From 4be7c2bfddb1c509a3aaeb8bf1882120e57588f8 Mon Sep 17 00:00:00 2001
From: Woen-Sug Choi <woensug.choi@gmail.com>
Date: Wed, 7 Aug 2024 17:36:38 +0900
Subject: [PATCH] gazebo source install script

---
 ...jazzy-binary-gz-harmonic-source-install.sh | 115 ++++++++++++++++++
 1 file changed, 115 insertions(+)
 create mode 100644 extras/ros-jazzy-binary-gz-harmonic-source-install.sh

diff --git a/extras/ros-jazzy-binary-gz-harmonic-source-install.sh b/extras/ros-jazzy-binary-gz-harmonic-source-install.sh
new file mode 100644
index 00000000..b482a3c2
--- /dev/null
+++ b/extras/ros-jazzy-binary-gz-harmonic-source-install.sh
@@ -0,0 +1,115 @@
+#!/bin/bash
+# Script to install development tools and libraries for robotics and simulation
+echo
+echo -e "\033[94m============================================================\033[0m"
+echo -e "\033[94m== One-liner Installation Script for ROS-Gazebo Framework ==\033[0m"
+echo -e "\033[94m============================================================\033[0m"
+echo -e "Requirements: Ubuntu 24.04 LTS Noble"
+echo -e "\033[94m============================================================\033[0m"
+
+echo
+echo -e "\033[96m(1/4) -------------    Updating the System  ----------------\033[0m"
+echo "Performing full system upgrade (this might take a while)..."
+sudo sudo apt update && apt full-upgrade -y
+
+echo
+echo -e "\033[96m(2/4) ------------    Install Dependencies   ---------------\033[0m"
+echo -e "\033[34mInstalling essential tools and libraries...\033[0m"
+sudo apt install -y \
+    build-essential \
+    cmake \
+    cppcheck \
+    curl \
+    git \
+    gnupg \
+    libeigen3-dev \
+    libgles2-mesa-dev \
+    lsb-release \
+    pkg-config \
+    protobuf-compiler \
+    python3-dbg \
+    python3-pip \
+    python3-venv \
+    qtbase5-dev \
+    ruby \
+    software-properties-common \
+    sudo \
+    cppzmq-dev \
+    wget
+
+echo
+echo -e "\033[96m(3/4) ------------    Install Package Keys   ---------------\033[0m"
+echo -e "\033[34mInstalling Signing Keys for ROS and Gazebo...\033[0m"
+# Remove keyring if exists to avoid conflicts
+sudo rm -f /usr/share/keyrings/ros2-latest-archive-keyring.gpg && \
+    sudo rm -rf /etc/apt/sources.list.d/ros2-latest.list
+# Get Keys
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+    -o /usr/share/keyrings/ros-archive-keyring.gpg
+sudo wget https://packages.osrfoundation.org/gazebo.gpg \
+    -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+
+ARCH=$(dpkg --print-architecture)
+# shellcheck disable=SC1091
+UBUNTU_CODENAME=$( . /etc/os-release && echo "$UBUNTU_CODENAME")
+REPO="deb [arch=$ARCH signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
+http://packages.ros.org/ros2/ubuntu $UBUNTU_CODENAME main"
+echo "$REPO" | sudo tee /etc/apt/sources.list.d/ros2.list >/dev/null
+
+DISTRO=$(lsb_release -cs)
+REPO="deb [arch=$ARCH signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
+http://packages.osrfoundation.org/gazebo/ubuntu-stable $DISTRO main"
+echo "$REPO" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list >/dev/null
+
+echo
+echo -e "\033[96m(4/4) ------------     Install ROS-Gazebo    ---------------\033[0m"
+DIST=jazzy
+
+echo -e "\033[34mInstalling ROS Gazebo framework...\033[0m"
+sudo apt update && apt install -y \
+    python3-rosdep \
+    python3-rosinstall-generator \
+    python3-vcstool \
+    ros-$DIST-desktop \
+    ros-$DIST-ros-gz \
+    ros-$DIST-gz-ros2-control \
+    ros-$DIST-effort-controllers \
+    ros-$DIST-geographic-info \
+    ros-$DIST-joint-state-publisher \
+    ros-$DIST-joy-teleop \
+    ros-$DIST-key-teleop \
+    ros-$DIST-moveit-planners \
+    ros-$DIST-moveit-simple-controller-manager \
+    ros-$DIST-moveit-ros-visualization \
+    ros-$DIST-robot-localization \
+    ros-$DIST-ros2-controllers \
+    ros-$DIST-teleop-tools \
+    ros-$DIST-urdfdom-py \
+    ros-dev-tools
+
+echo
+echo -e "\033[34mSetting up Gazebo source directory...\033[0m"
+mkdir -p /opt/gazebo/src && cd /opt/gazebo/src || exit
+curl -O https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml
+vcs import < collection-harmonic.yaml
+
+echo -e "\033[34mUpdating package list and installing dependencies...\033[0m"
+# shellcheck disable=SC2046,SC2006
+sudo apt -y install $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz\|sdf/d' | tr '\n' ' ')
+
+echo -e "\033[34mBuilding the project with colcon...\033[0m"
+cd /opt/gazebo || exit
+# Build gz-physics with limited cores to avoid memory issues
+MAKEFLAGS="-j2" colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install --packages-up-to gz-physics
+# Full build
+colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install
+
+echo
+echo -e "\033[32m============================================================\033[0m"
+echo -e "\033[32mROS-Gazebo Framework Installation completed. Awesome! 🤘🚀 \033[0m"
+echo -e "Following command will set-up ROS-Gazebo environment variables to run it"
+echo -e "\033[95msource /opt/ros/jazzy/setup.bash\033[0m"
+echo -e "\033[95msource /opt/gazebo/install/setup.bash\033[0m"
+echo -e "\033[95mexport PYTHONPATH=\$PYTHONPATH:/opt/gazebo/install/lib/python\033[0m"
+echo -e "You may check ROS, and Gazebo version installed with \033[33mprintenv ROS_DISTRO\033[0m and \033[33mecho \$GZ_VERSION\033[0m"
+echo