install

#!/usr/bin/env bash

## Install script for mutil calibration tool box
BLASER_DEPENDENCIES=$HOME/blaser_dependencies
###

mkdir -p $HOME/Calibration_ws/src
mkdir -p $HOME/blaser_dependencies

# Check ROS version and install Python libraries
if [[ $ROS_DISTRO == 'melodic'* ]]; then
  sudo apt-get install -y python-matplotlib python-numpy
elif [[ $ROS_DISTRO == 'noetic'* ]]; then
  sudo apt-get install -y python3-matplotlib python3-numpy
else
  echo "[ERROR] Unsupported ROS version '${ROS_DISTRO}'"
  exit 1
fi

# Install dependencies
# https://github.com/tbeu/matio
cd $BLASER_DEPENDENCIES
git clone git://git.code.sf.net/p/matio/matio
cd matio
./autogen.sh
./configure
make
sudo make install

# Install Ceres Solver 1.14
# http://ceres-solver.org/installation.html
cd $BLASER_DEPENDENCIES
wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
sudo apt-get install -y libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev
tar zxf ceres-solver-1.14.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.14.0
make -j8
sudo make install

# Install XIMEA camera Linux software package
# https://www.ximea.com/support/wiki/apis/XIMEA_Linux_Software_Package
cd $BLASER_DEPENDENCIES
wget https://www.ximea.com/downloads/recent/XIMEA_Linux_SP.tgz
tar xzf XIMEA_Linux_SP.tgz
mv package ximea_linux_sp
cd ximea_linux_sp
sudo ./install

## build UR5 robot driver & MOVEIT 
mkdir $HOME/Calibration_ws/src/src
cd $HOME/Calibration_ws/src/src
git clone -b boost https://github.com/UniversalRobots/Universal_Robots_Client_Library.git src/Universal_Robots_Client_Library
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y
cd $HOME/Calibration_ws
catkin build


## build Calibration_ws(ximea_ros_cam & apriltag_ros)
cd $HOME/Calibration_ws/src
git clone https://github.com/Flowerst-0416/UR_arm_camera_calibration.git
git clone https://github.com/wavelab/ximea_ros_cam.git
git clone https://github.com/AprilRobotics/apriltag.git
cd $HOME/Calibration_ws
catkin build

##########################################
# Enable high speed USB and USB permission
sudo adduser $USER dialout
# if file /etc/rc.local already exists
echo 'echo 0 > /sys/module/usbcore/parameters/usbfs_memory_mb' | sudo tee -a /etc/rc.local
# if file /etc/rc.local does not exist
printf '%s\n' '#!/bin/bash' 'echo 0 > /sys/module/usbcore/parameters/usbfs_memory_mb' | sudo tee /etc/rc.local; sudo chmod +x /etc/rc.local

mkdir $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/intrinsic
mkdir $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/intrinsic_rect
mkdir $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/laser

cp $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/cfg/laser_calib.yaml $HOME/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/laser/laser_calib.yaml