#!/usr/bin/env bash
set -eu

# Copyright 2019-2024 Tiryoh
# https://github.com/Tiryoh/ros2_setup_scripts_ubuntu
# Licensed under the Apache License, Version 2.0
#
# REF: https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html
# by Open Robotics, licensed under CC-BY-4.0
# source: https://github.com/ros2/ros2_documentation

CHOOSE_ROS_DISTRO=jazzy
INSTALL_PACKAGE=ros-base
TARGET_OS=noble

# Check OS version
if ! which lsb_release > /dev/null ; then
	sudo apt-get update
	sudo apt-get install -y curl lsb-release
fi

if [[ "$(lsb_release -sc)" == "$TARGET_OS" ]]; then
	echo "OS Check Passed"
else
	printf '\033[33m%s\033[m\n' "=================================================="
	printf '\033[33m%s\033[m\n' "ERROR: This OS (version: $(lsb_release -sc)) is not supported"
	printf '\033[33m%s\033[m\n' "=================================================="
	exit 1
fi

if ! dpkg --print-architecture | grep -q 64; then
	printf '\033[33m%s\033[m\n' "=================================================="
	printf '\033[33m%s\033[m\n' "ERROR: This architecture ($(dpkg --print-architecture)) is not supported"
	printf '\033[33m%s\033[m\n' "See https://www.ros.org/reps/rep-2000.html"
	printf '\033[33m%s\033[m\n' "=================================================="
	exit 1
fi

# Install
sudo apt-get update
sudo apt-get install -y software-properties-common
sudo add-apt-repository -y universe
sudo apt-get install -y curl gnupg2 lsb-release build-essential

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt-get update
sudo apt-get install -y ros-$CHOOSE_ROS_DISTRO-$INSTALL_PACKAGE
sudo apt-get install -y python3-argcomplete python3-colcon-clean
sudo apt-get install -y python3-colcon-common-extensions
sudo apt-get install -y python3-rosdep python3-vcstool
[ -e /etc/ros/rosdep/sources.list.d/20-default.list ] ||
sudo rosdep init
rosdep update
grep -F "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" ~/.bashrc ||
echo "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" >> ~/.bashrc
grep -F "export ROS_AUTOMATIC_DISCOVERY_RANGE=" ~/.bashrc ||
echo "export ROS_DOMAIN_ID=78" >> ~/.bashrc

set +u

source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash
source ~/.bashrc
cd /home/robot/Frob_robot/ros2/src/ros2_ws
echo "success installing ROS2 $CHOOSE_ROS_DISTRO"
echo "Run 'source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash'"
