Fix balser driver and make setup easier (#209)

.github/workflows/build.yml

@@ -19,15 +19,15 @@ jobs:
         run: git config --global --add safe.directory /__w/bitbots_meta/bitbots_meta
       - name: Pull our software
         run: make pull-init
+      - name: Install proprietary basler drivers
+        run: make basler ARGS="-ci"
       - name: Install packages via rosdep
         run: |
           rosdep update
           sudo apt install -y libunwind-dev
           # Small hack to make rosdep install all dependencies at once
           # See https://github.com/ros-infrastructure/rosdep/issues/671
           bash -c "sudo apt install -y $(rosdep check --from-paths . --ignore-src --rosdistro iron | sed -n 's/^apt\s\+//p' | tr '\n' ' ')"
-      - name: Ignore pylon camera because of proprietary drivers
-        run: touch lib/pylon-ros-camera/AMENT_IGNORE
       - name: Set up colcon workspace
         run: |
           mkdir -p /colcon_ws/src

.gitignore

@@ -6,7 +6,6 @@
 ansible_robots/*
 doc_internal/*
 doku/*
-basler_drivers/*
 human_pose_estimation_openvino/*
 
 # Exclude autogenerated documentation files

Makefile

@@ -1,7 +1,7 @@
 .PHONY : basler install pip pre-commit pull-all pull-init pull-files rosdep status update
 
 basler:
-	scripts/make_basler.sh
+	scripts/make_basler.sh $(ARGS)
 
 install: pull-init
 	scripts/make_update.sh

scripts/make_basler.sh

@@ -1,8 +1,75 @@
-#!/bin/sh
-
-# Install Basler drivers
-# Check if basler_drivers is already installed
-# If not, clone the repository
-# Run the setup script to install the drivers
-test -d basler_drivers || git clone [email protected]:Bit-Bots/basler_drivers.git
-cd basler_drivers && ./setup.sh
+#!/bin/bash 
+
+# You need to fill out a form to download the pylon driver. 
+# The pylon driver can be found in the download section of the following link:
+# https://www.baslerweb.com/en/downloads/software-downloads/
+# Go to the download button and copy the link address.
+PYLON_DOWNLOAD_URL="https://www2.baslerweb.com/media/downloads/software/pylon_software/pylon_7_4_0_14900_linux_x86_64_debs.tar.gz"
+PYLON_VERSION="7.4.0"
+
+# Similar to the pylon driver we also need to download the blaze supplementary package.
+BLAZE_DOWNLOAD_URL="https://www2.baslerweb.com/media/downloads/software/tof_software/pylon-supplementary-package-for-blaze-1.5.0.def07388_amd64.deb"
+BLAZE_VERSION="1.5.0"
+
+# Check let the user confirm that they read the license agreement on the basler website and agree with it.
+echo "You need to confirm that you read the license agreements for pylon $PYLON_VERSION and the blaze supplementary package $BLAZE_VERSION on the basler download page (https://www.baslerweb.com/en/downloads/software-downloads/) and agree with it."
+
+# Check -ci flag for automatic confirmation in the ci
+if [[ $1 == "-ci" ]]; then
+    echo "Running in a CI environment, continuing..."
+else
+    # Ask the user if they want to continue and break if they don't
+    read -p "Do you want to continue? [y/N] " -n 1 -r
+
+    if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+        echo "Aborting..."
+        exit 1
+    fi
+fi
+
+# Create function to check if we have an internet connection
+function check_internet_connection () {
+    # Check if we have an internet connection, except in the ci as azure does not support ping by design
+    if [[ $1 != "-ci" ]] && ! ping -q -c 1 -W 1 google.com >/dev/null; then
+        echo "No internet connection. Please check your internet connection to install the basler drivers."
+        exit 1
+    fi
+}
+
+# Check if the correct pylon driver PYLON_VERSION is installed (apt)
+if apt list pylon --installed | grep -q $PYLON_VERSION; then
+    echo "Pylon driver $PYLON_VERSION is already installed."
+else
+    echo "Pylon driver $PYLON_VERSION is not installed. Installing..."
+    # Check if we have an internet connection
+    check_internet_connection $1
+    # Check if the url exist
+    if ! curl --output /dev/null --silent --head --fail "$PYLON_DOWNLOAD_URL"; then
+        echo "Pylon download url does not exist. Please check the url and update the 'PYLON_DOWNLOAD_URL' variable in the 'make_basler.sh' script. The website might have changed."
+        exit 1
+    fi
+    # Download the pylon driver to temp folder
+    wget --no-verbose --show-progress $PYLON_DOWNLOAD_URL -O /tmp/pylon_${PYLON_VERSION}.tar.gz
+    # Extract the pylon driver
+    tar -xzf /tmp/pylon_${PYLON_VERSION}.tar.gz -C /tmp
+    # Install the pylon driver
+    sudo apt install /tmp/pylon_${PYLON_VERSION}*.deb -y
+fi
+
+# Check if the correct blaze supplementary package BLAZE_VERSION is installed (apt)
+if apt list pylon-supplementary-package-for-blaze --installed | grep -q $BLAZE_VERSION; then
+    echo "Blaze supplementary package $BLAZE_VERSION is already installed."
+else
+    echo "Blaze supplementary package $BLAZE_VERSION is not installed. Installing..."
+    # Check if we have an internet connection
+    check_internet_connection $1
+    # Check if the url exist
+    if ! curl --output /dev/null --silent --head --fail "$BLAZE_DOWNLOAD_URL"; then
+        echo "Blaze download url does not exist. Please check the url and update the 'BLAZE_DOWNLOAD_URL' variable in the 'make_basler.sh' script. The website might have changed."
+        exit 1
+    fi
+    # Download the blaze supplementary package to temp folder
+    wget --no-verbose --show-progress $BLAZE_DOWNLOAD_URL -O /tmp/pylon-blaze-supplementary-package_${BLAZE_VERSION}.deb
+    # Install the blaze supplementary package
+    sudo apt install /tmp/pylon-blaze-supplementary-package_${BLAZE_VERSION}*.deb -y
+fi

scripts/pull_all.sh

@@ -3,8 +3,3 @@ set -e
 
 git submodule foreach git pull
 git -C humanoid_league_misc submodule update
-if [[ -d basler_drivers ]]; then
-    git -C basler_drivers pull
-else
-    echo -e "\n\n\033[91m\033[1mNo basler drivers found! Use 'make basler' to install them and restart this script afterwards\033[0m\n"
-fi

sync_includes_wolfgang_nuc.yaml

@@ -1,5 +1,4 @@
 include:
-    - basler_drivers
     - bitbots_behavior:
         - bitbots_blackboard
         - bitbots_body_behavior