From f45b5a97932388aed725320d65b359c87fd612eb Mon Sep 17 00:00:00 2001
From: AjayAnand-repo <writetoajayanand@gmail.com>
Date: Tue, 29 Jun 2021 22:12:10 -0400
Subject: [PATCH 1/9] Made changes for Ubuntu20

---
 gen_install.sh | 28 +++++++++++++++++++++-------
 1 file changed, 21 insertions(+), 7 deletions(-)

diff --git a/gen_install.sh b/gen_install.sh
index c900231d..c4a43915 100755
--- a/gen_install.sh
+++ b/gen_install.sh
@@ -10,17 +10,34 @@ sudo apt-get -qq update -y
 
 if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==16));then
     ROS_VERSION="kinetic"
-    else
-    if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==18)); then
+fi    
+if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==18)); then
     ROS_VERSION="melodic"
 fi
+if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==20)); then
+    ROS_VERSION="noetic"
 fi
 echo "installing for ros version: ${ROS_VERSION}"
 sudo apt-get install -qq -y ros-${ROS_VERSION}-desktop-full
 source /opt/ros/${ROS_VERSION}/setup.bash
 ## install rosmon, it would be weird for this to be in one of the packages:
 #sudo apt-get install ros-${ROS_VERSION}-rosmon
+if(($ROS_VERSION="kinetic"||$ROS_VERSION="melodic")); then
+    sudo apt-get -qq install -y python-rosdep 
+    sudo apt-get -qq install -y python-pip
+    pip install 'mutagen==1.43.0' --user -q
+    echo "INSTALLING ROSDEP DEPENDENCIES"
+    sudo apt-get -qq install python-rosdep -y
 
+
+fi
+if(($ROS_VERSION="noetic")); then
+    sudo apt-get -qq install -y python3-rosdep
+    sudo apt-get -qq install -y python3-pip
+    pip install 'mutagen' --user -q
+    echo "INSTALLING ROSDEP DEPENDENCIES"
+    sudo apt-get -qq install python3-rosdep -y
+fi
 sudo apt-get -qq install -y python-rosdep
 [ ! -d "/etc/ros/rosdep/sources.list.d" ] && sudo rosdep init -q
 rosdep update -q
@@ -31,12 +48,9 @@ echo "INSTALLING DEPENDENCIES NOT FOUND IN ROSDEP"
 #pip install pyqtgraph --user
 #I think I have replaced this by adding a symlink:
 #python flo_face/teensy/src/serial_coms/computer/python/serial-coms/setup.py install --user
-# Mutagen has dropped python 2 support. Last supported version was 1.43.0:
-sudo apt-get -qq install -y python-pip
-pip install 'mutagen==1.43.0' --user -q
+# Mutagen has dropped python 2 support. Last supported version was 1.43.0: mutagen moved up into if statement to account for ubuntu 20, also python3 supports latest version of mutagen.
+
 
-echo "INSTALLING ROSDEP DEPENDENCIES"
-sudo apt-get -qq install python-rosdep -y
 cd ~/catkin_ws
 rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki"
 cd -

From e0bb5222b5830d1b1e58c2604605f3e11424f4a8 Mon Sep 17 00:00:00 2001
From: Michael Sobrepera <mjsobrep@live.com>
Date: Wed, 30 Jun 2021 00:47:53 -0400
Subject: [PATCH 2/9] tried to add ubuntu-20 build testing

---
 .github/workflows/ros.yml | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/ros.yml b/.github/workflows/ros.yml
index 87fb8a2a..b3719be1 100644
--- a/.github/workflows/ros.yml
+++ b/.github/workflows/ros.yml
@@ -10,7 +10,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-18.04]
+        os: [ubuntu-18.04, ubuntu-20.04]
 
     steps:
       - name: Create Catkin Workspace
@@ -51,7 +51,6 @@ jobs:
         run: |
           cd "$HOME/catkin_ws/src/LilFloSystem"
           bash gen_install.sh
-
       - uses: actions/cache@v1
         with:
           path: ~/.cache/pip
@@ -60,7 +59,7 @@ jobs:
             ${{ runner.os }}-pip-
 
       - name: Pylint
-        if: ${{ success() || failure() }}
+        if: ${{ (success() || failure()) && matrix.os == 'ubuntu-18.04' }}
         run: |
           python -m pip install --upgrade pip
           echo "/home/runner/.local/bin" >> $GITHUB_PATH
@@ -70,7 +69,7 @@ jobs:
           git ls-files | grep 'py$' | xargs pylint --unsafe-load-any-extension=y --disable=fixme
 
       - name: Catkin Lint
-        if: ${{ success() || failure() }}
+        if: ${{ (success() || failure()) && matrix.os == 'ubuntu-18.04' }}
         run: |
           sudo add-apt-repository ppa:roehling/ros
           sudo apt-get update -y

From 06c1e47285a3da6127a7cb7c6363e100efb01c15 Mon Sep 17 00:00:00 2001
From: Michael Sobrepera <mjsobrep@live.com>
Date: Wed, 30 Jun 2021 00:56:52 -0400
Subject: [PATCH 3/9] do not fail jobs when other parts of os matrix fail

---
 .github/workflows/ros.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/ros.yml b/.github/workflows/ros.yml
index b3719be1..e1d534b2 100644
--- a/.github/workflows/ros.yml
+++ b/.github/workflows/ros.yml
@@ -11,6 +11,7 @@ jobs:
     strategy:
       matrix:
         os: [ubuntu-18.04, ubuntu-20.04]
+      fail-fast: false
 
     steps:
       - name: Create Catkin Workspace

From 6c7dc7d678319820516d927c263978caf42f24a3 Mon Sep 17 00:00:00 2001
From: AjayAnand-repo <writetoajayanand@gmail.com>
Date: Wed, 30 Jun 2021 10:28:37 -0400
Subject: [PATCH 4/9] made changes requested in review, minor changes

---
 gen_install.sh | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/gen_install.sh b/gen_install.sh
index c4a43915..857bb974 100755
--- a/gen_install.sh
+++ b/gen_install.sh
@@ -22,9 +22,10 @@ sudo apt-get install -qq -y ros-${ROS_VERSION}-desktop-full
 source /opt/ros/${ROS_VERSION}/setup.bash
 ## install rosmon, it would be weird for this to be in one of the packages:
 #sudo apt-get install ros-${ROS_VERSION}-rosmon
-if(($ROS_VERSION="kinetic"||$ROS_VERSION="melodic")); then
+if[[$ROS_VERSION="kinetic"||$ROS_VERSION="melodic"]]; then
     sudo apt-get -qq install -y python-rosdep 
     sudo apt-get -qq install -y python-pip
+    #Mutagen has dropped python 2 support. Last supported version was 1.43.0: mutagen moved into if statement to account for ubuntu 20, also python3 supports latest version of mutagen.
     pip install 'mutagen==1.43.0' --user -q
     echo "INSTALLING ROSDEP DEPENDENCIES"
     sudo apt-get -qq install python-rosdep -y
@@ -38,18 +39,15 @@ if(($ROS_VERSION="noetic")); then
     echo "INSTALLING ROSDEP DEPENDENCIES"
     sudo apt-get -qq install python3-rosdep -y
 fi
-sudo apt-get -qq install -y python-rosdep
 [ ! -d "/etc/ros/rosdep/sources.list.d" ] && sudo rosdep init -q
 rosdep update -q
 sudo apt-get -qq install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
 
 ## Install packages we need:
 echo "INSTALLING DEPENDENCIES NOT FOUND IN ROSDEP"
-#pip install pyqtgraph --user
+#pip install pyqtgraph --useri
 #I think I have replaced this by adding a symlink:
 #python flo_face/teensy/src/serial_coms/computer/python/serial-coms/setup.py install --user
-# Mutagen has dropped python 2 support. Last supported version was 1.43.0: mutagen moved up into if statement to account for ubuntu 20, also python3 supports latest version of mutagen.
-
 
 cd ~/catkin_ws
 rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki"

From c3b54f77a2c55a6c1900877c1fa7f3eb960373dc Mon Sep 17 00:00:00 2001
From: AjayAnand-repo <writetoajayanand@gmail.com>
Date: Wed, 30 Jun 2021 12:27:07 -0400
Subject: [PATCH 5/9] made changes requested in review, minor changes

---
 gen_install.sh | 2 --
 1 file changed, 2 deletions(-)

diff --git a/gen_install.sh b/gen_install.sh
index 857bb974..5c7fd6e1 100755
--- a/gen_install.sh
+++ b/gen_install.sh
@@ -29,8 +29,6 @@ if[[$ROS_VERSION="kinetic"||$ROS_VERSION="melodic"]]; then
     pip install 'mutagen==1.43.0' --user -q
     echo "INSTALLING ROSDEP DEPENDENCIES"
     sudo apt-get -qq install python-rosdep -y
-
-
 fi
 if(($ROS_VERSION="noetic")); then
     sudo apt-get -qq install -y python3-rosdep

From c8c6b9d842aeeb237330d3c038ba787393cb2b44 Mon Sep 17 00:00:00 2001
From: AjayAnand-repo <writetoajayanand@gmail.com>
Date: Wed, 30 Jun 2021 13:33:23 -0400
Subject: [PATCH 6/9] message

---
 gen_install.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gen_install.sh b/gen_install.sh
index 5c7fd6e1..2b4e1099 100755
--- a/gen_install.sh
+++ b/gen_install.sh
@@ -22,7 +22,7 @@ sudo apt-get install -qq -y ros-${ROS_VERSION}-desktop-full
 source /opt/ros/${ROS_VERSION}/setup.bash
 ## install rosmon, it would be weird for this to be in one of the packages:
 #sudo apt-get install ros-${ROS_VERSION}-rosmon
-if[[$ROS_VERSION="kinetic"||$ROS_VERSION="melodic"]]; then
+if[[$ROS_VERSION=="kinetic"||$ROS_VERSION=="melodic"]]; then
     sudo apt-get -qq install -y python-rosdep 
     sudo apt-get -qq install -y python-pip
     #Mutagen has dropped python 2 support. Last supported version was 1.43.0: mutagen moved into if statement to account for ubuntu 20, also python3 supports latest version of mutagen.
@@ -30,7 +30,7 @@ if[[$ROS_VERSION="kinetic"||$ROS_VERSION="melodic"]]; then
     echo "INSTALLING ROSDEP DEPENDENCIES"
     sudo apt-get -qq install python-rosdep -y
 fi
-if(($ROS_VERSION="noetic")); then
+if[[$ROS_VERSION=="noetic"]]; then
     sudo apt-get -qq install -y python3-rosdep
     sudo apt-get -qq install -y python3-pip
     pip install 'mutagen' --user -q

From c9a7399569beea728234d116c15d94c95c5ca644 Mon Sep 17 00:00:00 2001
From: AjayAnand-repo <writetoajayanand@gmail.com>
Date: Wed, 30 Jun 2021 13:56:16 -0400
Subject: [PATCH 7/9] changes, moved then commands to next line

---
 gen_install.sh | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/gen_install.sh b/gen_install.sh
index 2b4e1099..99a38f8b 100755
--- a/gen_install.sh
+++ b/gen_install.sh
@@ -22,7 +22,8 @@ sudo apt-get install -qq -y ros-${ROS_VERSION}-desktop-full
 source /opt/ros/${ROS_VERSION}/setup.bash
 ## install rosmon, it would be weird for this to be in one of the packages:
 #sudo apt-get install ros-${ROS_VERSION}-rosmon
-if[[$ROS_VERSION=="kinetic"||$ROS_VERSION=="melodic"]]; then
+if[[$ROS_VERSION=="kinetic"||$ROS_VERSION=="melodic"]]
+then
     sudo apt-get -qq install -y python-rosdep 
     sudo apt-get -qq install -y python-pip
     #Mutagen has dropped python 2 support. Last supported version was 1.43.0: mutagen moved into if statement to account for ubuntu 20, also python3 supports latest version of mutagen.
@@ -30,7 +31,8 @@ if[[$ROS_VERSION=="kinetic"||$ROS_VERSION=="melodic"]]; then
     echo "INSTALLING ROSDEP DEPENDENCIES"
     sudo apt-get -qq install python-rosdep -y
 fi
-if[[$ROS_VERSION=="noetic"]]; then
+if[[$ROS_VERSION=="noetic"]]
+then
     sudo apt-get -qq install -y python3-rosdep
     sudo apt-get -qq install -y python3-pip
     pip install 'mutagen' --user -q

From 52dcfbe3253f52586f99afbde09fac9f39f91106 Mon Sep 17 00:00:00 2001
From: AjayAnand-repo <writetoajayanand@gmail.com>
Date: Tue, 6 Jul 2021 15:18:18 -0400
Subject: [PATCH 8/9] added if statement to get version for ubuntu 20

---
 realsense_install.sh | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/realsense_install.sh b/realsense_install.sh
index f07eb11b..e01c01a6 100755
--- a/realsense_install.sh
+++ b/realsense_install.sh
@@ -8,11 +8,14 @@ sudo apt-get -qq install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at
 if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==16));then
     ROS_VERSION="kinetic"
     OS_VERSION="xenial"
-    else
-    if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==18)); then
+fi    
+if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==18)); then
     ROS_VERSION="melodic"
     OS_VERSION="bionic"
 fi
+if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==20));then
+    ROS_VERSION="noetic"
+    OS_VERSION="focal"
 fi
 
 sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

From 216557d771e95cd82313fc53b95e635b11edf627 Mon Sep 17 00:00:00 2001
From: AjayAnand-repo <writetoajayanand@gmail.com>
Date: Tue, 6 Jul 2021 15:21:05 -0400
Subject: [PATCH 9/9] added a seperate skip statement for ubuntu 20 conditional

---
 gen_install.sh | 47 ++++++++++++++++++++++++++++++++---------------
 1 file changed, 32 insertions(+), 15 deletions(-)

diff --git a/gen_install.sh b/gen_install.sh
index 99a38f8b..762b356f 100755
--- a/gen_install.sh
+++ b/gen_install.sh
@@ -9,39 +9,56 @@ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31
 sudo apt-get -qq update -y
 
 if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==16));then
-    ROS_VERSION="kinetic"
+    readonly ROS_VERSION_TARGET="kinetic"
 fi    
 if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==18)); then
-    ROS_VERSION="melodic"
+    readonly ROS_VERSION_TARGET="melodic"
 fi
 if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==20)); then
-    ROS_VERSION="noetic"
+    readonly ROS_VERSION_TARGET="noetic"
 fi
-echo "installing for ros version: ${ROS_VERSION}"
-sudo apt-get install -qq -y ros-${ROS_VERSION}-desktop-full
-source /opt/ros/${ROS_VERSION}/setup.bash
+echo "installing for ros version1: ${ROS_VERSION_TARGET}"
+#to get the variable into global scope
+export $ROS_VERSION_TARGET
+echo "installing for ros version2: ${ROS_VERSION_TARGET}"
+sudo apt-get install -qq -y ros-${ROS_VERSION_TARGET}-desktop-full
+echo "installing for ros version3: ${ROS_VERSION_TARGET}"
+source /opt/ros/${ROS_VERSION_TARGET}/setup.bash
+echo "installing for ros version4: ${ROS_VERSION_TARGET}"
 ## install rosmon, it would be weird for this to be in one of the packages:
-#sudo apt-get install ros-${ROS_VERSION}-rosmon
-if[[$ROS_VERSION=="kinetic"||$ROS_VERSION=="melodic"]]
+#sudo apt-get install ros-${ROS_VERSION_TARGET}-rosmon
+echo "ros version:${ROS_VERSION_TARGET}"
+if [[ "$ROS_VERSION_TARGET" == "kinetic" || "$ROS_VERSION_TARGET" == "melodic" ]] 
 then
+    echo "In ROS Version kinetic or melodic"
     sudo apt-get -qq install -y python-rosdep 
     sudo apt-get -qq install -y python-pip
     #Mutagen has dropped python 2 support. Last supported version was 1.43.0: mutagen moved into if statement to account for ubuntu 20, also python3 supports latest version of mutagen.
     pip install 'mutagen==1.43.0' --user -q
     echo "INSTALLING ROSDEP DEPENDENCIES"
     sudo apt-get -qq install python-rosdep -y
+    [ ! -d "/etc/ros/rosdep/sources.list.d" ] && sudo rosdep init -q
+    rosdep update -q
+    sudo apt-get -qq install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
+cd ~/catkin_ws
+rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki webrtc_ros"
+cd -
 fi
-if[[$ROS_VERSION=="noetic"]]
+if [[ "$ROS_VERSION_TARGET" == "noetic" ]] 
 then
+    echo "In ROS Version noetic"	
     sudo apt-get -qq install -y python3-rosdep
     sudo apt-get -qq install -y python3-pip
     pip install 'mutagen' --user -q
     echo "INSTALLING ROSDEP DEPENDENCIES"
     sudo apt-get -qq install python3-rosdep -y
+    [ ! -d "/etc/ros/rosdep/sources.list.d" ] && sudo rosdep init -q
+    rosdep update -q
+    sudo apt-get -qq install -y python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
+cd ~/catkin_ws
+rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki webrtc_ros"
+cd -
 fi
-[ ! -d "/etc/ros/rosdep/sources.list.d" ] && sudo rosdep init -q
-rosdep update -q
-sudo apt-get -qq install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
 
 ## Install packages we need:
 echo "INSTALLING DEPENDENCIES NOT FOUND IN ROSDEP"
@@ -49,9 +66,9 @@ echo "INSTALLING DEPENDENCIES NOT FOUND IN ROSDEP"
 #I think I have replaced this by adding a symlink:
 #python flo_face/teensy/src/serial_coms/computer/python/serial-coms/setup.py install --user
 
-cd ~/catkin_ws
-rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki"
-cd -
+#cd ~/catkin_ws
+#rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki webrtc_ros"
+#cd -
 
 echo "checking vars"
 echo "github_actions: $GITHUB_ACTIONS"