##Home computer attempt - DEPENDS ubuntu 16/ ros kinetic from a fresh computer with nothing installed needs 4 GB of storage for everything
##open a terminal and copy and paste this line by line:
git clone https://github.com/Awith133/Pit-Navigator-Utah.git
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install ros-kinetic-webots-ros ros-kinetic-rviz ros-kinetic-navigation ros-kinetic-image-pipeline ros-kinetic-teb-local-planner
wget -qO- https://cyberbotics.com/Cyberbotics.asc | sudo apt-key add -
sudo apt-add-repository 'deb https://cyberbotics.com/debian/ binary-amd64/'
sudo apt-get update
sudo apt-get install webots
sudo apt install python-pip python3-pip
pip install catkin_pkg
pip3 install catkin_pkg
pip3 install scipy
pip install scipy==0.16
sudo apt update
sudo apt upgrade
cd ~/Pit-Navigator-Utah/catkin_ws/src
rosdep update
cd Simulation_Control/webots_ros
rosdep install --from-paths src --ignore-src --rosdistro kinetic
echo 'export WEBOTS_HOME=/snap/webots/current/usr/share/webots' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$WEBOTS_HOME/lib' >> ~/.bashrc
cd ~/Pit-Navigator-Utah/catkin_ws/src/global_planner/sbpl_lattice_planner/sbpl/
rm -r build/
mkdir build
cd build
cmake ..
make
sudo make install
cd ~/Pit-Navigator-Utah/
chmod +x catkin_ws/src/smach_pit_exp/src/smach_node.py
chmod +x catkin_ws/src/Simulation_Control/webots_control/src/pioneer3at.py
chmod +x catkin_ws/src/visualization/src/visualize_test2.py
chmod +x catkin_ws/src/global_planner/mprim_generator_node/src/MPrimGeneratorNode.py
cd ~/Pit-Navigator-Utah/catkin_ws
catkin_make
source devel/setup.bash
##not a command but in demo3.launch file: lines 5&6 need editing to match new file location
roslaunch src/demo3.launch
cd ~/Pit-Navigator-Utah/catkin_ws/
source devel/setup.bash
roslaunch src/demo3.launch
catkin_ws/src/demo3.launch = main launch file for everything - needs to be edited to run on machine
catkin_ws/src/smach_pit_exp/src/smach_node.py = state machine - decides what the robot does when
catkin_ws/src/global_planner/sbpl_lattice_planner/src/sbpl_lattice_planner.cpp = ros node for global planner
catkin_ws/src/global_planner/mprim_generator_node/src/MPrimGeneratorNode.py = generates the motions for the global planner
catkin_ws/src/global_planner/relaxed_astar/src/RAstar_ros.cpp = old global planner with energy saving tacking
catkin_ws/src/cfg = bunch of configuration files for the local planner and amcl and others
catkin_ws/src/Simulation_Control/webots_control/src/pioneer3at.py = builds the simulation robot
catkin_ws/src/Simulation_Control/webots_ros/src/webots_launcher.py = builds launches webots based on lunar-env
catkin_ws/src/Simulation_Control/<current_enviornment>/lunar-env = the 3D sim world
/server_parameters/parameters.yaml = bunch of Ros Parameters that needed to carry over from legacy code - deprecated
catkin_ws/src/executive_smach = smach is pulled from here, needs this to run
catkin_ws/src/visualization = used to be some extra visuals that is now not supported