hello-robot · hello-binit · Jul 23, 2025 · Jul 23, 2025 · Jul 23, 2025 · Jul 23, 2025
diff --git a/factory/18.04/stretch_create_catkin_workspace.sh b/factory/18.04/stretch_create_catkin_workspace.sh
@@ -45,6 +45,8 @@ if [[ -d $CATKIN_WSDIR ]]; then
     prompt_yes_no
 fi
 
+echo "Apt update..."
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
 echo "Deleting $CATKIN_WSDIR if it already exists..."
 sudo rm -rf $CATKIN_WSDIR
 # see http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment for details

diff --git a/factory/18.04/stretch_initial_setup.sh b/factory/18.04/stretch_initial_setup.sh
@@ -81,8 +81,8 @@ if [ $do_factory_install = 'false' ]; then
         echo "Expecting robot calibration $HELLO_FLEET_ID to be present in the the home folder. Exiting."
         exit 1
     fi
+    chmod -R a+r $HOME/$HELLO_FLEET_ID
 fi
-chmod -R a+r $HOME/$HELLO_FLEET_ID
 
 echo "Waiting to get online..."
 while ! timeout 0.2 ping -c 1 -n google.com &> /dev/null
@@ -129,7 +129,7 @@ else
 fi
 
 echo "Setting up UDEV rules..."
-sudo cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d
+sudo sh -c "cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d"
 sudo udevadm control --reload
 
 echo "Allow shutdown without password..."

diff --git a/factory/20.04/stretch_create_catkin_workspace.sh b/factory/20.04/stretch_create_catkin_workspace.sh
@@ -45,6 +45,8 @@ if [[ -d $CATKIN_WSDIR ]]; then
     prompt_yes_no
 fi
 
+echo "Apt update..."
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
 echo "Updating rosdep indices..."
 rosdep update --include-eol-distros &>> $REDIRECT_LOGFILE
 echo "Deleting $CATKIN_WSDIR if it already exists..."

diff --git a/factory/20.04/stretch_initial_setup.sh b/factory/20.04/stretch_initial_setup.sh
@@ -80,8 +80,8 @@ if [ $do_factory_install = 'false' ]; then
         echo "Expecting robot calibration $HELLO_FLEET_ID to be present in the the home folder. Exiting."
         exit 1
     fi
+    chmod -R a+r $HOME/$HELLO_FLEET_ID
 fi
-chmod -R a+r $HOME/$HELLO_FLEET_ID
 
 echo "Waiting to get online..."
 while ! timeout 0.2 ping -c 1 -n google.com &> /dev/null
@@ -128,7 +128,7 @@ else
 fi
 
 echo "Setting up UDEV rules..."
-sudo cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d
+sudo sh -c "cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d"
 sudo udevadm control --reload
 
 echo "Allow shutdown without password..."

diff --git a/factory/22.04/stretch_create_ament_workspace.sh b/factory/22.04/stretch_create_ament_workspace.sh
@@ -46,6 +46,9 @@ if [[ -d $AMENT_WSDIR ]]; then
     prompt_yes_no
 fi
 
+echo "Apt update..."
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
+
 echo "Downgrade to numpy 1.26.4..."
 pip3 install numpy==1.26.4 &>> $REDIRECT_LOGFILE
 

diff --git a/factory/22.04/stretch_initial_setup.sh b/factory/22.04/stretch_initial_setup.sh
@@ -80,8 +80,8 @@ if [ $do_factory_install = 'false' ]; then
         echo "Expecting robot calibration $HELLO_FLEET_ID to be present in the the home folder. Exiting."
         exit 1
     fi
+    chmod -R a+r $HOME/$HELLO_FLEET_ID
 fi
-chmod -R a+r $HOME/$HELLO_FLEET_ID
 
 echo "Waiting to get online..."
 while ! timeout 0.2 ping -c 1 -n google.com &> /dev/null
@@ -128,7 +128,7 @@ else
 fi
 
 echo "Setting up UDEV rules..."
-sudo cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d
+sudo sh -c "cp /etc/hello-robot/$HELLO_FLEET_ID/udev/*.rules /etc/udev/rules.d"
 sudo udevadm control --reload
 
 echo "Allow shutdown without password..."

diff --git a/factory/24.04/hello_robot_audio.desktop b/factory/24.04/hello_robot_audio.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_audio
+Exec=/usr/bin/hello_robot_audio.sh
+Hidden=false
+X-GNOME-Autostart-enabled=true
diff --git a/factory/24.04/hello_robot_audio.sh b/factory/24.04/hello_robot_audio.sh
@@ -0,0 +1,6 @@
+#! /bin/bash
+sleep 5
+pactl set-default-sink alsa_output.pci-0000_00_1f.3.analog-stereo
+amixer set Master 80%
+paplay --device=alsa_output.pci-0000_00_1f.3.analog-stereo /usr/share/sounds/ubuntu/stereo/desktop-login.ogg
+
diff --git a/factory/24.04/hello_robot_gamepad_teleop.desktop b/factory/24.04/hello_robot_gamepad_teleop.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_gamepad_teleop
+Exec=/usr/bin/hello_robot_gamepad_teleop.sh
+Hidden=false
+X-GNOME-Autostart-enabled=false
diff --git a/factory/24.04/hello_robot_gamepad_teleop.sh b/factory/24.04/hello_robot_gamepad_teleop.sh
@@ -0,0 +1,6 @@
+#! /bin/bash
+
+. /etc/hello-robot/hello-robot.conf
+export HELLO_FLEET_ID HELLO_FLEET_ID
+export HELLO_FLEET_PATH=$HOME/stretch_user
+/usr/bin/python3 $HOME/.local/bin/stretch_gamepad_teleop.py &>> "$HOME/stretch_user/log/hello_robot_gamepad_teleop.`date '+%Y%m%d%H%M'`.log"
diff --git a/factory/24.04/hello_robot_lrf_off.desktop b/factory/24.04/hello_robot_lrf_off.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_lrf_off
+Exec= /usr/bin/hello_robot_lrf_off.py
+Hidden=false
+X-GNOME-Autostart-enabled=true
diff --git a/factory/24.04/hello_robot_lrf_off.py b/factory/24.04/hello_robot_lrf_off.py
@@ -0,0 +1,10 @@
+#!/usr/bin/env python3
+import serial
+import time
+#This script keeps the lrf port open while the computer is on
+#This has the effect of keeping the DTR line high to the LRF, which in turn turns the motor off
+#So long as one port is open on the serail the DTR remains high (see HUPcL in termios)
+#Other programs can still open/close/read/write the port independent of this script
+sp=serial.Serial('/dev/hello-lrf',115200,parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, dsrdtr=True)
+while True:
+    time.sleep(1.0)
diff --git a/factory/24.04/hello_robot_pimu_ping.desktop b/factory/24.04/hello_robot_pimu_ping.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_pimu_ping
+Exec= /usr/bin/hello_robot_pimu_ping.sh
+Hidden=false
+X-GNOME-Autostart-enabled=true
diff --git a/factory/24.04/hello_robot_pimu_ping.py b/factory/24.04/hello_robot_pimu_ping.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import stretch_body.pimu
+import time
+#This script establishes communications with the Pimu at launch then shutsdown
+#This has the effect of letting the Pimu know that Ubuntu Desktop is live (which drives its LightBar state machine)
+
+print('Starting up Pimu Ping on %s'%time.asctime())
+ping_success=False
+for i in range(10):
+    p = stretch_body.pimu.Pimu()
+    if p.startup():
+        print('Successful ping of Pimu on try %d'%i)
+        p.stop()
+        exit(0)
+    p.stop()
+    time.sleep(1.0)
+
+print('Failed to ping Pimu')
diff --git a/factory/24.04/hello_robot_pimu_ping.sh b/factory/24.04/hello_robot_pimu_ping.sh
@@ -0,0 +1,7 @@
+#! /bin/bash
+
+. /etc/hello-robot/hello-robot.conf
+export HELLO_FLEET_ID HELLO_FLEET_ID
+export HELLO_FLEET_PATH=$HOME/stretch_user
+
+/usr/bin/python3 /usr/bin/hello_robot_pimu_ping.py &>> "$HOME/stretch_user/log/hello_robot_pimu_ping.`date '+%Y%m%d%H%M'`.log"
diff --git a/factory/24.04/hello_robot_xbox_teleop.desktop b/factory/24.04/hello_robot_xbox_teleop.desktop
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=hello_robot_xbox_teleop
+Exec=/usr/bin/hello_robot_xbox_teleop.sh
+Hidden=false
+X-GNOME-Autostart-enabled=false
diff --git a/factory/24.04/hello_robot_xbox_teleop.sh b/factory/24.04/hello_robot_xbox_teleop.sh
@@ -0,0 +1,6 @@
+#! /bin/bash
+
+. /etc/hello-robot/hello-robot.conf
+export HELLO_FLEET_ID HELLO_FLEET_ID
+export HELLO_FLEET_PATH=$HOME/stretch_user
+/usr/bin/python3 $HOME/.local/bin/stretch_xbox_controller_teleop.py &>> "$HOME/stretch_user/log/hello_robot_xbox_teleop.`date '+%Y%m%d%H%M'`.log"
diff --git a/factory/24.04/hello_sudoers b/factory/24.04/hello_sudoers
@@ -0,0 +1 @@
+ALL ALL=(ALL) NOPASSWD: /sbin/shutdown
diff --git a/factory/24.04/motd/00-header b/factory/24.04/motd/00-header
@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+#    00-header - create the header of the MOTD
+#    Copyright (C) 2009-2010 Canonical Ltd.
+#
+#    Authors: Dustin Kirkland <kirkland@canonical.com>
+#
+#    This program is free software; you can redistribute it and/or modify
+#    it under the terms of the GNU General Public License as published by
+#    the Free Software Foundation; either version 2 of the License, or
+#    (at your option) any later version.
+#
+#    This program is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU General Public License for more details.
+#
+#    You should have received a copy of the GNU General Public License along
+#    with this program; if not, write to the Free Software Foundation, Inc.,
+#    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+[ -r /etc/lsb-release ] && . /etc/lsb-release
+
+if [ -z "$DISTRIB_DESCRIPTION" ] && [ -x /usr/bin/lsb_release ]; then
+	# Fall back to using the very slow lsb_release utility
+	DISTRIB_DESCRIPTION=$(lsb_release -s -d)
+fi
+
+printf "Welcome to Stretch's %s Distribution\n" "$DISTRIB_RELEASE"
+printf "based on %s (%s %s %s)\n" "$DISTRIB_DESCRIPTION" "$(uname -o)" "$(uname -r)" "$(uname -m)"
diff --git a/factory/24.04/motd/10-help-text b/factory/24.04/motd/10-help-text
@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+#    10-help-text - print the help text associated with the distro
+#    Copyright (C) 2009-2010 Canonical Ltd.
+#
+#    Authors: Dustin Kirkland <kirkland@canonical.com>,
+#             Brian Murray <brian@canonical.com>
+#
+#    This program is free software; you can redistribute it and/or modify
+#    it under the terms of the GNU General Public License as published by
+#    the Free Software Foundation; either version 2 of the License, or
+#    (at your option) any later version.
+#
+#    This program is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU General Public License for more details.
+#
+#    You should have received a copy of the GNU General Public License along
+#    with this program; if not, write to the Free Software Foundation, Inc.,
+#    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+printf "\n"
+printf " * Documentation:  https://docs.hello-robot.com/\n"
+printf " * Support:        https://forum.hello-robot.com/\n\n"
diff --git a/factory/24.04/motd/10dpkg_options b/factory/24.04/motd/10dpkg_options
@@ -0,0 +1,4 @@
+Dpkg::Options {
+   "--force-confdef";
+   "--force-confold";
+}
diff --git a/factory/24.04/stretch_about.png b/factory/24.04/stretch_about.png
diff --git a/factory/24.04/stretch_create_ament_workspace.sh b/factory/24.04/stretch_create_ament_workspace.sh
@@ -0,0 +1,134 @@
+#!/bin/bash
+set -e
+export COLCON_EXTENSION_BLOCKLIST=colcon_core.event_handler.desktop_notification
+
+REDIRECT_LOGDIR="$HOME/stretch_user/log"
+AMENT_WSDIR="$HOME/ament_ws"
+while getopts l:w: opt; do
+    case $opt in
+        l)
+            if [[ -d $OPTARG ]]; then
+                REDIRECT_LOGDIR=$OPTARG
+            fi
+            ;;
+        w)
+            AMENT_WSDIR=$OPTARG
+            ;;
+    esac
+done
+REDIRECT_LOGFILE="$REDIRECT_LOGDIR/stretch_create_ament_workspace.`date '+%Y%m%d%H%M'`_redirected.txt"
+
+echo "###########################################"
+echo "CREATING JAZZY AMENT WORKSPACE at $AMENT_WSDIR"
+echo "###########################################"
+
+echo "Ensuring correct version of ROS is sourced..."
+if [[ $ROS_DISTRO && ! $ROS_DISTRO = "jazzy" ]]; then
+    echo "Cannot create workspace while a conflicting ROS version is sourced. Exiting."
+    exit 1
+fi
+source /opt/ros/jazzy/setup.bash
+
+if [[ -d $AMENT_WSDIR ]]; then
+    echo "You are about to delete and replace the existing ament workspace. If you have any personal data in the workspace, please create a back up before proceeding."
+    prompt_yes_no(){
+    read -p "Do you want to continue? Press (y/n for yes/no): " x
+    if [ $x = "n" ]; then
+            echo "Exiting the script."
+            exit 1
+    elif [ $x = "y" ]; then
+            echo "Continuing to create a new ament workspace."
+    else
+        echo "Press 'y' for yes or 'n' for no."
+        prompt_yes_no
+    fi
+    }
+    prompt_yes_no
+fi
+
+echo "Apt update..."
+sudo apt-get --yes update >> $REDIRECT_LOGFILE
+
+echo "Downgrade to numpy 1.26.4..."
+export PIP_BREAK_SYSTEM_PACKAGES=1
+pip3 install numpy==1.26.4 &>> $REDIRECT_LOGFILE
+
+export PATH=${PATH}:~/.local/bin
+. /etc/hello-robot/hello-robot.conf
+export HELLO_FLEET_ID=$HELLO_FLEET_ID
+export HELLO_FLEET_PATH=${HOME}/stretch_user
+echo "Updating rosdep indices..."
+rosdep update --include-eol-distros &>> $REDIRECT_LOGFILE
+echo "Deleting $AMENT_WSDIR if it already exists..."
+sudo rm -rf $AMENT_WSDIR
+echo "Creating the workspace directory..."
+mkdir -p $AMENT_WSDIR/src
+echo "Cloning the workspace's packages..."
+cd $AMENT_WSDIR/src
+vcs import --input ~/stretch_install/factory/24.04/stretch_ros2_jazzy.repos &>> $REDIRECT_LOGFILE
+echo "Fetch ROS packages' dependencies (this might take a while)..."
+cd $AMENT_WSDIR/
+# The rosdep flags below have been chosen very carefully. Please review the docs before changing them.
+# https://docs.ros.org/en/independent/api/rosdep/html/commands.html
+rosdep install --rosdistro=jazzy -iy --from-paths src &>> $REDIRECT_LOGFILE
+pip3 cache purge &>> $REDIRECT_LOGFILE
+
+# echo "Install web interface dependencies..."
+# cd $AMENT_WSDIR/src/stretch_web_teleop
+# pip3 install -r requirements.txt &>> $REDIRECT_LOGFILE
+# npm install --force &>> $REDIRECT_LOGFILE
+# npx playwright install &>> $REDIRECT_LOGFILE
+# echo "Generating web interface certs..."
+# cd $AMENT_WSDIR/src/stretch_web_teleop/certificates
+# curl -JLO "https://dl.filippo.io/mkcert/latest?for=linux/amd64" &>> $REDIRECT_LOGFILE
+# chmod +x mkcert-v*-linux-amd64
+# sudo cp mkcert-v*-linux-amd64 /usr/local/bin/mkcert
+# CAROOT=`pwd` mkcert --install &>> $REDIRECT_LOGFILE
+# mkdir -p ~/.local/share/mkcert
+# rm -rf ~/.local/share/mkcert/root*
+# cp root* ~/.local/share/mkcert
+# mkcert ${HELLO_FLEET_ID} ${HELLO_FLEET_ID}.local ${HELLO_FLEET_ID}.dev localhost 127.0.0.1 0.0.0.0 ::1 &>> $REDIRECT_LOGFILE
+# rm mkcert-v*-linux-amd64
+# cd $AMENT_WSDIR/src/stretch_web_teleop
+# touch .env
+# echo certfile=${HELLO_FLEET_ID}+6.pem >> .env
+# echo keyfile=${HELLO_FLEET_ID}+6-key.pem >> .env
+# cd $AMENT_WSDIR/
+
+# echo "Install FUNMAP dependencies..."
+# curl -LsSf https://astral.sh/uv/install.sh | sh &>> $REDIRECT_LOGFILE
+# cd $AMENT_WSDIR/src/stretch_ros2/stretch_funmap
+# uv venv --system-site-packages --allow-existing .venv &>> $REDIRECT_LOGFILE
+# uv sync --frozen &>> $REDIRECT_LOGFILE
+# echo "Compile cython modules..."
+# pip3 install setuptools==59.6.0 &>> $REDIRECT_LOGFILE # must use <61 for Colcon to correctly build Stretch FUNMAP
+# uv run cythonize stretch_funmap/cython_min_cost_path.pyx -3 -i &>> $REDIRECT_LOGFILE
+# cd $AMENT_WSDIR/
+
+echo "Compile the workspace (this might take a while)..."
+# pip3 install setuptools==59.6.0 &>> $REDIRECT_LOGFILE # must use <61 for Colcon to correctly build Stretch FUNMAP
+# pip3 uninstall -y setuptools-scm &>> $REDIRECT_LOGFILE
+pip3 uninstall -y nose &>> $REDIRECT_LOGFILE
+colcon build &>> $REDIRECT_LOGFILE
+echo "Source setup.bash file..."
+source $AMENT_WSDIR/install/setup.bash
+echo "Updating port privledges..."
+sudo sysctl -w net.ipv4.ip_unprivileged_port_start=80 &>> $REDIRECT_LOGFILE
+echo net.ipv4.ip_unprivileged_port_start=80 | sudo tee --append /etc/sysctl.d/99-sysctl.conf &>> $REDIRECT_LOGFILE
+echo "Update ~/.bashrc dotfile to source workspace..."
+echo "source $AMENT_WSDIR/install/setup.bash" >> ~/.bashrc
+echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
+echo "Updating meshes and xacros to ROS from stretch_urdf package."
+/home/$USER/.local/bin/stretch_urdf_ros_update.py -y -v >> $REDIRECT_LOGFILE
+echo "Setup uncalibrated robot URDF..."
+ros2 run stretch_calibration update_uncalibrated_urdf >> $REDIRECT_LOGFILE
+echo "Setup calibrated robot URDF..."
+ros2 run stretch_calibration update_with_most_recent_calibration >> $REDIRECT_LOGFILE
+colcon build &>> $REDIRECT_LOGFILE
+
+# echo "Amend FUNMAP executables to use venv..."
+# pip3 install -U hello-robot-stretch-factory &>> $REDIRECT_LOGFILE # Necessary for the below CLI
+# REx_amend_venv_execs.py stretch_funmap &>> $REDIRECT_LOGFILE
+
+echo "Downgrade to numpy 1.26.4..."
+pip3 install numpy==1.26.4 &>> $REDIRECT_LOGFILE