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YunxianHuaYunxianHua
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fix: ros nodes install and uninstall (#20)
1 parent 1865c3a commit ed4b2f1

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4 files changed

+28
-20
lines changed

4 files changed

+28
-20
lines changed

‎script/install-initd.sh‎

Lines changed: 12 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -99,14 +99,17 @@ esac
9999
# Set download ARCH based on system architecture
100100
ARCH=$(uname -m)
101101
COLINK_ARCH=""
102+
ROS_NODE_ARCH=""
102103
case "$ARCH" in
103104
x86_64)
104105
ARCH="amd64"
105106
COLINK_ARCH="amd64"
107+
ROS_NODE_ARCH="amd64"
106108
;;
107109
arm64 | aarch64)
108110
ARCH="arm64"
109111
COLINK_ARCH="aarch64"
112+
ROS_NODE_ARCH="arm64"
110113
;;
111114
armv7l)
112115
ARCH="arm"
@@ -342,6 +345,7 @@ if [[ $USE_32BIT -eq 1 ]]; then
342345
exit 1
343346
fi
344347
ARCH="arm"
348+
ROS_NODE_ARCH="armhf"
345349
fi
346350

347351
# Use SUDO_USER if it exists and is not root
@@ -868,12 +872,12 @@ COBRIDGE_VERSION="none"
868872
if [[ $INSTALL_COBRIDGE -eq 1 ]]; then
869873
echo "Install coListener"
870874
if [[ -n $USE_LOCAL ]]; then
871-
COLISTENER_DEB_FILE="ros-${ROS_VERSION}-colistener_${UBUNTU_DISTRO}_${ARCH}.deb"
872-
sudo dpkg -i "$TEMP_DIR/cos_binaries/colistener/${UBUNTU_DISTRO}/${ARCH}/${ROS_VERSION}/${COLISTENER_DEB_FILE}"
875+
COLISTENER_DEB_FILE="ros-${ROS_VERSION}-colistener_${UBUNTU_DISTRO}_${ROS_NODE_ARCH}.deb"
876+
sudo dpkg -i "$TEMP_DIR/cos_binaries/colistener/${UBUNTU_DISTRO}/${ROS_NODE_ARCH}/${ROS_VERSION}/${COLISTENER_DEB_FILE}"
873877
else
874878
COLISTENER_VERSION="2.2.0-0"
875-
COLISTENER_DEB_FILE="ros-${ROS_VERSION}-colistener_${COLISTENER_VERSION}${UBUNTU_DISTRO}_${ARCH}.deb"
876-
COLISTENER_DOWNLOAD_URL="${APT_BASE_URL}/dists/${UBUNTU_DISTRO}/main/binary-${ARCH}/${COLISTENER_DEB_FILE}"
879+
COLISTENER_DEB_FILE="ros-${ROS_VERSION}-colistener_${COLISTENER_VERSION}${UBUNTU_DISTRO}_${ROS_NODE_ARCH}.deb"
880+
COLISTENER_DOWNLOAD_URL="${APT_BASE_URL}/dists/${UBUNTU_DISTRO}/main/binary-${ROS_NODE_ARCH}/${COLISTENER_DEB_FILE}"
877881
download_file "$TEMP_DIR"/colistener.deb $COLISTENER_DOWNLOAD_URL $SKIP_VERIFY_CERT
878882
sudo dpkg -i "$TEMP_DIR"/colistener.deb
879883
fi
@@ -882,12 +886,12 @@ fi
882886
if [[ $INSTALL_COLISTENER -eq 1 ]]; then
883887
echo "Install coBridge"
884888
if [[ -n $USE_LOCAL ]]; then
885-
COBRIDGE_DEB_FILE="ros-${ROS_VERSION}-cobridge_${UBUNTU_DISTRO}_${ARCH}.deb"
886-
sudo dpkg -i "$TEMP_DIR/cos_binaries/cobridge/${UBUNTU_DISTRO}/${ARCH}/${ROS_VERSION}/${COBRIDGE_DEB_FILE}"
889+
COBRIDGE_DEB_FILE="ros-${ROS_VERSION}-cobridge_${UBUNTU_DISTRO}_${ROS_NODE_ARCH}.deb"
890+
sudo dpkg -i "$TEMP_DIR/cos_binaries/cobridge/${UBUNTU_DISTRO}/${ROS_NODE_ARCH}/${ROS_VERSION}/${COBRIDGE_DEB_FILE}"
887891
else
888892
COBRIDGE_VERSION="1.1.2-0"
889-
COBRIDGE_DEB_FILE="ros-${ROS_VERSION}-cobridge_${COBRIDGE_VERSION}${UBUNTU_DISTRO}_${ARCH}.deb"
890-
COBRIDGE_DOWNLOAD_URL="${APT_BASE_URL}/dists/${UBUNTU_DISTRO}/main/binary-${ARCH}/${COBRIDGE_DEB_FILE}"
893+
COBRIDGE_DEB_FILE="ros-${ROS_VERSION}-cobridge_${COBRIDGE_VERSION}${UBUNTU_DISTRO}_${ROS_NODE_ARCH}.deb"
894+
COBRIDGE_DOWNLOAD_URL="${APT_BASE_URL}/dists/${UBUNTU_DISTRO}/main/binary-${ROS_NODE_ARCH}/${COBRIDGE_DEB_FILE}"
891895
download_file "$TEMP_DIR"/cobridge.deb $COBRIDGE_DOWNLOAD_URL $SKIP_VERIFY_CERT
892896
sudo dpkg -i "$TEMP_DIR"/cobridge.deb
893897
fi

‎script/install.sh‎

Lines changed: 12 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -81,14 +81,17 @@ esac
8181
# Set download ARCH based on system architecture
8282
ARCH=$(uname -m)
8383
COLINK_ARCH=""
84+
ROS_NODE_ARCH=""
8485
case "$ARCH" in
8586
x86_64)
8687
ARCH="amd64"
8788
COLINK_ARCH="amd64"
89+
ROS_NODE_ARCH="amd64"
8890
;;
8991
arm64 | aarch64)
9092
ARCH="arm64"
9193
COLINK_ARCH="aarch64"
94+
ROS_NODE_ARCH="arm64"
9295
;;
9396
armv7l)
9497
ARCH="arm"
@@ -314,6 +317,7 @@ if [[ $USE_32BIT -eq 1 ]]; then
314317
exit 1
315318
fi
316319
ARCH="arm"
320+
ROS_NODE_ARCH="armhf"
317321
fi
318322

319323
CUR_USER=${USER:-$(whoami)}
@@ -814,12 +818,12 @@ COBRIDGE_VERSION="none"
814818
if [[ $INSTALL_COLISTENER -eq 1 ]]; then
815819
echo "Install coListener"
816820
if [[ -n $USE_LOCAL ]]; then
817-
COLISTENER_DEB_FILE="ros-${ROS_VERSION}-colistener_${UBUNTU_DISTRO}_${ARCH}.deb"
818-
sudo dpkg -i "$TEMP_DIR/cos_binaries/colistener/${UBUNTU_DISTRO}/${ARCH}/${ROS_VERSION}/${COLISTENER_DEB_FILE}"
821+
COLISTENER_DEB_FILE="ros-${ROS_VERSION}-colistener_${UBUNTU_DISTRO}_${ROS_NODE_ARCH}.deb"
822+
sudo dpkg -i "$TEMP_DIR/cos_binaries/colistener/${UBUNTU_DISTRO}/${ROS_NODE_ARCH}/${ROS_VERSION}/${COLISTENER_DEB_FILE}"
819823
else
820824
COLISTENER_VERSION="2.2.0-0"
821-
COLISTENER_DEB_FILE="ros-${ROS_VERSION}-colistener_${COLISTENER_VERSION}${UBUNTU_DISTRO}_${ARCH}.deb"
822-
COLISTENER_DOWNLOAD_URL="${APT_BASE_URL}/dists/${UBUNTU_DISTRO}/main/binary-${ARCH}/${COLISTENER_DEB_FILE}"
825+
COLISTENER_DEB_FILE="ros-${ROS_VERSION}-colistener_${COLISTENER_VERSION}${UBUNTU_DISTRO}_${ROS_NODE_ARCH}.deb"
826+
COLISTENER_DOWNLOAD_URL="${APT_BASE_URL}/dists/${UBUNTU_DISTRO}/main/binary-${ROS_NODE_ARCH}/${COLISTENER_DEB_FILE}"
823827
download_file "$TEMP_DIR"/colistener.deb $COLISTENER_DOWNLOAD_URL $SKIP_VERIFY_CERT
824828
sudo dpkg -i "$TEMP_DIR"/colistener.deb
825829
fi
@@ -829,12 +833,12 @@ if [[ $INSTALL_COBRIDGE -eq 1 ]]; then
829833
echo "Install coBridge"
830834

831835
if [[ -n $USE_LOCAL ]]; then
832-
COBRIDGE_DEB_FILE="ros-${ROS_VERSION}-cobridge_${UBUNTU_DISTRO}_${ARCH}.deb"
833-
sudo dpkg -i "$TEMP_DIR/cos_binaries/cobridge/${UBUNTU_DISTRO}/${ARCH}/${ROS_VERSION}/${COBRIDGE_DEB_FILE}"
836+
COBRIDGE_DEB_FILE="ros-${ROS_VERSION}-cobridge_${UBUNTU_DISTRO}_${ROS_NODE_ARCH}.deb"
837+
sudo dpkg -i "$TEMP_DIR/cos_binaries/cobridge/${UBUNTU_DISTRO}/${ROS_NODE_ARCH}/${ROS_VERSION}/${COBRIDGE_DEB_FILE}"
834838
else
835839
COBRIDGE_VERSION="1.1.2-0"
836-
COBRIDGE_DEB_FILE="ros-${ROS_VERSION}-cobridge_${COBRIDGE_VERSION}${UBUNTU_DISTRO}_${ARCH}.deb"
837-
COBRIDGE_DOWNLOAD_URL="${APT_BASE_URL}/dists/${UBUNTU_DISTRO}/main/binary-${ARCH}/${COBRIDGE_DEB_FILE}"
840+
COBRIDGE_DEB_FILE="ros-${ROS_VERSION}-cobridge_${COBRIDGE_VERSION}${UBUNTU_DISTRO}_${ROS_NODE_ARCH}.deb"
841+
COBRIDGE_DOWNLOAD_URL="${APT_BASE_URL}/dists/${UBUNTU_DISTRO}/main/binary-${ROS_NODE_ARCH}/${COBRIDGE_DEB_FILE}"
838842
download_file "$TEMP_DIR"/cobridge.deb $COBRIDGE_DOWNLOAD_URL $SKIP_VERIFY_CERT
839843
sudo dpkg -i "$TEMP_DIR"/cobridge.deb
840844
fi

‎script/uninstall-en.sh‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -179,7 +179,7 @@ get_ros_distro() {
179179
ROS_VERSION=$(get_ros_distro)
180180

181181
echo "Checking coBridge..."
182-
if dpkg -l | grep -q "ros-${ROS_VERSION}-cobridge"; then
182+
if dpkg -l | grep "ros-${ROS_VERSION}-cobridge" > /dev/null; then
183183
echo "Uninstalling coBridge..."
184184
sudo dpkg -r ros-${ROS_VERSION}-cobridge >/dev/null 2>&1 || echo "Failed to uninstall coBridge"
185185
echo "coBridge uninstalled"
@@ -188,7 +188,7 @@ else
188188
fi
189189

190190
echo "Checking coListener..."
191-
if dpkg -l | grep -q "ros-${ROS_VERSION}-colistener"; then
191+
if dpkg -l | grep "ros-${ROS_VERSION}-colistener" > /dev/null; then
192192
echo "Uninstalling coListener..."
193193
sudo dpkg -r ros-${ROS_VERSION}-colistener >/dev/null 2>&1 || echo "Failed to uninstall coListener"
194194
echo "coListener uninstalled"

‎script/uninstall.sh‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -179,7 +179,7 @@ get_ros_distro() {
179179
ROS_VERSION=$(get_ros_distro)
180180

181181
echo "正在检查 coBridge..."
182-
if dpkg -l | grep -q "ros-${ROS_VERSION}-cobridge"; then
182+
if dpkg -l | grep "ros-${ROS_VERSION}-cobridge" > /dev/null; then
183183
echo "正在卸载 coBridge..."
184184
sudo dpkg -r ros-${ROS_VERSION}-cobridge >/dev/null 2>&1 || echo "卸载 coBridge 失败"
185185
echo "coBridge 卸载完成"
@@ -188,7 +188,7 @@ else
188188
fi
189189

190190
echo "正在检查 coListener..."
191-
if dpkg -l | grep -q "ros-${ROS_VERSION}-colistener"; then
191+
if dpkg -l | grep "ros-${ROS_VERSION}-colistener" > /dev/null; then
192192
echo "正在卸载 coListener..."
193193
sudo dpkg -r ros-${ROS_VERSION}-colistener >/dev/null 2>&1 || echo "卸载 coListener 失败"
194194
echo "coListener 卸载完成"

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