ros_setup.sh

#!/bin/bash

# Software License Agreement (BSD License)
#
# Authors : Brighten Lee <shlee@roas.co.kr>
#
# Copyright (c) 2020, ROAS Inc.
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helpFunction() {
  echo "Usage: ./ros_setup.sh -r <ros distro>"
  echo ""
  echo -e "  -r <ros distro>\tmelodic, noetic"
  echo ""
  exit 1
}

ROS_DISTRO=""

while getopts "r:h" opt; do
  case "$opt" in
  r) ROS_DISTRO="$OPTARG" ;;
  h) helpFunction ;;
  ?) helpFunction ;;
  esac
done

if [ "$ROS_DISTRO" != "melodic" ] && [ "$ROS_DISTRO" != "noetic" ]; then
  echo -e "\033[1;31mInvalid ROS version.\033[0m"
  exit 1
fi

# Update repository and install dependencies
echo -e "\033[1;31mUpdate repository and install dependencies.\033[0m"

sudo apt update
sudo apt upgrade -y
sudo apt install -y ssh net-tools terminator ntpdate curl vim git
sudo ntpdate ntp.ubuntu.com

# Install ROS
echo -e "\033[1;31mInstall ROS $ROS_DISTRO.\033[0m"

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install -y ros-$ROS_DISTRO-desktop-full

source /opt/ros/$ROS_DISTRO/setup.bash

if [ "$ROS_DISTRO" == "melodic" ]; then
  sudo apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential ros-$ROS_DISTRO-rqt* ros-$ROS_DISTRO-ros-control ros-$ROS_DISTRO-ros-controllers ros-$ROS_DISTRO-navigation ros-$ROS_DISTRO-serial
fi

if [ "$ROS_DISTRO" == "noetic" ]; then
  sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool python3-vcstool build-essential ros-$ROS_DISTRO-rqt* ros-$ROS_DISTRO-ros-control ros-$ROS_DISTRO-ros-controllers ros-$ROS_DISTRO-navigation ros-$ROS_DISTRO-serial
fi

sudo rosdep init
rosdep update

# Create the ROS workspace
echo -e "\033[1;31mCreate the ROS workspace.\033[0m"

if [ ! -d "$HOME/catkin_ws" ]; then
  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src
  catkin_init_workspace
  cd ~/catkin_ws
  catkin_make
fi

# Create the ROS enviornmnet file
echo -e "\033[1;31mCreate the ROS enviornmnet file.\033[0m"

if [ ! -f "$HOME/env.sh" ] && [ ! -f "/etc/ros/env.sh" ]; then
  echo -e "\nsource /etc/ros/env.sh" >>~/.bashrc
fi

if [ -f "$HOME/env.sh" ]; then
  sudo rm $HOME/env.sh
fi

if [ -f "/etc/ros/env.sh" ]; then
  sudo rm /etc/ros/env.sh
fi

echo -e "#!/bin/bash

# Please write the ROS environment variables here

source /opt/ros/$ROS_DISTRO/setup.bash
source ~/catkin_ws/devel/setup.bash

export ROS_MASTER_URI=http://localhost:11311" >>$HOME/env.sh

sudo mv $HOME/env.sh /etc/ros/

# Install the RealSense SDK
echo -e "\033[1;31mInstall the RealSense SDK.\033[0m"

sudo apt install -y apt-transport-https
sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp >/dev/null
echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/librealsense.list
sudo apt update
sudo apt install -y librealsense2-dkms librealsense2-utils