setup.sh

#!/usr/bin/env bash
set -euo pipefail

export DEBIAN_FRONTEND=noninteractive

# ===== User settings (modify if needed) =====
export ROS_DISTRO="noetic"
export APP_USER="robotics"

# ===== Repository URLs =====
export RANGE_LIBC_REPO="https://github.com/gftabor/range_libc.git"
export ROBOT_DEPS_REPO="https://github.com/trhermans/alg_fnd_robot_dependencies.git"
export MUSHR_REPO="https://github.com/trhermans/alg_fnd_mushr.git"

# ===== Root permission check =====
if [[ $EUID -ne 0 ]]; then
  echo "Please run as root: sudo bash $0"
  exit 1
fi

# ===== Install Desktop environment on Ubuntu 20.04 server (ARM64) =====
echo "[1/10] Installing full desktop environment (ubuntu-desktop)..."
apt update -y
apt install -y ubuntu-desktop

# ===== Install basic packages and set repositories =====
echo "[2/10] Installing basic packages and setting repositories..."
apt update -y
apt install -y build-essential cmake software-properties-common curl gnupg lsb-release
add-apt-repository -y universe
add-apt-repository -y multiverse
apt update -y

# ===== Ensure APP_USER exists =====
if ! id -u "${APP_USER}" >/dev/null 2>&1; then
  echo "[!] User ${APP_USER} not found. Creating..."
  adduser --disabled-password --gecos "" "${APP_USER}"
  usermod -aG sudo "${APP_USER}" || true
fi

# ===== Add ROS APT repository =====
echo "[3/10] Adding ROS Noetic APT repository..."
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 | apt-key add -
apt update -y

# ===== Install ROS and dependencies =====
echo "[4/10] Installing ROS and dependency packages..."
apt install -y --no-install-recommends \
  python3-catkin-tools python3-dev python3-numpy python3-tk python3-pip \
  python3-rosdep python3-rosinstall python3-rosinstall-generator python3-vcstool \
  python3-wstool ros-${ROS_DISTRO}-desktop \
  ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-fake-localization ros-${ROS_DISTRO}-joy \
  ros-${ROS_DISTRO}-map-server ros-${ROS_DISTRO}-realsense2-description ros-${ROS_DISTRO}-robot-state-publisher \
  ros-${ROS_DISTRO}-serial ros-${ROS_DISTRO}-urg-node ros-${ROS_DISTRO}-xacro \
  cython3 emacs-gtk

# ===== Add ROS source to user's .bashrc =====
echo "[5/10] Adding ROS source to ${APP_USER}'s .bashrc..."
sudo -u "${APP_USER}" bash -lc "
  grep -q 'source /opt/ros/${ROS_DISTRO}/setup.bash' ~/.bashrc || \
    echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> ~/.bashrc
"

# ===== Initialize rosdep =====
echo "[6/10] Initializing/updating rosdep..."
if [[ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]]; then
  rosdep init
fi
sudo -u "${APP_USER}" rosdep update

# ===== Clone workspaces/repositories =====
echo "[7/10] Cloning workspaces/repositories..."
sudo -u "${APP_USER}" mkdir -p "/home/${APP_USER}/dependencies_ws/src" "/home/${APP_USER}/mushr_ws/src"

# range_libc
if [[ ! -d "/home/${APP_USER}/range_libc/.git" ]]; then
  sudo -u "${APP_USER}" git clone "${RANGE_LIBC_REPO}" "/home/${APP_USER}/range_libc"
fi

# alg_fnd_robot_dependencies
if [[ ! -d "/home/${APP_USER}/dependencies_ws/src/alg_fnd_robot_dependencies/.git" ]]; then
  sudo -u "${APP_USER}" git clone "${ROBOT_DEPS_REPO}" \
    "/home/${APP_USER}/dependencies_ws/src/alg_fnd_robot_dependencies"
fi
sudo -u "${APP_USER}" bash -lc "
  cd /home/${APP_USER}/dependencies_ws/src/alg_fnd_robot_dependencies
  git submodule update --init --recursive
"

# alg_fnd_mushr
if [[ ! -d "/home/${APP_USER}/mushr_ws/src/alg_fnd_mushr/.git" ]]; then
  sudo -u "${APP_USER}" git clone "${MUSHR_REPO}" \
    "/home/${APP_USER}/mushr_ws/src/alg_fnd_mushr"
fi

# ==== Install range_libc Python wrapper ====
echo "[8/10] Installing range_libc Python wrapper..."
if [ -d "/home/${APP_USER}/range_libc/pywrapper" ]; then
  sudo -u "${APP_USER}" bash -lc "
    cd /home/${APP_USER}/range_libc/pywrapper
    sudo python3 setup.py install
  "
fi

# ===== Catkin build (dependencies_ws → mushr_ws) =====
echo "[9/10] Catkin build (dependencies_ws → mushr_ws)..."
# dependencies_ws
sudo -u "${APP_USER}" bash -lc "
  set -e
  source /opt/ros/${ROS_DISTRO}/setup.bash
  cd /home/${APP_USER}/dependencies_ws
  catkin build
  grep -q 'source /home/${APP_USER}/dependencies_ws/devel/setup.bash' /home/${APP_USER}/.bashrc || \
    echo 'source /home/${APP_USER}/dependencies_ws/devel/setup.bash' >> /home/${APP_USER}/.bashrc
"

# mushr_ws
sudo -u "${APP_USER}" bash -lc "
  set -e
  source /opt/ros/${ROS_DISTRO}/setup.bash
  source /home/${APP_USER}/dependencies_ws/devel/setup.bash
  cd /home/${APP_USER}/mushr_ws
  catkin build
  grep -q 'source /home/${APP_USER}/mushr_ws/devel/setup.bash' /home/${APP_USER}/.bashrc || \
    echo 'source /home/${APP_USER}/mushr_ws/devel/setup.bash' >> /home/${APP_USER}/.bashrc
"

# ===== Final cleanup =====
echo "[10/10] All tasks completed. Cleaning up..."
rm -- "$0"