From ce7055252905d831d0a7f9f44dd751ad2b9ab6bc Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 21 Apr 2022 14:00:34 -0700
Subject: [PATCH 01/14] remove xhost +x

---
 mushr_utils/install/mushr_install.bash | 20 +++++---------------
 1 file changed, 5 insertions(+), 15 deletions(-)

diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index 3591531..ad0a213 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -134,6 +134,11 @@ if ! grep -Fq "export OS_TYPE=" ~/$SHELL_PROFILE || [[ $BUILD_FROM_SCRATCH=1 ]]
   echo "export OS_TYPE=${OS_TYPE}" >> ~/$SHELL_PROFILE
 fi
 
+# Shortcuts
+if ! grep -Fq "alias mushr_noetic=" ~/$SHELL_PROFILE ; then
+  echo "alias mushr_noetic=\"docker-compose -f $INSTALL_PATH/$COMPOSE_FILE run -p 9090:9090 mushr_noetic bash\"" >> ~/$SHELL_PROFILE
+fi
+
 # If laptop, don't build realsense2_camera, ydlidar, or push_button_utils
 if [[ $REAL_ROBOT == 0 ]]; then
   touch $WS_PATH/catkin_ws/src/mushr/mushr_hardware/push_button_utils/CATKIN_IGNORE
@@ -141,22 +146,7 @@ if [[ $REAL_ROBOT == 0 ]]; then
   touch $WS_PATH/catkin_ws/src/mushr/mushr_hardware/realsense/realsense2_camera/CATKIN_IGNORE
 fi
 
-# Shortcuts
-if ! grep -Fq "alias mushr_noetic=" ~/$SHELL_PROFILE ; then
-  echo "alias mushr_noetic=\"docker-compose -f $INSTALL_PATH/$COMPOSE_FILE run -p 9090:9090 mushr_noetic bash\"" >> ~/$SHELL_PROFILE
-fi
-
 # Make sure all devices are visible
 if [[ $REAL_ROBOT == 1 ]]; then
   sudo udevadm control --reload-rules && sudo udevadm trigger
 fi
-
-# Display permissions
-if ! grep -Fxq "xhost + >> /dev/null" ~/$SHELL_PROFILE ; then
-  read -p $'Add "xhost +" to $SHELL_PROFILE? This enables GUI from docker but is a security risk.\nIf no, each time you run the docker container you will need to execute this command.\nAdd xhost + $SHELL_PROFILE? (y/n) ' -r
-  echo
-  if [[ $REPLY =~ ^[Yy]$ ]]; then
-    echo WARNING: Adding "xhost +" to $SHELL_PROFILE 
-    echo "xhost + >> /dev/null" >> ~/$SHELL_PROFILE && source ~/$SHELL_PROFILE
-  fi
-fi

From 8e2ce8e0acc2d15ab4fd9219d27503b828b8e968 Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 21 Apr 2022 14:00:50 -0700
Subject: [PATCH 02/14] remove network:host from compose

---
 mushr_utils/install/docker-compose-cpu.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/mushr_utils/install/docker-compose-cpu.yml b/mushr_utils/install/docker-compose-cpu.yml
index a9cd340..480ac12 100644
--- a/mushr_utils/install/docker-compose-cpu.yml
+++ b/mushr_utils/install/docker-compose-cpu.yml
@@ -2,7 +2,6 @@ version: "3.4"
 services:
   mushr_noetic:
     image: mushr/mushr:${OS_TYPE}
-    network_mode: "host"
     privileged: true
     devices:
       - "/dev:/dev"

From a540b47bd574a3c074a0c863a73ed9711d870d47 Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 21 Apr 2022 15:55:58 -0700
Subject: [PATCH 03/14] mushr_noetic as a script

---
 mushr_utils/install/mushr_install.bash | 54 +++++++++++---------------
 1 file changed, 23 insertions(+), 31 deletions(-)

diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index ad0a213..a916fa8 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -49,12 +49,13 @@ if [[ $REPLY =~ ^[Yy]$ ]]; then
 fi
 
 # curl and dep keys
-if [[ $OS_TYPE != "Darwin" ]]; then
-  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-get update
-  sudo apt-get install -y curl
-  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-fi
+#if [[ $OS_TYPE != "Darwin" ]]; then
+  # TODO uncomment
+  #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-get update
+  #sudo apt-get install -y curl
+  #curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+#fi
 
 # Robot specific settings
 if [[ $REAL_ROBOT == 1 ]]; then
@@ -100,11 +101,12 @@ if [[ $REAL_ROBOT == 1 ]]; then
 fi
 
 # vcstool https://github.com/dirk-thomas/vcstool 
-if [[ $OS_TYPE != "Darwin" ]]; then
-  sudo apt-get update && sudo apt install -y python3-vcstool
-else
-  sudo pip install vcstool
-fi
+# TODO uncomment
+#if [[ $OS_TYPE != "Darwin" ]]; then
+  #sudo apt-get update && sudo apt install -y python3-vcstool
+#else
+#  pip install vcstool
+#fi
 
 # Make catkin_ws outside container for easy editing
 if [[ ! -d "../../../../../catkin_ws" ]]; then
@@ -117,26 +119,16 @@ export WS_PATH=$(pwd | sed 's:/catkin_ws.*::')
 cd $WS_PATH/catkin_ws/src/ && vcs import < mushr/base-repos.yaml && vcs import < mushr/nav-repos.yaml
 cd mushr/mushr_utils/install/ && export INSTALL_PATH=$(pwd)
 
-# Make sure environment Variables are always set
-if ! grep -Fq "export INSTALL_PATH=" ~/$SHELL_PROFILE  || [[ $BUILD_FROM_SCRATCH ]] ; then
-  echo "export INSTALL_PATH=${INSTALL_PATH}" >> ~/$SHELL_PROFILE
-fi
-if ! grep -Fq "export REAL_ROBOT=" ~/$SHELL_PROFILE || [[ $BUILD_FROM_SCRATCH ]] ; then
-  echo "export REAL_ROBOT=${REAL_ROBOT}" >> ~/$SHELL_PROFILE
-fi
-if ! grep -Fq "export WS_PATH=" ~/$SHELL_PROFILE || [[ $BUILD_FROM_SCRATCH ]] ; then
-  echo "export WS_PATH=${WS_PATH}" >> ~/$SHELL_PROFILE
-fi
-if ! grep -Fq "export COMPOSE_FILE=" ~/$SHELL_PROFILE || [[ $BUILD_FROM_SCRATCH=1 ]] ; then
-  echo "export COMPOSE_FILE=${COMPOSE_FILE}" >> ~/$SHELL_PROFILE
-fi
-if ! grep -Fq "export OS_TYPE=" ~/$SHELL_PROFILE || [[ $BUILD_FROM_SCRATCH=1 ]] ; then
-  echo "export OS_TYPE=${OS_TYPE}" >> ~/$SHELL_PROFILE
-fi
-
-# Shortcuts
-if ! grep -Fq "alias mushr_noetic=" ~/$SHELL_PROFILE ; then
-  echo "alias mushr_noetic=\"docker-compose -f $INSTALL_PATH/$COMPOSE_FILE run -p 9090:9090 mushr_noetic bash\"" >> ~/$SHELL_PROFILE
+# Make custom mushr_noetic script
+if [[ ! -f "${INSTALL_PATH}/mushr_noetic" ]]; then
+    touch ${INSTALL_PATH}/mushr_noetic
+    echo "export INSTALL_PATH=${INSTALL_PATH}" >> ${INSTALL_PATH}/mushr_noetic
+    echo "export REAL_ROBOT=${REAL_ROBOT}" >> ${INSTALL_PATH}/mushr_noetic
+    echo "export WS_PATH=${WS_PATH}" >> ${INSTALL_PATH}/mushr_noetic
+    echo "export COMPOSE_FILE=${COMPOSE_FILE}" >> ${INSTALL_PATH}/mushr_noetic
+    echo "export OS_TYPE=${OS_TYPE}" >> ${INSTALL_PATH}/mushr_noetic
+    echo "docker-compose -f \$INSTALL_PATH/\$COMPOSE_FILE run -p 9090:9090 mushr_noetic bash" >> ${INSTALL_PATH}/mushr_noetic
+    chmod +x ${INSTALL_PATH}/mushr_noetic
 fi
 
 # If laptop, don't build realsense2_camera, ydlidar, or push_button_utils

From 7e075ab4caf9c7368dcbd8ed5762fac5fc80695b Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 21 Apr 2022 16:04:42 -0700
Subject: [PATCH 04/14] MUSHR prefix and delete old stuff

---
 mushr_utils/install/Dockerfile               |  1 -
 mushr_utils/install/docker-compose-build.yml | 10 +--
 mushr_utils/install/docker-compose-cpu.yml   |  4 +-
 mushr_utils/install/docker-compose-gpu.yml   |  5 +-
 mushr_utils/install/mushr_install.bash       | 68 ++++++++++----------
 5 files changed, 42 insertions(+), 46 deletions(-)

diff --git a/mushr_utils/install/Dockerfile b/mushr_utils/install/Dockerfile
index 8fbd9fb..b8b867f 100644
--- a/mushr_utils/install/Dockerfile
+++ b/mushr_utils/install/Dockerfile
@@ -13,7 +13,6 @@ RUN apt-get update -y \
 RUN mkdir install_scripts
 
 # ROS Noetic
-#ADD $INSTALL_PATH/install_scripts/mushr_install_ros.bash install_scripts/mushr_install_ros.bash
 ADD src/mushr/mushr_utils/install/install_scripts/mushr_install_ros.bash install_scripts/mushr_install_ros.bash
 RUN chmod +x install_scripts/mushr_install_ros.bash && install_scripts/mushr_install_ros.bash 
 
diff --git a/mushr_utils/install/docker-compose-build.yml b/mushr_utils/install/docker-compose-build.yml
index 9aae4da..ab57d91 100644
--- a/mushr_utils/install/docker-compose-build.yml
+++ b/mushr_utils/install/docker-compose-build.yml
@@ -1,13 +1,13 @@
 version: "3.4"
 services:
   mushr_noetic:
-    image: mushr/mushr:${OS_TYPE}
+    image: mushr/mushr:${MUSHR_OS_TYPE}
     build: 
-      context: ${WS_PATH}/catkin_ws
-      dockerfile: ${INSTALL_PATH}/Dockerfile
+      context: ${MUSHR_WS_PATH}/catkin_ws
+      dockerfile: ${MUSHR_INSTALL_PATH}/Dockerfile
       args: 
         REAL: ${REAL_ROBOT}
-        WS_PATH: ${WS_PATH}
+        MUSHR_WS_PATH: ${MUSHR_WS_PATH}
     network_mode: "host"
     privileged: true
     devices:
@@ -28,7 +28,7 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /dev:/dev
       - /dev/input:/dev/input
-      - ${WS_PATH}/catkin_ws:/root/catkin_ws # Runtime attach
+      - ${MUSHR_WS_PATH}/catkin_ws:/root/catkin_ws # Runtime attach
     environment:
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
diff --git a/mushr_utils/install/docker-compose-cpu.yml b/mushr_utils/install/docker-compose-cpu.yml
index 480ac12..988031a 100644
--- a/mushr_utils/install/docker-compose-cpu.yml
+++ b/mushr_utils/install/docker-compose-cpu.yml
@@ -1,7 +1,7 @@
 version: "3.4"
 services:
   mushr_noetic:
-    image: mushr/mushr:${OS_TYPE}
+    image: mushr/mushr:${MUSHR_OS_TYPE}
     privileged: true
     devices:
       - "/dev:/dev"
@@ -12,7 +12,7 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /dev:/dev
       - /dev/input:/dev/input
-      - ${WS_PATH}/catkin_ws:/root/catkin_ws # Runtime attach
+      - ${MUSHR_WS_PATH}/catkin_ws:/root/catkin_ws # Runtime attach
     environment:
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
diff --git a/mushr_utils/install/docker-compose-gpu.yml b/mushr_utils/install/docker-compose-gpu.yml
index 53d26b6..d1461b6 100644
--- a/mushr_utils/install/docker-compose-gpu.yml
+++ b/mushr_utils/install/docker-compose-gpu.yml
@@ -1,8 +1,7 @@
 version: "3.4"
 services:
   mushr_noetic:
-    image: mushr/mushr:${OS_TYPE}
-    network_mode: "host"
+    image: mushr/mushr:${MUSHR_OS_TYPE}
     privileged: true
     devices:
       - "/dev:/dev"
@@ -22,7 +21,7 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /dev:/dev
       - /dev/input:/dev/input
-      - ${WS_PATH}/catkin_ws:/root/catkin_ws # Runtime attach
+      - ${MUSHR_WS_PATH}/catkin_ws:/root/catkin_ws # Runtime attach
     environment:
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index a916fa8..023e656 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -1,42 +1,40 @@
 #!/bin/bash
 
 # Detect OS 
-export OS_TYPE="$(uname -s)"
-if [[ $OS_TYPE == "Darwin" ]]; then
-  export SHELL_PROFILE=".zshrc"
-else
-  export OS_TYPE="$(uname -i)"
-  export SHELL_PROFILE=".bashrc"
+export MUSHR_OS_TYPE="$(uname -s)"
+if [[ $MUSHR_OS_TYPE == "Linux" ]]; then
+  export MUSHR_OS_TYPE="$(uname -i)"
 fi
 
+
 # Are we in the right place to be running this?
 if [[ ! -f mushr_install.bash ]]; then
   echo Wrong directory! Change directory to the one containing mushr_install.bash
   exit 1
 fi
-export INSTALL_PATH=$(pwd)
+export MUSHR_INSTALL_PATH=$(pwd)
 
 # Real robot or on a laptop?
 read -p "Are you installing on robot and need all the sensor drivers? (y/n) " -r
 echo
 if [[ $REPLY =~ ^[Yy]$ ]]; then
-    export REAL_ROBOT=1
-    export OS_TYPE=robot
+    export MUSHR_REAL_ROBOT=1
+    export MUSHR_OS_TYPE=robot
 else
-    export REAL_ROBOT=0
+    export MUSHR_REAL_ROBOT=0
 fi
 
 # NVIDIA GPU? 
 read -p "Do you have a nvidia gpu with installed drivers? (y/n) " -r
 echo
 if [[ $REPLY =~ ^[Yy]$ ]]; then
-    if [[ $REAL_ROBOT == 1 ]]; then
-      export COMPOSE_FILE=docker-compose-robot.yml
+    if [[ $MUSHR_REAL_ROBOT == 1 ]]; then
+      export MUSHR_COMPOSE_FILE=docker-compose-robot.yml
     else
-      export COMPOSE_FILE=docker-compose-gpu.yml
+      export MUSHR_COMPOSE_FILE=docker-compose-gpu.yml
     fi
 else
-    export COMPOSE_FILE=docker-compose-cpu.yml
+    export MUSHR_COMPOSE_FILE=docker-compose-cpu.yml
 fi
 
 # Build from scratch (assumes GPU)?
@@ -45,11 +43,11 @@ echo
 export BUILD_FROM_SCRATCH=0
 if [[ $REPLY =~ ^[Yy]$ ]]; then
   export BUILD_FROM_SCRATCH=1
-  export COMPOSE_FILE=docker-compose-build.yml
+  export MUSHR_COMPOSE_FILE=docker-compose-build.yml
 fi
 
 # curl and dep keys
-#if [[ $OS_TYPE != "Darwin" ]]; then
+#if [[ $MUSHR_OS_TYPE != "Darwin" ]]; then
   # TODO uncomment
   #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-get update
@@ -58,7 +56,7 @@ fi
 #fi
 
 # Robot specific settings
-if [[ $REAL_ROBOT == 1 ]]; then
+if [[ $MUSHR_REAL_ROBOT == 1 ]]; then
     echo Running robot specific commands
     
     # Don't need sudo for docker
@@ -102,7 +100,7 @@ fi
 
 # vcstool https://github.com/dirk-thomas/vcstool 
 # TODO uncomment
-#if [[ $OS_TYPE != "Darwin" ]]; then
+#if [[ $MUSHR_OS_TYPE != "Darwin" ]]; then
   #sudo apt-get update && sudo apt install -y python3-vcstool
 #else
 #  pip install vcstool
@@ -115,30 +113,30 @@ if [[ ! -d "../../../../../catkin_ws" ]]; then
 fi
 
 # Pull repos
-export WS_PATH=$(pwd | sed 's:/catkin_ws.*::')
-cd $WS_PATH/catkin_ws/src/ && vcs import < mushr/base-repos.yaml && vcs import < mushr/nav-repos.yaml
-cd mushr/mushr_utils/install/ && export INSTALL_PATH=$(pwd)
+export MUSHR_WS_PATH=$(pwd | sed 's:/catkin_ws.*::')
+cd $MUSHR_WS_PATH/catkin_ws/src/ && vcs import < mushr/base-repos.yaml && vcs import < mushr/nav-repos.yaml
+cd mushr/mushr_utils/install/ && export MUSHR_INSTALL_PATH=$(pwd)
 
 # Make custom mushr_noetic script
-if [[ ! -f "${INSTALL_PATH}/mushr_noetic" ]]; then
-    touch ${INSTALL_PATH}/mushr_noetic
-    echo "export INSTALL_PATH=${INSTALL_PATH}" >> ${INSTALL_PATH}/mushr_noetic
-    echo "export REAL_ROBOT=${REAL_ROBOT}" >> ${INSTALL_PATH}/mushr_noetic
-    echo "export WS_PATH=${WS_PATH}" >> ${INSTALL_PATH}/mushr_noetic
-    echo "export COMPOSE_FILE=${COMPOSE_FILE}" >> ${INSTALL_PATH}/mushr_noetic
-    echo "export OS_TYPE=${OS_TYPE}" >> ${INSTALL_PATH}/mushr_noetic
-    echo "docker-compose -f \$INSTALL_PATH/\$COMPOSE_FILE run -p 9090:9090 mushr_noetic bash" >> ${INSTALL_PATH}/mushr_noetic
-    chmod +x ${INSTALL_PATH}/mushr_noetic
+if [[ ! -f "${MUSHR_INSTALL_PATH}/mushr_noetic" ]]; then
+    touch ${MUSHR_INSTALL_PATH}/mushr_noetic
+    echo "export MUSHR_INSTALL_PATH=${MUSHR_INSTALL_PATH}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
+    echo "export MUSHR_REAL_ROBOT=${MUSHR_REAL_ROBOT}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
+    echo "export MUSHR_WS_PATH=${MUSHR_WS_PATH}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
+    echo "export MUSHR_COMPOSE_FILE=${MUSHR_COMPOSE_FILE}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
+    echo "export MUSHR_OS_TYPE=${MUSHR_OS_TYPE}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
+    echo "docker-compose -f \$MUSHR_INSTALL_PATH/\$MUSHR_COMPOSE_FILE run -p 9090:9090 mushr_noetic bash" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
+    chmod +x ${MUSHR_INSTALL_PATH}/mushr_noetic
 fi
 
 # If laptop, don't build realsense2_camera, ydlidar, or push_button_utils
-if [[ $REAL_ROBOT == 0 ]]; then
-  touch $WS_PATH/catkin_ws/src/mushr/mushr_hardware/push_button_utils/CATKIN_IGNORE
-  touch $WS_PATH/catkin_ws/src/mushr/mushr_hardware/ydlidar/CATKIN_IGNORE
-  touch $WS_PATH/catkin_ws/src/mushr/mushr_hardware/realsense/realsense2_camera/CATKIN_IGNORE
+if [[ $MUSHR_REAL_ROBOT == 0 ]]; then
+  touch $MUSHR_WS_PATH/catkin_ws/src/mushr/mushr_hardware/push_button_utils/CATKIN_IGNORE
+  touch $MUSHR_WS_PATH/catkin_ws/src/mushr/mushr_hardware/ydlidar/CATKIN_IGNORE
+  touch $MUSHR_WS_PATH/catkin_ws/src/mushr/mushr_hardware/realsense/realsense2_camera/CATKIN_IGNORE
 fi
 
 # Make sure all devices are visible
-if [[ $REAL_ROBOT == 1 ]]; then
+if [[ $MUSHR_REAL_ROBOT == 1 ]]; then
   sudo udevadm control --reload-rules && sudo udevadm trigger
 fi

From 928fbbb1eddab351a731a22a6c4e8c5c121ce362 Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 21 Apr 2022 16:08:33 -0700
Subject: [PATCH 05/14] pushd/popd

---
 mushr_utils/install/mushr_install.bash | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index 023e656..892d0b7 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -1,4 +1,5 @@
 #!/bin/bash
+pushd `dirname $0`
 
 # Detect OS 
 export MUSHR_OS_TYPE="$(uname -s)"
@@ -140,3 +141,4 @@ fi
 if [[ $MUSHR_REAL_ROBOT == 1 ]]; then
   sudo udevadm control --reload-rules && sudo udevadm trigger
 fi
+popd

From d23e0bb18c70cbf8583e8f5b69535a5a98e4ee29 Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 21 Apr 2022 16:11:19 -0700
Subject: [PATCH 06/14] remove making the catkin_ws for them

---
 mushr_utils/install/mushr_install.bash | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index 892d0b7..648838f 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -7,7 +7,6 @@ if [[ $MUSHR_OS_TYPE == "Linux" ]]; then
   export MUSHR_OS_TYPE="$(uname -i)"
 fi
 
-
 # Are we in the right place to be running this?
 if [[ ! -f mushr_install.bash ]]; then
   echo Wrong directory! Change directory to the one containing mushr_install.bash
@@ -107,12 +106,6 @@ fi
 #  pip install vcstool
 #fi
 
-# Make catkin_ws outside container for easy editing
-if [[ ! -d "../../../../../catkin_ws" ]]; then
-  mkdir -p ../../../catkin_ws/src
-  cd ../../../ && mv mushr catkin_ws/src/mushr
-fi
-
 # Pull repos
 export MUSHR_WS_PATH=$(pwd | sed 's:/catkin_ws.*::')
 cd $MUSHR_WS_PATH/catkin_ws/src/ && vcs import < mushr/base-repos.yaml && vcs import < mushr/nav-repos.yaml

From f2ff0279f71e40ad9f2241fb850f02a73ecb78c3 Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Mon, 25 Apr 2022 16:33:07 -0700
Subject: [PATCH 07/14] move mushr_noetic to /usr/local/bin

---
 mushr_utils/install/mushr_install.bash | 25 ++++++++++++-------------
 1 file changed, 12 insertions(+), 13 deletions(-)

diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index 648838f..4d00c81 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -47,13 +47,12 @@ if [[ $REPLY =~ ^[Yy]$ ]]; then
 fi
 
 # curl and dep keys
-#if [[ $MUSHR_OS_TYPE != "Darwin" ]]; then
-  # TODO uncomment
-  #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-get update
-  #sudo apt-get install -y curl
-  #curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-#fi
+if [[ $MUSHR_OS_TYPE != "Darwin" ]]; then
+  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-get update
+  sudo apt-get install -y curl
+  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+fi
 
 # Robot specific settings
 if [[ $MUSHR_REAL_ROBOT == 1 ]]; then
@@ -99,12 +98,11 @@ if [[ $MUSHR_REAL_ROBOT == 1 ]]; then
 fi
 
 # vcstool https://github.com/dirk-thomas/vcstool 
-# TODO uncomment
-#if [[ $MUSHR_OS_TYPE != "Darwin" ]]; then
-  #sudo apt-get update && sudo apt install -y python3-vcstool
-#else
-#  pip install vcstool
-#fi
+if [[ $MUSHR_OS_TYPE != "Darwin" ]]; then
+  sudo apt-get update && sudo apt install -y python3-vcstool
+else
+  pip install vcstool
+fi
 
 # Pull repos
 export MUSHR_WS_PATH=$(pwd | sed 's:/catkin_ws.*::')
@@ -121,6 +119,7 @@ if [[ ! -f "${MUSHR_INSTALL_PATH}/mushr_noetic" ]]; then
     echo "export MUSHR_OS_TYPE=${MUSHR_OS_TYPE}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
     echo "docker-compose -f \$MUSHR_INSTALL_PATH/\$MUSHR_COMPOSE_FILE run -p 9090:9090 mushr_noetic bash" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
     chmod +x ${MUSHR_INSTALL_PATH}/mushr_noetic
+    sudo mv ${MUSHR_INSTALL_PATH}/mushr_noetic /usr/local/bin/
 fi
 
 # If laptop, don't build realsense2_camera, ydlidar, or push_button_utils

From 08a396a80d875d4484d241912d8b43f64a4750c2 Mon Sep 17 00:00:00 2001
From: Matt Schmittle <schmttle@cs.washington.edu>
Date: Thu, 28 Apr 2022 14:09:31 -0700
Subject: [PATCH 08/14] Update mushr_utils/install/mushr_install.bash

Co-authored-by: Brian Hou <brianhou@users.noreply.github.com>
---
 mushr_utils/install/mushr_install.bash | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index 4d00c81..ec134d7 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -124,9 +124,9 @@ fi
 
 # If laptop, don't build realsense2_camera, ydlidar, or push_button_utils
 if [[ $MUSHR_REAL_ROBOT == 0 ]]; then
-  touch $MUSHR_WS_PATH/catkin_ws/src/mushr/mushr_hardware/push_button_utils/CATKIN_IGNORE
-  touch $MUSHR_WS_PATH/catkin_ws/src/mushr/mushr_hardware/ydlidar/CATKIN_IGNORE
-  touch $MUSHR_WS_PATH/catkin_ws/src/mushr/mushr_hardware/realsense/realsense2_camera/CATKIN_IGNORE
+  for ignored_package in push_button_utils ydlidar realsense/realsense2_camera; do
+    touch $MUSHR_WS_PATH/catkin_ws/src/mushr/mushr_hardware/${ignored_package}/CATKIN_IGNORE
+  done
 fi
 
 # Make sure all devices are visible

From 905d66ebeacec45f968a6c7457567012b6949109 Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 28 Apr 2022 14:16:18 -0700
Subject: [PATCH 09/14] small tweaks from feedback

---
 mushr_utils/install/mushr_install.bash | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index 4d00c81..2c7cecb 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -47,7 +47,7 @@ if [[ $REPLY =~ ^[Yy]$ ]]; then
 fi
 
 # curl and dep keys
-if [[ $MUSHR_OS_TYPE != "Darwin" ]]; then
+if [[ $MUSHR_OS_TYPE == "Linux" ]]; then
   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-get update
   sudo apt-get install -y curl
@@ -105,9 +105,8 @@ else
 fi
 
 # Pull repos
-export MUSHR_WS_PATH=$(pwd | sed 's:/catkin_ws.*::')
+export MUSHR_WS_PATH=$(echo $MUSHR_INSTALL_PATH | sed 's:/catkin_ws.*::')
 cd $MUSHR_WS_PATH/catkin_ws/src/ && vcs import < mushr/base-repos.yaml && vcs import < mushr/nav-repos.yaml
-cd mushr/mushr_utils/install/ && export MUSHR_INSTALL_PATH=$(pwd)
 
 # Make custom mushr_noetic script
 if [[ ! -f "${MUSHR_INSTALL_PATH}/mushr_noetic" ]]; then
@@ -119,7 +118,7 @@ if [[ ! -f "${MUSHR_INSTALL_PATH}/mushr_noetic" ]]; then
     echo "export MUSHR_OS_TYPE=${MUSHR_OS_TYPE}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
     echo "docker-compose -f \$MUSHR_INSTALL_PATH/\$MUSHR_COMPOSE_FILE run -p 9090:9090 mushr_noetic bash" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
     chmod +x ${MUSHR_INSTALL_PATH}/mushr_noetic
-    sudo mv ${MUSHR_INSTALL_PATH}/mushr_noetic /usr/local/bin/
+    sudo ln -s ${MUSHR_INSTALL_PATH}/mushr_noetic /usr/local/bin/
 fi
 
 # If laptop, don't build realsense2_camera, ydlidar, or push_button_utils

From a26bfc1f70be22703cd6dba1a2f18a3f79c10783 Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 28 Apr 2022 14:39:19 -0700
Subject: [PATCH 10/14] heredoc

---
 mushr_utils/install/mushr_install.bash | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index 2e0af61..8e0feef 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -110,15 +110,16 @@ cd $MUSHR_WS_PATH/catkin_ws/src/ && vcs import < mushr/base-repos.yaml && vcs im
 
 # Make custom mushr_noetic script
 if [[ ! -f "${MUSHR_INSTALL_PATH}/mushr_noetic" ]]; then
-    touch ${MUSHR_INSTALL_PATH}/mushr_noetic
-    echo "export MUSHR_INSTALL_PATH=${MUSHR_INSTALL_PATH}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
-    echo "export MUSHR_REAL_ROBOT=${MUSHR_REAL_ROBOT}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
-    echo "export MUSHR_WS_PATH=${MUSHR_WS_PATH}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
-    echo "export MUSHR_COMPOSE_FILE=${MUSHR_COMPOSE_FILE}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
-    echo "export MUSHR_OS_TYPE=${MUSHR_OS_TYPE}" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
-    echo "docker-compose -f \$MUSHR_INSTALL_PATH/\$MUSHR_COMPOSE_FILE run -p 9090:9090 mushr_noetic bash" >> ${MUSHR_INSTALL_PATH}/mushr_noetic
-    chmod +x ${MUSHR_INSTALL_PATH}/mushr_noetic
-    sudo ln -s ${MUSHR_INSTALL_PATH}/mushr_noetic /usr/local/bin/
+	cat <<- EOF > ${MUSHR_INSTALL_PATH}/mushr_noetic
+	export MUSHR_INSTALL_PATH=${MUSHR_INSTALL_PATH}
+	export MUSHR_REAL_ROBOT=${MUSHR_REAL_ROBOT}
+	export MUSHR_WS_PATH=${MUSHR_WS_PATH}
+	export MUSHR_COMPOSE_FILE=${MUSHR_COMPOSE_FILE}
+	export MUSHR_OS_TYPE=${MUSHR_OS_TYPE}
+	docker-compose -f \$MUSHR_INSTALL_PATH/\$MUSHR_COMPOSE_FILE run -p 	9090:9090 mushr_noetic bash
+	EOF
+	chmod +x ${MUSHR_INSTALL_PATH}/mushr_noetic
+	sudo ln -s ${MUSHR_INSTALL_PATH}/mushr_noetic /usr/local/bin/
 fi
 
 # If laptop, don't build realsense2_camera, ydlidar, or push_button_utils

From 48353e3f0963e52b8676ae108d9c6c721fe7e32c Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 28 Apr 2022 14:40:09 -0700
Subject: [PATCH 11/14] remove gpu compose

---
 mushr_utils/install/docker-compose-gpu.yml | 29 ----------------------
 mushr_utils/install/mushr_install.bash     | 15 +----------
 2 files changed, 1 insertion(+), 43 deletions(-)
 delete mode 100644 mushr_utils/install/docker-compose-gpu.yml

diff --git a/mushr_utils/install/docker-compose-gpu.yml b/mushr_utils/install/docker-compose-gpu.yml
deleted file mode 100644
index d1461b6..0000000
--- a/mushr_utils/install/docker-compose-gpu.yml
+++ /dev/null
@@ -1,29 +0,0 @@
-version: "3.4"
-services:
-  mushr_noetic:
-    image: mushr/mushr:${MUSHR_OS_TYPE}
-    privileged: true
-    devices:
-      - "/dev:/dev"
-      - "/dev/ydlidar:/dev/ydlidar"
-      - "/dev/vesc:/dev/vesc"
-      - "/dev/input/js0:/dev/input/js0"
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia
-              capabilities: [gpu]
-    volumes:
-      - /usr/bin/tegrastats:/usr/bin/tegrastats 
-      - /etc/udev:/etc/udev
-      - /sys/class/gpio:/sys/class/gpio
-      - /tmp/.X11-unix:/tmp/.X11-unix
-      - /dev:/dev
-      - /dev/input:/dev/input
-      - ${MUSHR_WS_PATH}/catkin_ws:/root/catkin_ws # Runtime attach
-    environment:
-      - DISPLAY=${DISPLAY}
-      - QT_X11_NO_MITSHM=1
-      - NEVIAID_DRIVER_CAPABILITIES=all
-      - NVIDIA_VISIBLE_DEVICES=all
diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index 8e0feef..ae0e429 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -24,20 +24,7 @@ else
     export MUSHR_REAL_ROBOT=0
 fi
 
-# NVIDIA GPU? 
-read -p "Do you have a nvidia gpu with installed drivers? (y/n) " -r
-echo
-if [[ $REPLY =~ ^[Yy]$ ]]; then
-    if [[ $MUSHR_REAL_ROBOT == 1 ]]; then
-      export MUSHR_COMPOSE_FILE=docker-compose-robot.yml
-    else
-      export MUSHR_COMPOSE_FILE=docker-compose-gpu.yml
-    fi
-else
-    export MUSHR_COMPOSE_FILE=docker-compose-cpu.yml
-fi
-
-# Build from scratch (assumes GPU)?
+# Build from scratch 
 read -p "Build from scratch? (Not recommended, takes much longer than pulling ready-made image) (y/n) " -r
 echo
 export BUILD_FROM_SCRATCH=0

From b4ce7acf5a2b23a54d32f00e4e121b1a2b29134e Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 28 Apr 2022 14:41:08 -0700
Subject: [PATCH 12/14] add sbpl install

---
 mushr_utils/install/install_scripts/mushr_install_deps.bash | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mushr_utils/install/install_scripts/mushr_install_deps.bash b/mushr_utils/install/install_scripts/mushr_install_deps.bash
index 2cccd24..020a1b4 100644
--- a/mushr_utils/install/install_scripts/mushr_install_deps.bash
+++ b/mushr_utils/install/install_scripts/mushr_install_deps.bash
@@ -10,7 +10,7 @@ apt-get update
 apt-get install -y python3-vcstool python3-pip
 
 # Install extra ROS packages
-apt-get install -y ros-noetic-ackermann-msgs ros-noetic-map-server ros-noetic-urg-node ros-noetic-robot-state-publisher ros-noetic-xacro ros-noetic-joy ros-noetic-ddynamic-reconfigure ros-noetic-fake-localization ros-noetic-gmapping ros-noetic-rosbridge-suite
+apt-get install -y ros-noetic-ackermann-msgs ros-noetic-map-server ros-noetic-urg-node ros-noetic-robot-state-publisher ros-noetic-xacro ros-noetic-joy ros-noetic-ddynamic-reconfigure ros-noetic-fake-localization ros-noetic-gmapping ros-noetic-rosbridge-suite ros-noetic-sbpl
 
 # Install catkin tools
 wget http://packages.ros.org/ros.key -O - | apt-key add -

From 59150b1f770e9329c4238901c87cbf3f92a44a88 Mon Sep 17 00:00:00 2001
From: Your Name <schmttle@udel.edu>
Date: Thu, 28 Apr 2022 17:51:56 -0700
Subject: [PATCH 13/14] interface on laptop set to eth0

---
 mushr_utils/install/install_scripts/mushr_install_deps.bash | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/mushr_utils/install/install_scripts/mushr_install_deps.bash b/mushr_utils/install/install_scripts/mushr_install_deps.bash
index 020a1b4..69882fa 100644
--- a/mushr_utils/install/install_scripts/mushr_install_deps.bash
+++ b/mushr_utils/install/install_scripts/mushr_install_deps.bash
@@ -37,4 +37,8 @@ mkdir ~/.rviz
 cp ~/catkin_ws/src/mushr/mushr_utils/rviz/default.rviz ~/.rviz/
 
 # Set ROS_IP
-echo "export ROS_IP=\$(ifconfig wlan0 | grep 'inet ' | awk '{print \$2}')" >> ~/.bashrc
+if [[ $MUSHR_REAL_ROBOT == 1 ]]; then
+    echo "export ROS_IP=\$(ifconfig wlan0 | grep 'inet ' | awk '{print \$2}')" >> ~/.bashrc
+else
+    echo "export ROS_IP=\$(ifconfig eth0 | grep 'inet ' | awk '{print \$2}')" >> ~/.bashrc
+fi

From 9e8627787d6089ab8a082b79f26aa86be62d9a25 Mon Sep 17 00:00:00 2001
From: schmittlema <schmttle@cs.washington.edu>
Date: Tue, 31 May 2022 12:19:02 -0700
Subject: [PATCH 14/14] robot --> aarch64 docker image

---
 mushr_utils/install/docker-compose-build.yml | 2 +-
 mushr_utils/install/docker-compose-robot.yml | 2 +-
 mushr_utils/install/mushr_install.bash       | 7 +++----
 3 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/mushr_utils/install/docker-compose-build.yml b/mushr_utils/install/docker-compose-build.yml
index ab57d91..eb22c6f 100644
--- a/mushr_utils/install/docker-compose-build.yml
+++ b/mushr_utils/install/docker-compose-build.yml
@@ -1,7 +1,7 @@
 version: "3.4"
 services:
   mushr_noetic:
-    image: mushr/mushr:${MUSHR_OS_TYPE}
+          #image: mushr/mushr:${MUSHR_OS_TYPE}
     build: 
       context: ${MUSHR_WS_PATH}/catkin_ws
       dockerfile: ${MUSHR_INSTALL_PATH}/Dockerfile
diff --git a/mushr_utils/install/docker-compose-robot.yml b/mushr_utils/install/docker-compose-robot.yml
index 6792747..492b455 100644
--- a/mushr_utils/install/docker-compose-robot.yml
+++ b/mushr_utils/install/docker-compose-robot.yml
@@ -1,7 +1,7 @@
 version: "3.4"
 services:
   mushr_noetic:
-    image: mushr/mushr:robot
+    image: mushr/mushr:${MUSHR_OS_TYPE}
     network_mode: "host"
     privileged: true
     devices:
diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index ae0e429..4e1c2d0 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -3,9 +3,6 @@ pushd `dirname $0`
 
 # Detect OS 
 export MUSHR_OS_TYPE="$(uname -s)"
-if [[ $MUSHR_OS_TYPE == "Linux" ]]; then
-  export MUSHR_OS_TYPE="$(uname -i)"
-fi
 
 # Are we in the right place to be running this?
 if [[ ! -f mushr_install.bash ]]; then
@@ -19,7 +16,6 @@ read -p "Are you installing on robot and need all the sensor drivers? (y/n) " -r
 echo
 if [[ $REPLY =~ ^[Yy]$ ]]; then
     export MUSHR_REAL_ROBOT=1
-    export MUSHR_OS_TYPE=robot
 else
     export MUSHR_REAL_ROBOT=0
 fi
@@ -39,6 +35,9 @@ if [[ $MUSHR_OS_TYPE == "Linux" ]]; then
   sudo apt-get update
   sudo apt-get install -y curl
   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+  # Reset to specific hardware
+  export MUSHR_OS_TYPE="$(uname -i)"
 fi
 
 # Robot specific settings