elikos_quad_build.sh

#!/bin/bash

# Valeurs par défauts
SUBMODULES=false
DEPENDENCIES=false
BUILD=true
CLEAN=false
ALIAS=false

# Extraction des paramètres
while [[ $# -gt 0 ]]
do
key="$1"
case $key in
    build)
    BUILD=true
    shift
    ;;
    clean)
	BUILD=false
    CLEAN=true
    shift
    ;;
    init)
	BUILD=false
    if [ "$2" = --dep ] ; then
        DEPENDENCIES=true
    elif [ "$2" = --submod ] ; then
        SUBMODULES=true
    elif [ "$2" = --alias ] ; then
        ALIAS=true
    fi
    if [ "$3" = --dep ] ; then
        DEPENDENCIES=true
    elif [ "$3" = --submod ] ; then
        SUBMODULES=true
    elif [ "$3" = --alias ] ; then
        ALIAS=true
    fi
    if [ "$4" = --dep ] ; then
        DEPENDENCIES=true
    elif [ "$4" = --submod ] ; then
        SUBMODULES=true
    elif [ "$4" = --alias ] ; then
        ALIAS=true
    fi
    shift
    ;;
    *)
    ;;
esac
shift
done

# Check ROS version
if [ "$ROS_DISTRO" != "kinetic" ] ; then
    echo -e "\033[0;33mAttention! Il est conseillé (obligé) d'avoir ROS kinetic!\033[0m"
fi

# Dependencies
if [ "$DEPENDENCIES" = true ] ; then
    echo 'Installation des dépendances (kinetic)!'
    sudo apt-get install -y ros-kinetic-mavros ros-kinetic-mavros-extras ros-kinetic-pointgrey-camera-driver ros-kinetic-moveit ros-kinetic-mavros-msgs ros-kinetic-control-toolbox
    sudo apt install -y python-pip
    sudo pip install --upgrade pip
    sudo pip install numba scipy numpy numpy-quaternion catkin_tools
    # Install Intel RealSense SDK for Linux
    sudo apt-key adv --keyserver keys.gnupg.net --recv-key D6FB2970 
    sudo sh -c 'echo "deb http://realsense-alm-public.s3.amazonaws.com/apt-repo xenial main" > /etc/apt/sources.list.d/realsense-latest.list'
    sudo apt update 
    sudo apt install -y librealsense-slam-dev libopencv-dev
    sudo apt-get install ros-$ROS_DISTRO-realsense-camera
    sudo apt install screen
fi

# Submodules init
if [ "$SUBMODULES" = true ] ; then
    echo 'Utilisation de git-credential-helper (caching de 300 secondes)'
    git config --global credential.helper 'cache --timeout 300'

    echo 'Initialisation des submodules!'
    git submodule init
	git submodule update --recursive --remote

    echo 'Checkout des branches!'
    # see https://stackoverflow.com/a/18799234
    git submodule foreach -q --recursive 'git checkout $(git config -f $toplevel/.gitmodules submodule.$name.branch || echo master)'
fi

# Build
if [ "$BUILD" = true ] ; then
    echo 'Building!'

    echo 'driver-ws'
    catkin build --workspace driver-ws/
    echo 'Sourcing driver-ws'
    source driver-ws/devel/setup.bash

    echo 'util-ws'
    catkin build --workspace util-ws/
    echo 'Sourcing util-ws'
    source util-ws/devel/setup.bash

    echo 'elikos-ws'
    catkin build --workspace elikos-ws/
    echo 'Sourcing elikos-ws'
    source elikos-ws/devel/setup.bash
fi

# Clean
if [ "$CLEAN" = true ] ; then
    echo 'Cleaning!'

    echo 'driver-ws'
    catkin clean --workspace driver-ws/ --y

    echo 'util-ws'
    catkin clean --workspace util-ws/ --y

    echo 'elikos-ws'
    catkin clean --workspace elikos-ws/ --y
fi

# Alias
if [ "$ALIAS" = true ] ; then
    echo 'Adding alias to ~/.bashrc and sourcing!'

    echo -e '\nalias srcquad="source ~/elikos_quad/elikos-ws/devel/setup.bash"' >> ~/.bashrc
    source ~/.bashrc
fi

echo -e '\033[0;32mAll done!\033[0m'