#!/bin/bash

# ROS Humble 依赖安装脚本

set -e  # 遇到错误立即退出

echo "========================================"
echo "  开始安装 ROS Humble 依赖包"
echo "========================================"

# ==================== 系统基础工具 ====================
echo "[1/3] 安装系统基础工具和库..."
sudo apt-get update

sudo apt-get install -y \
    v4l-utils \
    python3-pip \
    libpcap-dev \
    nlohmann-json3-dev \
    libceres-dev \
    libompl-dev \
    libnanoflann-dev \
    libbenchmark-dev \
    libgraphicsmagick++-dev \
    libserialport-dev \
    libserial-dev

# ==================== ROS Humble 核心包 ====================
echo "[2/3] 安装 ROS Humble 核心功能包..."
sudo apt-get install -y \
    ros-humble-pcl-ros \
    ros-humble-pcl-conversions \
    ros-humble-apriltag-ros \
    ros-humble-can-msgs \
    ros-humble-geographic-msgs \
    ros-humble-autoware-msgs \
    ros-humble-bond \
    ros-humble-bondcpp \
    ros-humble-test-msgs \
    ros-humble-behaviortree-cpp \
    ros-humble-diagnostic-updater \
    ros-humble-robot-localization \
    ros-humble-nmea-msgs \
    ros-humble-rviz-2d-overlay-msgs

# ==================== Python 依赖 (PyPI) ====================
echo "[3/3] 安装 Python PyPI 依赖..."
# 使用清华镜像加速
pip install -i https://pypi.tuna.tsinghua.edu.cn/simple \
    'pydantic<2.0' \
    loguru \
    paho-mqtt \
    jsonschema

echo ""
echo "========================================"
echo "  所有依赖安装完成！"
echo "========================================"
echo ""
echo "建议执行以下命令验证安装:"
echo "  ros2 pkg list | grep humble"