setup.sh

#!/bin/bash

# Exit immediately if any command exits with a nonzero exit value
set -e

function install_basic_packages {
    sudo apt-get update -qq
    sudo apt-get install -y -qq curl figlet wget
}

function fancy_print {
    echo "################################################################################"
    figlet -t $1
    echo "################################################################################"
}

# Install ROS Kinetic
function update_keys {
    sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu xenial main\" > /etc/apt/sources.list.d/ros-latest.list"
    sudo curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
    sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
    sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
}

function install_ros_kinetic_base {
    sudo apt-get update -qq
    sudo apt-get install -y -qq ros-kinetic-ros-base
}

function install_ros_dependencies {
    sudo rm -rf /etc/ros/rosdep/sources.list.d/*
    sudo rosdep init -q
    rosdep update -q
    sudo apt install -y -qq python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools python-pip
    sudo pip install catkin_pkg empy
    sudo rm -rf /var/lib/apt/lists/*
}

function install_ros {
    update_keys
    if $1
        then
            fancy_print "Installing ROS"
            install_ros_kinetic_base
    fi
    fancy_print "Installing ROS Dependencies"
    install_ros_dependencies
    source /opt/ros/kinetic/setup.bash
}

# Setup catkin workspace in the home directory
function setup_catkin_ws {
    fancy_print "Setting up a catkin workspace"
    mkdir -p $INSTALL_DIR/catkin_ws/src
    cd $INSTALL_DIR/catkin_ws
    catkin init
    catkin config --extend /opt/ros/kinetic/
    catkin build
    source $INSTALL_DIR/catkin_ws/devel/setup.bash
}

# Clone mas_industrial_robotics and other repos
function get_mas_industrial_robotics {
    fancy_print "Getting source code"
    wstool init --shallow src
    wstool merge -t src $ROOT_DIR/repository.rosinstall
    wstool update -t src
    cp -r $ROOT_DIR $INSTALL_DIR/catkin_ws/src
}

# Install ros and other dependencies
function install_mas_dependencies {
    fancy_print "Installing MAS Dependencies"
    rosdep update -q
    sudo apt-get update
    rosdep install --from-paths src --ignore-src --rosdistro=kinetic --skip-keys rosplan_demos -y
}

function build_mas_industrial_robotics {
    fancy_print "Building ROS packages"
    source $INSTALL_DIR/catkin_ws/devel/setup.bash
    # Disable building the youbot_driver_ros_interface in travis CI as it expects a user input during build
    touch $INSTALL_DIR/catkin_ws/src/youbot_driver_ros_interface/CATKIN_IGNORE
    catkin build
}


# Begin shell command executions from here
# Store the root directory path in a variable
ROOT_DIR=$(pwd)

FULL_INSTALL=false
if [[ $1 = "full" ]]
    then
        FULL_INSTALL=true
fi

# If no arg then catkin_ws is created in home
# folder, otherwise in specified folder
if [ -z "$2" ]
    then
        INSTALL_DIR=~
    else
        INSTALL_DIR=$2
fi

install_basic_packages
install_ros $FULL_INSTALL
setup_catkin_ws
get_mas_industrial_robotics
install_mas_dependencies
build_mas_industrial_robotics
fancy_print "Build Complete"