ros2_iron.ps1

# Get Installer and import global functions
iex ((New-Object System.Net.WebClient).DownloadString('https://github.com/scottcandy34/ros2_windows_install/raw/main/installer.ps1'))

# Set version
$Version = "iron"
$Version_Title = "Iron"

function Standard-Install {
    # Set Custom Chocolatey location
    $env:ChocolateyInstall = "C:\dev\chocolatey"
    $env:Path = "C:\dev\chocolatey\bin;" + $env:Path

    # Install Python
    Install-Python
    $PythonPath = Python-Path

    # Install Visual C++ Redistributables
    choco install -y vcredist2013 vcredist140

    # Install OpenSSL
    choco install -y openssl

    # Install Visual Studio Community
    $CONFIG = '{
      "version": "1.0",
      "components": [
        "Microsoft.VisualStudio.Component.CoreEditor",
        "Microsoft.VisualStudio.Workload.CoreEditor",
        "Microsoft.VisualStudio.Component.NuGet",
        "Microsoft.VisualStudio.Component.Roslyn.Compiler",
        "Microsoft.VisualStudio.Component.Roslyn.LanguageServices",
        "Microsoft.VisualStudio.ComponentGroup.WebToolsExtensions",
        "Microsoft.VisualStudio.Component.TypeScript.4.3",
        "Microsoft.VisualStudio.Component.JavaScript.TypeScript",
        "Microsoft.Component.MSBuild",
        "Microsoft.VisualStudio.Component.TextTemplating",
        "Microsoft.VisualStudio.Component.Debugger.JustInTime",
        "Component.Microsoft.VisualStudio.LiveShare",
        "Microsoft.VisualStudio.Component.IntelliCode",
        "Microsoft.VisualStudio.Component.VC.CoreIde",
        "Microsoft.VisualStudio.Component.VC.Tools.x86.x64",
        "Microsoft.VisualStudio.Component.Graphics.Tools",
        "Microsoft.VisualStudio.Component.VC.DiagnosticTools",
        "Microsoft.VisualStudio.Component.Windows10SDK.19041",
        "Microsoft.VisualStudio.Component.VC.Redist.14.Latest",
        "Microsoft.VisualStudio.ComponentGroup.NativeDesktop.Core",
        "Microsoft.VisualStudio.Component.VC.ATL",
        "Microsoft.VisualStudio.Component.VC.TestAdapterForBoostTest",
        "Microsoft.VisualStudio.Component.VC.TestAdapterForGoogleTest",
        "Microsoft.VisualStudio.Component.VC.ASAN",
        "Microsoft.VisualStudio.Workload.NativeDesktop"
      ]
    }'
    Set-Content -Path ($DownloadDir + "\vs_2019_ros2.vsconfig") -Value $CONFIG
    if (Test-Path -Path "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community") {
        Start-Process -FilePath 'C:\Program Files (x86)\Microsoft Visual Studio\Installer\vs_installershell.exe' -ArgumentList ("modify --passive --norestart --force --installpath 'C:\Program Files (x86)\Microsoft Visual Studio\2019\Community' --config " + $DownloadDir + "\vs_2019_ros2.vsconfig --remove Microsoft.VisualStudio.ComponentGroup.WebToolsExtensions.CMake --remove Microsoft.VisualStudio.Component.VC.CMake.Project")
    } else {
        choco install -y visualstudio2019community  --package-parameters ("--passive --config " + $DownloadDir + "\vs_2019_ros2.vsconfig")
    }

    # Install OpenCV
    $URL = “https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip”
    $FILE = ”opencv-3.4.6-vc16.VS2019.zip”
    $OPENCV_DIR = "C:\"
    Download-File -Uri $URL -OutFile $FILE
    Extract-File -File $FILE -Dir $OPENCV_DIR -Folder "\opencv"
    Set-Env -Name "OpenCV_DIR" -Value ($OPENCV_DIR + "opencv")
    Set-Path -NewPath "C:\opencv\x64\vc16\bin"

    # Install CMake
    choco install -y cmake
    Set-Path -NewPath "C:\Program Files\CMake\bin"

    # Install Dependencies
    $baseUri = 'https://github.com/ros2/choco-packages/releases/download/2022-03-15'
    $files = @(
        @{
            Uri = "$baseUri/asio.1.12.1.nupkg"
            OutFile = 'asio.1.12.1.nupkg'
        },
        @{
            Uri = "$baseUri/bullet.3.17.nupkg"
            OutFile = 'bullet.3.17.nupkg'
        },
        @{
            Uri = "$baseUri/cunit.2.1.3.nupkg"
            OutFile = 'cunit.2.1.3.nupkg'
        },
        @{
            Uri = "$baseUri/eigen.3.3.4.nupkg"
            OutFile = 'eigen.3.3.4.nupkg'
        },
        @{
            Uri = "$baseUri/tinyxml-usestl.2.6.2.nupkg"
            OutFile = 'tinyxml-usestl.2.6.2.nupkg'
        },
        @{
            Uri = "$baseUri/tinyxml2.6.0.0.nupkg"
            OutFile = 'tinyxml2.6.0.0.nupkg'
        }
    )

    foreach ($file in $files) {
        Download-File @file
    }
    choco install -y -s $DownloadDir asio cunit eigen tinyxml-usestl tinyxml2 bullet

    py -3.8 -m pip install -U pip setuptools==59.6.0
    py -3.8 -m pip install -U catkin_pkg cryptography empy importlib-metadata jsonschema lark==1.1.1 lxml matplotlib netifaces numpy opencv-python PyQt5 pillow psutil pycairo pydot pyparsing==2.4.7 pyyaml rosdistro
    py -3.8 -m pip install -U colcon-common-extensions

    # Install Miscellaneous Prerequisistes
    Install-Module -Name PS7Zip -Force
    $baseUri = 'https://www.zlatkovic.com/pub/libxml/64bit'
    $files = @(
        @{
            Uri = "$baseUri/libxml2-2.9.3-win32-x86_64.7z"
            OutFile = 'libxml2-2.9.3-win32-x86_64.7z'
        },
        @{
            Uri = "$baseUri/iconv-1.14-win32-x86_64.7z"
            OutFile = 'iconv-1.14-win32-x86_64.7z'
        },
        @{
            Uri = "$baseUri/zlib-1.2.8-win32-x86_64.7z"
            OutFile = 'zlib-1.2.8-win32-x86_64.7z'
        }
    )

    foreach ($file in $files) {
        Download-File @file
    }
    $LibxmlDir = "C:\xmllint"
    if (-not(Test-Path -Path $LibxmlDir)) {
        Expand-7Zip -FullName "$DownloadDir/libxml2-2.9.3-win32-x86_64.7z" -DestinationPath $LibxmlDir
        Expand-7Zip -FullName "$DownloadDir/iconv-1.14-win32-x86_64.7z" -DestinationPath $LibxmlDir
        Expand-7Zip -FullName "$DownloadDir/zlib-1.2.8-win32-x86_64.7z" -DestinationPath $LibxmlDir
    }
    Set-Path -NewPath $LibxmlDir

    # Install Qt5
    choco install -y aqt qtcreator
    if (-not(Test-Path -Path "C:\Qt\5.12.12\msvc2017_64")) {
        aqt install-qt --outputdir C:\Qt windows desktop 5.12.12 win64_msvc2017_64 --modules debug_info
    }
    Set-Env -Name "Qt5_DIR" -Value "C:\Qt\5.12.12\msvc2017_64"
    Set-Env -Name "QT_QPA_PLATFORM_PLUGIN_PATH" -Value "C:\Qt\5.12.12\msvc2017_64\plugins\platforms"

    # Install RQt Dependencies
    choco install -y graphviz
    Set-Path -NewPath "C:\Program Files\Graphviz\bin"

    # Install ROS2
    $release = Get-Release -Search "iron"
    if ($release -eq $null) {
        Write-Output "Error getting release information"
        pause
        exit
    }
    $ROS_DIR = "C:\dev"
    Download-File -Uri $release.url -OutFile $release.file -Folder "\ros2-windows"
    Extract-File -File $release.file -Dir $ROS_DIR -Folder "\ros2-windows"
    if (Test-Path -Path "$ROS_DIR\ros2_$Version") {
        Uninstall -Path "$ROS_DIR\ros2_$Version" -Title "ROS2 $Version_Title for Update"
    }
    Rename-Item -NewName "ros2_$Version" -Path "$ROS_DIR\ros2-windows" -Force

    # Modify setup file
    Create-Start-File -Dir "$ROS_DIR\ros2_$Version"
    Startup-Add -Content "`$env:RMW_IMPLEMENTATION = `"rmw_fastrtps_cpp`"" -Dir "$ROS_DIR\ros2_$Version"
    Startup-Add -Content "`$env:COLCON_PYTHON_EXECUTABLE = `"$PythonPath`"" -Dir "$ROS_DIR\ros2_$Version"
    $_python_env = $PythonPath.Replace("python.exe", "Scripts\;") + $PythonPath.Replace("python.exe", ";")
    Startup-Add -Content "`$env:Path = `"$_python_env`" + `$env:Path" -Dir "$ROS_DIR\ros2_$Version"

    Add_Links -Path "$ROS_DIR\ros2_iron"
}

function Alternate-Install {
    Write-Output "Check at this site to see if a new build for iron exists yet."
    Write-Output "https://dev.azure.com/ros-win/ros-win/_build?pipelineNameFilter=iron"
    pause
    exit

    # Install Visual Studio Community
    $CONFIG = '{
      "version": "1.0",
      "components": [
        "Microsoft.VisualStudio.Component.CoreEditor",
        "Microsoft.VisualStudio.Workload.CoreEditor",
        "Microsoft.VisualStudio.Component.NuGet",
        "Microsoft.VisualStudio.Component.Roslyn.Compiler",
        "Microsoft.VisualStudio.Component.Roslyn.LanguageServices",
        "Microsoft.VisualStudio.ComponentGroup.WebToolsExtensions",
        "Microsoft.VisualStudio.Component.TypeScript.4.3",
        "Microsoft.VisualStudio.Component.JavaScript.TypeScript",
        "Microsoft.Component.MSBuild",
        "Microsoft.VisualStudio.Component.TextTemplating",
        "Microsoft.VisualStudio.Component.Debugger.JustInTime",
        "Component.Microsoft.VisualStudio.LiveShare",
        "Microsoft.VisualStudio.Component.IntelliCode",
        "Microsoft.VisualStudio.Component.VC.CoreIde",
        "Microsoft.VisualStudio.Component.VC.Tools.x86.x64",
        "Microsoft.VisualStudio.Component.Graphics.Tools",
        "Microsoft.VisualStudio.Component.VC.DiagnosticTools",
        "Microsoft.VisualStudio.Component.Windows10SDK.19041",
        "Microsoft.VisualStudio.Component.VC.Redist.14.Latest",
        "Microsoft.VisualStudio.ComponentGroup.NativeDesktop.Core",
        "Microsoft.VisualStudio.Component.VC.ATL",
        "Microsoft.VisualStudio.Component.VC.TestAdapterForBoostTest",
        "Microsoft.VisualStudio.Component.VC.TestAdapterForGoogleTest",
        "Microsoft.VisualStudio.Component.VC.ASAN",
        "Microsoft.VisualStudio.Workload.NativeDesktop",
        "Microsoft.VisualStudio.ComponentGroup.WebToolsExtensions.CMake",
        "Microsoft.VisualStudio.Component.VC.CMake.Project"
      ]
    }'
    Set-Content -Path ($DownloadDir + "\vs_2019_ros2.vsconfig") -Value $CONFIG
    if (Test-Path -Path "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community") {
        Start-Process -FilePath 'C:\Program Files (x86)\Microsoft Visual Studio\Installer\vs_installershell.exe' -ArgumentList ("modify --passive --norestart --force --installpath 'C:\Program Files (x86)\Microsoft Visual Studio\2019\Community' --config " + $DownloadDir + "\vs_2019_ros2.vsconfig")
    } else {
        choco install -y visualstudio2019community  --package-parameters ("--passive --config " + $DownloadDir + "\vs_2019_ros2.vsconfig")
    }

    # Install Git
    choco upgrade git -y

    # Install ROS
    $env:ChocolateyInstall = "c:\opt\chocolatey"
    choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
    choco upgrade ros-iron-desktop -y --execution-timeout=0 -pre

    Add_Links -Path "C:\opt\ros\iron\x64\"
}

function Uninstall-Ros {
    # Uninstall ROS2 Standard
    $ROS_DIR = "C:\dev"
    if (Test-Path -Path $ROS_DIR) {
        $ROS_DIR_INSTALL = "$ROS_DIR\ros2_iron"
        $ROS_START = "$ROS_DIR_INSTALL\start.ps1"
        if (-not(Test-Path -Path ($ROS_START) -PathType Leaf)) {
            $ROS_START = "$ROS_DIR_INSTALL\local_setup.ps1"
        }
        if (Test-Path -Path $ROS_DIR_INSTALL) {
            Uninstall -Path $ROS_DIR_INSTALL -Title "ROS2 Iron Standard"
        }
        $ROS_INSTALL_COUNT = (Get-ChildItem -Directory -Path $ROS_DIR | Measure-Object).Count
        if ($ROS_INSTALL_COUNT -eq 0) {
	        Remove-Item -Path $ROS_DIR
        }
    }

    # Uninstall ROS2 Alternate Build
    if (Test-Path -Path "C:\opt") {
        $ROS_START = "C:\opt\ros\iron\x64\local_setup.ps1"
        $env:ChocolateyInstall = "c:\opt\chocolatey"
        choco uninstall -y ros-iron-desktop

        $ROS_INSTALL_COUNT = (Get-ChildItem -Directory -Path $ROS_DIR | Measure-Object).Count
        if ($ROS_INSTALL_COUNT -eq 0) {
	        Remove-Item -Path "C:\opt" -Recurse -Force
        }
    }

    # Removing Links
    $Documents = ([Environment]::GetFolderPath("MyDocuments") + "\WindowsPowerShell")
    $ProfileFile = "$Documents\Microsoft.PowerShell_profile.ps1"
    if ((Test-Path -Path $ProfileFile -PathType Leaf) -and $ROS_START -ne $null) {
        $SEL = Select-String -Path $ProfileFile -Pattern $ROS_START -SimpleMatch

        if ($SEL -ne $null)
        {
            $REMOVED_LINK = Get-Content $ProfileFile | Where-Object {$_ -notlike $ROS_START}
            Set-Content $ProfileFile -Value $REMOVED_LINK -Force
        }
    }
    $Link = ([Environment]::GetFolderPath("Desktop") + "\ROS2 Iron Terminal.lnk")
    if (Test-Path -Path $Link -PathType Leaf) {
        Remove-Item -Path $Link
    }
}

function Uninstall-Dep {
    # Uninstall python packages
    py -3.8 -m pip uninstall -y catkin_pkg cryptography empy importlib-metadata jsonschema lark==1.1.1 lxml matplotlib netifaces numpy opencv-python PyQt5 pillow psutil pycairo pydot pyparsing==2.4.7 pyyaml rosdistro
    py -3.8 -m pip uninstall -Y pip setuptools==59.6.0
    py -3.8 -m pip uninstall -Y colcon-common-extensions

    # Uninstall Chocolaty packages
    ECHO Y | choco uninstall -y graphviz -n
    choco uninstall -y aqt qtcreator
    choco uninstall -y asio cunit eigen tinyxml-usestl tinyxml2 bullet
    ECHO Y | choco uninstall -y cmake
    choco uninstall -y visualstudio2019community
    choco uninstall -y openssl
    choco uninstall -y vcredist2013 vcredist140
    choco uninstall -y python --version 3.8.3 python3 --version 3.8.3

    # Uninstall Others
    Uninstall -Path "C:\Qt" -Title "Qt5"
    Uninstall -Path "C:\opencv" -Title "Qt5"
    Uninstall -Path "C:\Python38" -Title "Python Leftovers"
    Uninstall -Path "C:\xmllint" -Title "XML Lib"

    # Remove Environment variables
    Set-Env -Name "Qt5_DIR" -Value ""
    Set-Env -Name "QT_QPA_PLATFORM_PLUGIN_PATH" -Value ""
    Set-Env -Name "OpenCV_DIR" -Value ""
    Remove-Path -RemovePath "C:\opencv\x64\vc16\bin"
    Remove-Path -RemovePath "C:\Program Files\CMake\bin"
    Remove-Path -RemovePath "C:\Program Files\Graphviz\bin"
    Remove-Path -RemovePath "C:\Program Files\OpenSSL-Win64\bin"
    Remove-Path -RemovePath "C:\Python38\"
    Remove-Path -RemovePath "C:\Python38\Scripts\"
    Remove-Path -RemovePath "C:\xmllint"
}

Start-Installer