├── turtlebot4_setup ├── __init__.py ├── wifi.py ├── menu.py ├── turtlebot4_setup ├── conf.py └── ros_setup.py ├── .gitignore ├── .github ├── ISSUE_TEMPLATE │ ├── config.yml │ ├── 0-troubleshooting-redirect.yml │ ├── 2-feature.yml │ └── 1-bug.yml ├── CODEOWNERS ├── workflows │ └── ci.yml └── PULL_REQUEST_TEMPLATE.md ├── udev ├── 80-movidius.rules ├── 50-turtlebot4.rules ├── 99-gpio.rules └── 60-logitech.rules ├── etc ├── turtlebot4 │ ├── system │ ├── discovery.sh │ ├── firmware │ │ ├── cmdline.txt │ │ └── config.txt │ ├── discovery.conf │ ├── fastdds_rpi.xml │ ├── setup.bash │ ├── cyclonedds_rpi.xml │ ├── aliases.bash │ ├── chrony.conf │ └── fastdds_discovery_create3.xml ├── rc.local ├── motd ├── netplan │ ├── 50-wifis.yaml │ └── 40-ethernets.yaml └── systemd │ └── system │ └── webserver.service ├── scripts ├── swap_off.sh ├── swap_on.sh ├── create_update.sh ├── jazzy.sh ├── sd_flash.sh └── turtlebot4_setup.sh ├── boot └── firmware │ ├── cmdline.txt │ └── config.txt ├── debian ├── install └── postinst ├── install_config └── logind │ └── 70-clearpath-standard-logind.conf ├── CONTRIBUTING.md ├── CMakeLists.txt ├── package.xml ├── README.md ├── turtlebot4_discovery └── configure_discovery.sh ├── CHANGELOG.rst └── LICENSE /turtlebot4_setup/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode/ 2 | __pycache__/ 3 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/config.yml: -------------------------------------------------------------------------------- 1 | blank_issues_enabled: false -------------------------------------------------------------------------------- /udev/80-movidius.rules: -------------------------------------------------------------------------------- 1 | SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666" 2 | -------------------------------------------------------------------------------- /.github/CODEOWNERS: -------------------------------------------------------------------------------- 1 | # Default all changes will request review from: 2 | * @roni-kreinin -------------------------------------------------------------------------------- /etc/turtlebot4/system: -------------------------------------------------------------------------------- 1 | MODEL:lite 2 | VERSION:2.0.2 3 | ROS:Jazzy 4 | HOSTNAME:turtlebot4 -------------------------------------------------------------------------------- /scripts/swap_off.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | sudo swapoff -v /swapfile 4 | sudo rm /swapfile 5 | -------------------------------------------------------------------------------- /etc/turtlebot4/discovery.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | source /opt/ros/jazzy/setup.bash 3 | fastdds discovery -i 0 -p 11811 4 | -------------------------------------------------------------------------------- /udev/50-turtlebot4.rules: -------------------------------------------------------------------------------- 1 | SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK="RPLIDAR", MODE="0666" -------------------------------------------------------------------------------- /etc/rc.local: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # Give ourselves some swap to deal with RAM issues 4 | if [ -f /swapfile ]; then 5 | swapon /swapfile 6 | fi 7 | -------------------------------------------------------------------------------- /scripts/swap_on.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | sudo fallocate -l 4G /swapfile 4 | sudo chmod 600 /swapfile 5 | sudo mkswap /swapfile 6 | sudo swapon /swapfile 7 | -------------------------------------------------------------------------------- /boot/firmware/cmdline.txt: -------------------------------------------------------------------------------- 1 | console=serial0,115200 dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 rootwait fixrtc quiet splash modules-load=dwc2,g_ether 2 | -------------------------------------------------------------------------------- /debian/install: -------------------------------------------------------------------------------- 1 | scripts/* /usr/bin/ 2 | udev/*.rules /etc/udev/rules.d/ 3 | etc/* /etc/ 4 | install_config/logind/70-clearpath-standard-logind.conf /usr/lib/systemd/logind.conf.d/ 5 | -------------------------------------------------------------------------------- /etc/turtlebot4/firmware/cmdline.txt: -------------------------------------------------------------------------------- 1 | console=serial0,115200 dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 rootwait fixrtc quiet splash modules-load=dwc2,g_ether 2 | -------------------------------------------------------------------------------- /etc/motd: -------------------------------------------------------------------------------- 1 | _____ _ _ _ _ _ _ 2 | |_ _| _ _ _| |_| |___| |__ ___| |_| | | 3 | | || || | '_| _| / -_) '_ \/ _ \ _|_ _| 4 | |_| \_,_|_| \__|_\___|_.__/\___/\__| |_| 5 | -------------------------------------------------------------------------------- /install_config/logind/70-clearpath-standard-logind.conf: -------------------------------------------------------------------------------- 1 | # Disable the clearing of SHM links when all user sessions are ended so that running 2 | # ROS 2 services are not impacted when SSH sessions are closed. 3 | [Login] 4 | RemoveIPC=no 5 | -------------------------------------------------------------------------------- /etc/turtlebot4/discovery.conf: -------------------------------------------------------------------------------- 1 | [Unit] 2 | Description=FastDDS discovery server 3 | After=network-online.target 4 | 5 | [Service] 6 | User=ubuntu 7 | Type=simple 8 | Restart=on-failure 9 | RestartSec=1 10 | ExecStart=/bin/bash -e /usr/sbin/discovery 11 | 12 | [Install] 13 | WantedBy=multi-user.target 14 | -------------------------------------------------------------------------------- /udev/99-gpio.rules: -------------------------------------------------------------------------------- 1 | SUBSYSTEM=="bcm2835-gpiomem", KERNEL=="gpiomem", GROUP="dialout", MODE="0660" 2 | SUBSYSTEM=="i2c-dev", KERNEL=="i2c*", GROUP="dialout", MODE="0666" 3 | SUBSYSTEM=="spidev", KERNEL=="spidev*", GROUP="dialout", MODE="0660" 4 | SUBSYSTEM=="gpio", KERNEL=="gpiochip*", GROUP="dialout", MODE="0666" 5 | -------------------------------------------------------------------------------- /etc/netplan/50-wifis.yaml: -------------------------------------------------------------------------------- 1 | network: 2 | version: 2 3 | wifis: 4 | renderer: NetworkManager 5 | wlan0: 6 | access-points: 7 | Turtlebot4: 8 | band: 5GHz 9 | mode: ap 10 | password: Turtlebot4 11 | dhcp4: true 12 | -------------------------------------------------------------------------------- /etc/systemd/system/webserver.service: -------------------------------------------------------------------------------- 1 | [Unit] 2 | Description=Create 3 Webserver forwarding service 3 | After=network.target 4 | StartLimitIntervalSec=0 5 | [Service] 6 | Type=simple 7 | Restart=always 8 | RestartSec=1 9 | ExecStart=/usr/bin/socat TCP-LISTEN:8080,fork,reuseaddr tcp:192.168.186.2:80 10 | 11 | [Install] 12 | WantedBy=multi-user.target 13 | -------------------------------------------------------------------------------- /etc/netplan/40-ethernets.yaml: -------------------------------------------------------------------------------- 1 | network: 2 | version: 2 3 | ethernets: 4 | renderer: NetworkManager 5 | eth0: 6 | addresses: 7 | - 192.168.185.3/24 8 | dhcp4: false 9 | optional: false 10 | usb0: 11 | addresses: 12 | - 192.168.186.3/24 13 | dhcp4: false 14 | -------------------------------------------------------------------------------- /etc/turtlebot4/fastdds_rpi.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /etc/turtlebot4/setup.bash: -------------------------------------------------------------------------------- 1 | export CYCLONEDDS_URI=/etc/turtlebot4/cyclonedds_rpi.xml 2 | export FASTRTPS_DEFAULT_PROFILES_FILE=/etc/turtlebot4/fastdds_rpi.xml 3 | export ROBOT_NAMESPACE= 4 | export ROS_DOMAIN_ID=0 5 | export ROS_DISCOVERY_SERVER= 6 | export RMW_IMPLEMENTATION=rmw_fastrtps_cpp 7 | export TURTLEBOT4_DIAGNOSTICS=1 8 | export WORKSPACE_SETUP=/opt/ros/jazzy/setup.bash 9 | export ROS_SUPER_CLIENT=False 10 | export ROBOT_SETUP=/etc/turtlebot4/setup.bash 11 | 12 | source $WORKSPACE_SETUP 13 | -------------------------------------------------------------------------------- /debian/postinst: -------------------------------------------------------------------------------- 1 | #!/bin/bash -e 2 | 3 | PKG="turtlebot4_setup" 4 | 5 | if [ -f /etc/turtlebot4/chrony.conf ]; then 6 | sudo cp /etc/turtlebot4/chrony.conf /etc/chrony/chrony.conf 7 | fi 8 | sudo service chrony restart 9 | sudo systemctl enable webserver.service 10 | sudo systemctl disable systemd-networkd-wait-online.service 11 | 12 | # Remove old/new dpkg configs 13 | sudo rm -f /etc/turtlebot4/*.dpkg-new 14 | sudo rm -f /etc/turtlebot4/*.dpkg-old 15 | sudo rm -f /etc/netplan/*.dpkg-new 16 | sudo rm -f /etc/netplan/*.dpkg-old 17 | sudo rm -f /etc/chrony/*.dpkg-new 18 | sudo rm -f /etc/chrony/*.dpkg-old 19 | 20 | #DEBHELPER# -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/0-troubleshooting-redirect.yml: -------------------------------------------------------------------------------- 1 | name: Troubleshooting Help 2 | description: "If you need troubleshooting help please use the troubleshooting form from the Turtlebot4 repo: https://github.com/turtlebot/turtlebot4/issues/new/choose." 3 | labels: ["troubleshooting"] 4 | assignees: 5 | - smatarCPR 6 | - RustyCPR 7 | body: 8 | - type: markdown 9 | attributes: 10 | value: "If you need troubleshooting help please use the troubleshooting form here: https://github.com/turtlebot/turtlebot4/issues/new/choose." 11 | - type: dropdown 12 | id: value 13 | attributes: 14 | label: Understand? 15 | options: 16 | - 'Yes' 17 | -------------------------------------------------------------------------------- /.github/workflows/ci.yml: -------------------------------------------------------------------------------- 1 | name: turtlebot4_setup_ci 2 | 3 | on: [push, pull_request] 4 | 5 | jobs: 6 | turtlebot4_jazzy_ci: 7 | name: Jazzy 8 | runs-on: ubuntu-24.04 9 | steps: 10 | - uses: actions/checkout@v2.3.4 11 | - uses: ros-tooling/setup-ros@v0.7 12 | with: 13 | required-ros-distributions: jazzy 14 | use-ros2-testing: true 15 | - uses: ros-tooling/action-ros-ci@v0.3 16 | id: action_ros_ci_step 17 | with: 18 | target-ros2-distro: jazzy 19 | import-token: ${{ secrets.GITHUB_TOKEN }} 20 | skip-tests: false 21 | package-name: 22 | turtlebot4_setup 23 | -------------------------------------------------------------------------------- /scripts/create_update.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | # Flags: 4 | # -h Help 5 | 6 | Help() 7 | { 8 | echo "Create 3 update script for robots running I.*.*" 9 | echo 10 | echo "usage: bash create_update.sh /path/to/image.swu [-h]" 11 | echo "options:" 12 | echo " -h Print this help statement" 13 | echo 14 | } 15 | 16 | while getopts "h" flag 17 | do 18 | case "${flag}" in 19 | h) 20 | Help 21 | exit;; 22 | \?) 23 | echo "Error: Invalid flag" 24 | exit;; 25 | esac 26 | done 27 | 28 | echo "Image path: $1"; 29 | 30 | curl -X POST --data-binary @$1 http://192.168.186.2/api/firmware-update 31 | -------------------------------------------------------------------------------- /etc/turtlebot4/cyclonedds_rpi.xml: -------------------------------------------------------------------------------- 1 | 2 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | true 13 | 14 | 15 | -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # Contributing to TurtleBot4 Setup 2 | 3 | Any contribution that you make to this repository will 4 | be under the Apache 2 License, as dictated by that 5 | [license](http://www.apache.org/licenses/LICENSE-2.0.html): 6 | 7 | ~~~ 8 | 5. Submission of Contributions. Unless You explicitly state otherwise, 9 | any Contribution intentionally submitted for inclusion in the Work 10 | by You to the Licensor shall be under the terms and conditions of 11 | this License, without any additional terms or conditions. 12 | Notwithstanding the above, nothing herein shall supersede or modify 13 | the terms of any separate license agreement you may have executed 14 | with Licensor regarding such Contributions. 15 | ~~~ 16 | -------------------------------------------------------------------------------- /scripts/jazzy.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | sudo apt update && sudo apt install curl gnupg lsb-release -y 3 | 4 | # Add ROS sources 5 | sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 6 | echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null 7 | 8 | # Install the packages 9 | sudo apt update 10 | sudo apt install -y \ 11 | ros-jazzy-ros-base \ 12 | build-essential \ 13 | cmake \ 14 | git \ 15 | wget \ 16 | ros-dev-tools \ 17 | socat \ 18 | network-manager \ 19 | chrony 20 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/2-feature.yml: -------------------------------------------------------------------------------- 1 | name: Feature request 2 | description: Use this form for requesting a feature that current doesn't exist. 3 | labels: ["enhancement"] 4 | assignees: 5 | - smatarCPR 6 | - RustyCPR 7 | body: 8 | - type: textarea 9 | attributes: 10 | label: Describe the the feature you would like 11 | description: A clear and concise description of what you want to happen. 12 | validations: 13 | required: true 14 | - type: textarea 15 | attributes: 16 | label: Motivation and impact 17 | description: Why is this an important feature and who will it impact? 18 | validations: 19 | required: true 20 | - type: textarea 21 | attributes: 22 | label: Other notes 23 | description: Add anything else you thing is important. 24 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | ## Description 2 | 3 | Please include a summary of the change and which issue is fixed. Also include relevant motivation and context. 4 | 5 | Fixes # (issue). 6 | 7 | ## Type of change 8 | 9 | - [ ] Bug fix (non-breaking change which fixes an issue) 10 | - [ ] New feature (non-breaking change which adds functionality) 11 | 12 | ## How Has This Been Tested? 13 | 14 | Please describe the tests that you ran to verify your changes. 15 | Provide instructions so we can reproduce. Also list any relevant details for your test configuration. 16 | 17 | ```bash 18 | # Run this command 19 | ros2 launch package launch.py 20 | ``` 21 | 22 | ## Checklist 23 | 24 | - [ ] I have performed a self-review of my own code 25 | - [ ] I have commented my code, particularly in hard-to-understand areas 26 | - [ ] I have made corresponding changes to the documentation -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(turtlebot4_setup) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic) 6 | endif() 7 | 8 | # find dependencies 9 | find_package(ament_cmake REQUIRED) 10 | find_package(ament_cmake_python REQUIRED) 11 | 12 | ament_python_install_package(${PROJECT_NAME}) 13 | 14 | install( 15 | PROGRAMS ${PROJECT_NAME}/turtlebot4_setup 16 | DESTINATION lib/${PROJECT_NAME} 17 | ) 18 | 19 | # disable XML linting; it consistently times out 20 | # TODO (civerachb-cpr) -- figure out why it's timing out and re-enable 21 | # hypothesis: it's related to the additional XML files in etc/turtlebot4 22 | list(APPEND AMENT_LINT_AUTO_EXCLUDE 23 | ament_cmake_xmllint 24 | ) 25 | 26 | if(BUILD_TESTING) 27 | find_package(ament_lint_auto REQUIRED) 28 | ament_lint_auto_find_test_dependencies() 29 | endif() 30 | 31 | ament_package() 32 | -------------------------------------------------------------------------------- /etc/turtlebot4/aliases.bash: -------------------------------------------------------------------------------- 1 | # Restart ROS2 daemon 2 | alias turtlebot4-daemon-restart='ros2 daemon stop; ros2 daemon start' 3 | 4 | # Help command 5 | alias turtlebot4-help='echo -e "\ 6 | TurtleBot 4 User Manual: https://turtlebot.github.io/turtlebot4-user-manual \n\ 7 | TurtleBot 4 Github: https://github.com/turtlebot/turtlebot4"' 8 | 9 | # Restart ntpd on Create 3 10 | alias turtlebot4-ntpd-sync='curl -X POST http://192.168.186.2/api/restart-ntpd' 11 | 12 | # Restart turtlebot4 service 13 | alias turtlebot4-service-restart='sudo systemctl restart turtlebot4.service' 14 | 15 | # Run turtlebot4_setup 16 | alias turtlebot4-setup='ros2 run turtlebot4_setup turtlebot4_setup' 17 | 18 | # Source ROBOT_SETUP 19 | alias turtlebot4-source='source $ROBOT_SETUP' 20 | 21 | # Update all packages 22 | alias turtlebot4-update='sudo apt update && sudo apt upgrade' 23 | 24 | # Re-connect a previously-paired game controller 25 | alias turtlebot4-connect-controller='bluetoothctl connect $(bt-device -l|grep "Wireless Controller" | grep -o "..:..:..:..:..:..")' 26 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | turtlebot4_setup 5 | 2.0.3 6 | Turtlebot4 setup scripts 7 | Chris Iverach-Brereton 8 | Hilary Luo 9 | 10 | Apache 2.0 11 | 12 | Roni Kreinin 13 | 14 | ament_cmake 15 | 16 | chrony 17 | curl 18 | network-manager 19 | rmw_cyclonedds_cpp 20 | rmw_fastrtps_cpp 21 | robot_upstart 22 | simple_term_menu_vendor 23 | socat 24 | 25 | ament_lint_auto 26 | ament_lint_common 27 | 28 | 29 | ament_cmake 30 | 31 | 32 | -------------------------------------------------------------------------------- /scripts/sd_flash.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | # Flags: 4 | # -h Help 5 | 6 | Help() 7 | { 8 | echo "RPI4 SD card flash script. Supports flashing multiple cards simultaneously." 9 | echo 10 | echo "usage: sudo bash sd_flash.sh /path/to/image.img [-h]" 11 | echo "options:" 12 | echo " -h Print this help statement" 13 | echo 14 | } 15 | 16 | while getopts "h" flag 17 | do 18 | case "${flag}" in 19 | h) 20 | Help 21 | exit;; 22 | \?) 23 | echo "Error: Invalid flag" 24 | exit;; 25 | esac 26 | done 27 | 28 | echo "Image path: $1"; 29 | 30 | read -p "Enter each SD card device name separated with a space (i.e. sda sdb sdc): " device_names 31 | 32 | read -p "The SD card(s) will be unmounted and flashed. Press enter to continue." 33 | 34 | for device in $device_names 35 | do 36 | of="$of of=/dev/$device" 37 | sudo umount /dev/$device* 38 | done 39 | 40 | sudo dcfldd if=$1 sizeprobe=if bs=1M$of 41 | 42 | for device in $device_names 43 | do 44 | if [[ $device == mmcblk* ]]; then 45 | last_partition="${device}p2" 46 | else 47 | last_partition="${device}2" 48 | fi 49 | 50 | sudo e2fsck -f /dev/${last_partition} 51 | sudo growpart /dev/$device 2 52 | sudo resize2fs /dev/${last_partition} 53 | done -------------------------------------------------------------------------------- /boot/firmware/config.txt: -------------------------------------------------------------------------------- 1 | [all] 2 | kernel=vmlinuz 3 | cmdline=cmdline.txt 4 | initramfs initrd.img followkernel 5 | 6 | [pi4] 7 | max_framebuffers=2 8 | arm_boost=1 9 | 10 | [all] 11 | # Enable the audio output, I2C and SPI interfaces on the GPIO header. As these 12 | # parameters related to the base device-tree they must appear *before* any 13 | # other dtoverlay= specification 14 | dtparam=audio=on 15 | dtparam=i2c_arm=on 16 | dtparam=spi=on 17 | 18 | # Comment out the following line if the edges of the desktop appear outside 19 | # the edges of your display 20 | disable_overscan=1 21 | 22 | # If you have issues with audio, you may try uncommenting the following line 23 | # which forces the HDMI output into HDMI mode instead of DVI (which doesn't 24 | # support audio output) 25 | #hdmi_drive=2 26 | 27 | # Enable the serial pins 28 | enable_uart=1 29 | 30 | # Autoload overlays for any recognized cameras or displays that are attached 31 | # to the CSI/DSI ports. Please note this is for libcamera support, *not* for 32 | # the legacy camera stack 33 | camera_auto_detect=1 34 | display_auto_detect=1 35 | 36 | # Config settings specific to arm64 37 | arm_64bit=1 38 | dtoverlay=dwc2,dr_mode=peripheral 39 | dtoverlay=i2c-gpio,bus=3,i2c_gpio_delay_us=1,i2c_gpio_sda=4,i2c_gpio_scl=5 40 | 41 | [cm4] 42 | # Enable the USB2 outputs on the IO board (assuming your CM4 is plugged into 43 | # such a board) 44 | dtoverlay=dwc2,dr_mode=host 45 | 46 | [all] -------------------------------------------------------------------------------- /etc/turtlebot4/firmware/config.txt: -------------------------------------------------------------------------------- 1 | [all] 2 | kernel=vmlinuz 3 | cmdline=cmdline.txt 4 | initramfs initrd.img followkernel 5 | 6 | [pi4] 7 | max_framebuffers=2 8 | arm_boost=1 9 | 10 | [all] 11 | # Enable the audio output, I2C and SPI interfaces on the GPIO header. As these 12 | # parameters related to the base device-tree they must appear *before* any 13 | # other dtoverlay= specification 14 | dtparam=audio=on 15 | dtparam=i2c_arm=on 16 | dtparam=spi=on 17 | 18 | # Comment out the following line if the edges of the desktop appear outside 19 | # the edges of your display 20 | disable_overscan=1 21 | 22 | # If you have issues with audio, you may try uncommenting the following line 23 | # which forces the HDMI output into HDMI mode instead of DVI (which doesn't 24 | # support audio output) 25 | #hdmi_drive=2 26 | 27 | # Enable the serial pins 28 | enable_uart=1 29 | 30 | # Autoload overlays for any recognized cameras or displays that are attached 31 | # to the CSI/DSI ports. Please note this is for libcamera support, *not* for 32 | # the legacy camera stack 33 | camera_auto_detect=1 34 | display_auto_detect=1 35 | 36 | # Config settings specific to arm64 37 | arm_64bit=1 38 | dtoverlay=dwc2,dr_mode=peripheral 39 | dtoverlay=i2c-gpio,bus=3,i2c_gpio_delay_us=1,i2c_gpio_sda=4,i2c_gpio_scl=5 40 | 41 | [cm4] 42 | # Enable the USB2 outputs on the IO board (assuming your CM4 is plugged into 43 | # such a board) 44 | dtoverlay=dwc2,dr_mode=host 45 | 46 | [all] -------------------------------------------------------------------------------- /udev/60-logitech.rules: -------------------------------------------------------------------------------- 1 | # https://gist.github.com/ulidtko/2599111ce747a4339f246d7c6a89220b 2 | # Linux udev rule file for Logitech F710 gamepads. 3 | # Written by: Max in year 2020. 4 | # SPDX-License-Identifier: MIT 5 | # 6 | # ================================================================================ 7 | # On the gamepad, put the D ↔ X switch into the right, X position ("XInput Mode")! 8 | # ================================================================================ 9 | # 10 | # You can test the gamepad using jstest or jstest-gtk. 11 | # You can test force-feedback (rumble, vibration) using fftest. 12 | # The "vibration" gamepad button toggles force-feedback, independently from PC. 13 | # 14 | # The gamepad works mostly alright -- except axis mapping is borked by default. 15 | # This udev rules file fixes that: 16 | # 17 | # • Ensure you have /bin/jscal tool on your system. 18 | # • Put this file under /etc/udev/rules.d/ and re-plug the usb receiver. 19 | # 20 | # lsusb: ID 046d:c21f Logitech, Inc. F710 Wireless Gamepad [XInput Mode] 21 | 22 | ACTION=="add", SUBSYSTEM=="input", KERNEL=="js?", ATTRS{name}=="Logitech Gamepad F710", \ 23 | RUN+="/bin/jscal --set-mappings 8,0,1,3,4,2,5,16,17,0 /dev/$name" 24 | 25 | #-- NOTE: I'm running this fine with 2 gamepads and mere name-based matching. 26 | #-- Use the two below lines instead if you insist on USB VID:PID pair. 27 | # ACTION=="add", SUBSYSTEM=="input", KERNEL=="js?", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21f", \ 28 | # RUN+="/bin/jscal --set-mappings 8,0,1,3,4,2,5,16,17,0 /dev/$name" 29 | 30 | #-- To see the complete button/axis map, use: jscal -q /dev/input/js0 31 | #-- Other diagnostic spells: 32 | # udevadm monitor # plug/unplug 33 | # udevadm monitor -a | grep -A20 js0 34 | # udevadm info /dev/input/js0 35 | 36 | #-- Took me freaking 2 hours to get right. Ah yes... games on Linux. -------------------------------------------------------------------------------- /scripts/turtlebot4_setup.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | # Copyright 2023 Clearpath Robotics, Inc. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | # 17 | # @author Roni Kreinin (rkreinin@clearpathrobotics.com) 18 | 19 | 20 | Help() 21 | { 22 | echo "Turtlebot4 Setup script." 23 | echo 24 | echo "usage: sudo bash turtlebot4_setup.sh [-h]" 25 | echo "options:" 26 | echo " h Print this help statement" 27 | echo 28 | } 29 | 30 | echo "Setting up Turtlebot4"; 31 | 32 | sudo apt update && sudo apt upgrade 33 | 34 | wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/jazzy.sh | bash 35 | 36 | sudo apt update && sudo apt upgrade 37 | 38 | sudo apt install -y ros-jazzy-ros-base \ 39 | ros-jazzy-turtlebot4-setup \ 40 | ros-jazzy-turtlebot4-robot \ 41 | ros-jazzy-irobot-create-control \ 42 | ros-jazzy-turtlebot4-navigation \ 43 | ros-dev-tools \ 44 | network-manager \ 45 | chrony 46 | 47 | if [ -f /etc/netplan/50-cloud-init.yaml ]; then 48 | sudo rm /etc/netplan/50-cloud-init.yaml 49 | fi 50 | 51 | git clone https://github.com/turtlebot/turtlebot4_setup.git -b jazzy && \ 52 | sudo mv turtlebot4_setup/boot/firmware/* /boot/firmware && rm turtlebot4_setup/ -rf 53 | 54 | echo "export ROBOT_SETUP=/etc/turtlebot4/setup.bash" | sudo tee -a ~/.bashrc 55 | echo "source \$ROBOT_SETUP" | sudo tee -a ~/.bashrc 56 | echo "source /etc/turtlebot4/aliases.bash" | sudo tee -a ~/.bashrc 57 | 58 | echo "Installation complete. Reboot then run turtlebot4-setup to configure the robot." 59 | -------------------------------------------------------------------------------- /etc/turtlebot4/chrony.conf: -------------------------------------------------------------------------------- 1 | # Welcome to the chrony configuration file. See chrony.conf(5) for more 2 | # information about usuable directives. 3 | 4 | # This will use (up to): 5 | # - 4 sources from ntp.ubuntu.com which some are ipv6 enabled 6 | # - 2 sources from 2.ubuntu.pool.ntp.org which is ipv6 enabled as well 7 | # - 1 source from [01].ubuntu.pool.ntp.org each (ipv4 only atm) 8 | # This means by default, up to 6 dual-stack and up to 2 additional IPv4-only 9 | # sources will be used. 10 | # At the same time it retains some protection against one of the entries being 11 | # down (compare to just using one of the lines). See (LP: #1754358) for the 12 | # discussion. 13 | # 14 | # About using servers from the NTP Pool Project in general see (LP: #104525). 15 | # Approved by Ubuntu Technical Board on 2011-02-08. 16 | # See http://www.pool.ntp.org/join.html for more information. 17 | pool ntp.ubuntu.com iburst maxsources 4 18 | pool 0.ubuntu.pool.ntp.org iburst maxsources 1 19 | pool 1.ubuntu.pool.ntp.org iburst maxsources 1 20 | pool 2.ubuntu.pool.ntp.org iburst maxsources 2 21 | 22 | # Enable serving time to ntp clients on 192.168.186.0 subnet. 23 | allow 192.168.186.0/24 24 | 25 | # Allow local sync 26 | local stratum 10 27 | 28 | # This directive specify the location of the file containing ID/key pairs for 29 | # NTP authentication. 30 | keyfile /etc/chrony/chrony.keys 31 | 32 | # This directive specify the file into which chronyd will store the rate 33 | # information. 34 | driftfile /var/lib/chrony/chrony.drift 35 | 36 | # Uncomment the following line to turn logging on. 37 | #log tracking measurements statistics 38 | 39 | # Log files location. 40 | logdir /var/log/chrony 41 | 42 | # Stop bad estimates upsetting machine clock. 43 | maxupdateskew 100.0 44 | 45 | # This directive enables kernel synchronisation (every 11 minutes) of the 46 | # real-time clock. Note that it can’t be used along with the 'rtcfile' directive. 47 | rtcsync 48 | 49 | # Step the system clock instead of slewing it if the adjustment is larger than 50 | # one second, but only in the first three clock updates. 51 | makestep 1 3 52 | -------------------------------------------------------------------------------- /etc/turtlebot4/fastdds_discovery_create3.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | udp_transport 8 | UDPv4 9 | 10 | 32768 11 | 32768 12 | 13 | 8192 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | udp_transport 23 | 24 | 25 | false 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0 35 | 0 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 0 46 | 0 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Turtlebot4 Setup 2 | 3 | Setup scripts and tools for the TurtleBot 4 Raspberry Pi. 4 | 5 | Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_setup.html) for more details. 6 | 7 | Prior to starting make sure your Create® 3 is updated to the `I.*.*` firmware; older versions of the firmware are not compatible with ROS 2 Jazzy. 8 | You can find [firmware updates and instructions on the iRobot website](https://edu.irobot.com/create3-update). 9 | 10 | To access the RaspberryPi on the TurtleBot4 you will need a 2.5mm hex key to remove the top bolts. 11 | The RaspberryPi SD card can be difficult to find. It is located on the side of the RaspberryPi facing the Create3 on the side opposite the USB and Ethernet ports. 12 | 13 | # Create an image manually 14 | 15 | Follow these instructions if you wish to create a Turtlebot4 image manually. 16 | 17 | ## Create an Ubuntu Image 18 | 19 | First install the [Raspberry Pi Imager](https://www.raspberrypi.com/software/) from the website or using the Ubuntu Snap store. 20 | 21 | - Ensure your Raspberry Pi 4 is not powered before removing the flashed SD card. 22 | - Insert your SD card into your PC and run the Raspberry Pi Imager. Follow the instructions to install Ubuntu 24.04 Server (64-bit) onto the SD card. 23 | - If you use this method **you must configure the operating system customizations prior to imaging the SD card.** Please use the following settings: 24 | - Set the default login and password to `ubuntu` / `ubuntu` 25 | - Enable SSH 26 | - Set the default wifi network, password, and country to your home network 27 | - You can set up the Raspberry Pi by either connecting it to your network via Ethernet or by using a keyboard and HDMI monitor via a micro HDMI cable. 28 | 29 | ### Ethernet Setup 30 | 31 | - Connect the Raspberry Pi to your Network with an Ethernet cable. 32 | - Boot the Raspberry Pi. 33 | - Find the Raspberry Pi's IP using your router's portal. 34 | - SSH into the Raspberry Pi using the IP address. 35 | ```bash 36 | ssh ubuntu@xxx.xxx.xxx.xxx 37 | ``` 38 | - The default login is `ubuntu` and password is `ubuntu`. You will be prompted to change your password. 39 | 40 | ### HDMI Setup 41 | 42 | - Connect a keyboard to the Raspberry Pi via USB. 43 | - Connect a monitor to the Raspberry Pi via the HDMI0 port. 44 | - Boot the Raspberry Pi. 45 | - The default login is `ubuntu` and password is `ubuntu`. You will be prompted to change your password. 46 | 47 | ## Manually configure Wi-Fi 48 | 49 | Once you are logged into the Raspberry Pi, configure the Wi-Fi: 50 | 51 | ```bash 52 | sudo nano /etc/netplan/50-cloud-init.yaml 53 | ``` 54 | Add the following lines: 55 | ```bash 56 | wifis: 57 | wlan0: 58 | optional: true 59 | access-points: 60 | "YOUR_WIFI_SSID": 61 | password: "YOUR_WIFI_PASSWORD" 62 | dhcp4: true 63 | ``` 64 | Note: Ensure that `wifis:` is aligned with the existing `ethernets:` line. All indentations should be 4 spaces. Do not use tabs. 65 | - Reboot the Raspberry Pi. It should now be connected to your Wi-Fi. 66 | - Find the Raspberry Pi's IP using your router's portal. 67 | - SSH into the Raspberry Pi using the IP address. 68 | ```bash 69 | ssh ubuntu@xxx.xxx.xxx.xxx 70 | ``` 71 | 72 | ## Download and run the setup script 73 | 74 | ``` 75 | wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/turtlebot4_setup.sh | bash 76 | ``` 77 | 78 | The script will automatically install ROS 2 Jazzy, TurtleBot 4 packages, and other important apt packages. It will also configure the RPi4 to work in a TurtleBot 4. Once complete, the RPi4 should be rebooted with `sudo reboot`. Then, run `turtlebot4-setup` to configure the robot with the setup tool. 79 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/1-bug.yml: -------------------------------------------------------------------------------- 1 | name: Bug Report 2 | description: Use this form when you are confident that there is a bug in this particular package. If you are not sure then use the Troubleshooting Form. 3 | labels: ["bug"] 4 | assignees: 5 | - roni-kreinin 6 | body: 7 | - type: markdown 8 | attributes: 9 | value: __Only use this form if you are confident that there is a bug in this package and that it is not user error. If you are not sure then please use the troubleshooting form.__ 10 | - type: markdown 11 | attributes: 12 | value: "# System Information" 13 | - type: dropdown 14 | id: model 15 | attributes: 16 | label: Robot Model 17 | description: Standard has a screen, Lite does not. For simulation select the one that you are simulating. 18 | options: 19 | - Select One 20 | - Turtlebot4 Standard 21 | - Turtlebot4 Lite 22 | validations: 23 | required: true 24 | - type: dropdown 25 | id: ros-distro 26 | attributes: 27 | label: ROS distro 28 | description: What ROS distribution are you using (must match on all devices in the system)? 29 | options: 30 | - Select One 31 | - Galactic 32 | - Humble 33 | - Jazzy 34 | validations: 35 | required: true 36 | - type: dropdown 37 | id: networking 38 | attributes: 39 | label: Networking Configuration 40 | options: 41 | - Select One 42 | - Simple Discovery 43 | - Discovery Server 44 | - I do not know 45 | validations: 46 | required: true 47 | - type: dropdown 48 | id: os 49 | attributes: 50 | label: OS 51 | description: What OS are you running on your companion PC (used to interact with the Turtlebot4)? 52 | options: 53 | - Select One 54 | - Ubuntu 20.04 55 | - Ubuntu 22.04 56 | - Ubuntu 24.04 57 | - Other Linux 58 | - Windows / MAC 59 | validations: 60 | required: true 61 | - type: dropdown 62 | id: build-type 63 | attributes: 64 | label: Built from source or installed? 65 | description: Did you build from source (build the packages yourself) or did you install the packages (e.g. `sudo apt install ...`)? 66 | options: 67 | - Select One 68 | - Built from Source 69 | - Installed 70 | validations: 71 | required: true 72 | - type: textarea 73 | id: version 74 | attributes: 75 | label: Package version 76 | description: What version of the package are you running? (if installed run `dpkg -s ros-$ROS_DISTRO-turtlebot4-PACKAGE_WITH_ISSUE`, if from source, give commit hash) 77 | validations: 78 | required: true 79 | 80 | - type: markdown 81 | attributes: 82 | value: "# Problem Description" 83 | - type: textarea 84 | attributes: 85 | label: Expected behaviour 86 | description: A clear and concise description of what you expected to happen. 87 | validations: 88 | required: true 89 | - type: textarea 90 | attributes: 91 | label: Actual behaviour 92 | description: A clear and concise description of what you encountered. 93 | validations: 94 | required: true 95 | - type: textarea 96 | attributes: 97 | label: Error messages 98 | description: Error messages copied from terminal and/or relevant logs. Copy these directly from the terminal in full. 99 | render: bash 100 | - type: textarea 101 | attributes: 102 | label: To Reproduce 103 | description: Provide the steps to reproduce. 104 | placeholder: | 105 | 1. run something 106 | 2. launch something else 107 | 3. see the error 108 | validations: 109 | required: true 110 | - type: textarea 111 | attributes: 112 | label: Other notes 113 | description: Add anything else you thing is important. 114 | -------------------------------------------------------------------------------- /turtlebot4_setup/wifi.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | # Copyright 2023 Clearpath Robotics 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | from turtlebot4_setup.conf import Conf, WifiOptions 18 | from turtlebot4_setup.menu import Menu, MenuEntry, OptionsMenu, Prompt 19 | 20 | 21 | __author__ = 'Roni Kreinin' 22 | __email__ = 'rkreinin@clearpathrobotics.com' 23 | __copyright__ = 'Copyright © 2023 Clearpath Robotics. All rights reserved.' 24 | __license__ = 'Apache 2.0' 25 | 26 | 27 | class WifiSetup(): 28 | # WiFi Setup -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 29 | title = """ 30 | __ ___ ___ _ ___ _ 31 | \\ \\ / (_) __(_) / __| ___| |_ _ _ _ __ 32 | \\ \\/\\/ /| | _|| | \\__ \\/ -_) _| || | '_ \\ 33 | \\_/\\_/ |_|_| |_| |___/\\___|\\__|\\_,_| .__/ 34 | |_| 35 | """ 36 | 37 | def __init__(self, configs: Conf) -> None: 38 | self.conf = configs 39 | 40 | self.conf.read() 41 | 42 | self.entries = [ 43 | MenuEntry(entry=self.format_entry('Wi-Fi Mode', WifiOptions.WIFI_MODE), 44 | function=self.set_wifi_mode), 45 | MenuEntry(entry=self.format_entry('SSID', WifiOptions.SSID), 46 | function=self.set_ssid), 47 | MenuEntry(entry=self.format_entry('Password', WifiOptions.PASSWORD), 48 | function=self.set_password), 49 | # TODO(rkreinin): Set Reg Domain in 22.04 50 | # MenuEntry(entry=self.format_entry('Regulatory Domain', WifiOptions.REG_DOMAIN), 51 | # function=self.set_reg_domain), 52 | MenuEntry(entry=self.format_entry('Band', WifiOptions.BAND), 53 | function=self.set_band), 54 | MenuEntry(entry=self.format_entry('IP Address', WifiOptions.IP), 55 | function=self.set_ip_address), 56 | MenuEntry(entry=self.format_entry('DHCP', WifiOptions.DHCP), 57 | function=self.set_dhcp), 58 | MenuEntry('', None), 59 | MenuEntry(entry='Apply Defaults', function=self.apply_defaults), 60 | MenuEntry(entry='Save', function=self.save_settings), 61 | ] 62 | 63 | self.menu = Menu(self.title, self.entries) 64 | 65 | def format_entry(self, name, opt: WifiOptions): 66 | return lambda: '{0}{1}[{2}]'.format( 67 | name, 68 | ' ' * (22 - len(name)), 69 | '' if self.conf.get(opt) is None else self.conf.get(opt)) 70 | 71 | def run(self): 72 | self.conf.read() 73 | self.menu.show() 74 | 75 | def apply_defaults(self): 76 | self.conf.apply_default(self.conf.wifi_conf) 77 | 78 | def set_ssid(self): 79 | p = Prompt(prompt='SSID ({0}): '.format(self.conf.get(WifiOptions.SSID)), 80 | default_response=self.conf.get(WifiOptions.SSID), 81 | note='Wi-Fi Network SSID') 82 | self.conf.set(WifiOptions.SSID, p.show()) 83 | 84 | def set_password(self): 85 | p = Prompt(prompt='Password ({0}): '.format(self.conf.get(WifiOptions.PASSWORD)), 86 | default_response=self.conf.get(WifiOptions.PASSWORD), 87 | note='Wi-Fi Network Password') 88 | self.conf.set(WifiOptions.PASSWORD, p.show()) 89 | 90 | def set_reg_domain(self): 91 | p = Prompt(prompt='Regulatory Domain ({0}): '.format(self.conf.get(WifiOptions.REG_DOMAIN)), # noqa: 501 92 | default_response=self.conf.get(WifiOptions.REG_DOMAIN), 93 | note='Wireless regulatory domain. \n' + 94 | 'Common options:\n' + 95 | 'USA: US\nCanada: CA\nUK: GB\n' + 96 | 'Germany: DE\nJapan: JP3\nSpain: ES') 97 | self.conf.set(WifiOptions.REG_DOMAIN, p.show()) 98 | 99 | def set_wifi_mode(self): 100 | options = OptionsMenu(title='Wi-Fi Mode', 101 | menu_entries=['Client', 'Access Point'], 102 | default_option=self.conf.get(WifiOptions.WIFI_MODE)) 103 | self.conf.set(WifiOptions.WIFI_MODE, options.show()) 104 | 105 | def set_band(self): 106 | options = OptionsMenu(title='Band', 107 | menu_entries=['5GHz', '2.4GHz', 'Any'], 108 | default_option=self.conf.get(WifiOptions.BAND)) 109 | self.conf.set(WifiOptions.BAND, options.show()) 110 | 111 | def set_ip_address(self): 112 | p = Prompt(prompt='IP Address ({0}): '.format(self.conf.get(WifiOptions.IP)), 113 | default_response=self.conf.get(WifiOptions.IP), 114 | note='IP Address with CIDR. e.g. 192.168.0.12/24') 115 | self.conf.set(WifiOptions.IP, p.show()) 116 | 117 | def set_dhcp(self): 118 | options = OptionsMenu(title='DHCP', 119 | menu_entries=['True', 'False'], 120 | default_option=self.conf.get(WifiOptions.DHCP)) 121 | self.conf.set(WifiOptions.DHCP, options.show() == 'True') 122 | 123 | def save_settings(self): 124 | self.conf.write() 125 | self.menu.exit() 126 | -------------------------------------------------------------------------------- /turtlebot4_discovery/configure_discovery.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | prompt_YESno() { 4 | # as the user a Y/n question 5 | # $1 is the variable into which the answer is saved as either "n" or "y" 6 | # $2 is the question to ask 7 | 8 | local __resultvar=$1 9 | local __prompt=$2 10 | 11 | echo -e "\e[39m$__prompt\e[0m" 12 | echo "Y/n: " 13 | 14 | if [[ $AUTO_YES == 1 ]]; 15 | then 16 | echo "Automatically answering Yes" 17 | eval $__resultvar="y" 18 | else 19 | read answer 20 | if [[ $answer =~ ^[n,N].* ]]; 21 | then 22 | eval $__resultvar="n" 23 | else 24 | eval $__resultvar="y" 25 | fi 26 | fi 27 | } 28 | 29 | # Read in the ROS domain ID from user input 30 | while [ 1 ] 31 | do 32 | read -p "ROS_DOMAIN_ID [0]: " domain_id 33 | domain_id=${domain_id:-0} 34 | if [[ $domain_id =~ ^[0-9]{1,3}$ ]]; 35 | then 36 | if ((domain_id > 232)); 37 | then 38 | echo "Invalid domain ID, cannot exceed 232" 39 | continue 40 | fi 41 | break 42 | else 43 | echo "Invalid domain ID, must be an integer (0-232)" 44 | fi 45 | done 46 | 47 | # Collect input data for each discovery server that the user wants to connect to 48 | server_ip_list=() 49 | server_id_list=() 50 | server_port_list=() 51 | server_count=0 52 | complete=0 53 | 54 | echo "Enter the information for the first discovery server" 55 | 56 | while ((! $complete)) 57 | do 58 | 59 | # Read in the Server ID 60 | while [ 1 ] 61 | do 62 | read -p "Discovery Server ID [0]: " discovery_server_id 63 | discovery_server_id=${discovery_server_id:-0} 64 | if [[ $discovery_server_id =~ ^[0-9]{1,3}$ ]]; 65 | then 66 | if ((discovery_server_id > 255)); 67 | then 68 | echo "Invalid server ID, cannot exceed 255" 69 | continue 70 | fi 71 | duplicate=0 72 | for ((i=0; i < server_count; i+=1)) 73 | do 74 | if ((server_id_list[i] == discovery_server_id)); 75 | then 76 | duplicate=1 77 | break 78 | fi 79 | done 80 | if ((duplicate)); 81 | then 82 | echo "Invalid server ID, must be unique and cannot be repeated" 83 | continue 84 | fi 85 | break 86 | else 87 | echo "Invalid server ID, must be an integer (0-255)" 88 | fi 89 | done 90 | 91 | # Read in the Server IP Address 92 | while [ 1 ] 93 | do 94 | read -p "Discovery Server IP: " discovery_ip 95 | if [[ $discovery_ip =~ ^[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}$ ]]; 96 | then 97 | break 98 | else 99 | echo "Invalid IP address" 100 | fi 101 | done 102 | 103 | # Read in the Server Port 104 | while [ 1 ] 105 | do 106 | read -p "Discovery Server Port [11811]: " discovery_port 107 | discovery_port=${discovery_port:-11811} 108 | if [[ $discovery_port =~ ^[0-9]{5}$ ]]; 109 | then 110 | break 111 | else 112 | echo "Invalid port, must be an integer (10000-65535)" 113 | fi 114 | done 115 | 116 | # Prompt the user to offer the ability to correct the last server info or add additional servers 117 | while [ 1 ] 118 | do 119 | read -p "Re-enter the last server (r), add another server (a), or done (d): " option 120 | if [[ $option =~ ^[r,R].* ]]; 121 | then 122 | echo "Removing last server entry, re-enter the correct server information" 123 | break 124 | elif [[ $option =~ ^[a,A,d,D].* ]]; 125 | then 126 | # add to list to track all that have been added 127 | server_ip_list+=($discovery_ip) 128 | server_id_list+=($discovery_server_id) 129 | server_port_list+=($discovery_port) 130 | ((server_count+=1)) 131 | if [[ $option =~ ^[d,D].* ]]; 132 | then 133 | complete=1 134 | else 135 | echo "Enter the information for the next discovery server" 136 | fi 137 | break 138 | else 139 | echo "Invalid option" 140 | fi 141 | done 142 | done 143 | 144 | # Build the ROS Discovery Server environment variable string from the input data 145 | discovery_str="" 146 | complete=0 147 | count=0 148 | for ((id=0; count != server_count && id < 256; id+=1)) 149 | do 150 | found=0 151 | for ((i=0; i < server_count; i+=1)) 152 | do 153 | if ((server_id_list[i] == id)); 154 | then 155 | discovery_str="${discovery_str}${server_ip_list[i]}:${server_port_list[i]};" 156 | ((count+=1)) 157 | found=1 158 | break 159 | fi 160 | done 161 | if ((! found)); 162 | then 163 | discovery_str="${discovery_str};" 164 | fi 165 | done 166 | 167 | echo "Configuring:" 168 | echo " ROS_DOMAIN_ID=$domain_id" 169 | echo " ROS_DISCOVERY_SERVER=\"$discovery_str\"" 170 | 171 | # Make directory to hold configs 172 | sudo mkdir -p /etc/turtlebot4_discovery/ 173 | 174 | # Create setup.bash file 175 | setup_file_temp="/tmp/turtlebot4_discovery_setup.bash" 176 | echo "source /opt/ros/jazzy/setup.bash" > $setup_file_temp 177 | echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> $setup_file_temp 178 | echo "[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False" >> $setup_file_temp 179 | 180 | # Add user configured data to setup.bash 181 | echo "export ROS_DOMAIN_ID=$domain_id" >> $setup_file_temp 182 | echo "export ROS_DISCOVERY_SERVER=\"$discovery_str\"" >> $setup_file_temp 183 | 184 | # Move setup.bash into final location 185 | setup_file="/etc/turtlebot4_discovery/setup.bash" 186 | sudo mv $setup_file_temp $setup_file 187 | 188 | # Source setup.bash in .bashrc 189 | if ! grep -Fq "source $setup_file" ~/.bashrc 190 | then 191 | echo "source $setup_file" >> ~/.bashrc 192 | fi 193 | 194 | if [ -f "/usr/local/sbin/ip_route.sh" ]||[ -f "/etc/systemd/system/ip_route.service" ]; 195 | then 196 | prompt_YESno cleanup "\Would you like to clean up the outdated IP route? This is no longer required as of turtlebot4_robot version 1.0.3.\e[0m" 197 | if [[ $cleanup == "y" ]]; 198 | then 199 | # Delete existing route if applicable 200 | if [ -f "/usr/local/sbin/ip_route.sh" ]; 201 | then 202 | sudo rm /usr/local/sbin/ip_route.sh 203 | fi 204 | if [ -f "/etc/systemd/system/ip_route.service" ]; 205 | then 206 | # Disable and remove IP route service 207 | sudo systemctl stop ip_route.service 208 | sudo systemctl disable ip_route.service 209 | sudo rm /etc/systemd/system/ip_route.service 210 | fi 211 | fi 212 | fi 213 | 214 | echo "Source your ~/.bashrc file to apply changes" 215 | -------------------------------------------------------------------------------- /CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package turtlebot4_setup 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.0.3 (2025-03-04) 6 | ------------------ 7 | * Update the hostname in `/boot/firmware/user-data` (`#19 `_) 8 | * Update the hostname in /boot/firmware/user-data as well as /etc/hostname to ensure it persists properly across reboots 9 | * Suppress error output about failure to preserve permissions across filesystems 10 | * Write the updated hostname to the turtlebot4/system file 11 | * Fix/shm (`#21 `_) 12 | Turn off clearing of SHM on log out (interfered with services) 13 | * Replace `User=ubuntu` with `User={os.getlogin()}` when generating the discovery server configuration file if necessary (`#20 `_) 14 | * Fix tag order 15 | * Update package maintainers 16 | * Add an alias to reconnect to a previously-paired game controller 17 | * Add a udev rule for the Logitech F710 family of controllers 18 | * Contributors: Chris Iverach-Brereton, Hilary Luo 19 | 20 | 2.0.2 (2024-10-23) 21 | ------------------ 22 | * Add e2fsck to SD-flasher script 23 | * Bump default version numbers 24 | * Fix default hostname to match released SD card images 25 | * Append `p2` for `mmcblk` devices, but just `2` for `sd*` devices when expanding the last partition 26 | * Contributors: Chris Iverach-Brereton 27 | 28 | 2.0.1 (2024-10-04) 29 | ------------------ 30 | * Add a copy of the boot/firmware files to /etc/turtlebot for reference in case users modify these and want a clean, offline copy for reference 31 | * Add ROBOT_SETUP to setup.bash 32 | * Add growpart & resize2fs commands to the SD card-flashing script to expand the partition to use up the whole SD card 33 | * Add socat as a package dependency instead of an ad-hoc post-install package 34 | * Add MOTD file with the Turtlebot4 logotype 35 | * Contributors: Chris Iverach-Brereton 36 | 37 | 2.0.0 (2024-09-28) 38 | ------------------ 39 | * Initial Jazzy implementation 40 | * Add a note about firmware compatibility to the readme 41 | * Add exception handling to the file i/o so the node doesn't just crash if we're missing a file 42 | * Add improved exception handling to the wifi settings parser 43 | * Update CI 44 | * Properly escape all `\` characters in stylized titles, add translation & link to generator page in comments 45 | * Add copyright & contribution notices, fix up code formatting, import ordering. Disable linting for some specific lines where appropriate 46 | * Add XML namespaces & version to cyclone DDS config 47 | * Omit XML linting (for now); it's consistently timing out and failing 48 | * Code formatting fixes 49 | * Add exception handling to the file preview 50 | * Add an option to force the Create3 settings to be reapplied, even if we haven't changed anything else. Always apply the _do_not_use namespace, as we're universally using the republisher now 51 | * Remove superfluous concatenation 52 | * Enable testing packages for CI 53 | * Disable checks on two lines with long format strings 54 | * Add exception handling for install & uninstall 55 | * Add an error prompt to show errors during installation 56 | * Handle KeyErrors separately 57 | * Add newline to end of file 58 | * Fix indentation 59 | * `''.format` -> `f''` 60 | * Update the default system file, print the keys instead of the enums 61 | * Add a `__str_\_` function to the relevant classes 62 | * Disable DHCP4 on the built-in ethernet interface, make it non-optional 63 | * Change the post-install chrony file command from mv to cp 64 | * Only copy if the file exists 65 | * Initial Jazzy implementation (`#15 `_) 66 | * Contributors: Chris Iverach-Brereton 67 | 68 | 1.0.4 (2024-07-02) 69 | ------------------ 70 | * Multi-robot discovery server support (`#11 `) 71 | * Add discovery server ID 72 | * Switch from xml super client to envar 73 | * Don't look for an ntp server on create3 74 | * Adjust create3 discovery server envar for server_id 75 | * Get feedback from the curl command to abort the apply if the create3 is not accessible 76 | * Push ntp config to create3, pointing it at the pi 77 | * Write discovery.sh fresh each time for robustness 78 | * Insert missing exports when writing setup.bash 79 | * Update script for server ID 80 | * Enforce a local server in discovery server for the create3 and support an offboard server for pi only 81 | * Give the create3 a hidden namespace to prepare for republishing 82 | * Put environment variables in quotes to handle multiple discovery servers 83 | * Make Super Client only apply to user terminals 84 | * Fix error when setting Offboard Discovery Server IP to blank 85 | * Remove IP Routing from script to set up discovery server on the user computer, no longer needed due to the republisher, includes file/service cleanup 86 | * Force compares as string to handle boolean settings correctly 87 | * Ensure that usb0 and wlan0 networks are up before either turtlebot4 service is started and use only NetworkManager to speed up boot 88 | * ipv4 forwarding is no longer required 89 | * Add create3 rmw profile for discovery server 90 | * git clone no longer necessary 91 | * Update discovery server user pc config script to accept any number of discovery servers 92 | * Added missing exec dependencies 93 | * Ensure that the chrony file always gets overwritten 94 | * Update username for github issue asignment (`#10 `) 95 | * Updated issue templates to forms and redirected troubleshooting to turtlebot4 repo (`#9 `) 96 | * Contributors: Hilary Luo 97 | 98 | 1.0.3 (2023-11-08) 99 | ------------------ 100 | * Cleanup 101 | * Remove scripts that should not be used in Humble 102 | * Update create_update.sh to reference Humble minimum version 103 | * Updated README 104 | * Updated turtlebot4_setup.sh script 105 | * Fixed setting robot model 106 | * Contributors: Hilary Luo, Roni Kreinin 107 | 108 | 1.0.2 (2023-03-01) 109 | ------------------ 110 | * Fixed Discovery Server IP 111 | * Updated default configs 112 | * Contributors: Roni Kreinin 113 | 114 | 1.0.1 (2023-02-28) 115 | ------------------ 116 | * Fixed script install path 117 | * Contributors: Roni Kreinin 118 | 119 | 1.0.0 (2023-02-24) 120 | ------------------ 121 | * turtlebot4_setup tool 122 | * RPI config updates 123 | * Discovery server files 124 | * Contributors: Roni Kreinin 125 | 126 | 0.1.3 (2022-09-27) 127 | ------------------ 128 | * Merge pull request `#2 `_ from turtlebot/roni-kreinin/domain_id 129 | v0.1.3 130 | * Added webserver service 131 | * Added argparser to install.py 132 | Removed namespacing for now 133 | * Added 'ros_config' script for setting ROS_DOMAIN_ID, namespace, and RMW_IMPLEMENTATION 134 | * Contributors: Roni Kreinin, roni-kreinin 135 | 136 | 0.1.2 (2022-06-14) 137 | ------------------ 138 | * Added chrony 139 | Updated wifi script 140 | * Updated dependencies 141 | Move swap_on and swap_off to /usr/local/bin 142 | * Fixed comment 143 | * Updated Create 3 curl commands 144 | Move wifi and create update scripts to /usr/local/bin 145 | * Updated oakd branch 146 | * Update README.md 147 | * Moved contents to root folder 148 | Updated oakd script to work for both pro and lite 149 | Updated turtlebot4_setup script 150 | Updated wifi script to allow the create 3 to be set up through the pi 151 | Added create 3 firmware flash scripts 152 | * Update README.md 153 | * Updated robot_upstart repo 154 | * Added swap memory scripts when more RAM is needed to build packages 155 | * Updated README 156 | * Initial commit 157 | * Contributors: Roni Kreinin, roni-kreinin 158 | -------------------------------------------------------------------------------- /turtlebot4_setup/menu.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | # Copyright 2023 Clearpath Robotics 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | import os 18 | 19 | from typing import Callable, List, Union 20 | 21 | from pygments import formatters, highlight, lexers 22 | from pygments.util import ClassNotFound 23 | 24 | from simple_term_menu_vendor.simple_term_menu import TerminalMenu 25 | 26 | 27 | __author__ = 'Roni Kreinin' 28 | __email__ = 'rkreinin@clearpathrobotics.com' 29 | __copyright__ = 'Copyright © 2023 Clearpath Robotics. All rights reserved.' 30 | __license__ = 'Apache 2.0' 31 | 32 | 33 | class MenuEntry(): 34 | 35 | def __init__(self, entry: Union[str, Callable], function) -> None: 36 | self.function = function 37 | self.entry = entry 38 | 39 | if isinstance(entry, str): 40 | self.name = entry 41 | elif isinstance(entry, Callable): 42 | self.name = entry() 43 | 44 | def update(self): 45 | if isinstance(self.entry, Callable): 46 | self.name = self.entry() 47 | 48 | def select(self): 49 | self.function() 50 | 51 | 52 | class Menu(): 53 | menu_cursor = '> ' 54 | menu_cursor_style = ('fg_yellow', 'bold') 55 | menu_style = ('bg_black', 'fg_yellow') 56 | menu = None 57 | 58 | def __init__(self, title: Union[str, Callable], menu_entries: List[MenuEntry]) -> None: 59 | self.title = title 60 | self.menu_entries = menu_entries 61 | self.menu_sel = 0 62 | self.menu = self.create_term_menu() 63 | self.menu_exit = False 64 | 65 | def update_title(self): 66 | if isinstance(self.title, str): 67 | self.name = self.title + '\nPress Q, Esc, or CTRL+C to go back.\n' 68 | elif isinstance(self.title, Callable): 69 | self.name = self.title() + '\nPress Q, Esc, or CTRL+C to go back.\n' 70 | 71 | max_len = max(len(line) for line in self.name.split('\n')) 72 | self.name += '-' * max_len 73 | 74 | def create_term_menu(self): 75 | menu_entries = [] 76 | for e in self.menu_entries: 77 | e.update() 78 | menu_entries.append(e.name) 79 | 80 | self.update_title() 81 | 82 | return TerminalMenu( 83 | menu_entries, 84 | title=self.name, 85 | menu_cursor=self.menu_cursor, 86 | menu_cursor_style=self.menu_cursor_style, 87 | menu_highlight_style=self.menu_style, 88 | cycle_cursor=True, 89 | clear_screen=True, 90 | skip_empty_entries=True) 91 | 92 | def refresh_term_menu(self, increment=0): 93 | self.menu = self.create_term_menu() 94 | if self.menu_sel is not None: 95 | for i in range(0, self.menu_sel + increment): 96 | if self.menu_entries[i].name != '': 97 | self.menu._view.increment_active_index() 98 | 99 | def reset_term_menu(self): 100 | self.menu = self.create_term_menu() 101 | self.menu_sel = 0 102 | 103 | def exit(self): # noqa: A003 104 | self.menu_exit = True 105 | 106 | def show(self, reset=True): 107 | self.menu_exit = False 108 | if reset: 109 | self.reset_term_menu() 110 | while not self.menu_exit: 111 | self.menu_sel = self.menu.show() 112 | if self.menu_sel is None or self.menu_sel >= len(self.menu_entries): 113 | break 114 | else: 115 | self.menu_entries[self.menu_sel].select() 116 | self.refresh_term_menu() 117 | 118 | 119 | class OptionsMenu(Menu): 120 | 121 | def __init__(self, title: Union[str, Callable], menu_entries: List[str], default_option=None) -> None: # noqa: E501 122 | self.option = default_option 123 | self.menu_entries = [] 124 | 125 | for e in menu_entries: 126 | self.menu_entries.append(MenuEntry(e, self.set_option)) 127 | 128 | super().__init__(title, self.menu_entries) 129 | 130 | if default_option is not None: 131 | for i, e in enumerate(menu_entries): 132 | if e == str(default_option): 133 | self.menu_sel = i 134 | self.refresh_term_menu() 135 | 136 | def set_option(self): 137 | self.option = self.menu_entries[self.menu_sel].name 138 | self.exit() 139 | 140 | def show(self): 141 | super().show(reset=False) 142 | return self.option 143 | 144 | 145 | class HelpMenu(Menu): 146 | # Help -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 147 | title = """ 148 | _ _ _ 149 | | || |___| |_ __ 150 | | __ / -_) | '_ \\ 151 | |_||_\\___|_| .__/ 152 | |_| 153 | """ 154 | 155 | def __init__(self, text: str, display_help_title=True) -> None: 156 | if display_help_title: 157 | super().__init__(self.title + text, []) 158 | else: 159 | super().__init__(text, []) 160 | 161 | 162 | class Prompt(): 163 | 164 | def __init__(self, prompt: str, default_response=None, note=None, response_type=str) -> None: 165 | self.prompt = prompt 166 | self.default_response = default_response 167 | self.note = note 168 | self.response_type = response_type 169 | 170 | def show(self): 171 | response = None 172 | 173 | if self.note is not None: 174 | print(self.note) 175 | print('Press CTRL+C to return without an input.') 176 | max_len = 0 177 | for line in self.note.split('\n'): 178 | max_len = max(max_len, len(line)) 179 | print('-' * max_len) 180 | 181 | try: 182 | response = input(self.prompt) 183 | except KeyboardInterrupt: 184 | return self.default_response 185 | 186 | try: 187 | self.response_type(response) 188 | except ValueError: 189 | if self.response_type == int and response == '': 190 | return self.default_response 191 | 192 | print('Invalid input [{0}]. {1} required.'.format(response, self.response_type)) 193 | return self.show() 194 | 195 | if response == '': 196 | response = None 197 | 198 | return response 199 | 200 | 201 | class PreviewMenu(): 202 | 203 | def __init__(self, directories: List[str]) -> None: 204 | self.directories = directories 205 | self.menu = TerminalMenu( 206 | self.list_files(), 207 | preview_command=self.highlight_file, 208 | preview_size=0.75) 209 | 210 | def show(self): 211 | self.menu.show() 212 | 213 | def list_files(self): 214 | files = [] 215 | for directory in self.directories: 216 | for file in os.listdir(directory): 217 | if os.path.isfile(os.path.join(directory, file)): 218 | files.append(os.path.join(directory, file)) 219 | return files 220 | 221 | def highlight_file(self, filepath): 222 | try: 223 | lexer = lexers.get_lexer_for_filename(filepath, stripnl=False, stripall=False) 224 | except ClassNotFound: 225 | lexer = lexers.get_lexer_by_name('text', stripnl=False, stripall=False) 226 | formatter = formatters.TerminalFormatter(bg='dark') # dark or light 227 | 228 | try: 229 | with open(filepath, 'r') as f: 230 | file_content = f.read() 231 | except PermissionError: 232 | file_content = 'Permission denied.\nPlease check file permissions' 233 | except FileNotFoundError: 234 | file_content = f'{filepath} was deleted' 235 | except Exception as err: 236 | file_content = f'Error reading {filepath}:\n{err}' 237 | 238 | highlighted_file_content = highlight(file_content, lexer, formatter) 239 | return highlighted_file_content 240 | 241 | 242 | class ErrorPrompt(Menu): 243 | # Error -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 244 | title = """ 245 | ___ 246 | | __|_ _ _ _ ___ _ _ 247 | | _|| '_| '_/ _ \\ '_| 248 | |___|_| |_| \\___/_| 249 | 250 | """ 251 | 252 | def __init__(self, text: str, display_help_title=True) -> None: 253 | if display_help_title: 254 | super().__init__(self.title + text, []) 255 | else: 256 | super().__init__(text, []) 257 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /turtlebot4_setup/turtlebot4_setup: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | # Copyright 2023 Clearpath Robotics 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | import copy 18 | import os 19 | import subprocess 20 | import shlex 21 | 22 | from turtlebot4_setup.conf import Conf, SystemOptions, BashOptions, WifiOptions, DiscoveryOptions 23 | from turtlebot4_setup.menu import Menu, MenuEntry, OptionsMenu, Prompt, HelpMenu, PreviewMenu 24 | from turtlebot4_setup.ros_setup import RosSetup 25 | from turtlebot4_setup.wifi import WifiSetup 26 | 27 | 28 | __author__ = 'Roni Kreinin' 29 | __email__ = 'rkreinin@clearpathrobotics.com' 30 | __copyright__ = 'Copyright © 2023 Clearpath Robotics. All rights reserved.' 31 | __license__ = 'Apache 2.0' 32 | 33 | 34 | class Turtlebot4Setup(): 35 | # TurtleBot4 Setup -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 36 | title = """ 37 | _____ _ _ ___ _ _ _ ___ _ 38 | |_ _| _ _ _| |_| |___| _ ) ___| |_| | | / __| ___| |_ _ _ _ __ 39 | | || || | '_| _| / -_) _ \\/ _ \\ _|_ _| \\__ \\/ -_) _| || | '_ \\ 40 | |_| \\_,_|_| \\__|_\\___|___/\\___/\\__| |_| |___/\\___|\\__|\\_,_| .__/ 41 | |_| 42 | """ 43 | 44 | def __init__(self) -> None: 45 | self.conf = Conf() 46 | self.initial_conf = copy.deepcopy(self.conf) 47 | self.wifi = WifiSetup(self.conf) 48 | self.ros = RosSetup(self.conf) 49 | self.entries = [MenuEntry(entry='ROS Setup', function=self.ros.show), 50 | MenuEntry(entry='Wi-Fi Setup', function=self.wifi.run), 51 | MenuEntry(entry='Bluetooth Setup', function=self.bluetooth), 52 | MenuEntry('', None), 53 | MenuEntry(entry='View Settings', function=self.view_settings), 54 | MenuEntry(entry='Apply Settings', function=self.apply_settings), 55 | MenuEntry(entry='Reset Create3', function=self.apply_create3), 56 | MenuEntry('', None), 57 | MenuEntry(entry='About', function=self.about), 58 | MenuEntry(entry='Help', function=self.help), 59 | MenuEntry(entry='Exit', function=self.exit)] 60 | self.menu = Menu(self.title, self.entries) 61 | 62 | def bluetooth(self): 63 | subprocess.run(shlex.split('sudo bluetoothctl')) 64 | 65 | def update(self): 66 | o = OptionsMenu('Update TurtleBot4 Packages?.\n', 67 | ['Yes', 'No'], default_option='No') 68 | 69 | if o.show() == 'Yes': 70 | subprocess.run(shlex.split('sudo apt update')) 71 | subprocess.run(shlex.split('sudo apt install ros-jazzy-turtlebot4-setup')) 72 | input() 73 | 74 | def view_settings(self): 75 | PreviewMenu([self.conf.setup_dir, self.conf.netplan_dir]).show() 76 | 77 | def get_settings_diff(self, options): 78 | diff = [] 79 | 80 | if options is SystemOptions or \ 81 | options is BashOptions or \ 82 | options is WifiOptions or \ 83 | options is DiscoveryOptions: 84 | for option in options: 85 | # None and empty string are equivalent 86 | if self.conf.get(option) == '' and self.initial_conf.get(option) == None or \ 87 | self.conf.get(option) == None and self.initial_conf.get(option) == '': 88 | pass 89 | elif (str(self.conf.get(option)) != str(self.initial_conf.get(option))): 90 | diff.append(option) 91 | 92 | return diff 93 | 94 | def settings_diff(self): 95 | text = '' 96 | 97 | diff = self.get_settings_diff(SystemOptions) 98 | if len(diff) > 0: 99 | text += '\nSystem Settings:\n' 100 | for option in diff: 101 | text += ' {0}: {1} -> {2}\n'.format( 102 | option.value, self.initial_conf.get(option), self.conf.get(option)) 103 | 104 | diff = self.get_settings_diff(BashOptions) 105 | if len(diff) > 0: 106 | text += '\nBash Settings:\n' 107 | for option in diff: 108 | text += ' {0}: {1} -> {2}\n'.format( 109 | option.value, self.initial_conf.get(option), self.conf.get(option)) 110 | 111 | diff = self.get_settings_diff(WifiOptions) 112 | if len(diff) > 0: 113 | text += '\nWi-Fi Settings:\n' 114 | for option in diff: 115 | text += ' {0}: {1} -> {2}\n'.format( 116 | option.value, self.initial_conf.get(option), self.conf.get(option)) 117 | 118 | diff = self.get_settings_diff(DiscoveryOptions) 119 | if len(diff) > 0: 120 | text += '\nDiscovery Server Settings:\n' 121 | for option in diff: 122 | text += ' {0}: {1} -> {2}\n'.format( 123 | option.value, self.initial_conf.get(option), self.conf.get(option)) 124 | 125 | if text == '': 126 | text = 'No changes made.\n' 127 | # Apply Settings -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 128 | text = """ 129 | _ _ ___ _ _ _ 130 | /_\\ _ __ _ __| |_ _ / __| ___| |_| |_(_)_ _ __ _ ___ 131 | / _ \\| '_ \\ '_ \\ | || | \\__ \\/ -_) _| _| | ' \\/ _` (_-< 132 | /_/ \\_\\ .__/ .__/_|\\_, | |___/\\___|\\__|\\__|_|_||_\\__, /__/ 133 | |_| |_| |__/ |___/ \n\n""" + text 134 | 135 | text += '\nApply these settings?\n' 136 | 137 | text += '\n**Notes**\n' 138 | text += '- Changes applied to ROS_DOMAIN_ID, ROBOT_NAMESPACE, RMW_IMPLEMENTATION,\n' 139 | text += ' or ROS_DISCOVERY_SERVER will be applied to the Create 3 as well.\n' 140 | text += '- Changes applied to Wi-Fi will cause SSH sessions to hang.\n' 141 | 142 | return text 143 | 144 | def apply_settings(self): 145 | apply_menu = OptionsMenu(self.settings_diff, ['Yes', 'No'], default_option='No') 146 | if apply_menu.show() == 'Yes': 147 | error, msg = self.apply_ros_settings() 148 | if error: 149 | options = OptionsMenu(title='Error: Unable to set Create3 options.' + 150 | 'Please ensure that the Create3 is fully booted and apply again.\n\n Details:\n' + msg, 151 | menu_entries=['Okay']) 152 | options.show() 153 | return 154 | self.apply_wifi_settings() 155 | self.initial_conf = copy.deepcopy(self.conf) 156 | 157 | def apply_ros_settings(self): 158 | reinstall_job = False 159 | update_create3 = False 160 | 161 | # If one of Domain ID, Namespace, or RMW was changed, apply changes to Create 3 162 | for option in self.get_settings_diff(BashOptions): 163 | if option in [BashOptions.DOMAIN_ID, BashOptions.NAMESPACE, BashOptions.RMW]: 164 | update_create3 = True 165 | reinstall_job = True 166 | 167 | if len(self.get_settings_diff(DiscoveryOptions)) > 0: 168 | update_create3 = True 169 | reinstall_job = True 170 | 171 | for option in self.get_settings_diff(SystemOptions): 172 | if option is SystemOptions.MODEL: 173 | reinstall_job = True 174 | 175 | if update_create3: 176 | (error, result) = self.update_create3() 177 | if error: 178 | return (error, result) 179 | 180 | if reinstall_job: 181 | self.ros.robot_upstart_menu.install() 182 | self.ros.robot_upstart_menu.start() 183 | 184 | return (0, "Success") 185 | 186 | def apply_wifi_settings(self): 187 | # Run netplan apply if WiFi options have changed 188 | if len(self.get_settings_diff(WifiOptions)) > 0: 189 | subprocess.run(shlex.split('sudo netplan apply')) 190 | os.system('sudo reboot') 191 | 192 | def create3_diff(self): 193 | # Reset Create3 -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 194 | text = """ 195 | ___ _ ___ _ ____ 196 | | _ \\___ ___ ___| |_ / __|_ _ ___ __ _| |_ ___|__ / 197 | | / -_|_- None: 128 | self.system_file = os.path.join(self.setup_dir, 'system') 129 | self.setup_bash_file = os.path.join(self.setup_dir, 'setup.bash') 130 | self.netplan_wifis_file = os.path.join(self.netplan_dir, '50-wifis.yaml') 131 | self.discovery_sh_file = os.path.join(self.setup_dir, 'discovery.sh') 132 | self.hostname_file = '/etc/hostname' 133 | self.fw_user_data_file = '/boot/firmware/user-data' 134 | 135 | self.system_conf = copy.deepcopy(self.default_system_conf) 136 | self.wifi_conf = copy.deepcopy(self.default_wifi_conf) 137 | self.bash_conf = copy.deepcopy(self.default_bash_conf) 138 | self.discovery_conf = copy.deepcopy(self.default_discovery_conf) 139 | 140 | subprocess.run(shlex.split('mkdir -p /tmp' + self.setup_dir)) 141 | subprocess.run(shlex.split('mkdir -p /tmp' + self.netplan_dir)) 142 | 143 | self.read() 144 | 145 | def get(self, conf): 146 | if isinstance(conf, SystemOptions): 147 | return self.system_conf.get(conf) 148 | elif isinstance(conf, WifiOptions): 149 | return self.wifi_conf.get(conf) 150 | elif isinstance(conf, BashOptions): 151 | return self.bash_conf.get(conf) 152 | elif isinstance(conf, DiscoveryOptions): 153 | return self.discovery_conf.get(conf) 154 | return None 155 | 156 | def set(self, conf, value): # noqa: A003 157 | if isinstance(conf, SystemOptions): 158 | self.system_conf[conf] = value 159 | elif isinstance(conf, WifiOptions): 160 | self.wifi_conf[conf] = value 161 | elif isinstance(conf, BashOptions): 162 | self.bash_conf[conf] = value 163 | elif isinstance(conf, DiscoveryOptions): 164 | self.discovery_conf[conf] = value 165 | 166 | def apply_default(self, conf): 167 | if conf == self.system_conf: 168 | self.system_conf = copy.deepcopy(self.default_system_conf) 169 | elif conf == self.wifi_conf: 170 | self.wifi_conf = copy.deepcopy(self.default_wifi_conf) 171 | elif conf == self.bash_conf: 172 | self.bash_conf = copy.deepcopy(self.default_bash_conf) 173 | elif conf == self.discovery_conf: 174 | self.discovery_conf = copy.deepcopy(self.default_discovery_conf) 175 | 176 | def read(self): 177 | try: 178 | self.read_system() 179 | self.read_wifi() 180 | self.read_bash() 181 | # Must come after read_bash in order to have the discovery server envar 182 | self.read_discovery() 183 | except Exception as err: 184 | print(f'Error reading configuration: {err}. Terminating') 185 | sys.exit(1) 186 | 187 | def write(self): 188 | try: 189 | self.write_system() 190 | self.write_wifi() 191 | self.write_discovery() 192 | self.write_bash() 193 | except Exception as err: 194 | print(f'Error writing configuration: {err}. Configuration may be incomplete') 195 | sys.exit(1) 196 | 197 | def read_system(self): 198 | with open(self.system_file, 'r') as f: 199 | for line in f.readlines(): 200 | for k in [SystemOptions.MODEL, SystemOptions.VERSION, SystemOptions.ROS]: 201 | if k in line: 202 | self.system_conf[k] = line.split(':')[1].strip() 203 | 204 | self.system_conf[SystemOptions.IP] = subprocess.run( 205 | shlex.split('hostname -I'), 206 | capture_output=True).stdout.decode('ascii').replace('192.168.186.3', '').strip() 207 | 208 | with open(self.hostname_file, 'r') as f: 209 | self.set(SystemOptions.HOSTNAME, f.readline().strip()) 210 | 211 | def write_system(self): 212 | system = [] 213 | with open(self.system_file, 'r') as f: 214 | system = f.readlines() 215 | for i, line in enumerate(system): 216 | is_conf = False 217 | for k in [ 218 | SystemOptions.MODEL, 219 | SystemOptions.VERSION, 220 | SystemOptions.ROS, 221 | SystemOptions.HOSTNAME, 222 | ]: 223 | if k in line: 224 | system[i] = f'{k}:{self.system_conf[k]}\n' 225 | is_conf = True 226 | break 227 | 228 | if not is_conf: 229 | system[i] = line 230 | 231 | with open('/tmp' + self.system_file, 'w') as f: 232 | f.writelines(system) 233 | subprocess.run(shlex.split('sudo mv /tmp' + self.system_file + ' ' + self.system_file)) 234 | 235 | with open('/tmp' + self.hostname_file, 'w') as f: 236 | f.write(self.get(SystemOptions.HOSTNAME)) 237 | subprocess.run(shlex.split('sudo mv /tmp' + self.hostname_file + ' ' + self.hostname_file)) 238 | 239 | # update /boot/firmware/user-data with the new hostname 240 | subprocess.run(shlex.split(f'cp {self.fw_user_data_file} /tmp/user-data')) 241 | subprocess.run(shlex.split(f'sed -i -E "s/^hostname:.+/hostname: {self.get(SystemOptions.HOSTNAME)}/" /tmp/user-data')) # noqa: E501 242 | subprocess.run( 243 | shlex.split(f'sudo mv /tmp/user-data {self.fw_user_data_file}'), 244 | stdout=subprocess.DEVNULL, 245 | stderr=subprocess.DEVNULL, 246 | ) 247 | 248 | def read_wifi(self): 249 | try: 250 | # Try to open the existing wifi configuration, but if it doesn't exist we can carry on 251 | netplan = yaml.load(open(self.netplan_wifis_file, 'r'), yaml.SafeLoader) 252 | 253 | # wlan0 Config 254 | wlan0 = netplan['network']['wifis']['wlan0'] 255 | 256 | # Get SSID 257 | self.set(WifiOptions.SSID, list(wlan0['access-points'])[0]) 258 | # SSID settings 259 | ssid_settings = wlan0['access-points'][self.get(WifiOptions.SSID)] 260 | 261 | self.set(WifiOptions.PASSWORD, ssid_settings.get('password')) 262 | 263 | if wlan0.get('addresses'): 264 | self.set(WifiOptions.IP, wlan0['addresses'][0]) 265 | else: 266 | self.set(WifiOptions.IP, None) 267 | 268 | if wlan0.get('dhcp4') is True: 269 | self.set(WifiOptions.DHCP, True) 270 | else: 271 | self.set(WifiOptions.DHCP, False) 272 | 273 | if ssid_settings.get('mode') == 'ap': 274 | self.set(WifiOptions.WIFI_MODE, 'Access Point') 275 | else: 276 | self.set(WifiOptions.WIFI_MODE, 'Client') 277 | 278 | if ssid_settings.get('band'): 279 | self.set(WifiOptions.BAND, ssid_settings.get('band')) 280 | else: 281 | self.set(WifiOptions.BAND, 'Any') 282 | except Exception: 283 | # If the wifi configuration doesn't have a wlan0 configuration, just skip this 284 | pass 285 | 286 | def write_wifi(self): 287 | ssid = self.get(WifiOptions.SSID) 288 | password = self.get(WifiOptions.PASSWORD) 289 | dhcp = self.get(WifiOptions.DHCP) 290 | wifi_mode = self.get(WifiOptions.WIFI_MODE) 291 | band = self.get(WifiOptions.BAND) 292 | ip = self.get(WifiOptions.IP) 293 | 294 | wlan0 = { 295 | 'dhcp4': dhcp, 296 | 'access-points': { 297 | ssid: {} 298 | } 299 | } 300 | 301 | if password is not None: 302 | wlan0['access-points'][ssid].update({'password': password}) 303 | 304 | if ip is not None: 305 | wlan0.update({'addresses': [ip]}) 306 | 307 | if wifi_mode == 'Access Point': 308 | wlan0['access-points'][ssid].update({'mode': 'ap'}) 309 | 310 | if band is not None and band != 'Any': 311 | wlan0['access-points'][ssid].update({'band': band}) 312 | 313 | netplan = { 314 | 'network': { 315 | 'version': 2, 316 | 'wifis': { 317 | 'renderer': 'NetworkManager', 318 | 'wlan0': wlan0, 319 | }, 320 | } 321 | } 322 | 323 | with open('/tmp' + self.netplan_wifis_file, 'w') as f: 324 | f.write('# This file was automatically created by the turtlebot4-setup tool and should not be manually modified\n\n') # noqa: E501 325 | 326 | yaml.dump(netplan, 327 | stream=open('/tmp' + self.netplan_wifis_file, 'a'), 328 | Dumper=yaml.SafeDumper, 329 | indent=4, 330 | default_flow_style=False, 331 | default_style=None) 332 | 333 | subprocess.run(shlex.split( 334 | 'sudo mv /tmp' + self.netplan_wifis_file + ' ' + self.netplan_wifis_file)) 335 | 336 | def read_bash(self): 337 | with open(self.setup_bash_file, 'r') as f: 338 | for line in f.readlines(): 339 | for k in self.bash_conf.keys(): 340 | if f'export {k}' in line: 341 | try: 342 | value = line.split('=')[1].strip().strip('\'"') 343 | if (k == BashOptions.SUPER_CLIENT): 344 | value = value.split('||')[0].strip().strip('\'"') 345 | if value == '': 346 | self.set(k, None) 347 | else: 348 | self.set(k, value) 349 | except IndexError: 350 | self.set(k, None) 351 | break 352 | 353 | def write_bash(self): 354 | bash = [] 355 | with open(self.setup_bash_file, 'r') as f: 356 | bash = f.readlines() 357 | # Loop through every bash setting 358 | for k, v in self.bash_conf.items(): 359 | # Check if the setting is currently in the setup.bash and update it 360 | found = False 361 | if v is None: 362 | v = '' 363 | for i, line in enumerate(bash): 364 | export_re = re.compile(rf'^\s*export\s+{k}=.*') 365 | if export_re.match(line): 366 | if (k == BashOptions.SUPER_CLIENT and str(v) == 'True'): 367 | # Ensure super client is only applied on user terminals 368 | bash[i] = f'[ -t 0 ] && export {k}={v} || export {k}=False\n' # noqa: 501 369 | else: 370 | # Quotations required around v to handle multiple servers 371 | # in discovery server 372 | bash[i] = f'export {k}=\"{v}\"\n' 373 | found = True 374 | 375 | # If the setting is missing from the setup.bash, add it to the beginning 376 | if not found: 377 | if (k == BashOptions.SUPER_CLIENT and str(v) == 'True'): 378 | # Ensure super client is only applied on user terminals 379 | bash.insert(0, f'[ -t 0 ] && export {k}={v} || export {k}=False\n') # noqa: 501 380 | else: 381 | # Quotations required around v to handle multiple servers 382 | # in discovery server 383 | bash.insert(0, f'export {k}=\"{v}\"\n') 384 | 385 | with open('/tmp' + self.setup_bash_file, 'w') as f: 386 | f.writelines(bash) 387 | subprocess.run(shlex.split(f'sudo mv /tmp{self.setup_bash_file} {self.setup_bash_file}')) 388 | 389 | for k, v in self.bash_conf.items(): 390 | if v is None: 391 | os.environ[k] = '' 392 | else: 393 | os.environ[k] = str(v) 394 | 395 | def read_discovery(self): 396 | discovery_server = self.get(BashOptions.DISCOVERY_SERVER) 397 | if discovery_server is None or discovery_server == '': 398 | self.set(DiscoveryOptions.ENABLED, False) 399 | else: 400 | self.set(DiscoveryOptions.ENABLED, True) 401 | try: 402 | servers = discovery_server.split(';') 403 | for i, s in enumerate(servers): 404 | s = s.strip() 405 | if s: 406 | server = s.split(':') 407 | if (server[0].strip('"') == '127.0.0.1'): 408 | self.set(DiscoveryOptions.SERVER_ID, i) 409 | if len(server) > 1: 410 | self.set(DiscoveryOptions.PORT, int(server[1].strip('\'"'))) 411 | else: 412 | self.set(DiscoveryOptions.PORT, 11811) 413 | else: 414 | self.set(DiscoveryOptions.OFFBOARD_ID, i) 415 | self.set(DiscoveryOptions.OFFBOARD_IP, server[0].strip('\'"')) 416 | if len(server) > 1: 417 | self.set( 418 | DiscoveryOptions.OFFBOARD_PORT, int(server[1].strip('\'"'))) 419 | else: 420 | self.set(DiscoveryOptions.OFFBOARD_PORT, 11811) 421 | except Exception: 422 | self.discovery_conf = self.default_discovery_conf 423 | 424 | def write_discovery(self): 425 | if self.get(DiscoveryOptions.ENABLED) is True: 426 | self.set(BashOptions.DISCOVERY_SERVER, self.get_discovery_str()) 427 | self.set(BashOptions.RMW, 'rmw_fastrtps_cpp') 428 | self.set(BashOptions.SUPER_CLIENT, True) 429 | 430 | with open('/tmp' + self.discovery_sh_file, 'w') as f: 431 | f.write('#!/bin/bash\n') 432 | f.write('# This file was automatically created by the turtlebot4-setup tool and should not be manually modified\n\n') # noqa: E501 433 | f.write(f'source {self.get(BashOptions.WORKSPACE)}\n') 434 | f.write(f'fastdds discovery -i {self.get(DiscoveryOptions.SERVER_ID)} -p {self.get(DiscoveryOptions.PORT)}') # noqa: E501 435 | subprocess.run(shlex.split( 436 | 'sudo mv /tmp' + self.discovery_sh_file + ' ' + self.discovery_sh_file)) 437 | else: 438 | self.set(BashOptions.DISCOVERY_SERVER, None) 439 | self.set(BashOptions.SUPER_CLIENT, False) 440 | 441 | self.write_bash() 442 | 443 | def get_discovery_str(self) -> str: 444 | discovery_str = '' 445 | servers = [{ 446 | 'id': self.get(DiscoveryOptions.SERVER_ID), 447 | 'ip': '127.0.0.1', 448 | 'port': self.get(DiscoveryOptions.PORT), 449 | }] 450 | offboard_ip = self.get(DiscoveryOptions.OFFBOARD_IP) 451 | if offboard_ip: 452 | servers.append({ 453 | 'id': self.get(DiscoveryOptions.OFFBOARD_ID), 454 | 'ip': offboard_ip, 455 | 'port': self.get(DiscoveryOptions.OFFBOARD_PORT) 456 | }) 457 | 458 | servers.sort(key=lambda s: int(s['id'])) 459 | 460 | i = 0 461 | for s in servers: 462 | while i < int(s['id']): 463 | discovery_str += ';' 464 | i += 1 465 | discovery_str += f"{s['ip']}:{s['port']};" 466 | i += 1 467 | return discovery_str 468 | 469 | def get_create3_server_str(self) -> str: 470 | # Create3 should only point at the local server on the pi 471 | discovery_str = '' 472 | for i in range(int(self.get(DiscoveryOptions.SERVER_ID))): 473 | discovery_str += ';' 474 | discovery_str += f'192.168.186.3:{self.get(DiscoveryOptions.PORT)}' 475 | return discovery_str 476 | -------------------------------------------------------------------------------- /turtlebot4_setup/ros_setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | # Copyright 2023 Clearpath Robotics 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | import os 18 | import shlex 19 | import subprocess 20 | 21 | import robot_upstart 22 | from turtlebot4_setup.conf import BashOptions, Conf, DiscoveryOptions, SystemOptions 23 | from turtlebot4_setup.menu import ErrorPrompt, Menu, MenuEntry, OptionsMenu, Prompt 24 | 25 | 26 | __author__ = 'Roni Kreinin' 27 | __email__ = 'rkreinin@clearpathrobotics.com' 28 | __copyright__ = 'Copyright © 2023 Clearpath Robotics. All rights reserved.' 29 | __license__ = 'Apache 2.0' 30 | 31 | 32 | class RosSetup(): 33 | # ROS Setup -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 34 | title = """ 35 | ___ ___ ___ ___ _ 36 | | _ \\/ _ \\/ __| / __| ___| |_ _ _ _ __ 37 | | / (_) \\__ \\ \\__ \\/ -_) _| || | '_ \\ 38 | |_|_\\\\___/|___/ |___/\\___|\\__|\\_,_| .__/ 39 | |_| 40 | """ 41 | 42 | setup_dir = '/etc/turtlebot4/' 43 | 44 | def __init__(self, conf: Conf) -> None: 45 | self.conf = conf 46 | 47 | self.discovery_server_menu = DiscoveryServer(self.conf) 48 | self.bash_setup_menu = BashSetup(self.conf) 49 | self.robot_upstart_menu = RobotUpstart(self.conf) 50 | 51 | self.entries = [MenuEntry('Bash Setup', self.bash_setup_menu.show), 52 | MenuEntry('Discovery Server', function=self.discovery_server_menu.show), 53 | MenuEntry('Robot Upstart', self.robot_upstart_menu.show)] 54 | 55 | self.menu = Menu(self.title, self.entries) 56 | 57 | def show(self): 58 | self.menu.show() 59 | 60 | 61 | class BashSetup(): 62 | # Bash Setup -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 63 | title = """ 64 | ___ _ ___ _ 65 | | _ ) __ _ __| |_ / __| ___| |_ _ _ _ __ 66 | | _ \\/ _` (_-< ' \\ \\__ \\/ -_) _| || | '_ \\ 67 | |___/\\__,_/__/_||_| |___/\\___|\\__|\\_,_| .__/ 68 | |_| 69 | """ 70 | 71 | def __init__(self, conf: Conf) -> None: 72 | self.conf = conf 73 | 74 | self.entries = [MenuEntry(entry=self.format_entry(BashOptions.NAMESPACE), 75 | function=self.set_robot_namespace), 76 | MenuEntry(entry=self.format_entry(BashOptions.DOMAIN_ID), 77 | function=self.set_ros_domain_id), 78 | MenuEntry(entry=self.format_entry(BashOptions.RMW), 79 | function=self.set_rmw_implementation), 80 | MenuEntry(entry=self.format_entry(BashOptions.DIAGNOSTICS), 81 | function=self.set_turtlebot4_diagnostics), 82 | MenuEntry(entry=self.format_entry(BashOptions.WORKSPACE), 83 | function=self.set_workspace_setup), 84 | MenuEntry(entry=self.format_entry(BashOptions.CYCLONEDDS_URI), 85 | function=self.set_cyclonedds_uri), 86 | MenuEntry(entry=self.format_entry(BashOptions.FASTRTPS_URI), 87 | function=self.set_fastrtps_default_profiles_file), 88 | MenuEntry('', None), 89 | MenuEntry(entry='Apply Defaults', function=self.apply_defaults), 90 | MenuEntry(entry='Save', function=self.save_settings), ] 91 | 92 | self.menu = Menu(self.title, self.entries) 93 | 94 | def format_entry(self, option: BashOptions): 95 | if option == BashOptions.DIAGNOSTICS: 96 | return lambda: '{0}{1}[{2}]'.format( 97 | option, 98 | ' ' * (35-len(option)), 99 | 'Enabled' if self.conf.get(option) == '1' else 'Disabled') 100 | else: 101 | return lambda: '{0}{1}[{2}]'.format( 102 | option, 103 | ' ' * (35-len(option)), 104 | '' if self.conf.get(option) is None else self.conf.get(option)) 105 | 106 | def show(self): 107 | self.conf.read() 108 | self.menu.show() 109 | 110 | def set_rmw_implementation(self): 111 | options = OptionsMenu(title=BashOptions.RMW, 112 | menu_entries=['rmw_fastrtps_cpp', 'rmw_cyclonedds_cpp'], 113 | default_option=self.conf.get(BashOptions.RMW)) 114 | self.conf.set(BashOptions.RMW, options.show()) 115 | 116 | def set_ros_domain_id(self): 117 | p = Prompt(prompt='{0} [{1}]: '.format( 118 | BashOptions.DOMAIN_ID, 119 | self.conf.get(BashOptions.DOMAIN_ID)), 120 | default_response=self.conf.get(BashOptions.DOMAIN_ID), 121 | response_type=int, 122 | note='ROS Domain ID (0-101) or (215-232)') 123 | domain_id = p.show() 124 | domain_id = max(0, min(int(domain_id), 232)) 125 | if (domain_id > 101 and domain_id < 215): 126 | domain_id = 101 127 | self.conf.set(BashOptions.DOMAIN_ID, domain_id) 128 | 129 | def set_cyclonedds_uri(self): 130 | p = Prompt(prompt='{0} [{1}]: '.format( 131 | BashOptions.CYCLONEDDS_URI, 132 | self.conf.get(BashOptions.CYCLONEDDS_URI)), 133 | default_response=self.conf.get(BashOptions.CYCLONEDDS_URI), 134 | note='Full path to .xml file') 135 | self.conf.set(BashOptions.CYCLONEDDS_URI, p.show()) 136 | 137 | def set_fastrtps_default_profiles_file(self): 138 | p = Prompt(prompt='{0} [{1}]: '.format( 139 | BashOptions.FASTRTPS_URI, 140 | self.conf.get(BashOptions.FASTRTPS_URI)), 141 | default_response=self.conf.get(BashOptions.FASTRTPS_URI), 142 | note='Full path to .xml file') 143 | self.conf.set(BashOptions.FASTRTPS_URI, p.show()) 144 | 145 | def set_workspace_setup(self): 146 | p = Prompt(prompt='{0} [{1}]: '.format( 147 | BashOptions.WORKSPACE, 148 | self.conf.get(BashOptions.WORKSPACE)), 149 | default_response=self.conf.get(BashOptions.WORKSPACE), 150 | note='Full path to setup.bash file') 151 | self.conf.set(BashOptions.WORKSPACE, p.show()) 152 | 153 | def set_robot_namespace(self): 154 | p = Prompt(prompt='{0} [{1}]: '.format( 155 | BashOptions.NAMESPACE, 156 | '' if self.conf.get(BashOptions.NAMESPACE) is None else 157 | self.conf.get(BashOptions.NAMESPACE)), 158 | default_response=self.conf.get(BashOptions.NAMESPACE), 159 | note='ROS2 namespace') 160 | # Add '/' if needed 161 | ns = p.show() 162 | if ns is not None and ns[0] != '/': 163 | ns = '/' + ns 164 | self.conf.set(BashOptions.NAMESPACE, ns) 165 | 166 | def set_turtlebot4_diagnostics(self): 167 | options = OptionsMenu( 168 | title=BashOptions.DIAGNOSTICS, 169 | menu_entries=['Enabled', 'Disabled'], 170 | default_option='Enabled' if self.conf.get(BashOptions.DIAGNOSTICS) == '1' else 'Disabled') # noqa: E501 171 | self.conf.set(BashOptions.DIAGNOSTICS, '1' if options.show() == 'Enabled' else '0') 172 | 173 | def save_settings(self): 174 | self.conf.write() 175 | self.menu.exit() 176 | 177 | def apply_defaults(self): 178 | self.conf.apply_default(self.conf.bash_conf) 179 | 180 | 181 | class DiscoveryServer(): 182 | # Discovery Server -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 183 | title = """ 184 | ___ _ ___ 185 | | \\(_)___ __ _____ _____ _ _ _ _ / __| ___ _ ___ _____ _ _ 186 | | |) | (_- None: 192 | self.conf = configs 193 | 194 | self.entries = [ 195 | MenuEntry( 196 | entry=self.format_entry('Enabled', DiscoveryOptions.ENABLED), 197 | function=self.set_enabled), 198 | MenuEntry( 199 | entry=self.format_entry('Onboard Server - Port', DiscoveryOptions.PORT), 200 | function=self.set_port), 201 | MenuEntry( 202 | entry=self.format_entry('Onboard Server - Server ID', DiscoveryOptions.SERVER_ID), 203 | function=self.set_server_id), 204 | MenuEntry( 205 | entry=self.format_entry('Offboard Server - IP', DiscoveryOptions.OFFBOARD_IP), 206 | function=self.set_offboard_ip), 207 | MenuEntry( 208 | entry=self.format_entry('Offboard Server - Port', DiscoveryOptions.OFFBOARD_PORT), 209 | function=self.set_offboard_port), 210 | MenuEntry( 211 | entry=self.format_entry('Offboard Server - Server ID', DiscoveryOptions.OFFBOARD_ID), # noqa: E501 212 | function=self.set_offboard_server_id), 213 | MenuEntry('', None), 214 | MenuEntry(entry='Apply Defaults', function=self.apply_defaults), 215 | MenuEntry(entry='Save', function=self.save_settings)] 216 | 217 | self.menu = Menu(title=self.title, menu_entries=self.entries) 218 | 219 | def format_entry(self, name, opt: DiscoveryOptions): 220 | return lambda: '{0}{1}[{2}]'.format( 221 | name, 222 | ' ' * (32 - len(name)), 223 | self.conf.get(opt)) 224 | 225 | def show(self): 226 | self.menu.show() 227 | 228 | def set_enabled(self): 229 | options = OptionsMenu(title='Fast-DDS Discovery Server', 230 | menu_entries=['True', 'False'], 231 | default_option=self.conf.get(DiscoveryOptions.ENABLED)) 232 | self.conf.set(DiscoveryOptions.ENABLED, options.show() == 'True') 233 | 234 | def set_port(self): 235 | p = Prompt(prompt='Port [{0}]: '.format(self.conf.get(DiscoveryOptions.PORT)), 236 | default_response=self.conf.get(DiscoveryOptions.PORT), 237 | response_type=int, 238 | note='Onboard Discovery Server Port (10000-65535)') 239 | port = p.show() 240 | port = max(10000, min(int(port), 65535)) 241 | self.conf.set(DiscoveryOptions.PORT, port) 242 | 243 | def set_server_id(self): 244 | p = Prompt(prompt='Server ID [{0}]: '.format(self.conf.get(DiscoveryOptions.SERVER_ID)), 245 | default_response=self.conf.get(DiscoveryOptions.SERVER_ID), 246 | response_type=int, 247 | note='Onboard Discovery Server ID (0-255)') 248 | server_id = p.show() 249 | server_id = max(0, min(int(server_id), 255)) 250 | if (self.conf.get(DiscoveryOptions.OFFBOARD_IP) and (server_id == int(self.conf.get(DiscoveryOptions.OFFBOARD_ID)))): # noqa: 501 251 | return 252 | self.conf.set(DiscoveryOptions.SERVER_ID, server_id) 253 | 254 | def set_offboard_ip(self): 255 | p = Prompt(prompt='IP [{0}]: '.format(self.conf.get(DiscoveryOptions.OFFBOARD_IP)), 256 | default_response=self.conf.get(DiscoveryOptions.OFFBOARD_IP), 257 | note='Offboard Discovery Server IP (Leave blank to disable)') 258 | ip_addr = p.show() 259 | if ip_addr: 260 | ip_addr = ip_addr.strip().strip('\'"') 261 | else: 262 | ip_addr = '' 263 | self.conf.set(DiscoveryOptions.OFFBOARD_IP, ip_addr) 264 | 265 | def set_offboard_port(self): 266 | p = Prompt(prompt='Port [{0}]: '.format(self.conf.get(DiscoveryOptions.OFFBOARD_PORT)), 267 | default_response=self.conf.get(DiscoveryOptions.OFFBOARD_PORT), 268 | response_type=int, 269 | note='Offboard Discovery Server Port (10000-65535)') 270 | port = p.show() 271 | port = max(10000, min(int(port), 65535)) 272 | self.conf.set(DiscoveryOptions.OFFBOARD_PORT, port) 273 | 274 | def set_offboard_server_id(self): 275 | p = Prompt(prompt='Server ID [{0}]: '.format(self.conf.get(DiscoveryOptions.OFFBOARD_ID)), 276 | default_response=self.conf.get(DiscoveryOptions.OFFBOARD_ID), 277 | response_type=int, 278 | note='Offboard Discovery Server ID (0-255) - Cannot be the same as the onboard server') # noqa: 501 279 | server_id = p.show() 280 | server_id = max(0, min(int(server_id), 255)) 281 | if (server_id == int(self.conf.get(DiscoveryOptions.SERVER_ID))): 282 | return 283 | self.conf.set(DiscoveryOptions.OFFBOARD_ID, server_id) 284 | 285 | def apply_defaults(self): 286 | self.conf.apply_default(self.conf.discovery_conf) 287 | 288 | def save_settings(self): 289 | self.conf.write_discovery() 290 | self.menu.exit() 291 | 292 | 293 | class RobotUpstart(): 294 | # Robot Upstart -- https://patorjk.com/software/taag/#p=display&v=0&f=Small 295 | title = """ 296 | ___ _ _ _ _ _ _ 297 | | _ \\___| |__ ___| |_ | | | |_ __ __| |_ __ _ _ _| |_ 298 | | / _ \\ '_ \\/ _ \\ _| | |_| | '_ (_-< _/ _` | '_| _| 299 | |_|_\\___/_.__/\\___/\\__| \\___/| .__/__/\\__\\__,_|_| \\__| 300 | |_| 301 | """ 302 | 303 | def __init__(self, configs: Conf) -> None: 304 | self.conf = configs 305 | self.entries = [MenuEntry(entry='Restart', 306 | function=self.restart), 307 | MenuEntry(entry='Start', 308 | function=self.start), 309 | MenuEntry(entry='Stop', 310 | function=self.stop), 311 | MenuEntry(entry='Install', 312 | function=self.install), 313 | MenuEntry(entry='Uninstall', 314 | function=self.uninstall), 315 | MenuEntry(entry='', 316 | function=None), 317 | MenuEntry(entry='Status', 318 | function=self.view_service_status)] 319 | 320 | self.menu = Menu(self.title, self.entries) 321 | 322 | def show(self): 323 | self.menu.show() 324 | 325 | def view_service_status(self): 326 | try: 327 | subprocess.run(shlex.split('sudo systemctl status turtlebot4.service')) 328 | except KeyboardInterrupt: 329 | pass 330 | 331 | def stop(self): 332 | subprocess.run(shlex.split('sudo systemctl stop turtlebot4.service')) 333 | 334 | def start(self): 335 | subprocess.run(shlex.split('sudo systemctl start turtlebot4.service')) 336 | 337 | def restart(self): 338 | subprocess.run(shlex.split('sudo systemctl restart turtlebot4.service')) 339 | 340 | def daemon_reload(self): 341 | subprocess.run(shlex.split('sudo systemctl daemon-reload')) 342 | 343 | def install(self): 344 | try: 345 | self.uninstall() 346 | 347 | rmw = os.environ['RMW_IMPLEMENTATION'] 348 | if rmw == 'rmw_fastrtps_cpp': 349 | rmw_config = os.environ['FASTRTPS_DEFAULT_PROFILES_FILE'] 350 | else: 351 | rmw_config = os.environ['CYCLONEDDS_URI'] 352 | 353 | turtlebot4_job = robot_upstart.Job( 354 | name='turtlebot4', 355 | workspace_setup=os.environ['ROBOT_SETUP'], 356 | rmw=rmw, 357 | rmw_config=rmw_config, 358 | systemd_after='network-online.target') 359 | 360 | turtlebot4_job.symlink = True 361 | turtlebot4_job.add( 362 | package='turtlebot4_bringup', 363 | filename=f'launch/{self.conf.get(SystemOptions.MODEL)}.launch.py' 364 | ) 365 | turtlebot4_job.install() 366 | 367 | if self.conf.get(DiscoveryOptions.ENABLED): 368 | discovery_job = robot_upstart.Job(workspace_setup=os.environ['ROBOT_SETUP']) 369 | discovery_job.install(Provider=TurtleBot4Extras) 370 | subprocess.run(shlex.split('sudo systemctl restart discovery.service')) 371 | 372 | self.daemon_reload() 373 | 374 | except KeyError as err: 375 | ErrorPrompt(f'Failed to install systemd job:\n{err} is not defined').show() 376 | except Exception as err: 377 | ErrorPrompt(f'Failed to install systemd job:\n{err}').show() 378 | 379 | def uninstall(self): 380 | try: 381 | self.stop() 382 | 383 | # Uninstall Turtlebot4 Service 384 | turtlebot4_job = robot_upstart.Job( 385 | name='turtlebot4', 386 | workspace_setup=os.environ['ROBOT_SETUP']) 387 | turtlebot4_job.uninstall() 388 | 389 | # Uninstall Discovery Server Service 390 | if os.path.exists('/lib/systemd/system/discovery.service'): 391 | subprocess.run(shlex.split( 392 | 'sudo systemctl stop discovery.service'), capture_output=True) 393 | discovery_job = robot_upstart.Job(workspace_setup=os.environ['ROBOT_SETUP']) 394 | discovery_job.uninstall(Provider=TurtleBot4Extras) 395 | 396 | self.daemon_reload() 397 | except KeyError as err: 398 | ErrorPrompt(f'Failed to uninstall existing systemd job:\n{err} is not defined').show() 399 | except Exception as err: 400 | ErrorPrompt(f'Failed to uninstall existing systemd job:\n{err}').show() 401 | 402 | 403 | class TurtleBot4Extras(robot_upstart.providers.Generic): 404 | 405 | def post_install(self): 406 | pass 407 | 408 | def generate_install(self): 409 | with open('/etc/turtlebot4/discovery.conf') as f: 410 | discovery_conf_contents = f.read() 411 | discovery_conf_contents = self.fix_conf_username(discovery_conf_contents) 412 | with open('/etc/turtlebot4/discovery.sh') as f: 413 | discovery_sh_contents = f.read() 414 | return { 415 | '/lib/systemd/system/discovery.service': { 416 | 'content': discovery_conf_contents, 417 | 'mode': 0o644 418 | }, 419 | '/usr/sbin/discovery': { 420 | 'content': discovery_sh_contents, 421 | 'mode': 0o755 422 | }, 423 | '/etc/systemd/system/multi-user.target.wants/discovery.service': { 424 | 'symlink': '/lib/systemd/system/discovery.service' 425 | }} 426 | 427 | def generate_uninstall(self): 428 | return { 429 | '/lib/systemd/system/discovery.service': { 430 | 'remove': True 431 | }, 432 | '/usr/sbin/discovery': { 433 | 'remove': True 434 | }, 435 | '/etc/systemd/system/multi-user.target.wants/discovery.service': { 436 | 'remove': True 437 | }} 438 | 439 | def fix_conf_username(self, discovery_conf_contents): 440 | """ 441 | Replace the `User=ubuntu` text in the configuration with the current username. 442 | 443 | @return The modified config file contents 444 | """ 445 | if os.getlogin() == 'ubuntu': 446 | # no changes needed! 447 | return discovery_conf_contents 448 | 449 | return discovery_conf_contents.replace('User=ubuntu', f'User={os.getlogin()}') 450 | --------------------------------------------------------------------------------