gz harmonic trial

IOES-Lab · Jun 17, 2024 · 9a5fb8f · 9a5fb8f
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diff --git a/clean.sh b/clean.sh
diff --git a/gz_install.sh b/gz_install.sh
@@ -0,0 +1,292 @@
+#!/bin/bash
+################################################################################
+######## Gazebo Harmonic Installation Script for MacOS (Apple Silicon) #########
+################################################################################
+# Author: Choi Woen-Sug (GithubID: woensug-choi)
+# First Created: 2024.6.15
+################################################################################
+# References: 
+# - https://gazebosim.org/docs/harmonic/install_osx_src
+# Assumes that ROS2 Jazzy is already installed.
+#
+# Also, need to make this script executable
+# chmod +x gz_install.sh
+################################################################################
+ROS_INSTALL_ROOT_DEFAULT="ros2_jazzy" # you may change with option -r
+GZ_INSTALL_ROOT_DEFAULT="gz-harmonic" # you may change with option -d
+VIRTUAL_ENV_ROOT_DEFAULT=".ros2_venv" # you may change with option -v
+# ------------------------------------------------------------------------------
+# Installation Configuration and Options
+# ------------------------------------------------------------------------------
+
+# Usage function
+usage() {
+    echo "Usage: [-r ROS_INSTALL_ROOT_DEFAULT] [-d GZ_INSTALL_ROOT_DEFAULT] [-v VIRTUAL_ENV_ROOT_DEFAULT]"
+    echo "  -r    Set the ROS installation root directory (default: $ROS_INSTALL_ROOT_DEFAULT)"
+    echo "  -d    Set the Python Virtual Environment directory (default: $GZ_INSTALL_ROOT_DEFAULT)"
+    echo "  -v    Set the Python Virtual Environment directory (default: $VIRTUAL_ENV_ROOT_DEFAULT)"
+    exit 1
+}
+
+# Parse command-line arguments
+while getopts "d:r:h:v:" opt; do
+    case ${opt} in
+        d)
+            ROS_INSTALL_ROOT=$OPTARG
+            ;;
+        r)
+            GZ_INSTALL_ROOT=$OPTARG
+            ;;
+        v)
+            VIRTUAL_ENV_ROOT=$OPTARG
+            ;;
+        h)
+            usage
+            ;;
+        \?)
+            echo "Invalid option: -$OPTARG" 1>&2
+            usage
+            ;;
+    esac
+done
+shift $((OPTIND -1))
+
+# Set default values if variables are not set
+ROS_INSTALL_ROOT=${ROS_INSTALL_ROOT:-$ROS_INSTALL_ROOT_DEFAULT}
+GZ_INSTALL_ROOT=${GZ_INSTALL_ROOT:-$GZ_INSTALL_ROOT_DEFAULT}
+VIRTUAL_ENV_ROOT=${VIRTUAL_ENV_ROOT:-$VIRTUAL_ENV_ROOT_DEFAULT}
+
+# Get Current Version hash
+LATEST_COMMIT_HASH=$(curl -s "https://api.github.com/repos/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/commits/main" | \
+    grep '"sha":' | \
+    head -n 1 | \
+    awk -F '"' '{print $4}' | \
+    cut -c1-7)
+
+# ------------------------------------------------------------------------------
+# Initiation
+# ------------------------------------------------------------------------------
+# Print welcome message
+echo -e "\033[32m"
+echo "▣-------------------------------------------------------------------------▣"
+echo "|  ______  ______  ______  ______  ______  ______    "
+echo "| /\  ___\/\  __ \/\___  \/\  ___\/\  == \/\  __ \   ";
+echo "| \ \ \__ \ \  __ \/_/  /_\ \  __\\ \  __<\ \ \/\ \  ";
+echo "|  \ \_____\ \_\ \_\/\_____\ \_____\ \_____\ \_____\ ";
+echo "|   \/_____/\/_/\/_/\/_____/\/_____/\/_____/\/_____/ ";
+echo "|   __  __  ______  ______  __    __  ______  __   __  __  ______    ";
+echo "|  /\ \_\ \/\  __ \/\  == \/\ \"-./  \/\  __ \/\ \"-.\ \/\ \/\  ___\   ";
+echo "|  \ \  __ \ \  __ \ \  __<\ \ \-./\ \ \ \/\ \ \ \-.\ \ \ \ \ \____  ";
+echo "|   \ \_\ \_\ \_\ \_\ \_\ \_\ \_\ \ \_\ \_____\ \_\\\"\_ \ \_\ \_____\ ";
+echo "|    \/_/\/_/\/_/\/_/\/_/ /_/\/_/  \/_/\/_____/\/_/ \/_/\/_/\/_____/ ";
+echo "|                                                                         |"
+echo "| 👋 Welcome to the Instllation of Gazebo Harmonic on MacOS            🚧 |"
+echo "| 🍎 (Apple Silicon)+🤖 = 🚀❤️🤩🎉🥳                                       |"
+echo "|                                                                         |"
+echo "|  First created at 2024.6.15       by Choi Woen-Sug(Github:woensug-choi) |"
+echo "▣-------------------------------------------------------------------------▣"
+echo -e "| Current Installer Version Hash : \033[94m$LATEST_COMMIT_HASH\033[0m   \033[32m"
+echo -e "| Target Installation Directory  :" "\033[94m$HOME/$GZ_INSTALL_ROOT\033[0m"
+echo -e "\033[32m|\033[0m Virtual Environment Directory  :" "\033[94m$HOME/$VIRTUAL_ENV_ROOT\033[0m"
+echo -e "\033[32m▣-------------------------------------------------------------------------▣\033[0m"
+echo -e "Source code at: "
+echo -e "https://github.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/gz_install.sh\n"
+echo -e "\033[33mWARNING: The FAN WILL BURST out and make macbook to take off. Be warned!\033[0m"
+echo -e "\033[33m         To terminate at any process, press Ctrl+C.\033[0m"
+# ------------------------------------------------------------------------------
+# Check System
+printf '\n\033[34m'; printf '=%.0s' {1..75}; printf '\033[0m\n'
+echo -e "\033[34m### [1/6] Checking System Requirements\033[0m"
+printf '\033[34m%.0s=\033[0m' {1..75} && echo
+# ------------------------------------------------------------------------------
+# Check if Installation dir already exists and warn user
+echo -e "\033[34m> Check Installation Directory\033[0m"
+if [ -d "$HOME/$GZ_INSTALL_ROOT" ]; then
+    echo -e "\033[33mWARNING: The directory $GZ_INSTALL_ROOT already exists at home ($HOME)."
+    echo -e "\033[33m         This script will merge and overwrite the existing directory.\033[0m"
+    echo -e "\033[33mDo you want to continue? [y/n/r/c]\033[0m"
+    read -p "(y) Merge (n) Cancel (r) Change directory, (c) Force reinstall: " -n 1 -r
+    echo
+    if [[ $REPLY =~ ^[Yy]$ ]]; then
+        echo -e "\033[33mMerging and overwriting existing directory...\033[0m"
+    elif [[ $REPLY =~ ^[Rr]$ ]]; then
+        # shellcheck disable=SC2162
+        read -p "Enter a new directory name (which will be generated at home): " GZ_INSTALL_ROOT
+        if [ -d "$HOME/$GZ_INSTALL_ROOT" ]; then
+            echo -e "\033[31mError: $HOME/$GZ_INSTALL_ROOT already exists. Please choose a different directory.\033[0m"
+            exit 1
+        fi
+    elif [[ $REPLY =~ ^[Cc]$ ]]; then
+        echo -e "\033[33mPerforming clean reinstall...\033[0m"
+        # shellcheck disable=SC2115
+        rm -rf "$HOME/$GZ_INSTALL_ROOT"
+    else
+        echo -e "\033[31mInstallation aborted.\033[0m"
+        exit 1
+    fi
+fi
+
+# Generate Directory
+echo -e "\033[36m> Creating directory $HOME/$GZ_INSTALL_ROOT...\033[0m"
+mkdir -p "$HOME/$GZ_INSTALL_ROOT"/src
+chown -R "$USER": "$HOME/$GZ_INSTALL_ROOT" > /dev/null 2>&1
+
+# Move to working directory
+pushd "$HOME/$GZ_INSTALL_ROOT" || { 
+    echo -e "\033[31mError: Failed to change to directory $HOME/$GZ_INSTALL_ROOT. \
+    Please check if the directory exists and you have the necessary permissions.\033[0m"
+    exit 1
+}
+
+# ------------------------------------------------------------------------------
+# Install Dendencies
+printf '\n\n\033[34m'; printf '=%.0s' {1..75}; printf '\033[0m\n'
+echo -e "\033[34m### [2/6] Installing Dependencies with Brew and PIP\033[0m"
+printf '\033[34m%.0s=\033[0m' {1..75} && echo
+# ------------------------------------------------------------------------------
+# Installing Gazebo Harmonic dependencies with brew
+echo -e "\033[36m> Installing Gazebo Harmonic dependencies with Brew...\033[0m"
+brew update
+brew tap osrf/simulation
+brew install assimp boost bullet cmake cppzmq [email protected] doxygen \
+     eigen fcl ffmpeg flann freeimage freetype gdal gflags google-benchmark \
+     gts ipopt jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph \
+     ossp-uuid ogre1.9 ogre2.3 pkg-config protobuf qt@5 qwt-qt5 rapidjson ruby \
+     tbb tinyxml tinyxml2 urdfdom zeromq
+
+# Set Environment Variables of Brew packages
+echo -e "\033[36m> Setting Environment Variables of Brew packages...\033[0m"
+export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/[email protected]
+export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH}:/opt/homoebrew/opt/[email protected]/lib:/opt/homebrew/opt/octomap/local
+export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/opt/homebrew/opt/[email protected]/lib/pkgconfig
+export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/qt@5
+
+# Install XQuartz
+brew install xquartz --cask
+
+# Confirm message
+echo -e "\033[36m\n\n> Packages installation with Brew completed.\033[0m"
+
+# Activate Python3.11 virtual environment
+# shellcheck disable=SC1091,SC1090
+source "$HOME/$VIRTUAL_ENV_ROOT"/bin/activate
+
+# Confirm message
+echo -e "\033[36m> Python Virtual Environment loaded\033[0m"
+
+# ------------------------------------------------------------------------------
+# Downloading Gazebo Harmonic Source Code
+printf '\n\n\033[34m'; printf '=%.0s' {1..75}; printf '\033[0m\n'
+echo -e "\033[34m### [3/6] Downloading Gazebo Harmonic Source Code\033[0m"
+printf '\033[34m%.0s=\033[0m' {1..75} && echo
+# ------------------------------------------------------------------------------
+# Get Gazebo Harmonic  Source Code
+echo -e "\033[36m> Getting Gazebo Harmonic Code...\033[0m"
+echo -e "As long as the spinner at of the terminal is running, it is downloading the source code. It does take long."
+echo -e "If you see 'E' in the progress, it means the download failed (slow connection does this), it will try again."
+echo -e "If it takes too long, please check your network connection and try again. To cancel, Ctrl+C."
+echo -e "\033[33mSTART----------------------------------    DOWNLOADING...  ---------------------------------------------END\033[0m"
+
+
+# Define maximum number of retries
+max_retries=3
+# Start loop
+for ((i=1;i<=max_retries;i++)); do
+    # Try to import the repositories
+    if vcs import --shallow --retry 0 \
+        --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml src;
+        then
+        echo -e "\033[36m\n>Gazebo Harmonic Code Import Successful\033[0m"
+        break
+    else
+        echo -e "\033[31m\nGazebo Harmonic Source Code Import failed, retrying ($i/$max_retries)\033[0m"
+    fi
+    # If we've reached the max number of retries, exit the script
+    if [ $i -eq $max_retries ]; then
+        echo -e "\033[31m\nGazebo Harmonic Source Code Import failed after $max_retries attempts, terminating script.\033[0m"
+        exit 1
+    fi
+    # Wait before retrying
+    sleep 5
+done
+
+# Fix brew linking of qt5
+echo -e "\033[36m> Fixing brew linking of qt5...\033[0m"
+brew unlink qt && brew link qt@5
+
+# ------------------------------------------------------------------------------
+# Building Gazebo Harmonic
+printf '\n\n\033[34m'; printf '=%.0s' {1..75}; printf '\033[0m\n'
+echo -e "\033[34m### [5/6] Building Gazebo Harmonic (This may take about 10 minutes)\033[0m"
+printf '\033[34m%.0s=\033[0m' {1..75} && echo
+# ------------------------------------------------------------------------------
+# if ! colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF -Wno-dev --packages-skip-by-dep python_qt_binding;
+if ! python3.11 -m colcon build --cmake-args -DBUILD_TESTING=OFF -DCMAKE_MACOSX_RPATH=FALSE \
+    -DCMAKE_INSTALL_NAME_DIR="$HOME/$GZ_INSTALL_ROOT/install/lib" \
+    --merge-install -Wno-dev --event-handlers console_cohesion+;
+then
+    echo -e "\033[31mError: Build failed, aborting script.\033[0m"
+    exit 1
+fi
+
+# ------------------------------------------------------------------------------
+# Post Installation Configuration
+printf '\n\n\033[34m'; printf '=%.0s' {1..75}; printf '\033[0m\n'
+echo -e "\033[34m### [6/6] Post Installation Configuration\033[0m"
+printf '\033[34m%.0s=\033[0m' {1..75} && echo
+# ------------------------------------------------------------------------------
+# save GZ_INSTALL_ROOT in a file
+if [ -f config ]; then
+    rm config
+fi
+echo "GZ_INSTALL_ROOT=$GZ_INSTALL_ROOT" > "$HOME/$ROS_INSTALL_ROOT/config"
+
+# Download sentenv.sh
+if [ -f setenv.sh ]; then
+    rm setenv.sh
+fi
+if [ -f setenv_gz.sh ]; then
+    rm setenv_gz.sh
+fi
+curl -s -O https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/setenv_gz.sh
+
+# Replace string inside sentenv.sh
+sed -i '' "s|ROS_INSTALL_ROOT|$ROS_INSTALL_ROOT|g" setenv_gz.sh
+sed -i '' "s|VIRTUAL_ENV_ROOT|$VIRTUAL_ENV_ROOT|g" setenv_gz.sh
+sed -i '' "s|GZ_INSTALL_ROOT|$GZ_INSTALL_ROOT|g" setenv_gz.sh
+
+# Rename sentenv.sh to activate_ros
+if [ -f activate_ros ]; then
+    rm activate_ros
+fi
+mv setenv_gz.sh activate_ros
+
+# Print post messages
+printf '\033[32m%.0s=\033[0m' {1..75} && echo
+echo -e "\033[32mDone. Hurray! 🍎 (Apple Silicon) + 🤖 = 🚀❤️🤩🎉🥳 \033[0m"
+echo
+echo "To activate the new ROS2 Jazzy - Gazebo Harmonic framework, run the following command:"
+echo -e "\033[32msource $HOME/$ROS_INSTALL_ROOT/activate_ros\033[0m"
+echo -e "\nThen, try '\033[32mros2\033[0m' or '\033[32mrviz2\033[0m' in the terminal to start ROS2 Jazzy."
+printf '\033[32m%.0s=\033[0m' {1..75} && echo
+echo "To make alias for fast start, run the following command to add to ~/.zprofile:"
+echo -e "\033[34mecho 'alias jazzy=\"source $HOME/$ROS_INSTALL_ROOT/activate_ros\"' >> ~/.zprofile && source ~/.zprofile\033[0m"
+echo
+echo -e "Then, you can start ROS2 Jazzy by typing '\033[34mjazzy\033[0m' in the terminal (new terminal)."
+echo
+echo "To deactivate this workspace, run:"
+echo -e "\033[33mdeactivate\033[0m"
+
+# Ask if user wants to install Gazebo Harmonic too (gz_install.sh)
+echo -e "\n\033[33mDo you want to install Gazebo Harmonic too? (y/n)\033[0m"
+read -r response
+if [[ "$response" =~ ^([yY][eE][sS]|[yY])$ ]]; then
+    echo -e "\033[36m> Installing Gazebo Harmonic...\033[0m"
+    curl -s -O https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/gz_install.sh
+    chmod +x gz_install.sh
+    # shellcheck disable=SC1090
+    source "$HOME/$ROS_INSTALL_ROOT/activate_ros"
+    ./gz_install.sh
+fi
+
+popd || exit
diff --git a/install.sh b/install.sh
@@ -27,7 +27,7 @@
 ################################################################################
 JAZZY_RELEASE_TAG_DEFAULT="release-jazzy-20240523" # you may change with option -t
 ROS_INSTALL_ROOT_DEFAULT="ros2_jazzy" # you may change with option -d
-VIRTUAL_ENV_ROOT_DEFAULT="ros2_venv" # you may change with option -t
+VIRTUAL_ENV_ROOT_DEFAULT=".ros2_venv" # you may change with option -v
 # ------------------------------------------------------------------------------
 # Installation Configuration and Options
 # ------------------------------------------------------------------------------
@@ -80,11 +80,6 @@ LATEST_COMMIT_HASH=$(curl -s "https://api.github.com/repos/IOES-Lab/ROS2_Jazzy_M
 # ------------------------------------------------------------------------------
 # Initiation
 # ------------------------------------------------------------------------------
-# Clean init
-if typeset -f deactivate_ros > /dev/null; then
-  deactivate_ros
-fi
-
 # Print welcome message
 echo -e "\033[32m"
 echo "▣-------------------------------------------------------------------------▣"
@@ -491,4 +486,17 @@ echo -e "Then, you can start ROS2 Jazzy by typing '\033[34mjazzy\033[0m' in the
 echo
 echo "To deactivate this workspace, run:"
 echo -e "\033[33mdeactivate\033[0m"
+
+# Ask if user wants to install Gazebo Harmonic too (gz_install.sh)
+echo -e "\n\033[33mDo you want to install Gazebo Harmonic too? (y/n)\033[0m"
+read -r response
+if [[ "$response" =~ ^([yY][eE][sS]|[yY])$ ]]; then
+    echo -e "\033[36m> Installing Gazebo Harmonic...\033[0m"
+    curl -s -O https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/gz_install.sh
+    chmod +x gz_install.sh
+    # shellcheck disable=SC1090
+    source "$HOME/$ROS_INSTALL_ROOT/activate_ros"
+    ./gz_install.sh -r "$ROS_INSTALL_ROOT" -v "$VIRTUAL_ENV_ROOT"
+fi
+
 popd || exit
diff --git a/setenv.sh b/setenv.sh
@@ -1,31 +1,6 @@
 #!/bin/bash
-# From https://github.com/pfavr2/install_ros2_rolling_on_mac_m1
-
-# After running - you need to activate:
-
-# Grab old environment
-# shellcheck disable=SC2155
-export OLD_ENV="$(export -p)"
-
-# Clean current environment and restore old environment from before activating
-function deactivate_ros() {
-  if typeset -f deactivate > /dev/null; then
-    deactivate
-  fi
-  for var in $(env | awk -F= '{print $1}' | grep -o '[^ ]*$'); do 
-    if [ "$var" != "OLD_ENV" ]; then
-      # echo "Removing var [$var]"
-      unset "$var"
-    fi
-  done
-  # shellcheck disable=SC2059
-  # shellcheck disable=SC1091
-  printf "$OLD_ENV" | source /dev/stdin
-  unset OLD_ENV
-  unset -f deactivate_ros
-}
-
 # Source Virtual Environment
+
 # shellcheck disable=SC1091
 source "$HOME/VIRTUAL_ENV_ROOT/bin/activate"
 

diff --git a/setenv_gz.sh b/setenv_gz.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+# Source Virtual Environment
+
+# shellcheck disable=SC1091
+source "$HOME/VIRTUAL_ENV_ROOT/bin/activate"
+
+# Source ROS
+if [[ $SHELL == *"bash"* ]]; then
+    # shellcheck disable=SC1091
+    source "$HOME/ROS_INSTALL_ROOT/install/setup.bash"
+    # shellcheck disable=SC1091
+    source "$HOME/ROS_INSTALL_ROOT/GZ_INSTALL_ROOT/install/setup.bash"
+elif [[ $SHELL == *"zsh"* ]]; then
+    # shellcheck disable=SC1091
+    source "$HOME/ROS_INSTALL_ROOT/install/setup.zsh"
+    # shellcheck disable=SC1091
+    source "$HOME/ROS_INSTALL_ROOT/GZ_INSTALL_ROOT/install/setup.zsh"
+else
+    echo "Unsupported shell. Please use bash or zsh."
+    exit 1
+fi