Cleaning pc

change-gdm-background

+#!/usr/bin/env bash
+# Autor: Thiago Silva
+# Contact: thiagos.dasilva@gmail.com
+# URL: https://github.com/thiggy01/change-gdm-background
+# =================================================================== #
+
+# Check if script is run by root.
+if [ "$(id -u)" -ne 0 ] ; then
+    echo 'This script must be run as root or with the sudo command.'
+    exit 1
+fi
+
+# Check what linux distro is being used.
+distro="$(lsb_release -c | cut -f 2)"
+if ! [[ "$distro" =~ (focal|groovy|hirsute) ]]; then
+    echo 'Sorry, this script only works with focal, groovy or hirsute distros.'
+    exit 1
+fi
+
+# Check if glib 2.0 development libraries are installed.
+if [ ! -x "$(command -v glib-compile-resources)" ]; then
+    echo 'Additional glib 2.0 libraries need to be installed.'
+    read -p 'Type y or Y to proceed. Any other key to exit: ' -n 1
+    if [[ "$REPLY" =~ ^[yY]$ ]]; then
+	apt install libglib2.0-dev-bin
+    else
+	echo "This tool can't run without required libraries"
+	echo "Exiting."
+	echo
+	exit 1
+    fi
+fi
+
+# Assign the default gdm theme file path.
+if [ "$(lsb_release -i | awk '{print $3}')" == 'Ubuntu' ]; then
+    gdm3Resource=/usr/share/gnome-shell/theme/Yaru/gnome-shell-theme.gresource
+elif [ "$(lsb_release -i | awk '{print $3}')" == 'Pop' ]; then
+    gdm3Resource=/usr/share/gnome-shell/theme/Pop/gnome-shell-theme.gresource
+fi
+
+# Create a backup file of the original theme if there isn't one.
+[ ! -f "$gdm3Resource"~ ] && cp "$gdm3Resource" "$gdm3Resource~"
+
+# Restore backup function.
+restore () {
+mv "$gdm3Resource~" "$gdm3Resource"
+if [ "$?" -eq 0 ]; then
+    chmod 644 "$gdm3Resource"
+    echo 'GDM background sucessfully restored.'
+    read -p 'Do you want to restart gdm to apply change? (y/n):' -n 1
+	echo
+	if [[ "$REPLY" =~ ^[yY]$ ]]; then
+	    service gdm restart
+	else
+	    echo 'Restart GDM service to apply change.'
+	    exit 0
+	fi
+fi
+}
+
+# Restore the original gdm3 theme.
+[ "$1" == "--restore" ] && restore
+
+#Define main variables.
+gdm3xml=$(basename "$gdm3Resource").xml
+workDir="/tmp/gdm3-theme"
+
+# Create directories from resource list.
+CreateDirs() {
+for resource in `gresource list "$gdm3Resource~"`; do
+    resource="${resource#\/org\/gnome\/shell\/}"
+    if [ ! -d "$workDir"/"${resource%/*}" ]; then
+      mkdir -p "$workDir"/"${resource%/*}"
+    fi
+done
+}
+
+# Extract resources from binary file.
+ExtractRes() {
+for resource in `gresource list "$gdm3Resource~"`; do
+    gresource extract "$gdm3Resource~" "$resource" > \
+    "$workDir"/"${resource#\/org\/gnome\/shell\/}"
+done
+}
+
+# Compile resources into a gresource binary file.
+CompileRes() {
+glib-compile-resources --sourcedir=$workDir/theme/ $workDir/theme/"$gdm3xml"
+}
+
+# Moves the newly created resource to its default place.
+MoveRes() {
+mv $workDir/theme/gnome-shell-theme.gresource $gdm3Resource
+}
+
+# Check if gresource was sucessfuly moved to its default folder.
+Check() {
+if [ "$?" -eq 0 ]; then
+# Solve a permission change issue (thanks to @huepf from github).
+    chmod 644 "$gdm3Resource"
+    echo 'GDM background sucessfully changed.'
+    read -p 'Do you want to restart gdm to apply change? (y/n):' -n 1
+    echo
+    # If change was successful apply ask for gdm restart.
+    if [[ "$REPLY" =~ ^[yY]$ ]]; then
+	service gdm restart
+    else
+	echo "Change will be applied only after restarting gdm"
+	echo
+    fi
+else
+    # If something went wrong, restore backup file.
+    echo 'something went wrong.'
+    restore
+    echo 'No changes were applied.'
+fi
+}
+
+CleanUp() {
+    # Remove temporary directories and files.
+    rm -r "$workDir"
+    exit 0
+}
+
+# Test if argument is an image file.
+if [[ $(file --mime-type -b "$1") == image/*g ]]; then
+
+    # Define image variables.
+    gdmBgImg=$(realpath "$1")
+    imgFile=$(basename "$gdmBgImg")
+
+    # Call procedures to create directories and extract resources to them.
+    CreateDirs
+    ExtractRes
+
+    # Copy selected image to the resources directory.
+    cp "$gdmBgImg" "$workDir"/theme
+
+    # Change gdm background to the image you submited.
+    oldBg="#lockDialogGroup \{.*?\}"
+    newBg="#lockDialogGroup {
+	background: url('resource:\/\/\/org\/gnome\/shell\/theme\/$imgFile');
+	background-size: cover; }"
+    perl -i -0777 -pe "s/$oldBg/$newBg/s" "$workDir"/theme/gdm3.css
+
+    # Generate gresource xml file.
+    echo '<?xml version="1.0" encoding="UTF-8"?>
+<gresources>
+    <gresource prefix="/org/gnome/shell/theme">' > "$workDir"/theme/"$gdm3xml"
+    for file in `gresource list "$gdm3Resource~"`; do
+	echo "        <file>${file#\/org\/gnome/shell\/theme\/}</file>" \
+	>> "$workDir"/theme/"$gdm3xml"
+    done
+    echo "        <file>$imgFile</file>" >> "$workDir"/theme/"$gdm3xml"
+    echo '    </gresource>
+</gresources>' >> "$workDir"/theme/"$gdm3xml"
+
+    # Compile the new gresource.
+    CompileRes
+
+    # Move gresource to the default place.
+    MoveRes
+
+    # Check if everything was successful.
+    Check
+
+    # Remove temporary files and exit.
+    CleanUp
+
+# Change background colors.
+elif [[ "$1" =~ ^#([A-Fa-f0-9]{6}|[A-Fa-f0-9]{3})$ ]]; then
+
+    # Store selected background color.
+    BgColor="$1"
+
+    CreateDirs
+    ExtractRes
+
+    # Change gdm background to the color you submited.
+    oldBg="#lockDialogGroup \{.*?\}"
+    newBg="#lockDialogGroup {
+	background: $BgColor;
+	background-size: cover; }"
+    perl -i -0777 -pe "s/$oldBg/$newBg/s" "$workDir"/theme/gdm3.css
+
+    # Generate the gresource xml file.
+    echo '<?xml version="1.0" encoding="UTF-8"?>
+<gresources>
+    <gresource prefix="/org/gnome/shell/theme">' > "$workDir"/theme/"$gdm3xml"
+    for file in `gresource list "$gdm3Resource~"`; do
+	echo "        <file>${file#\/org\/gnome/shell\/theme\/}</file>" \
+	>> "$workDir"/theme/"$gdm3xml"
+    done
+    echo '    </gresource>
+</gresources>' >> "$workDir"/theme/"$gdm3xml"
+
+    # Compile the new gresource.
+    CompileRes
+
+    # Move gresource to the default place.
+    MoveRes
+
+    # Remove temporary files and exit.
+    CleanUp
+
+else
+
+    # If no file was submited or file submited isn't an image,
+    # show this message.
+    echo 'Image file not found or wrong color hex code.'
+    echo 'Please, submit a .jpg or .png image file or a valid hex code.'
+    echo 'Usage: sudo ./ubuntu-20.04-change-gdm-background /path/to/image.*g'
+    echo 'Usage: sudo ./ubuntu-20.04-change-gdm-background \#yourhexcode'
+
+fi

dockerfiles/DevenvFoxy.Dockerfile

+FROM osrf/ros:foxy-desktop-focal
+
+ENV ROS_DISTRO foxy
+ENV RUNNING_IN_DOCKER true
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Setup environment
+RUN apt-get update && apt-get install -y \
+    locales \
+    && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+# Configure apt and install packages
+RUN apt-get -y install --no-install-recommends \
+    apt-transport-https \
+    ca-certificates \
+    software-properties-common \
+    curl \
+    gnupg-agent \
+    apt-utils dialog 2>&1 \
+    git \
+    git-lfs \
+    nano \
+    less \
+    xterm \
+    zsh \
+    && rm -rf /var/lib/apt/lists/*
+
+# Configure system to look for debian packages in the Artifactory repository
+ARG USER_API_KEY_ARTIFACTS_TECNALIA
+RUN sh -c "echo \
+    'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
+    >> /etc/apt/sources.list.d/tecnalia.list"
+
+# Import the key in order to be able to use the packages from the repository
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
+
+# Configure rosdep
+RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
+    >> /etc/ros/rosdep/sources.list.d/20-default.list"
+
+RUN add-apt-repository ppa:ros-industrial/ppa
+
+RUN apt-get update && apt-get install -y \
+    taskflow
+
+RUN apt-get update \
+    && apt-get upgrade ca-certificates -y
+
+# Update final image
+RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove
+RUN apt-get clean
+
+# Set entrypoint
+COPY ./ros_entrypoint.sh /
+RUN chmod a+x /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["zsh"]
+ENV SHELL /usr/bin/zsh
+
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=

dockerfiles/snp_workshop.Dockerfile

+ARG FROM_IMAGE=osrf/ros:foxy-desktop
+ARG OVERLAY_WS=/opt/ros/snpd_ws
+
+# multi-stage for caching
+FROM $FROM_IMAGE AS cacher
+
+# clone overlay source
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS/src
+RUN git clone https://github.com/tecnalia-advancedmanufacturing-robotics/scan_n_plan_workshop.git
+RUN vcs import ./ < scan_n_plan_workshop/dependencies_tesseract.repos
+RUN vcs import ./ < scan_n_plan_workshop/dependencies.repos
+RUN vcs import ./ < scan_n_plan_workshop/snp_automate_2022/dependencies.repos
+
+# copy manifests for caching
+WORKDIR /opt
+RUN mkdir -p /tmp/opt && \
+    find ./ -name "package.xml" | \
+      xargs cp --parents -t /tmp/opt && \
+    find ./ -name "COLCON_IGNORE" | \
+      xargs cp --parents -t /tmp/opt || true
+
+# multi-stage for building
+FROM $FROM_IMAGE AS builder
+
+# Configure apt and install packages
+RUN apt-get update && apt-get -y install --no-install-recommends \
+    apt-transport-https \
+    apt-utils dialog 2>&1 \
+    software-properties-common \
+    git \
+    nano \
+    less \
+    xterm \
+    zsh \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install taskflow dependency from the ROS-I PPA
+RUN add-apt-repository ppa:ros-industrial/ppa
+
+RUN apt-get update && apt-get install -y \
+    taskflow
+
+# Install missing dependencies
+RUN apt-get update && apt-get install -y \
+    ros-foxy-control-msgs \
+    ros-foxy-diagnostic-updater \
+    ros-foxy-ifopt \
+    ros-foxy-joint-state-publisher \
+    ros-foxy-joint-state-publisher-gui \
+    ros-foxy-librealsense2 \
+    ros-foxy-octomap \
+    ros-foxy-octomap-msgs \
+    ros-foxy-ompl \
+    ros-foxy-xacro \
+    lcov \
+    libxmlrpcpp-dev \
+    libyaml-cpp-dev \
+    libbullet-dev libbullet-extras-dev libbullet2.88 libbulletml-dev
+
+# install overlay dependencies
+# finish rosdep command with true because some dependencies are not found
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS
+COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && rosdep install -y \
+      --from-paths \
+        src \
+      --ignore-src \
+    || true \
+    && rm -rf /var/lib/apt/lists/*
+
+# build overlay source
+COPY --from=cacher $OVERLAY_WS/src ./src
+ARG OVERLAY_MIXINS="release"
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+      --cmake-args \
+        -DTESSERACT_BUILD_FCL=OFF \
+      --mixin $OVERLAY_MIXINS
+
+# source entrypoint setup
+ENV OVERLAY_WS $OVERLAY_WS
+RUN sed --in-place --expression \
+      '$isource "$OVERLAY_WS/install/setup.bash"' \
+      /ros_entrypoint.sh
+
+# run launch file
+CMD ["ros2", "launch", "snp_automate_2022", "start.launch.xml"]

dotfiles/.zshrc

@@ -104,7 +104,7 @@ source ${HOME}/srcs/development_environment/dotfiles/system.bash
 
 eval "$(direnv hook zsh)"
 
-# [ -f ~/.fzf.zsh ] && source ~/.fzf.zsh
+[ -f ~/.fzf.zsh ] && source ~/.fzf.zsh
 
 # To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
 [[ ! -f ~/.p10k.zsh ]] || source ~/.p10k.zsh

dotfiles/ros.bash

@@ -3,7 +3,7 @@
 ###################################################################
 
 # Define ROS_DISTRO before source ROS
-if [ -z $ROS_DISTRO ]; then export ROS_DISTRO=noetic; fi
+# if [ -z $ROS_DISTRO ]; then export ROS_DISTRO=noetic; fi
 
 # Determine shell extension
 if [ -z $SHELL ]; then echo "SHELL not set"; else ext=$(basename ${SHELL}); fi
@@ -55,15 +55,15 @@ function cib(){
 }
 
 # If terminal starts in a ws, auto source it (useful for vscode)
-pwd_init=${PWD}
-cropped=${PWD#${HOME}/ros/${ROS_DISTRO}/}
-WS_name=${cropped%%/*}
-WS_path=${HOME}/ros/${ROS_DISTRO}/${WS_name}
-FILE=${WS_path}/devel/setup.${ext}
-if [[ -f $FILE ]]; then
-  cd ${WS_path}
-  source $FILE
-  cd ${pwd_init}
-else
-  source /opt/ros/${ROS_DISTRO}/setup.${ext}
-fi
+#pwd_init=${PWD}
+#cropped=${PWD#${HOME}/ros/${ROS_DISTRO}/}
+#WS_name=${cropped%%/*}
+#WS_path=${HOME}/ros/${ROS_DISTRO}/${WS_name}
+#FILE=${WS_path}/devel/setup.${ext}
+#if [[ -f $FILE ]]; then
+#  cd ${WS_path}
+#  source $FILE
+#  cd ${pwd_init}
+#else
+#  source /opt/ros/${ROS_DISTRO}/setup.${ext}
+#fi

notes/00_Notes_Godel.md

+# Godel
+
+## godel_plugins
+
+## godel_process_planning
+
+## godel_process_path_generation
+
+## godel_msgs
+
+## godel_surface_detection
+
+<https://github.com/PointCloudLibrary/pcl/issues/410>
+
+>>>
+It's pretty simple actually. Although the qhull dev(s) made it pretty hard to debug this due to
+obfuscated code and design flaws.. At least they put a note about the solution onto their NEWS page <http://www.qhull.org/news/qhull-news.html> .
+QHull now provides qh_QHpointer and global struct versions of the library as static and shared libraries each and the new libqhull.so is compiled without qh_QHpointer in 2012.
+PCL detects libqhull.so and uses it as if it was compiled with qh_QHpointer aaand voila, you're in the middle of a jungle of undetected code incompatibilities..
+
+I changed the library to the new "libqhull_p.so" and things work as expected.
+Would be great to see this fixed in 1.7.2 :)
+
+This brings us to politics though... It looks like ubuntu/debian didn't care to include these qh_QHpointer shared libs in their libqhull6 packages until now.
+I therefore assume pcl will only work with the static libs they provide.
+
+Also, it's important to fix PCLConfig.cmake.in:141. Not everyone's on Windows (why is this even "most likely" the case?) and this shared/wrong static mixup makes it even harder to see through this linking mess.
+
+I should get around to create a pull-request for this over the weekend..
+
+>>>
+Using CMake to generate the correct solution file, works definitively, but on Windows, qhullstatic_p and qhullstatic_pd must be linked, instead of qhull_p and qhull_pd, as suggested, otherwise an undefined reference on 'qh_qh' is given.
+
+>>>
+Linking pcl to libqhullstatic.a solved it, as described above. As far as I can tell, this thread is the only explanation of this issue anywhere.
+
+>>>
+The only solution is to use the 8.0.0 version of qhull until PCL fixes the obsolete code.
+
+## godel_polygon_offset
+
+## godel_process_execution
+
+## godel_openvoronoi
+
+Repository that contains a ROS-Industrial Godel project-specific fork of the OpenVoronoi library.
+It has been converted to a ROS catkin package by adding a package manifest (`package.xml`) and a replacement build script (`CMakeLists.txt`). It has additionally been patched to provide a getter for the `MachiningGraph` member variable `g` in the `OffsetSorter` class.
+Apart from these changes (and this new `README.md` file), all sources and other files have been left unchanged and are identical to those in the [source repository][].
+
+## Setups
+
+### Melodic Ubuntu Bionic
+
+libqhull7:amd64                              2015.2-4
+libpcl-dev                                   1.8.1+dfsg1-2ubuntu2.18.04.1
+
+### Noetic Ubuntu Focal
+
+libqhull7:amd64                              2015.2-4
+libpcl-dev                                   1.10.0+dfsg-5ubuntu1
+
+-- Experimental on Docker - Noetic

notes/noether

+2/11/2022
+
+To build exmaples:
+
+- git:
+    local-name: ros_industrial_cmake_boilerplate
+    uri: 'https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git'
+    version: 0.2.8
+- git:
+    local-name: perception_pcl
+    uri: 'https://github.com/ros-perception/perception_pcl.git'
+    version: 1.7.1
+-git:
+    local-name: noether
+    uri: 'https://github.com/ros-industrial/noether.git'
+    version: 9b500301059fc9ed3cb8cffca6aa48dbe9fdbba5
+    
+mon launch noether_examples mesh_segmenter_server_client.launch filename:=/home/andres/ros/noetic/noether_ws/src/noether/noether_examples/data/plane_defect.ply
+
+mon launch noether_examples mesh_segmenter_node.launch filename:=/home/andres/ros/noetic/noether_ws/src/noether/noether_examples/data/raw_mesh.ply show_individually:=true save_outputs:=true
+
+mon launch noether_examples eigen_value_edge_generator_demo.launch mesh_file:=/home/andres/ros/noetic/noether_ws/src/noether/noether_examples/data/plane_defect.ply

srcs_list.txt

+gdm-tools
+https://github.com/realmazharhussain/gdm-tools.git
+
+pdfmixtool
+git@gitlab.com:scarpetta/pdfmixtool.git
+
+plymouth-theme
+https://github.com/pop-os/plymouth-theme.git
+
+pop-fonts
+https://github.com/pop-os/fonts.git
+
+pop-theme
+https://github.com/pop-os/gtk-theme
+
+vortex-ubuntu-plymouth-theme
+https://github.com/emanuele-scarsella/vortex-ubuntu-plymouth-theme.git
+
+disk-usage-space
+https://github.com/anfemosa/disk-usage-space.git
+
+powerlevel10k
+
+roscon_2015
+https://github.com/ros-industrial-consortium/roscon_2015.git
+
+roscon_workshop_2021
+https://github.com/ros-industrial-consortium/roscon_workshop_2021
+
+ros_tutorial
+https://github.com/anfemosa/ros_tutorial.git
+
+bat
+https://github.com/sharkdp/bat.git
+
+iscan-bundle
+https://support.epson.net/linux/en/iscan_c.php?version=2.30.4
+
+lsd
+https://github.com/Peltoche/lsd.git