install ros1 and kobuki

ros1_kobuki.sh

#!/bin/bash

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

# Function to install ROS Noetic
install_ros() {
  echo "Setting up sources.list for ROS Noetic"
  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

  echo "Setting up keys for ROS Noetic"
  sudo apt install -y curl
  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

  echo "Updating package index"
  sudo apt-get update

  echo "Installing ROS Noetic desktop full"
  sudo apt-get install -y ros-noetic-desktop-full

  echo "Installing additional ROS packages"
  sudo apt-get install -y ros-noetic-jackal-gazebo

  echo "Setting up ROS environment"
  echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
  source ~/.bashrc

  echo "Installing additional ROS dependencies"
  sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

  echo "Initializing rosdep"
  sudo apt install -y python3-rosdep
  sudo rosdep init
  rosdep update

  echo "ROS Noetic installation completed successfully!"
}

# Function to install Kobuki base
install_kobuki() {
  echo "Installing ROS Noetic Kobuki core packages"
  sudo apt-get install -y ros-noetic-kobuki-core

  echo "Installing additional dependencies for Kobuki"
  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

  echo "Setting up catkin workspace and cloning repositories for Kobuki"
  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

  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

  echo "Sourcing ~/.bashrc again to ensure ROS environment is set up"
  source ~/.bashrc

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

  echo "Cloning kobuki_desktop repository and removing kobuki_qtestsuite"
  cd ~/catkin_ws/src
  git clone https://github.com/yujinrobot/kobuki_desktop.git
  cd kobuki_desktop/
  rm -r kobuki_qtestsuite

  echo "Building the catkin workspace again"
  cd ~/catkin_ws
  catkin_make  # or catkin build, depending on your setup

  echo "Sourcing ~/.bashrc again to finalize the setup"
  source ~/.bashrc

  echo "Kobuki installation completed successfully!"
}

# Ask the user if they want to install Kobuki base
read -p "Do you want to install Kobuki base? (y/n): " install_kobuki_choice

# Install ROS Noetic
install_ros

# Source .bashrc to ensure ROS environment is set up
source ~/.bashrc

# Install Kobuki base if the user chose to do so
if [[ $install_kobuki_choice == "y" || $install_kobuki_choice == "Y" ]]; then
  install_kobuki
else
  echo "Kobuki installation skipped."
fi