update ros2 wrapper build

nervosys · Mar 6, 2024 · b918fbc · b918fbc
1 parent 98be277
commit b918fbc
Showing 1 changed file with 35 additions and 11 deletions.
diff --git a/scripts/install_ros2_deps.sh b/scripts/install_ros2_deps.sh
@@ -7,26 +7,50 @@
 
 set -x
 
-DISTRO="$(lsb_release -sc)"
-
-if [ "$DISTRO" = 'focal' ] || [ $DISTRO = 'jammy' ]; then
-    ROS_DISTRO='humble'
+###
+### Variables
+###
+
+# DISTRO="$(lsb_release -sc)"
+ARCH="$(dpkg --print-architecture)"
+source /etc/os-release  # UBUNTU_CODENAME
+
+###
+### Main
+###
+
+if [ "$UBUNTU_CODENAME" = 'focal' ]; then     # Ubuntu 20.04 LTS
+    ROS_DISTRO='foxy'                         # ROS2 LTS
+elif [ "$UBUNTU_CODENAME" = 'jammy' ]; then   # Ubuntu 22.04 LTS
+    ROS_DISTRO='humble'                       # ROS2 LTS
 else
-    echo "ROS2 Humble Hawksbill LTS is not supported by ${DISTRO}"
+    echo "Error: Ubuntu distribution not supported: ${UBUNTU_CODENAME}"
     exit 1
 fi
 
 sudo apt-get update -y
+sudo apt-get install -y locales
+sudo locale-gen en_US en_US.UTF-8
+sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8
+
 sudo apt-get install -y curl gnupg lsb-release
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
 
-echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+echo "deb [arch=${ARCH} signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu ${UBUNTU_CODENAME} main" \
+    | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 sudo apt-get update -y
-sudo apt-get install -y "ros-$ROS_DISTRO-ros-base"
-
-echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+sudo apt-get upgrade -y
+sudo apt install -y ros-dev-tools
 
-sudo apt-get install -y ros-$ROS_DISTRO-vision-opencv ros-${ROS_DISTRO}-image-transport libyaml-cpp-dev ros-${ROS_DISTRO}-geometry-msgs ros-${ROS_DISTRO}-geographic-msgs
-sudo apt-get install -y ros-${ROS_DISTRO}-tf2-sensor-msgs ros-${ROS_DISTRO}-tf2-geometry-msgs ros-${ROS_DISTRO}-mavros*
+sudo apt-get install -y "ros-${ROS_DISTRO}-ros-base"
+sudo apt-get install -y "ros-${ROS_DISTRO}-vision-opencv" "ros-${ROS_DISTRO}-image-transport" libyaml-cpp-dev "ros-${ROS_DISTRO}-geometry-msgs" \
+    "ros-${ROS_DISTRO}-geographic-msgs"
+sudo apt-get install -y "ros-${ROS_DISTRO}-tf2-sensor-msgs" "ros-${ROS_DISTRO}-tf2-geometry-msgs" "ros-${ROS_DISTRO}-mavros*"
 sudo apt-get install -y python3-pip python3-yaml python3-setuptools python3-colcon-common-extensions
+
+echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+
+echo 'Success: ROS2 dependencies installed.'