From 41d1ea87adbe9e5431dda58307befae1b423e093 Mon Sep 17 00:00:00 2001
From: winterhalderp <winterhalderp@irs.uni-stuttgart.de>
Date: Fri, 3 Mar 2023 23:29:46 +0100
Subject: [PATCH] Update 'non-ros-files/rpi_install.bash'

---
 non-ros-files/rpi_install.bash | 42 +++++++++++++++++++++++++---------
 1 file changed, 31 insertions(+), 11 deletions(-)

diff --git a/non-ros-files/rpi_install.bash b/non-ros-files/rpi_install.bash
index 4b8413c..a2596f8 100644
--- a/non-ros-files/rpi_install.bash
+++ b/non-ros-files/rpi_install.bash
@@ -4,22 +4,43 @@
 # Only the password was changed after first boot
 # Everything else is stock
 
-# First Update
+## Reference / Source:
+# https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
+
+## First Update
 sudo apt-get update && sudo apt-get upgrade -y && sudo apt-get dist-upgrade -y
 
-# Install ROS2 Foxy Fitzroy Desktop
-sudo apt update && sudo apt install locales
+### Install ROS2 Foxy Fitzroy for Raspberry Pi
+
+## Check for UTF-8
+locale  # check for UTF-8
+sudo apt install locales
 sudo locale-gen en_US en_US.UTF-8
 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-sudo apt update && sudo apt install -y curl gnupg2 lsb-release
-curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
-sudo apt update && sudo apt install -y ros-foxy-ros-base
+export LANG=en_US.UTF-8
+locale  # verify settings
+
+## Setup Sources
+sudo apt install software-properties-common
+sudo add-apt-repository universe
+
+sudo apt update && sudo apt install curl
+sudo apt install -y curl gnupg2 lsb-release
+
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+# OLD: curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+# OLD: sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+
+
+## Install ROS2
+sudo apt-get update && sudo apt-get upgrade -y
+sudo apt install -y ros-foxy-ros-base
 source /opt/ros/foxy/setup.bash
 # Check to see if installed correctly
 echo "ROS_VERSION:        "$ROS_VERSION
 
-
+## Install other Tools
 # Install rosdep
 sudo apt install -y python3-rosdep2
 rosdep update
@@ -44,7 +65,6 @@ cd colcon_ws
 colcon build
 
 
-
 # Install network tools
 sudo apt install -y wireless-tools
 
@@ -52,16 +72,16 @@ sudo apt install -y wireless-tools
 # Install Git
 sudo apt install -y git
 
+
 # Setup remote git from inside workspace
 cd ~/colcon_ws
 git init
 
+
 # Change the URL to your Git repository
 git remote add origin https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub.git
 git fetch --all
 git reset --hard origin/master
-
-
 # Install your project specific python packages
 # You can use pip3 as the install tool, eg:
 pip3 install python-can