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RobotKernal-UESTC
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RobotKernal-UESTC/Code/MowingRobot/pibot_ros/pibot_init_env.sh

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#!/bin/bash
PIBOT_MODEL=
PIBOT_BOARD=
PIBOT_LIDAR=
PIBOT_3DSENSOR=
PIBOT_ADDRESS=
while getopts "m:b:l:c:a:" opt; do
case $opt in
m)
PIBOT_MODEL=$OPTARG
echo $PIBOT_MODEL;;
b)
PIBOT_BOARD=$OPTARG
echo $PIBOT_BOARD;;
l)
PIBOT_LIDAR=$OPTARG
echo $PIBOT_LIDAR;;
c)
PIBOT_3DSENSOR=$OPTARG
echo $PIBOT_3DSENSOR;;
a)
PIBOT_ADDRESS=$OPTARG
echo $PIBOT_ADDRESS;;
\?)
echo "usage: "$0 "-m {MODLE} -b {BOARD_TYPE} -L {LIDAR} -c {CAMERA} -a {ROS_iP}"
echo -e "\033[1;32m for example 1: $0 -m apollo -b stm32f1 -l rplidar -c none -a localhost\033[0m"
echo -e "\033[1;32m for example 1: $0 -m hades -b stm32f4 -l rplidar -c none -a localhost\033[0m"
exit 0 ;;
esac
done
if [ ! -z "$PIBOT_HOME" ]; then
PIBOT_HOME_DIR=$PIBOT_HOME
else
PIBOT_HOME_DIR=~/pibot_ros
fi
echo -e "\033[1;32mpibot home dir:$PIBOT_HOME_DIR"
sudo ln -sf $PIBOT_HOME_DIR/pibot_init_env.sh /usr/bin/pibot_init_env
sudo ln -sf $PIBOT_HOME_DIR/pibot_view_env.sh /usr/bin/pibot_view_env
sudo ln -sf $PIBOT_HOME_DIR/pibot_install_ros.sh /usr/bin/pibot_install_ros
if ! [ $PIBOT_ENV_INITIALIZED ]; then
echo "export PIBOT_ENV_INITIALIZED=1" >> ~/.bashrc
echo "source ~/.pibotrc" >> ~/.bashrc
fi
#rules
echo -e "\033[1;32msetup pibot modules"
echo " "
sudo rm -rf /etc/udev/rules.d/pibot.rules
sudo rm -rf /etc/udev/rules.d/rplidar.rules
sudo rm -rf /etc/udev/rules.d/ydlidar.rules
sudo cp $PIBOT_HOME_DIR/rules/98-pibot-usb.rules /etc/udev/rules.d
sudo cp $PIBOT_HOME_DIR/rules/56-orbbec-usb.rules /etc/udev/rules.d
echo " "
echo "Restarting udev"
echo ""
sudo udevadm control --reload-rules
sudo udevadm trigger
#sudo service udev reload
#sudo service udev restart
code_name=$(lsb_release -sc)
if [ "$code_name" = "trusty" ]; then
ROS_DISTRO="indigo"
elif [ "$code_name" = "xenial" ]; then
ROS_DISTRO="kinetic"
elif [ "$code_name" = "bionic" ] || [ "$code_name" = "stretch" ]; then
ROS_DISTRO="melodic"
elif [ "$code_name" = "focal" ] || [ "$code_name" = "buster" ]; then
ROS_DISTRO="noetic"
else
echo -e "\033[1;31m PIBOT not support "$code_name"\033[0m"
exit
fi
content="#source ros
if [ ! -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then
echo \"please run cd $PIBOT_HOME_DIR && ./pibot_install_ros.sh to install ros sdk\"
else
source /opt/ros/${ROS_DISTRO}/setup.bash
fi
"
echo "${content}" > ~/.pibotrc
#LOCAL_IP=`ifconfig eth0|grep "inet addr:"|awk -F":" '{print $2}'|awk '{print $1}'`
#LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'`
#if [ ! ${LOCAL_IP} ]; then
# echo "please check network"
# exit
#fi
LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F"/" '{print $1}'`
echo "LOCAL_IP=\`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print \$2}' | awk -F"/" '{print \$1}'\`" >> ~/.pibotrc
if [ ! ${LOCAL_IP} ]; then
echo -e "\033[1;31muse 127.0.0.1 as local ip\033[0m"
LOCAL_IP=127.0.0.1
fi
if [ "$PIBOT_MODEL" == "" ]; then
echo -e "\033[1;34mplease specify pibot model:\033[1;32m
(0: apollo(2wd-diff),
1: apolloX(2wd-diff),
2: zeus(3wd-omni),
3: hera(4wd-diff),
4: hades(4wd-mecanum),
5: hadesX(4wd-mecanum),
other: user defined)\033[1;33m"
read -p "" PIBOT_INPUT
PIBOT_MODEL_TYPE="diff"
if [ "$PIBOT_INPUT" = "0" ]; then
PIBOT_MODEL='apollo'
elif [ "$PIBOT_INPUT" = "1" ]; then
PIBOT_MODEL='apolloX'
elif [ "$PIBOT_INPUT" = "2" ]; then
PIBOT_MODEL='zeus'
PIBOT_MODEL_TYPE="omni"
elif [ "$PIBOT_INPUT" = "3" ]; then
PIBOT_MODEL='hera'
elif [ "$PIBOT_INPUT" = "4" ]; then
PIBOT_MODEL='hades'
PIBOT_MODEL_TYPE="omni"
elif [ "$PIBOT_INPUT" = "5" ]; then
PIBOT_MODEL='hadesX'
PIBOT_MODEL_TYPE="omni"
else
PIBOT_MODEL=$PIBOT_INPUT
fi
fi
if [ $PIBOT_MODEL == 'apollo' ] || [ $PIBOT_MODEL == 'apolloX' ] || [ $PIBOT_MODEL == 'hera' ]; then
PIBOT_MODEL_TYPE="diff"
else
PIBOT_MODEL_TYPE="omni"
fi
if [ "$PIBOT_BOARD" == "" ]; then
echo -e "\033[1;34mplease specify pibot driver board type:\033[1;32m
(0: arduino(mega2560),
1: stm32f103,
2: stm32f407,
other: user defined)\033[1;33m"
read -p "" PIBOT_INPUT
if [ "$PIBOT_INPUT" = "0" ]; then
PIBOT_BOARD='arduino'
elif [ "$PIBOT_INPUT" = "1" ]; then
PIBOT_BOARD='stm32f1'
elif [ "$PIBOT_INPUT" = "2" ]; then
PIBOT_BOARD='stm32f4'
else
PIBOT_BOARD=$PIBOT_INPUT
fi
fi
if [ $PIBOT_BOARD == 'arduino' ] || [ $PIBOT_BOARD == 'stm32f1' ]; then
PIBOT_DRIVER_BAUDRATE=115200
else
PIBOT_DRIVER_BAUDRATE=921600
fi
PIBOT_FAKE_LIDAR=0
if [ "$PIBOT_LIDAR" == "" ]; then
echo -e "\033[1;34mplease specify your pibot lidar:\033[1;32m
(0: not config,
1: rplidar(a1,a2),
2: rplidar(a3),
3: eai(x4),
4: eai(g4),
5: eai(tg15/tg30/tg50),
6: xtion,
7: astra,
8: kinectV1,
9: kinectV2,
10: rplidar(s1),
other: user defined)\033[1;33m"
read -p "" PIBOT_INPUT
if [ "$PIBOT_INPUT" = "0" ]; then
PIBOT_LIDAR='none'
elif [ "$PIBOT_INPUT" = "1" ]; then
PIBOT_LIDAR='rplidar'
elif [ "$PIBOT_INPUT" = "2" ]; then
PIBOT_LIDAR='rplidar-a3'
elif [ "$PIBOT_INPUT" = "3" ]; then
PIBOT_LIDAR='eai-x4'
elif [ "$PIBOT_INPUT" = "4" ]; then
PIBOT_LIDAR='eai-g4'
elif [ "$PIBOT_INPUT" = "5" ]; then
PIBOT_LIDAR='eai-tgx'
elif [ "$PIBOT_INPUT" = "6" ]; then
PIBOT_LIDAR='xtion'
PIBOT_FAKE_LIDAR=1
elif [ "$PIBOT_INPUT" = "7" ]; then
PIBOT_LIDAR='astra'
PIBOT_FAKE_LIDAR=1
elif [ "$PIBOT_INPUT" = "8" ]; then
PIBOT_LIDAR='kinectV1'
PIBOT_FAKE_LIDAR=1
elif [ "$PIBOT_INPUT" = "9" ]; then
PIBOT_LIDAR='kinectV2'
PIBOT_FAKE_LIDAR=1
elif [ "$PIBOT_INPUT" = "10" ]; then
PIBOT_LIDAR='rplidar-s1'
else
PIBOT_LIDAR=$PIBOT_INPUT
fi
fi
if [ "$PIBOT_LIDAR" = "xtion" ]; then
PIBOT_FAKE_LIDAR=1
elif [ "$PIBOT_LIDAR" = "astra" ]; then
PIBOT_FAKE_LIDAR=1
elif [ "$PIBOT_LIDAR" = "kinectV1" ]; then
PIBOT_FAKE_LIDAR=1
elif [ "$PIBOT_LIDAR" = "kinectV2" ]; then
PIBOT_FAKE_LIDAR=1
ln -s $PWD/third_party/iai_kinect2 $PWD/ros_ws/src/
else
if [ -f $PWD/ros_ws/src/iai_kinect2 ]; then
rm $PWD/ros_ws/src/iai_kinect2
fi
fi
if [ $PIBOT_FAKE_LIDAR = 1 ]; then
echo "fake lidar: $PIBOT_LIDAR"
PIBOT_3DSENSOR='none'
else
if [ "$PIBOT_3DSENSOR" == "" ]; then
echo -e "\033[1;34mplease specify your pibot 3dsensor:\033[1;32m
(0: not config,
1: xtion,
2: astra,
3: kinectV1,
4: kinectV2,
5: d435i,
other: user defined)\033[1;33m"
read -p "" PIBOT_INPUT
if [ "$PIBOT_INPUT" = "0" ]; then
PIBOT_3DSENSOR='none'
elif [ "$PIBOT_INPUT" = "1" ]; then
PIBOT_3DSENSOR='xtion'
elif [ "$PIBOT_INPUT" = "2" ]; then
PIBOT_3DSENSOR='astra'
elif [ "$PIBOT_INPUT" = "3" ]; then
PIBOT_3DSENSOR='kinectV1'
elif [ "$PIBOT_INPUT" = "4" ]; then
PIBOT_3DSENSOR='kinectV2'
elif [ "$PIBOT_INPUT" = "5" ]; then
PIBOT_3DSENSOR='d435i'
else
PIBOT_3DSENSOR=$PIBOT_INPUT
fi
fi
fi
echo "export PIBOT_HOME=${PIBOT_HOME_DIR}" >> ~/.pibotrc
echo "export ROS_IP=\`echo \$LOCAL_IP\`" >> ~/.pibotrc
echo "export ROS_HOSTNAME=\`echo \$LOCAL_IP\`" >> ~/.pibotrc
echo "export PIBOT_MODEL=${PIBOT_MODEL}" >> ~/.pibotrc
echo "export PIBOT_MODEL_TYPE=${PIBOT_MODEL_TYPE}" >> ~/.pibotrc
echo "export PIBOT_LIDAR=${PIBOT_LIDAR}" >> ~/.pibotrc
echo "export PIBOT_3DSENSOR=${PIBOT_3DSENSOR}" >> ~/.pibotrc
echo "export PIBOT_BOARD=${PIBOT_BOARD}" >> ~/.pibotrc
echo "export PIBOT_DRIVER_BAUDRATE=${PIBOT_DRIVER_BAUDRATE}" >> ~/.pibotrc
echo "export PIBOT_MAPS_DIR=~/maps" >> ~/.pibotrc
echo "export PIBOT_ASTRA_PID=0x\`lsusb | grep "2bc5:05" | awk '{print \$6}' | awk -F":" '{print \$2}'\`" >> ~/.pibotrc
if [ "$PIBOT_ADDRESS" == "" ]; then
echo -e "\033[1;34mplease specify the current machine(ip:$LOCAL_IP) type:\033[1;32m
(0: pibot board,
\033[31m1: control PC or Virtual PC\033[1;34m)\033[1;33m"
read PIBOT_INPUT
elif [ $PIBOT_ADDRESS == $LOCAL_IP ] || [ $PIBOT_ADDRESS == "localhost" ]; then
PIBOT_INPUT="0"
else
PIBOT_INPUT=$PIBOT_ADDRESS
fi
if [ "$PIBOT_INPUT" == "0" ]; then
ROS_MASTER_IP_STR="\`echo \$LOCAL_IP\`"
ROS_MASTER_IP=`echo $LOCAL_IP`
else
if [ "$PIBOT_ADDRESS" != "$LOCAL_IP" ]; then
echo -e "\033[1;34mplase specify the pibot board ip for commnication(e.g. 192.168.12.1):"
read -p "" PIBOT_INPUT
else
PIBOT_INPUT=$PIBOT_ADDRESS
fi
ROS_MASTER_IP_STR=`echo $PIBOT_INPUT`
ROS_MASTER_IP=`echo $PIBOT_INPUT`
fi
echo "export ROS_MASTER_URI=`echo http://${ROS_MASTER_IP_STR}:11311`" >> ~/.pibotrc
echo -e "\033[1;35m*****************************************************************"
echo "model: " $PIBOT_MODEL
echo "lidar: " $PIBOT_LIDAR
echo "local_ip: " ${LOCAL_IP}
echo "onboard_ip: " ${ROS_MASTER_IP}
echo ""
echo -e "please execute \033[1;36;4msource ~/.bashrc\033[1;35m to make the configure effective\033[0m"
echo -e "\033[1;35m*****************************************************************\033[0m"
#echo "source $PIBOT_HOME_DIR/ros_ws/devel/setup.bash" >> ~/.pibotrc
content="#source pibot
if [ ! -f $PIBOT_HOME_DIR/ros_ws/devel/setup.bash ]; then
echo -e \"please run \033[1;36;4mcd $PIBOT_HOME_DIR/ros_ws && catkin_make\033[0m to compile pibot sdk\"
else
source $PIBOT_HOME_DIR/ros_ws/devel/setup.bash
fi
"
echo "${content}" >> ~/.pibotrc
#alias
echo "alias pibot_bringup='roslaunch pibot_bringup bringup.launch'" >> ~/.pibotrc
echo "alias pibot_bringup_with_imu='roslaunch pibot_bringup bringup_with_imu.launch'" >> ~/.pibotrc
echo "alias pibot_lidar='roslaunch pibot_lidar ${PIBOT_LIDAR}.launch'" >> ~/.pibotrc
echo "alias pibot_base='roslaunch pibot_bringup robot.launch'" >> ~/.pibotrc
echo "alias pibot_base_with_imu='roslaunch pibot_bringup robot.launch use_imu:=true'" >> ~/.pibotrc
echo "alias pibot_control='roslaunch pibot_bringup keyboard_teleop.launch'" >> ~/.pibotrc
echo "alias pibot_joystick='roslaunch pibot_bringup joystick.launch'" >> ~/.pibotrc
echo "alias pibot_holonomic_joystick='roslaunch pibot_bringup joystick.launch holonomic:=true'" >> ~/.pibotrc
echo "alias pibot_configure='rosrun rqt_reconfigure rqt_reconfigure'" >> ~/.pibotrc
echo "alias pibot_simulator='roslaunch pibot_simulator nav.launch'" >> ~/.pibotrc
echo "alias pibot_gmapping='roslaunch pibot_navigation gmapping.launch'" >> ~/.pibotrc
echo "alias pibot_gmapping_with_imu='roslaunch pibot_navigation gmapping.launch use_imu:=true'" >> ~/.pibotrc
echo "alias pibot_save_map='roslaunch pibot_navigation save_map.launch'" >> ~/.pibotrc
echo "alias pibot_naviagtion='roslaunch pibot_navigation nav.launch'" >> ~/.pibotrc
echo "alias pibot_naviagtion_with_imu='roslaunch pibot_navigation nav.launch use_imu:=true'" >> ~/.pibotrc
echo "alias pibot_view='roslaunch pibot_navigation view_nav.launch'" >> ~/.pibotrc
echo "alias pibot_cartographer='roslaunch pibot_navigation cartographer.launch'" >> ~/.pibotrc
echo "alias pibot_cartographer_with_odom='roslaunch pibot_navigation cartographer_with_odom.launch'" >> ~/.pibotrc
echo "alias pibot_view_cartographer='roslaunch pibot_navigation view_cartographer.launch'" >> ~/.pibotrc
echo "alias pibot_hector_mapping='roslaunch pibot_navigation hector_mapping.launch'" >> ~/.pibotrc
echo "alias pibot_hector_mapping_without_imu='roslaunch pibot_navigation hector_mapping_without_odom.launch'" >> ~/.pibotrc
echo "alias pibot_karto_slam='roslaunch pibot_navigation karto_slam.launch'" >> ~/.pibotrc
echo "alias pibot_3d_mapping='roslaunch pibot_slam_3d rtabmap.launch use_imu:=false localization:=false'" >> ~/.pibotrc
echo "alias pibot_3d_mapping_with_imu='roslaunch pibot_slam_3d rtabmap.launch use_imu:=true localization:=false'" >> ~/.pibotrc
echo "alias pibot_3d_nav='roslaunch pibot_slam_3d rtabmap.launch use_imu:=false localization:=true'" >> ~/.pibotrc
echo "alias pibot_3d_nav_with_imu='roslaunch pibot_slam_3d rtabmap.launch use_imu:=true localization:=true'" >> ~/.pibotrc
echo "alias pibot_3d_view_mapping='roslaunch pibot_slam_3d view.launch localization:=true'" >> ~/.pibotrc
echo "alias pibot_3d_view_nav='roslaunch pibot_slam_3d view.launch localization:=false'" >> ~/.pibotrc
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