Fix/docs

README.md

@@ -15,16 +15,17 @@ All code is written as individual ROS 2 packages.
 
 The workspace is managed using the [pixi](https://pixi.sh) package manager. This allows us to have reproducible builds and easy user space dependency management similar to tools like `uv` or `cargo`. This also means that no system wide ROS installation or superuser privileges are required to install or run the code.
 
-Full step-by-step instructions for installing the Bit-Bots software stack and ROS 2 can be found in our documentation [here](https://docs.bit-bots.de/meta/manual/tutorials/install_software_ros2.html).
+Full step-by-step instructions for installing the Bit-Bots software stack and ROS 2 can be found in our [documentation](https://docs.bit-bots.de/meta/manual/tutorials/install_software_ros2.html).
 
-Run the following command inside this repository to build the workspace. All dependencies will be installed automatically. Make sure you have [pixi](https://pixi.sh) installed. A few optional proprietary dependencies will be needed for full functionality, see the documentation for details.
+Run the following command inside this repository to build the workspace.
+All dependencies will be installed automatically.
+Make sure you have [pixi](https://pixi.sh) installed.
+A few optional proprietary dependencies will be needed for full functionality, see the documentation for details.
 
 ``` shell
 pixi run build
 ```
 
-The first build will take a while as all dependencies are built from source.
-Subsequent builds will be much faster.
 The first build might fail due to missing dependencies.
 Run `pixi run basler` to install the Basler pylon camera driver.
 
@@ -42,7 +43,13 @@ alternatively, you can run individual commands inside the workspace without acti
 pixi run <command>
 ```
 
-To see some predefined  / commands, run
+To build the workspace, run the following command in the terminal:
+
+``` shell
+pixi run build
+```
+
+To see some predefined tasks / commands, run
 
 ``` shell
 pixi task list
@@ -53,7 +60,7 @@ pixi task list
 To deploy the software to a robot, run
 
 ``` shell
-pixi run deploy <robot_ip|robot_name>
+pixi run deploy
 ```
 
 For more information on the deployment tooling, see [this documentation](scripts/README.md).

scripts/README.md

@@ -8,12 +8,12 @@ This tool is also callable via `pixi run deploy <arguments>`.
 
 Deploy, configure, and launch the Bit-Bots software remotely on a robot.
 This tool can target all, multiple, or single robots at once, specified by their hostname, robot name, or IP address.
-Five different tasks can be performed:
+These different tasks can be performed:
 
 1. Synchronize the local source code to the target workspace
-3. Configure game-settings and wifi on the target
-4. Build (compile) the workspace on the target
-5. Launch the teamplayer software on the target
+2. Configure game-settings and wifi on the target
+3. Build (compile) the workspace on the target
+4. Launch the teamplayer software on the target
 
 ### Example usage
 

scripts/make_basler.sh

@@ -8,52 +8,106 @@ set -eEo pipefail
 PYLON_DOWNLOAD_URL="https://data.bit-bots.de/pylon_7_4_0_14900_linux_x86_64_debs.tar.gz.gpg"
 PYLON_VERSION="7.4.0"
 
+CI=false
+SKIP_OS_CHECK=false
+SHOW_PROGRESS="--show-progress"
+UNKNOWN_ARGS=()
+
+print_help() {
+    echo "Usage: $0 [--ci] [--skip-os-check] [--help]"
+    echo
+    echo "  --ci             Run non-interactively for CI (skips confirmation and progress)"
+    echo "  --skip-os-check  Skip the Ubuntu version/OS check"
+    echo "  -h, --help       Show this help message and exit"
+}
+
+# Parse arguments position-independently
+for arg in "$@"; do
+    case "$arg" in
+        --ci)
+            CI=true
+            SHOW_PROGRESS=""
+            ;;
+        --skip-os-check)
+            SKIP_OS_CHECK=true
+            ;;
+        -h|--help)
+            print_help
+            exit 0
+            ;;
+        *)
+            UNKNOWN_ARGS+=("$arg")
+            ;;
+    esac
+done
+
+# If unknown arguments were passed, warn and show help
+if [[ ${#UNKNOWN_ARGS[@]} -gt 0 ]]; then
+    echo "Unknown argument(s): ${UNKNOWN_ARGS[*]}"
+    echo
+    print_help
+    exit 1
+fi
+
 # Check let the user confirm that they read the license agreement on the basler website and agree with it.
 echo "You need to confirm that you read the license agreements for pylon $PYLON_VERSION on the basler download page (https://www.baslerweb.com/en/downloads/software-downloads/) and agree with it."
-
-# Check --ci flag for automatic confirmation in the ci
-if [[ $1 == "--ci" ]]; then
-    echo "Running in a CI environment, continuing..."
-    SHOW_PROGRESS=""
-else
-    # Ask the user if they want to continue and break if they don't
+# If not running in CI, ask the user to confirm license agreement
+if [[ "$CI" != true ]]; then
     read -p "Do you want to continue? [y/N] " -n 1 -r
-
+    echo
     if [[ ! $REPLY =~ ^[Yy]$ ]]; then
         echo "Aborting..."
         exit 1
     fi
-    SHOW_PROGRESS="--show-progress"
 fi
 
+check_os_is_required_ubuntu_version () {
+    # Check if the OS is ubuntu
+    echo "Checking for compatible OS..."
+    if [[ "$(lsb_release -is)" != "Ubuntu" ]]; then
+        echo "This driver package only supports Ubuntu (and some Debian derivatives)."
+        echo "Please install Ubuntu >= 18.04 and try again OR try it on a compatible Debian derivative with --skip-os-check."
+        exit 1
+    fi
+}
+
 check_internet_connection () {
     # Check if we have an internet connection, except in the ci as azure does not support ping by design
-    if [[ $1 != "--ci" ]] && ! ping -q -c 1 -W 1 google.com > /dev/null; then
+    if [[ "$CI" != true ]] && ! ping -q -c 1 -W 1 google.com > /dev/null; then
         echo "No internet connection. Please check your internet connection to install the basler drivers."
         exit 1
     fi
 }
 
-# Check if the correct pylon driver PYLON_VERSION is installed (apt)
-if apt list pylon --installed | grep -q $PYLON_VERSION; then
+# Check if the correct pylon driver PYLON_VERSION is installed (use dpkg-query)
+INSTALLED_VERSION=$(dpkg-query -W -f='${Version}' pylon 2>/dev/null || true)
+if [[ -n "$INSTALLED_VERSION" && "$INSTALLED_VERSION" == *"$PYLON_VERSION"* ]]; then
     echo "Pylon driver $PYLON_VERSION is already installed."
+    exit 0
+fi
+
+echo "Pylon driver $PYLON_VERSION is not installed. Installing..."
+# Check if the OS is the required ubuntu version
+if [[ "$SKIP_OS_CHECK" != true ]]; then
+    check_os_is_required_ubuntu_version
 else
-    echo "Pylon driver $PYLON_VERSION is not installed. Installing..."
-    # Check if we have an internet connection
-    check_internet_connection "$1"
-    # Check if the url exist
-    if ! curl --output /dev/null --silent --head --fail "$PYLON_DOWNLOAD_URL"; then
-        echo "Pylon download url does not exist. Please check the url and update the 'PYLON_DOWNLOAD_URL' variable in the 'make_basler.sh' script. The website might have changed."
-        exit 1
-    fi
-    # Download the pylon driver to temp folder
-    wget --no-verbose $SHOW_PROGRESS $PYLON_DOWNLOAD_URL -O /tmp/pylon_${PYLON_VERSION}.tar.gz.gpg
-    # Extract the pylon driver
-    mkdir -p /tmp/pylon
-    # Decrypt the pylon driver
-    gpg --batch --yes --passphrase "12987318371043223" -o /tmp/pylon_${PYLON_VERSION}.tar.gz -d /tmp/pylon_${PYLON_VERSION}.tar.gz.gpg
-    # Extract the pylon driver
-    tar -xzf /tmp/pylon_${PYLON_VERSION}.tar.gz -C /tmp/pylon/
-    # Install the pylon driver
-    sudo apt-get install /tmp/pylon/pylon_${PYLON_VERSION}*.deb -y
+    echo "Skipping OS check."
+fi
+
+# Check if we have an internet connection
+check_internet_connection
+# Check if the url exist
+if ! curl --output /dev/null --silent --head --fail "$PYLON_DOWNLOAD_URL"; then
+    echo "Pylon download url does not exist. Please check the url and update the 'PYLON_DOWNLOAD_URL' variable in the 'make_basler.sh' script. The website might have changed."
+    exit 1
 fi
+# Download the pylon driver to temp folder
+wget --no-verbose $SHOW_PROGRESS $PYLON_DOWNLOAD_URL -O /tmp/pylon_${PYLON_VERSION}.tar.gz.gpg
+# Extract the pylon driver
+mkdir -p /tmp/pylon
+# Decrypt the pylon driver
+gpg --batch --yes --passphrase "12987318371043223" -o /tmp/pylon_${PYLON_VERSION}.tar.gz -d /tmp/pylon_${PYLON_VERSION}.tar.gz.gpg
+# Extract the pylon driver
+tar -xzf /tmp/pylon_${PYLON_VERSION}.tar.gz -C /tmp/pylon/
+# Install the pylon driver
+sudo apt-get install /tmp/pylon/pylon_${PYLON_VERSION}*.deb -y

scripts/setup.sh

@@ -4,7 +4,8 @@ set -eEuo pipefail
 # static/global variables
 DIR="$(dirname "$(readlink -f "$0")")"
 BRANCH="${1:-main}"
-REPO_URL="git@github.com:bit-bots/bitbots_main.git"
+REPO_URL_SSH="git@github.com:bit-bots/bitbots_main.git"
+REPO_URL_HTTPS="https://github.com/bit-bots/bitbots_main.git"
 
 ask_question() {
     while true; do
@@ -19,40 +20,62 @@ ask_question() {
 }
 
 setup_pixi() {
-    curl -fsSL https://pixi.sh/install.sh | sh
+    if ! type pixi &> /dev/null; then
+        curl -fsSL https://pixi.sh/install.sh | sh
+        export PATH="$PATH:$HOME/.pixi/bin"
+    fi
 }
 
 setup_repo() {
     echo "Setting up bitbots_main repository..."
 
     if (( in_repo )); then
-        cd "$meta_dir" || exit
+        cd "$main_dir" || exit
         git checkout "$BRANCH"
     else
         if [[ ! -d "$PWD/bitbots_main" ]]; then
-            git clone "$REPO_URL"
+            echo "Cloning repository bitbots_main..."
+            # Try to clone via SSH first. If it fails, warn and ask user how to proceed.
+            if ! git clone "$REPO_URL_SSH"; then
+                echo "SSH clone failed. This may mean your SSH keys are not set up for GitHub."
+                echo "See: https://docs.github.com/en/authentication/connecting-to-github-with-ssh"
+                if ask_question "Do you want to continue with an HTTPS clone instead of fixing SSH keys now?"; then
+                    echo "Cloning via HTTPS..."
+                    git clone "$REPO_URL_HTTPS"
+                else
+                    echo "Please set up your SSH keys and re-run this script. Exiting."
+                    exit 1
+                fi
+            fi
             git checkout "$BRANCH"
         fi
 
-        meta_dir="$(realpath "$PWD/bitbots_main")"
-        cd "$meta_dir" || exit
+        main_dir="$(realpath "$PWD/bitbots_main")"
+        cd "$main_dir" || exit
     fi
 
     echo "Installing dependencies..."
-    $HOME/.pixi/bin/pixi install
+    install
 }
 
 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
+        $main_dir/scripts/make_basler.sh
+        basler_installed=1
     fi
 }
 
 build_repository() {
-    echo "Running full colcon build..."
+    echo "Running full build..."
     set +u
-    $HOME/.pixi/bin/pixi run build
+
+    # Append "--packages-skip bitbots_basler_camera" to the build command if setup_host was skipped or failed
+    if (( basler_installed )); then
+    pixi run build
+    else
+    pixi run build --packages-skip bitbots_basler_camera
+    fi
 }
 
 has_sudo=0
@@ -63,13 +86,15 @@ if (( ! has_sudo )); then
     echo "Because, you don't have sudo rights, no host dependencies will be installed."
 fi
 
+basler_installed=0
+
 in_repo=1
-meta_dir="$(realpath "$DIR/../")"
-if [[ ! -d "$meta_dir/.git" ]]; then
+main_dir="$(realpath "$DIR/../")"
+if [[ ! -d "$main_dir/.git" ]]; then
     in_repo=0
 fi
 
-setup_ros
+setup_pixi
 setup_repo
 setup_host
 build_repository

src/bitbots_misc/bitbots_docs/CMakeLists.txt

@@ -7,9 +7,9 @@ find_package(ament_cmake REQUIRED)
 # then, we can't build the documentation in this package
 file(COPY files DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME})
 
-# we cannot use the compiled catkin package of bitbots_docs since that would
-# require this package to depend on itself. therefore we need to compile the sub
-# cmake file ourselves and include it manually
+# we cannot use the compiled package of bitbots_docs since that would require
+# this package to depend on itself. therefore we need to compile the sub cmake
+# file ourselves and include it manually
 configure_file(cmake/enable_bitbots_docs.cmake.in
                ${CMAKE_BINARY_DIR}/enable_bitbots_docs.cmake @ONLY)
 include(${CMAKE_BINARY_DIR}/enable_bitbots_docs.cmake)

src/bitbots_misc/bitbots_docs/cmake/enable_bitbots_docs.cmake.in

@@ -1,5 +1,5 @@
 function(enable_bitbots_docs)
-    # create directories neccessary for sphinx
+    # create directories necessary for sphinx
     file(MAKE_DIRECTORY ${CMAKE_SOURCE_DIR}/docs/_build/doxyoutput)
 	file(COPY @CMAKE_INSTALL_PREFIX@/share/bitbots_docs/files/_static DESTINATION ${CMAKE_SOURCE_DIR}/docs)