From a2be275407a6a558a81f0a04bc2e0cc78901ea52 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Mon, 23 Sep 2024 18:24:58 +0200
Subject: [PATCH 01/17] updating the robot setup tools

---
 package-setup/setup-mp-robot.sh | 146 ++++++++++++++++++++++++++++++++
 1 file changed, 146 insertions(+)
 create mode 100755 package-setup/setup-mp-robot.sh

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
new file mode 100755
index 0000000..6cb312c
--- /dev/null
+++ b/package-setup/setup-mp-robot.sh
@@ -0,0 +1,146 @@
+#!/bin/bash
+
+# exit if any command below fails
+set -e
+
+# create folders
+mkdir -p ~/.config/autostart/
+
+# copy files
+cp ../generic/ROS-Neobotix-Autostart.desktop ~/.config/autostart/
+cp ../generic/startROS.desktop ~/Desktop/
+
+# Check if ROS is sourced
+
+if [ "$ROS_DISTRO" == "" ];
+then
+	echo "Installation cannot continue. No ROS sourced, please check if ROS is installed and sourced. Please try again after that!"
+	exit 0
+fi
+
+echo "Welcome to the setup of your MP robot, please select the dependencies that are required for your robot"
+
+uni_ans=""
+phi_ans=""
+skip_depend=""
+
+while [[ "$uni_ans" != "y" && "$uni_ans" != "n" ]]; do
+	echo "Universal robots ? (y/n)"
+
+	read uni_ans
+
+	if [ "$uni_ans" == "n" ]; then
+		skip_depend+="ur_client_library ur_msgs ur_description ur_robot_driver "
+	elif [ "$uni_ans" == "y" ]; then
+		echo "Universal robots dependencies will be installed"
+	else
+		echo "Wrong option - Please try again"
+	fi
+
+done
+
+while [[ "$phi_ans" != "y" && "$phi_ans" != "n" ]]; do
+	echo "Phidget IMU ? (y/n)"
+
+	read phi_ans
+
+	if [ "$phi_ans" == "n" ]; then
+		skip_depend+="phidgets-drivers"
+	elif [ "$phi_ans" == "y" ]; then
+		echo "Phidget IMU dependencies will be installed"
+	else
+		echo "Wrong option - Please try again"
+	fi
+
+done
+
+while [[ "$robot_model" != "mp_400" && "$robot_model" != "mp_500" && "$robot_model" != "mpo_500" && "$robot_model" != "mpo_700" ]]; do
+
+	echo "Choose your robot (mp_400/mp_500/mpo_500/mpo_700)"
+
+	read robot_model
+
+	if [ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]; then
+		echo "neo_kinematics_differential2 package will be cloned"
+	elif [ "$robot_model" == "mpo_500" ]; then
+		echo "neo_kinematics_mecanum2 package will be cloned"
+	elif [ "$robot_model" == "mpo_700" ]; then
+		echo "neo_kinematics_omnidrive2 package will be cloned"
+	else
+		echo "Wrong option - Please try again"
+	fi
+
+done
+
+# Install build tool
+sudo apt install python3-colcon-common-extensions
+
+# Install navigation packages
+
+# Nav2
+sudo apt install -y ros-$ROS_DISTRO-navigation2 ros-$ROS_DISTRO-nav2-*
+
+sudo apt install -y ros-$ROS_DISTRO-slam-toolbox
+
+#Teleop-joy
+sudo apt-get install -y ros-$ROS_DISTRO-teleop-twist-joy
+
+#Teleop-key
+sudo apt-get install -y ros-$ROS_DISTRO-teleop-twist-keyboard
+
+#Topic tools
+sudo apt-get install -y ros-$ROS_DISTRO-topic-tools
+
+#Xacro
+sudo apt-get install -y ros-$ROS_DISTRO-xacro
+
+cd ~
+
+mkdir -p ros2_workspace/src
+cd ros2_workspace/src
+
+# clone git repos here...
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mpo_700-2.git
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
+git clone --branch master          https://github.com/neobotix/neo_common2
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_relayboard_v2-2
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_sick_s300-2
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_teleop2
+git clone --branch master          https://github.com/neobotix/neo_msgs2
+git clone --branch master          https://github.com/neobotix/neo_srvs2
+
+if [ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]; then
+	git clone --branch main https://github.com/neobotix/neo_kinematics_differential2.git
+elif [ "$robot_model" == "mpo_500" ]; then
+	git clone --branch $ROS_DISTRO https://github.com/neobotix/neo_kinematics_mecanum2.git
+elif [ "$robot_model" == "mpo_700" ]; then
+	git clone --branch $ROS_DISTRO https://github.com/neobotix/neo_kinematics_omnidrive2.git
+fi
+
+# build workspace
+cd ..
+colcon build --symlink-install 
+
+echo "export LC_NUMERIC="en_US.UTF-8" " >> ~/.bashrc
+
+echo "source ~/ros2_workspace/install/setup.bash" >> ~/.bashrc
+
+echo "Setting up startup scripts"
+
+echo "source ~/ros2_workspace/install/setup.bash" >> ROS_AUTOSTART.sh
+
+echo "sleep 2" >> ROS_AUTOSTART.sh
+
+if [ "$robot_model" == "mpo_700" ]; then
+	echo "ros2 launch neo_mpo_700-2 bringup.launch.py" >> ROS_AUTOSTART.sh
+fi
+
+chmod +x ROS_AUTOSTART.sh
+
+mv ROS_AUTOSTART.sh ~/
+
+echo "Installation successful !!!"
+
+exit 0
\ No newline at end of file

From 3407138c3c53fae809b15ae8d38f9eb8d286c813 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Tue, 24 Sep 2024 15:47:59 +0200
Subject: [PATCH 02/17] updating autostart scripts

---
 package-setup/setup-mp-robot.sh | 111 ++++++++++++++++-------------
 package-setup/setup-rox.sh      | 120 ++++++++++++++++++++++++++------
 2 files changed, 159 insertions(+), 72 deletions(-)

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
index 6cb312c..baf0548 100755
--- a/package-setup/setup-mp-robot.sh
+++ b/package-setup/setup-mp-robot.sh
@@ -22,77 +22,85 @@ echo "Welcome to the setup of your MP robot, please select the dependencies that
 
 uni_ans=""
 phi_ans=""
+realsense_ans=""
 skip_depend=""
+arm_type=""
+use_imu="False"
+use_d435="False"
 
-while [[ "$uni_ans" != "y" && "$uni_ans" != "n" ]]; do
-	echo "Universal robots ? (y/n)"
-
-	read uni_ans
-
-	if [ "$uni_ans" == "n" ]; then
-		skip_depend+="ur_client_library ur_msgs ur_description ur_robot_driver "
-	elif [ "$uni_ans" == "y" ]; then
-		echo "Universal robots dependencies will be installed"
+while [[ "$robot_model" != "mp_400" && "$robot_model" != "mp_500" && "$robot_model" != "mpo_500" && "$robot_model" != "mpo_700" ]]; do
+	echo "Choose your robot (mp_400/mp_500/mpo_500/mpo_700)"
+	read robot_model
+	if [ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]; then
+		echo "neo_kinematics_differential2 package will be cloned"
+	elif [ "$robot_model" == "mpo_500" ]; then
+		echo "neo_kinematics_mecanum2 package will be cloned"
+	elif [ "$robot_model" == "mpo_700" ]; then
+		echo "neo_kinematics_omnidrive2 package will be cloned"
 	else
 		echo "Wrong option - Please try again"
 	fi
-
 done
 
+if [ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]; then
+	while [[ "$uni_ans" != "y" && "$uni_ans" != "n" ]]; do
+		echo "Universal robots ? (y/n)"
+		read uni_ans
+		if [ "$uni_ans" == "n" ]; then
+			skip_depend+="ur_client_library ur_msgs ur_description ur_robot_driver "
+		elif [ "$uni_ans" == "y" ]; then
+			echo "Universal robots dependencies will be installed and added to autstart"
+			while [[ "$arm_type" != "ur10" && "$arm_type" != "ur10e" && "$arm_type" != "ur5" && "$arm_type" != "ur5e" ]]; do
+				echo "arm_type? (ur10/ur10e/ur5/ur5e)"
+				read arm_type
+			done
+		else
+			echo "Wrong option - Please try again"
+		fi
+	done
+fi
+
 while [[ "$phi_ans" != "y" && "$phi_ans" != "n" ]]; do
 	echo "Phidget IMU ? (y/n)"
-
 	read phi_ans
-
 	if [ "$phi_ans" == "n" ]; then
 		skip_depend+="phidgets-drivers"
+		use_imu="False"
 	elif [ "$phi_ans" == "y" ]; then
-		echo "Phidget IMU dependencies will be installed"
+		echo "Phidget IMU dependencies will be installed and added to autstart"
+		use_imu="True"
 	else
 		echo "Wrong option - Please try again"
 	fi
-
 done
 
-while [[ "$robot_model" != "mp_400" && "$robot_model" != "mp_500" && "$robot_model" != "mpo_500" && "$robot_model" != "mpo_700" ]]; do
-
-	echo "Choose your robot (mp_400/mp_500/mpo_500/mpo_700)"
-
-	read robot_model
-
-	if [ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]; then
-		echo "neo_kinematics_differential2 package will be cloned"
-	elif [ "$robot_model" == "mpo_500" ]; then
-		echo "neo_kinematics_mecanum2 package will be cloned"
-	elif [ "$robot_model" == "mpo_700" ]; then
-		echo "neo_kinematics_omnidrive2 package will be cloned"
+while [[ "$realsense_ans" != "y" && "$realsense_ans" != "n" ]]; do
+	echo "Realsense Camera (URDF only supports D435i) ? (y/n)"
+	read realsense_ans
+	if [ "$realsense_ans" == "n" ]; then
+		skip_depend+="realsense2_camera realsense2_camera_msgs realsense2_description"
+		use_d435="False"
+	elif [ "$realsense_ans" == "y" ]; then
+		echo "Realsense camera dependencies will be installed and added to autstart"
+		use_d435="True"
 	else
 		echo "Wrong option - Please try again"
 	fi
-
 done
 
+#rosdep update might need rosdep init -- ToDo: See if it could be checked
+rosdep update
+
 # Install build tool
+echo "Installing colcon extensions"
 sudo apt install python3-colcon-common-extensions
 
-# Install navigation packages
+# Installing CycloneDDS
+echo "Installing CycloneDDS"
+sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
 
-# Nav2
-sudo apt install -y ros-$ROS_DISTRO-navigation2 ros-$ROS_DISTRO-nav2-*
-
-sudo apt install -y ros-$ROS_DISTRO-slam-toolbox
-
-#Teleop-joy
-sudo apt-get install -y ros-$ROS_DISTRO-teleop-twist-joy
-
-#Teleop-key
-sudo apt-get install -y ros-$ROS_DISTRO-teleop-twist-keyboard
-
-#Topic tools
-sudo apt-get install -y ros-$ROS_DISTRO-topic-tools
-
-#Xacro
-sudo apt-get install -y ros-$ROS_DISTRO-xacro
+#Install xterm - useful when 
+sudo apt install xterm
 
 cd ~
 
@@ -100,8 +108,7 @@ mkdir -p ros2_workspace/src
 cd ros2_workspace/src
 
 # clone git repos here...
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mpo_700-2.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_$robot_model-2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2
@@ -110,6 +117,11 @@ git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_sick_s300-2
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_teleop2
 git clone --branch master          https://github.com/neobotix/neo_msgs2
 git clone --branch master          https://github.com/neobotix/neo_srvs2
+git clone https://github.com/neobotix/joystick_drivers.git
+
+if [ "$ROS_DISTRO" == "Iron" ]; then
+	git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
+fi
 
 if [ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]; then
 	git clone --branch main https://github.com/neobotix/neo_kinematics_differential2.git
@@ -121,21 +133,22 @@ fi
 
 # build workspace
 cd ..
+
 colcon build --symlink-install 
 
 echo "export LC_NUMERIC="en_US.UTF-8" " >> ~/.bashrc
 
 echo "source ~/ros2_workspace/install/setup.bash" >> ~/.bashrc
 
+echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
+
 echo "Setting up startup scripts"
 
 echo "source ~/ros2_workspace/install/setup.bash" >> ROS_AUTOSTART.sh
 
 echo "sleep 2" >> ROS_AUTOSTART.sh
 
-if [ "$robot_model" == "mpo_700" ]; then
-	echo "ros2 launch neo_mpo_700-2 bringup.launch.py" >> ROS_AUTOSTART.sh
-fi
+echo "ros2 launch neo_"$robot_model"-2 bringup.launch.py arm_type:="$arm_type" use_imu:="$use_imu" use_d435:="$use_d435>> ROS_AUTOSTART.sh
 
 chmod +x ROS_AUTOSTART.sh
 
diff --git a/package-setup/setup-rox.sh b/package-setup/setup-rox.sh
index 95cbbf9..15b539e 100755
--- a/package-setup/setup-rox.sh
+++ b/package-setup/setup-rox.sh
@@ -18,31 +18,93 @@ then
 	exit 0
 fi
 
+echo "Welcome to the setup of your ROX robot, please select the dependencies that are required for your robot"
+
+uni_ans=""
+phi_ans=""
+realsense_ans=""
+skip_depend="ros_gz "
+arm_type=""
+use_imu="False"
+use_d435="False"
+
+while [[ "$uni_ans" != "y" && "$uni_ans" != "n" ]]; do
+	echo "Universal robots ? (y/n)"
+	read uni_ans
+	if [ "$uni_ans" == "n" ]; then
+		skip_depend+="ur_client_library ur_msgs ur_description ur_robot_driver "
+	elif [ "$uni_ans" == "y" ]; then
+		echo "Universal robots dependencies will be installed and added to autstart"
+			while [[ "$arm_type" != "ur10" && "$arm_type" != "ur10e" && "$arm_type" != "ur5" && "$arm_type" != "ur5e" ]]; do
+				echo "arm_type? (ur10/ur10e/ur5/ur5e)"
+				read arm_type
+			done
+	else
+		echo "Wrong option - Please try again"
+	fi
+
+done
+
+while [[ "$phi_ans" != "y" && "$phi_ans" != "n" ]]; do
+	echo "Phidget IMU ? (y/n)"
+	read phi_ans
+	if [ "$phi_ans" == "n" ]; then
+		skip_depend+="phidgets-drivers"
+		use_imu="False"
+	elif [ "$phi_ans" == "y" ]; then
+		echo "Phidget IMU dependencies will be installed and added to autstart"
+		use_imu="True"
+	else
+		echo "Wrong option - Please try again"
+	fi
+
+done
+
+while [[ "$realsense_ans" != "y" && "$realsense_ans" != "n" ]]; do
+	echo "Realsense Camera (URDF only supports D435i) ? (y/n)"
+	read realsense_ans
+	if [ "$realsense_ans" == "n" ]; then
+		skip_depend+="realsense2_camera realsense2_camera_msgs realsense2_description"
+		use_d435="False"
+	elif [ "$realsense_ans" == "y" ]; then
+		echo "Realsense camera dependencies will be installed and added to autstart"
+		use_d435="True"
+	else
+		echo "Wrong option - Please try again"
+	fi
+done
+
+while [[ "$kinematics" != "argo" && "$kinematics" != "diff" ]]; do
+
+	echo "Choose your kinematics (argo/diff)"
+
+	read kinematics
+
+	if [ "$kinematics" == "argo" ]; then
+		echo "rox_argo_kinematics package will be cloned"
+	elif [ "$kinematics" == "diff" ]; then
+		echo "neo_kinematics_differential2 package will be cloned"
+	else
+		echo "Wrong option - Please try again"
+	fi
+
+done
+
+#rosdep update might need rosdep init -- ToDo: See if it could be checked
+rosdep update
+
 # Install build tool
+echo "Installing colcon extensions"
 sudo apt install python3-colcon-common-extensions
 
-# Install navigation packages
-
-# Nav2
-sudo apt install -y ros-$ROS_DISTRO-navigation2 ros-$ROS_DISTRO-nav2-*
-
-sudo apt install -y ros-$ROS_DISTRO-slam-toolbox
-
-#Teleop-joy
-sudo apt-get install -y ros-$ROS_DISTRO-teleop-twist-joy
-
-#Teleop-key
-sudo apt-get install -y ros-$ROS_DISTRO-teleop-twist-keyboard
-
-#Topic tools
-sudo apt-get install -y ros-$ROS_DISTRO-topic-tools
+# Installing CycloneDDS
+echo "Installing CycloneDDS"
+sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
 
-#Xacro
-sudo apt-get install -y ros-$ROS_DISTRO-xacro
-
-#LaserScanner
-sudo apt-get install ros-$ROS_DISTRO-sick-safetyscanners2
+#Install xterm - useful when 
+sudo apt install xterm
 
+# Go to home directory
 cd ~
 
 mkdir -p ros2_workspace/src
@@ -55,11 +117,16 @@ git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2
 git clone --branch master          https://github.com/neobotix/neo_relayboard_v3
-git clone --branch main            https://github.com/neobotix/rox_argo_kinematics.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_teleop2
 git clone --branch master          https://github.com/neobotix/neo_msgs2
 git clone --branch master          https://github.com/neobotix/neo_srvs2
 
+if [ "$kinematics" == "argo" ]; then
+	git clone --branch main https://github.com/neobotix/rox_argo_kinematics.git
+elif [ "$kinematics" == "diff" ]; then
+	git clone --branch main https://github.com/neobotix/rox_diff_kinematics.git
+fi
+
 cd neo_relayboard_v3
 #submodule init
 git submodule update --init
@@ -67,21 +134,28 @@ git submodule update --init
 # install vnx base
 sudo dpkg -i vnx-base/x86_64/vnx-base-1.9.6-x86_64-ubuntu-22.04.deb
 
+cd ~/ros2_workspace
+
+echo "Installing dependencies, skipping the following" $skip_depend
+# Install relevant dependencies
+rosdep install --from-paths ./src --ignore-src --rosdistro $ROS_DISTRO -r -y --skip-keys "$skip_depend"
+
 # build workspace
-cd ../..
 colcon build --symlink-install 
 
 echo "export LC_NUMERIC="en_US.UTF-8" " >> ~/.bashrc
 
 echo "source ~/ros2_workspace/install/setup.bash" >> ~/.bashrc
 
+echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
+
 echo "Setting up startup scripts"
 
 echo "source ~/ros2_workspace/install/setup.bash" >> ROS_AUTOSTART.sh
 
 echo "sleep 2" >> ROS_AUTOSTART.sh
 
-echo "ros2 launch rox_bringup bringup_launch.py" >> ROS_AUTOSTART.sh
+echo "ros2 launch rox_bringup bringup_launch.py rox_type:="$kinematics "arm_type:="$arm_type" use_imu:="$use_imu" use_d435:="$use_d435 >> ROS_AUTOSTART.sh
 
 chmod +x ROS_AUTOSTART.sh
 

From 63fac6be9fa41ec248f4f2b5141e632bea37d496 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Tue, 24 Sep 2024 15:57:36 +0200
Subject: [PATCH 03/17] installing the corresponding moveit packages as well

---
 package-setup/setup-mp-robot.sh | 3 +++
 package-setup/setup-rox.sh      | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
index baf0548..1e63a9c 100755
--- a/package-setup/setup-mp-robot.sh
+++ b/package-setup/setup-mp-robot.sh
@@ -131,6 +131,9 @@ elif [ "$robot_model" == "mpo_700" ]; then
 	git clone --branch $ROS_DISTRO https://github.com/neobotix/neo_kinematics_omnidrive2.git
 fi
 
+if [ "$uni_ans" == "y" ]; then
+	git clone --branch main https://github.com/neobotix/neo_mpo_moveit2.git
+
 # build workspace
 cd ..
 
diff --git a/package-setup/setup-rox.sh b/package-setup/setup-rox.sh
index 15b539e..461c1aa 100755
--- a/package-setup/setup-rox.sh
+++ b/package-setup/setup-rox.sh
@@ -127,6 +127,9 @@ elif [ "$kinematics" == "diff" ]; then
 	git clone --branch main https://github.com/neobotix/rox_diff_kinematics.git
 fi
 
+if [ "$uni_ans" == "y" ]; then
+	git clone --branch main https://github.com/neobotix/neo_rox_moveit2.git
+
 cd neo_relayboard_v3
 #submodule init
 git submodule update --init

From 343c09e28c57a9d15bb79ad902821f3987ee0b6b Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Tue, 24 Sep 2024 16:09:12 +0200
Subject: [PATCH 04/17] fixing cyclone dds install

---
 package-setup/setup-mp-robot.sh | 2 +-
 package-setup/setup-rox.sh      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
index 1e63a9c..35430c6 100755
--- a/package-setup/setup-mp-robot.sh
+++ b/package-setup/setup-mp-robot.sh
@@ -97,7 +97,7 @@ sudo apt install python3-colcon-common-extensions
 
 # Installing CycloneDDS
 echo "Installing CycloneDDS"
-sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+sudo apt install ros-$ROS_DISTRO-cyclonedds
 
 #Install xterm - useful when 
 sudo apt install xterm
diff --git a/package-setup/setup-rox.sh b/package-setup/setup-rox.sh
index 461c1aa..8211e91 100755
--- a/package-setup/setup-rox.sh
+++ b/package-setup/setup-rox.sh
@@ -99,7 +99,7 @@ sudo apt install python3-colcon-common-extensions
 
 # Installing CycloneDDS
 echo "Installing CycloneDDS"
-sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+sudo apt install ros-$ROS_DISTRO-cyclonedds
 
 #Install xterm - useful when 
 sudo apt install xterm

From 581bbe30e032d634fdbadda8c0e7cd293bb8ccfd Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Tue, 24 Sep 2024 16:53:07 +0200
Subject: [PATCH 05/17] fixes

---
 package-setup/setup-mp-robot.sh | 9 +++++----
 package-setup/setup-rox.sh      | 1 +
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
index 35430c6..6305328 100755
--- a/package-setup/setup-mp-robot.sh
+++ b/package-setup/setup-mp-robot.sh
@@ -31,7 +31,7 @@ use_d435="False"
 while [[ "$robot_model" != "mp_400" && "$robot_model" != "mp_500" && "$robot_model" != "mpo_500" && "$robot_model" != "mpo_700" ]]; do
 	echo "Choose your robot (mp_400/mp_500/mpo_500/mpo_700)"
 	read robot_model
-	if [ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]; then
+	if [[ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]]; then
 		echo "neo_kinematics_differential2 package will be cloned"
 	elif [ "$robot_model" == "mpo_500" ]; then
 		echo "neo_kinematics_mecanum2 package will be cloned"
@@ -42,7 +42,7 @@ while [[ "$robot_model" != "mp_400" && "$robot_model" != "mp_500" && "$robot_mod
 	fi
 done
 
-if [ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]; then
+if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]]; then
 	while [[ "$uni_ans" != "y" && "$uni_ans" != "n" ]]; do
 		echo "Universal robots ? (y/n)"
 		read uni_ans
@@ -123,7 +123,7 @@ if [ "$ROS_DISTRO" == "Iron" ]; then
 	git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 fi
 
-if [ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]; then
+if [[ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]]; then
 	git clone --branch main https://github.com/neobotix/neo_kinematics_differential2.git
 elif [ "$robot_model" == "mpo_500" ]; then
 	git clone --branch $ROS_DISTRO https://github.com/neobotix/neo_kinematics_mecanum2.git
@@ -133,6 +133,7 @@ fi
 
 if [ "$uni_ans" == "y" ]; then
 	git clone --branch main https://github.com/neobotix/neo_mpo_moveit2.git
+fi
 
 # build workspace
 cd ..
@@ -159,4 +160,4 @@ mv ROS_AUTOSTART.sh ~/
 
 echo "Installation successful !!!"
 
-exit 0
\ No newline at end of file
+exit 0
diff --git a/package-setup/setup-rox.sh b/package-setup/setup-rox.sh
index 8211e91..529bd51 100755
--- a/package-setup/setup-rox.sh
+++ b/package-setup/setup-rox.sh
@@ -129,6 +129,7 @@ fi
 
 if [ "$uni_ans" == "y" ]; then
 	git clone --branch main https://github.com/neobotix/neo_rox_moveit2.git
+fi
 
 cd neo_relayboard_v3
 #submodule init

From 2ca4d487657d7fc7228553e71ec3914bf0f309f2 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Wed, 25 Sep 2024 15:49:24 +0200
Subject: [PATCH 06/17] add extra spaces

---
 package-setup/setup-mp-robot.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
index 6305328..49e4c70 100755
--- a/package-setup/setup-mp-robot.sh
+++ b/package-setup/setup-mp-robot.sh
@@ -24,7 +24,7 @@ uni_ans=""
 phi_ans=""
 realsense_ans=""
 skip_depend=""
-arm_type=""
+arm_type=" "
 use_imu="False"
 use_d435="False"
 

From be092eae42d2604df99a0c902137a52114acd801 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Wed, 25 Sep 2024 16:18:40 +0200
Subject: [PATCH 07/17] minor space fix

---
 package-setup/setup-rox.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package-setup/setup-rox.sh b/package-setup/setup-rox.sh
index 529bd51..35ff600 100755
--- a/package-setup/setup-rox.sh
+++ b/package-setup/setup-rox.sh
@@ -24,7 +24,7 @@ uni_ans=""
 phi_ans=""
 realsense_ans=""
 skip_depend="ros_gz "
-arm_type=""
+arm_type=" "
 use_imu="False"
 use_d435="False"
 

From 6e0fff3fb7cef26b7bd07e3798ecbf0545c8526b Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Wed, 25 Sep 2024 16:21:09 +0200
Subject: [PATCH 08/17] some more updates

---
 package-setup/setup-mp-robot.sh | 2 +-
 package-setup/setup-rox.sh      | 5 ++++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
index 49e4c70..825d8bf 100755
--- a/package-setup/setup-mp-robot.sh
+++ b/package-setup/setup-mp-robot.sh
@@ -119,7 +119,7 @@ git clone --branch master          https://github.com/neobotix/neo_msgs2
 git clone --branch master          https://github.com/neobotix/neo_srvs2
 git clone https://github.com/neobotix/joystick_drivers.git
 
-if [ "$ROS_DISTRO" == "Iron" ]; then
+if [ "$ROS_DISTRO" == "iron" ]; then
 	git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 fi
 
diff --git a/package-setup/setup-rox.sh b/package-setup/setup-rox.sh
index 35ff600..0d50dda 100755
--- a/package-setup/setup-rox.sh
+++ b/package-setup/setup-rox.sh
@@ -112,7 +112,6 @@ cd ros2_workspace/src
 
 # clone git repos here...
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/rox.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2
@@ -121,6 +120,10 @@ git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_teleop2
 git clone --branch master          https://github.com/neobotix/neo_msgs2
 git clone --branch master          https://github.com/neobotix/neo_srvs2
 
+if [ "$ROS_DISTRO" == "iron" ]; then
+	git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
+fi
+
 if [ "$kinematics" == "argo" ]; then
 	git clone --branch main https://github.com/neobotix/rox_argo_kinematics.git
 elif [ "$kinematics" == "diff" ]; then

From 87924ec6f8023617c81903e5fec9f437aa6d3f7c Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Tue, 1 Oct 2024 15:20:44 +0200
Subject: [PATCH 09/17] add the missing rosdep command

---
 package-setup/setup-mp-robot.sh | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
index 825d8bf..ac9e91b 100755
--- a/package-setup/setup-mp-robot.sh
+++ b/package-setup/setup-mp-robot.sh
@@ -138,6 +138,10 @@ fi
 # build workspace
 cd ..
 
+echo "Installing dependencies, skipping the following" $skip_depend
+# Install relevant dependencies
+rosdep install --from-paths ./src --ignore-src --rosdistro $ROS_DISTRO -r -y --skip-keys "$skip_depend"
+
 colcon build --symlink-install 
 
 echo "export LC_NUMERIC="en_US.UTF-8" " >> ~/.bashrc

From f246e02fd05697cf9c1fade489215d8324716b10 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Tue, 1 Oct 2024 16:52:16 +0200
Subject: [PATCH 10/17] update rosdep init with a continuation condition

---
 package-setup/setup-mp-robot.sh | 3 ++-
 package-setup/setup-rox.sh      | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
index ac9e91b..2fc0569 100755
--- a/package-setup/setup-mp-robot.sh
+++ b/package-setup/setup-mp-robot.sh
@@ -88,7 +88,8 @@ while [[ "$realsense_ans" != "y" && "$realsense_ans" != "n" ]]; do
 	fi
 done
 
-#rosdep update might need rosdep init -- ToDo: See if it could be checked
+echo "Performing rosdep initialization and update"
+sudo rosdep init || { true; echo -e "${YELLOW} rosdep init is not required"; }
 rosdep update
 
 # Install build tool
diff --git a/package-setup/setup-rox.sh b/package-setup/setup-rox.sh
index 0d50dda..208cfe4 100755
--- a/package-setup/setup-rox.sh
+++ b/package-setup/setup-rox.sh
@@ -90,7 +90,8 @@ while [[ "$kinematics" != "argo" && "$kinematics" != "diff" ]]; do
 
 done
 
-#rosdep update might need rosdep init -- ToDo: See if it could be checked
+echo "Performing rosdep initialization and update"
+sudo rosdep init || { true; echo -e "${YELLOW} rosdep init is not required"; }
 rosdep update
 
 # Install build tool

From 258fc02aa6957df2dd183e88c2bda54a3e33e1bd Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Tue, 1 Oct 2024 16:53:30 +0200
Subject: [PATCH 11/17] adding script for installing packages for client PC

---
 package-setup/setup-client.sh | 109 ++++++++++++++++++++++++++++++++++
 1 file changed, 109 insertions(+)
 create mode 100755 package-setup/setup-client.sh

diff --git a/package-setup/setup-client.sh b/package-setup/setup-client.sh
new file mode 100755
index 0000000..4673bc2
--- /dev/null
+++ b/package-setup/setup-client.sh
@@ -0,0 +1,109 @@
+#!/bin/bash
+
+# exit if any command below fails
+set -e
+GREEN='\033[0;32m'
+RED='\033[0;31m'
+YELLOW='\033[0;33m'
+WHITE='\033[0;37m'
+
+# Check if ROS is sourced
+
+if [ "$ROS_DISTRO" == "" ];
+then
+	echo "Installation cannot continue. No ROS sourced, please check if ROS is installed and sourced. Please try again after that!"
+	exit 0
+fi
+
+echo "Welcome to the support assistant for setting up the client PC Neobotix packages"
+
+uni_ans=""
+robot_model=""
+
+# Go to home directory
+cd ~
+
+mkdir -p client_workspace/src
+cd client_workspace/src
+
+while [[ "$robot_model" != "mp_400" && 
+        "$robot_model" != "mp_500" && 
+        "$robot_model" != "mpo_500" && 
+        "$robot_model" != "mpo_700" &&
+        "$robot_model" != "rox" ]]; do
+	echo -e "${GREEN} Choose your robot (mp_400/mp_500/mpo_500/mpo_700/rox)"
+
+    read robot_model
+
+    echo -e "${WHITE}"
+
+    if [ "$robot_model" == "rox" ]; then
+		git clone --branch $ROS_DISTRO     https://github.com/neobotix/rox.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
+	elif [[ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" || "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]]; then
+        git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_$robot_model-2.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
+    else
+        echo -e "${RED} Please select a valid option"
+    fi
+done
+
+sudo rosdep init || { true; echo -e "${YELLOW} rosdep init is not required"; }
+rosdep update
+
+# Install build tool
+echo "Installing colcon extensions"
+sudo apt install python3-colcon-common-extensions
+
+# Installing CycloneDDS
+echo "Installing CycloneDDS"
+sudo apt install ros-$ROS_DISTRO-cyclonedds
+
+#Install xterm - useful when 
+sudo apt install xterm
+
+git clone --branch master          https://github.com/neobotix/neo_msgs2 || { true; echo -e "${YELLOW} Continuing with the installation"; }
+git clone --branch master          https://github.com/neobotix/neo_srvs2 || { true; echo -e "${YELLOW} Continuing with the installation"; }
+
+if [ "$ROS_DISTRO" == "iron" ]; then
+	git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git || { true; echo -e "${YELLOW} Continuing with the installation"; }
+fi
+
+cd ~/client_workspace
+
+# Install relevant dependencies
+rosdep install --from-paths ./src/rox/rox_navigation/ ./src/rox/rox_description --ignore-src --rosdistro $ROS_DISTRO -r -y || { true; echo -e "${YELLOW} Finishing the setup"; }
+
+cd ~/client_workspace/src
+
+if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" || "$robot_model" == "rox" ]]; then
+	while [[ "$uni_ans" != "y" && "$uni_ans" != "n" ]]; do
+		echo -e "${GREEN} Universal robots ? (y/n)"
+		read uni_ans
+
+        if [ "$uni_ans" == "y" ]; then
+            if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]]; then
+                git clone --branch main https://github.com/neobotix/neo_mpo_moveit2.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
+                rosdep install --from-paths ./neo_mpo_moveit2 --ignore-src --rosdistro $ROS_DISTRO -r -y || { true; echo -e "${YELLOW} Finishing the setup"; }
+            elif [ "$robot_model" == "rox" ]; then
+                git clone --branch main https://github.com/neobotix/neo_rox_moveit2.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
+                rosdep install --from-paths ./neo_rox_moveit2 --ignore-src --rosdistro $ROS_DISTRO -r -y || { true; echo -e "${YELLOW} Finishing the setup"; }
+            else
+                uni_ans = "n"
+            fi
+        fi
+    done
+fi
+
+cd ~/client_workspace
+
+echo -e "${WHITE}"
+
+# build workspace
+colcon build --symlink-install 
+
+echo "source ~/client_workspace/install/setup.bash" >> ~/.bashrc
+
+echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
+
+echo "Installation successful !!!"
+
+exit 0

From 7510157eb6c87f144f21d7eaba52e9a1da8a6f81 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Tue, 1 Oct 2024 16:55:40 +0200
Subject: [PATCH 12/17] fixing indentation

---
 package-setup/setup-client.sh | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/package-setup/setup-client.sh b/package-setup/setup-client.sh
index 4673bc2..f8fc8d0 100755
--- a/package-setup/setup-client.sh
+++ b/package-setup/setup-client.sh
@@ -33,19 +33,20 @@ while [[ "$robot_model" != "mp_400" &&
         "$robot_model" != "rox" ]]; do
 	echo -e "${GREEN} Choose your robot (mp_400/mp_500/mpo_500/mpo_700/rox)"
 
-    read robot_model
+	read robot_model
 
-    echo -e "${WHITE}"
+	echo -e "${WHITE}"
 
-    if [ "$robot_model" == "rox" ]; then
+	if [ "$robot_model" == "rox" ]; then
 		git clone --branch $ROS_DISTRO     https://github.com/neobotix/rox.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
 	elif [[ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" || "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]]; then
-        git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_$robot_model-2.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
-    else
-        echo -e "${RED} Please select a valid option"
-    fi
+		git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_$robot_model-2.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
+	else
+		echo -e "${RED} Please select a valid option"
+	fi
 done
 
+echo "Performing rosdep initialization and update"
 sudo rosdep init || { true; echo -e "${YELLOW} rosdep init is not required"; }
 rosdep update
 

From 9ed0f468d0d9fb3f7dc6d3b37cadfe08e625a87e Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Thu, 10 Oct 2024 15:42:09 +0200
Subject: [PATCH 13/17] updates to the client setup script

---
 package-setup/setup-client.sh | 81 +++++++++++++++++++++++++----------
 1 file changed, 58 insertions(+), 23 deletions(-)

diff --git a/package-setup/setup-client.sh b/package-setup/setup-client.sh
index f8fc8d0..3ecfd48 100755
--- a/package-setup/setup-client.sh
+++ b/package-setup/setup-client.sh
@@ -7,40 +7,77 @@ RED='\033[0;31m'
 YELLOW='\033[0;33m'
 WHITE='\033[0;37m'
 
+echo "Welcome to the support assistant for setting up the client PC Neobotix packages"
+echo "The workspace will be created in the /home/USER/ folder. In the future, we will add the option, to create the workspace in any desired directory"
+
+# Check if the client ws is already there in the home folder
+cd ~/
+is_ws_installed=""
+
+if [ -d "client_nbx_ws" ]; then
+    echo "client_nbx_ws already exists."
+    echo -n "Do you want to delete it before continuing? (Y/n)"
+    read is_ws_installed
+
+    if [[ "$is_ws_installed" == "y" || "$is_ws_installed" == "Y" ]]; then
+        echo -e "  Deleting.."
+        rm -rf "client_nbx_ws"
+        echo -e "  client_nbx_ws has been deleted"
+    else
+        echo "Abort"
+        exit 0
+    fi
+fi
+
 # Check if ROS is sourced
+empty_ros_distro=true
+ros_distros=" "
+if [ "$ROS_DISTRO" == "" ]; then
+	echo "ROS Distro is not sourced."
+    for dir in /opt/ros/*/; do
+        if [ "$(ls -A "$dir")" ]; then
+            empty_ros_distro=false
+            echo -e "$GREEN"
+            echo "  " $(basename "$dir")
+        fi
+    done
 
-if [ "$ROS_DISTRO" == "" ];
-then
-	echo "Installation cannot continue. No ROS sourced, please check if ROS is installed and sourced. Please try again after that!"
-	exit 0
+    if [ $empty_ros_distro == true ]; then
+        echo "ROS 2 is not installed at all"
+        echo "Please continue the installation once ROS 2 is installed"
+        echo "Abort"
+    else
+        echo -e "${RED} Please source any one of the ROS Distros above and try again later"
+        echo -e "${RED} Example: source /opt/ros/YOUR_DISTRO/setup.bash"
+    fi
 fi
 
-echo "Welcome to the support assistant for setting up the client PC Neobotix packages"
-
 uni_ans=""
 robot_model=""
 
 # Go to home directory
 cd ~
 
-mkdir -p client_workspace/src
-cd client_workspace/src
+echo "Creating a client_nbx workspace"
+
+mkdir -p client_nbx_ws/src
+cd client_nbx_ws/src
 
 while [[ "$robot_model" != "mp_400" && 
         "$robot_model" != "mp_500" && 
         "$robot_model" != "mpo_500" && 
         "$robot_model" != "mpo_700" &&
         "$robot_model" != "rox" ]]; do
-	echo -e "${GREEN} Choose your robot (mp_400/mp_500/mpo_500/mpo_700/rox)"
+	echo -e -n "${GREEN}  Choose your robot (mp_400/mp_500/mpo_500/mpo_700/rox):"
 
 	read robot_model
 
 	echo -e "${WHITE}"
 
 	if [ "$robot_model" == "rox" ]; then
-		git clone --branch $ROS_DISTRO     https://github.com/neobotix/rox.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
+		git clone --branch $ROS_DISTRO     https://github.com/neobotix/rox.git
 	elif [[ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" || "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]]; then
-		git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_$robot_model-2.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
+		git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_$robot_model-2.git
 	else
 		echo -e "${RED} Please select a valid option"
 	fi
@@ -61,19 +98,15 @@ sudo apt install ros-$ROS_DISTRO-cyclonedds
 #Install xterm - useful when 
 sudo apt install xterm
 
-git clone --branch master          https://github.com/neobotix/neo_msgs2 || { true; echo -e "${YELLOW} Continuing with the installation"; }
-git clone --branch master          https://github.com/neobotix/neo_srvs2 || { true; echo -e "${YELLOW} Continuing with the installation"; }
+git clone --branch master          https://github.com/neobotix/neo_msgs2
+git clone --branch master          https://github.com/neobotix/neo_srvs2
 
-if [ "$ROS_DISTRO" == "iron" ]; then
-	git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git || { true; echo -e "${YELLOW} Continuing with the installation"; }
-fi
-
-cd ~/client_workspace
+cd ~/client_nbx_ws
 
 # Install relevant dependencies
 rosdep install --from-paths ./src/rox/rox_navigation/ ./src/rox/rox_description --ignore-src --rosdistro $ROS_DISTRO -r -y || { true; echo -e "${YELLOW} Finishing the setup"; }
 
-cd ~/client_workspace/src
+cd ~/client_nbx_ws/src
 
 if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" || "$robot_model" == "rox" ]]; then
 	while [[ "$uni_ans" != "y" && "$uni_ans" != "n" ]]; do
@@ -82,10 +115,10 @@ if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" || "$robot_mode
 
         if [ "$uni_ans" == "y" ]; then
             if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" ]]; then
-                git clone --branch main https://github.com/neobotix/neo_mpo_moveit2.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
+                git clone --branch main https://github.com/neobotix/neo_mpo_moveit2.git
                 rosdep install --from-paths ./neo_mpo_moveit2 --ignore-src --rosdistro $ROS_DISTRO -r -y || { true; echo -e "${YELLOW} Finishing the setup"; }
             elif [ "$robot_model" == "rox" ]; then
-                git clone --branch main https://github.com/neobotix/neo_rox_moveit2.git || { true; echo -e ${YELLOW} "Continuing with the installation"; }
+                git clone --branch main https://github.com/neobotix/neo_rox_moveit2.git
                 rosdep install --from-paths ./neo_rox_moveit2 --ignore-src --rosdistro $ROS_DISTRO -r -y || { true; echo -e "${YELLOW} Finishing the setup"; }
             else
                 uni_ans = "n"
@@ -94,14 +127,16 @@ if [[ "$robot_model" == "mpo_500" || "$robot_model" == "mpo_700" || "$robot_mode
     done
 fi
 
-cd ~/client_workspace
+cd ~/client_nbx_ws
 
 echo -e "${WHITE}"
 
 # build workspace
 colcon build --symlink-install 
 
-echo "source ~/client_workspace/install/setup.bash" >> ~/.bashrc
+echo "source ~/client_nbx_ws/install/setup.bash" >> ~/.bashrc
+
+echo "Setting CycloneDDS as the Middleware"
 
 echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
 

From 1d4275635ba4b44588153eaf2ef48a7d8c6daf73 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Fri, 11 Oct 2024 10:59:45 +0200
Subject: [PATCH 14/17] neo_nav2_bringup is a binary now

---
 package-setup/setup-mp-robot.sh | 4 ----
 package-setup/setup-mp_400.sh   | 1 -
 package-setup/setup-mp_500.sh   | 1 -
 package-setup/setup-mpo_500.sh  | 1 -
 package-setup/setup-mpo_700.sh  | 1 -
 package-setup/setup-rox.sh      | 4 ----
 6 files changed, 12 deletions(-)

diff --git a/package-setup/setup-mp-robot.sh b/package-setup/setup-mp-robot.sh
index 2fc0569..8d7416e 100755
--- a/package-setup/setup-mp-robot.sh
+++ b/package-setup/setup-mp-robot.sh
@@ -120,10 +120,6 @@ git clone --branch master          https://github.com/neobotix/neo_msgs2
 git clone --branch master          https://github.com/neobotix/neo_srvs2
 git clone https://github.com/neobotix/joystick_drivers.git
 
-if [ "$ROS_DISTRO" == "iron" ]; then
-	git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
-fi
-
 if [[ "$robot_model" == "mp_400" || "$robot_model" == "mp_500" ]]; then
 	git clone --branch main https://github.com/neobotix/neo_kinematics_differential2.git
 elif [ "$robot_model" == "mpo_500" ]; then
diff --git a/package-setup/setup-mp_400.sh b/package-setup/setup-mp_400.sh
index 79ea1c1..1cd076a 100755
--- a/package-setup/setup-mp_400.sh
+++ b/package-setup/setup-mp_400.sh
@@ -42,7 +42,6 @@ cd mp_400_workspace/src
 
 # clone git repos here...
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mp_400-2.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2
diff --git a/package-setup/setup-mp_500.sh b/package-setup/setup-mp_500.sh
index ce76395..bf66c1c 100755
--- a/package-setup/setup-mp_500.sh
+++ b/package-setup/setup-mp_500.sh
@@ -39,7 +39,6 @@ cd mp_500_workspace/src
 
 # clone git repos here...
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mp_500-2.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2
diff --git a/package-setup/setup-mpo_500.sh b/package-setup/setup-mpo_500.sh
index 81f9e86..3dce6e6 100755
--- a/package-setup/setup-mpo_500.sh
+++ b/package-setup/setup-mpo_500.sh
@@ -42,7 +42,6 @@ cd mpo_500_workspace/src
 
 # clone git repos here...
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mpo_500-2.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2
diff --git a/package-setup/setup-mpo_700.sh b/package-setup/setup-mpo_700.sh
index 94e3c27..b75519c 100755
--- a/package-setup/setup-mpo_700.sh
+++ b/package-setup/setup-mpo_700.sh
@@ -47,7 +47,6 @@ cd mpo_700_workspace/src
 
 # clone git repos here...
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_mpo_700-2.git
-git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
 git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
 git clone --branch master          https://github.com/neobotix/neo_common2
diff --git a/package-setup/setup-rox.sh b/package-setup/setup-rox.sh
index 208cfe4..af334cf 100755
--- a/package-setup/setup-rox.sh
+++ b/package-setup/setup-rox.sh
@@ -121,10 +121,6 @@ git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_teleop2
 git clone --branch master          https://github.com/neobotix/neo_msgs2
 git clone --branch master          https://github.com/neobotix/neo_srvs2
 
-if [ "$ROS_DISTRO" == "iron" ]; then
-	git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_nav2_bringup.git
-fi
-
 if [ "$kinematics" == "argo" ]; then
 	git clone --branch main https://github.com/neobotix/rox_argo_kinematics.git
 elif [ "$kinematics" == "diff" ]; then

From 481c941cea3a79c6221fb23824b4e948300de37f Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Fri, 11 Oct 2024 13:11:01 +0200
Subject: [PATCH 15/17] update abort

---
 package-setup/setup-client.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/package-setup/setup-client.sh b/package-setup/setup-client.sh
index 3ecfd48..0186701 100755
--- a/package-setup/setup-client.sh
+++ b/package-setup/setup-client.sh
@@ -49,6 +49,8 @@ if [ "$ROS_DISTRO" == "" ]; then
     else
         echo -e "${RED} Please source any one of the ROS Distros above and try again later"
         echo -e "${RED} Example: source /opt/ros/YOUR_DISTRO/setup.bash"
+        echo "Abort"
+        exit 0
     fi
 fi
 

From e4046d15e00d50f7612070c7cfd9e84b936a9457 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Fri, 11 Oct 2024 13:12:32 +0200
Subject: [PATCH 16/17] setting up ROX simulation from the script

---
 package-setup/setup-rox-simulation.sh | 107 ++++++++++++++++++++++++++
 1 file changed, 107 insertions(+)
 create mode 100755 package-setup/setup-rox-simulation.sh

diff --git a/package-setup/setup-rox-simulation.sh b/package-setup/setup-rox-simulation.sh
new file mode 100755
index 0000000..222e39d
--- /dev/null
+++ b/package-setup/setup-rox-simulation.sh
@@ -0,0 +1,107 @@
+#!/bin/bash
+
+# exit if any command below fails
+set -e
+GREEN='\033[0;32m'
+RED='\033[0;31m'
+YELLOW='\033[0;33m'
+WHITE='\033[0;37m'
+
+echo "Welcome to the support assistant for setting up the ROX Simulation packages"
+echo "The workspace will be created in the /home/USER/ folder. In the future, we will add the option, to create the workspace in any desired directory"
+
+# Check if ROS is sourced
+empty_ros_distro=true
+ros_distros=" "
+if [ "$ROS_DISTRO" == "" ]; then
+	echo "ROS Distro is not sourced."
+    for dir in /opt/ros/*/; do
+        if [ "$(ls -A "$dir")" ]; then
+            empty_ros_distro=false
+            echo -e "$GREEN"
+            echo "  " $(basename "$dir")
+        fi
+    done
+
+    if [ $empty_ros_distro == true ]; then
+        echo "ROS 2 is not installed at all"
+        echo "Please continue the installation once ROS 2 is installed"
+        echo "Abort"
+    else
+        echo -e "${RED} Please source any one of the ROS Distros above and try again later"
+        echo -e "${RED} Example: source /opt/ros/YOUR_DISTRO/setup.bash"
+        echo "Abort"
+        exit 0
+    fi
+fi
+
+# Check if the client ws is already there in the home folder
+cd ~/
+is_ws_installed=""
+
+if [ -d "${ROS_DISTRO}_ws" ]; then
+    echo "${ROS_DISTRO}_ws already exists."
+    echo -n "Do you want to delete it before continuing? (Y/n)"
+    read is_ws_installed
+
+    if [[ "$is_ws_installed" == "y" || "$is_ws_installed" == "Y" ]]; then
+        echo -e "  Deleting.."
+        rm -rf ${ROS_DISTRO}_ws
+        echo -e "  ${ROS_DISTRO}_ws has been deleted"
+    else
+        echo "Abort"
+        exit 0
+    fi
+fi
+
+uni_ans=""
+robot_model=""
+
+# Go to home directory
+cd ~
+
+skip_depend="phidgets-drivers ur_client_library ur_msgs ur_robot_driver"
+
+# Install build tool
+sudo apt install python3-colcon-common-extensions
+
+#Install xterm
+
+sudo apt install xterm
+
+cd ~
+
+directory="${ROS_DISTRO}_ws/src"
+directory_root="${ROS_DISTRO}_ws"
+
+mkdir -p "$directory"
+cd "$directory"
+
+# clone git repos here...
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/rox.git
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_local_planner2.git
+git clone --branch $ROS_DISTRO     https://github.com/neobotix/neo_localization2.git
+git clone --branch master          https://github.com/neobotix/neo_common2
+git clone --branch master          https://github.com/neobotix/neo_msgs2
+git clone --branch master          https://github.com/neobotix/neo_srvs2
+git clone --branch main            https://github.com/neobotix/neo_gz_worlds.git
+
+cd ..
+
+echo "skipping to install following dependencies:" $skip_depend
+# Install relevant dependencies
+rosdep install --from-paths ./src --ignore-src --rosdistro $ROS_DISTRO -r --skip-keys "$skip_depend"
+
+# build workspace
+colcon build --symlink-install 
+
+echo "export LC_NUMERIC="en_US.UTF-8" " >> ~/.bashrc
+
+echo "source ~/"$directory_root"/install/setup.bash" >> ~/.bashrc
+
+echo "Installation successful !!!"
+
+# Temporarily setting up the GZ_RESOURCE_PATH from here
+echo "export IGN_GAZEBO_RESOURCE_PATH=~/"$directory"/rox/:~/"$directory"/neo_gz_worlds/models" >> ~/.bashrc
+
+exit 0
\ No newline at end of file

From 5294fd9df676b1dea71fe5fb46c95cb86f8ea622 Mon Sep 17 00:00:00 2001
From: Pradheep <padhupradheep@gmail.com>
Date: Wed, 16 Oct 2024 15:44:16 +0200
Subject: [PATCH 17/17] adding cyclonedds installation

---
 package-setup/setup-rox-simulation.sh | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/package-setup/setup-rox-simulation.sh b/package-setup/setup-rox-simulation.sh
index 222e39d..8c444aa 100755
--- a/package-setup/setup-rox-simulation.sh
+++ b/package-setup/setup-rox-simulation.sh
@@ -63,8 +63,13 @@ cd ~
 skip_depend="phidgets-drivers ur_client_library ur_msgs ur_robot_driver"
 
 # Install build tool
+echo "Installing colcon extensions"
 sudo apt install python3-colcon-common-extensions
 
+# Installing CycloneDDS
+echo "Installing CycloneDDS"
+sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+
 #Install xterm
 
 sudo apt install xterm