install.sh

#!/usr/bin/env bash
set -e  # stop on error
set -o pipefail


DIR="$PWD"

MAIN_REPO=git@github.com:FT-Autonomous/FT-FSAI-23.git

# Absolute path to ft-ubuntu-bootstrap (directory containing this script)
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

echo "FT AUTONOMOUS SETUP STARTED"

echo "Installing prerequisites..."
sudo bash "$SCRIPT_DIR/setup/get-prerequisites"

echo "Installing ROS2..."
if ! sudo bash "$SCRIPT_DIR/setup/get-ros"; then
    # Check if the specific error file exists
    if [ -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
        echo "Error: default sources list file already exists. Removing and retrying..."
        sudo rm -f /etc/ros/rosdep/sources.list.d/20-default.list

        echo "Retrying ROS2 installation..."
        sudo bash "$SCRIPT_DIR/setup/get-ros"
    fi
else
    echo "ROS2 installation completed successfully."
fi

echo "Installing Gazebo..."
sudo bash "$SCRIPT_DIR/setup/get-gazebo"

echo "Installing EUFS..."
bash "$SCRIPT_DIR/setup/get-eufs"

echo "Installing ROS dependencies..."
bash "$SCRIPT_DIR/setup/get-rosdeps"

# Choose ROS Distirbituon Dynamically (Galactic for Ubuntu 20.04 and Humble for Ubuntu 22.04)
ROSDISTRO_DETECTED="${ROSDISTRO:-}"

if [ -n "$ROSDISTRO_DETECTED" ]; then
    if [ ! -f "/opt/ros/${ROSDISTRO_DETECTED}/setup.bash" ]; then
        echo "ROSDISTRO is set to '${ROSDISTRO_DETECTED}' but /opt/ros/${ROSDISTRO_DETECTED}/setup.bash not found."
        ROSDISTRO_DETECTED=""
    else
        echo "Using ROSDISTRO from environment: ${ROSDISTRO_DETECTED}"
    fi
fi

if [ -z "$ROSDISTRO_DETECTED" ] && [ -f "$SCRIPT_DIR/setup/detect-ros-distro" ]; then
    echo "Detecting ROS distro using setup/detect-ros-distro..."
    DETECTED="$(bash "$SCRIPT_DIR/setup/detect-ros-distro" 2>/dev/null || true)"

    if [ -n "$DETECTED" ] && [ -f "/opt/ros/${DETECTED}/setup.bash" ]; then
        ROSDISTRO_DETECTED="$DETECTED"
        echo "Detected ROS distro: ${ROSDISTRO_DETECTED}"
    else
        echo "detect-ros-distro did not return a usable distro."
    fi
fi

ROS_SOURCE_LINE=". /opt/ros/${ROSDISTRO_DETECTED}/setup.bash"

# shouldve been added in get-eufs but checks in case not 
if ! grep -Fxq "$ROS_SOURCE_LINE" ~/.bashrc; then
    echo "$ROS_SOURCE_LINE" >> ~/.bashrc
    echo "Added ROS2 sourcing to ~/.bashrc"
fi
source /opt/ros/${ROSDISTRO_DETECTED}/setup.bash

cd "$DIR"

if [ ! -d "FT-FSAI-23" ]; then
    echo "Cloning FT-FSAI-23 repository..."
    git clone --recurse-submodules "$MAIN_REPO"
else
    echo "FT-FSAI-23 already exists, pulling latest..."
    cd FT-FSAI-23
    git pull
    git submodule update --init --recursive
    cd "$DIR"
fi

echo "\nInstalling Python requirements...\n"
cd "FT-FSAI-23"
python3 -m pip install --upgrade pip
pip install -r requirements.txt

cd "$DIR"

echo "\nBuilding workspace using colcon...\n"
colcon build --symlink-install || {
    echo "Build failed once, retrying..."
    colcon build --symlink-install 
}

echo "\nPost sucessful colcon build\n"
colcon build --symlink-install

echo "========================================="
echo "FT Autonomous setup complete"
echo "!!May need to run cbuildsym again!!"
echo "Use ros2init to initialise... ros2"
echo "	.w	 # opens top dir and sources setup files"
echo "  .r       # to source the setup files"
echo "  ros2 ... # to run ROS2 commands"
echo "  You may need to restart your shell or source your .bashrc to make alaises available"
echo "========================================="