kobuki install script

kobuki_install.sh

#!/bin/bash

# Exit immediately if a command exits with a non-zero status
set -e

# Install ROS Noetic Kobuki core packages
echo "Installing ROS Noetic Kobuki core packages"
sudo apt-get install -y ros-noetic-kobuki-core

# Install additional dependencies
echo "Installing additional dependencies"
sudo apt install -y liborocos-kdl-dev
sudo apt-get install -y ros-noetic-ecl-*
sudo apt-get install -y libusb-dev
sudo apt-get install -y libftdi-dev

# Create catkin workspace and clone necessary repositories
echo "Setting up catkin workspace and cloning repositories"
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

git clone https://github.com/yujinrobot/kobuki.git
git clone https://github.com/yujinrobot/yujin_ocs.git
git clone https://github.com/yujinrobot/kobuki_msgs.git
git clone https://github.com/yujinrobot/kobuki_core.git

# Modify yujin_ocs directory
echo "Modifying yujin_ocs directory"
cd yujin_ocs
mkdir save 
mv yocs_cmd_vel_mux save
mv yocs_controllers save
mv yocs_velocity_smoother save
rm -rf yocs*
cd save 
mv * ..
cd .. && rmdir save

# Build the catkin workspace
echo "Building the catkin workspace"
cd ~/catkin_ws/
catkin_make

# Create udev rules for Kobuki
echo "Creating udev rules for Kobuki"
rosrun kobuki_ftdi create_udev_rules

echo "Kobuki installation completed successfully!"