Support for automated matlab install

setup_scripts/dev_install/install_dev.bash

@@ -8,8 +8,6 @@ echo "Starting ROSDEP"
 sudo rosdep init
 rosdep update
 
-# TODO query for new sim setup here
-
 echo "Importing repositories"
 vcs import < ~/osu-uwrt/riptide_setup/setup_scripts/dev_install/riptide.repos . --recursive
 vcs pull
@@ -49,14 +47,16 @@ echo "Downloading Pico utils"
 sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential
 
 # build development software (this should pass)
-echo "Building riptide software"
+echo "Building riptide_software"
 cd ~/osu-uwrt/development/software
 rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y -r
+sudo apt install -y libglfw3-dev #for the sim
+pip install transforms3d #for mapping
 source /opt/ros/$ROS_DISTRO/setup.bash
 source ~/osu-uwrt/development/dependencies/install/setup.bash
 colcon build
 
 if [ $? -ne 0 ]; then
     echo "Development software build failed! The script will continue but may have errors going further"
     sleep 10
-fi
+fi

setup_scripts/dev_install/riptide.repos

@@ -24,6 +24,10 @@ repositories:
       type: git
       url: https://github.com/osu-uwrt/riptide_gui.git
       version: master
+    software/src/riptide_simulator:
+      type: git
+      url: https://github.com/osu-uwrt/riptide_simulator.git
+      version: master
 
     # dependencies
     dependencies/src/nortek_dvl:

setup_scripts/matlab_install/check_toolboxes_installed.m

@@ -0,0 +1,33 @@
+%
+% UWRT Matlab installer toolbox checking script
+%
+
+fprintf("Checking for missing toolboxes...");
+EXPECTED_TOOLBOXES = [
+    "MATLAB Coder";
+    "Robotics System Toolbox";
+    "Simulink Coder";
+    "HDL Coder";
+    "Fixed-Point Designer";
+    "Aerospace Toolbox";
+    "Embedded Coder";
+    "Control System Toolbox";
+    "Simulink";
+    "Aerospace Blockset";
+    "ROS Toolbox";
+];
+
+installed_toolboxes_table = matlab.addons.installedAddons;
+installed_toolbox_names = installed_toolboxes_table{:, 1};
+missing_toolboxes = setdiff(EXPECTED_TOOLBOXES, installed_toolbox_names);
+
+if ~isempty(missing_toolboxes)
+    fprintf("MISSING TOOLBOXES DETECTED!\nToolboxes:\n");
+    for i = 1 : length(missing_toolboxes)
+        fprintf("%s\n", missing_toolboxes(i));
+    end
+    fprintf("\n");
+    error("Found missing toolboxes, listed above. Please install them and re-run the matlab configure script (configure_matlab.bash).")
+end
+
+fprintf("No missing toolboxes found.\n");

setup_scripts/matlab_install/configure_matlab.bash

@@ -0,0 +1,114 @@
+#!/usr/bin/bash
+
+#
+# UWRT MATLAB Configure script
+# usage: ./configure_matlab.bash <matlab_install_dir> <python39_install_dir>
+#
+
+echo
+echo "[INFO] Checking and configuring Matlab"
+echo
+
+# ensure that matlab executable exists. This means that matlab installed correctly.
+matlabdir=$1
+matlabexecutable=$matlabdir/bin/matlab
+echo "Checking matlab"
+while [ ! -f $matlabexecutable ] || [ "$matlabdir" = "" ]
+do
+    echo
+    echo
+    echo "Expected to find a MATLAB executable at $matlabexecutable, however there is none present."
+    echo "Please enter the ABSOLUTE location of the matlab install directory: (currently: $matlabdir)"
+    read matlabdir
+    matlabexecutable=$matlabdir/bin/matlab
+done
+
+echo "Checking Python"
+pythonexecutable=$2
+while [ ! -f $pythonexecutable ] || [ "$pythonexecutable" = "" ]
+do
+    echo
+    echo
+    echo "Expected to find a Python3.9 executable at $pythonexecutable, however there is none present."
+    echo "Please enter the ABSOLUTE location of the Python executable: (currently: $pythonexecutable)"
+    read pythonexecutable
+done
+
+#change into scripts directory so we can run matlab scripts
+cd ~/osu-uwrt/riptide_setup/setup_scripts/matlab_install
+
+#link matlab executable to /usr/bin so that it can be easily run
+#this is done as a shell script because the matlab executable tries 
+#to reference files relative to itself.
+echo "Linking MATLAB executable to /usr/bin"
+rm -f $matlabdir/launch_matlab.bash #this prevents multiple installs from writing to the file a multiple times
+cat >> $matlabdir/launch_matlab.bash << EOF
+#!/usr/bin/bash
+$matlabexecutable \$*
+
+EOF
+chmod +x $matlabdir/launch_matlab.bash
+
+#check if the file exists
+if [ -f "/usr/bin/matlab" ]
+then
+    echo "/usr/bin/matlab already exists. Replace it [y/n]?"
+    read confirm
+    if [ "$confirm" = "y" ] || [ "$confirm" = "Y" ]
+    then
+        echo "Removing"
+        sudo rm -f /usr/bin/matlab
+    else
+        echo "NOT removing"
+    fi
+fi
+
+sudo ln $matlabdir/launch_matlab.bash /usr/bin/matlab
+
+#remove stdc++ shared lib that shipped with matlab. We want to use the system one, it works better
+echo "Configuring MATLAB to use system stdc++ lib"
+oldstdlib=`find $matlabdir/sys/os -maxdepth 2 -name libstdc++.so.6`
+newstdlib=$oldstdlib.renamed
+if [ "$oldstdlib" = "" ]
+then
+    echo
+    echo "WARNING: The libstdc++.so.6 file (which should have shipped with MATLAB) was not found!"
+    echo "Please ensure that this file does not exist ANYWHERE in your MATLAB directory ($matlabdir)!"
+    echo "Your install may not work properly if it is not removed."
+    echo "Please press enter to continue."
+    echo
+    read
+else
+    echo "Found stdc++ shared object file as : $oldstdlib"
+    echo "Renaming $oldstdlib to $newstdlib"
+    mv $oldstdlib $newstdlib
+fi
+
+#check that needed toolboxes are installed
+
+echo "Checking that all required toolboxes are present"
+matlab -batch check_toolboxes_installed
+check_fail=$?
+while [ $check_fail -eq 1 ]
+do
+    echo
+    echo "Missing toolboxes detected. Please install the toolboxes listed above, then press enter to continue."
+    read
+
+    echo "Checking that all required toolboxes are present"
+    matlab -batch check_toolboxes_installed
+    check_fail=$?
+done
+
+#set up ros toolbox
+echo "Configuring ROS toolbox environment"
+matlab -batch "configure_rostoolbox(\"$pythonexecutable\")"
+
+#configure custom msgs
+echo "Configuring custom ROS message support"
+# source ros first
+. /opt/ros/$ROS_DISTRO/setup.bash
+. ~/osu-uwrt/development/dependencies/install/setup.bash
+. ~/osu-uwrt/development/software/install/setup.bash
+ros2 run riptide_controllers2 model_manager.py refresh_custom_msg_support
+

setup_scripts/matlab_install/configure_rostoolbox.m

@@ -0,0 +1,36 @@
+%
+% UWRT Matlab Installer ROS toolbox configuration script
+% Need to set python executable to 3.9 and then manually invoke ROS venv
+% setup
+%
+function configure_rostoolbox(python_location)
+    format compact
+
+    %save old python executable
+    old_pe = pyenv;
+    old_python = old_pe.Executable;
+
+    fprintf("Temporarily overriding python executable setting. Currently set to %s\n", old_python);
+
+    %activate python 3.9
+    pyenv("Version", python_location);
+
+    %check that it actually worked
+    new_pe = pyenv;
+    if new_pe.Executable ~= python_location
+        error("Python was not correctly set to 3.9! Cannot continue.\n");
+    end
+
+    %init ROS2 venv
+    fprintf("Configuring MATLAB ROS2 venv\n");
+    ros.ros2.internal.createOrGetLocalPython(true); %the "true" forces reinit
+
+    %set back old python executable
+    pyenv("Version", old_python);
+    new_pe = pyenv;
+    if new_pe.Executable == old_python
+        fprintf("Python executable successfully set back to %s\n", new_pe.Executable);
+    else
+        warning("Old python executable NOT successfully restored. It is now %s\n", new_pe.Executable);
+    end
+end

setup_scripts/matlab_install/install_matlab.bash

@@ -0,0 +1,67 @@
+#!/usr/bin/bash
+
+#
+# UWRT Matlab Install Script
+# usage: ./install_matlab.bash
+# this script expects to be executed in its own directory. DONT call it from another directory
+#
+
+echo
+echo "[INFO] Installing Matlab"
+echo
+
+MATLAB_INSTALL_LOCATION=~/osu-uwrt/matlab/MATLAB
+mkdir -p $MATLAB_INSTALL_LOCATION #create target folder
+
+#need to ask use to download the installer because we probably shouldnt host it on github 
+#because mathworks wouldnt be too happy about that. So we'll do that here
+download_fail=1
+while [ $download_fail -eq 1 ]
+do
+    installer_name=uwrt_matlab_installer.zip
+
+    if [ -f "$HOME/Downloads/$installer_name" ]
+    then
+        #found file, check its sum. if the sum is good then while will break
+        echo "Found installer at $HOME/Downloads/$installer_name"
+        echo "Checking checksum"
+        echo "$(cat ~/osu-uwrt/riptide_setup/setup_scripts/matlab_install/uwrt_matlab_installer.zip.sha256) $HOME/Downloads/$installer_name" | sha256sum --check --status
+        download_fail=$? #download fail will be set to the result of the previous command
+    else
+        #could not find file. Ask user to download it
+        echo
+	echo
+	echo "Checksum of MATLAB Installer could not be verified. Please download the MATLAB installer!"
+	echo "You can find the UWRT offline installer on Teams in Software -> Files -> MATLAB -> uwrt_matlab_installer.zip."
+	echo
+	echo "Please download the file to your \"Downloads\" folder, then press enter to continue:"
+	read
+
+	if [ ! -f "$HOME/Downloads/$installer_name" ]
+	then
+	    # file still not there. Maybe it has a different name
+            echo "Installer not found in Downloads directory. Perhaps it has a different name?"
+            echo "Please enter the name of the installer in the $HOME/Downloads directory (currently $installer_name)"
+            read installer_name
+        fi
+    fi
+done
+
+echo "Verified MATLAB installer at $HOME/Downloads/$installer_name"
+
+#extract installer
+echo "Extracting installer"
+unzip -q ~/Downloads/$installer_name -d $MATLAB_INSTALL_LOCATION
+
+#run installer
+#TODO: document the process: ui/install/product_installer_ui/bundle.index.js
+echo "Running installer"
+$MATLAB_INSTALL_LOCATION/uwrt_matlab_installer/install
+
+#remove installer
+echo "Removing installer"
+rm -rf $MATLAB_INSTALL_LOCATION/uwrt_matlab_installer
+
+#post-installation tasks (install python, configure matlab)
+~/osu-uwrt/riptide_setup/setup_scripts/matlab_install/install_python39.bash $MATLAB_INSTALL_LOCATION
+~/osu-uwrt/riptide_setup/setup_scripts/matlab_install/configure_matlab.bash $MATLAB_INSTALL_LOCATION /usr/local/bin/python3.9

setup_scripts/matlab_install/install_python39.bash

@@ -0,0 +1,23 @@
+#!/usr/bin/bash
+
+#
+# MATLAB install helper; installs python 3.9, needed for venv to add custom msg support
+# usage: ./install_python39.bash <directory>
+#
+
+echo
+echo "[INFO] Installing Python 3.9"
+echo
+
+cd $1
+
+# this downloads source archive and build it
+wget https://www.python.org/ftp/python/3.9.0/Python-3.9.0.tgz
+tar -xf Python-3.9.0.tgz
+cd Python-3.9.0
+./configure
+echo "Building Python3.9"
+make --quiet -j4
+echo "Installing Python3.9"
+sudo make --quiet altinstall
+

setup_scripts/matlab_install/uwrt_matlab_installer.zip.sha256

@@ -0,0 +1 @@
+a6f0dabf2998c8288de76bff07c045a1a101c2c42edca3c6a3aed00799fe72b0

setup_scripts/update_system.bash

@@ -51,6 +51,32 @@ case "$CHOICE" in
 esac
 printf "\n\n\n"
 
+read -p "Install MATLAB? This will take approximately 15 additional minutes and use approximately 10 GB (default is no) " CHOICE
+case "$CHOICE" in
+    [yY]*) 
+        echo "Running MATLAB setup"
+        ~/osu-uwrt/riptide_setup/setup_scripts/matlab_install/install_matlab.bash
+        ;;
+
+    *) 
+        echo "Skipping MATLAB setup"
+        ;;
+esac
+printf "\n\n\n"
+
+# install controller packages
+echo "Installing most recent controller packages"
+# source ros first
+. /opt/ros/$ROS_DISTRO/setup.bash
+. ~/osu-uwrt/development/dependencies/install/setup.bash
+. ~/osu-uwrt/development/software/install/setup.bash
+ros2 run riptide_controllers2 model_manager.py -y clean_workspace
+ros2 run riptide_controllers2 model_manager.py -y download_packages --build
+
+#setup groot
+echo "Installing Groot"
+~/osu-uwrt/riptide_setup/setup_scripts/install_groot.bash
+
 # setup hosts and add hardware udev rules
 echo "Setting up hardware and hosts files"
 sudo ~/osu-uwrt/riptide_setup/setup_scripts/hardware/setup_hosts.bash
@@ -62,4 +88,4 @@ echo "Setting bashrc for development"
 
 printf "\n\n\n"
 echo "If no errors occurred during compilation, then everything was setup correctly"
-echo "Please reboot your computer for final changes to take effect"
+echo "Please reboot your computer for final changes to take effect"