-
Notifications
You must be signed in to change notification settings - Fork 0
/
intera.sh
executable file
·185 lines (154 loc) · 6.02 KB
/
intera.sh
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
#!/bin/bash
# Copyright (c) 2013-2016, Rethink Robotics
# All rights reserved.
# This file is to be used in the *root* of your Catkin workspace.
# This is a convenient script which will set up your ROS environment and
# should be executed with every new instance of a shell in which you plan on
# working with Intera.
# Clear any previously set your_ip/your_hostname
unset your_ip
unset your_hostname
#-----------------------------------------------------------------------------#
# USER CONFIGURABLE ROS ENVIRONMENT VARIABLES #
#-----------------------------------------------------------------------------#
# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
# previously set (typically in your .bashrc or .bash_profile), those settings
# will be overwritten by any variables set here.
# Specify Robot's hostname
robot_hostname="sawyer.hcr-lab"
# Set *Either* your computers ip address or hostname. Please note if using
# your_hostname that this must be resolvable to the Robot.
your_ip="172.30.36.120"
#your_hostname="loan-VirtualBox"
# Specify ROS distribution (e.g. kinetic, indigo, hydro, etc.)
ros_version="noetic"
#-----------------------------------------------------------------------------#
tf=$(mktemp)
trap "rm -f -- '${tf}'" EXIT
# If this file specifies an ip address or hostname - unset any previously set
# ROS_IP and/or ROS_HOSTNAME.
# If this file does not specify an ip address or hostname - use the
# previously specified ROS_IP/ROS_HOSTNAME environment variables.
if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
unset ROS_IP && unset ROS_HOSTNAME
else
your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
fi
# If argument provided, set robot_hostname to argument
# If argument is sim or local, set robot_hostname to localhost
if [ -n "${1}" ]; then
if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
robot_hostname="localhost"
if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
your_hostname="localhost"
your_ip=""
fi
else
robot_hostname="${1}"
fi
fi
topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
cat <<-EOF > ${tf}
[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
# verify this script is moved out of intera_sdk folder
if [[ -e "${topdir}/intera_sdk/package.xml" ]]; then
echo -ne "EXITING - This script must be moved from the intera_sdk folder \
to the root of your catkin workspace.\n"
exit 1
fi
# verify ros_version lowercase
ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
# check for ros installation
if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
echo "EXITING - No ROS installation found in /opt/ros."
echo "Is ROS installed?"
exit 1
fi
# if set, verify user has modified the robot_hostname
if [ -n ${robot_hostname} ] && \
[[ "${robot_hostname}" == "robot_hostname.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'robot_hostname' variable to reflect your Robot's current hostname.\n"
exit 1
fi
# if set, verify user has modified their ip address (your_ip)
if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
variable to reflect your current IP address.\n"
exit 1
fi
# if set, verify user has modified their computer hostname (your_hostname)
if [ -n ${your_hostname} ] && \
[[ "${your_hostname}" == "my_computer.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'your_hostname' variable to reflect your current PC hostname.\n"
exit 1
fi
# verify user does not have both their ip *and* hostname set
if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
*EITHER* your_ip or your_hostname.\n"
exit 1
fi
# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
your_ip or your_hostname.\n"
exit 1
fi
# verify specified ros version is installed
ros_setup="/opt/ros/\${ros_version}"
if [ ! -d "\${ros_setup}" ]; then
echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
in \${ros_setup}.\n"
exit 1
fi
# verify the ros setup.sh file exists
if [ ! -s "\${ros_setup}"/setup.sh ]; then
echo -ne "EXITING - Failed to find the ROS environment script: \
"\${ros_setup}"/setup.sh.\n"
exit 1
fi
# verify the user is running this script in the root of the catkin
# workspace and that the workspace has been compiled.
if [ ! -s "devel/setup.bash" ]; then
if [ ! -s "install/setup.sh" ]; then
echo -ne "EXITING - \n1) Please verify that this script is being run \
in the root of your catkin workspace.\n2) Please verify that your workspace \
has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
3) Run this script again upon completion of your workspace build.\n"
exit 1
fi
fi
[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
[ -n "${robot_hostname}" ] && \
export ROS_MASTER_URI="http://${robot_hostname}:11311"
# source the catkin setup bash script
source devel/setup.bash
# setup the bash prompt
export __ROS_PROMPT=\${__ROS_PROMPT:-0}
[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
__ros_prompt () {
if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
eval \${__ORIG_PROMPT_COMMAND}
fi
if ! echo \${PS1} | grep '\[intera' &>/dev/null; then
export PS1="\[\033[00;33m\][intera - \
\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
fi
}
if [ "\${TERM}" != "dumb" ]; then
export PROMPT_COMMAND=__ros_prompt
__ROS_PROMPT=1
elif ! echo \${PS1} | grep '\[intera' &>/dev/null; then
export PS1="[intera - \${ROS_MASTER_URI}] \${PS1}"
fi
EOF
${SHELL} --rcfile ${tf}
rm -f -- "${tf}"
trap - EXIT
# vim: noet