#!/bin/bash -eu

# The BSD License
# Copyright (c) 2018 PickNik Consulting
# Copyright (c) 2014 OROCA and ROS Korea Users Group

#set -x

function usage {
    # Print out usage of this script.
    echo >&2 "usage: $0 [ROS distro (default: melodic)"
    echo >&2 "          [-h|--help] Print help message."
    exit 0
}

# Parse command line. If the number of argument differs from what is expected, call `usage` function.
OPT=`getopt -o h -l help -- $*`
if [ $# != 1 ]; then
    usage
fi
eval set -- $OPT
while [ -n "$1" ] ; do
    case $1 in
        -h|--help) usage ;;
        --) shift; break;;
        *) echo "Unknown option($1)"; usage;;
    esac
done

ROS_DISTRO=$1
ROS_DISTRO=${ROS_DISTRO:="melodic"}

version=`lsb_release -sc`
echo ""
echo "INSTALLING ROS USING quick_ros_install --------------------------------"
echo ""
echo "Checking the Ubuntu version"
case $version in
  "saucy" | "trusty" | "vivid" | "wily" | "xenial" | "bionic")
  ;;
  *)
    echo "ERROR: This script will only work on Ubuntu Saucy(13.10) / Trusty(14.04) / Vivid / Wily / Xenial / Bionic. Exit."
    exit 0
esac

relesenum=`grep DISTRIB_DESCRIPTION /etc/*-release | awk -F 'Ubuntu ' '{print $2}' | awk -F ' LTS' '{print $1}'`
if [ "$relesenum" = "14.04.2" ]
then
  echo "Your ubuntu version is $relesenum"
  echo "Intstall the libgl1-mesa-dev-lts-utopic package to solve the dependency issues for the ROS installation specifically on $relesenum"
  sudo apt-get install -y libgl1-mesa-dev-lts-utopic
else
  echo "Your ubuntu version is $relesenum"
fi

echo "Add the ROS repository"
if [ ! -e /etc/apt/sources.list.d/ros-latest.list ]; then
  sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu ${version} main\" > /etc/apt/sources.list.d/ros-latest.list"
fi

echo "Download the ROS keys"
roskey=`apt-key list | grep "ROS Builder"` && true # make sure it returns true
if [ -z "$roskey" ]; then
  echo "No ROS key, adding"
  sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
fi

echo "Updating & upgrading all packages"
sudo apt-get update
sudo apt-get dist-upgrade -y

echo "Installing ROS"
sudo apt install -y \
     liburdfdom-tools \
     python-rosdep \
     python-rosinstall \
     python-bloom \
     python-rosclean \
     python-wstool \
     python-pip \
     python-catkin-lint \
     python-catkin-tools \
     python-rosinstall \
     ros-$ROS_DISTRO-desktop

# Only init if it has not already been done before
if [ ! -e /etc/ros/rosdep/sources.list.d/20-default.list ]; then
  sudo rosdep init
fi
rosdep update

echo "Done installing ROS"

exit 0