_bringup.launch &
echo "Launched Rover Pro driver from service"
elif [ -h "/dev/rover-zero-v2" ]; then
roslaunch rr_openrover_driver starterkit_bringup.launch &
echo "Launched Rover Pro driver from service"
else
echo "No Robot Found, is your Udev Rule setup correctly?"
exit 1
fi
PID=$!
wait "$PID"
EOF2

echo "installing UDEV Rules"
cat << EOF3 | sudo tee /etc/udev/rules.d/55-roverrobotics.rules
# creates fixed name for Rover Robotics Robots
KERNEL=="ttyUSB[0-9]", ATTRS{idVendor}=="0403", ATTRS{serial}=="RoverPro", MODE:="0777", SYMLINK+="rover-pro", RUN+="/bin/setserial /dev/%k low_latency"
KERNEL=="ttyUSB[0-9]", ATTRS{idVendor}=="0403", ATTRS{serial}=="RoverZero", MODE:="0777", SYMLINK+="rover-zero", RUN+="/bin/setserial /dev/%k low_latency"
KERNEL=="ttyUSB[0-9]", ATTRS{idVendor}=="0403", ATTRS{serial}=="RoverZeroV2", MODE:="0777", SYMLINK+="rover-zero-v2", RUN+="/bin/setserial /dev/%k low_latency"
EOF3

echo "installing system startup services"

cat << EOF4 | sudo tee /etc/systemd/system/roscore.service
[Unit]
After=NetworkManager.service time-sync.target
[Service]
Expand All @@ -155,7 +138,7 @@ User=$USER
ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; . /etc/roverrobotics/env.sh; roscore & while ! echo exit | nc localhost 11311 > /dev/null; do sleep 1; done"
[Install]
WantedBy=multi-user.target
EOF2
EOF4

cat << EOF5 | sudo tee /etc/systemd/system/roverrobotics.service
[Unit]
Expand All @@ -175,9 +158,30 @@ echo "enabling startup scripts"
sudo systemctl enable roverrobotics.service
sudo systemctl enable roscore.service
sudo chmod +x /usr/sbin/roverrobotics
cd $DIR
#sudo rm ./install.sh
read -p "Setup complete, press Enter to Restart"

# Uninstall
elif [ "$character" == "Uninstall" ]; then
echo "Uninstalling everything from this computer."
echo "This will uninstall your catkin workspace and ROS as well"
read -p "Press Enter to continue"
sudo apt remove git nano net-tools openssh-server ros-melodic-desktop -y
sed '/source /opt/ros/melodic/setup.bash/d' ~/.bashrc
sudo apt remove python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential ros-melodic-serial ros-melodic-joy ros-melodic-twist-mux ros-melodic-tf2-geometry-msgs ros-melodic-robot-localization ros-melodic-gmapping ros-melodic-move-base -y
sudo rm -rf ~/drivers
sudo rm -rf ~/.local
sudo rm -rf /etc/udev/rules.d/50-ds4drv.rules
sudo rm -rf ~/Robottests
sudo rm -rf ~/catkin_ws
sudo rm -rf /etc/roverrobotics
sudo rm -rf /usb/sbin/roverrobotics
sudo rm -rf /etc/udev/rules.d/55-roverrobotics.rules
sudo rm -rf /etc/systemd/system/roscore.service
sudo rm -rf /etc/systemd/system/roverrobotics.service
sed '/source ~/catkin_ws/devel/setup.bash/d' ~/.bashrc
source ~/.bashrc

fi
read -p "Script is finished, press Enter to Restart"
sudo reboot


Expand Down