setup.sh

#!/bin/bash
#set -x
set -e
unset AMENT_PREFIX_PATH

export ROS_DISTRO=humble

# Choose only 1 board type:
#board=esp32_devkitc_wroom
#board=esp32c3_devkitm
board=rpi_pico_w

app=ping_pong

while getopts "a:b:r:gh" OPTION; do
    case $OPTION in
	a)
	    app=$OPTARG
	    ;;
	b)
	    board=$OPTARG
	    ;;
	h)
	    echo "Usage: setup -a <app> -b <board>"
	    exit 0
	    ;;
	*)
	    echo "Usage: setup -a <app> -b <board>"
	    exit -1
	    ;;
    esac
done
echo Board: $board app: $app
tmpname=`readlink -f  $0`
prgdir=`dirname $tmpname`
$prgdir/install_microros.sh ${board}
pushd microros_ws/firmware/zephyr_apps/apps

  if [ ${board} = "rpi_pico_w" ]; then
    git clone --recursive -b main https://github.com/beechwoods-software/zephyr-cyw43-driver

    cp -r zephyr-cyw43-driver/drivers $app
    cp -r zephyr-cyw43-driver/dts $app

    cat zephyr-cyw43-driver/Kconfig >> $app/Kconfig
    cat zephyr-cyw43-driver/CMakeLists.txt >> $app/CMakeLists.txt
    
  fi
  cp ~/local.conf $app  
popd
pushd microros_ws/firmware/mcu_ws
popd
pushd microros_ws
  source /opt/ros/$ROS_DISTRO/setup.bash
  source install/local_setup.bash

  ros2 run micro_ros_setup configure_firmware.sh $app --transport udp
  ros2 run micro_ros_setup build_firmware.sh  2>&1 | tee /tmp/microros_build_zephyr_${board}.log
  ros2 run micro_ros_setup create_agent_ws.sh
  ros2 run micro_ros_setup build_agent.sh --cmake-args -Wno-dev

popd
echo "To Start the micro ros agent please run \"ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888\""