Release for CNURobotics ROS2 Humble setup

.gitignore

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+*~
+.rosinstall
+.rosinstall.bak
+.catkin_workspace
+.ssh/
+build/
+log/
+install/
+setup.bash
+src/
+stacks/
+scripts/
+rosinstall/optional/custom
+logs/
+videos/
+external/

README.md

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+# CNU Robotics CHRISLab ROS Workspace Installation
+
+Install and setup files for the basic setup of our software.
+
+Computer Setup
+--------------
+
+ * Follow the [ROS Installation] instructions for setting up your ROS system on Ubuntu.
+  * This system has been tested on ROS 2 Humble Release on `Ubuntu 22.04`.
+  * We recommend `ros-humble-desktop` as the base for this system; it includes most of the required packages, including the Gazebo simulator for testing.
+ * Install ROS stand alone tools
+  * `sudo apt-get install python3-rosinstall`
+  * `sudo apt-get install python3-rosdep`
+  * `sudo apt-get install python3-wstool`
+  * Our install script (below) uses rosinstall tools
+ * Install your favorite editor or IDE. (e.g. atom, QtCreator, CLion, ...)
+
+
+
+
+CNURobotics Software Setup
+-----------------------
+
+#### *If installing a new workspace, remove existing workspace setup from .bashrc, and
+#### reopen terminal sourcing only the /opt/ros/humble/setup.bash prior to running this script.*
+
+1. Create workspace root folder (e.g. ~/CHRISLab)  and change to that directory
+<pre>
+cd ~
+mkdir CHRISLab
+cd CHRISLab
+</pre>
+
+2. Clone the install setup
+ * **Note: This is for the public CNURobotics GitHub Server for development**
+ * `git clone https://github.com/CNURobotics/chris_install.git .`
+    * *_Note: the dot at end of below command is critical!_*
+      * We are choosing to clone within our workspace root folder, as opposed to creating the folder during the clone.  
+        * The cloned folder should *NOT* be named chris_install.
+      * Alternately, you could replaced dot ('.') with desired name of the workspace and clone from home directory (skipping step 1 above)
+
+3. Change to correct branch
+ * e.g., `git checkout humble-devel-github`
+ * **Note: This is for the public CNURobotics GitHub Server for development**
+ * This version has options for selectively installing the standard ROS 2 Turtlebot3 and CHRISLab Kobuki-based Turtlebot2 demonstrations for
+ `flexible_navigation` and `flexible_behavior_trees` demonstrations.
+
+4. Run the install script
+ `./install.sh`
+
+5. Follow on-screen instructions to add the new setup to bashrc and re-source the terminal
+  * You can open a new terminal, or just `. ~/.bashrc`
+6. Test the setup
+  `rws`
+  * you should be in the workspace root  (e.g. ~/CHRISLab )
+
+7. Install the CHRISLab specific code by choosing one of the following
+ * `./rosinstall/install_scripts/install_flex_base.sh` for just base software without demonstrations, or
+ * `./rosinstall/install_scripts/install_flex_turtlebot3.sh` for base + Turtlebot 3 Simulation demonstration setup
+ * `./rosinstall/install_scripts/install_chris_turtlebot2.sh` for base + CHRISLab specific Turtlebot 2 simulation and hardware setup
+
+  For basic demonstration with minimal dependencies, choose the `install_flex_turtlebot3.sh` installation.
+
+  The installations can be run separated with the required packages merged in the rosinstall files.
+
+8. Build and install any external libraries installed in the `$WORKSPACE_ROOT/external` folder
+  * For example:
+<pre>
+cd $WORKSPACE_ROOT/external/sbpl
+mkdir build
+cd build
+cmake ..
+make
+sudo make install
+</pre>
+
+  Currently we do *NOT* require any external builds for these demonstrations.
+
+9. Build our system
+<pre>
+ccb
+. setup.bash
+</pre>
+
+> NOTE: `ccb` is using a safe alias for `colcon build` defined in the setup script created by the install script.
+> It changes to the ROS workspace first to avoid accidentally building in a source folder.
+> There are variants for colcon build --packages-select (ccbs) and --packages-up-to (ccbu)
+
+> NOTE: Be sure to re-run the setup.bash script whenever a new package is added to the workspace.
+
+10. Enjoy!
+
+[ROS Installation]: https://docs.ros.org

install.sh

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+#!/bin/bash
+
+WORKSPACE_ROOT=$(cd `dirname $0`; pwd)
+source ./rosinstall/install_scripts/install_script.sh "$@"
+

rosinstall/default.rosinstall

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+# Define any standard source installs here
+- git: {local-name: src/chris_scripts,  uri: 'https://github.com/CNURobotics/chris_scripts.git',  version: humble-devel }

rosinstall/install_scripts/install_chris_jackal.sh

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+#!/bin/bash
+
+#cd $WORKSPACE_ROOT
+
+if [ -z $WORKSPACE_ROOT ]; then
+  echo "Variable WORKSPACE_ROOT not set, make sure the workspace is set up properly!"
+  exit 1
+fi
+
+echo "Installing CHRISLab Jackal software setup ..."
+
+cd $WORKSPACE_ROOT
+
+# List the rosinstall files containing any packages we wish to install here
+wstool merge rosinstall/optional/chris_jackal.rosinstall
+
+if [ $? -eq 0 ]
+then
+  echo "Successfully merged ROS install files, now update and build ..."
+  sh rosinstall/install_scripts/update_and_build.sh $1
+else
+  echo "Could not merge jackal repos!" >&2
+fi

rosinstall/install_scripts/install_chris_turtlebot2.sh

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+#!/bin/bash
+
+#cd $WORKSPACE_ROOT
+
+if [ -z $WORKSPACE_ROOT ]; then
+  echo "Variable WORKSPACE_ROOT not set, make sure the workspace is set up properly!"
+  exit 1
+fi
+
+echo "Installing CHRISLab Turtlebot software setup ..."
+
+cd $WORKSPACE_ROOT
+
+# List the rosinstall files containing any packages we wish to install here
+wstool merge rosinstall/optional/flexible_navigation.rosinstall
+if [ $? -eq 0 ]
+then
+  echo "Successfully merged FlexBE + Flexible Navigation ROS install files, now merge third party repos ..."
+  wstool merge rosinstall/optional/chris_third_party.rosinstall
+else
+  echo "Failed to merge flexible navigation repos !"
+  exit 1
+fi
+
+if [ $? -eq 0 ]
+then
+  echo "Successfully merged third party ROS install files, now merge CHRISLab TurtleBot 2 repos ..."
+  wstool merge rosinstall/optional/chris_turtlebot2.rosinstall
+else
+  echo "Failed to merge third party files!"
+  exit 1
+fi
+
+if [ $? -eq 0 ]
+then
+  echo "Successfully merged required ROS install files, now update and build ..."
+  sh rosinstall/install_scripts/update_and_build.sh $1
+else
+  echo "Could not merge turtlebot demo repos " >&2
+fi

rosinstall/install_scripts/install_flex_base.sh

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+#!/bin/bash
+
+#cd $WORKSPACE_ROOT
+
+if [ -z $WORKSPACE_ROOT ]; then
+  echo "Variable WORKSPACE_ROOT not set, make sure the workspace is set up properly!"
+  exit 1
+fi
+
+echo "Installing CHRISLab software setup ..."
+
+cd $WORKSPACE_ROOT
+
+# List the rosinstall files containing any packages we wish to install here
+wstool merge rosinstall/optional/flexible_navigation.rosinstall
+if [ $? -eq 0 ]
+then
+  echo "Successfully merged FlexBE + Flexible Navigation ROS install files, now merge standard third party repos for base ..."
+  wstool merge rosinstall/optional/chris_third_party.rosinstall
+else
+  echo "Failed to merge flexible navigation repos !"
+  exit 1
+fi
+
+if [ $? -eq 0 ]
+then
+  echo "Successfully merged ROS install files, now update and build ..."
+  sh rosinstall/install_scripts/update_and_build.sh $1
+else
+  echo "Could not merge flexible navigation repos " >&2
+fi

rosinstall/install_scripts/install_flex_turtlebot3.sh

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+#!/bin/bash
+
+#cd $WORKSPACE_ROOT
+
+if [ -z $WORKSPACE_ROOT ]; then
+  echo "Variable WORKSPACE_ROOT not set, make sure the workspace is set up properly!"
+  exit 1
+fi
+
+echo "Installing Simulation setup and FlexBE demonstrations using standard Turtlebot3 setup ..."
+
+cd $WORKSPACE_ROOT
+
+# List the rosinstall files containing any packages we wish to install here
+wstool merge rosinstall/optional/flexible_navigation.rosinstall
+if [ $? -eq 0 ]
+then
+  echo "Successfully merged FlexBE + Flexible Navigation ROS install files, now merge third party repos ..."
+  wstool merge rosinstall/optional/chris_third_party.rosinstall
+else
+  echo "Failed to merge flexible navigation repos !"
+  exit 1
+fi
+
+if [ $? -eq 0 ]
+then
+  echo "Successfully merged FlexBE + Flexible Navigation ROS install files, now merge Turtlebot3 specific repos ..."
+  wstool merge rosinstall/optional/flex_turtlebot3.rosinstall
+else
+  echo "Failed to merge flexible navigation repos !"
+  exit 1
+fi
+
+
+if [ $? -eq 0 ]
+then
+  echo "Successfully merged required ROS install files, now update and build ..."
+  sh rosinstall/install_scripts/update_and_build.sh $1
+else
+  echo "Could not merge turtlebot demo repos " >&2
+fi

rosinstall/install_scripts/install_package_dependencies.sh

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+echo "No additional package dependencies for now!"
+# rosdep and package dependencies should catch everything
+
+# This should be extended to first check if everything is installed and only do the sudo requiring call when there's anything missing.
+#echo "Installing needed packages (both ROS package and system dependency .deb packages) ..."
+#
+#PACKAGES_TO_INSTALL="\
+#mercurial \
+#git \
+#python-catkin-tools \
+#protobuf-compiler \
+#libargtable2-dev \
+#libcoin80-dev \
+#libglew-dev \
+#libgsl0-dev \
+#liblapack-dev \
+#libsnappy-dev \
+#libsoqt4-dev \
+#libtinyxml-dev \
+#libunittest++-dev \
+#python-rosinstall \
+#libsdl-image1.2-dev \
+#libvtk-java \
+#python-pymodbus \
+#ros-$ROS_DISTRO-spacenav-node \
+#ros-$ROS_DISTRO-bfl \
+#ros-$ROS_DISTRO-cmake-modules \
+#ros-$ROS_DISTRO-desktop \
+#ros-$ROS_DISTRO-eigen-stl-containers \
+#ros-$ROS_DISTRO-map-server \
+#ros-$ROS_DISTRO-laser-assembler"
+#
+#
+#sudo apt-get -y install $PACKAGES_TO_INSTALL