scripts for installing human-aware robot navigation

navigation-setup.md

This repository contains script for installing packages related to human-aware navigation.

Requirements

Ubuntu 14.04 with ROS Indigo.

Usage

git clone https://gist.github.com/harmishhk/2e6baec83d696b5f5c212110d1d04dcc $HOME/ros/navigation_setup
cd ~/ros/navigation_setup && ./setup.sh

Script setup.sh runs the following steps.

Steps

1. Create a catkin workspace:

   export ROS_DISTRO=indigo
   export NAVIGATION_WS=$HOME/ros/navigation_ws
   mkdir -p $NAVIGATION_WS/src

2. Install prerequisites:

   sudo apt-get install \
       ros-$ROS_DISTRO-navigation \
       ros-$ROS_DISTRO-gmapping \
       python-rosinstall \
       python-catkin-tools

3. Download repositories:

   sed -i.bak s/ROS_DISTRO/$ROS_DISTRO/g $(pwd)/rosinstall
   cp rosinstall $NAVIGATION_WS/src/.rosinstall
   cd $NAVIGATION_WS/src/ && rosws update

4. Build catkin workspace:

   source /opt/ros/$ROS_DISTRO/setup.sh
   catkin build

.editorconfig

root = true

[*]
indent_style = space
indent_size = 4
insert_final_newline = true
trim_trailing_whitespace = true

Dockerfile

FROM harmish/ros:indigo-navigation

# add user: username=navuser, password=navuser
RUN apt-get update && \
    useradd -m -p paPgYflh0MBBQ -s /bin/bash -d /home/navuser -g sudo navuser

# copy setup files
ADD setup.sh /home/navuser/navigation-setup/setup.sh
ADD rosinstall /home/navuser/navigation-setup/rosinstall
RUN chown -R navuser:sudo /home/navuser/navigation-setup

# switch user to navuser
USER navuser
WORKDIR /home/navuser/navigation-setup

CMD ["bash", "/home/navuser/navigation-setup/setup.sh"]

rosinstall

- git: {local-name: 'navigation', uri: 'https://github.com/harmishhk/navigation', version: 'ROS_DISTRO-devel'}
- git: {local-name: 'hanp_msgs', uri: 'https://github.com/harmishhk/hanp_msgs', version: 'ROS_DISTRO-devel'}
- git: {local-name: 'hanp_layer', uri: 'https://github.com/harmishhk/hanp_layer', version: 'ROS_DISTRO-devel'}
- git: {local-name: 'hanp_filters', uri: 'https://github.com/harmishhk/hanp_filters', version: 'ROS_DISTRO-devel'}
- git: {local-name: 'hanp_prediction', uri: 'https://github.com/harmishhk/hanp_prediction', version: 'ROS_DISTRO-devel'}
- git: {local-name: 'hanp_local_planner', uri: 'https://github.com/harmishhk/hanp_local_planner', version: 'ROS_DISTRO-devel'}
- git: {local-name: 'hanp_head_behavior', uri: 'https://github.com/harmishhk/hanp_head_behavior', version: 'ROS_DISTRO-devel'}
- git: {local-name: 'pr2_point_head', uri: 'https://github.com/harmishhk/pr2_point_head', version: 'ROS_DISTRO-devel'}
- git: {local-name: 'costmap_converter', uri: 'https://github.com/rst-tu-dortmund/costmap_converter', version: 'master'}
- git: {local-name: 'tf_republisher', uri: 'https://github.com/harmishhk/tf_republisher', version: 'master'}
- setup-file:
    local-name: /opt/ros/ROS_DISTRO/setup.sh
- other:
    local-name: /opt/ros/ROS_DISTRO/share/ros

setup.sh

#!/bin/sh

current_dir=$(pwd)

finish(){
    unset nav_ws
    cd $current_dir
    unset current_dir
    if [ $1 -eq 1 ]; then
        return 1
    fi
    return 0
}

setup_navigation() {
    trap 'return 1' SIGINT

    if [ -z "$ROS_DISTRO" ]; then
        echo "ROS_DISTRO is not set, assuming ros-indigo is installed."
        export ROS_DISTRO=indigo
    else
        echo "Using ros-$ROS_DISTRO for overlay."
    fi

    # chekcing only under /opt/ros for ros installation
    if [ ! -f /opt/ros/$ROS_DISTRO/setup.sh ]
    then
        echo "You specified ros-$ROS_DISTRO, however I can't find /opt/ros/$ROS_DISTRO/setup.sh, stopping now."
        return 1
    fi

    if [ -z "$NAVIGATION_WS" ]; then
        echo "NAVIGATION_WS is not set. Please specify where do you want to create the catkin workspace:"
        read nav_ws
        if [ -z "$nav_ws" ]; then
            nav_ws=$(pwd)
        fi
        export nav_ws
        echo "Using catkin workspace under $nav_ws."
    else
        nav_ws=$NAVIGATION_WS
        echo "Using catking workspace under $nav_ws."
    fi

    # install prerequisites
    echo "Installing prerequisites ..."
    sudo apt-get install ros-$ROS_DISTRO-navigation ros-$ROS_DISTRO-gmapping python-rosinstall python-catkin-tools ros-indigo-libg2o

    # check if prerequisites' installation worked
    if [ ! -d "/opt/ros/$ROS_DISTRO/share/navigation" ] || \
    [ ! -d "/opt/ros/$ROS_DISTRO/share/gmapping" ] || \
    [ ! -f "/usr/bin/catkin" ] || \
    [ ! -f "/usr/bin/rosws" ]; then
        echo "Either you cancelled the installation of prerequisites or it failed, stopping now."
        return 1
    fi

    echo "Downloading navigation packages..."
    sed -i.bak s/ROS_DISTRO/$ROS_DISTRO/g $current_dir/rosinstall
    mkdir -p $nav_ws/src && cp $current_dir/rosinstall $nav_ws/src/.rosinstall
    cd $nav_ws/src && rosws update

    # check if navigation packages are downloaded
    git_check_fail=0
    [ "$(git -C "$nav_ws/src/navigation" symbolic-ref --short HEAD)" = "$ROS_DISTRO-devel" ] || git_check_fail=1
    [ "$(git -C "$nav_ws/src/hanp_msgs" symbolic-ref --short HEAD)" = "$ROS_DISTRO-devel" ] || git_check_fail=1
    [ "$(git -C "$nav_ws/src/hanp_layer" symbolic-ref --short HEAD)" = "$ROS_DISTRO-devel" ] || git_check_fail=1
    [ "$(git -C "$nav_ws/src/hanp_filters" symbolic-ref --short HEAD)" = "$ROS_DISTRO-devel" ] || git_check_fail=1
    [ "$(git -C "$nav_ws/src/hanp_prediction" symbolic-ref --short HEAD)" = "$ROS_DISTRO-devel" ] || git_check_fail=1
    [ "$(git -C "$nav_ws/src/hanp_local_planner" symbolic-ref --short HEAD)" = "$ROS_DISTRO-devel" ] || git_check_fail=1
    [ "$(git -C "$nav_ws/src/hanp_head_behavior" symbolic-ref --short HEAD)" = "$ROS_DISTRO-devel" ] || git_check_fail=1
    [ "$(git -C "$nav_ws/src/pr2_point_head" symbolic-ref --short HEAD)" = "$ROS_DISTRO-devel" ] || git_check_fail=1

    if [ $git_check_fail -eq 1 ]; then
        echo "One of the repositories failed to download properly, stopping now."
        return 1
    fi

    echo "Building navigation packages..."
    cd $nav_ws && source /opt/ros/$ROS_DISTRO/setup.sh && catkin build

    echo -e "Done.\n\nYou can now source $nav_ws/devel/setup.{sh|bash|zsh}.\n"
    return 0
}

setup_navigation
finish $?