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install.sh
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install.sh
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#!/bin/bash
cd ../
# Set the current directory as the root dorectory for all installations
ROOT_DIR=$(pwd)
# Install figlet for ASCII fonts in console during setup
sudo apt install -y figlet
#--------------------------------------------------
# Install ROS
#--------------------------------------------------
#figlet -t ============
#figlet -t Install ROS
#figlet -t ============
#cd coordination_oru/
#./install_ros.sh
#--------------------------------------------------
# Setup OMPL
#--------------------------------------------------
figlet -t ============
figlet -t Install OMPL
figlet -t ============
cd $ROOT_DIR
git clone https://github.com/Sushant-Chavan/ompl.git
cd ompl/
git checkout CustomBuildSettings
./install-ompl-ubuntu.sh.in
#--------------------------------------------------
# Install SMPL
#--------------------------------------------------
figlet -t ============
figlet -t Install SMPL
figlet -t ===========
cd $ROOT_DIR
mkdir -p SMPL/catkin_ws/src
cd SMPL
## Clone and install SBPL
git clone https://github.com/sbpl/sbpl
cd sbpl
mkdir build
cd build
cmake ..
make
sudo make install
## Create a catkin workspace
cd ../../catkin_ws/
source ~/.bashrc
source /opt/ros/kinetic/setup.bash
catkin init
catkin build
cd src
## Clone and install leatherman
#sudo apt install -y ros-kinetic-moveit-msgs ros-kinetic-octomap ros-kinetic-octomap-ros
#git clone https://github.com/aurone/leatherman
#source ~/.bashrc
#catkin build
#source ../devel/setup.bash
## Clone and install SMPL
git clone https://github.com/Sushant-Chavan/smpl.git
#rosdep install --from-paths smpl -i -y
catkin build smpl smpl_ompl_interface
source ../devel/setup.bash
## Build and install custom smpl and smpl_ompl_interface packages
mkdir -p smpl/smpl/build
mkdir -p smpl/smpl_ompl_interface/build
cd smpl/smpl/build
rm -rf *
cmake ..
make
sudo make install
sudo ldconfig
cd ../../smpl_ompl_interface/build
rm -rf *
cmake ..
make
sudo make install
sudo ldconfig
#--------------------------------------------------
# Clone coordination_oru
#--------------------------------------------------
figlet -t ===========
figlet -t Install Coordination Oru
figlet -t ===========
cd $ROOT_DIR
# Install MRPT
sudo apt install -y mrpt-apps libmrpt-dev
#git clone https://github.com/Sushant-Chavan/coordination_oru.git
cd coordination_oru/
## Build the GraphML generation tool
mkdir -p graphml_generator/build
cd graphml_generator/build/
rm -rf *
cmake ..
make
# Build and install DWT tool
mkdir -p $ROOT_DIR/coordination_oru/generators/logging/DynamicTimeWarping/build
cd $ROOT_DIR/coordination_oru/generators/logging/DynamicTimeWarping/build
rm -rf *
cmake ..
make
sudo make install
sudo ldconfig
# Build and install custom OMPL planner
mkdir -p $ROOT_DIR/coordination_oru/OmplPlanner/build
cd $ROOT_DIR/coordination_oru/OmplPlanner/build
rm -rf *
cmake ..
make
sudo make install
sudo ldconfig
# Install python requirements
cd $ROOT_DIR/coordination_oru
sudo apt install -y python3-pip python3-tk
sudo -H pip3 install --upgrade pip setuptools
sudo pip3 install -r requirements.txt
cd $ROOT_DIR
figlet -t Setup Complete