ROSClaw Installation Script

ROSClaw.sh

#!/usr/bin/env bash

set -euo pipefail

log() {
  printf '[install_rosclaw] %s\n' "$*"
}

fail() {
  printf '[install_rosclaw] %s\n' "$*" >&2
  exit 1
}

source_setup() {
  local setup_file=$1
  set +u
  # shellcheck disable=SC1090
  source "${setup_file}"
  set -u
}

ensure_git_checkout() {
  local repo_url=$1
  local repo_ref=$2
  local checkout_dir=$3

  if [[ -d "${checkout_dir}/.git" || -f "${checkout_dir}/.git" ]]; then
    log "Using existing checkout ${checkout_dir}"
    return 0
  fi

  if [[ -e "${checkout_dir}" ]]; then
    fail "Path exists but is not a git checkout: ${checkout_dir}"
  fi

  log "Cloning ${repo_url} (${repo_ref}) into ${checkout_dir}"
  git clone --branch "${repo_ref}" --single-branch "${repo_url}" "${checkout_dir}"
}

ensure_rosdep_ready() {
  if [[ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]]; then
    log "Initializing rosdep"
    sudo rosdep init
  fi

  log "Updating rosdep indexes"
  rosdep update
}

ensure_openclaw_on_path() {
  if command -v openclaw >/dev/null 2>&1; then
    return 0
  fi

  if command -v npm >/dev/null 2>&1; then
    export PATH="$(npm prefix -g)/bin:${PATH}"
    hash -r
  fi

  command -v openclaw >/dev/null 2>&1
}

install_ros2_repo_if_needed() {
  if dpkg -s ros2-apt-source >/dev/null 2>&1; then
    return 0
  fi

  log "Installing ROS 2 apt source package"
  export ROS_APT_SOURCE_VERSION
  ROS_APT_SOURCE_VERSION=$(
    curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest \
      | grep -F '"tag_name"' \
      | awk -F'"' '{print $4}'
  )

  curl -L -o /tmp/ros2-apt-source.deb \
    "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"

  sudo dpkg -i /tmp/ros2-apt-source.deb
}

OS_CODENAME=$(. /etc/os-release && echo "${UBUNTU_CODENAME:-}")
if [[ "${OS_CODENAME}" != "noble" ]]; then
  fail "This script is intended for Ubuntu 24.04 (noble)."
fi

DEV_ROOT=${DEV_ROOT:-"${HOME}/dev"}
ROS_DISTRO=${ROS_DISTRO:-jazzy}

EXAMPLE_REPO=${EXAMPLE_REPO:-https://github.com/ROSClaw/rosclaw-example-turtlebot}
EXAMPLE_REF=${EXAMPLE_REF:-main}
PLUGIN_REPO=${PLUGIN_REPO:-https://github.com/ROSClaw/rosclaw-plugin}
PLUGIN_REF=${PLUGIN_REF:-main}

ROSCLAW_ROS2_REPO=${ROSCLAW_ROS2_REPO:-https://github.com/ROSClaw/rosclaw-ros2.git}
ROSCLAW_ROS2_REF=${ROSCLAW_ROS2_REF:-main}
ROSCLAW_AUTONOMY_REPO=${ROSCLAW_AUTONOMY_REPO:-https://github.com/ROSClaw/rosclaw-ros2-autonomy.git}
ROSCLAW_AUTONOMY_REF=${ROSCLAW_AUTONOMY_REF:-main}
AWS_WORLD_REPO=${AWS_WORLD_REPO:-https://github.com/aws-robotics/aws-robomaker-small-house-world.git}
AWS_WORLD_REF=${AWS_WORLD_REF:-ros2}

INSTALL_OPENCLAW=${INSTALL_OPENCLAW:-1}
INSTALL_PLUGIN=${INSTALL_PLUGIN:-1}
BUILD_WORKSPACE=${BUILD_WORKSPACE:-1}
BUILD_PARALLEL_WORKERS=${BUILD_PARALLEL_WORKERS:-}

log "Installing base packages"
sudo apt update
sudo apt install -y \
  software-properties-common \
  curl \
  ca-certificates \
  git \
  gnupg \
  lsb-release \
  build-essential \
  python3-rosdep \
  python3-colcon-common-extensions \
  python3-vcstool \
  ros-dev-tools

log "Ensuring ROS 2 repository is configured"
sudo add-apt-repository universe -y
install_ros2_repo_if_needed

log "Installing ROS 2 Jazzy + Gazebo Harmonic + rosbridge"
sudo apt update
sudo apt install -y \
  ros-jazzy-desktop \
  ros-jazzy-ros-gz \
  ros-jazzy-rosbridge-server

if ! grep -Fq "source /opt/ros/jazzy/setup.bash" "${HOME}/.bashrc"; then
  echo "source /opt/ros/jazzy/setup.bash" >> "${HOME}/.bashrc"
fi

source_setup "/opt/ros/${ROS_DISTRO}/setup.bash"
ensure_rosdep_ready

if [[ "${INSTALL_OPENCLAW}" == "1" ]]; then
  if ! ensure_openclaw_on_path; then
    log "Installing OpenClaw (onboarding skipped)"
    curl -fsSL https://openclaw.ai/install.sh | bash -s -- --no-onboard
    ensure_openclaw_on_path || fail "OpenClaw installed but is not on PATH"
  fi
fi

mkdir -p "${DEV_ROOT}"

EXAMPLE_DIR="${DEV_ROOT}/rosclaw-example-turtlebot"
PLUGIN_DIR="${DEV_ROOT}/rosclaw-plugin"
GAZEBO_WS="${EXAMPLE_DIR}/simulations/gazebo"
GAZEBO_SRC="${GAZEBO_WS}/src"

ensure_git_checkout "${EXAMPLE_REPO}" "${EXAMPLE_REF}" "${EXAMPLE_DIR}"
ensure_git_checkout "${PLUGIN_REPO}" "${PLUGIN_REF}" "${PLUGIN_DIR}"

log "Updating example submodules"
git -C "${EXAMPLE_DIR}" submodule update --init --recursive

mkdir -p "${GAZEBO_SRC}"
ensure_git_checkout "${ROSCLAW_ROS2_REPO}" "${ROSCLAW_ROS2_REF}" "${GAZEBO_SRC}/rosclaw-ros2"
ensure_git_checkout "${ROSCLAW_AUTONOMY_REPO}" "${ROSCLAW_AUTONOMY_REF}" "${GAZEBO_SRC}/rosclaw-ros2-autonomy"
ensure_git_checkout "${AWS_WORLD_REPO}" "${AWS_WORLD_REF}" "${GAZEBO_SRC}/aws-robomaker-small-house-world"

if [[ "${INSTALL_PLUGIN}" == "1" ]] && ensure_openclaw_on_path; then
  log "Installing OpenClaw plugin"
  openclaw plugins install "${PLUGIN_DIR}" || true
  openclaw gateway restart || true
fi

log "Installing ROS package dependencies with rosdep"
(
  cd "${GAZEBO_WS}"
  rosdep install \
    --from-paths src \
    --ignore-src \
    --rosdistro "${ROS_DISTRO}" \
    -r -y \
    --skip-keys ament_python
)

if [[ "${BUILD_WORKSPACE}" == "1" ]]; then
  log "Building Gazebo workspace"
  colcon_args=(
    build
    --base-paths src
    --packages-up-to rosclaw_bringup rosclaw_autonomy rosclaw_small_house_gazebo
    --cmake-args -DPython3_EXECUTABLE=/usr/bin/python3
  )

  if [[ -n "${BUILD_PARALLEL_WORKERS}" ]]; then
    colcon_args+=(--parallel-workers "${BUILD_PARALLEL_WORKERS}")
  fi

  (
    cd "${GAZEBO_WS}"
    colcon "${colcon_args[@]}"
  )
fi

log "Install complete"
log "Next:"
log "  cd ${GAZEBO_WS}"
log "  ./launch_small_house.sh"