diff --git a/install_wolf.sh b/install_wolf.sh
index 00af512888be3decfb49a7866a33ee5c67e85b9b..0d94c31236f363bcada7e0ac75113e606392e60f 100755
--- a/install_wolf.sh
+++ b/install_wolf.sh
@@ -1,5 +1,20 @@
#!/bin/bash
+## FUNCTIONS
+func_make_install () {
+ if [ "$UID" -eq 0 -o "$EUID" -eq 0 ]; then
+ make install
+ else
+ sudo make install
+ fi
+}
+
+func_echo () {
+ if [ $VERBOSE == "true" ]; then
+ echo "$1"
+ fi
+}
+
# verbose
VERBOSE="true"
while getopts "he" option; do
@@ -11,27 +26,23 @@ while getopts "he" option; do
done
CORES=$(nproc)
-if [ $VERBOSE == "true" ]; then
- echo "The number of available cores on this machine is $CORES"
-fi
+func_echo "The number of available cores on this machine is $CORES"
RUN_PATH=$PWD
# UBUNTU
-apt install -y lsb-core
+if [ "$UID" -eq 0 -o "$EUID" -eq 0 ]; then
+ apt install -y lsb-core
+else
+ sudo apt install -y lsb-core
+fi
UBUNTU_DISTRO=$(lsb_release -rs);
if [ $UBUNTU_DISTRO == "16.04" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Ubuntu 16.04 - OK"
- fi
+ func_echo "Ubuntu 16.04 - OK"
elif [ $UBUNTU_DISTRO == "18.04" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Ubuntu 18.04 - OK"
- fi
+ func_echoo "Ubuntu 18.04 - OK"
elif [ $UBUNTU_DISTRO == "20.04" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Ubuntu 20.04 - OK"
- fi
+ func_echo "Ubuntu 20.04 - OK"
else
echo "Non-supported Ubuntu version: $UBUNTU_DISTRO"
exit 1
@@ -39,28 +50,25 @@ fi
# WOLF DEPENDENCIES #####################################################
-if [ $VERBOSE == "true" ]; then
- echo "You are in folder $PWD"
-fi
+func_echo "You are in folder $PWD"
echo "Enter path for dependencies (either /global/path or relative/path):"
read DEPS_PATH
cd $DEPS_PATH
DEPS_PATH=$PWD
-if [ $VERBOSE == "true" ]; then
- echo "path dependencies: $DEPS_PATH"
-fi
+func_echo "path dependencies: $DEPS_PATH"
-if [ $VERBOSE == "true" ]; then
- echo "Installing dependencies via apt install..."
+func_echo "Installing dependencies via apt install..."
+
+if [ "$UID" -eq 0 -o "$EUID" -eq 0 ]; then
+ apt install -y git wget unzip dh-autoreconf cmake build-essential libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
+else
+ sudo apt install -y git wget unzip dh-autoreconf cmake build-essential libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
fi
-apt install -y git wget unzip dh-autoreconf cmake build-essential libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
# Eigen
# Ubuntu 16.04 - Eigen 3.3.7 required
if [ $UBUNTU_DISTRO == "16.04" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Installing Eigen 3.3.7 via source..."
- fi
+ func_echo "Installing Eigen 3.3.7 via source..."
# todo check if installed, check version, check
wget https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip
unzip eigen-3.3.7.zip
@@ -69,18 +77,14 @@ if [ $UBUNTU_DISTRO == "16.04" ]; then
mkdir build
cd build
cmake ..
- make install
+ func_make_install
else
- if [ $VERBOSE == "true" ]; then
- echo "Installing Eigen 3 via apt install"
- fi
+ func_echo "Installing Eigen 3 via apt install"
apt install -y libeigen3-dev
fi
# ceres
-if [ $VERBOSE == "true" ]; then
- echo "Installing ceres 2.0 via source..."
-fi
+func_echo "Installing ceres 2.0 via source..."
cd $DEPS_PATH
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
@@ -90,12 +94,10 @@ mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j$CORES
make test
-make install
+func_make_install
# spdlog
-if [ $VERBOSE == "true" ]; then
- echo "Installing spdlog 0.17 via source..."
-fi
+func_echo "Installing spdlog 0.17 via source..."
cd $DEPS_PATH
git clone https://github.com/gabime/spdlog.git
cd spdlog
@@ -104,50 +106,37 @@ git pull
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" ..
make -j$CORES
-make install
+func_make_install
# WOLF #####################################################
cd $RUN_PATH
-if [ $VERBOSE == "true" ]; then
- echo "You are in folder $PWD"
-fi
+func_echo "You are in folder $PWD"
echo "Enter path for wolf folder (either /global/path or relative/path):"
read WOLF_PATH
cd $WOLF_PATH
mkdir wolf
cd wolf
WOLF_PATH=$PWD
-if [ $VERBOSE == "true" ]; then
- echo "wolf folder path: $PWD/wolf"
-fi
+func_echo "wolf folder path: $PWD/wolf"
# CORE -----------------------------------------------------
-if [ $VERBOSE == "true" ]; then
- echo "Cloning wolf core..."
-fi
+func_echo "Cloning wolf core..."
cd $WOLF_PATH
-git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+git clone -b master https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf.git
cd wolf
git pull
-if [ $VERBOSE == "true" ]; then
- echo "Compiling wolf core..."
-fi
+func_echo "Compiling wolf core..."
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
-cd build
make -j$CORES
-if [ $VERBOSE == "true" ]; then
- echo "Installing wolf core..."
-fi
-make install
+func_echo "Installing wolf core..."
+func_make_install
-if [ $VERBOSE == "true" ]; then
- echo "Testing wolf core..."
-fi
+func_echo "Testing wolf core..."
ctest -j$CORES
@@ -156,35 +145,24 @@ echo "Do you want to download and install plugin imu? (y/n)"
read INSTALL_IMU
if [ $INSTALL_IMU == "y" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Cloning plugin imu..."
- fi
+ func_echo "Cloning plugin imu..."
cd $WOLF_PATH
- git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
+ git clone -b master https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
cd imu
git pull
- if [ $VERBOSE == "true" ]; then
- echo "Compiling plugin imu..."
- fi
+ func_echo "Compiling plugin imu..."
mkdir -p build && cd build
cmake .. -DCMAKE_BUILD_TYPW=Release
- cd build
make -j$CORES
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin imu..."
- fi
- make install
+ func_echo "Installing plugin imu..."
+ func_make_install
- if [ $VERBOSE == "true" ]; then
- echo "Testing plugin imu..."
- fi
+ func_echo "Testing plugin imu..."
ctest -j$CORES
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping plugin imu."
- fi
+ func_echo "Skipping plugin imu."
fi
# GNSS --------------------------------------------------
@@ -192,9 +170,7 @@ echo "Do you want to download and install plugin gnss? (y/n)"
read INSTALL_GNSS
if [ $INSTALL_GNSS == "y" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin gnss dependencies..."
- fi
+ func_echo "Installing plugin gnss dependencies..."
cd $DEPS_PATH
git clone https://gitlab.iri.upc.edu/mobile_robotics/gauss_project/gnss_utils.git
cd gnss_utils
@@ -203,37 +179,26 @@ if [ $INSTALL_GNSS == "y" ]; then
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
make -j$CORES
ctest -j$CORES
- make install
+ func_make_install
- if [ $VERBOSE == "true" ]; then
- echo "Cloning plugin gnss..."
- fi
+ func_echo "Cloning plugin gnss..."
cd $WOLF_PATH
- git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss.git
+ git clone -b master https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss.git
cd gnss
git pull
- if [ $VERBOSE == "true" ]; then
- echo "Compiling plugin gnss..."
- fi
+ func_echo "Compiling plugin gnss..."
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
- cd build
make -j$CORES
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin gnss..."
- fi
- make install
+ func_echo "Installing plugin gnss..."
+ func_make_install
- if [ $VERBOSE == "true" ]; then
- echo "Testing plugin gnss..."
- fi
+ func_echo "Testing plugin gnss..."
ctest -j$CORES
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping plugin gnss."
- fi
+ func_echo "Skipping plugin gnss."
fi
@@ -242,9 +207,7 @@ echo "Do you want to download and install plugin laser? (y/n)"
read INSTALL_LASER
if [ $INSTALL_LASER == "y" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin laser dependencies..."
- fi
+ func_echo "Installing plugin laser dependencies..."
# CSM
echo "Do you want to install CSM to enable ICP processors? (y/n)"
@@ -256,11 +219,9 @@ if [ $INSTALL_LASER == "y" ]; then
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j$CORES
- make install
+ func_make_install
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping CSM."
- fi
+ func_echo "Skipping CSM."
fi
# FALKO
@@ -273,17 +234,13 @@ if [ $INSTALL_LASER == "y" ]; then
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j$CORES
- make install
+ func_make_install
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping Falko."
- fi
+ func_echo "Skipping Falko."
fi
# LASER_SCAN_UTILS
- if [ $VERBOSE == "true" ]; then
- echo "Installing laser_scan_utils (required)..."
- fi
+ func_echo "Installing laser_scan_utils (required)..."
cd $DEPS_PATH
ldconfig
git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils.git
@@ -292,40 +249,29 @@ if [ $INSTALL_LASER == "y" ]; then
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j$CORES
ctest -j$CORES
- make install
+ func_make_install
# PLUGIN
- if [ $VERBOSE == "true" ]; then
- echo "Cloning plugin laser..."
- fi
+ func_echo "Cloning plugin laser..."
cd $WOLF_PATH
ldconfig
- git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git
+ git clone -b master https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git
cd laser
git pull
- if [ $VERBOSE == "true" ]; then
- echo "Compiling plugin laser..."
- fi
+ func_echo "Compiling plugin laser..."
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
- cd build
make -j$CORES
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin laser..."
- fi
- make install
+ func_echo "Installing plugin laser..."
+ func_make_install
- if [ $VERBOSE == "true" ]; then
- echo "Testing plugin laser..."
- fi
+ func_echo "Testing plugin laser..."
ldconfig
ctest -j$CORES
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping plugin laser."
- fi
+ func_echo "Skipping plugin laser."
fi
# VISION --------------------------------------------------
@@ -333,55 +279,42 @@ echo "Do you want to download and install plugin vision (requires to install ope
read INSTALL_VISION
if [ $INSTALL_VISION == "y" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin vision dependencies..."
- fi
+ func_echo "Installing plugin vision dependencies..."
cd $DEPS_PATH
#install opencv
wget https://github.com/opencv/opencv/archive/3.3.0.zip -O temp.zip
- unzip temp.zip
- rm temp.zip
- cd opencv-3.3.0
- git clone https://github.com/opencv/opencv_contrib.git
- cd opencv_contrib
- git checkout 3.3.0
- cd ..
- mkdir build
- cd build
- cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D CMAKE_CXX_FLAGS="-fPIC -std=c++14" -D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ..
- make -j8
- make install
-
- if [ $VERBOSE == "true" ]; then
- echo "Cloning plugin vision..."
- fi
+ unzip temp.zip
+ rm temp.zip
+ cd opencv-3.3.0
+ git clone https://github.com/opencv/opencv_contrib.git
+ cd opencv_contrib
+ git checkout 3.3.0
+ cd ..
+ mkdir build
+ cd build
+ cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D CMAKE_CXX_FLAGS="-fPIC -std=c++14" -D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ..
+ make -j$CORES
+ func_make_install
+
+ func_echo "Cloning plugin vision..."
cd $WOLF_PATH
- git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/vision.git
+ git clone -b master https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/vision.git
cd vision
git pull
- if [ $VERBOSE == "true" ]; then
- echo "Compiling plugin vision..."
- fi
+ func_echo "Compiling plugin vision..."
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
- cd build
make -j$CORES
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin vision..."
- fi
- make install
+ func_echo "Installing plugin vision..."
+ func_make_install
- if [ $VERBOSE == "true" ]; then
- echo "Testing plugin vision..."
- fi
+ func_echo "Testing plugin vision..."
ctest -j$CORES
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping plugin vision."
- fi
+ func_echo "Skipping plugin vision."
fi
# APRILTAG --------------------------------------------------
@@ -390,9 +323,7 @@ if [ $INSTALL_VISION == "y" ]; then
read INSTALL_APRILTAG
if [ $INSTALL_APRILTAG == "y" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin apriltag dependencies..."
- fi
+ func_echo "Installing plugin apriltag dependencies..."
cd $DEPS_PATH
git clone https://github.com/AprilRobotics/apriltag apriltaglib
cd apriltaglib
@@ -400,42 +331,29 @@ if [ $INSTALL_VISION == "y" ]; then
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j$CORES
ctest -j$CORES
- make install
+ func_make_install
- if [ $VERBOSE == "true" ]; then
- echo "Cloning plugin apriltag..."
- fi
+ func_echo "Cloning plugin apriltag..."
cd $WOLF_PATH
- git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag.git
+ git clone -b master https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag.git
cd apriltag
git pull
- if [ $VERBOSE == "true" ]; then
- echo "Compiling plugin apriltag..."
- fi
+ func_echo "Compiling plugin apriltag..."
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
- cd build
make -j$CORES
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin apriltag..."
- fi
- make install
+ func_echo "Installing plugin apriltag..."
+ func_make_install
- if [ $VERBOSE == "true" ]; then
- echo "Testing plugin apriltag..."
- fi
+ func_echo "Testing plugin apriltag..."
ctest -j$CORES
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping plugin apriltag."
- fi
+ func_echo "Skipping plugin apriltag."
fi
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping plugin apriltag since plugin vision was not installed."
- fi
+ func_echo "Skipping plugin apriltag since plugin vision was not installed."
fi
# BODYDYNAMICS --------------------------------------------------
@@ -444,38 +362,27 @@ if [ $INSTALL_IMU == "y" ]; then
read INSTALL_BD
if [ $INSTALL_BD == "y" ]; then
- if [ $VERBOSE == "true" ]; then
- echo "Cloning plugin bodydynamics..."
- fi
+ func_echo "Cloning plugin bodydynamics..."
cd $WOLF_PATH
- git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics.git
+ git clone -b master https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics.git
cd bodydynamics
git pull
- if [ $VERBOSE == "true" ]; then
- echo "Compiling plugin bodydynamics..."
- fi
+ func_echo "Compiling plugin bodydynamics..."
mkdir -p build && cd build
cmake .. -DCMAKE_BUILD_TYPW=Release
- cd build
make -j$CORES
- if [ $VERBOSE == "true" ]; then
- echo "Installing plugin bodydynamics..."
- fi
- make install
+ func_echo "Installing plugin bodydynamics..."
+ func_make_install
- if [ $VERBOSE == "true" ]; then
- echo "Testing plugin bodydynamics..."
- fi
+ func_echo "Testing plugin bodydynamics..."
ctest -j$CORES
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping plugin bodydynamics."
- fi
+ func_echo "Skipping plugin bodydynamics."
fi
else
- if [ $VERBOSE == "true" ]; then
- echo "Skipping plugin bodydynamics since plugin imu was not installed."
- fi
+ func_echo "Skipping plugin bodydynamics since plugin imu was not installed."
fi
+
+func_echo "Done! Enjoy!"
\ No newline at end of file