Set Ubuntu 22.04

set-my-ubuntu.sh

gsettings set org.gnome.desktop.input-sources xkb-options "['ctrl:nocaps']"
sudo apt update -y
sudo apt upgrade -y
sudo apt autoremove -y
sudo apt install build-essential cmake git libeigen3-dev vim tmux doxygen graphviz ffmpeg libglpk-dev -y
sudo apt install python3-sphinx -y
# install docker
sudo apt install lsb-release -y
sudo apt install apt-transport-https ca-certificates curl software-properties-common -y
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
sudo apt update
sudo apt install docker-ce docker-ce-cli -y
# install Python3 and useful packages
sudo apt install python3-pip jupyter -y
pip3 install numpy matplotlib seaborn casadi torch jax optuna meshcat pybullet gym robot_descriptions
# install Pinocchio
sudo apt install -qqy lsb-release gnupg2 curl -y
echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
sudo apt update -y
sudo apt install -qqy robotpkg-py310-pinocchio -y
echo export PATH=/opt/openrobots/bin:$PATH >> ~/.bashrc
echo export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH >> ~/.bashrc
echo export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH >> ~/.bashrc
echo export PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH >> ~/.bashrc
echo export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH >> ~/.bashrc
source ~/.bashrc
sudo apt update && sudo apt install robotpkg-py310-qt5-gepetto-viewer-corba -y
# install acados
cd 
git clone https://github.com/acados/acados.git
cd acados
git submodule update --recursive --init
mkdir -p build
cd build
cmake -DACADOS_WITH_QPOASES=ON -DACADOS_WITH_OSQP=ON ..
sudo make install -j4
cd ..
pip3 install -e ./interfaces/acados_template
echo export LD_LIBRARY_PATH=$PWD/lib:$LD_LIBRARY_PATH >> ~/.bashrc
echo export ACADOS_SOURCE_DIR=$PWD >> ~/.bashrc
source ~/.bashrc
cd 
# install ros2-humble
sudo apt install software-properties-common -y
sudo add-apt-repository universe -y

sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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
sudo apt update
sudo apt install ros-humble-desktop -y
sudo apt install python3-colcon-common-extensions -y
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool -y
sudo rosdep init && rosdep update
sudo apt update && sudo apt upgrade -y
sudo reboot