ros-install-this

#!/bin/bash

# Directly installs a single ROS package from the package directory
# to ROS_ROOT without needing to manually create a catkin workspace.

# Example usage:
# $ source /opt/ros/kinetic/setup.bash
# $ ./ros-install-this

if [ -z $ROS_DISTRO ]; then 
  echo "Error: ROS_DISTRO is not set. Did you source setup.bash?"
  exit;
fi

if [ -z $ROS_VERSION ]; then 
  echo "Error: ROS_VERSION is not set. Did you source setup.bash?"
  exit;
fi

if [ ! -f 'package.xml' ]; then
  echo "Error: No package.xml found. The current directory does not appear to be a ROS package."
  exit;
fi

PACKAGE_NAME=`cat package.xml |grep '<name>' | sed -e 's/^.*<name>\(.*\)<\/name>.*$/\1/'`

if [ -z $PACKAGE_NAME ]; then
  echo "Error: Cannot determine name from package.xml. Is package.xml properly written?"
  exit;
fi

ROS_REAL_ROOT=`echo $ROS_ROOT | sed -e s/\\\\/share\\\\/ros//`

if [ -z $ROS_REAL_ROOT ]; then 
  echo "Error: Cannot determine real root."
  exit;
fi

TEMP_DIR=$(mktemp -d /tmp/ros-install-this.XXXXXX)

if [ -z $TEMP_DIR ]; then 
  echo "Error: Error creating temporary dir."
  exit;
fi

echo "Building ..."
mkdir -p $TEMP_DIR/src/
cp -rv . $TEMP_DIR/src/$PACKAGE_NAME
source $ROS_REAL_ROOT/setup.bash
cd $TEMP_DIR/src/
catkin_init_workspace
cd $TEMP_DIR/

if [ $ROS_DISTRO == "noetic" ]; then
    catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
else 
    catkin_make
fi

echo
echo "You may be now be asked for your sudo password to complete installation."
echo "Installation target is: $ROS_REAL_ROOT"
echo

sudo bash -c "source $ROS_REAL_ROOT/setup.bash; catkin_make install -DCMAKE_INSTALL_PREFIX=$ROS_REAL_ROOT"

# Done in 2 steps to avoid running the "rm -rf" part as root
sudo chmod -R 777 $TEMP_DIR/devel $TEMP_DIR/build $TEMP_DIR/src
rm -rf $TEMP_DIR