a script that init ros2 humble on ubuntu 22.04 with docker. use `-h` to show usage

init_humble_with_docker.sh

#!/usr/bin/env bash
set -euo pipefail

ROS_DISTRO="${ROS_DISTRO:-humble}"
UBUNTU_CODENAME="${UBUNTU_CODENAME:-jammy}"
INSTALL_DOCKER=false
DOCKER_PROXY="${DOCKER_PROXY:-}"
RUN_TESTS=false

usage() {
  cat <<EOF
Usage: $0 [OPTIONS]

Install and configure ROS 2 Humble on Ubuntu Jammy.

Options:
  --install-docker              Also install Docker CE and enable services.
  --docker-proxy URL            Configure Docker daemon proxy, for example http://127.0.0.1:7890.
  --run-tests                   Run quick smoke tests after installation.
  -h, --help                    Show this help.

Environment:
  ROS_DISTRO                    ROS distribution to install. Default: humble.
  UBUNTU_CODENAME               Ubuntu codename. Default: jammy.
  DOCKER_PROXY                  Same as --docker-proxy.
EOF
}

while [[ $# -gt 0 ]]; do
  case "$1" in
    --install-docker)
      INSTALL_DOCKER=true
      shift
      ;;
    --docker-proxy)
      [[ $# -ge 2 ]] || { echo "Missing value for --docker-proxy" >&2; exit 2; }
      DOCKER_PROXY="$2"
      shift 2
      ;;
    --run-tests)
      RUN_TESTS=true
      shift
      ;;
    -h|--help)
      usage
      exit 0
      ;;
    *)
      echo "Unknown option: $1" >&2
      usage >&2
      exit 2
      ;;
  esac
done

log() {
  printf '\n[%s] %s\n' "$(date '+%H:%M:%S')" "$*"
}

require_ubuntu() {
  if [[ ! -r /etc/os-release ]]; then
    echo "Cannot read /etc/os-release." >&2
    exit 1
  fi

  # shellcheck disable=SC1091
  . /etc/os-release

  if [[ "${ID:-}" != "ubuntu" ]]; then
    echo "This script is intended for Ubuntu; detected ID=${ID:-unknown}." >&2
    exit 1
  fi

  if [[ "${VERSION_CODENAME:-}" != "$UBUNTU_CODENAME" ]]; then
    echo "This script targets Ubuntu ${UBUNTU_CODENAME}; detected ${VERSION_CODENAME:-unknown}." >&2
    exit 1
  fi
}

run_sudo() {
  if [[ "${EUID}" -eq 0 ]]; then
    "$@"
  else
    sudo "$@"
  fi
}

write_root_file_if_changed() {
  local path="$1"
  local tmp
  tmp="$(mktemp)"
  cat > "$tmp"

  if [[ -f "$path" ]] && cmp -s "$tmp" "$path"; then
    rm -f "$tmp"
    log "Unchanged: $path"
    return
  fi

  run_sudo install -D -m 0644 "$tmp" "$path"
  rm -f "$tmp"
  log "Updated: $path"
}

backup_once() {
  local path="$1"
  local backup="${path}.bak"

  if [[ -f "$path" && ! -e "$backup" ]]; then
    run_sudo cp -a "$path" "$backup"
    log "Backed up $path to $backup"
  fi
}

install_packages() {
  local missing=()
  local pkg

  for pkg in "$@"; do
    if ! dpkg-query -W -f='${Status}' "$pkg" 2>/dev/null | grep -q "install ok installed"; then
      missing+=("$pkg")
    fi
  done

  if [[ "${#missing[@]}" -eq 0 ]]; then
    log "Packages already installed: $*"
    return
  fi

  log "Installing packages: ${missing[*]}"
  run_sudo apt-get install -y "${missing[@]}"
}

apt_update() {
  log "Updating apt package indexes"
  run_sudo apt-get update
}

download_root_file() {
  local url="$1"
  local path="$2"

  if command -v curl >/dev/null 2>&1; then
    run_sudo curl -fsSL "$url" -o "$path"
  elif command -v wget >/dev/null 2>&1; then
    run_sudo wget -qO "$path" "$url"
  else
    echo "Need curl or wget to download $url before apt can be updated." >&2
    exit 1
  fi
}

ensure_docker_key_for_existing_source() {
  local docker_source="/etc/apt/sources.list.d/docker.list"

  if [[ ! -f "$docker_source" ]] || ! grep -q 'download.docker.com/linux/ubuntu' "$docker_source"; then
    return
  fi

  log "Repairing existing Docker apt source before apt update"
  run_sudo install -m 0755 -d /etc/apt/keyrings

  if [[ ! -s /etc/apt/keyrings/docker.asc ]]; then
    download_root_file https://download.docker.com/linux/ubuntu/gpg /etc/apt/keyrings/docker.asc
    run_sudo chmod a+r /etc/apt/keyrings/docker.asc
  fi

  write_root_file_if_changed "$docker_source" <<EOF
deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu ${UBUNTU_CODENAME} stable
EOF
}

configure_locale() {
  log "Configuring locale"
  install_packages locales

  if ! locale -a | grep -qi '^en_US\.utf8$'; then
    run_sudo locale-gen en_US en_US.UTF-8
  fi

  if ! grep -q '^LANG=en_US.UTF-8$' /etc/default/locale 2>/dev/null; then
    run_sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
  fi

  export LANG=en_US.UTF-8
}

configure_ubuntu_sources() {
  log "Configuring Ubuntu apt mirror"
  backup_once /etc/apt/sources.list

  write_root_file_if_changed /etc/apt/sources.list <<EOF
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ ${UBUNTU_CODENAME} main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ ${UBUNTU_CODENAME}-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ ${UBUNTU_CODENAME}-backports main restricted universe multiverse
deb http://security.ubuntu.com/ubuntu/ ${UBUNTU_CODENAME}-security main restricted universe multiverse
EOF
}

configure_ros_sources() {
  log "Configuring ROS 2 apt source"
  install_packages curl gnupg2 software-properties-common
  run_sudo add-apt-repository -y universe

  if [[ ! -s /usr/share/keyrings/ros-archive-keyring.gpg ]]; then
    download_root_file https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
      /usr/share/keyrings/ros-archive-keyring.gpg
  fi

  write_root_file_if_changed /etc/apt/sources.list.d/ros2.list <<EOF
deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu ${UBUNTU_CODENAME} main
EOF
}

configure_rosdep_sources() {
  local rosdep_file="/etc/ros/rosdep/sources.list.d/20-default.list"

  log "Configuring rosdep source list"
  if [[ -s "$rosdep_file" ]]; then
    log "Unchanged: $rosdep_file"
    return
  fi

  run_sudo install -d -m 0755 /etc/ros/rosdep/sources.list.d
  run_sudo curl -L \
    https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/sources.list.d/20-default.list \
    -o "$rosdep_file"
}

install_ros() {
  configure_ubuntu_sources
  ensure_docker_key_for_existing_source
  apt_update
  configure_locale
  configure_ros_sources
  configure_rosdep_sources
  apt_update
  install_packages "ros-${ROS_DISTRO}-desktop" ros-dev-tools
}

remove_conflicting_docker_packages() {
  local packages=(
    docker.io
    docker-doc
    docker-compose
    docker-compose-v2
    podman-docker
    containerd
    runc
  )
  local installed=()
  local pkg

  for pkg in "${packages[@]}"; do
    if dpkg-query -W -f='${Status}' "$pkg" 2>/dev/null | grep -q "install ok installed"; then
      installed+=("$pkg")
    fi
  done

  if [[ "${#installed[@]}" -gt 0 ]]; then
    log "Removing conflicting Docker packages: ${installed[*]}"
    run_sudo apt-get remove -y "${installed[@]}"
  else
    log "No conflicting Docker packages found"
  fi
}

configure_docker_sources() {
  log "Configuring Docker apt source"
  install_packages ca-certificates curl
  run_sudo install -m 0755 -d /etc/apt/keyrings

  if [[ ! -s /etc/apt/keyrings/docker.asc ]]; then
    download_root_file https://download.docker.com/linux/ubuntu/gpg /etc/apt/keyrings/docker.asc
    run_sudo chmod a+r /etc/apt/keyrings/docker.asc
  fi

  write_root_file_if_changed /etc/apt/sources.list.d/docker.list <<EOF
deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu ${UBUNTU_CODENAME} stable
EOF
}

configure_docker_daemon() {
  if [[ -z "$DOCKER_PROXY" ]]; then
    log "Skipping Docker daemon proxy configuration"
    return
  fi

  log "Configuring Docker daemon proxy"
  write_root_file_if_changed /etc/docker/daemon.json <<EOF
{
  "proxies": {
    "http-proxy": "${DOCKER_PROXY}",
    "https-proxy": "${DOCKER_PROXY}",
    "no-proxy": "127.0.0.0/8,192.168.0.0/16"
  }
}
EOF
}

install_docker() {
  remove_conflicting_docker_packages
  configure_docker_sources
  apt_update
  install_packages docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
  configure_docker_daemon

  if getent group docker >/dev/null; then
    log "Group already exists: docker"
  else
    run_sudo groupadd docker
  fi

  if id -nG "$USER" | tr ' ' '\n' | grep -qx docker; then
    log "User $USER is already in docker group"
  else
    run_sudo usermod -aG docker "$USER"
    log "Added $USER to docker group; log out and back in for this to affect new shells"
  fi

  run_sudo systemctl enable docker.service
  run_sudo systemctl enable containerd.service
  run_sudo systemctl restart docker
}

run_smoke_tests() {
  log "Running smoke tests"

  # shellcheck disable=SC1091
  source "/opt/ros/${ROS_DISTRO}/setup.bash"
  ros2 --help >/dev/null

  if "$INSTALL_DOCKER"; then
    run_sudo docker run --rm hello-world
  fi
}

main() {
  require_ubuntu
  install_ros

  if "$INSTALL_DOCKER"; then
    install_docker
  else
    log "Skipping Docker installation. Pass --install-docker to enable it."
  fi

  if "$RUN_TESTS"; then
    run_smoke_tests
  fi

  log "Done"
}

main "$@"