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Installer for ROS into a Raspberry Pi
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| #!/bin/bash | |
| # Stop on the first sign of trouble | |
| set -e | |
| if [ $UID != 0 ]; then | |
| echo "ERROR: Operation not permitted. Forgot sudo?" | |
| exit 1 | |
| fi | |
| main() { | |
| CURRENT_HOSTNAME=$(hostname) | |
| NEW_HOSTNAME="ur5-ros-controller" | |
| echo "Updating hostname to '$NEW_HOSTNAME'..." | |
| hostname $NEW_HOSTNAME | |
| echo $NEW_HOSTNAME > /etc/hostname | |
| sed -i "s/$CURRENT_HOSTNAME/$NEW_HOSTNAME/" /etc/hosts | |
| echo "Upgrading apt-get and source lists..." | |
| update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX | |
| # TODO: Check. Looks like dirmngr install only needed in Debian? | |
| # apt-get install -y dirmngr | |
| sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' | |
| apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 | |
| apt-get update | |
| apt-get -y upgrade | |
| # Installing ROS packages | |
| echo "Installing ROS packages and setting up basic ROS core..." | |
| apt-get install -y ros-kinetic-desktop-full | |
| rosdep init | |
| rosdep update | |
| echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc | |
| source ~/.bashrc | |
| apt-get install -y ros-kinetic-rosbridge-server ros-kinetic-tf2-web-republisher | |
| apt-get install -y ros-kinetic-universal-robot | |
| echo "Installing access point and configuring network..." | |
| # If Ubuntu MATE: apt-get install -y dhcpcd5 | |
| apt-get install -y dnsmasq hostapd | |
| systemctl stop dnsmasq | |
| systemctl stop hostapd | |
| printf 'interface wlan0\n static ip_address=192.168.10.1/24\n' | tee -a /etc/dhcpcd.conf | |
| service dhcpcd restart | |
| printf 'dhcp-range=192.168.10.2,192.168.10.100,255.255.255.0,24h\n' | tee /etc/dnsmasq.conf | |
| printf 'interface=wlan0\ndriver=nl80211\nssid=%s-wifi\nhw_mode=g\nchannel=7\nwmm_enabled=0\nmacaddr_acl=0\nauth_algs=1\nignore_broadcast_ssid=0\nwpa=2\nwpa_passphrase=%s\nwpa_key_mgmt=WPA-PSK\nwpa_pairwise=TKIP\nrsn_pairwise=CCMP\n' $(hostname) 'robopocalypse' | tee -a /etc/hostapd/hostapd.conf | |
| sed -i -e 's@#DAEMON_CONF=""@DAEMON_CONF="/etc/hostapd/hostapd.conf"@g' /etc/default/hostapd | |
| systemctl start hostapd | |
| systemctl start dnsmasq | |
| sed -i -e 's/#net.ipv4.ip_forward=1/net.ipv4.ip_forward=1/g' /etc/sysctl.conf | |
| iptables -t nat -A POSTROUTING -o eth0 -j MASQUERADE | |
| sh -c "iptables-save > /etc/iptables.ipv4.nat" | |
| sed -i -e 's@exit 0@iptables-restore < /etc/iptables.ipv4.nat@g' /etc/rc.local | |
| echo "exit 0" | tee -a /etc/rc.local | |
| echo "Everything is awesome!" | |
| echo "The system will reboot in 5 seconds..." | |
| sleep 5 | |
| shutdown -r now | |
| } | |
| main |
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