#
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# (or maybe we need the following due to the firewall)
# sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

#
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

#
sudo apt update

#
sudo apt install ros-noetic-desktop-full

#
sudo apt search ros-noetic

#
source /opt/ros/noetic/setup.bash
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

#
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-rosdep
sudo rosdep init
rosdep update

sudo apt install ros-noetic-moveit

# we set ${ROS_DISTRO} as noetic
sudo apt install ros-noetic-ur-robot-driver
sudo apt install ros-noetic-ur-calibration
sudo apt-get install ros-noetic-universal-robots
# set the source
source /opt/ros/${ROS_DISTRO}/setup.bash

# source global ros
source /opt/ros/noetic/setup.bash

# create a catkin workspace
mkdir -p catkin_ws/src && cd catkin_ws

# clone the driver
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver

# clone the description. 
git clone -b noetic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot

# install dependencies
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

# build the workspace
catkin_make

# activate the workspace (ie: source it)
source devel/setup.bash

#@NOTICE : we need use the python/boost/... from ubuntu20.04 rather than anaconda
$ sudo gedit ~/.bashrc
#@NOTICE : remove the initialization of anaconda or any other environments

# simulate the robot and environment in Gazebo
roslaunch ur_gazebo ur5e_bringup.launch
# use MoveIt for motion planning and control
roslaunch ur5e_moveit_config moveit_planning_execution.launch sim:=true
# finally visualize the whole process through RViz
roslaunch ur5e_moveit_config moveit_rviz.launch

# launch the ros score
roslaunch ur_robot_driver ur5e_bringup.launch  use_tool_communication:=true tool_voltage:=24 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1 tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR

# test the ttyUR connection
rosrun ur_robot_driver tool_communication

# utilize just like the true serial
rosrun imaginary_drivers rs485_node device:=/tmp/ttyUR

roslaunch ur_calibration calibration_correction.launch robot_ip:=192.168.1.60 target_filename:="home/robot/my_robot_calibration.yaml"

#### Visualizing ####
# launch the driver
roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.60 kinematics_config:=/home/robot/my_robot_calibration.yaml
# in another terminal run rviz for visualization
roslaunch ur_robot_driver example_rviz.launch

#### Controling ####
rosrun ur_robot_driver test_move

#### Control the robot using Moveit ####
roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.60 kinematics_config:=/home/robot/my_robot_calibration.yaml

roslaunch ur5e_moveit_config moveit_planning_execution.launch

roslaunch ur5e_moveit_config moveit_rviz.launch rviz_config:=/home/robot/ur5e_ws/src/universal_robot/ur5e_moveit_config/launch/moveit.rviz

# # official - only support until Melodic
# git clone https://github.com/ros-industrial/robotiq.git src/robotiq

# support for Noetic
git clone https://github.com/jr-robotics/robotiq.git src/robotiq

# install dependencies
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

# build the workspace
catkin_make

# activate the workspace (ie: source it)
source devel/setup.bash

# test the conection by Method-1
sudo usermod -a -G dialout $USER
dmesg | grep tty

# 
roscore

# run the node
rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyUSB0

# run the controller
rosrun robotiq_2f_gripper_control Robotiq2FGripperSimpleController.py

# run the listener 
rosrun robotiq_2f_gripper_control Robotiq2FGripperStatusListener.py

sudo apt install libspnav-dev spacenavd; sudo systemctl start spacenavd
pip install spnav

lsusb

pip install ur_rtde

# show all of the topic we can use
rostopic list

# show a specific topic
rostopic info /topic_name
rostopic echo /topic_name
rostopic type /topic_name

# show the communication graph
rqtgraph