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install_pyrobot.sh
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install_pyrobot.sh
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#!/usr/bin/env bash
helpFunction()
{
echo ""
echo -e "\t-p Decides the python version for pyRobot. Available Options: 2 or 3"
exit 1 # Exit script after printing help
}
while getopts "p:" opt
do
case "$opt" in
p ) PYTHON_VERSION="$OPTARG" ;;
? ) helpFunction ;; # Print helpFunction in case parameter is non-existent
esac
done
# Print helpFunction in case parameters are empty
if [ -z "$PYTHON_VERSION" ]; then
echo "Please select a python version";
helpFunction
fi
if [ $PYTHON_VERSION != "2" ] && [ $PYTHON_VERSION != "3" ]; then
echo "Invalid Python version type";
helpFunction
fi
ubuntu_version="$(lsb_release -r -s)"
if [ $ubuntu_version == "16.04" ]; then
echo "Ubuntu 16.04 detected. ROS-Kinetic chosen for installation.";
ROS_NAME="kinetic"
elif [ $ubuntu_version == "18.04" ]; then
echo "Ubuntu 18.04 detected. ROS-Melodic chosen for installation.";
ROS_NAME="melodic"
else
echo -e "Unsupported Ubuntu verison: $ubuntu_version"
echo -e "pyRobot only works with 16.04 or 18.04"
exit 1
fi
echo "Python $PYTHON_VERSION chosen for pyRobot installation."
sudo apt-get -y install python-virtualenv
sudo apt-get -y install ros-$ROS_NAME-orocos-kdl ros-$ROS_NAME-kdl-parser-py ros-$ROS_NAME-python-orocos-kdl ros-$ROS_NAME-trac-ik
if [ $PYTHON_VERSION == "2" ]; then
virtualenv_name="pyenv_pyrobot_python2"
VIRTUALENV_FOLDER=~/${virtualenv_name}
if [ ! -d "$VIRTUALENV_FOLDER" ]; then
virtualenv --system-site-packages -p python2.7 $VIRTUALENV_FOLDER
source ~/${virtualenv_name}/bin/activate
#pip install -U setuptools
pip install --upgrade 'setuptools<45.0.0'
pip install .
deactivate
echo "alias load_pyrobot_env='source $VIRTUALENV_FOLDER/bin/activate '" >> ~/.bashrc
fi
fi
if [ $PYTHON_VERSION == "3" ]; then
# Make a virtual env to install other dependencies (with pip)
virtualenv_name="pyenv_pyrobot_python3"
VIRTUALENV_FOLDER=~/${virtualenv_name}
if [ ! -d "$VIRTUALENV_FOLDER" ]; then
sudo apt-get -y install software-properties-common
if [ $ubuntu_version == "16.04" ]; then
sudo apt-get -y install python-software-properties
sudo add-apt-repository -y ppa:fkrull/deadsnakes
#sudo add-apt-repository ppa:jonathonf/python-3.6
fi
sudo apt-get update
sudo apt-get -y install python-catkin-tools python3.6-dev python3-catkin-pkg-modules python3-numpy python3-yaml
sudo apt-get -y install python3-tk python3.6-tk
virtualenv -p /usr/bin/python3.6 $VIRTUALENV_FOLDER
source ~/${virtualenv_name}/bin/activate
pip install catkin_pkg pyyaml empy rospkg
python -m pip install --upgrade numpy
pip install .
deactivate
fi
source ~/${virtualenv_name}/bin/activate
echo "Setting up PyRobot Catkin Ws..."
PYROBOT_PYTHON3_WS=~/pyrobot_catkin_ws
if [ ! -d "$PYROBOT_PYTHON3_WS/src" ]; then
mkdir -p $PYROBOT_PYTHON3_WS/src
cd $PYROBOT_PYTHON3_WS/src
if [ $ROS_NAME == "kinetic" ]; then
git clone -b indigo-devel https://github.com/ros/geometry
git clone -b indigo-devel https://github.com/ros/geometry2
git clone -b python3_patch https://github.com/kalyanvasudev/vision_opencv.git
else
git clone -b melodic-devel https://github.com/ros/geometry
git clone -b melodic-devel https://github.com/ros/geometry2
git clone -b python3_patch_melodic https://github.com/kalyanvasudev/vision_opencv.git
fi
git clone -b patch-1 https://github.com/kalyanvasudev/ros_comm.git
cd ..
# Install all the python 3 dependencies
sudo apt-get -y install ros-$ROS_NAME-cv-bridge
# Build
catkin_make --cmake-args -DPYTHON_EXECUTABLE=$(which python) -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
echo "alias load_pyrobot_env='source $VIRTUALENV_FOLDER/bin/activate && source $PYROBOT_PYTHON3_WS/devel/setup.bash'" >> ~/.bashrc
fi
deactivate
fi