setup_choreonoid.sh

#!/bin/bash
set -u

if [ "${CI:-0}" -eq 1 ]; then
    export DEBIAN_FRONTEND=noninteractive
fi

# Compatibility
export GRASP_PLUGINS="Grasp;PRM;GeometryHandler;RobotInterface;ConstraintIK;SoftFingerStability;PCL;GraspDataGen;MotionFile"
export GRASP_ROBOT_MODEL_PLUGINS='HIRO/Plugin'
export CNOID_TAG=${1:-v1.7.0}

if [ "$ROS_DISTRO" = "indigo" ]; then
  export USE_QT5="OFF"
  export USE_PYTHON3="OFF"
  export USE_PYBIND11="OFF"
elif [ "$CNOID_TAG" = "v1.5.0" ]; then
  export USE_QT5="ON"
  export USE_PYTHON3="OFF"
  export USE_PYBIND11="OFF"
else
  export USE_QT5="ON"
  export USE_PYTHON3="ON"
  export USE_PYBIND11="ON"
fi
env | grep ROS_DISTRO
env | grep CNOID_TAG
env | grep GRASP
env | grep USE


. /etc/os-release
echo "Ubuntu $VERSION_ID is selected."
sleep 3

if [ ! -d ./hlab-nxo-setup ]; then
  echo "./hlab-nxo-setup not found."
  exit 1
fi
if [ ! -d ./grasp-plugin ]; then
  echo "./grasp-plugin not found. Please clone it first."
  exit 1
fi

git clone https://github.com/choreonoid/choreonoid.git --depth 1 -b "$CNOID_TAG"

ln -s $(readlink -f ./grasp-plugin) ./choreonoid/ext/graspPlugin
echo "Ubuntu $VERSION_ID is selected. Installing dependencies..."


wget --spider https://raw.githubusercontent.com/choreonoid/choreonoid/v1.7.0/misc/script/install-requisites-ubuntu-"$VERSION_ID".sh || \
wget --spider https://raw.githubusercontent.com/choreonoid/choreonoid/master/misc/script/install-requisites-ubuntu-"$VERSION_ID".sh
if [ $? -eq 0 ]; then
  rm ./choreonoid/misc/script/install-requisites-ubuntu-"$VERSION_ID".sh || :
  wget https://raw.githubusercontent.com/choreonoid/choreonoid/v1.7.0/misc/script/install-requisites-ubuntu-"$VERSION_ID".sh -P ./choreonoid/misc/script/ || \
  wget https://raw.githubusercontent.com/choreonoid/choreonoid/master/misc/script/install-requisites-ubuntu-"$VERSION_ID".sh -P ./choreonoid/misc/script/
else
  echo 'Fetching has been skipped since not found.'
fi
sleep 2
source ./choreonoid/misc/script/install-requisites-ubuntu-"$VERSION_ID".sh

# Compatibility
if [ "$CNOID_TAG" = "v1.5.0" ]; then
  sudo apt install python-dev libboost-python-dev -y --no-install-recommends
fi
if [ "$ROS_DISTRO" = "noetic"  ]; then
  sudo apt install gettext python-is-python2 --no-install-recommends -y
  ## See: https://docs.python.org/ja/3/c-api/unicode.html
  ## バージョン 3.7 で変更: 返り値の型が char * ではなく const char * になりました。
  echo "Patching the following file(s):"
  find ./choreonoid/src -name 'PyQString.h'
  find ./choreonoid/src -name 'PyQString.h' | xargs sed -i 's/  char\* data = PyUnicode_AsUTF8AndSize/  const char\* data = PyUnicode_AsUTF8AndSize/g'
fi

if [  "$ROS_DISTRO" = "indigo" ]; then
  sudo apt install cmake3 --no-install-recommends -y
  find ./choreonoid/src -name 'MessageView.cpp'
  find ./choreonoid/src -name 'MessageView.cpp' | xargs sed -i 's#  textEdit.setSizeAdjustPolicy(QAbstractScrollArea::AdjustIgnored);#//textEdit.setSizeAdjustPolicy(QAbstractScrollArea::AdjustIgnored);#g'
elif [ "$CNOID_TAG" = "v1.7.0" ]; then
  :
else
  echo "Patching the following file(s):"
  find ./choreonoid/src -name 'PyQtCore.cpp'
  find ./choreonoid/src -name 'PyQtCore.cpp' | xargs sed -i 's/.def("startTimer", \&QObject::startTimer)/.def("startTimer", (int (QObject::*)(int, Qt::TimerType)) \&QObject::startTimer)/g'
  find ./choreonoid/src -name 'PyQtCore.cpp' | xargs sed -i 's/.def("setInterval", \&QTimer::setInterval)/.def("setInterval", (void (QTimer::*)(int)) \&QTimer::setInterval)/g'
  sleep 2
fi

echo "Entering build-choreonoid/..."
mkdir ./build-choreonoid && cd ./build-choreonoid

set -e
cmake ../choreonoid -DGRASP_PLUGINS="$GRASP_PLUGINS" \
-DGRASP_ROBOT_MODEL_PLUGINS="$GRASP_ROBOT_MODEL_PLUGINS" \
-DBUILD_GRASP_PCL_PLUGIN=ON \
-DREAD_PCD_ON=ON \
-DUSE_QT5="$USE_QT5" \
-DUSE_PYTHON3="$USE_PYTHON3" \
-DUSE_PYBIND11="$USE_PYBIND11"
LIBRARY_PATH=/opt/ros/${ROS_DISTRO}/lib make -k -j$(nproc)
cd ..
echo "Leaving build-choreonoid/..."


echo "Regenerate IDL..."
ARRAY[0]="choreonoid/ext/graspPlugin/RobotInterface/Nextage/NextageInterface/HIROController.idl"
ARRAY[1]="choreonoid/ext/graspPlugin/RobotInterface/Nextage/NextageInterface/HiroNX.idl"
ARRAY[2]="choreonoid/ext/graspPlugin/RobotInterface/Nextage/PortDuplicator/HIROController.idl"
ARRAY[3]="choreonoid/ext/graspPlugin/RobotInterface/Nextage/PortDuplicator/HiroNX.idl"
ARRAY[4]="choreonoid/ext/graspPlugin/RobotInterface/Nextage/THK/HIROController.idl"
ARRAY[5]="choreonoid/ext/graspPlugin/RobotInterface/Nextage/THK/HiroNX.idl"
ARRAY[6]="hlab-nxo-setup/externals/hironx-interface/HiroNXInterface/HiroNXGUI/HIROController.idl"
ARRAY[7]="hlab-nxo-setup/externals/hironx-interface/HiroNXInterface/HiroNXGUI/HiroNX.idl"

for item in "${ARRAY[@]}"
do
  if [ -f $item ]; then
    P=$(pwd)
    NAME=$(basename $item)
    echo "Entering $(dirname $item)..."
    cd "$(readlink -f "$(dirname $item)")"
    omniidl -bpython -v "$NAME"
    cd "$P"
  else
    echo "$item not found."
  fi
done