#!/usr/bin/env bash

set -o errexit

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build stow

if [ ! -d "src/cartographer_ros" ];then
    tar zxvf pack/src.tar.gz
fi

cd pack
bash install_abseil.bash

if [ $(lsb_release -sr) == "16.04" ];then
   bash install_protobuf.bash
fi

cd ..
set +o errexit
if ! rosdep install -y --from-paths src --ignore-src --rosdistro=$ROS_DISTRO;then
    set -o errexit
    echo -e "\033[1m[retry rosdep]\033[0m"
    cd pack
    bash ros_init.bash
    source /opt/ros/$ROS_DISTRO/setup.bash
    cd ..
    rosdep install -y --from-paths src --ignore-src --rosdistro=$ROS_DISTRO
fi

echo -e "\n\033[1m[cartographer installed successfully]\033[0m"
echo -e "Recommended: please run\n"
echo -e "	catkin_make_isolated --install --use-ninja\n"