Upgrade Snowflake to ROS Noetic and Ubuntu 20.04

.gitignore

@@ -8,7 +8,7 @@
 CLion*
 clion*
 *~
-.swp
+*.swp
 filter_init.txt
 cmake-build-debug
 cmake-build-release

.rosinstall

@@ -1,6 +1,7 @@
 - git:
     local-name: src/external_pkgs/nmea_navsat_driver
     uri: https://github.com/UBC-Snowbots/nmea_navsat_driver.git
+    version: noetic-snowbots-mods
 - git:
     local-name: src/external_pkgs/realsense-ros
     uri: https://github.com/IntelRealSense/realsense-ros.git
@@ -10,6 +11,7 @@
 - git:
     local-name: src/external_pkgs/ros_arduino_bridge
     uri: https://github.com/UBC-Snowbots/ros_arduino_bridge.git
+    version: noetic-snowbots-mods
 - git:
     local-name: src/external_pkgs/sicktoolbox
     uri: https://github.com/UBC-Snowbots/sicktoolbox.git
@@ -23,3 +25,10 @@
     local-name: src/mapping_urc/multi_resolution_graph
     uri: 'https://github.com/garethellis0/multi_resolution_graph.git'
     version: 0.0.3
+- git:
+    local-name: src/external_pkgs/qt_ros
+    uri: https://github.com/stonier/qt_ros.git
+- git:
+    local-name: src/external_pkgs/phidgets_drivers
+    uri: https://github.com/ros-drivers/phidgets_drivers.git
+    version: melodic

.travis.yml

@@ -3,7 +3,7 @@ cache:
 language: generic
 # currently running on ubuntu 18.04
 os: linux
-dist: bionic
+dist: focal
 
 # install all dependencies necessary to build our project
 install:
@@ -14,7 +14,7 @@ install:
 # compile and run tests  
 script:
         # setup ROS
-        - source /opt/ros/melodic/setup.bash
+        - source /opt/ros/noetic/setup.bash
         # create workspace
         - catkin_make
         # setup catkin path variables

README.md

@@ -32,9 +32,9 @@ You will be downloading an Ubuntu ISO and multiple ROS packages with their respe
 It is highly recommended that you have access to high speed internet while doing this entire setup; 
 if you're on campus use the `ubcsecure` or `resnet` networks for best results.
 
-1. Install Ubuntu 18.04 (**Note**: Download 18.04, **not** another version, as other Ubuntu versions will make setting up this repo much more painful) (**Backup your important data first**) (We recommend you use a minimum of 30GB of space) 
-    - For dual-booting: [Windows Instructions](https://askubuntu.com/questions/1031993/how-to-install-ubuntu-18-04-alongside-windows-10), [Mac Instructions](https://www.maketecheasier.com/install-dual-boot-ubuntu-mac)
-2. If you haven't done so already, setup your UBC alumni email account [here](https://id.ubc.ca/) 
+1. Install Ubuntu 20.04 (**Note**: Download 20.04, **not** another version, as other Ubuntu versions will make setting up this repo much more painful) (**Backup your important data first**) (We recommend you use a minimum of 30GB of space)
+    - For dual-booting: [Windows Instructions](https://linuxconfig.org/how-to-install-ubuntu-20-04-alongside-windows-10-dual-boot), [Mac Instructions](https://www.maketecheasier.com/install-dual-boot-ubuntu-mac)
+2. If you haven't done so already, setup your UBC email account [here](https://id.ubc.ca/)
 3. Using your UBC email account, get a JetBrains education account [here](https://www.jetbrains.com/shop/eform/students)
     - _JetBrains will send an initial email to confirm the UBC email you inputted, 
     once you've confirmed another email will be sent to activate your new education account; 
@@ -45,7 +45,7 @@ if you're on campus use the `ubcsecure` or `resnet` networks for best results.
 7. Clone your server-side repository from the terminal by running `git clone --recursive https://github.com/YOUR_USERNAME/Snowflake.git` (`YOUR_USERNAME` is your github username)
 8. To start the setup run `cd ~/Snowflake && ./setup_scripts/install_tools.sh` (Do not run this script as root).
     - *Just choose yes and enter your password when the terminal prompts you*
-9. Run `source /opt/ros/melodic/setup.sh`.
+9. Run `source /opt/ros/noetic/setup.sh`.
 10. To build the workspace run `catkin_make`. If everything compiles correctly and you don't get any errors, then you're good to go!
 11. If catkin_make fails, and mentions missing .cmake files, run `./setup_scripts/install_dependencies.sh`.
 
@@ -75,6 +75,8 @@ Current packages included under wstool:
 - NMEA_Navsat_Driver: NMEA msg driver
 - Zed_ROS_Wrapper: Wrapper for interfacing Zed Stereo Cam with ROS
 - realsense: Wrapper for interfacing the Realsense D415 with ROS
+- qt_ros: Interface for integrating ROS with QT
+- phidgets_drivers: Interface for integrating ROS and Phidgets drivers
 
 ### Nodelets Quick Guide
 See [here](nodelets.md)

clang-format/fix_formatting.sh

@@ -1,8 +1,5 @@
 #!/bin/bash
 
-# The version of the clang executable to use
-export CLANG_VERSION=4.0
-
 # The current directory
 CURR_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
@@ -14,7 +11,7 @@ fi
 TARGET_BRANCH=$1
 
 # Fix formatting on all changes between this branch and the target branch
-OUTPUT="$($CURR_DIR/git-clang-format --binary $CURR_DIR/clang-format-$CLANG_VERSION --commit $TARGET_BRANCH)"
+OUTPUT="$($CURR_DIR/git-clang-format --binary clang-format --commit $TARGET_BRANCH)"
 
 # Print the output (the files changed), replacing spaces with newlines
 printf '%s\n' $OUTPUT

setup_scripts/install_dependencies.sh

@@ -14,15 +14,18 @@
 CURR_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 echo "================================================================" 
-echo "Installing ROS Melodic"
+echo "Installing ROS Noetic"
 echo "================================================================"
 
+sudo apt-get install -y software-properties-common
+sudo add-apt-repository ppa:rock-core/qt4 -y
+
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc -O - | sudo apt-key add -
 sudo apt-get update -y
 
-sudo apt-get install python-catkin-pkg python-wstool python-rosdep python-rosinstall-generator ros-melodic-desktop-full -y
-source /opt/ros/melodic/setup.sh
+sudo apt-get install python3-catkin-pkg python3-wstool python3-rosdep python3-rosinstall-generator ros-noetic-desktop-full -y
+source /opt/ros/noetic/setup.sh
 
 # Prepare resdep to install dependencies
 sudo rosdep init
@@ -51,13 +54,13 @@ cd $CURR_DIR
 rosdep install --from-paths \
     $CURR_DIR/../src \
     $CURR_DIR/../src/external_pkgs \
-    --ignore-src --rosdistro melodic --skip-keys=librealsense2 -y 
+    --ignore-src --rosdistro noetic --skip-keys=librealsense2 -y
 
 echo "================================================================"
 echo "Installing other dependencies specified by our packages"
 echo "================================================================"
 cd $CURR_DIR
-sudo ./setup_realsense_manual.sh
+sudo ./setup_realsense.sh
 
 cd $CURR_DIR
 sudo ./install_phidgets.sh
@@ -68,7 +71,7 @@ echo "================================================================"
 
 sudo apt-get install -y\
     clang-format\
-    python-rosinstall
+    python3-rosinstall
 
 echo "================================================================"
 echo "Finished Installing Utilities"

setup_scripts/install_tools.sh

@@ -25,7 +25,7 @@ SHELL_CONFIG_FILES=(
 # listed above, if they are not present already
 declare -a new_shell_config_lines=(
     # Source the ROS Environment Variables Automatically
-    "source /opt/ros/melodic/setup.sh"\
+    "source /opt/ros/noetic/setup.sh"\
     # Make sure that all shells know where to find our custom gazebo models,
     # plugins, and resources. Make sure to preserve the path that already exists as well
     "export GAZEBO_MODEL_PATH=$DIR/../src/sb_gazebo/models:${GAZEBO_MODEL_PATH}"\

setup_scripts/setup_realsense.sh

@@ -7,24 +7,22 @@ echo "================================================================"
 echo "Configuring realsense repository and drivers."
 echo "================================================================"
 
-sudo apt-get install -y software-properties-common
-sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
-sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
-sudo rm -f /etc/apt/sources.list.d/realsense-public.list
+sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
+sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
 
 sudo apt-get update -y
 
 # TODO (#359): We can (and SHOULD) switch back to using the below line once 
 # the ros realsense packages are updated to work with librealsense2 2.16.2
 # see https://github.com/intel-ros/realsense/issues/502 for updates.
 # (Right now we just peg the version to 2.16.1)
-# sudo apt-get install -y librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg 
-version="2.16.3-0~realsense0.116"
-sudo apt-get install librealsense2-dkms -y
-sudo apt install librealsense2=${version} -y
-sudo apt-get install librealsense2-utils=${version} -y
-sudo apt-get install librealsense2-dev=${version} -y
-sudo apt-get install librealsense2-dbg=${version} -y
+sudo apt-get install -y librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg 
+# version="2.16.3-0~realsense0.116"
+# sudo apt-get install librealsense2-dkms -y
+# sudo apt install librealsense2=${version} -y
+# sudo apt-get install librealsense2-utils=${version} -y
+# sudo apt-get install librealsense2-dev=${version} -y
+# sudo apt-get install librealsense2-dbg=${version} -y
 
 echo "================================================================"
 echo "Finished configuring realsense. "

setup_scripts/setup_udev_rules.sh

@@ -47,7 +47,7 @@ fi
 # Copy the new phidgets udev rules to the rule folder
 # From the installation to the udev folder
 # Apt should theoretically do this but it doesn't
-sudo cp /opt/ros/melodic/share/phidgets_api/udev/99-phidgets.rules $FILE
+sudo cp /opt/ros/noetic/share/phidgets_api/udev/99-phidgets.rules $FILE
 
 echo "================================================================"
 echo "Finished Installing phidgets udev rules"

src/CMakeLists.txt

@@ -1 +1 @@
-/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake