Migrate setup script

Author: Flova

scripts/ros.plugin.sh

@@ -4,45 +4,7 @@ set -eEuo pipefail
 # static/global variables
 DIR="$(dirname "$(readlink -f "$0")")"
 BRANCH="${1:-main}"
-ROS_DISTRO=${ROS_DISTRO:-"jazzy"}
-COLCON_WS="${COLCON_WS:-"$HOME/bitbots_main"}"
 REPO_URL="git@github.com:bit-bots/bitbots_main.git"
-SHELL_CONFIG="$(cat <<EOF
-
-# >>> bit-bots initialize >>>
-
-# Add python pip bins to PATH
-export PATH="\$HOME/.local/bin:\$PATH"
-
-# Ignore some deprecation warnings
-export PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-
-# Limit ROS 2 communication to localhost (can be overridden when needed)
-export ROS_DOMAIN_ID=24
-export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
-
-# Set the default colcon workspace
-export COLCON_WS="\$HOME/bitbots_main"
-
-# Set the default log level for colcon
-export COLCON_LOG_LEVEL=30
-
-# Define a log layout
-export RCUTILS_COLORIZED_OUTPUT=1
-export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
-
-# Set the default Middleware
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-# Load our ros plugin script containing useful functions and aliases for ROS 2 development
-if [[ -f \$COLCON_WS/scripts/ros.plugin.sh ]]; then
-  source \$COLCON_WS/scripts/ros.plugin.sh
-fi
-
-# <<< bit-bots initialize <<<
-
-EOF
-)"
 
 ask_question() {
     while true; do
@@ -56,34 +18,8 @@ ask_question() {
     done
 }
 
-setup_ros() {
-    if (( has_sudo )); then
-        echo "Setting up ROS 2..."
-
-        if [[ ! -f /etc/apt/sources.list.d/ros2.list ]]; then
-            echo "Adding ROS 2 repository..."
-            sudo apt install -y curl lsb-release
-            sudo sh -c "curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key > /usr/share/keyrings/ros-archive-keyring.gpg"
-            sudo sh -c "echo 'deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main' > /etc/apt/sources.list.d/ros2.list"
-        fi
-
-        sudo apt update && sudo apt install -y \
-            just \
-            clang-format \
-            cppcheck \
-            python3-colcon-clean \
-            python3-colcon-common-extensions \
-            python3-pip \
-            python3-rosdep \
-            python3-vcstool \
-            "ros-${ROS_DISTRO}-desktop-full" \
-            "ros-${ROS_DISTRO}-plotjuggler-ros" \
-            "ros-${ROS_DISTRO}-rmw-cyclonedds-cpp" \
-            "ros-${ROS_DISTRO}-rqt-robot-monitor" \
-            "ros-${ROS_DISTRO}-rqt-runtime-monitor"
-    else
-        echo "Please install ROS 2 manually!"
-    fi
+setup_pixi() {
+    curl -fsSL https://pixi.sh/install.sh | sh
 }
 
 setup_repo() {
@@ -103,59 +39,29 @@ setup_repo() {
     fi
 
     echo "Installing dependencies..."
-    if (( has_sudo )); then
-        just install
-    else
-        echo "Cannot use rosdep as it requires sudo."
-        just install-no-root
-    fi
+    $HOME/.pixi/bin/pixi install
 }
 
-setup_colcon() {
-    echo "Installing/Updating colcon extensions..."
-
-    # Install/Update colcon extensions / patches
-    python3 -m pip install --upgrade --user --break-system-packages \
-      git+https://github.com/timonegk/colcon-core.git@colors \
-      git+https://github.com/timonegk/colcon-notification.git@colors \
-      git+https://github.com/timonegk/colcon-output.git@colors
+setup_host() {
+    echo "Setting up system dependencies not covered by pixi. This may require sudo rights. For non-Ubuntu systems, please install the required packages manually."
+    if (( has_sudo )); then
+        $meta_dir/scripts/make_basler.sh
+        $meta_dir/scripts/make_webots.sh
+    fi
 }
 
 build_repository() {
-    echo "Running full colcon build for bitbots_main repository..."
-    cd "$COLCON_WS"
-
+    echo "Running full colcon build..."
     set +u
-    source "/opt/ros/${ROS_DISTRO}/setup.bash"
-
-    just build
-}
-
-setup_shell_aliases() {
-    if ask_question "Do you want to setup/update the Bit-Bots ROS 2 and colcon shell configuration?"; then
-        local shell_config_file
-
-        if [[ "$SHELL" =~ "bash" ]]; then
-            shell_config_file="$HOME/.bashrc"
-        elif [[ "$SHELL" =~ "zsh" ]]; then
-            shell_config_file="$HOME/.zshrc"
-        else
-            echo "Your shell is not supported!"
-            exit 1
-        fi
-
-        if ! grep -q ">>> bit-bots initialize >>>" "$shell_config_file"; then
-            echo "$SHELL_CONFIG" >> "$shell_config_file"
-        fi
-    fi
+    $HOME/.pixi/bin/pixi run build
 }
 
 has_sudo=0
 if ask_question "Do you have sudo rights?"; then
     has_sudo=1
 fi
 if (( ! has_sudo )); then
-    echo "Because, you don't have sudo rights, ensure all necessary ROS 2 packages are installed."
+    echo "Because, you don't have sudo rights, no host dependencies will be installed."
 fi
 
 in_repo=1
@@ -166,6 +72,5 @@ fi
 
 setup_ros
 setup_repo
-setup_colcon
-setup_shell_aliases
+setup_host
 build_repository