setup_humble_and_deps.sh

#!/usr/bin/env bash

set -e

# remove ROS1 to save space
rm -rf ~/catkin_ws
rm -rf ~/ros_catkin_ws
sudo apt remove "python3*" -y
sudo apt autoremove -y

# install micromamba
"${SHELL}" <(curl -L micro.mamba.pm/install.sh) < /dev/null
source ~/.bashrc

# install robostack
micromamba create -n ros_env -c conda-forge -c robostack-staging ros-humble-ros-base rosdep compilers cmake pkg-config make ninja colcon-common-extensions -y

# pull sources to build
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone -b humble-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b humble-devel https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b humble-devel https://github.com/ros-drivers/velodyne.git
git clone -b humble https://github.com/SteveMacenski/slam_toolbox.git
git clone https://github.com/StanfordASL/asl-tb3-driver.git

# pull pre-built rosdep packages
micromamba run -n ros_env rosdep init
micromamba run -n ros_env rosdep update
micromamba run -n ros_env rosdep install --from-paths ~/ros2_ws/src --skip-keys "nav2_bringup rviz2 cartographer_ros" -i -r -y
# OpenGL and GLX is required by slam_toolbox
micromamba install -n ros_env mesalib libglvnd-glx-cos7-aarch64 -c conda-forge -y

# build driver
micromamba run -n ros_env --cwd ~/ros2_ws colcon build --packages-up-to asl_tb3_driver

# source setup scripts
echo "source \$HOME/ros2_ws/install/setup.bash" >> $MAMBA_ROOT_PREFIX/envs/ros_env/etc/conda/activate.d/ros-humble-ros-workspace_activate.sh